Wdp5118e PDF

Wall-mounted
positioning unit
with power unit for
5-phase stepping motors
WDP5-118
Doc. no. 212.844/DGB 09.92
Ident no.: 00441106110
Edition: c008 Sept. 92

Safety requirements
Please read the following safety requirements prior to installation, operation, maintenance and repair
of the device.
• The intended use of the device is described in this manual in chapter "Purpose" and must be
observed.
• Installation, maintenance and repair of the device shall be performed by a qualified electrician.
National regulations concerning
– accident prevention
– installation of electrical and mechanical systems
– radio interference suppression
shall be observed.
• The technical data of the device, particularly the ambient conditions, shall be observed.
• The device shall only be operated by trained personnel.

BERGER LAHR offers training courses.
• The warranty is invalidated in case of unauthorized modification or opening of the device.
• Please ask your BERGER LAHR technical consultant prior to installing accessories not listed
in the chapter "Description of accessories".
The address is to be found on the rear cover.
• The safety symbols and notes on the device and in the manual shall be observed.
Explanation of symbols
ATTENTION
Reference to a danger for the device or components, possibly resulting
in the endangering of human life.
DANGER
Reference to a direct endangering of human life.
DANGER
High voltage at component, do not touch.
DANGER
High temperature at component, do not touch.
ATTENTION
Warning against electrostatic discharge (ESD).
Only touch the PC-board or component in an electrostatically-protected
environment.
NOTE
Important or additional information concerning the device or the manual.
Proposals
Improvements
Berger Lahr GmbH & Co. KG WDP5-118

Breslauer Str. 7
Postfach 1180
Edition: c008 Sept. 92

D-77901 Lahr Doc. no.: 212.844/DGB 09.92
Sender: Please inform us, using this form, if

you have discovered any printing
Name: errors when reading this document.
Company/department: We should also appreciate any new

ideas and proposals.
Address:
Telephone no.:
Proposals and/or improvements:

Table of contents
Table of contents
Page
1 General description 1-1
1.1 Structure and characteristics 1-1
1.2 Purpose 1-3

1.2.1 System configuration possibilities 1-3
1.2.1.1 Storage mode 1-3
1.2.1.2 Serial mode 1-4
1.2.1.3 Parallel mode 1-5
1.2.1.4 Network mode 1-6
1.3 Function 1-7

1.3.1 Hardware components 1-7
1.3.2 Rotation monitoring 1-8
1.3.3 Operating modes 1-9
1.4 Technical data 1-11

1.4.1 Electrical data 1-11
1.4.1.1 Mains connection 1-11
1.4.1.2 Motor connection 1-11
1.4.1.3 Further supply voltages 1-11
1.4.1.4 Shaft encoder connection 1-11
1.4.1.5 Signal connection 1-11
1.4.1.6 Device protection 1-12
1.4.2 Mechanical data 1-13
1.4.3 Environmental conditions 1-13
WDP5-118 Doc. no. 212.844/DGB 09.92

Table of contents
Page
2 Installation 2-1
2.1 Delivered items 2-1
2.2 Accessories 2-2
2.3 Mounting 2-3
2.4 Cabling 2-4

2.4.1 Mains connection 2-4
2.4.2 Motor connection 2-5
2.4.3 Shaft encoder connection 2-6
2.4.4 Signal connection 2-7
2.4.4.1 Signal connection in storage mode 2-8
2.4.4.2 Signal connection in serial mode 2-10
2.4.4.3 Signal connection in parallel mode 2-12
2.4.4.4 Signal connection in network mode 2-15
2.4.5 Serial interface (RS 485) 2-16
2.5 Starting up 2-17

2.5.1 Defaults 2-17
2.5.2 Testing 2-20
WDP5-118 Doc. no. 212.844/DGB 09.92

Table of contents
Page
3 Operation 3-1
3.1 Operating possibilities 3-1
3.2 Starting up 3-2
3.3 Storage mode 3-3

3.3.1 Manual movement 3-5
3.3.1.1 Slow manual movement 3-5
3.3.1.2 Fast manual movement 3-6
3.3.1.3 Manual reference movement 3-7
3.3.1.4 Setting manual reference point 3-8
3.3.1.5 Teach-in with MP 922 hand-held programming unit 3-9
3.3.1.6 Teach-in without MP 922 hand-held programming unit 3-10
3.3.2 Automatic run 3-12
3.3.2.1 Program selection 3-12
3.3.2.2 Setting program pointer to program beginning 3-13
3.3.2.3 Starting movement commands 3-13
3.3.2.4 Starting at program beginning 3-14
3.3.3 MP 922 hand-held programming unit 3-15
3.3.4 Programming 3-16
3.3.5 System setting 3-17
3.4 Serial mode 3-18

3.4.1.5 Manual movement (limited with PC) 3-23
3.4.3 Operation with a terminal or PC 3-24
WDP5-118 Doc. no. 212.844/DGB 09.92

Table of contents
Page
3.5 Parallel mode 3-30
3.5.4 System setting 3-38
3.6 Network mode 3-39

3.6.1 Setting the network address 3-39
3.6.2 PLC request 3-40
3.6.3 Teach-in 3-42
3.7 Switching off 3-44
4 Malfunctions 4-1
4.1 Status displays 4-1
4.2 Trouble-shooting tables 4-2

4.2.1 Power drive 4-2
4.2.2 Processor unit 4-3
4.2.2.1 Storage mode 4-3
4.2.2.2 Serial mode 4-4
4.2.2.3 Parallel mode 4-5
4.2.2.4 Network mode 4-6
4.2.3 Error messages 4-9
4.2.3.1 Error messages in all operating modes 4-9
4.2.3.2 Error messages in network mode 4-11
4.3 Repair work 4-14
4.4 Storage, shipment 4-14
WDP5-118 Doc. no. 212.844/DGB 09.92

Table of contents
Page
5 Maintenance 5-1
5.1 Maintenance chart 5-1
5.2 Maintenance contract 5-1

5.2.1 Replacing the battery 5-1
5.3 Maintenance contract 5-2
6 Appendix 6-1
6.1 Unit variants 6-1
6.2 Accessories 6-2

6.2.1 Load resistor 6-4
6.2.2 ML 52 decade switch block 6-5
6.2.3 MP 940 decade switch interface 6-6
6.2.3.1 General description 6-6
6.2.3.2 Technical data 6-6
6.2.3.3 System integration 6-7
6.2.3.4 Delivered items 6-7
6.2.3.5 Accessories 6-7
6.2.3.6 Mounting 6-7
6.2.3.7 Starting up 6-8
6.2.4 Shaft encoder cable 6-9
6.2.5.1 Connecting the MP 922 hand-held programming unit 6-10
6.2.6 D 731 terminal adapter 6-11
6.2.6.5 Mounting 6-13
6.2.7 Heat sink 6-14
6.2.7.1 BERGER LAHR heat sink 6-14
6.2.7.2 Heat sink dimensioning 6-16
WDP5-118 Doc. no. 212.844/DGB 09.92

Table of contents
Page
6.2.8 Ventilator set 6-17
6.2.9 Motor cable 6-18
6.2.10 Motor cable filter 6-19
6.2.11 Mains filter 6-20
6.2.12 Interface cables 6-21
6.2.13 D 690 interface tester 6-22
6.2.13.5 Mounting 6-24
6.2.14 MP 923 interface converter 6-25
6.2.14.6 Status displays 6-27
6.2.15 MP 924 interface distributor 6-28
6.2.16 Signal cables 6-30
6.2.17 WDP5-118 set of connectors 6-31
6.3 Reference movement principle 6-32
6.4 Terminology 6-33
6.5 Abbreviations 6-35
7 Index 7-1
WDP5-118 Doc. no. 212.844/DGB 09.92

General description
1 General description
1.1 Structure and characteristics
The wall-mounted WDP5-118 positioning unit

(fig. 1-1) is used to control 5-phase stepping motors
moving along predefined paths with high positioning
accuracy and at an exactly defined speed. One unit
controls one axle.
The different operating modes allow various control
configurations. The positioning units may be incor-
porated in a complex control system in a very ver-
satile way.
A maximum of 124 positioning units (124 axles)
may be operated with a PC via a network.
The unit is designed for wall-mounting in a control

cabinet.
Fig. 1-1 WDP5-118 positioning unit
WDP5-118 Doc. no. 212.844/DGB 09.92 1-1

General description
Motor phase current

selector switch
Processor unit status
Power drive
display
status display
Operating mode selector switch

Speed selector switch
Acceleration selector switch
Serial interface
Shaft encoder connector

Parameter switch
power drive
Motor connector
! Signal connector
Mains and load
resistance connector
Labelling area
Fig. 1-2 WDP5-118 front panel
The following operating elements and displays are Operating mode selector switch (47)
disposed on the front panel (fig. 1-2): for setting the operating modes
Motor phase current selector switch (01) Speed selector switch (48)
for setting the motor phase current for setting the frequency and network address
Power drive status display (02) Acceleration selector switch (49)

Seven-segment display for indication for setting acceleration and network
of operating status and malfunctions address
Shaft encoder connector (05) RS 485 serial interface (52)

for rotation monitoring for data transfer of movement and setting
values
Motor connector (06)
for a wall-mounted 5-phase stepping motor Power drive parameter switch (54)
for setting the rotation monitoring, step angle,
Mains and load resistance connector (07) sense of rotation and power drive enable
for supplying the power drive functions
and an external load resistor with voltage
Signal connector (56)
Processor unit status displays (40 to 46) for signal inputs and outputs and voltage
Seven-segment display and LEDs for indication supply of the processor unit
of operating status and malfunctions
Labelling area
for the mounting location number
1-2 WDP5-118 Doc. no. 212.844/DGB 09.92

General description
1.2 Purpose
The wall-mounted WDP5-118 positioning unit is

used to control 5-phase stepping motors (see
5-phase stepping motor catalogue, doc. no. 371).
The unit can be employed as a drive unit in various
applications.
Depending on the application, one of the operating
modes described in chapter 1.3.3 can be set at the
unit.
The unit is designed for wall-mounting in a control
cabinet.
1.2.1 System configuration possibilities
Depending on the selected operating mode, the

WDP5-118 positioning unit may be incorporated in
a system in the following ways.
1.2.1.1 Storage mode
In storage mode (fig. 1-3), stored programs are se-

lected and processed by a PLC or relay controller.
Programming is effected with the MP 922 hand-
held programming unit (see MP 922 documenta-
tion) or a PC (see network mode).
Program
selection and
starting of
movement
Relay commands
controller WDP5- M
or 118
PLC
Programs
PC or
Network mode
"Memory"
MP 922
Fig. 1-3 Storage mode
WDP5-118 Doc. no. 212.844/DGB 09.92 1-3

General description
1.2.1.2 Serial mode
In serial mode (fig. 1-4), the individual movement

commands are transferred serially and initiated via
a PC or terminal (see also network mode).
Terminal or
Serial
transfer of WDP5-
PC M
118
movement
commands
and start
Fig. 1-4 Serial data transfer
1-4 WDP5-118 Doc. no. 212.844/DGB 09.92

General description
1.2.1.3 Parallel mode
In parallel mode (fig. 1-5 and 1-6), the individual A maximum of 16 decade switch interfaces can be
movement commands are transferred in parallel connected.
and initiated with a PLC or relay controller. Parameters can be modified, inputs tested or the
The MP 940 decade switch interface can be used position displayed with the MP 922 hand-held pro-
to enter the movement commands from a block of gramming unit or a PC (see network mode).
8 decade switches.
Relay
controller
or M
PLC
WDP5-
Parallel 118
transfer of
MP 940 movement
commands and
start
Parameters, test etc.
max. 16 Network mode
PC
"Parallel"
Decade or
switch MP 922
Fig. 1-5 Parallel data transfer with MP 940
Parallel
Relay transfer of
controller
or M
movement
PLC commands and
start WDP5-
118
Parameters, test etc.

PC Network mode
"Parallel"
Decade or
switch
MP 922
Fig. 1-6 Parallel data transfer without MP 940
WDP5-118 Doc. no. 212.844/DGB 09.92 1-5

General description
1.2.1.4 Network mode
In network mode (fig. 1-7), a maximum of 124

WDP5-118 units may be operated via a PC pro-
vided that 4 serial ports for 31 systems each are
available.
For this, the PRO-SDP/PC1 software must be in-
stalled on the PC. The operating modes "Memory"
(storage mode), "Serial" (serial mode) and "Paral-
lel" (parallel mode) are provided. In network mode,
the operating modes are selected on a PC.
NOTE
Programs and unit parameters
can be written on the PC and loaded
into one or several WDP5-118
units at a later time (off-line pro-
gramming).
PC WDP5-
118 M
with M
PRO-SDP/PC1
max. 124
Fig. 1-7 Network
1-6 WDP5-118 Doc. no. 212.844/DGB 09.92

General description
1.3 Function The status displays and selector block communi-

cate with the management processor. The opera-
ting mode, movement frequency, acceleration and
1.3.1 Hardware components network address are set at the selector switches. A
seven-segment display indicates malfunctions.
Two pc-boards with a size of 6 HU in eurocard for- The indexer calculates the movement commands
mat accomodating the power electronic system and based on the current parameter values. The result-
microprocessor control functions are installed in the ing pulse sequence with the start and acceleration
unit. The most important function blocks of the unit ramp is output to the power drive of the stepping
are evident in the block circuit diagram (fig. 1-8): motor.
The signal interface is used for opto-isolation of The power supply unit is a sophisticated AC/DC
the input and output signals between the external converter. It must be supplied with a 230 VAC or
controller and the internal electronic system. 115 VAC voltage. The energy generated by the
stepping motor when braking can be intermediately
A DC/DC power supply unit generates the differ- stored here up to a certain extent. An external load
ent internal electronic operating voltages. resistor must be connected for reducing surplus
braking energy.
The serial interface allows connection to external
programming and control units. The power drive transfers the energy supplied by
the mains module to the connected stepping motor
The management processor coordinates the in a suitable way. The selector switch is used for
movement commands as well as the input and out- setting the motor phase current. A shaft encoder
put functions. A maximum of 16 programs are man- possibly provided in the motor for rotation monitor-
aged here in storage mode ("Memory"). ing can be evaluated. A seven-segment display indi-
cates malfunctions.
115 VAC / 230 VAC WDP5-118

Load resistor ~ Power
supply
Processor unit unit =
Inputs
Outputs Signal
interface
Management
processor
= M
24 VDC
Indexer Power
= drive
RS 485 Serial
interface
Fig. 1-8 Block circuit diagram
WDP5-118 Doc. no. 212.844/DGB 09.92 1-7

General description
1.3.2 Rotation monitoring
The rotation monitoring unit consists of a shaft en-

coder and the electronic evaluation system. The
shaft encoder with 500 pulses/revolution is incorpor-
ated in the stepping motor.
The pulses issued by the shaft encoder are trans-

ferred from the stepping motor to the positioning
unit via the shaft encoder connector.
The rotation monitoring unit permanently compares

the set and actual positions during operation. The
status display of the processor unit signals a rota-
tion monitoring error, if the difference between the
set and actual position exceeds the permissible
limit value (motor disengages).
1-8 WDP5-118 Doc. no. 212.844/DGB 09.92

General description
1.3.3 Operating modes
Storage mode Serial mode Parallel mode Network mode
Syst. of incr. Syst. of

1200 bauds 9600 bauds
dimensions absol. dim.
Manual movement* Manual movement* Manual movement*

Install
Automatic run of Automatic run with Automatic run with Memory

stored programs serial data transfer parallel data transfer (storage mode)
Serial
Teach-in System setting System setting
(serial mode)
Programming A-Parallel
(parallel mode
absolute)
System setting
R-Parallel
(parallel mode
incremental)
* Operating possibilities with manual movement:

slow, fast manual movement, reference movement, set reference point
Fig. 1-9 Operating modes
Four operating modes are available with the In teach-in mode, the positions approached ma-
WDP5-118 unit depending on the system configura- nually are stored as movement commands and exe-
tion (fig. 1-9): cuted automatically.
Storage mode In automatic mode, the stored programs are exe-

cuted in the WDP5-118. A maximum of 16 pro-
In storage mode, movement commands are stored grams with approx. 1000 movement commands are
and processed in the positioning unit. possible. The individual programs are selected and
the movement commands started via parallel signal
The speeds "manual movement slow" and "manual inputs and outputs.
movement fast" are possible. The motor will rotate
at "manual frequency slow" or "manual frequency Programming and system setting is effected with
fast" as long as the input condition is fulfilled. the MP 922 hand-held programming unit or a PC
equipped with the PRO-SDP/PC1 software. The lat-
The manual reference movements serve to syn- ter permits the display of positions, display and modi-
chronize the mechanical zero point with the zero ref- fication of parameters, testing of inputs and outputs
erence point of the positioning unit. as well as management and printing of programs.
A reference point can be determined as a reference

value for the system of dimensions.
WDP5-118 Doc. no. 212.844/DGB 09.92 1-9

General description
Serial mode Network mode
The individual movement commands are trans- The operating modes "Memory" (storage mode),
ferred and started via the serial interface in serial "Serial" (serial mode) and "Parallel" (parallel mode)
mode. are supported in network mode.
The instructions are transferred to the positioning Programming and control is effected with the
controller in ASCII format 7 bits, even parity bit and PRO-SDP/PC1 software.
one stop bit. The transmission speed is 1200 or
9600 bauds. Programming can be performed independently of
the executing system, i.e. off-line. Operating mode
Positioning is effected with absolute or incremental setting and operation is effected via a PC. The
dimensions. transmission speed is 9600 bauds or 38.4 kbauds.
The programs are saved and archived on hard disk
The speeds "manual movement slow" and "manual or disk.
at "manual frequency slow" or "manual frequency
fast" as long as the input condition is fulfilled.
The manual reference movements serve to syn-

chronize the mechanical zero point with the zero ref-
erence point of the positioning unit.
In automatic mode, the individual movement com-

mands are transferred serially and initiated.
System setting is effected with the PC. It permits

displaying and modifying parameters, testing inputs
and outputs, etc.
Parallel mode
In parallel mode, the individual movement com-

mands are transferred and started via parallel in-
puts.
Positioning is effected with absolute or incremental

dimensions.
The speeds "manual movement slow" and "manual

at "manual frequency slow" or "manual frequency
fast" as long as the input condition is fulfilled.
The manual reference movements serve to syn-

chronize the mechanical zero point with the zero ref-
erence point of the positioning unit.
In automatic run, the individual movement com-

mands are transferred in parallel and initiated.
The system setting allows displaying and modifying

parameters, testing inputs and displaying positions.
1-10 WDP5-118 Doc. no. 212.844/DGB 09.92

General description
1.4 Technical data 1.4.1.4 Shaft encoder connection
1.4.1 Electrical data Maximum cable length 100 m

Wire cross-section 2 x 0.5/10 x 0.25 mm2
1.4.1.1 Mains connection Shield connection on both sides
Supply voltage, adaptable 115 VAC -20%/+15% 1.4.1.5 Signal connection

