Ecodrive DKC03.1 Drive Controller: Rexroth

engineering
mannesmann
Rexroth
ECODRIVE
DKC03.1 Drive Controller
Functional Description: PDP03VRS
DOK-ECODRV-PDP-03VRS**-FKB1-EN-P
274132 Indramat
ECODRIVE DKC03.1 Drive Controller
Title ECODRIVE DKC03.1 Drive Controller
Document Type Description Functional Description
Document Type DOK-ECODRV-PDP-03VRS**-FKB1-EN-P
Internal Filing Notation • Map 58-03V-EN Register 3

• 209 0073-4312-01
• Based on: 03V06
What is the purpose of this The following document describes the functions of the firmware FWA-
documentation? ECODRV-PDP-03VRS-MS in connection with DriveTop 03V03
The document serves:
• to describe all functional characteristics
• for setting parameters for the drive controller
• for data security of the drive parameters
• for error diagnosis and troubleshooting
Change Notice Document identification of Release Remarks

previous and current releases date
DOK-ECODRV-PDP-03VRS**-FKB1-EN-P 11.96 First release
Copyright  INDRAMAT GmbH, 1996

Distribution and reproduction of this documentation, commercial use or
communication of its contents are not permitted without express written
permission. Violation of these stipulations will require compensation. All
rights reserved for the issuance of the patent or registered design.
(DIN 34-1)
Liability We reserve the right to make changes to the contents of the

documentation and the availability of products.
Publisher INDRAMAT GmbH • Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main

Telephone 09352/40-0 • Tx 689421 • Fax 09352/40-4885
Dpt. END (OS)
DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96
Contents
1 System Overview 1-1
1.1 Ecodrive - The Economical Control Drive for Automation.................................................................... 1-1
1.2 Ecodrive - A Family of Drive Controllers .............................................................................................. 1-1
1.3 Overview of Functions DKC03.1 .......................................................................................................... 1-2
DKC03.1 - Modes of Operation..................................................................................................... 1-2
General Features of DKC03.1....................................................................................................... 1-3
2 Safety Instructions for Electrical Drive Controllers 2-1

2.1 General Information ............................................................................................................................. 2-1
2.2 Protection against Contact with Electrical Components ...................................................................... 2-2
2.3 Protection of Safely Separated Low Voltages...................................................................................... 2-3
2.4 Protection from Dangerous Motion ...................................................................................................... 2-3
2.5 Protection During Assembly and Handling........................................................................................... 2-5
3 Preparation for Startup Procedure 3-1

3.1 General Instructions for Startup Procedure ......................................................................................... 3-1
3.2 DriveTop Startup Procedure and Diagnostics...................................................................................... 3-1
3.3 DriveTop-System Requirements.......................................................................................................... 3-1
3.4 Installation of DriveTop ........................................................................................................................ 3-2
Starting the Installation Program ................................................................................................... 3-2
Setting Communications Parameters ........................................................................................... 3-3
3.5 Connection of the PC with the Drive controller .................................................................................... 3-5
3.6 Minimal Installation for Operating a DKC with DriveTop ...................................................................... 3-6
3.7 DriveTop Startup .................................................................................................................................. 3-7
Scanning for Connected Drives .................................................................................................... 3-7
Online and Offline Operation......................................................................................................... 3-8
Diagnostic Window........................................................................................................................ 3-9
Password Protection ................................................................................................................... 3-10
3.8 DriveTop Menu Structure ................................................................................................................... 3-13
Files............................................................................................................................................. 3-13
Parameter ................................................................................................................................... 3-13
Setup Drive.................................................................................................................................. 3-14
Drive ............................................................................................................................................ 3-14
Options ........................................................................................................................................ 3-15
Help ............................................................................................................................................. 3-15
3.9 Printing Parameter Data..................................................................................................................... 3-16
4 Motor and Drive Controller Selection 4-1

4.1 General Information on Selecting a Motor and Drive Controller .......................................................... 4-1
4.2 Motor Selection .................................................................................................................................... 4-1
DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96 Contents I

4.3 Drive Controller Selection .................................................................................................................... 4-3

Selecting the Drive Controller........................................................................................................ 4-3
Selecting the Overload Factor....................................................................................................... 4-4
Selecting the PWM Frequency...................................................................................................... 4-4
Setting the Operation Mode: Position Control with Positioning Interface ...................................... 4-5
Position Control with Following Error ............................................................................................ 4-5
Position Control without Following Error ....................................................................................... 4-5
Selecting the Appropriate Position Control Mode.......................................................................... 4-5
5 Control Communication Via the Profibus DP 5-1

5.1 Features of the Profibus Device........................................................................................................... 5-1
5.2 Drive Control Word .............................................................................................................................. 5-2
5.3 Drive Status Word................................................................................................................................ 5-3
5.4 Installation Procedure .......................................................................................................................... 5-4
Turn on the DKC03.1 .................................................................................................................... 5-4
Turning the Power Supply On and Off. ......................................................................................... 5-5
5.5 Control Functions That Can Be Initiated from the Profibus.................................................................. 5-6
5.6 Profibus Connection............................................................................................................................. 5-6
Cable ............................................................................................................................................. 5-6
Connections and Wiring ................................................................................................................ 5-6
Diagnostic message LED.............................................................................................................. 5-7
Address switch .............................................................................................................................. 5-7
6 DKC03.1 Drive Controller with Integrated Position Control 6-1

6.1 General Information for Operating with Position Control ..................................................................... 6-1
6.2 Positioning Block Input......................................................................................................................... 6-2
Block Number................................................................................................................................ 6-2
Positioning Block Data .................................................................................................................. 6-3
6.3 Positioning Operation........................................................................................................................... 6-5
Absolute Positioning...................................................................................................................... 6-5
Relative Positioning....................................................................................................................... 6-6
Continuous Motion in Positive/Negative Direction....................................................................... 6-11
Following Block Operation........................................................................................................... 6-12
6.4 Choosing, Starting and Selecting a Positioning block........................................................................ 6-17
Choosing a Positioning Cblock.................................................................................................... 6-17
Starting Positioning Blocks.......................................................................................................... 6-17
Interrupting Positioning Blocks .................................................................................................... 6-17
Acquittance of Positioning Block Selection with Drive Enable Active.......................................... 6-18
Acknowledgement When Drive Enable is Switched Off.............................................................. 6-20
6.5 Target Position Processing with Modulo Scaling ............................................................................... 6-21
7 General Drive Functions 7-1