230 VAC -20%/+15%
Starting current 30 A
Maximum cable length 100 m
Fuse 6.3 A, slow-blow
Wire cross-section 0.25 mm2
Frequency 50 to 60 Hz
Shield connection on both sides
Power consumption max. 1600 VA
Power loss max. 120 W
Electrical properties of the inputs
Opto-isolated, polarity reversal protection

1.4.1.2 Motor connection
Signal voltage level 24 V
Maximum input voltage 30 V
Protected in case of short-circuit between motor phases
Typical input current at 24 V 7 mA
Maximum cable length
Turn-on voltage 15 V
without motor cable filter 50 m
with motor cable filter 100 m Turn-off voltage 4V
2
Wire cross-section 0.75 mm
Shield connection on both sides Electrical properties of the outputs
Motor voltage 325 VDC
Opto-isolated, polarity reversal protection, inductive
Phase current in 16 steps 0.75 to 4.5 A loadability, short-circuit protection
Maximum voltage 30 V
1.4.1.3 Further supply voltages Maximum switching current 400 mA
Voltage drop at 400 mA 2V
Processor unit
Supply voltage pitüit 24 VDC
Min. operating voltage (in the unit) 20 VDC
Max. operating voltage (in the unit) 30 VDC
Power consumption max. 500 mA
Ripple voltage < 500 mVss
Serial interface
4-wire RS 485 interface
Supply voltage output 12 VDC
Min. operating voltage (in the unit) 9 VDC
Max. operating voltage (in the unit) 18 VDC
Power output max. 150 mA
WDP5-118 Doc. no. 212.844/DGB 09.92 1-11

General description
179.5
16 165.5 14
5.4
162
309.8
280
299
131.3
125.5
89.3
! 69.5
51.2
0 0
= =
5.4
76.2
81.28
Fig. 1-10 WDP5-118 dimensions
1.4.1.6 Device protection
Type of protection IP 20 in accordance with ATTENTION

DIN 40050/IEC 529 Separation of the signal inputs
and 24 VDC supply voltages at
Class of protection 1
the signal connector from the
Protective circuits Overtemperature detection mains must be ensured. The max.
Short-circuit monitoring voltage to ground must not exceed
Undervoltage and overvoltage 60 VDC.
detection
1-12 WDP5-118 Doc. no. 212.844/DGB 09.92

General description
1.4.2 Mechanical data
Dimensions see fig. 1-10

Weight
without heat sink approx. 3.3 kg
with heat sink approx. 6.9 kg
1.4.3 Environmental conditions
Ambient temperature 0°C to 50°C

Storage temperature -25°C to +70°C
Humidity class F acc. to DIN 40040
Radio interference acc. to VDE 0871-B
suppression when using
additional power or motor
cable filters (see accessories)
Overvoltage protection acc. to VDE 0160
class 2
Noise immunity acc. to VDE 0843/IEC 801
WDP5-118 Doc. no. 212.844/DGB 09.92 1-13

General description
1-14 WDP5-118 Doc. no. 212.844/DGB 09.92

Installation
2 Installation
2.1 Delivered items
The delivery must be checked for completeness.
The delivered items include (fig. 2-1):
Qty. Designation
1 WDP5-118.XX
1 Connector shell – mains connector
1 Connector shell – motor connector
1 Heat transfer compound
1 WDP5-118
documentation
Fig. 2-1 Delivered items
WDP5-118 Doc. no. 212.844/DGB 09.92 2-1

Installation
2.2 Accessories
The following accessories (see chapter 6.2) must

be ordered separately:
Designation Order number

D 690 interface tester 62010690006
D 731 terminal adapter 62010731006
Heat sink 62500901000
Interface cable, male/female see appendix
Interface cable, male/male see appendix
Load resistor 62501100600
Mains filter 62501100200
ML 52 decade switch block 62300052000
Motor cable see appendix
Motor cable filter 62501100100
MP 922 hand-held 62020922000
programming unit
MP 923 interface converter 62020923000
(RS 485/RS 232)
MP 924 interface distributor 62020924006
MP 940 decade switch interface 62020940000
PRO-SDP/PC1 software 61700023010
(version 2.01 or higher)
Shaft encoder cable see appendix
Signal cable see appendix
Stepping motor see catalogue
doc. no. 371
Terminal program BTERM 61700040610
Ventilator set 62501201000
WDP5-118 set of connectors 62501000200
2-2 WDP5-118 Doc. no. 212.844/DGB 09.92

Installation
2.3 Mounting
The unit must be installed in a control cabinet and

externally ventilated. The mounting panel should be Pl [W] TTEMP.INT
heat-conducting and have a smooth mounting sur- [ C]
120
face as heat losses of the unit are dissipated via the Pl
mounting flange. 100
The maximum power loss of the unit is 120 W.
80 80
ATTENTION
60
Clean air supply in the control ca- 70
binet must be ensured. 40 TTEMP.INT
60
NOTE 20
In case of insufficient heat dissi-
pation, a heat sink and a ventilator I [A]
1 2 3 4 Phase
set may be installed additionally,
see chapter 6.2.7 and 6.2.8. Pl = Power loss
TTEMP.INT = Temperature prewarning
Proper temperature conditions can be achieved
with the heat sinks and ventilators recommended
by BERGER LAHR. If other solutions are used, tem-
perature measurement must be effected by the Fig. 2-2 Power loss diagramm
user. The maximum permissible temperature at the
mounting flange and the power loss is evident in
fig. 2-2. Distances
WDP5-118
WDP5-228
WDP5-318
WD5-008
A fork wrench is required for mounting the unit, fur- between
WP-111
WP-231
WP-311
ther special tools are not required. centre lines
(mm) when
1. Drill two holes in the mounting panel, using com-
dimensions see fig. 1-10. bined units
2. Apply heat transfer compound between the WD5-008 87 87 87 87 74 74 74
rear panel and mounting panel. WDP5-118 87 87 87 87 74 74 74
WDP5-228 87 87 87 87 74 74 74
3. Fasten the unit with two M6 screws.
WDP5-318 87 87 87 87 74 74 74
NOTE WP-111 74 74 74 74 61 61 61
For combined units, take the di-
WP-231 74 74 74 74 61 61 61
stances between centre lines
into account; see table (dimensi- WP-311 74 74 74 74 61 61 61
ons given in mm).
NOTE
The mounting procedure with
heat sink and ventilator set is de-
scribed in chapters 6.2.7 and
6.2.8.
WDP5-118 Doc. no. 212.844/DGB 09.92 2-3

Installation
2.4 Cabling
ATTENTION
Cabling may only be performed in
accordance with VDE 0105 by
specially trained personnel.
ATTENTION
The mains connector must be un-
plugged every time cabling is per-
formed.
ATTENTION
Lay power, motor and signal
cables in different ducts.
2.4.1 Mains connection
1. Loosen screws and remove mains connector

(fig. 2-3).
2. Provide the power cable connector with

wire end ferrules. → L
3. Fasten three litz wires with screws: → N
→
L Phase (115 or 230 VAC)
N Neutral B+
Protective conductor B-
4. Screw cable to connector shell.
5. Put the two halves of the connector shell

together.
Fig. 2-3 Mains connection – unit side
6. Fasten the connector on the front panel
(item 07).
ATTENTION
The mains connector must neither
be plugged in, nor the supply vol-
tages switched on.
NOTE
A mains filter can be inserted to
avoid interference, see chapter
6.2.11.
NOTE
A load resistor must be connected
to B+/B-, if status display "4" of the
power drive lights up when bra-
king in operation, see chapter
6.2.1.
2-4 WDP5-118 Doc. no. 212.844/DGB 09.92

Installation
2.4.2 Motor connection
1. Loosen screws and remove motor connector

(fig. 2-4).
2. Provide motor cable connector with wire

end ferrules.
→ A1
→ A2
3. Fasten six litz wires with screws: → A3
→ A4
Unit side Wire Motor side
→ A5
A1 yellow Connector 1
→
A2 blue Connector 2
A3 pink Connector 3
A4 grey Connector 4
A5 brown Connector 5
Fig. 2-4 Motor connector – unit side
Shield connector
ATTENTION
The cable must be screened on grey
both sides.
brown

5
together. yellow
1 4
S
shield
(item 06). 2 3
blue
NOTE
A motor cable filter must be inser- pink
ted in case of cables exceeding
50 m in length, see chapter
6.2.10.
Fig. 2-5 Motor connector – motor side
WDP5-118 Doc. no. 212.844/DGB 09.92 2-5

Installation
2.4.3 Shaft encoder connection
1. Solder the litz wires to the connector according
1
to fig. 2-6. A
—
9
A
2
2. Push the shield back and fasten with cable +5V
10
Unused
3
tie. ⊥ 5V
11
-SENSE
4
3. Screw two hexagon head bolts (fig. 2-7) into Unused
12
B
5
the connector shell. —
B
13
6
4. Put connector into connector shell.
14
7
15
5. Fasten cable and shield to the connector shell
8
without strain.
ATTENTION
There must be a good electrical
connection between the shield
and the connector shell.
The cable must be screened on Fig. 2-6 Shaft encoder connection – unit side
both sides.
6. Insert two caps in unused cable entries.
7. Fix the two halves of the connector shell with

two screws.

(item 05) with screws.
Shield
Cable
9. The litz wires of the shaft encoder cable
must be twisted in pairs in accordance with
fig. 2-8. Litz wires 7-9 and 8-10 must be
connected on the motor side.
10. Establish the connection on the motor side.

Fig. 2-7 Shaft encoder connector assembly –
unit side
A
—
A
+5V
Unused 2 1
8
⊥ 5V 10
7
-SENSE 9
Unused 12
3
B
—
4
B
Twist litz wires in pairs
Fig. 2-8 Shaft encoder connection – motor side
2-6 WDP5-118 Doc. no. 212.844/DGB 09.92

Installation
2.4.4 Signal connection
1. Solder the litz wires to the connector

in accordance with chapters 2.4.4.1 to
2.4.4.4 depending on the operating mode.
ATTENTION
Free, unassigned pins must not
be wired.
Shield
2. Push the shield back and fix with cable tie. Cable
3. Screw two hexagon head bolts (fig. 2-9) into

the connector shell.
4. Put the connector into the connector shell.
5. Fasten the cable and shield to the connector Fig. 2-9 Signal connector assembly – unit side
shell without strain.
ATTENTION
A good electrical connection must
be established between the shield
Screen the cable on both sides.
6. Insert two caps in unused cable entries.
7. Fix the two halves of the connector shell with

two screws.

(item 56).
ATTENTION
Separation of all signal connecti-
ons from the mains must be ensu-
red. The voltage to ground must
not exceed 60 VDC. All signal
circuits are connected to ground
via a 1 Mohm leakage resistor.
WDP5-118 Doc. no. 212.844/DGB 09.92 2-7

Installation
2.4.4.1 Signal connection in storage mode
Pin Abbreviation Meaning

1 LIM.X- Negative limit switch ←
2 - -
3 - -
4 START Start ←
5 LOAD Store position ←
6 ADD.REF. Additional reference switch ←
7 MAN.X- Manual movement, CCW rotation ←
8 MAN.L/H Slow/fast manual movement ←
2
9 DATA4 Program number 2 ←
11 - -
12 - -
13 - -
14 FAULT/CL Error →
15 READY O. Ready for operation →
16 24VDC System supply voltage ←
18 IO24VDC I/O supply voltage ←
20 LIM.X+ Positive limit switch ←
21 - -
22 RM RESET Rotation monitoring reset ←
23 STOP Stop ←
24 RS/CL.A. Program start ←
25 AUTOM Automatic operation ←
26 MAN.X+ Manual movement, CW rotation ←
27 MAN.REF. Manual reference movement ←
3
1
30 - -
31 - -
32 - -
33 INPOS Position reached →
34 END/L.A. Program end →
35 24VGND System supply voltage ground ←
37 IOGND I/O supply voltage ground ←
active-low signal ← input → output
2-8 WDP5-118 Doc. no. 212.844/DGB 09.92

Installation
24VDC External power supply unit

= buffered +24V
GND =
1
LIM.X-
20
LIM.X+
21
3
22
RM RESET
4
START
23
STOP
5
LOAD
24
RS/CL.A.
6
ADD.REF.
25
AUTOM
7
MAN.X-
26
MAN.X+
8
MAN.L/H
27
MAN.REF.
9
DATA4
28
DATA8
10
DATA1
29
DATA2
11
30
12
31
13
32
14
FAULT/CL
INPOS 33
15
READY O.
34
END/L.A.
16
24VDC
35
24VGND
17
36
18
37
IOGND
19
IO24VDC
Fig. 2-10 Example of wiring for storage mode
WDP5-118 Doc. no. 212.844/DGB 09.92 2-9

Installation
2.4.4.2 Signal connection in serial mode

2 - -
3 - -
4 - -
9 - -
10 - -
11 - -
12 - -
13 - -
21 - -
23 STOP Stop ←
24 - -
28 - -
29 - -
30 - -
31 - -
32 - -
34 - -
2-10 WDP5-118 Doc. no. 212.844/DGB 09.92

Installation

= buffered +24V
GND =
1
LIM.X-
20
LIM.X+
21
3
22
RM RESET
23
STOP
5
LOAD
24
6
ADD.REF.
25
AUTOM
7
MAN.X-
26
MAN.X+
8
MAN.L/H
27
MAN.REF.
28
10
29
11
30
12
31
13
32
14
FAULT/CL
INPOS 33
15
READY O.
34
16
24VDC
35
24VGND
17
36
18
37
IOGND
19
IO24VDC
Fig. 2-11 Example of wiring for serial mode
WDP5-118 Doc. no. 212.844/DGB 09.92 2-11

Installation
2.4.4.3 Signal connection in parallel mode

2 - -
3 - -
4 START Start ←
5 LOAD Load ←
2
9 DATA4 Decade value 2 ←
11 - -
12 - -
13 - -
14 FAULT/CL Error and clock signal →
21 - -
23 STOP Stop ←
24 RS/CL.A. Clock acknowledge ←
3
1
30 - -
31 - -
32 - -
34 END/L.A. Load acknowledge →
2-12 WDP5-118 Doc. no. 212.844/DGB 09.92

Installation

= buffered +24V
GND =
1
LIM.X-
20
LIM.X+
21
3
22
RM RESET
23
STOP
24
6
ADD.REF.
25
AUTOM
7
MAN.X-
26
MAN.X+
8
MAN.L/H
27
MAN.REF.
9
START+LOAD
28
10
12 9
29
1
11
30
2 DATA4
12
DATA8
31
3 DATA1 13
DATA2
32
MP 940
ML 52
4
14
FAULT/CL
INPOS 33
5
15
READY O.
34
END/L.A.
16
6
24VDC
35
24VGND
17
7
36
18
10 8
37
14 13 11
IOGND
19
RS/CL.A.
IO24VDC
Fig. 2-12 Example of wiring for parallel mode with

MP 940 decade switch interface
NOTE NOTE
Should a decade switch block The MP 940 decade switch inter-
other than ML 52 be used, wiring face is described in chapter 6.2.3.
must be effected as per chapter
6.2.2.
WDP5-118 Doc. no. 212.844/DGB 09.92 2-13

Installation

= buffered +24V
GND =
1
LIM.X-
20
LIM.X+
2
ADD.REF.
21
LIM.X-
LIM.X+
22
4
START
23
STOP STOP
5
LOAD
24
RS/CL.A.
6
ADD.REF.
25
AUTOM
MAN.X-
7
MAN.X-
26
MAN.X+
8
MAN.L/H
27
MAN.REF.
MAN.X+
9
PLC DATA4
28
DATA8
10
DATA1
29
DATA2
11
MAN.L/H
30
12
31
13
MAN.REF. FOLLOW.F. 32
TEMP.OK
14
FAULT/CL
33
INPOS
15
READY O.
34
END/L.A.
16
24VDC
35
24VGND
17
36
18
37
IOGND
19
IO24VDC
Fig. 2-13 Example of wiring for parallel mode without

decade switch interface
2-14 WDP5-118 Doc. no. 212.844/DGB 09.92

Installation
2.4.4.4 Signal connection in network mode
The possibilities of signal connection in the network

operating modes are contained in the following
chapters:
"Memory" Storage mode see chapter 2.4.4.1

"Serial" Serial mode see chapter 2.4.4.2
"Parallel" Parallel mode see chapter 2.4.4.3
WDP5-118 Doc. no. 212.844/DGB 09.92 2-15

Installation
2.4.5 Serial interface (RS 485)
NOTE
+12V
1
The serial interface (RS 485) is
6
operated as a four-wire interface. GND
7
1. Solder litz wires to connector according to TxD
3
fig. 2-14. TxD
8
RxD
4
RxD
9
Pin Signal Meaning Direction RGND
5
1, 6 +12V MP 923 supply voltage →
2, 7 GND MP 923 supply voltage →
ground
3 TxD Transmit data inverted →
4 RxD Receive data inverted ← Fig. 2-14 Interface connector – unit side
5 RGND Signal ground
8 TxD Transmit data →
9 RxD Receive data ←
← input → output
2. Push shield back and fix with cable tie.
3. Screw two hexagon head bolts (fig. 2-15) into

the connector shell. Shield
Cable
4. Put the connector into the connector shell.
5. Fasten the cable and shield to the connector

shell without strain.
ATTENTION
A good electrical connection must
Fig. 2-15 Interface connector assembly
be established between the shield
The cable must be screened on
both sides.
6. Insert two caps in unused cable entries. NOTE

The MP 924 interface distributor
7. Fix the two halves of the connector shell with may be used in network mode to
two screws. control eight units, see chapter
6.2.15.
(item 52).
NOTE
The MP 923 interface converter
may be used for a computer with
a RS 232 interface in serial and
network mode, see chapter
6.2.14.
2-16 WDP5-118 Doc. no. 212.844/DGB 09.92

Installation
2.5 Starting up
2.5.1 Defaults
The following table shows the standard parameter

settings, ex works:
Parameter Meaning Range Factory

setting
"Manual frequency slow" Step frequency (speed) for controlling the 32 to 20000 Hz 100 Hz
stepping motor in slow manual movement mode
"Manual frequency fast" Step frequency (speed) for controlling the 32 to 20000 Hz 1000 Hz
stepping motor in fast manual movement mode
"Settling time" tE Time for detecting a stable input signal 1 to 255 ms 4 ms
"Gear ratio denominator" Denominator value for calculating the gear ratio 1 to 255 1
(speed reducer or speed-transforming
transmission)
"Gear ratio numerator" Numerator value for calculating the gear ratio 1 to 255 1
(speed reducer or speed-transforming
transmission)
Manual frequency Frequency for movement towards the limit or 32 to 20000 Hz 2000 Hz
"REF IN"* reference switch
Manual frequency Frequency for movement away from the limit or 32 to 5000 Hz 300 Hz
"REF OUT" reference switch to the reference point
"Readings"** Number of reading repeats for detecting an 1 to 255 2
8-digit decade value
"Decade settling time"** Number of reading repeats for detecting a 5 to 255 5
decade value
"Reference position"** Reference dimension after setting the reference ±8388607 0
point or switching the positioning unit on
* In serial mode, always the last set frequency

** In parallel mode only
NOTE
These parameters may be modi-
fied with the MP 922 hand-held
programming unit (in storage or
parallel mode) or with a PC (in
serial or network mode).
WDP5-118 Doc. no. 212.844/DGB 09.92 2-17

Installation
1. The supply voltages of the unit must not be 4. Set the desired speed (frequency) for
switched on. positioning in automatic run at selector
switch (48):
2. Set the desired operating mode at the selector
switch (47):
Position Frequency in Hz
NOTE EF
01
23
BC D
The network address must be set 47 0 32
45
67
8 9A
before selecting network mode, EF

01
1 100
23
BC D
see chapter 3.6.1. 48
45
2 500
67
8 9A
01
EF
3 1000
23
BC D
49
45
67
8 9A
Position Mode 4 2000

01
EF
5 3000
23
0 Storage mode
BC D
47
45
67
A
89
EF
01 1 Load operating 6 4000
23
BC D
48 program for MP 922

45
67
7 5000
A
89
EF
01 2 Serial mode with 8 6000
23
BC D
49 1200 bauds
45
67
A
9 8000
89
(ASCII 7 bits, even

parity bit, one stop bit) A 10000
3 Serial mode with B 12000
9600 bauds C 14000
(ASCII 7 bits, even
parity bit, one stop bit) D 16000
4 Parallel mode in E 18000
system of absolute F 20000
dimensions
5 Parallel mode in The set frequency is accepted, if input
system of AUTOM is activated.
incremental
dimensions NOTE
6 Network mode with The frequency may be modified in
9600 bauds automatic run of the individual
operating modes.
7 Network mode with
38.4 kbauds The value of tens of the network address: 0
8 Set network address to 3 is set at the selector switch (48) in net-
9 to F No function work mode. The network address may range
from 1 to 31.
NOTE
The operating modes "Install",
"Memory","Serial","Parallel"are
s e t v i a t h e P C i n n e t w o rk
mode, see PRO-SDP/PC1 doc-
umentation.
3. Verify that all connectors have been

connected correctly.
2-18 WDP5-118 Doc. no. 212.844/DGB 09.92

Installation
5. Set the desired acceleration value for positioning 6. Set the parameters at switch (54):
in automatic run and for manual movement at
the selector switch (49):
ON OFF
1 Rotation monitoring
Position Acceleration Full step 2 Half step Step angle
EF
01
in Hz/ms CCW rot. 3 CW rot. Sense of rotation
23
Power drive
BC D
47 4
45
67
8 9A
0 4 enable
01
EF
23
1 6
BC D
48
45
67
8 9A
EF
01 2 10 Rotation monitoring:
23
BC D
49
45
8 9A
67
3 15 Switch 1 must be in position ON. Position OFF
4 20 causes an error message. Rotation monitoring may
be disabled by activating signal RM RESET. If sig-
5 30 nal RM RESET is inactive, rotation monitoring may
6 50 be disabled with the G36 command and enabled
with the G37 command (see chapter 3).
7 100
8 200 Step angle:
9 300 Refers to the rotary angle, trough which the step-
ping motor shaft rotates for each control pulse.
A 400 Full step: 0500 steps/revolution (0.72°/step)
B 500 Half step: 1000 steps/revolution (0.36°/step)
C 600
Sense of rotation:
D 700 Front view to motor shaft when moving in positive
E 800 direction
Clockwise rotation (CW): Sense of rotation in
F 1000
clockwise direction
Counterclockwise Sense of rotation in
The set acceleration value is accepted, if rotation (CCW): counterclockwise direction
input AUTOM is activated.
Power drive enable:
NOTE Switch 4 must be in position OFF.
Acceleration may be modified in
automatic run of the individual
operating modes (except parallel
mode).
The value of ones of the network address: 0

to 9 is set at the selector switch (49) in net-
work mode. The network address may range
from 1 to 31.
WDP5-118 Doc. no. 212.844/DGB 09.92 2-19

Installation
7. Set motor phase current at selector switch (01)

in accordance with the motor type plate and I Phase [A]
the following diagram (fig. 2-16):
100 m motor cable
4
25 m motor cable Heat sink with ventilation
Heat sink without ventilation
01 Position Phase current
EF
01
3 50 m motor cable 50 m motor cable
in A
23
BC D
Heat sink without Heat sink with

45
67
ventilation
A
89
ventilation
0 0.75
2
1 1.00 100 m motor cable
Heat sink without ventilation
2 1.25
1
3 1.50
4 1.75
20 25 30 35 40 45 50
5 2.00
Ambient temperature [˚C]
6 2.25
7 2.50
8 2.75 Fig. 2-16 Admissible phase current as a function
9 3.00 of ambient temperature and motor cable length
A 3.25
B 3.50
C 3.75 2.5.2 Testing
D 4.00
E 4.25 A manual movement and/or a manual reference
movement should be performed as per chapter 3
F 4.50
for checking cabling and settings.
ATTENTION
The set phase current must be
less or equal to the nominal phase
current stipulated on the motor
type plate (the lower the set phase
current, the lower the motor
torque).
ATTENTION
The cover must be screwed back
on after setting.
8. Plug in mains connector and switch on

the supply voltage for the Power drive and
processor unit. The seven-segment displays
(items 02 and 40) indicate "readiness" by
lighting of the point.
2-20 WDP5-118 Doc. no. 212.844/DGB 09.92

Operating possibilities Operation
3 Operation
3.1 Operating possibilities

NOTE
The unit recognizes the position of
The operating possibilities of WDP5-118 depend on the operating mode selector
the position of the operating mode selector switch switch only when switching the
(47) and the AUTOM input signal: supply voltage on.
Operating mode Operating mode Input signal Operating possibility Reference

selector switch AUTOM*
position
0 Storage mode 0 Manual movement (fast, slow, see chapter
reference movement, set reference 3.3.1
point)
Teach-in see chapter
3.3.1.5 and
3.3.1.6
Operation with MP 922 hand-held see chapter
programming unit 3.3.3
1 Automatic run of stored movement see chapter
programs 3.3.2
1 Load operating random Operation with MP 922 hand-held see
program for programming unit documentatio
MP 922 n MP 922
2 Serial mode with 0 Manual movement (fast, slow, see chapter
1200 bauds reference movement, set reference 3.4.1
point)
3 Serial mode with Limited operation via terminal or PC see chapter
9600 bauds 3.4.3
1 Automatic run with operation via see chapter
terminal or PC 3.4.2
4 Parallel mode 0 Manual movement (fast, slow, see chapter
with absolute reference movement, set reference 3.5.1
dimensions point)
5 Operation with MP 922 hand-held see chapter
Parallel mode programming unit 3.5.3
with incremental 1 Automatic run with parallel data see chapter
dimensions transfer (absolute or incremental 3.5.2
dimensions)
6 Network mode 0 Manual movement (fast, slow, see chapter
with 9600 bauds reference movement, set reference 3.6
point)
7 Network mode Teach-in (in network operating mode see chapter
with 38.4 kbauds "Memory") 3.6.3
Limited operation via PC with see chapter
PRO-SDP/PC1 software 3.6
1 Setting the network mode and see chapter
operation via PC PRO-SDP/PC1 3.6
software
8 Set network random see chapter
address 3.6.1
* 0 = input inactive 1 = input active
WDP5-118 Doc. no. 212.844/DGB 09.92 3-1

Operation Starting up
3.2 Starting up NOTE

The desired operating mode must
have been set when switching on
ATTENTION (see chapter 2.5.1). Modification
The set supply voltage for the po- of an operating mode is only reco-
wer drive must correspond with gnized on switching the unit on
the stipulated supply voltage (see again.
type plate).
1. Switch on the supply voltage for the
ATTENTION power drive (115 or 230 VAC).
Do not touch live parts of the unit
or system and avoid contact with 2. Switch on the supply voltage for the
electrically conducting objects. processor unit (24 VDC).
ATTENTION 3. The unit is "ready" when the point of

While positioning, no persons or the seven-segment displays (items 02 and 40)
objects must linger in the moving lights up.
range of the system.
4. Enable rotation monitoring.
ATTENTION Rotation monitoring is enabled, if signal RM
The unit must be grounded by a RESET is deactivated. If this signal is deacti-
protective conductor. vated, rotation monitoring may be disabled or
enabled in serial mode with the G36 or G37
ATTENTION command, respectively.
The basic settings of the unit must Rotation monitoring is disabled by activating
meet the requirements, see chap- signal RM RESET. The zero current feature
ter 2.5. may then be enabled or disabled with the
The following conditions must be fulfilled before Transient recovery time of motor
switching on the unit: Brake
Condition Reference RM RESET
Do the environmental conditions see chapter * *

G36 G37 G36 G37
correspond with the technical 1.4
data? Rotation
monitoring
Is there sufficient space for air see chapter
supply and discharge? 1.4 Zero current
Has the unit been cabled correct- see chapter
ly? 2.4 * Only for serial mode
Has the desired operating mode see chapter

been set at the selector switch? 2.5.1 Fig. 3-1 Rotation monitoring
Have the desired speed and acce- see chapter
leration values been set at the se- 2.5.1
lector switches in automatic run? G36 or G37 command respectively.
If the axle is provided with a brake, it must be
Has the motor phase current been see chapter ensured that the rotation monitoring feature
adjusted correctly? 2.5.1 is only enabled after venting the brake and if
Have the desired power drive para- see chapter the motor is in a transient condition.
meters been set? 2.5.1
NOTE
The motor phase current is re-
duced to 75% during standstill
(pulse frequency <10Hz). This
causes the motor to cool down
and the holding torque to be re-
duced to 75%.
3-2 WDP5-118 Doc. no. 212.844/DGB 09.92

Storage mode Operation
3.3 Storage mode
The following operating possibilities are available in

storage mode:
Manual movement Automatic run
– Slow manual movement – Automatic run of stored programs

The stepping motor rotates at "Manual fre-
quency slow" which can be modified
as a parameter. The parameter value is
adjustable, factory setting 100 Hz.
– Fast manual movement

quency fast" which may be modified
as a parameter. The parameter value is
adjustable, factory setting 1 kHz.
– Manual reference movement

The stepping motor keeps rotating at fre-
quency "REF IN", which may be modified
as a parameter, until it reaches either the
right limit switch or additional reference
switch. The parameter value "REF IN" is
adjustable, factory setting 1 kHz.
On detecting the selected limit switch and
braking, the stepping motor leaves the
limit switch or reference switch at fre-
quency "REF OUT", which may be modi-
fied as a parameter, and stops. This posi-
tion serves as the reference point for the
system of dimensions.
The parameter value "REF OUT" is adju-
stable, factory setting 300 Hz.
– Setting the manual reference point

The "reference position" (factory setting 0),
which may be modified as a parameter, is
accepted as the new reference value for
the system of dimensions by activating two
inputs. A reference movement is not re-
quired.
– Manually approached positions are stored

as movement commands with teach-in.
Teach-in may be effected with or without
the MP 922 hand-held programming unit in
automatic run.
WDP5-118 Doc. no. 212.844/DGB 09.92 3-3

Operation Storage mode
Control signals in storage mode

1
2 - -
20
2
3 - -
21
3
←
22
4 START Start
4
23

5
24
←
6
6 ADD.REF. Additional reference switch

25
7

26
8

27
9
2
←
28
9 DATA4 Program number 2

10
29
Program number 20 ←
11
10 DATA1
30
12
11 - -
31
13
12 - -
32
14
33
13 - -
15
34
16
35
→
17
15 READY O. Ready for operation

36
18

37
19

21 - -
23 STOP Stop ←
24 RS/CL.A. Program start ←
3
1
30 - -
31 - -
32 - -
34 END/L.A. Program end →
3-4 WDP5-118 Doc. no. 212.844/DGB 09.92

3.3.1 Manual movement
3.3.1.1 Slow manual movement
1. Deactivate input AUTOM.
2. Select the sense of rotation:

– For positive sense of rotation in clockwise AUTOM
direction viewed to motor shaft:
activate input MAN.X+.
– For negative sense of rotation in counter- MAN.X+
clockwise direction viewed to motor shaft: or
MAN.X-
activate input MAN.X-.
Stepping motor rotates at
"Manual frequency slow"
→ The motor rotates at "Manual frequency
slow" in the selected direction, as long
as input MAN.X+ or MAN.X- is active
and the limit switch is not reached.
Fig. 3-2 Slow manual movement
NOTE
The effect of inputs MAN.X+ and
MAN.X- may be modified with pa-
rameter switch (54).
NOTE
If input MAN.X+ or MAN.X- is acti-
vated only for a short time (<0.5 s),
the motor performs a step.
NOTE
The motor accelerates/decelera-
tes during manual movement ac-
cording to the value set at the
selector switch (49) before swit-
ching on.
NOTE
The parameter "Manual frequen-
cy slow" may be modified with the
MP 922 hand-held programming
unit or PC (in network mode)
(factory setting 100 Hz).
WDP5-118 Doc. no. 212.844/DGB 09.92 3-5

3.3.1.2 Fast manual movement

activate input MAN.X+ and MAN.L/H simul- ≥ tE
taneously (longer than settling time tE). MAN.X+
or
– For negative sense of rotation in counter- MAN.X-
clockwise direction viewed to motor shaft:
activate input MAN.X- and MAN.L/H.
MAN.L/H
fast" in the desired direction, as long as
the inputs MAN.X- or MAN.X- and "Manual frequency fast"
MAN.L/H are active.
NOTE
The effect of the inputs MAN.X+
and MAN.X- may be modified with Fig. 3-3 Fast manual movement
parameter switch (54).
NOTE
ching on.
NOTE
The parameter "maximum ma-
nual frequency" may be modified
with the MP 922 hand-held pro-
gramming unit or PC (in network
mode) (factory setting 1 kHz).
3-6 WDP5-118 Doc. no. 212.844/DGB 09.92

3.3.1.3 Manual reference movement
NOTE
Reference movement principle
see chapter 6.3.
AUTOM
MAN.X+
≥ tE
2. For performing a movement towards the limit or
switch in clockwise direction: MAN.X-
or
activate inputs MAN.X+ and MAN.REF simul- MAN.L/H
taneously (longer than settling time tE).
MAN.REF.
3. For performing a movement towards the limit
switch in counterclockwise direction:
activate inputs MAN.X- and MAN.REF simul- "REF IN"
4. For performing a movement towards the addi-

tional reference switch: Fig. 3-4 Manual reference movement
activate inputs MAN.L/H and MAN.REF sim-
ultaneously (longer than settling time tE).
→ The motor keeps rotating at frequency

"REF IN" in the selected direction until
the limit switch or additional reference
switch is detected. It then leaves the limit
switch at frequency "REF OUT" and
stops. This position serves as the refer-
ence point for the system of dimensions.
NOTE
A reference movement may be
interrupted by activating input
STOP.
NOTE
The effect of the inputs MAN.X+,
MAN.X- and MAN.L/H may be
modified with the parameter
switch (54).
NOTE
ching on.
NOTE
The parameters "REF IN" and
"REF OUT" may be modified with
the MP 922 hand-held program-
ming unit or PC (in network mode)
(factory setting "REF IN" 1 kHz,
"REF OUT" 300 Hz).
WDP5-118 Doc. no. 212.844/DGB 09.92 3-7

3.3.1.4 Setting manual reference point
2. Activate inputs MAN.REF and LOAD simul- AUTOM

≥ tE
→ The value of the "reference position" ser-
ves as the new reference value for the
system of dimensions. MAN.REF.
NOTE
The parameter "reference positi-
on" may be modified with the MP LOAD
922 hand-held programming unit
or PC (in network mode) (factory
setting 0).
Fig. 3-5 Setting manual reference point
NOTE
An example of wiring the function
"Setting manual reference point"
is shown in fig. 3-6.
24 VDC MAN.REF.
LOAD
Fig. 3-6 Example of wiring "Setting manual

reference point"
3-8 WDP5-118 Doc. no. 212.844/DGB 09.92

3.3.1.5 Teach-in with MP 922 hand-held

programming unit
1. Switch off supply voltage for processor

unit.
AUTOM
2. Connect MP 922 hand-held programming unit
to the serial interface of the unit, see chapter
≥ tE
6.2.5.
LOAD
3. Set operating mode selector switch (47) to "0".
4. Switch on supply voltage for processor

unit. INPOS
→ LED 43 and LED 45 light up.
Position is
5. Deactivate input AUTOM. stored
6. Enter the program and line number with

the "Edit" command of the hand-held pro-
gramming unit, before which the teach-in po- Fig. 3-7 Teach-in
sitions must be stored, see MP 922 documen-
tation.
10. Activate input LOAD temporarily (longer than
7. Exit from the "Edit" command with the settling time tE).
"." key of the hand-held programming unit. → The position is stored as an absolute po-
sition.
8. Perform a manual reference movement (see Acceptance is indicated by output
chapter 3.3.1.3) or set a manual reference INPOS.
point (see chapter 3.3.1.4) after switching on
for the first time or if a malfunction has oc- 11. Approach next position and store.
curred in the unit.
NOTE
NOTE The individual positions should be
The reference point for the system approached during the mechani-
of dimensions must be the same cal reversal in the same direction
as the one used during the auto- as in the automatic run later.
matic program run at a later time, The individual positions are al-
as the teach-in positions are always stored as absolute positi-
ways stored as absolute positions.
ons.
12. The program prepared in teach-in mode can be
9. Approach the desired position manually, edited with the hand-held programming unit,
see chapter 3.3.1.1 or 3.3.1.2. see MP 922 documentation.
NOTE
The position may be indicated
with the "Pos" command on the
hand-held programming unit.
WDP5-118 Doc. no. 212.844/DGB 09.92 3-9

3.3.1.6 Teach-in without MP 922 hand-held

programming unit
1. Wire teach-in connector according to fig. 3-8

(9-pole sub-D connector, female, DIN 41651,
quality level 2).
1
2. Plug teach-in connector into serial interface
connector.
6
3
7
R V = 2 kohms
8
unit.
9
4. Set operating mode selector switch (47) to "0".

unit.
Fig. 3-8 Teach-in connector
7. Carry out reference movement or set reference

point manually.
8. Define the desired program number under

which the teach-in positions may be stored by
activating or deactivating the four inputs DATA1
to DATA8 in accordance with the following
principle:
DATA8 DATA4 DATA2 DATA1 Program

number
0 0 0 0 0
0 0 0 1 1
0 0 1 0 2
0 0 1 1 3
0 1 0 0 4
0 1 0 1 5
0 1 1 0 6
0 1 1 1 7
1 0 0 0 8
1 0 0 1 9
1 0 1 0 10
1 0 1 1 11
1 1 0 0 12
1 1 0 1 13
1 1 1 0 14 NOTE
A program number under which
1 1 1 1 15
no program has been stored yet
should be selected, this program
0 = input inactive 1 = input active would otherwise be overwritten.
3-10 WDP5-118 Doc. no. 212.844/DGB 09.92

9. Activate inputs RS/CL.A. and LOAD simultan-

eously (longer than settling time tE).
→ The program number has been selected.
AUTOM
→ LED 42 and LED 44 as well as the
LED 3 on the seven-segment display of
the processor unit light up.
RS/CL.A.
The output signals FAULT/CL and and
INPOS are active. LOAD
→ The program has been selected. ≥ tE ≥ tE
FAULT/CL
10. Approach the desired position manually, and
see chapter 3.3.1.1 or 3.3.1.2. INPOS
Program is
selected
11. Activate input LOAD temporarily
(longer than settling time tE). DATA1
→ The position is stored as an absolute po- DATA2
DATA4
sition. DATA8
→ LED 44 lights up, output INPOS is active.
12. Approach and store the next position.