7.1 Scaling and Mechanical System Data.................................................................................................. 7-1
Linear Scaling................................................................................................................................ 7-1
Rotary Scaling ............................................................................................................................... 7-3
Processing Position Data .............................................................................................................. 7-4
7.2 Drive limits............................................................................................................................................ 7-6
Transverse Range Limits .............................................................................................................. 7-6
II Contents DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96

Limiting the Velocity ...................................................................................................................... 7-8

Torque Limit .................................................................................................................................. 7-8
7.3 Error Handling ...................................................................................................................................... 7-9
7.4 Control Loop Settings......................................................................................................................... 7-10
General Information for Control Loop Settings............................................................................ 7-10
Loading Default Parameters ....................................................................................................... 7-11
Executing the Basic Load Feature After Changing Motor or Drive ............................................. 7-11
Executing the Basic Load Feature as a Command in the "Control Loop Setting" Dialog ........... 7-12
Setting the Current Regulator...................................................................................................... 7-13
Setting the Speed Controller (Velocity Loop) .............................................................................. 7-14
7.5 Loop Monitoring ................................................................................................................................. 7-18
Velocity Loop Monitoring ............................................................................................................. 7-19
Position Loop Monitoring............................................................................................................. 7-20
7.6 Status Messages................................................................................................................................ 7-21
Ready for Operation (bb)............................................................................................................. 7-21
In Position (INPOS) ..................................................................................................................... 7-22
In Motion (INBWG)...................................................................................................................... 7-23
In Reference (INREF) ................................................................................................................. 7-23
Position Switch Point (WSP) ....................................................................................................... 7-23
Profibus status word.................................................................................................................... 7-24
7.7 Drive-controlled homing procedure.................................................................................................... 7-25
Homing When Using a Motor With Resolver Feedback (Standard) ........................................... 7-25
Homing When Using a Motor With Integrated Absolute Encoder Function (Optional) ............... 7-31
7.8 Jogging............................................................................................................................................... 7-34
7.9 Positioning at Limited Velocity............................................................................................................ 7-35
Function....................................................................................................................................... 7-35
Applications ................................................................................................................................. 7-35
Example ...................................................................................................................................... 7-36
Parameter ................................................................................................................................... 7-36
Activation..................................................................................................................................... 7-36
7.10 Feedrate Override Feature............................................................................................................... 7-37
7.11 Analog Output .................................................................................................................................. 7-37
7.12 Motor brake ...................................................................................................................................... 7-39
7.13 Activating the Drive .......................................................................................................................... 7-41
Controller Enable......................................................................................................................... 7-41
Drive Stop/Start ........................................................................................................................... 7-41
E-Stop Function........................................................................................................................... 7-42
Controller Enable, Drive Halt and E-Stop Signal Connections.................................................... 7-42
8 Serial Communication 8-1

8.1 General Information for Serial Communication.................................................................................... 8-1
8.2 Communication via the RS232 Interface ............................................................................................. 8-1
8.3 Communication via the RS485 Interface ............................................................................................. 8-2
Operating of Multiple Drives with DRIVETOP ............................................................................... 8-2
Diagnostic Messages and Setting Parameters via a PLC............................................................. 8-3
Diagnostics and Setting Parameters of Drive Groups Through an Operator Interface................. 8-4
8.4 Communication Procedures................................................................................................................. 8-5
Communication Parameters ......................................................................................................... 8-5
DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96 Contents III

Setting the Drive Address.............................................................................................................. 8-6

Original State after Establishing the Control Voltage .................................................................... 8-6
Communication with a Specific Bus Unit....................................................................................... 8-6
Parameter Structure...................................................................................................................... 8-7
Writing To a Parameter................................................................................................................. 8-7
Reading a Parameter .................................................................................................................... 8-8
Writing to a List Parameter ........................................................................................................... 8-8
Reading a List Parameter ............................................................................................................. 8-8
Executing Parameter Commands ................................................................................................. 8-9
Requesting the Status of a Command .......................................................................................... 8-9
Ending a Parameter Command................................................................................................... 8-10
Error Messages........................................................................................................................... 8-11
8.5 Application Examples......................................................................................................................... 8-12
Changing Positioning Block Data ................................................................................................ 8-12
8.6 Connections ....................................................................................................................................... 8-13
RS485 Connection ...................................................................................................................... 8-13
RS 232 Connection ..................................................................................................................... 8-14
9 Index 9-1
Supplement A: Parameter description

Supplement B: Diagnostic message description
Directory of Customer Service Locations
IV Contents DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96

1 System Overview
1.1 Ecodrive - The Economical Control Drive for Automation
ECODRIVE is a digital intelligent automation system which provides a

cost effective way to control single and multiple axis control tasks.
ECODRIVE can be used to accomplish all kinds of control tasks in
different fields. It is typically used in applications such as:
• Handling systems
• Packaging machinery
• Assembly systems
1.2 Ecodrive - A Family of Drive Controllers
An ECODRIVE consists of a drive controller and an MKD servomotor.

There are presently four drive controllers available, each with different
control interfaces.
• DKC01.1 with analog, stepping motor and

Positioning interfaces
• DKC11.1 with Analog interface
• DKC02.1 with SERCOS interface
• DKC03.1 with PROFIBUS-DP interface
This description of functions refers to the DKC03.1. Separate

documentation is available for the DKC01.1 and the DKC02.1.
DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96 System Overview 1-1