Fig. 3-9 Select program
NOTE
The individual position should be
approached during the mechani-
cal reversal of the system in the
same direction as in the automatic
AUTOM
run later.
The individual positions are al-
ways stored as absolute positi- ≥ tE
ons. LOAD
13. The program prepared in teach-in mode can be

edited with the hand-held programming unit
or PC. INPOS
Position is
stored
Fig. 3-10 Teach-in
NOTE
"Teach-in without hand-held pro-
gramming unit" is shown in fig.
3-11. 24 VDC RS/CL.A.
LOAD
Fig. 3-11 Example of wiring teach-in without

MP 922
WDP5-118 Doc. no. 212.844/DGB 09.92 3-11

3.3.2 Automatic run 3.3.2.1 Program selection
1. Switch off supply voltage for processor 1. Specify the desired program number by
unit. activating or deactivating the four inputs
DATA1 to DATA8 in accordance with the
2. Set operating mode selector switch (47) to "0". following principle:

unit.
number
→ LED 43 lights up.
0 0 0 0 0
4. Activate input AUTOM. 0 0 0 1 1
Storage mode permits automatic execution (e.g. 0 0 1 0 2
with a PLC) of programs which were loaded into the 0 0 1 1 3
positioning unit using the MP 922 hand-held pro- 0 1 0 0 4
gramming unit or a PC or which were prepared in
teach-in mode. 0 1 0 1 5
Programming is described in the MP 922 documen- 0 1 1 0 6
tation (notes see chapter 3.3.4).
0 1 1 1 7
Communication with the subordinate controller (e.g. 1 0 0 0 8
PLC) is effected via parallel inputs and outputs: 1 0 0 1 9
1 0 1 0 10
Inputs Meaning
1 0 1 1 11
DATA1 Selecting one out of 16 programs.
1 1 0 0 12
DATA2 The program selected via these
DATA4 inputs is executed. 1 1 0 1 13
DATA8 1 1 1 0 14
START Starting execution of a command 1 1 1 1 15
group
RS/CL.A. Resetting the program pointer to 0 = input inactive 1 = input active
the program beginning
Outputs Meaning 2. Select the 1st command group with the signal
START or RS/CL.A.
INPOS Last command group has been
executed and is ready for a new The signal times which must be adhered to are evi-
START. dent in fig. 3-12.
END/L.A. The last command group in the
selected program has been
executed.
START
FAULT/CL A fault has occurred in the run. or
RS/CL.A.
READY O. Unit is ready for operation.
t1 −∞ < t 1< t E
DATA8
DATA4
DATA2
NOTE DATA1
Th e i nputs LIM.X+, LIM.X-,
ADD.REF. and STOP are also
evaluated by the unit. INPOS
Fig. 3-12 Program selection
3-12 WDP5-118 Doc. no. 212.844/DGB 09.92

3.3.2.2 Setting program pointer to program

beginning
Activate input RS/CL.A.

RS/CL.A.
→ The program pointer is set to the begin-
ning of the selected program.
tE ≥ tE
The signal times which must be adhered to are evi- INPOS
dent in fig. 3-13.
Reset program
NOTE pointer
The "M20" command has the same
effect.
Fig. 3-13 Setting program pointer to

program beginning
3.3.2.3 Starting movement commands
Activate input START.
→ The output signal INPOS ist not START

active.
→ The next movement command is execu-
tE ≥ tE
ted.
The output INPOS is set to 0V. INPOS
The signal times which must be adhered to are evi- Movement command
dent in fig. 3-14.
Fig. 3-14 Starting movement commands
NOTE
The signal times shown in fig.
3-15 must be observed at the end INPOS
of the program or in case of errors.
-50 µs t 1< 0 < t1
END/L.A.
or -50 µs t 1< 0 < t1
FAULT/CL
Fig. 3-15 Status message
WDP5-118 Doc. no. 212.844/DGB 09.92 3-13

3.3.2.4 Starting at program beginning
Activate inputs RS/CL.A. and START.
→ The program pointer is set to the begin- START

ning of the selected program and the
first movement command is executed. t1 -t E < t 1 < t E
The signal times which must be adhered to are evi- RS/CL.A.
dent in fig. 3-16.
INPOS
Fig. 3-16 Starting at program beginning
3-14 WDP5-118 Doc. no. 212.844/DGB 09.92

3.3.3 MP 922 hand-held programming unit
The MP 922 hand-held programming unit offers the

following operating possibilities in storage mode:
– Writing, reading and editing programs

– Displaying the program directories
– Archiving and printing programs
– Displaying and changing parameters
– Displaying the travel position
– Testing inputs/outputs
NOTE
Connection of the hand-held pro-
gramming unit is described in
chapter 6.2.5.
NOTE
Operation of the hand-held pro-
gramming unit is described in the
MP 922 documentation.
WDP5-118 Doc. no. 212.844/DGB 09.92 3-15

3.3.4 Programming
The programs are prepared with the following com-

mands. The commands are divided into action com-
mands (A) and setting commands (S):
Command Type Meaning Range

X= A Setpoint to be approached (depending on the system of ±8388607
dimensions)
F= S Movement frequency (speed) for positioning 32 to 20000 Hz
L= S Positive or negative acceleration for positioning 4 to 1000 Hz/ms
M20 S Set program pointer to program beginning
M21= S Movement frequency for travelling away from the limit switch to
the reference point
G25 A Reference movement towards negative limit switch
G26 A Reference movement towards positive limit switch
G27 A Reference movement towards additional reference switch
G29= S Enter reference position and set reference point ±8388607
G36 A Enable zero current if RM RESET is active.
G37 A Disable zero current if RM RESET is active.
G90 S Set system of absolute dimensions
G91 S Set system of incremental dimensions
A program consists of command groups. A com-

mand group may consist of setting commands and
one action command. There is always an action Program 1
command at the end of a command group. 01:000 F=32
The next command group is executed by activating 01:001 L=4 1st command group
the START signal. 01:002 X=10000
A program changeover is possible via the inputs 01:003 F=20000
DATA1 to DATA8 (see chapter 3.3.2.1). Here, pro- 01:004 L=1000 2nd command group
gram execution is continued at the position where it 01:005 X=0
was interrupted. 01:006 F=32
01:007 L=4 3rd command group
Programming examples for MP 922: 01:008 X=10000
01:009 M20 Pointer at program start
Program 0
00:000 X=0 1st command group Program 3
00:001 X=1000 2nd command group 03:000 F=10000
00:002 X=2000 3rd command group 03:001 L=200
00:003 X=3000 4th command group 03:002 G90 Command group
00:004 X=4000 5th command group 03:003 M21=50
00:005 X=5000 6th command group 03:004 G26
00:006 X=6000 7th command group
NOTE
Programming see MP 922 or
PRO-SDP/PC1 documentation.
3-16 WDP5-118 Doc. no. 212.844/DGB 09.92

3.3.5 System setting
The following parameters may be modified within

the specified ranges:
Parameter Range Factory

setting
"Manual frequency 32 to 20000 Hz 100 Hz
slow"
"Manual frequency 32 to 20000 Hz 1000 Hz
fast"
"Settling time" tE 1 to 255 ms 4 ms
"Gear ratio 1 to 255 1
denominator"
numerator"
Manual frequency 32 to 20000 Hz 2000 Hz
"REF IN"
"REF OUT"
NOTE
System setting see MP 922 or
WDP5-118 Doc. no. 212.844/DGB 09.92 3-17

Operation Serial mode
3.4 Serial mode
Serial mode offers the following operating possi-

bilities:
– Slow manual movement – Operation with a terminal or PC

The stepping motor rotates at "Manual fre- at a transmission speed of 1200 bauds or
quency slow" which can be modified as a 9600 bauds; ASCII 7 bits, even parity bit,
parameter. The parameter value can be one stop bit.
set with the "M96=" command, factory set-
ting 100 Hz.

quency fast" which may be modified as a
parameter. The parameter value can be
set with the "M97=" command, factory set-
ting 1 kHz.

quency "REF IN", which can be modified
as a parameter, until either the left limit
switch, the right limit switch or the addi-
tional reference switch is detected. The
parameter value "REF IN" can be set at
speed selector switch (48), factory setting
1 kHz.
when braking, the stepping motor leaves
the limit switch or reference switch at fre-
quency "REF OUT" and stops. This posi-
tion serves as the reference point for the
system of dimensions.
The parameter value "REF OUT" can be
modified with the commands "U=" or
"M21", factory setting 300 Hz.
– Set manual reference point

The "reference point position" (factory set-
ting 0), which can be modified as a par-
ameter, is accepted as the new reference
value for the system of dimensions by acti-
vating two inputs. A reference movement
is not required.
3-18 WDP5-118 Doc. no. 212.844/DGB 09.92

Serial mode Operation
Control signals in serial mode

1
2 - -
20
2
3 - -
21
3
22
4 - -
4
23

5
24
←
6

25
7

26
8

27
9
28
9 - -
10
29
11
10 - -
30
12
11 - -
31
13
12 - -
32
14
33
13 - -
15
34
16
35
→
17

36
18

37
19

21 - -
23 STOP Stop ←
24 - -
28 - -
29 - -
30 - -
31 - -
32 - -
34 - -
WDP5-118 Doc. no. 212.844/DGB 09.92 3-19


MAN.X-
activate input MAN.X-. Stepping motor rotates at
→ The motor keeps rotating at "Manual
frequency slow" in the selected direction,
until input MAN.X+ or MAN.X- are active
and the limit switch is not detected.
NOTE
MAN.X- may be modified with pa-
rameter switch (54).
NOTE
If input MAN.X+ or MAN.X- is only
activated temporarily (<0.5 s), the
motor performs a step.
NOTE
cording to the value set at selector
switch (49) before switching on.
NOTE
"M96=" command (factory setting
100 Hz).
3-20 WDP5-118 Doc. no. 212.844/DGB 09.92


or
activate input MAN.X- and MAN.L/H simul-
MAN.L/H
→ The motor keeps rotating at "Manual fre-

quency fast" in the desired direction, as "Manual frequency fast"
long as the inputs MAN.X+ or MAN.X-
and MAN.L/H are active.
NOTE
The effect of the inputs MAN.X+ Fig. 3-18 Fast manual movement
and MAN.X- may be modified with
NOTE
NOTE
cy fast" may be modified with the
"M97=" command (factory setting
1 kHz).
WDP5-118 Doc. no. 212.844/DGB 09.92 3-21

NOTE
see chapter 6.3.
2. For movement towards limit switch in the

positive sense of rotation: AUTOM
activate inputs MAN.X+ and MAN.REF. simul-

≥ tE
or
MAN.X-
3. For movement towards limit switch in the or
negative sense of rotation: MAN.L/H
activate inputs MAN.X- and MAN.REF. simul-
taneously (longer than settling time tE). MAN.REF.
4. For movement towards the additional reference Stepping motor rotates at

switch: "REF IN"
activate inputs MAN.L/H and MAN.REF. sim-
→ The motor keeps rotating at frequency Fig. 3-19 Manual reference movement
"REF IN" in the desired direction, until
switch is detected. It then leaves the li-
mit switch at frequency "REF OUT" and
NOTE
A reference movement can be in-
terrupted by activating input
STOP.
NOTE
The effect of inputs MAN.X+,
MAN.X- and MAN.L/H can be mo-
dified with the parameter switch
(54).
NOTE
NOTE
The parameter "REF IN" can be
modified with the speed selector
switch (48). "REF OUT" can be
modified with the "U=" or "M21="
commands (factory setting 300
Hz).
3-22 WDP5-118 Doc. no. 212.844/DGB 09.92

2. Activate inputs MAN.REF. and LOAD simultan- AUTOM

eously (longer than settling time tE).
≥ tE
→ The value of the "reference position"
serves as the new reference value for
the system of dimensions. MAN.REF.
NOTE
The parameter "reference positi-
on" can be modified with the LOAD
"G28=" command (factory setting 0).
Fig. 3-20 Setting manual reference point
3.4.1.5 Manual movement (limited with PC)
Operation is effected with the commands marked in

chapter 3.4.3 and all additional characters.
WDP5-118 Doc. no. 212.844/DGB 09.92 3-23

3.4.2 Automatic run

unit.
2. Set operating mode selector switch (47) to "2"

for a transmission speed of 1200 bauds or to
"3" for 9600 bauds.
3. Connect terminal or PC to serial interface.

unit.
→ LED 43 lights up, output READY O. is
active.
5. Activate input AUTOM.

6. Transfer and starting of movement commands

is triggered with commands and orders. Par-
ameters may be modified.
7. Further operation is described in chapter 3.4.3.
3.4.3 Operation with a terminal or PC
Commands are instructions to the unit-internal

operating system.
Command Meaning Range Factory

setting
M90* Resetting M22, M92, M93, M98;
activating transmission protocol 0
M92* Echo mode;
M93* Position acknowledgement on termination of movement ±8388607
M98 Ready message B after ramp calculation
M22* Position and error messages are only transferred to
host computer on request;
P* Outputting current position
S* Outputting status and error number
FS* Issuing fatal error in clear text
E Start
* also during manual movement
3-24 WDP5-118 Doc. no. 212.844/DGB 09.92

Commands are classified into action commands (A)

and setting commands (S). A command group con-
sists of setting commands and one action com-
mand. The action command triggers an action after
the start command (e.g. positioning).
Command Type Meaning Range Factory

setting
X= A Setpoint to be approached (depending, on the ±8388607
system of dimensions)
F= S Movement frequency (speed) for positioning 32 to 20000 Hz
L= S Positive and negative acceleration for positioning 4 to 1000 Hz/ms
G25 A Reference movement towards negative limit switch
G26 A Reference movement towards positive limit switch
G27 A Reference movement towards additional reference
switch
G28= S Enter reference position ±8388607 0
G29 A Set reference point
G36 S Enable zero current feature, if RM RESET is active
disable rotation monitoring, if RM RESET is in-
active
G37 S Disable zero current feature, if RM RESET is
active
enable rotation monitoring, if RM RESET is
inactive
G90 S Set system of absolute dimensions
G91 S Set system of incremental dimensions
The following parameters may be modified.
Parameter Meaning Range Factory

setting
U= Movement frequency for moving to the reference point 32 to 5000 Hz
M21= away from the limit switch
GZ= "Gear ratio numerator" 1 to 255 1
GN= "Gear ratio denominator" 1 to 255 1
M95= "Gear ratio decimal" 0.1 to 100.0
M96= "Manual frequency slow" 32 to 20000 Hz 100 Hz
M97= "Manual frequency fast" 32 to 20000 Hz 1000 Hz
WDP5-118 Doc. no. 212.844/DGB 09.92 3-25

Data record structure: The following feedback formats, status and error
messages on the computer are possible amongst
Instructions consist of commands, orders and par- others:
ameters together with additional characters. Instruc-
tions are transmitted from the terminal or PC to the X<CR><LF> Position reached
positioning unit. B<CR><LF> Ready message ramp
The data record always starts with a colon at the calculated
line beginning and ends with <CR>: <X∪∪∪10000><CR><LF> Position
<X --------><CR><LF> Motor positioning or
:Instruction 1 ... Instruction n<CR> system has no
reference
Several instructions can be transmitted in one line,
with a maximum of 80 characters per line.
Message Meaning
<BLANK>, <TAB> or comma may be used as
separators between the instructions. An equal sign (E 4) Right limit switch actuated
may be used between the instruction and the value (E 5) Left limit switch actuated
in an instruction with a data transfer. There may
only be one action command in a data record. (E 6) Manual stop
(E14) Undefined position
NOTE (E16) Input value too low
If an order is entered several
times in one line, it is overwritten. (E17) Input value too high
No error message will be issued. (E70) Parity error
This allows e.g. correcting a faulty
(E71) Receiver overflow or
input by entering a new value
break at input
once again.
(E73) Input buffer full
Additional Meaning (E74) Inadmissable order
character (E75) Line does not begin with ":"
: Beginning of data record (E76) No value specified or
<CR> End of data record incorrect format
<LF> Line feed (E77) Start attempt without valid data
, Separator between instructions (E78) Internal counter overflow
= Separator between instructions and (E81) System error, request clear text
the respective value message with FS
<BLANK> Separator between instruction (E82) Error detected by rotation
components monitoring feature
<TAB> Separator between instruction (E98) Manual movement, no error
components occurred
<DEL> Deletes the last entered character of (E99) Automatic run, no error occurred
a record; the deleted character is
output. Programming examples:
<BS> Deletes the last entered character of
a record; the deleted character is not :G28=2000, G29,E<CR>
output. :X=1000, E<CR>
<CTRL>X Deletes the entire record; it must be
or
entered before <CR>.
<Break> Any positioning process is :G28=2000<CR>
immediately interrupted. The :G29<CR>
reference point must then be :E<CR>
redefined.
3-26 WDP5-118 Doc. no. 212.844/DGB 09.92

Transmission protocol 0
Transmission protocol 0 is active after switching on

the unit or called up using the "M90" command.
Input Display Comment

:G28=0 G29 E<CR> - Enter reference position and
X<CR><LF> set reference point
:G91 F1000<CR> - Incremental dimensions/movement
frequency
:X1000<CR> - Prepare movement command
:E<CR> - Start movement command
- Motor performs
X<CR><LF> positioning
Positioning terminated
:F2000 X2000 E<CR> - Prepare new job and start
X<CR><LF> Positioning terminated
:X100000 E<CR> - Prepare new job and start
- Motor is positioning
- Movement is interrupted by STOP;
(E 6)<CR><LF> motor stops
X<CR><LF>
:P<CR> - Check current position
<X∪∪∪65487><CR><LF>
:S<CR> - Status/error number
(E 6)<CR><LF>
:FS<CR> - Fatal error message, if there was no
ff Kein fat F <CR><LF> status = E81 before
:M93<CR> - Initialization on position
- acknowledgement after terminating the
- movement
:G28=0 G29 E<CR> - Enter reference position and
<X∪∪∪∪∪∪∪0><CR><LF> set reference point
:X1000 E<CR> - Position acknowledgement on
<X∪∪∪∪1000><CR><LF> terminating the movement
:X2000 E<CR> -
<X∪∪∪∪3000><CR><LF>
:M98<CR> - Ready message after ramp calculation
-
:F1000L200X1000<CR> -
B<CR><LF> B (ready) after ramp calculation
:E<CR> - Start movement
<X∪∪∪∪4000><CR><LF> Terminate positioning
WDP5-118 Doc. no. 212.844/DGB 09.92 3-27

Transmission protocol 1 is called up with the "M92"

command.
It is used if the unit is operated via a terminal or
from the host via a terminal program.
The essential difference from transmission protocol
0 consists in the fact that every character trans-
mitted from the host to the WDP5-118 is immedi-
ately sent back from the WDP5-118 to the host
(echo mode).

:M92<CR> - Activate echo mode
:P<CR> :P<CR><LF> Check position
<X--------><CR><LF> Undefined position (no reference)
:S<CR> :S<CR><LF> Status test
(E99)<CR><LF> Status AUTOM
:FS<CR> :FS<CR><LF> Check error status
ff Kein fat F <CR><LF>
3-28 WDP5-118 Doc. no. 212.844/DGB 09.92

Transmission protocol 2 is called up with the "M22" The host immediately receives a positive acknow-
command. ledgement (A<CR><LF>) or a negative acknow-
The unit only responds if it is prompted by the host. ledgement (N<CR><LF>) followed by data for every
instruction transferred.
:M22<CR> - Activate transmission protocol 2
A<CR><LF> A = positive acknowledgement
:G91 G28=0 G29 E<CR> - System of incremental dimensions,
A<CR><LF> enter reference position and set
reference point;
positive acknowledgement without data
:P<CR> - Position
A<CR><LF> Positive acknowledgement without data
<X 0><CR><LF>
:Y<CR> - Inadmissible command
N<CR><LF> Negative acknowledgement
:S<CR> - Status/error number
A<CR><LF>
(E 74)<CR><LF>
:F1000 X100000 E<CR> - Prepare new job and start
A<CR><LF>
:P<CR> - Motor is still positioning
A<CR><LF> Code for "Position not yet reached"
<X--------><CR><LF>
:S<CR> - No error
A<CR><LF> Status "Automatic mode active"
(E 99)<CR><LF> !!! Movement interruption !!!
:S<CR> - Error message "Positioning interrupted
A<CR><LF> by STOP"
(E 6)<CR><LF>
:P<CR> - Current motor position
A<CR><LF>
<X∪∪∪∪4711><CR><LF>
:FS<CR> - Testing after fatal error
A<CR><LF>
ff Kein fat F <CR><LF>
:M98<CR> - Ready message after ramp calculation
A<CR><LF>
:F1000L200X1000E<CR> -
A<CR><LF> B (ready) after ramp calculation
B<CR><LF>
- Motor is positioning
:P<CR> -
A<CR><LF>
<X--------><CR><LF>
- Motor stands still
:P<CR> - Current motor position
A<CR><LF>
<X∪∪∪∪5711><CR><LF>
WDP5-118 Doc. no. 212.844/DGB 09.92 3-29

Operation Parallel mode
3.5 Parallel mode
Parallel mode offers the following operating possi-

bilities:
– Slow manual movement – Automatic run with parallel data transfer of

The stepping motor rotates at "Manual fre- stored programs in absolute or incremen-
quency slow" which may be modified as a tal dimensions.
parameter. The parameter value is adju-

quency fast" which may be modified as a
parameter. The parameter value is adju-
stable, factory setting 1 kHz.

quency "REF IN", which may be modi-fied
as a parameter, until it detects either the
left limit switch, right limit switch or addi-
tional reference switch. The parameter
value "REF IN" is adjustable, factory set-
ting 1 kHz.
subsequent braking, the stepping motor
leaves the limit switch or reference switch
at frequency "REF OUT", which may be
modified as a parameter, and stops. This
position serves as the reference point for
the system of dimensions.
The parameter value "REF OUT" is adju-

The "reference point position" (factory set-
ting 0), which may be modified as a par-
ameter, is accepted as the new reference
value for the system of dimensions by acti-
vating two inputs. A reference movement
is not required.
3-30 WDP5-118 Doc. no. 212.844/DGB 09.92

Parallel mode Operation
Control signals in parallel mode

1
2 - -
20
2
3 - -
21
3
←
22
4 START Start
4
23
5 LOAD Load ←
5
24
←
6

25
7

26
8

27
9
2
←
28
9 DATA4 Decade value 2

10
29
Decade value 20 ←
11
10 DATA1
30
12
11 - -
31
13
12 - -
32
14
33
13 - -
15
34
14 FAULT/CL Error and clock signal →

16
35
→
17

36
18

37
19

19 IO24VDC I/O supply volgate ←
21 - -
23 STOP Stop ←
24 RS/CL.A. Clock acknowledge ←
3
1
30 - -
31 - -
32 - -
34 END/L.A. Load acknowledge →
WDP5-118 Doc. no. 212.844/DGB 09.92 3-31


MAN.X-
activate input MAN.X-.
slow" in the selected direction, as long
as input MAN.X+ or MAN.X- is active
and the limit switch is not actuated.
NOTE
MAN.X- may be modified with the
NOTE
If input MAN.X+ or MAN.X- is only
activated temporarily (<0.5 s), the
motor performs a step.
NOTE
tes during manual movement with
the value set at the selector switch
(49) before switching on.
NOTE
unit or a PC (in network mode)
(factory setting 100 Hz).
3-32 WDP5-118 Doc. no. 212.844/DGB 09.92


or
activate input MAN.X- and MAN.L/H simul-
MAN.L/H
→ The motor keeps rotating at "Manual fre-

quency fast" in the desired direction, as "Manual frequency fast"
long as the inputs MAN.X+ or MAN.X-
and MAN.L/H are active.
NOTE
The effect of the inputs MAN.X+ Fig. 3-22 Fast manual movement
and MAN.X- may be varied with
the parameter switch (54).
NOTE
NOTE
cy fast" may be modified with the
unit or a PC (in network mode)
(factory setting 1 kHz).
WDP5-118 Doc. no. 212.844/DGB 09.92 3-33

NOTE
see chapter 6.3.
AUTOM

MAN.X+
≥ tE
2. For movement towards limit switch in the or
MAN.X-
positive sense of rotation: or
activate inputs MAN.X+ and MAN.REF. simul- MAN.L/H
MAN.REF.
3. For movement towards limit switch in the
negative sense of rotation: Stepping motor rotates at
activate inputs MAN.X- and MAN.REF. simul- "REF IN"
4. For movement towards the additional reference

switch: Fig. 3-23 Manual reference movement
activate inputs MAN.L/H and MAN.REF. sim-
→ The motor keeps rotating at frequency

"REF IN" in the selected direction, until
switch is detected. It then leaves the li-
mit switch at frequency "REF OUT" and
NOTE
A reference movement may be
interrupted by activating input
STOP.
NOTE
The effect of the inputs MAN.X+,
MAN.X- and MAN.L/H may be
modified with the parameter
switch (54).
NOTE
NOTE
The parameters "REF IN" and
"REF OUT" may be modified with
the MP 922 hand-held program-
ming unit or a PC (in network
mode) (factory setting "REF IN" 1
kHz, "REF OUT" 300 Hz).
3-34 WDP5-118 Doc. no. 212.844/DGB 09.92

NOTE
A reference point is not required
in the system of incremental di- AUTOM
mensions.
≥ tE
2. Activate inputs MAN.REF. and LOAD simul- MAN.REF.

→ The "reference position" value serves as

the new reference value for the system LOAD
of dimensions.
NOTE
The parameter "reference positi- Fig. 3-24 Setting manual reference point
on" may be modified with the MP
922 hand-held programming unit
or a PC (in network mode) (factory
setting 0).
WDP5-118 Doc. no. 212.844/DGB 09.92 3-35

3.5.2 Automatic run After reading in all 8 decades, the process is

repeated depending on the number of "read-
ings" adjusted as a parameter value. The 8
1. Switch off supply voltage for processor decade values are hereby compared with the
unit. previously applied values. An error message
is issued on incongruance of the values.
2. Set operating mode selector switch (47) to "4" The END/L.A. output is deactivated on termi-
for the system of absolute dimensions or "5" nation of loading. Positioning can be started,
for the system of incremental dimensions. if the FAULT/CL output is inactive.
3. Switch on supply voltage for processor ATTENTION

unit. The decade values must not be
→ LED 43 and LED 46 light up. modified during the specified
"readings". Otherwise, an error
NOTE message will be issued.
A reference point must be set in
the system of absolute dimensi- ATTENTION
ons, see chapter 3.5.1.4. The signal times for the parallel
data transfer stipulated in the table
4. Activate input AUTOM. must be observed.
NOTE
5. Set the position and frequency value on the The number of "readings" may be
8 block of decade switches, range: modified with the MP 922 hand-
held programming unit or PC (in
Position: ±799999 network mode).
(full or half step, If a decade value is modified du-
absolute or incremental dimensions) ring the readings, an error messa-
Frequency: 00-99 (00=100%) ge is issued (output FAULT/CL is
percentage of the value set active). Reading must be repea-
at the selector switch (48). ted completely in such a case.
6. Activate input LOAD. → Output signal END/L.A. is activated after

→ The output signal END/L.A. is activated. entering the decade values.
→ The output signal FAULT/CL is deactiva-
ted. (Any error message is deleted.)
7. Read in decade values with the control

signals RS/CL.A. and FAULT/CL in accord-
ance with the timing diagram (fig. 3-25).
The output FAULT/CL functions as a syn-

chronization clock for the decade transfer.
On every edge change, the unit prompts the
PLC to send the next decade (1, 4). The PLC
then applies the decade value to the unit.
Afterwards, the PLC confirms existance of
the decade (2, 5) via the RS/CL.A. signal.
The unit accepts the decade value (3, 6). It
must be noted that the unit queries every
single decade at intervals of 100 µs. The
number of queries per decade depends on
the adjustable parameter value "decade
settling time". The decade value must be ap-
plied for an appropriate period to ensure safe
data transfer. On detection of inadmissible
data, an error message is issued.
3-36 WDP5-118 Doc. no. 212.844/DGB 09.92

8. Activate input START. NOTE

→ The INPOS output signal is deactivated. The inputs START and LOAD
The motor is positioning (acceleration in may also be activated simulta-
accordance with the selector switch (49) neously for reading and starting
setting). immediately.
→ The output signal INPOS is activated The MP 922 hand-held program-
again after terminating the movement. ming unit or PC (in network mode)
may be used to conduct an initial
test (suitable for detecting wiring
errors of the e.g. decade swit-
ches).
START
Motor positioning
INPOS
t t t
E1 1 2
LOAD
END/L.A.
Error if 1
FAULT/CL
3
t3
6
RS/CL.A.
2
5
1 4
DATA1
1 2 3 4 5 6 7 8
DATA2
DATA4
DATA8 t PLC t E2 n readings
Input
Decade switch block
Output-
Position Frequency (in %)
Fig. 3-25 Timing diagram for parallel data transfer
WDP5-118 Doc. no. 212.844/DGB 09.92 3-37

Abbreviation Meaning Minimum Factory Maximum Unit

setting
tE1 "Settling time" (may be modified with the 1 20 255 ms
MP 922 hand-held programming unit)
t1 Wait time if an error has occurred in the 400 µs
previous reading cycle
t2 Time delay between END/L.A. = 0 and the 100 µs
first decade request with FAULT/CL = 1.
tPLC Time delay between data request and PLC- µs
validity acknowledgement dependent
tE2 "Decade settling time" (may be modified 5 5 255 x100 µs
with MP 922 hand-held programming unit).
t3 Wait time, if an error has occurred in the 400 µs
previous reading cycle
3.5.3 MP 922 hand-held programming unit 3.5.4 System setting
The MP 922 hand-held programming unit offers the The following parameters may be modified within
following operating possibilities in parallel mode: the specified ranges:
– Displaying and modifying parameters

Parameter Range Factory
– Testing inputs setting
– Displaying travel position "Manual frequency 32 to 20000 Hz 100 Hz
slow"
NOTE
Connection of the hand-held pro- "Manual frequency 32 to 20000 Hz 1000 Hz
gramming unit is described in fast"
chapter 6.2.5. "Settling time" tE 1 to 255 ms 4 ms
NOTE
denominator"
gramming unit is described in the "Gear ratio 1 to 255 1
MP 922 documentation. numerator"
"REF IN"
"REF OUT"
"Readings" 1 to 255 2
"Decade settling 5 to 255 5
time"
"Reference position" ±8388607 0
NOTE
System setting see MP 922 or
3-38 WDP5-118 Doc. no. 212.844/DGB 09.92

Network mode Operation
3.6 Network mode 3.6.1 Setting the network address
Network mode provides for all the operating possi- 1. Switch off supply voltage for processor
bilities which are also available in storage, parallel unit.
and serial mode. The following network modes are
possible: 2. Set operating mode selector switch (47) to "8".
– "Install" Installation and
diagnosis mode
– "Memory" Storage mode
– "Serial" Serial mode 01
EF
23
– "A-Parallel" Parallel mode in the sy-
BC D
47
45
stem of absolute dimensions
67
A
89
– "R-Parallel" Parallel mode in the sy- EF

01
23
BC D
stem of incremental 48
45
67
A
dimensions 89
01
EF
23
BC D
Manual movement 49
45
67
A
89
– Slow manual movement

Fig. 3-26 Selector switches
– Teach-in 3. Set the desired network address (range 1 to 31)
– Limited operation via PC on selector switches (48) and (49):
Automatic run Selector switch (48) = value of tens

Selector switch (49) = value of ones
– Operation via PC with the PRO-SDP/PC1 or (e.g. "13", see fig. 3-26)
PRO-SDP/PC2 software at a transmission
speed of 9600 bauds or 38.4 kbauds 4. Switch on supply voltage for processor
unit.
Signal control in automatic run depends on the se- → Network address is stored in the
lected network mode: unit.
"Memory" see chapter 3.31111Storage mode LED 43 and 46 light up.
"Serial" see chapter 3.41111Serial mode
"Parallel" see chapter 3.51111Parallel mode 5. Switch off supply voltage for processor
unit.
Operation and setting of the network operating
modes is effected on the PC with the aid of the 6. Set operating mode selector switch (47) to "6"
following software: for a transmission speed of 9600 bauds or to
– PRO-SDP/PC1 "7" for 38.4 kbauds.
Menue system (BPRO) for comfortable
operation and networking of 1 to 124 units 7. Switch on supply voltage for processor
(4 interfaces x 31 units). unit.
→ Network mode is active.
NOTE LED 43 and 46 light up.
Operation is described in the
PRO-SDP/PC1 documentation. 8. Further operation in operating mode
– "Memory", see also chapter 3.3

– "Serial", see also chapter 3.4
– "A-Parallel" or "R-Parallel", see also
chapter 3.5
WDP5-118 Doc. no. 212.844/DGB 09.92 3-39

Operation Network mode
3.6.2 PLC request
DATA8 DATA4 DATA2 DATA1 PLC request

A PLC request may be enabled in the unit in net-
no.
work mode "Memory".
This PLC request allows the PLC to inform the su- 0 0 0 0 0
perior PC on the process status. Whether a PLC re- 0 0 0 1 1
quest exists can be checked via the PC.
The PLC request is set via inputs DATA1 to 0 0 1 0 2
DATA8. Consequently, 16 different process states 0 0 1 1 3
can be indicated to the PC, 0 1 0 0 4
e.g. PLC request number
0 deleting old program 0 1 0 1 5
loading new programs 0 1 1 0 6
1 loading new parameters into the unit
0 1 1 1 7
1 0 0 0 8
Setting a PLC request 1 0 0 1 9
1. Activate network mode "Memory", 1 0 1 0 10
see PRO-SDP/PC1 documentation. 1 0 1 1 11
1 1 0 0 12
2. Specify the desired PLC request number
by activating or deactivating the four inputs 1 1 0 1 13
DATA1 to DATA8 in accordance with the 1 1 1 0 14
following table.
1 1 1 1 15
0 = input inactive 1 = input active
Network LOAD
WDP5-118
- Network PLC request no.

PC mode DATA1, DATA2, DATA4, DATA8 PLC
"Memory"
- Status PLC request
flag for completed
PLC request
INPOS
Fig. 3-27 PLC request
3-40 WDP5-118 Doc. no. 212.844/DGB 09.92

3. Activate input LOAD.

→ PLC request is stored in the unit.
→ The output signal INPOS is inactive.
LOAD
4. After detecting a PLC request (check unit
t sm
status) in network mode "Memory": t se
activate network mode "Install", read PLC DATA1
DATA2
request no. and trigger the appropriate activities DATA4
e.g. load new parameters or program) on the DATA8 t sa
PC, see PRO-SDP/PC1 documentation.
INPOS
NOTE
The program pointers are reset
after exiting from network mode
"Memory". "Memory"
t anf t change
5. Activate network mode "Memory".
→ PLC request is deleted in the positioning PLC
unit. request
→ The output signal INPOS is active.
6. The PLC subsequently controls process execu-

tion.
Fig. 3-28 PLC request
ATTENTION
The signal times evident in fig. 3-28
must be observed when setting a
PLC request.
Abbreviation Meaning Minimum Typical Maximum

tsm Time delay between storage and modification of the -∞ 0 tE
PLC request number
tsa Time delay between storage and detection of the PLC tE tE
request
tse Time delay between termination of storage and PLC tE tanf
request modification completed + tchange
tanf The delay between detection of the PLC request and
switching over to network mode "Install"
tchange The delay between switching over from network mode
"Install" to "Memory" (modification time for PC)
WDP5-118 Doc. no. 212.844/DGB 09.92 3-41

Operation Network mode
3.6.3 Teach-in

unit.
2. Set operating mode selector switch (47) to "6"

for a transmission speed of 9600 bauds or to
"7" for 38.4 kbauds.

unit.
4. Activate input AUTOM.