1.3 Overview of Functions DKC03.1
DKC03.1 - Modes of Operation

Servo drive with integrated positioning control
Memory-programmable DKC03.1 drive controller AC Servo motor
control with PROFIBUS-DP interface MKD
MS-DOS® - PC
Parameters
Diagnostics
Operating data
RS 232
RS 485
Drive computer
Stored Fine interpolation
positioning
M
blocks 3~
PROFIBUS-DP- PROFIBUS-DP- Position control
-interface -interface
2° position 1 Velocity control
21 position 2
.
22
3
. Field-oriented ~~
2 . stator current
Selection of 24 .
positioning 5
2 position 64 control
blocks
High-resolution
position interface
FS0203D4
Fig. 1-1: Servo drive with integrated positioning control
• Up to 64 positioning blocks can be stored in the DKC03.1. They can

be accessed via 6 bits in the profibus control word. The DKC03.1
executes position blocks independently.
• The drive controller can conform to mechanical transmission elements
such as gear ratios or feed constants.
• All position, speed, and acceleration data can be scaled rotary or linear
depending on the axial kinetics.
• An internal homing procedure can be used to create a reference
position.
• The axis can be controlled via the jog function for set-up operation.
• The positioning velocity can be limited to a uniform value.
• Limit switch inputs and adjustable parameter position limits are
available to set travel range limits.
• The drive controller status can be determined via status outputs.
1-2 System Overview DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96

General Features of DKC03.1
Direct Power Supply Connection

The drive controllers can be attached directly to three-phase power
supplies with from 380 V to 480 V, without a transformer. Power rectifiers,
intermediate circuit capacitors, brake resistances and bleeders are
included as standard equipment.
Integrated Brake Activation

The optional brake in MKD motors is activated directly via the drive
controller.
Actual Position Value Measurement

ECODRIVE measures the actual position value via the motor feedback
system
• Incremental position measurement (standard)

The actual position value will be set at a random value when the power
supply is first turned on. To give the actual position value a fixed
reference point, the reference point must be set with a defined homing
procedure.
• Absolute position measurement (optional)
After the power supply has been turned on, the absolute actual
position value in relation to a fixed reference point is immediately
available. Thus, completing the homing procedure is unnecessary.
Integrated Diagnostic Display

All internal state and error analysis is displayed via a two digit seven-
segment display.
Easy Installation
The DriveTop installation and diagnostic program provides you with user-
friendly installation via the serial RS-232 interface on a PC running
TM
Windows 3.1.
DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96 System Overview 1-3

Notes
1-4 System Overview DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96

2 Safety Instructions for Electrical Drive Controllers
2.1 General Information
• The safety information in this user's manual must always be observed.

• Improper use of this device and disregard for the warnings which are
given can lead to damaging the device, injury, or, in extreme cases,
death.
• In case of damage due to neglecting the warnings in this user's
manual, INDRAMAT GmbH does not assume any liability.
• If you do not understand the documentation in this language, request it
in another language you will understand before proceeding with the
startup procedure.
• The accurate and safe operation of this device requires proper
transport, safe storage, assembly and installation as well as careful
servicing and maintenance.
• Use only manufacturer-authorized replacement parts.
• Follow the safety instructions and specifications for the operations
stated.
• The devices are designed for installation in machines that will be used
in industrial applications.
• Installation is prohibited until it is shown that the machine in which the
device is installed complies with EG Standard 89/ 392/ EWG (machine
standards).
• Operation is allowed only when the national EMV regulations for the
following applications are observed. In the EU, the EMV standard 89/
336/ EWG must be observed.
• The technical data, connection requirements and the installation
requirements are found within the user's manual and must be
followed.
Qualified Personnel:
• Only qualified personnel should work on this device or work within the
area of this device.
• Persons are qualified if they are sufficiently experienced with
assembly, installation and operation of the product as well as all of the
warnings and precautions as described in the user's manual.
• Furthermore, he or she must have been taught or authorized to turn on
and off, ground, and designate the current carrying circuits and
devices in accordance with generally accepted safety techniques.
He/she must have appropriate safety equipment and be trained in first
aid.
DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96 Safety Instructions for Electrical Drive Controllers 2-1

2.2 Protection against Contact with Electrical Components
Explanation:
Parts with a voltage greater than 50 volts can be dangerous for human
contact. When electrical devices are in operation certain parts always
have a dangerous voltage.
High voltage!
Life threatening or serious bodily harm

DANGER
⇒ The general assembly and safety instructions must
be followed when working in high voltage area.
⇒ After the installation of the drive controller to all
electrical devices, re-check the connection
schematic.
⇒ Even if an operation will only last for a short period of
time, or is for test purposes only, it should only be
undertaken if protective earth conductor is securely
attached to the points provided for it on the
components.
⇒ Before servicing electrical components with a voltage
higher than 50 volts, disconnect the device from the
power source. Ensure that it will not be turned back
on.
⇒ Wait for 5 minutes after the device has been turned
off before handling it so that the capacitors can
completely discharge.
⇒ Do not touch the components' electrical connector
plugs while the device is on.
⇒ Before turning on the device, cover the parts which
are under voltage in order to avoid them being
touched.
⇒ An FI circuit breaker (earth leakage circuit breaker)
cannot be used for AC-drives! The protection against
indirect touching must be produced through other
means, for example through an overload circuit
breaker (according to EN 501787/ 1994 Section
5.3.2.3).
⇒ For flush mounting instruments, protect against
indirect contact of electrical parts by installing a cover
such as a switch gear cabinet, for example
(according to EN 501787/ 1994).
2-2 Safety Instructions for Electrical Drive Controllers DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96

High Leakage Current

Possible Consequences
DANGER
⇒ Before turning on the device, all components and the
motor must be grounded or connected to ground points
by protective conductors.
⇒ The leakage current is greater than 3.5 mA. It is
required, therefore, that the device has a fixed
connection to the mains power supply (EN 50178/
1994 Section 5.12.11.1).
⇒ Always connect the protective conductor or connect to
the ground before installation, even for testing
purposes. The outer case can have a voltage across it
if not grounded.
2.3 Protection of Safely Separated Low Voltages
Explanation:
The drive components' connections and interfaces for signal voltages in a
voltage range of 5 to 30 volts are safely separated voltage loops which
cannot be touched.
High electrical voltage through improper connection

⇒ The signal voltage connection and interface of this
WARNING device may only be connected to apparatuses,
electrical components or wires which exhibit a
sufficient safe separation from the active circuit
according to standard IEC 364-4-41, 413.5 or
according to DIN EN 50178, 12.94, Section 5.2.18.
2.4 Protection from Dangerous Motion
Explanation:
Dangerous motion can be produced through mistakes in the control of the
connected motors.
Different situations can cause this:

• Errors in the software
• Production errors in the components
• Wiring errors
• Errors in the measuring and signal transmitter
• Errors in the servicing of the components