→ LED 44 lights up.
5. Activate network mode "Memory".
7. Perform reference movement or set manual

reference point.
8. Specify the desired program number under

which the teach-in positions must be stored
by activating or deactivating the four inputs
DATA1 to DATA8 in accordance with the
following principle:

number
0 0 0 0 0
0 0 0 1 1
0 0 1 0 2
0 0 1 1 3
0 1 0 0 4
0 1 0 1 5
0 1 1 0 6
0 1 1 1 7
1 0 0 0 8
1 0 0 1 9
1 0 1 0 10
1 0 1 1 11
1 1 0 0 12
1 1 0 1 13
1 1 1 0 14 NOTE
Select a program number un-
1 1 1 1 15
der which no program has been
stored yet. This program would
0 = input inactive 1 = input active otherwise be overwritten.
3-42 WDP5-118 Doc. no. 212.844/DGB 09.92

8. Activate inputs RS/CL.A. and LOAD simul-

→ The program number is selected.
AUTOM
The output signals FAULT/CL and
INPOS are active.
RS/CL.A.
and
9. Approach the desired position manually, LOAD
see chapter 3.3.1.1 or 3.3.1.2. ≥ tE ≥ tE
FAULT/CL
10. Activate input LOAD temporarily (longer than and
settling time tE). INPOS
→ The position is stored as an absolute po- Program is
selected
sition.
→ LED 44 lights up, output INPOS is active. DATA1
DATA2
DATA4
11. Approach next position and store. DATA8
NOTE
In the mechanical reversal of the
system, the individual positions Fig. 3-29 Select program
should be approached in the same
direction as in the automatic run
performed later.
The individual positions are al-
ways stored as absolute positi-
AUTOM
ons.
12. The program prepared in teach-in mode can ≥ tE

be edited with the PC, see PRO-SDP/PC1 LOAD
documentation.
INPOS
Position is
stored
Fig. 3-30 Teach-in
NOTE
"Teach-in" is shown in fig. 3-31.
24 VDC RS/CL.A.
LOAD
Fig. 3-31 Example of wiring "Teach-in"
WDP5-118 Doc. no. 212.844/DGB 09.92 3-43

Operation Switching off
3.7 Switching off
The connected motor is no longer supplied with cur-

rent after switching off the supply voltage for the
power drive, i.e. it has no holding torque.
ATTENTION
Make sure that vertical axle loads
are prevented from dropping (e.g.
motor with brake) before swit-
ching the supply voltage off.
Switch off supply voltages for the power drive and

processor unit.
3-44 WDP5-118 Doc. no. 212.844/DGB 09.92

Malfunctions
4 Malfunctions
4.1 Status displays
The seven-segment display (02) indicates malfunc-

tions in the power drive.
The seven-segment display (40) indicates malfunc-

tions of the processor unit.
LED 41 to 46 indicate operating states and malfunc-

tions. They refer to the following signal outputs:
LED 41 (red) Battery monitoring

LED 42 (red) FAULT/CL (Fault/Clock)
LED 43 (green) READY O. (Ready for
READY O. operation
LED 44 (green) INPOS (Position reached)
LED 45 (green) Several functions
LED 46 (green) END/L.A. (Program end/
END/L.A. load acknow-
END/L.A. ledge)
Fig. 4-1 Status display
The MP 922 hand-held programming unit can be

used to deliver a clear text error message after an
error message FAULT/CL is issued - LED 42 lights
up.
NOTE
For error rectification see MP 922
documentation.
WDP5-118 Doc. no. 212.844/DGB 09.92 4-1

Malfunctions
4.2 Trouble-shooting tables
4.2.1 Power drive
The following table summarizes possible malfunc-

tions, which are indicated by the seven-segment dis-
play of the Power drive as well as their causes and
rectification .
Display Cause Rectification

. Flashing Internal error Replace unit
Temperature at mounting flange >60°C Reduce phase current
Unit remains operable! Attach heat sink or enlarge existing heat sink, see
chapter 6.2.7
Provide existing heat sink with ventilator set, see
chapter 6.2.7
Load circuit active Choose lower acceleration value
Temperature at mounting flange too Reduce phase current

high Attach heat sink or enlarge existing heat sink, see
chapter 6.2.7
Provide existing heat sink with ventilator set, see
chapter 6.2.8
Short-circuit in connector, cable or Switch off unit and remove short-circuit
motor; Replace motor
Phase to phase, phase to ground
Braking energy of the motor too high; Connect load resistor, see chapter 6.2.1
load resistor missing
Unit set to 230 VDC; input voltage Apply appropriate supply voltage
115 VDC
Supply voltage outside the permissible
tolerance range
Processor unit not ready See processor unit trouble-shooting table
4-2 WDP5-118 Doc. no. 212.844/DGB 09.92

Malfunctions
4.2.2 Processor unit
4.2.2.1 Storage mode
The following table summarizes the malfunctions

which are possible in storage mode as well as their
causes and rectification.

. Flashing Battery failure Call BERGER LAHR
Power drive failure Restart system
Travel too long
RAM or EPROM error
(LED 45 flashes)
On automatic run: Check system;
Limit switch actuated positioning may be terminated by repeated
On automatic run: activation of input START
Interference on limit switch line
On manual movement: Move mechanical system away from limit switch
Manual movement interrupted by signal range or deactivate STOP
at limit switch or STOP
Input LIM.X-, LIM.X+, ADD.REF. Check cabling
or STOP disconnected
Rotation monitoring error due to:
– Encoder disconnected – Check encoder line
– Excessive load – Reduce load
– Excessive acceleration – Reduce acceleration
– Excessive speed – Reduce speed
– Disable rotation monitoring
– (activate RM RESET signal)
Input STOP activated Check system;
Malfunction at input STOP Reactivate input START and terminate positioning
System has no reference point Reform reference movement

Set reference point
Input START activated, although Set program pointer back to program beginning
program end reached
WDP5-118 Doc. no. 212.844/DGB 09.92 4-3

Malfunctions
4.2.2.2 Serial mode

which are possible in serial mode as well as their
causes and rectification .

Travel too long
RAM or EPROM error
(LED 45 flashes)
Manual positioning interrupted by sig- range or deactivate STOP
nal at limit switch or STOP
4-4 WDP5-118 Doc. no. 212.844/DGB 09.92

Malfunctions
4.2.2.3 Parallel mode

which are possible in parallel mode as well as their
causes and rectification.

Travel too long
RAM or EPROM error
(LED 45 flashes)
Limit switch actuated Check system;
Interference on limit switch line positioning may possibly be terminated by
reactivating input START
No reference point available Perform manual reference movement
Set reference point
Start attempt without valid data Effect read-in cycle
Error while reading in the decade Read in again
switch values
Manual positioning interrupted by Move mechanical system away from limit switch
signal at limit switch or STOP range or deactivate STOP
WDP5-118 Doc. no. 212.844/DGB 09.92 4-5

Malfunctions
4.2.2.4 Network mode
Network mode "Memory"

which are possible in network mode "Memory" as
well as their causes and rectification.

Travel too long
RAM or EPROM error
(LED 45 flashes)
Input STOP activated Check system:
Manual movement interrupted by signal Move mechanical system away from limit switch
at limit switch or STOP range or deactivate STOP
Perform reference movement
Set reference point
Input START activated, although Set program pointer back to program beginning
program end reached
4-6 WDP5-118 Doc. no. 212.844/DGB 09.92

Malfunctions
Network mode "Serial"
The following table summarizes malfunctions which

are possible in network mode "Serial" as well as
their causes and rectification.

Travel too long
RAM or EPROM error
(LED 45 flashes)
1 2 On automatic run: Check system;
Limit switch actuated positioning may possibly be terminated by
On automatic run: reactivating input START
Interference on limit switch line
1 2 Input STOP activated Check system:
Malfunction input STOP Reactivate input START and terminate positioning
Manual positioning interrupted by range or deactivate STOP
signal at limit switch or STOP
1
Display, if output END/L.A. = 0.
2
Display, if output END/L.A. = 1.
WDP5-118 Doc. no. 212.844/DGB 09.92 4-7

Malfunctions
Network mode "A/R Parallel"

which are possible in network mode "Parallel" as
well as their causes and rectification.

RAM or EPROM error Restart system
(LED 45 flashes)
Power drive failure
Travel too long
No reference point available, limit Perform manual reference movement
switch actuated or malfunction on limit Set reference point
switch line
Start attempt without valid data Effect read-in cycle
Error while reading in the decade Read in again
switch values
Manual positioning interrupted by Move mechanical system away from limit switch
signal at limit switch or STOP range or deactivate STOP
4-8 WDP5-118 Doc. no. 212.844/DGB 09.92

Malfunctions
4.2.3 Error messages
The follwoing error messages may be issued during

operation with a PC.
4.2.3.1 Error messages in all operating modes
The error numbers are encoded in hexadecimal for-

mat.
Error message Possible cause Rectification

Error 01 Positioning unit error Call BERGER LAHR
Power drive not ready
Error 05 Stop triggered or STOP
Stop signal detected signal interference
Error 07 Limit switch for positive sense
Positive limit reached of rotation triggered
Error 08 Limit switch for negative
Negative limit reached sense of rotation triggered
Error 18 Calculated setpoint in relative Change parameter "reference position"
Range exceeded in relative positioning out of the
positioning permissible moving range: ±
8388607
Error 43 Setpoint calculated with gear Network mode "Memory"/Storage mode:
Overflow caused by GF ratio (≥ 1) out of the Set new reference point in the program
permissible moving range: ± (command "G29=)
8388607 Network mode "A-/R-Parallel"/Parallel
mode: Enter new reference position and
activate
Error 44 Manual movement with gear Network mode "Memory"/Storage mode:
Overflow caused by GF ratio (<1) is out of the Set new reference point in the program
permissible moving range: (command "G29=)
± 8388607
Error 45 No reference movement Perform manual or automatic reference
Movement command without performed before first movement (commands "G25", "G26",
reference point positioning "G27") before positioning for the first time
or set reference point (command "G29=")
before the first positioning
Error 46 Parameter setting ex works is Message is issued when switching the
Basic initialization effected accepted positioning unit on for the first time, work
sequence is not interrupted
Error 47 Power drive failure Check power drive
Power drive not ready
Error 48 Positioning reinitialized after Correct parameter setting
Basic initialization after error detecting an error in the
Reload or edit programs
in movement program movement program
WDP5-118 Doc. no. 212.844/DGB 09.92 4-9

Malfunctions

Error 4F The additional reference Connected additional reference switch
Additional reference switch switch is not detected in the
Check cabling
not found reference movement
(command "G27) Check additional reference switch
Error 5B Following error detected by Reduce acceleration value

Motor: loss. of synch. rotation monitoring feature
Shaft encoder disconnected, Connect shaft encoder
although rotation monitoring
feature is active
Shaft encoder or shaft Check shaft encoder and cable
encoder cable defective
Error 5D Positioning unit fault Call BERGER LAHR
Bus error
4-10 WDP5-118 Doc. no. 212.844/DGB 09.92

Malfunctions
4.2.3.2 Error messages in network mode

Error 90 Control byte in protocol not Call BERGER LAHR
Inadmissible control byte permitted
Error 92 Command not possible with
Inadmissible command (code this unit
byte not defined)
Error 93 Command with deactivated Activate input AUTOM
Command in current network input AUTOM
mode not permitted
Command impossible in Switch over to appropriate network mode
current network mode
Error 94 Switching over to network Activate input AUTOM
Switching over between ope- mode with input AUTOM
rating modes impossible inactive
(AUTOM inactive)
Error 95 Stop command in network
Stop command in current ope- mode "Memory" and "A-/R-
rating mode impossible Parallel" triggered
Error 96 Switching over to manual Wait until all transferred jobs have been
Switching over from manual movement although not all processed in network mode "Serial"
to network mode "Serial" (re- the transferred jobs have
maining data deleted) been processed
Error A0 More than 16 programs have Check data record for the deletion of
Deletion of more than 16 pro- been transferred for deletion programs
grams
Error A2 Incorrect number of values in Check parameter set
Inadmissible number of bytes parameter set
in parameter data record
Error A3 Entered value out of range Enter admissible value
Parameter error: Frequency
manual slow
manual fast
Parameter error: Settling time
Parameter error: Gear ratio
numerator
Parameter error: Gear ratio
denominator
REF IN
REF OUT
WDP5-118 Doc. no. 212.844/DGB 09.92 4-11

Malfunctions

Error AA Entered value out of range Enter admissible value
Parameter error: Readings in
parallel mode
Error AB Entered value out of range Enter admissible value
Parameter error: Decade
settling time
Error AC Entered value out of range Enter admissible value
Parameter error: Reference
point position
Error AF With a gear ratio <1, the Set motor position to a lower value by
Overflow in customer position- customer position exceeds setting the reference point (manual
ing with new gear ratio the admissible range of values movement, "G29=")
± 8388607
Error B0 Program number in the unit Delete program number in the unit
Program number already used for loading a new program
assigned has already been assigned
Error B1 Program memory full Delete programs in the unit
Program memory full
Error B2 Checksum of movement Recompile program
Checksum error in the program program incorrect
Error B3 More programs transferred Reduce the number of programs
Too many programs in a data than selectable in the unit
record (max. 16)
Error B4 Incorrect number of program Recompile program
Number of transferred pro- bytes
gram bytes incorrect
Error B5 Data transfer takes longer Check handshaking in network mode
Timeout during reas-in cycle than 5 seconds "A-/R-Parallel"
in parallel mode
Error B6 Number of progams to be Correct number
Inadmissible number of pro- stored = 0 to > 16
grams to be stored
Error B8 Selected program number not Correct program number
Program number not assigned assigned in the unit
Error C0 Data block > 64 bytes Correct length of data block
Transferred data block too received
large
Error C1 Command code in network Correct command code
Inadmissible command code mode "Serial" not permitted
Error C2 Incorrect number of bytes of Check command data record
Inadmissible command format the command data record in
network mode "Serial"
Error C4 Attempt to delete a prepared
No job prepared or prepared job, although no job has been
job deleted prepared
Error C5 More than one action Only transfer one action command per
More then one action com- command in the data record data record
mand in the data record
4-12 WDP5-118 Doc. no. 212.844/DGB 09.92

Malfunctions

Error C6 e.g. command "G90" and Check commands in data block
Setting command several "G91" transferred in a data
times or complementary com- block (complementary
mands in a data block commands)
Error C7 Entered value out of range Enter admissible value
Movement frequency range
exceeded
Ramp gradient range
exceeded
Frequency range "M21"
exceeded
Error CA Job transferred with Trigger previous job with "Start" or cancel
Online-Execute not permitted, "Prepare" not yet triggered with "Erase"
as job already prepared with "Start"
Error CB Attempt to start a prepared Prepare job with "Prepare" first
Online-Start without preparing job although no job prepared
a job
Error CC Movement repeat triggered Perform Online-Execute with data
Online-Execute without data by Online-Execute although
requires prior Online-Execute no Online-Execute with data
with data previously triggered
WDP5-118 Doc. no. 212.844/DGB 09.92 4-13

Malfunctions
4.3 Repair work 4.4 Storage, shipment
ATTENTION The following must be noted when storing units or

Any repair work required may only PC-boards:
be performed by BERGER LAHR!
– the maximum air humidity (see chapter
Mark the respective connections when disassem- 1.4) must not be exceeded.
bling the unit. – the storage temperature (see chapter 1.4)
must be observed.
The adjusted parameters as well as the mounting lo-
– protect the stored parts against dust and
cation number of the old unit must be transfered
dirt.
when replacing a unit.
– make sure that units or pc-boards pro-
vided with the symbol
are only unpacked, stored and installed in

an electrostatically protected environment.
– it must be ensured that units or pc-boards
equipped with accumulators are con-
nected to the supply voltage at least once
a month.
– the original packing material must not be
thrown away.
When shipping units or pc-boards it must be en-

sured that
– units or pc-boards are shipped in their orig-

inal packing.
– Pc-boards without batteries or accumula-
tors are packed in wrapping electrically
conducting on both sides (possibly original
wrapping).
– Pc-boards equipped with batteries or accu-
mulators are packed in wrapping electri-
cally conductive on the outside which is
antistatic on the inside (possibly original
wrapping)
– units or pc-boards provided with the sym-
bol
are only packed in an electrostatically pro-

tected environment.
4-14 WDP5-118 Doc. no. 212.844/DGB 09.92

Maintenance
5 Maintenance
5.1 Maintenance chart
Interval Maintenance work Reference

Every 2 years for units with battery-buffered memory Replace battery See chapter 5.2.1
5.2 Maintenance contract
5.2.1 Replacing the battery
DANGER
Disconnect mains power Battery
supply plug.
1. Dismount the unit.
2. Unscrew four screws on the right-hand side and

remove side panel, pulling it towards the front.
ATTENTION
Avoid touching the sensitive
CMOS circuits!
3. Connect the battery plug of the new battery to

the 2nd terminal pair.
4. Disconnect the battery plug of the old battery.
5. Remove the old battery and insert the new

battery.
6. Slide side panel into place and fix with the four
screws.
Fig. 5-1 Replacing the battery
7. Install the unit.
WDP5-118 Doc. no. 212.844/DGB 09.92 5-1

Maintenance
5.3 Maintenance contract
In order to avoid times of standstill in case of unit

failure, BERGER LAHR offer individual mainten-
ance and service contracts.
For information on these contracts, contact the fol-

lowing address:
Berger Lahr GmbH & Co. KG

Abteilung Technische Dienste
Breslauer Str. 7
D-77933 Lahr
Telephone (07821) 946-02
5-2 WDP5-118 Doc. no. 212.844/DGB 09.92

Appendix
6 Appendix
6.1 Unit variants
Unit Supply voltage

Power drive
WDP5-118.051-00 230 VAC
WDP5-118.061-00 115 VAC
WDP5-118 Doc. no. 212.844/DGB 09.92 6-1

Appendix
6.2 Accessories
13
16
17
19
4
19 14
2
9
3
10
19
6
11
18
8
Motor Mains
15
1
12 20
Fig. 6-1 Accessories
6-2 WDP5-118 Doc. no. 212.844/DGB 09.92

Appendix
The following accessories may be ordered separately:
Item Designation Order no. Reference

1 Load resistor 62501100600 see chapter 6.2.1
2 ML 52 decade switch block 62300052000 see chapter 6.2.2
3 MP 940 decade switch interface 62020940000 see chapter 6.2.3
4 Shaft encoder cable 62501404xxx see chapter 6.2.4
5 MP 922 hand-held programming unit 62020922000 see chapter 6.2.5
6 D 731 terminal adapter 62010731006 see chapter 6.2.6
7 Heat sink 62500901000 see chapter 6.2.7
8 Ventilator set 62501201000 see chapter 6.2.8
9 Motor cable 62501301xxx see chapter 6.2.9
10 Motor cable filter 62501100100 see chapter 6.2.10
11 Mains filter 62501100200 see chapter 6.2.11
12 PRO-SDP/PC1 network software 61700023010 see documentation
(version 2.01 or higher) Doc. no. 212.599
13 Interface cable, male/female 62501412xxx see chapter 6.2.12
14 Interface cable, male/male 62501405xxx see chapter 6.2.12
15 D 690 interface tester 62010690006 see chapter 6.2.13
16 MP 923 interface converter 62020923000 see chapter 6.2.14
17 MP 924 interface distributor 62020924006 see chapter 6.2.15
18 Signal cable 6250140xxxx see chapter 6.2.16
19 WDP5-118 set of connectors 62501000200 see chapter 6.2.17
20 Terminal program BTERM 61700040610 see documentation
Doc. no. 212.926
WDP5-118 Doc. no. 212.844/DGB 09.92 6-3

Appendix
6.2.1 Load resistor
The HSD 70 load resistor is used to reduce surplus

braking energy.
ATTENTION
Good heat dissipation must be
ensured when mounting the load
resistor.
1. Loosen screws and remove mains connector

(fig. 6-2).
2. Remove the connector shell.
3. Prepare two load resistor connections by

providing wire end ferrules on the connector
side.
4. Fasten two litz wires B+ and B-.
5. Fasten the cable to the connector shell.

together.