These errors may appear directly after the device is turned on or after any
length of time.
Dangerous Motion
Life threatening, bodily harm or damage to device!
WARNING
⇒ The monitors in the drive components prevent errors
in the connected drives in almost all cases. In regards
to personal safety this fact may not be relied upon by
itself. Until the built-in monitors are active, faulty drive
motion will in any case most likely occur, the
magnitude of which depends on the nature of the
malfunction and the operating conditions.
⇒ Ensure personal safety for the afore-mentioned
reasons through monitoring or preventative measures
enacted by the installation. These are provided
according to specific conditions of the plant after a
danger and error analysis by the plant constructor.
These safety requirements which apply to the plant
are included here.
In particular, the following must be closely observed:
⇒ Keep clear of the machine range. Possible measures
to prevent people from accidentally entering this
range: protective fencing, protective railing, protective
covering, and/or light curtains
⇒ Sufficient strength of the fencing and covering against
the maximum possible motion energy.
⇒ Mount emergency stop switches in the area and make
them easily accessible. Ensure that the emergency
stop switch works before installation.
⇒ Protect against unintentional operation through
switching on the drives' power connection by including
an emergency off circuit or using a reliable drive
interlock.
⇒ Before reaching or moving into the danger area, bring
the drives to a safe standstill. Keep the electrical
equipment via the main switch voltage-free and
ensure that it won't be turned back on:
• During maintenance and repair work

• During cleaning
• Before long periods of non-use
⇒ Avoid the operation of high frequency, remote control

and broadcast equipment around the device
electronics and their wiring. If there is no way to avoid
using such devices, carefully check the system and
equipment for any possible malfunctions before the
initial installation. In special cases, a specific EMV test
of the installation is necessary.

2.5 Protection During Assembly and Handling
Explanation:
Improper handling and assembly of certain drive components in
unfavorable conditions can lead to injuries.
Possible bodily harm through improper handling!
Injury through pinching, sheering, cutting, trimming
CAUTION
⇒ Pay attention to the general installation and safety
instructions for handling and assembly.
⇒ Use suitable assembly and transportation
procedures.
⇒ Prevent pinching and squeezing through proper
precautions.
⇒ Use only the proper tools. Whenever prescribed, use
specialty tools.
⇒ Lifting devices and tools should be used in their
proper manner.
⇒ If necessary use appropriate protective equipment
(such as protective eyewear, safety shoes, safety
gloves, etc.)
⇒ Do not stay under hanging loads.
⇒ Clean up all liquids on the floor due to slipping
danger.
´

Notes

3 Preparation for Startup Procedure
3.1 General Instructions for Startup Procedure
In this chapter the initial operation and diagnostic system DriveTop will be
introduced. In general it is necessary to install DriveTop on the PC for the
commissioning of the DKC to run. DriveTop follows this handbook to run
concurrently offline. In the following chapters the document will refer often
to this program.
Note: If you would just like to get a general overview of the functional
properties of ECODRIVE, you can skip to chapter 3.
3.2 DriveTop Startup Procedure and Diagnostics
DriveTop is a Windows-based application used in the initial operation and

diagnosis of ECODRIVE drives.
DriveTop has a user-friendly initial operation guide. The initial installer will
be led through a series of function dialogs designed to enter all
operational settings. There are help instructions for each of these dialogs
that can be activated by pressing a key. This alleviates the need for much
paper documentation in the initial installation.
The initial installation parameter setup is arranged so that the user only
needs to deal with settings that are relevant for the selected application.
3.3 DriveTop-System Requirements
DriveTop is a Windows program and the minimum requirements on the

PC are:
• IBM compatible 80386 / 40MHz or better (80486 recommended)

• 4MB RAM (8MB recommended)
• 5MB free hard drive space.
• A free serial port
• VGA graphics
• Mouse or compatible pointing instrument
• Windows 3.1
DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96 Preparation for Startup Procedure 3-1

3.4 Installation of DriveTop
DriveTop comes on two 3.5" diskettes. (DOS format; 1.44MB)
Note: Please make a backup copy of the DriveTop installation diskettes.

Install the software from these copies. Store the original diskettes
in a safe place! For installation on your computer, use the
installation programs on the diskettes. It will not work if you simply
copy the material from the diskettes.
Starting the Installation Program
For installation of DriveTop do the following steps:
• Turn on the PC and start Windows.

• Place diskette 1 in the disk drive.
• Activate the Windows Program Manager.
• At the menu, click on "FILE" and choose "LOAD" from the drop-down
menu.
• At the command prompt type "A:\INSTALL (if the DriveTop diskette is
in drive A:)
• The order of the installation programs is as follows.
After successful completion of the installation you will find the new
program group icon INDRAMAT on your PC. Within this group you will
find the DriveTop icon and an icon for the ECODRIVE Help system.
Fig. 3-1: INDRAMAT program file with the DriveTop and ECODRIVE Help icons
3-2 Preparation for Startup Procedure DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96

Setting Communications Parameters
Fig. 3-2: Communications dialog box
COM Port
Most PCs have several serial interfaces (COM ports).

You can use the COM port setting to select the interface to be used for
communicating with the drive controller. COM1 or COM2 are normally
selected. If you want to use COM3 or COM4, the appropriate information
must be entered in the DTOP.INI file for the interrupt to be used and the
I/O addresses. These two interfaces will then be available for selection.
Mode
DriveTop can be connected with a drive controller via an RS232, or to a

work group with up to 32 drives by an external RS232/RS485 interface
converter.
Set the mode you want.

Baud Rate
The DKC drive controller can communicate at various baud rates:

• 9600 Baud
• 19200 Baud
Answer Delay
The answer delay defines the minimum time that must pass after the last
character of a telegram has been received via the serial interface before
the first character of the response can be sent back by the drive. This
time span is required for RS485 operation for switching from send to
receive mode or vice-versa. This parameter is not actually required for
RS232 mode, but should nevertheless be set to 1ms.
Addressing Method
If multiple drives are to be connected via an RS485 interface to a

common master (PC or PLC), each unit on the bus must have an
individual address. There are two different methods to set the address.
Use switches S2 and S3 located on the drive to specify the effective
RS485 address during Address setup via rotary switch.
If you are Setting the address via software, the switch setting of S2 and
S3 is not the determining factor for the effective address. To specify the
address using this method, enter an address number in the Drive address
input field.

3.5 Connection of the PC with the Drive controller
A connection cable is required for data transfer between the drive

controller and the PC. This cable can be ordered from INDRAMAT and
can have either a 9-pin or 25-pin D-SUB plug. The pin diagram of the
cable is shown in the following figure.
Also see Chap.8.3 Communication via RS485 Interface
Fig. 3-3: Connection of a PC via the RS232 interface to the DKC
Note: Please pay attention so that the connection of the reference

potential (OV/GND) is made on the inside of the cable's shield!

3.6 Minimal Installation for Operating a DKC with DriveTop
The minimal installation below may be used if you will be working with a
DKC for the first attempts to set parameters.
MS-Dos® - PC
X1
X4 1
+24 V
= 1 x AC 230V
X5 4
50...60 Hz
X6 0V ~~
X7
IKS 374
IKL...
MKD
FP0021d1.drw
Fig. 3-4: Minimal installation for simple parameter setup
Simple parameter setup can be performed with this installation. To

activate the drive and to carry out motion, additional installation is
required.
Note: Detailed installation instructions are found in the Project Planning

Manual.

3.7 DriveTop Startup
DriveTop can be started by double-clicking on the DriveTop icon.
Scanning for Connected Drives
After DriveTop starts running, it first searches for connected drives. Every
drive address between 1 and 99 will be tested.
Fig. 3-5: Scanning for drive addresses
If one or more drive controllers are found, the parameter settings from the
first drive found will be read.
Note: You can only find multiple drives if your PC is connected by an

RS232/RS485 interface converter to several drives which are
interfaced with a RS485. All drives must be set to the same
baudrate.

If no drive is found then the following dialog box appears:
Fig. 3-6: Dialog box after failed scan
Reasons for this dialog box may be:

• The +24V control voltage for the DKC is not turned on or not
connected.
• Problem in the connection between PC and the drive controller.
Now you can either retry establishing a connection, cancel out of the
program, or go into offline mode.
Online and Offline Operation
Parameter Setup through Online Operation Startup Procedure
Online operation means the drive controller is in direct communication. In

online operation, all the parameters that are in the current dialog screen
of the startup sequence are written directly to the drive controller and
become immediately operative. The user can also immediately test the
results of the installation.
Parameter Setup through Offline Operation Startup Procedure
Offline operation means that there is no connection to the drive controller

from the PC. The offline operation makes it easy for the initial installer to
prepare parameter sets which can then be loaded complete onto the
appropriate drive. There remains only a small amount of work left over for
the initial operator which cannot be worked through offline because of the
dependence of the machine.

Diagnostic Window
After a successful drive controller parameter scan, the following

diagnostic window appears on the PC screen.
Fig. 3-7: Diagnostic Window
The diagnosis window displays the following information:

• Drive controller status and error messages
• Command value and actual value
• Power on status and status signals
• Model descriptions of installed components
Note: The diagnostic window appears only in online operation. In offline

mode, a graphic with the ECODRIVE components is displayed
instead of the diagnostic window.

Password Protection
General Information on Password Protection
A user-defined password can be used to prevent access to the drive

parameters. No more changes are then possible to the parameters until a
user with access to the password enters it to unlock the drive. The
password protection itself is integrated into the drive.
You can call up the features for password protection from the via menu
path Options/Password protection.
The default password in the drive is '007'. This can be used to unlock the
drive, i.e., to turn password protection off.
A user password may consist of the letters from A-Z and a-z (upper and
lower case letters are distinct!) and the numbers from 0-9. Passwords
must be at least 3 characters long, and may be up to 10 characters in
length.
Also see parameter P-0-4025, Password
Change Password
This dialog box is used to change the existing password or to restore the
password '007' back to the drive. The dialog box can be called up from
the Options/Password protection/Change password dialog box.
Fig. 3-8: The 'Change password' dialog box

Procedure: To enter a new password, all editing three fields must be filled
in. Enter the current password in the first field (either '007' or an existing
password defined by a user). Write the new password into both of the
other two fields. Now when the close dialog box with the 'OK' key, if all the
passwords are correct, the new password becomes active and protects
the drive.
Remove Password Protection
To remove a user password and permanently unprotect the drive enter

'007' again as a new password.
Unlock drive
To change a parameter (when password protection is active), select the

menu item Options/password protection/unlock drive. The following
dialog box appears.
Fig. 3-9: Unlocking the drive
Procedure: Enter the current user password and close the dialog box with
the OK key. The drive is now unlocked.

Lock drive
To lock the drive, select the menu item Options/Password

protection/Lock drive. The following dialog box appears.
Fig. 3-10: Lock drive
Procedure: Press the 'OK' - key, and the drive will be locked.
Locking with RS - 485
If a user password is entered, the drive will be locked when starting or

leaving DriveTop. If a new drive is selected with DriveTop (RS 485), both
the old and the new drive will be locked.

3.8 DriveTop Menu Structure
Files
Load You can choose from a list of available parameter-files. The data within
these parameter files will be taken into the drive.
Note: In offline operation the content of the parameter files can be

viewed and changed.
Save The current parameters of a connected drive will be stored in a parameter

file in the PC.
Note: Please do not overwrite the parameter file "DKC31.par" which

comes with the product. You can use this parameter file at any
time to restore the drive controller to its original state. For your
own parameter data, you should use other file names.
Exit Alt+F4 The menu item "End" allows you to leave the DriveTop program.
Parameter
Scan When DriveTop is started, all the parameter information is read from the
connected drive. Due to speed reasons, in some dialog boxes only the
contents of the parameters are read.
Often it is convenient to move from one the drive controller to another
without restarting the DriveTop program. In order to keep the parameter
window valid, you must perform a new parameter scan after plugging the
interface cable into the new drive controller.
List of All Parameters In this menu you can examine a list of all of the parameters of the drive
and make changes as necessary. This offers a "low-level" way to set
parameters which must only be used in exceptional cases. Normally all
the drive parameters settings are performed as part of the initial
installation.
List of all Invalid Parameters By switching from set parameter mode to operating mode, the current
parameters will be checked for validity. All the incorrect parameters and
those that will lead to limit violations will be placed in a list of invalid
parameters, where they can be corrected.
Also see S-0-0022, IDN List of Invalid Op. Data for Comm. Phase 3