(item 07).
→ L
→ N
→
→ B+
→ B-
Fig. 6-2 Load resistor connection
6-4 WDP5-118 Doc. no. 212.844/DGB 09.92

Appendix
6.2.2 ML 52 decade switch block
Front view ML 52
The desired position and speed are set on the
ML 52 block of 8 decade switches and transferred
1 2 3 4 5 6 7 8
to the positioning unit via the MP 940 decade
switch interface (see chapter 6.2.3). Ranges:
Position: ±799999
(full/half step or increments, Rear view ML 52
absolute or incremental dimensions) DATA1
DATA2 Positioning
DATA8 unit
Frequency: 00 - 99
DATA4
(percentage of the maximum frequency
set on the positioning unit;
Decade 1 2 3 4 5 6 7 8
00=100%)
The decade switch block is wired and connected in to MP 940 decade

switch interface
the circuit as evident in figures 6-3 and 6-4.
Fig. 6-3 ML 52 decade switch block wiring
Preceding
sign
1
2
4
Decade 1
1 DATA1
2 DATA2
4 DATA4
8 DATA8
Decade 2
1
2
4
8
Decade 3
1
2
4
8
Decade 4
1
2
4
8
Decade 5
1
2
4
8
Decade 6
1
2
4
8
Decade 7
1
2
4
8
Decade 8
Fig. 6-4 ML 52 decade switch block assignment
WDP5-118 Doc. no. 212.844/DGB 09.92 6-5

Appendix
6.2.3 MP 940 decade switch interface
LOAD OUT
Decade 8
Decade 5
Decade 7
Decade 4
Decade 2
Decade 6
Decade 3
Decade 1
24 VDC
6.2.3.1 General description
GND
The MP 940 decade switch interface serves for par-
allel data transfer of the desired position and speed
to a BERGER LAHR positioning unit (e.g. WDP5).
The desired position and speed can be set on the
block of 8 decade switches e.g. ML 52 (see chapter
6.2.2) and transferred to the positioning unit via the
MP 940 decade switch interface.
Data transfer is effected with the aid of 4 data lines
and 3 handshaking lines.
A maximum of 16 decade switch blocks can be
switched in parallel, thus allowing presetting a maxi-
mum of 16 different values.
6.2.3.2 Technical data
LOAD ACK
FAULT/CL
LOAD IN
Electrical data
Supply voltage 24 VDC ±10%

Current consumption 50 mA
Fig. 6-5 MP 940 decade switch interface
Signal voltages 24 VDC ±10%
Mechanical data
Dimensions 67 x 77 x 40 mm
Weight 107 g
Environmental conditions
Storage temperature -25°C to 70°C

Operating temperature 0°C to 55°C
Humidity class F as per DIN 40 040
6-6 WDP5-118 Doc. no. 212.844/DGB 09.92

Appendix
6.2.3.3 System integration 6.2.3.5 Accessories
The MP 940 decade switch interface (fig. 6-6) is in- Qty. Designation Order no.
tegrated in a system with a BERGER LAHR posi-
tioning unit. 1 ML 52 decade switch 62300052000
block
6.2.3.4 Delivered items
6.2.3.6 Mounting
Qty. Designation Order no.
1 MP 940 decade 62020940000 The foot of the MP 940 decade switch interface
switch interface snaps into position on EN 500 35 and DIN EN 500 22
mounting rails.
Positioning unit
FAULT/CL
END/L.A.
RS/CL.A.
START
INPOS
DATA1
DATA2
DATA4
DATA8
LOAD
to further
blocks
(max. 16)
LOAD OUT
LOAD ACK
FAULT/CL
Decade
LOAD IN
switch
block
MP 940 e.g. ML 52
BLOCK I BLOCK II BLOCK III
Peripheral
equipment
(e.g. PLC)
Starter
Error
Position reached
Load value
Load value 1
Load value 2
Load value 3
Fig. 6-6 System integration of MP 940 decade switch

interface
WDP5-118 Doc. no. 212.844/DGB 09.92 6-7

Appendix
6.2.3.7 Starting up 4. Switch on supply voltage, set decade value

on the decade switch block and read in ac-
cording to the timing diagram (fig. 6-7).
1. Switch off supply voltage and connect Ranges:
decade switch interface to the positioning
unit and peripheral equipment (e.g. PLC) as Position: ±799999
shown in fig. 6-6. (full/half step or increments,
absolute or incremental dimensions)
NOTE Frequency: 00 - 99
The inputs START and LOAD (percentage of the maximum fre-
may be bridged for triggering an quency set on the positioning unit;
automatic start after loading has 00=100%)
been completed.
NOTE
2. In case the ML 52 decade switch block is On activation of the input signal
used, this must be connected to the position- LOAD IN, the decade switch inter-
ing unit and MP 940 as shown in fig. 6-3. face transfers the decade value to
the positioning unit.
NOTE A start may be triggered, if no
The ML 52 decade switch block is error (FAULT/CL = 0) has occur-
switched as evident in fig. 6-4. red and output signal END/L.A. is
active.
3. Set parallel mode (system of absolute and Loading must be repeated, if an
incremental dimensions) at the positioning error (FAULT/CL = 1) has occur-
unit. red.
START
Motor positioning
INPOS
LOAD IN
END/L.A.
Error if 1
FAULT/CL
RS/CL.A.
DATA1
1 2 3 4 5 6 7 8
DATA2
DATA4
DATA8
n readings
Input
Decade switch block
Output-
Position Frequency (in %)
Fig. 6-7 Timing diagram for parallel data transfer
6-8 WDP5-118 Doc. no. 212.844/DGB 09.92

Appendix
6.2.4 Shaft encoder cable
The following shaft encoder cable lengths are

available:
Cable length Order number

5m 62501404050
10 m 62501404100
15 m 62501404150
20 m 62501404200
50 m 62501404500
The shaft encoder cable comprises:
Designation Order no.

15-pole connector N4-673-247
Connector shell (15-pole) N4-673-237
12-pole female connector N8-704-89
12 contacts N8-704-90
Cable H6-928-50
Shaft encoder connection is shown and described

in chapter 2.4.3.
WDP5-118 Doc. no. 212.844/DGB 09.92 6-9

Appendix
6.2.5 MP 922 hand-held programming unit 6.2.5.1 Connecting the MP 922 hand-held
programming unit
In storage or parallel mode of the positioning unit,

the MP 922 hand-held programming unit (fig. 6-8) 1. Switch off supply voltage for processor
offers the following operating possibilities: unit.
– Writing, reading and modifying programs 2. Connect MP 922 hand-held programming unit
(in storage mode only) to the serial interface of the unit.
– Displaying the program directory
(in storage mode only) 3. Set the desired operating mode on the
operating mode selector switch (item 47).
– Archiving and printing programs
(in storage mode only)
– Displaying and modifying parameters unit.
(in storage and parallel mode) → LED 43 and LED 45 light up.
– Indicating the travel position
(in storage and parallel mode) 5. Deactivate input AUTOM.
– Testing inputs/outputs
(in storage and parallel mode) 6. Operation see MP 922 documentation.
NOTE
gramming unit is described in the
MP 922 documentation, doc. no.
222.184.
ON
MODE CLS
OFF
DEL INS BRK SHIFT
7 8 9 ( )
4 5 6 / :
SHIFT Q W E R T Y U I O P
! 1 2 3 ;
DEF A S D F G H J K L =
*
SML Z X C V B N M SPC ENTER 0 . + - ,
Fig. 6-8 MP 922 hand-held programming unit
6-10 WDP5-118 Doc. no. 212.844/DGB 09.92

Appendix
6.2.6 D 731 terminal adapter 6.2.6.2 Technical data
6.2.6.1 General description Electrical data
Signal voltage 24 V ±10%

The D 731 terminal adapter serves to connect the
Current consumption per LED approx. 2 mA ±10%
following wall-mounted BERGER LAHR units to a
controller e.g. PLC: Voltage drop at tester < 0.1 V
– WP-XXX (positioning unit)
– WDP5-XXX (positioning unit with power
drive) Mechanical data
The D 731 terminal adapter mainly consists of a pc- Dimensions approx. 113 x 78 x 52 mm
board accommodating 1 sub-D connector, 32 LEDs Weight approx. 180 g
and 2 terminal strips. The LEDs indicate the signal
states of all inputs and outputs. The signal states of
the outputs are indicated by yellow LEDs, the signal Environmental conditions
states of the inputs by green LEDs.
All inputs and outputs are connected to the terminal Storage temperature -25°C to 70°C
strips. The terminal pin assignment will be shown
on the following page. Operating temperature 0°C to 55°C
Connection of the WP/WDP signal connector is Humidity class F according to DIN 40 040
established with the aid of a cable and the sub-D
connector. NOTE
An additional operating voltage does not have to be The unit is subject to the extra-low
connected. voltage safety regulations.
Fig. 6-9 D 731 terminal adapter
WDP5-118 Doc. no. 212.844/DGB 09.92 6-11

Appendix
Terminal pin assignment
Pin Abbreviation Meaning Signal logic ← I/→ O

1 LIM.X- Negative limit switch Active-low ←
2 RESERVE A
3 RESERVE C
4 START Start Active-high ←
5 LOAD Store position Active-high ←
6 ADD.REF. Additional reference switch Active-low ←
7 MAN.X- Manual movement, CCW rotation Active-high ←
8 MAN.L/H Slow/fast manual movement Active-high ←
9 DATA4 Program number 22 Active-high ←
11 RESERVE 1
12 RESERVE 3
13 FOLLOW.F. Following error limit Active-high →
14 FAULT/CL Error/clock signal Active-high →
15 READY O. Ready for operation Active-high →
16 24V System supply voltage ←
18 IO24V I/O supply voltage ←
20 LIM.X+ Positive limit switch Active-low ←
21 RESERVE B
22 RM RESET Rotation monitoring reset Active-high ←
23 STOP Stop Active-low ←
24 RS/CL.A Program start/Clock acknowledge Active-high ←
25 AUTOM Automatic operation Active-high ←
26 MAN.X+ Manual movement, CW rotation Active-high ←
27 MAN.REF. Manual reference movement Active-high ←
3
1
30 RESERVE 4
31 RESERVE 2
32 TEMP.INT. Temperature monitoring - heat sink Active-high →
33 INPOS Position reached Active-high →
34 END/L.A. Program end/Load acknowledge Active- →
high/low
38 – Shield connection
I = input O = output
6-12 WDP5-118 Doc. no. 212.844/DGB 09.92

Appendix
6.2.6.3 Delivered items

1 D 731 62010731006
6.2.6.4 Accessories

1 Cable 62501408015
6.2.6.5 Mounting
The terminal adapter foot snaps into position on

conventional DIN EN mounting rails.
6.2.6.6 Starting up
1. Switch off WP/WDP unit and controller.
2. Connect the D 731 terminal adapter cable

to the WP/WDP unit, see fig. 6-10.
ATTENTION
Only use the original cable (see
accessories) or a screened signal
cable.
3. Tighten the fastening screws of the connector.

WP/WDP
4. Connect the terminal adapter to the controller.
5. Switch on WP/WDP unit and controller.
Controller
Fig. 6-10 Starting the D 731 terminal adapter
WDP5-118 Doc. no. 212.844/DGB 09.92 6-13

Appendix
6.2.7 Heat sink
6.2.7.1 BERGER LAHR heat sink

Heat sink
Proper cooling of the positioning unit is achieved

with the BERGER LAHR heat sink. Mounting panel
The heat sink (fig. 6-11 and 6-12) can be attached

Heat sink
inside the switch cabinet or on its outer surface.
NOTE
195.5
It must be noted that more space
is required and that the distance
between the center lines of the
individual units must be observed
when several units are combined,
see table (stated in mm):
86
Distances
WDP5-118
WDP5-228
WDP5-318
WD5-008
between
WP-111
WP-231
WP-311
centre lines
(mm) when
using com-
bined units
Fig. 6-11 Heat sink mounting
WD5-008 87 87 87 87 74 74 74
WDP5-118 87 87 87 87 74 74 74
WDP5-228 87 87 87 87 74 74 74
WDP5-318 87 87 87 87 74 74 74
WP-111 74 74 74 74 61 61 61
WP-231 74 74 74 74 61 61 61
WP-311 74 74 74 74 61 61 61
Mounting panel Heat sink Mounting panel

Mounting panel Heat sink
Centre line
of unit
Centre line Centre line
of unit of unit
M6 ∅7
M6
∅ 5.5
258.8 ± 0.3
299± 0.3
225 ± 0.3
299 ± 0.3
max. 3 max. 3 max. 3
Fig. 6-12 Drilling pattern
6-14 WDP5-118 Doc. no. 212.844/DGB 09.92

Appendix
Mounting the heat sink inside the cabinet Mounting the heat sink outside the cabinet
1. The heat sink is mounted inside the cabinet 1. The heat sink is mounted on the outer
(fig. 6-11). cabinet surface (fig. 6-11).
2. Drill two holes in the mounting panel (fig. 6-12) 2. Drill four holes (fig. 6-12) in the mounting panel.
and cut a M6 thread.
3. Remove the guide bolts from the heat sink.
3. Fasten the heat sink (fig. 6-13) to the
mounting panel with two screws. 4. Apply the heat transfer compound between
the heat sink and mounting panel.
4. Apply the heat transfer compound between the
unit’s rear panel and the heat sink. 5. Fasten the heat sink (fig. 6-13) to the
mounting panel with two bolts.
5. Put the unit down on two side bolts of the
heat sink and tighten two screws (SW 10). 6. Apply the heat transfer compound between
the unit’s rear panel and mounting panel.
NOTE
In case of unit combinations, the 7. Lower the unit onto two bolts of the
gaps between the individual units heat sink and tighten two screws (SW 10).
(see table page 14) must be ob-
served.
6.5 8
86
M6
6
299 0.3
258.8 0.3
11
225 0.3
41
0.2
M6
68
41
M4
326 0.3
11
334
Fig. 6-13 Heat sink dimensions
WDP5-118 Doc. no. 212.844/DGB 09.92 6-15

Appendix
6.2.7.2 Heat sink dimensioning 2. Calculating the required thermal resistance Rth
Use the following basic formulae:

If a non-BERGER LAHR heat sink is used, it must
be sized for wall-mounting as described below. TTEMP.INT − Tamb
Determine the thermal resistance in order to be Rth =
Pl
able to select a heat sink with adequate heat dissi- TTEMP.INT = Tmax − k0IPh
pation capacity. The following factors are required °C
for calculating the thermal resistance Rth: TTEMP.INT = 80°C − 5 x IPh
A
to calculate the thermal resistance as follows:
Power loss Pl of the unit °C
80° − 5 x IPh − Tamb
A
Ambient temperature Tamb Rth =
Pl
Prewarning temperature TTEMP.INT of the unit
TTEMP.INT. = Prewarning temperature
1. Calculating the power loss Pl Tmax = Maximum admissible temperature at
mounting flange
As the first step, determine the power loss Pl to be k0IPh = Influence of phase current on
dissipated by the heat sink. Essentially, Pl depends prewarning temperature
on the motor cable and the phase current. To calcu- IPh = Phase current
late the power loss, use the following formula: Tamb = Ambient temperature
Pl = Power loss
1+c.d.f.
Pl = x (k1 Cc Lc + k2 IPh + Pi ) To check the heat sink size, a temperature mea-
2
surement should be carried out at the mounting
(1+c.d.f.)
= Influence of cyclic duration factor with flange. The temperature at the mounting flange
2 should be less than the prewarning temperature
c.d.f. = cyclic duration factor in % TTEMP.INT of the unit. See figure 6-13.
k1 Cc Lc = Influence of motor cable with
k1 = 0.04 W/nF Pl [W] TTEMP.INT
Cc = Capacity of motor cable 120 [ C]
in nF at 100 m Pl
Lc = Motor cable length in m 100
80 80
k2 IPh = Influence of phase current with
60
k2 = 23.5 W/A 70
IPh = Phase current in A 40 TTEMP.INT
Pi = 5 W intrinsic loss 60
20
This results in the following general formula: I [A]

1 2 3 4 Phase
1 + c.d.f. W W Pl = Power loss

Pl = x (0.04 x CcLc + 23.5 x IPh + 5W)
2 nFm A TTEMP.INT = Temperature prewarning
If the BERGER LAHR accessory motor cable is

used, the following formula is applicable for calculat-
ing the power loss: Fig. 6-14 Power loss diagramm
1 + c.d.f. W W
Pl = x (0.4 x Lc + 23.5 x IPh + 5W) NOTE
2 m A
The thermal resistance of the heat
sink available from BERGER
The cable capacity Cc is 10 nF at 100 m.
LAHR is 0.5 K/W without additional
ventilation and 0.17 K/W when using
a fan. It is also possible to ventilate
the unit in-stead of the heat sink (1
m/s minimum airstream).
6-16 WDP5-118 Doc. no. 212.844/DGB 09.92

Appendix
6.2.8 Ventilator set
The heat sink can be equipped with a ventilator set

in order to improve heat dissipation.
The ventilator set (fig. 6-15) is attached to the bot-

tom of the heat sink and fastened with two screws.
Connect ventilator set to external voltage supply

24 VDC.
Further ventilators can be connected in parallel

using the 2nd terminal pair.
47
9.5 86 12
87
68
21.6
5.3
appr. 21 15
16.8
Fig. 6-15 Ventilator set dimensions
WDP5-118 Doc. no. 212.844/DGB 09.92 6-17

Appendix
6.2.9 Motor cable
The following motor cable lengths are available:

5m 62501301005
10 m 62501301010
15 m 62501301015
20 m 62501301020
50 m 62501301050
The motor cable comprises:
Designation Order number

6 contacts N8-704-92
Cable H6-928-51
The motor connection is shown and described in

chapter 2.4.2.
6-18 WDP5-118 Doc. no. 212.844/DGB 09.92

Appendix
6.2.10 Motor cable filter

yellow
blue
® A1
The motor cable filter is inserted in the motor line in pink
® A2
case of motor cable lengths exceeding 50 m and for grey

® A3
® A4
radio interference suppression (even below 50 m) brown
® A5
in accordance with VDE 0871/limit class A. ®
The filter must be installed in the switch cabinet
near the device and provided with external ventila-
tion.
Only use the motor cable approved by BERGER

LAHR. Other cables could generate higher currents
due to a higher capacity, which could lead to the de-
struction of the devices.
Ambient conditions WD/WDP

A1 A2 A3 A4 A5

Operating temperature
up to a phase current of 4 A 0°C to 50°C
up to a phase current of 5 A 0°C to 40°C
Humidity class F acc. to DIN 40 040 Motor
(non-condensing) A1 A2 A3 A4 A5
Fig. 6-16 Motor cable filter
WDP5-118 Doc. no. 212.844/DGB 09.92 6-19

Appendix
6.2.11 Mains filter
→ L
The mains filter is inserted in the supply line for → N
radio interference suppression in accordance with →
B+
VDE 0871/limit class A.
B-
Ambient conditions

Operating temperature 0°C to +55°C
Humidity class F acc. to DIN 40040
Humidity class, tested to IEC 68 part 2-3 at:
Air temperature +40°C, +2°C
L1 N1 PE n.u. n.u.
Relative humidity 93%, +2%, -3%
non-condensing
L N PE
Fig. 6-17 Mains filter
6-20 WDP5-118 Doc. no. 212.844/DGB 09.92

Appendix
6.2.12 Interface cables
Interface cable, male/female Interface cable, male/male
The following interface cable lengths are available: The following interface cable lengths are available:
Cable length Order number Cable length Order number

1m 62501412010 1m 62501405010
2m 62501412020 2m 62501405020
5m 62501412050 5m 62501405050
10 m 62501412100 10 m 62501405100
25 m 62501412250 25 m 62501405250
The interface cable comprises: The interface cable comprises:
Qty. Designation Order number Qty. Designation Order number