Mode The drive recognizes a parameter mode and a drive mode. You can use
this menu to switch modes. A number of parameters can only be changed
in set parameter mode. (Seven-segment display P2). Travel is only
possible in operating mode.
Also see S-0-0014, Interface Status
Motor type You can use this menu item to read information about the type of
connected motor. In offline operation this activity must be performed
manually.
Also see S-0-0141, Motor Type
Drive Controller/Operating This menu item can be used to read information about the connected
Mode Selection drive controller. From this information the input of the overload factors
and the PWM frequency within which the drive should run are read. In
offline operation, all of these activities must be performed manually by the
user.
You can also select the desired operating mode from a list.
Also see S-0-0140, Controller Type
Additional Dialog Boxes for Depending on the operating mode, other parameter dialog boxes are
Setting Parameters found in the parameter menu. These dialog boxes are self-explanatory
and will not be discussed further.
Setup Drive
Hardware Connections You can use this menu item to open a help system where the connections
to the device are displayed.
Parameter Setting The parameter settings in the initial installation lead the installer step-by-
step through a series of individual dialog boxes. At the end of this
process, all settings required for the application have been made.
Drive
Scan DriveTop can be physically connected to more that one drive controller at
the same time with the help of a RS232/RS485 interface converter.
DriveTop looks for connected drives under menu item "Scan".
Select If DriveTop is connected to more than one drive with the RS485 interface,
then you can use this menu item to determine which device is using which
connection.
Offline DriveTop can be operated online as well as offline.

Options
Language You can use this menu item to switch the language in which DriveTop
operates, the language of the parameters and drive controller diagnostics.
Also see P-0-0005, Language selection
Password Protection Here you can:

• Enter your own password.
• Lock (protect) the drive so parameter settings cannot be changed by
unauthorized users.
• Unlock the drive to make changes to parameters.
Also see P-0-4025, Password
Communication The Communications menu item allows you to make settings regarding
data exchange between the drive controller and the PC.
• Selection of COM ports
• Determining the baud rate
• Setting addresses
Help
Contents This menu provides access to the online handbook. This handbook
contains a wide range of information regarding the functional
characteristics of the drive system, parameter descriptions, and
diagnostic descriptions.
Using Help General Information Regarding Use of the Help System.
Information About... Information regarding the software version of DriveTop.

3.9 Printing Parameter Data
There is no direct way in DriveTop to print out parameter files.

Parameter files are stored as ASCII files and can be viewed and printed
with almost any editor. If you need to print a parameter file, we suggest
you use the "Notepad" editor. Notepad is a part of Windows 3.1 and is
therefore available under within Windows 3.1. To print a parameter file,
following these instructions:
Example: Parameter file "X_Axis.par:"
• From the Program Manager menu choose "Run - File..."

• At the command prompt enter "Notepad X_Axis.par" and click the
"OK" icon.
• Click on "Print files." (The printing process will begin.)

4 Motor and Drive Controller Selection
4.1 General Information on Selecting a Motor and Drive

Controller
An ECODRIVE- drive system consists of a drive control device (DKC)

and a Servomotor (MKD). A drive controller and motor suited to a
particular application can be selected with the aid of selection documents
(selection lists). These documents are available from INDRAMAT.
Specific information about the motor and the drive controller to be used
for the axis in question is required for a startup procedure. During online
operation, this information is read from the connected motor and drive
controller and does not have to be entered by the user. In offline operation
the drive controller and motor are not connected, and the user must enter
this information directly.
4.2 Motor Selection
Specific information about the motor to be used for the specific

application is needed for offline operation. DriveTop needs this
information to be able to use motor-specific data to determine specific
parameter settings. (motor current, velocity, standard control parameters,
feedback type, etc.)
DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96 Motor and Drive Controller Selection 4-1

Fig. 4-1: Motor selection
Note: If incorrect information about the type of motor is entered here,

the diagnostic message "UL" will appear in the drive controller
after the parameter settings have been loaded. This means that
the type of motor in the parameter settings is not identical with the
type of motor that is actually connected. If this happens, do the
following:
Also see C700, Basic Load
• Acknowledge the error by pushing the S1-button on the drive

controller. If the drive controller does not discover any additional
errors, "bb" is displayed.
• Reset the installation parameters and recalculate the parameters of
the drive controller limits.
4-2 Motor and Drive Controller Selection DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96

4.3 Drive Controller Selection
Fig. 4-2: Drive controllers
Selecting the Drive Controller
For offline operation, select the type of drive controller. There are three
drive controllers which can be selected:
• DKC03.1-040-7-FW
• DKC01.1-030-3-FW
• DKC01.1-040-7-FW
The type of drive controller selected determines the availability of modes

of operation and functions. This adjustment takes place automatically
during online operation by reading the "drive controller type" parameter of
the connected drive controller.

Selecting the Overload Factor
The overload factor is used to define the transient operating torque of the
drive controller. The velocities and torques available with the different
combinations of drive controllers and motors and power supply input
voltages are listed in the DKC/MKD selection lists. The overload factor
needed to obtain the drive controller data can be read off of the last
column in each line of the selection list.
Note: The projected selection data is necessary for the correct

adjustment
Also see P-0-0006, Overload Factor
Selecting the PWM Frequency
The clock frequency of the power output (PWM-frequency) of the drive

controller can be set to either 4 kHz or 8 kHz. The PWM frequency
determines the noise level of the motor, the permanent current carrying
capacity of the drive controller, and also the available transient operating
torque of the drive controller. The following rules apply to the settings:
• The 4 kHz PWM frequency should be used in standard applications to

maintain the high transient operating torque of the drive controller.
• The 8 kHz setting should be used in applications where the
environment requires a low noise level. It is important to note that
when using the 8 kHz PWM frequency, the drive controller has a lower
permanent current carrying capacity as well as reduced transient
torque. All permanent current and permanent torque data are reduced
by a factor of 0.9.
Also see P-0-4019, Process Block Mode

Setting the Operation Mode: Position Control with Positioning Interface
The operating mode "Position control with positioning interface" can be

set in the Drive/operating modes dialog box.
Position Control with Following Error
When positioning in this mode, a speed-dependent difference between

the command position and the actual position will be created (following
error). This synchronized behavior during positioning is dependent on the
Kv factor setting and results in "creeping" towards the desired position,
especially with a small Kv factor.
Position Control without Following Error
In the position control without following error mode, a velocity

feedforward ensures that the command position and actual position are
always the same. Therefore there will not be any velocity-dependent
differences between command position and actual position.
Selecting the Appropriate Position Control Mode
In general, the position control without following error is advantageous

because in this mode the drive reaches the desired position the quickest
(no Kv-factor-dependent creeping).
In less rigidly controlled mechanical systems, the surges in acceleration

created by this mode cause undesirable mechanical vibrations. The
position control with following error mode should nevertheless be used if
the application allows this disadvantage.
Vibration will then be damped by reducing the Kv factor. Doing this
creates a compromise between the positioning action and the load
rigidity.

Notes

5 Control Communication Via the Profibus DP
5.1 Features of the Profibus Device
SPS
Profibus-DP
RS232
PC with DriveTop
DKC DKC DKC DKC
FS0008d1.drw
Fig. 5-1: Configuration with drives attached to the profibus
I/O signal transmission via the profibus DP

The DKC03.1 has a PROFIBUS DP interface for communication with a
superordinate PLC. This standardized serial bus replaces the parallel
transmission of digital I/O signals. The profibus connection has 16 inputs
and 16 outputs.
Parameters are set on the drives locally via an RS-232 interface and the
PC-supported installation and setup program DriveTop.You can also use
this system to save and open parameter sets conveniently. This includes
process blocks for positioning in all modes, absolute and relative.
DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96 Control Communication Via the Profibus DP 5-1

5.2 Drive Control Word

Enabling, commands and travel command from the control to the drive.
32 16 8 4 2 1
bit 0 : RF
1 : drive enable
0 : drive lock
Bit 1 : A Start
1 : drive start
0 : drive halt
Bit 2 : NF = Zero travel =
drive-controlled homing
1 : start homing
0 : end homing
Bit 3 : Strobe
0->1 : Change positioning block
Bit 4 : Positioning with limited velocity
1 : limited velocity
Bit 5 : FReset = reset error
1 : start command
0 : emd command
Bit 6 : Jog+
1 : move forward manually
Bit 7 :Jog-
1 : move backwards manually
Bit 8 - 13 :
Process block selection 0...63
Fig. 5-2: Drive control word, from profibus to the drive
Bit Abbr. Effect of 1 Description

0 RF Drive Enable Chap. 7.13
1 AH/start Begin motion Chap. 7.13+6.4
2 NF Zero travel/drive-controlled homing Chap. 7.7
3 Strobe Change process block with start = Chap. 6.4 Part 1
1
4 Posit. w. Positioning at limited velocity Chap. 7.9 Part 2
lim
Vel.
5 FReset See Trouble shooting guide Descrpt of
Diagnostic Mess.
1.1
6 Jog+ Jog travel in positive direction Chap. 7.8
7 Jog- Jog travel in negative direction Chap. 7.8
Fig. 5-3: The drive control word to the profibus, lowest-order byte
5-2 Control Communication Via the Profibus DP DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96

5.3 Drive Status Word

Messages, acknowledgements and diagnostic messages from the drive
to the control system
Bit 0 : Operating mode

0 : positioning
1 : jogging
Bit 1 : WSP position switch point
1 : right from WSP
0 : left from WSP
Bit 2 : InRef
1 : drive is homed
Bit 3 : InBwg
1 : In motion
Velocity > Standstill window
Bit 4 : InPos.
1 : drive is in positioning window
Bit 5 : OK
1 : OK
0 : drive error
Bit 6 : Readyt
1 : ready
Bit 7 : Power
1 power turned on
Bit 8 - 13 : Process block acknowledgment

inverted: pre-selection
positive: block running
Fig. 5-4:Drive status word from drive to profibus, lowest-ordered bit
corr.
Bit Abbr. Parameter meaning for 1 Description
0 S-0-0135 1 = jog Chap. 7.8
1 WSP S-0-0059 right from Chap. 7.6 Part 5
position switch point
2 INREF S-0-0403 Drive is homed Chap. 7.6 Part 4
3 INBWG S-0-0331 Drive is in Chap. 7.6 Part 3
motion Vel. >
1
Standstill window. )
4 INPOS S-0-0182 Drive is in Chap. 7.6 Part 2
Bit 6 desired
2
Position window. )
5 OK Drive OK, no error
6 ready Chap. 7.6 Part 1
7 Power is on, bits 6 Chap. 5.4
& 7 on: under torque
Fig. 5-5: The drive status word to the profibus

5.4 Installation Procedure
Turn on the DKC03.1
Before switching on with the two-decimal address rotary switches S3 &

S2, select a slave address.
Tens
Ones
fs0009d1.drw
Fig. 5-6: DKC03.1, Switches for the bus address
Turn on the control voltage, but not the mains power supply.
If this is an initial installation, load the standard parameter set for
DKC03.1 via the serial interface. To correct errors, do Basic load, fix
invalid parameters in the *.PAR file and reload.

Turning the Power Supply On and Off.
Turn on Turn off
H1 display on DKC 3.1 -->
1. Turn on control voltage 1
travel
(switch 24 V DC to X4/1, X4/4) 0
2. Turn on power
(bit 1 in drive control word must be 1
at "0 = drive halt" 0
3. Turn on drive enable

after initial K1 power protection
delay expires.
(Set bit 1 in drivecontrol word to 1 1
- positive edge) 0
1 <5s
Switch Bb contact
(X4 5,6) 0
Holding brake
<1s <0,4s
24 V to X6 3,4 ->holding brake releases 24V
0 V to X6 3,4 -> holding brake catches 0 V
Bits in status word 1)

1 * *
Bit 7 power ON 0
Bit 6 ready 1 * *
(Drive ready to turn power on) 0
1
Bit 5 OK * *
0
Continue switching within switch-on sequence only after confirmation

of presence of given sample bit in the status word.
1. "Control voltage ON" Bit 7 6 5