1 9-pole connector, male N4-673-246 2 9-pole connector, male N4-673-246
1 9-pole connector, female N4-673-001 2 Connector shells N4-673-236
2 Connector shells N4-673-236 (9-pole)
(9-pole) 1 Cable H6-928-30
1 Cable H6-928-30
Interface connection is shown and described in Interface connection is shown and described in
chapter 2.4.5. chapter 2.4.5.
WDP5-118 Doc. no. 212.844/DGB 09.92 6-21

Appendix
6.2.13 D 690 interface tester 6.2.13.2 Technical data
Signal voltage WP/WDP section 24 V ±10%

The D 690 interface tester serves to test the signal
Signal voltage WD section 3.5 to 24 V ±10%
states for the BERGER LAHR wall-mounted units:
– WD5-XXX (power drive) Current consumption per LED approx. 2 mA
– WP-XXX (positioning unit) Voltage drop at tester 0.1 V
– WDP5-XXX (positioning unit with
power drive)
Mechanical data
The D 690 interface tester mainly consists of a pc-
board accommodating 6 sub-D connectors or fe- Dimensions approx. 205 x 80 x 32 mm
male connectors respectively and 43 LEDs. The
Weight approx. 150 g
meaning of the LED signals will be explained on the
following page. The signal states of the outputs are
indicated by yellow LEDs, the signal states of the in-
puts by green LEDs. The interface tester is divided
into two halves. As evident in fig. 6-18, one half is
intended for WD units and the second half for
WP/WDP units. The interface tester is inserted in Operating temperature 0°C to 55°C
the signal line of the units.
Humidity class F according to DIN 40 040
Connection of an additional operating voltage is not
required.
NOTE
The diagnostic connectors disposed at the front of
The unit is subject to the extra-low
the pc-board can be used for measuring and testing
voltage safety regulations.
purposes.
WP/WDP section (connector) WD section (female connector) Plastic cover
WP/WDP section (female connector) WD section (connector)
WP/WDP Diagnostic connector WD Diagnostic connector
Fig. 6-18 D 690 interface tester
6-22 WDP5-118 Doc. no. 212.844/DGB 09.92

Appendix
WD section

1/20 PULSE Pulse Pulse ←
2/21 DIRECT. Direction Selectable ←
3/22 ENABLE Power drive enable Active-high ←
4/23 IPWMIN PWM current control Pulse ←
5/24 F/H STEP Step angle full step/half step Selectable ←
6/25 BOOST Current increase Active-high ←
7/26 RM RESET Rotation monitoring reset Active-high ←
8/27 RM FAULT Rotation monitoring fault Active-low →
9/28 0-PHASE Zero phase Active-high →
10/29 TEMP.INT. Temperature monitoring - heat sink Active-low →
11/30 TEMP.MOT Temperature monitoring - motor Active-low →
WP/WDP section

15 READY O. Ready for operation Active-high →
25 AUTOM Automatic operation Active-high ←
23 STOP Stop Active-low ←
20 LIM.X+ Positive limit switch Active-low ←
1 LIM.X- Negative limit switch Active-low ←
14 FAULT/CL Error/Clock signal Active-high →
33 INPOS Position reached Active-high →
34 END/L.A. Program end/Load acknowledge Active-high/low →
4 START Start Active-high ←
26 MAN.X+ Manual movement, CW rotation Active-high ←
7 MAN.X- Manual movement CCW rotation Active-high ←
5 LOAD Store position Active-high ←
27 MAN.REF. Manual reference movement Active-high ←
8 MAN.L/H Slow/fast manual movement Active-high ←
22 RM RESET Rotation monitoring reset Active-high ←
32 TEMP.INT. Temperature monitoring - heat sink Active-high →
24 RS/CL.A Program start/Clock acknowledge Active-high ←
6 ADD.REF. Additonal reference switch Active-low ←
13 FOLLOW.F. Following error limit Active-high →
I = input O = output
WDP5-118 Doc. no. 212.844/DGB 09.92 6-23

Appendix
6.2.13.3 Delivered items 6.2.13.6 Starting up
Qty. Designation Order no. 1. Switch off WP/WDP or WD unit.

1 D 690 62010690006 2. Connect the D 690 interface tester between the
WP/WDP or WD unit and the peripheral
equipment with the cable, see fig. 6-19.
6.2.13.4 Accessories
ATTENTION
Inserting the interface tester may
Qty. Designation Order no. impair noise immunity of the sig-
nal inputs. Only use the delive-
1 Cable 1.5 m for WD 62501402015
red cable or a screened signal
1 Cable 1.5 m for WDP 62501408015 cable.
2 Feet 00050090045
3. Tighten the fastening screws of the connector.
6.2.13.5 Mounting 4. Switch on WP/WDP or WD unit.
5. If desired, the signal states may be tested at

The interface tester foot snaps into position on the the diagnostic connector with a measuring unit.
conventional DIN EN mounting rails. Pin assignment of the diagnostic connector
corresponds with the pin assignment of the
signal connector.
6. Test interface.
NOTE
Only those outputs which are con-
nected by the customer can be
tested.
WP/WDP WD
Measuring Measuring
device device
Peripheral Peripheral
equipment equipment
Fig. 6-19 Starting the D 690 interface tester
6-24 WDP5-118 Doc. no. 212.844/DGB 09.92

Appendix
6.2.14 MP 923 interface converter 6.2.14.2 Technical data
Voltage supply 9.6 to 15 VDC/150 mA

The MP 923 interface converter is used for the data
Interfaces RS 485 (RS 422)
transfer from one RS 485 (RS 422) interface to a
V24 (RS 232) interface and vice-versa. V24 (RS 232)
The interface converter must be supplied with

12 VDC via the power supply unit connector (2-pole Mechanical data
diode connector, female) or the RS 485 (RS 422)
connector. The BERGER LAHR positioning units Dimensions 97 x 65 x 30 mm
(e.g. WDP5) are supplied via the RS 485 (RS 422)
connector.

Humidity class F according to DIN 40 040
ER
2 3 W
PO
P9 O
N
M
4
V2
58
S4
R
Fig. 6-20 MP 923 interface converter
WDP5-118 Doc. no. 212.844/DGB 09.92 6-25

Appendix
6.2.14.3 Delivered items 6.2.14.5 Starting up
Qty. Designation Order no. 1. Connect MP 923 interface converter as shown

in fig. 6-21.
1 MP 923 62020923000
1 9-pole female N4-673-1 NOTE
connector The MP 923 is supplied with a
1 Connector shell N4-673-236 12 VDC voltage via the power
(9-pole) supply unit connector or the
RS 485 (RS 422) connector (e.g.
1 25-pole connector N4-673-248 with BERGER LAHR WDP5 posi-
1 Connector shell N4-673-238 tioning units).
(25-pole)
ATTENTION
4 Locking screw N4-673-158
The interface cables must be
screened on both sides via the
connector shells!
ATTENTION
For reasons of noise immunity,
Qty. Designation Order no. the V24 (RS 232) cable should be
1 Interface cable, see chapter as short as possible (max. 15 m)!
complete 6.2.12
2. Switch on supply voltage.
→ The "POWER ON" LED lights up. The
two other LEDs are out.
3. Start data transfer.

→ Depending on the direction in which data
transfer is effected, one of the two LEDs
"RS 485 → V24" or "RS 485 ← V24" flas-
hes.
Power supply
unit or
Shield
1
1
14
14
2
2
15
15
3
3
16
16
4
4
17
17
+12V
5
5
1
18
18
RS485 V24
6
GND Signal
6
6
2
19
19
or or
7
TxD ground
7
MP923
3
TxD
20
20
8
RxD
8
8
4
RxD
21
21
9
RS422 RGND RS232

9
9
5
22
22
10
10
23
23
11
11
24
24
12
12
RS485/RS422 V24/RS232
25
25
Female
13
13
connector
Cable length
max. 15 m Female
Connector connector
Fig. 6-21 Starting the MP 923 interface converter
6-26 WDP5-118 Doc. no. 212.844/DGB 09.92

Appendix
6.2.14.6 Status displays
The status displays indicate the operating status or

malfunctions.
LED Lights up Does not light up Flashes

"POWER ON" Supply voltage available No supply voltage avail-
able
"RS 485 → V24" RS 485 (RS 422) inter- No data transfer from Data transfer from
face incorrectly RS 485 (RS 422) to V24 RS 485 (RS 422) to V24
connected (signal (RS 232) (RS 232)
connections TxD (TxD)
and RxD (RxD)
interchanged)
"RS 485 ← V24" V24 (RS 232) interface No data transfer from Data transfer from V24
incorrectly connected V24 (RS 232) to (RS 232) to
(pin 2 and 3 RS 485 (RS 422) RS 485 (RS 422)
interchanged)
WDP5-118 Doc. no. 212.844/DGB 09.92 6-27

Appendix
6.2.15 MP 924 interface distributor
6.2.15.1 General description 6.2.15.3 Delivered items
The MP 924 interface distributor allows operating a Qty. Designation Order number
maximum of 9 BERGER LAHR units linked in a net-
work via a PC. In case more than 9 units (max. 124 1 MP 924 62020924006
units) must be operated in network mode, several
MP 924 interface distributors must be connected.
6.2.15.2 Technical data

Qty. Designation Order number
1 9-pole connector N4-673-246
Electrical data
1 Connector shell (9-pole) N4-673-236
10 serial interfaces RS 485 (RS 422)
1 Signal cable for H6-923-30
RS 485 (RS 422)
Mechanical data 1 Interface cable, see chapter
complete 6.2.12
Dimensions approx. 205 x 80 x 32 mm


Humidity class F DIN 40040
LED 12 VDC supply voltage

Plastic cover
B1
B2
B3
1 2 3 4 5 6 7 8
Shield connection
Fig. 6-22 MP 924 interface distributor
6-28 WDP5-118 Doc. no. 212.844/DGB 09.92

Appendix
6.2.15.5 Starting up
1. Connect MP 924 interface distributor according 2. When several MP 924 interface distributors
to fig. 6-23. Use MP 923 interface converter are used, they must be connected according
for interface conversion RS 232 ↔ RS 485 to fig. 6-23.
(RS 422) (see chapter 6.2.14).
3. Select network mode at the connected units
ATTENTION and switch on units.
The interface cable must be scre-
ened on both sides (connect MP ATTENTION
924 shield connector to protective The same baud rate must be set
ground). at all units in network mode.
ATTENTION ATTENTION
The RS 232 cable must be kept as When using the MP 923 interface
short as possible for reasons of converter, at least one unit at the
noise immunity. MP 924 interface distributor must
be switched on to ensure that
ATTENTION MP 923 is supplied with voltage.
Line terminal must never be con-
nected.
PC
RS 232
MP 923
RS 422
B1
B2
MP 924 B1
B2
MP 924
B3 B3
1 2 3 4 5 6 7 8 1 2 3 4 5
Shield connection
· · · · · · · ·
Unit 1 Unit 8 Unit 9

(RS 485 interface) (RS 485 interface) (RS 485 interface)
Fig. 6-23 Cabling of MP 924 interface distributor
WDP5-118 Doc. no. 212.844/DGB 09.92 6-29

Appendix
6.2.16 Signal cables
There are two different signal cables: The signal cable which is provided with a 37-pole fe-
male connector on the other end is available with
– Signal cable with a connector on the con- the following lengths:
troller side and no connector on the other
end.
– Signal cable with a connector on the con-
troller side and a 37-pole female connector 1m 62501408010
on the other end. 2m 62501408020
5m 62501408050
The signal cable with a connector on the controller
side is available with the following lengths: 10 m 62501408100
Cable length Order number The signal cable consists of:

1m 62501407010
Qty Designation Order number
2m 62501407020
1 37-pole female con- N4-673-203
5m 62501407050 nector
10 m 62501407100 1 37-pole connector N4-673-249
2 Connector shell N4-673-239
The signal cable consists of: 1 Cable H6-928-44
Qty Designation Order number Signal connection is shown and described in

chapter 2.4.4.
1 37-pole connector N4-673-249
1 Connector shell N4-673-239
1 Cable H6-928-44
6-30 WDP5-118 Doc. no. 212.844/DGB 09.92

Appendix
6.2.17 WDP5-118 set of connectors
The connector set comprises:
Designation Order no.

WDP5-118 Doc. no. 212.844/DGB 09.92 6-31

Appendix
6.3 Reference movement principle
ATTENTION
Do not move beyond limit switch
ranges.
Negative Positive
limit switch limit switch
Reference point Reference point

negative positive Movement at "REF IN"
limit switch limit switch
Movement at "REF OUT"
Fig. 6-24 Principle of reference movement towards the

limit switch
Negative Additional Positive

limit switch reference switch limit switch
M
1st case
2nd case
(Braking
takes too long)
3rd case
4th case
(Braking
takes too long)
Reference point Movement at "REF IN"

additional
reference switch Movement at "REF OUT"
Fig. 6-25 Principle of reference movement towards the

additional reference switch
6-32 WDP5-118 Doc. no. 212.844/DGB 09.92

Appendix
6.4 Terminology
Absolute dimensions Reference system of dimensions used in positioning. The reference point
for positioning is the reference point of the system.
Additional reference switch Additional switch for reference movement.
Clockwise rotation Sense of rotation of the motor in clockwise direction (viewed from
front to motor shaft).
Counterclockwise rotation Sense of rotation of the motor in counterclockwise direction

(viewed from front to motor shaft).
Decade settling time Number of read-in repeats of a decade value with parallel data
transfer.
Full step 500 steps/revolution; step angle = 0.72°/step.
Gear ratio Multiplier used in positioning, which consists of the numerator and
denominator (reduction gear or speed-transforming gear).
Half step 1000 steps/revolution; step angle = 0.36°/step.
Incremental dimensions Reference system of dimensions for the positioning unit. The reference
point is the current position.
Limit switch Switch limiting the travel and reference movement.
Load resistor Reduces the braking energy of the motor.
Manual frequency Motor speed during slow ("manual frequency slow") or fast ("manual
frequency fast") manual movement.
Network mode Operating mode for executing programs in a network of positioning

units.
Parallel mode Operating mode of the positioning unit for parallel transfer of movement
commands.
Phase current Current flowing through a stepping motor coil.
Power control card Card equipped with electronic system for driving the motor.
WDP5-118 Doc. no. 212.844/DGB 09.92 6-33

Appendix
Readings Number of times a complete decade switch block is read in parallel

data transfer.
Reference movement Motor speed at which a movement to the limit/reference switch ("REF IN")
frequency and a movement away from the limit/reference switch ("REF OUT") to the
reference point is performed.
Reference movement Movement of the motor towards the right or left limit switch or
additional reference switch for setting a reference point for the system
of dimensions.
Reference position Position value after reference movement or reference point setting.
Rotation monitoring The desired position is compared to the actual position of

the drive, malfunction if limit value is exceeded
RS 485 interface Serial interface for the network.
Serial mode Operating mode of the positioning unit for serial transfer of movement
commands.
Settling time Time during which an input signal must be stable so that the positioning unit
can recognize it.
Step angle Angle of rotation through which the motor shaft rotates for each control pulse.
Storage mode Operating mode of the positioning unit for storing and executing
programs.
Zero current Phase current reduction to zero (motor has no holding torque).
6-34 WDP5-118 Doc. no. 212.844/DGB 09.92

Appendix
6.5 Abbreviations
ASCII American Standard Code for

Information Interchange
CMOS Complementary metal-oxide

semiconductor
Doc. no. Documentation number
E Encoder
HU Height unit
LED Light emitting diode
M Motor
PC Personal computer
PLC Programmable logic controller
SW Wrench size
WDP5-118 Doc. no. 212.844/DGB 09.92 6-35

Appendix
6-36 WDP5-118 Doc. no. 212.844/DGB 09.92

Index
7 Index
Page Page
A P
Absolute dimensions 1-10, 3-1 Phase current 2-20
Acceleration 2-19 Power loss diagram 2-3
Action commands 3-16, 3-25
R
D Readings 2-17, 3-38
Decade settling number 2-17, 3-38 Reference movement frequency 2-17, 3-38
Reference position 2-17, 3-38
Rotation monitoring 1-2, 1-8, 2-19, 3-2
F
Full step 2-19
S
Sense of rotation 1-2, 2-19
G Setting commands 3-16, 3-25
Gear ratio 2-17, 3-17, 3-25, 3-38 Setting time 2-17, 3-17, 3-38
Speed 2-18
Step angle 1-2, 2-19
H
Half step 2-19
Z
Zero current 3-2, 3-16, 3-25
I
Incremental dimensions 1-10, 3-1
M
Manual frequency 2-17, 3-17, 3-25, 3-38
WDP5-118 Doc. no. 212.844/DGB 09.92 7-1

Index
7-2 WDP5-118 Doc. no. 212.844/DGB 09.92

Wdp5118e PDF

Uploaded by

Copyright:

Available Formats

Wdp5118e PDF

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Wdp5118e PDF

Uploaded by

Copyright:

Available Formats

Wall-mounted

Doc. no. 212.844/DGB 09.92

Ident no.: 00441106110

Edition: c008 Sept. 92

• The device shall only be operated by trained personnel.

• The warranty is invalidated in case of unauthorized modification or opening of the device.

Berger Lahr GmbH & Co. KG WDP5-118

Edition: c008 Sept. 92

Sender: Please inform us, using this form, if

Company/department: We should also appreciate any new

Proposals and/or improvements:

1.1 Structure and characteristics 1-1

1.2 Purpose 1-3

1.3 Function 1-7

1.4 Technical data 1-11

WDP5-118 Doc. no. 212.844/DGB 09.92

2.1 Delivered items 2-1

2.2 Accessories 2-2

2.3 Mounting 2-3

2.4 Cabling 2-4

2.5 Starting up 2-17

WDP5-118 Doc. no. 212.844/DGB 09.92

3.1 Operating possibilities 3-1

3.2 Starting up 3-2

3.3 Storage mode 3-3

3.4 Serial mode 3-18

WDP5-118 Doc. no. 212.844/DGB 09.92

3.6 Network mode 3-39

3.7 Switching off 3-44

4.1 Status displays 4-1

4.2 Trouble-shooting tables 4-2

4.3 Repair work 4-14

4.4 Storage, shipment 4-14

WDP5-118 Doc. no. 212.844/DGB 09.92

5.1 Maintenance chart 5-1

5.2 Maintenance contract 5-1

5.3 Maintenance contract 5-2

6.1 Unit variants 6-1

6.2 Accessories 6-2

WDP5-118 Doc. no. 212.844/DGB 09.92

6.3 Reference movement principle 6-32

6.4 Terminology 6-33

6.5 Abbreviations 6-35

WDP5-118 Doc. no. 212.844/DGB 09.92

1.1 Structure and characteristics

The wall-mounted WDP5-118 positioning unit

The unit is designed for wall-mounting in a control

Fig. 1-1 WDP5-118 positioning unit

WDP5-118 Doc. no. 212.844/DGB 09.92 1-1

Motor phase current

Operating mode selector switch

Shaft encoder connector

Fig. 1-2 WDP5-118 front panel

Power drive status display (02) Acceleration selector switch (49)

Shaft encoder connector (05) RS 485 serial interface (52)

1-2 WDP5-118 Doc. no. 212.844/DGB 09.92

The wall-mounted WDP5-118 positioning unit is

1.2.1 System configuration possibilities

Depending on the selected operating mode, the