0 1 1
then
2. "Power ON" Bit 7 6 5 * As long as the control voltage is
1 0 1 off, nothing can be read via the
then profibus.
3. Drive enable Bit 7 6 5
1 1 1
1) For more information on bits in the status word, see "ECODRIVE Drive Controller DKC03.1"
DG5001D1.DRW
- Functional Description
Fig. 5-7: Power supply

5.5 Control Functions That Can Be Initiated from the Profibus

• Positioning operation see Chap. 6.3
• Jogging, see Chap. 7.8
• Drive-controlled homing, see Chap. 7.7
• Error Reset
For a note on trouble shooting, see diagnostic description Chap 1.1.
5.6 Profibus Connection
Cable
Twisted pair with insulation.
Topology: Line, no branching. A master needs not be located at the
beginning of the line.
Connections and Wiring

9-pin D-SUB connector
1
6
2
7
3 8
4
9
5
fs0010d1.drw
Fig. 5-8: Profibus, electrical connections
9p. Trapezoidal jack (Sub-D), female on the device. The longer side of
the trapezoid is on the left side of the front panel. The cable is oriented
towards the top.
The plug can contain a switchable termination (termination resistances).
The termination should be turned on at the physical beginning and end of
the profibus line, otherwise off.
Pin Signal
1 free
2 free
3 RS-485_B
4 RTS
5 GND_Bus (galv. separated)
6 +5V_Bus (galv. separated)
7 free
8 RS-485_A
9 Cntr-N
Fig. 5-9: Pin assignment for profibus plug

Diagnostic message LED
A green diagnostic LED is located on the front panel to indicate "RUN"

(the bus is running). Its name is H3.#
Address switch
2 x decimal coding switches are accessible from the front panel. They
allow for addresses up to 99. For a description and illustration with the
position of the switches, see the chapter "Installation Procedure".

Notes

6 DKC03.1 Drive Controller with Integrated

Position Control
6.1 General Information for Operating with Position Control
Up to 64 different position blocks can be stored with the DKC03.1. The 6

bits in the Profibus control word can be used to select one of these
positioning blocks and bring it to execution with a start signal. The
following motion parameters can be placed in a position block:
• P-0-4006 Process block Target Position

• P-0-4007, Process block Velocity
• P-0-4008, Process block Acceleration
• P-0-4009, Process block Jerk
• P-0--4019, Process block Mode
Note: Positioning velocity can be affected by the Feedrate override

function and by Positioning with limited velocity.
DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96 DKC03.1 Drive Controller with Integrated Position Control 6-1
6.2 Positioning Block Input
Positioning block data is specified in the positioning block input dialog

box.
Fig. 6-1: Positioning Block Input
Block Number
Block numbers 0 to 63 designate the address of a positioning block by

means of which the block can be accessed by the profibus.
6-2 DKC03.1 Drive Controller with Integrated Position Control DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96
Positioning Block Data
Target position
The position to which the drive should be moved is entered in the Target
position input field. The desired position can be relative or absolute,
depending on the positioning mode.
Also see P-0-4006, Process Block Target Position
Teach-in actual position
The Teach-in function places the current actual position in the target
position of the block being handled.
Velocity
The positioning velocity at which the desired position will be reached is

set here.
The Feedrate override function can be used to change this velocity
dynamically during positioning. The function "Positioning with limited
velocity" can be used for the same purpose.
Also see P-0-4007, Process block Velocity and S-0-0259, Positioning
velocity
Acceleration
The positioning acceleration at which the drive accelerates and

decelerates can be defined for every positioning block. When
acceleration is determined, the following aspects are considered:
• Maximum torque of the axis in response of the motor/drive

combination
• Inertial torque and frictional torque of the connected mechanical
system
If the acceleration is physically impossible (too great) the error F228

Excessive control deviation will be generated.
Also see P-0-4008, Process block acceleration
Jerk
"Jerk" refers to changes in the acceleration of a motion over time.

ECODRIVE allows you to limit the jerk of a motion. One reason for
setting the jerk limit is to avoid vibration caused by acceleration or
deceleration. This effect occurs especially in less rigid mechanical
systems.
Setting the positioning jerk In most cases the jerk limit is not required and should be turned off
during the initial installation. The jerk limit can be deactivated by
entering 0.
If unacceptable vibrations arise in the acceleration and braking phases of

a positioning process, a number of steps can be taken to change the
positioning jerk and thus minimize the cause of vibration in the
mechanical system.
To do this, begin with the maximum jerk value and continue reducing it
until an acceptable positioning motion arises.
Also see S-0-4009, Process Block Jerk
A rough approximation validating the jerk limit
2
 acceleration [ mm ] ⋅ 60 [ s ]
mm  s2  min
Jerk [ 3 ] > 2 ⋅
s mm
speed [ ]
min
Fig. 6-2: Jerk limit with linear scaling
rad 2 s
(acceleration [ ] ) ⋅ 60 [ ]
rad s 2
min
Jerk [ ] > 2⋅
s3 rev rad
speed [ ]⋅ 2 ⋅π [ ]
min rev
Fig. 6-3: Jerk limit with rotary scaling
When this relation is exceeded, a "creeping" effect results.
Positioning mode
The positioning mode determines whether the pos. block is relative or

absolute target position. In addition, a selection list can be used to
determine whether and how the next positioning block should be
executed (following block operation).
Data Receiving
The given positioning block data is initially not active. The data is not
written to the drive until you exit the dialog box. During setup it is helpful if
the data can be tested directly. For this case all the given positioning
blocks can be loaded into the drive through the "accept data immediately"
key without having to leave the dialog box.
6.3 Positioning Operation
Absolute Positioning
Absolute positioning blocks store the desired position as a firm (absolute)

position in the machine coordinate system.
Example: Absolute positioning with a desired position = 700
Speed
profile v
STANDSTILL WINDOW
200 700 x
POS1...POS5
POSQ1...POSQ5
AH/START
INPOS
INBWG
Drive Enable
t
Positioning inputs valid
Positioning acknowledgement outputs show the negated status of the positioning inputs
Positioning acknowledgement outputs show after valid record acceptance the

position inputs are in a noninverted condition
SV0001D1.drw
Fig. 6-4: Absolute positioning block
Fig. 6-5: Positioning block input with absolute target position
Requirements for Executing an Absolute Positioning block:
• The drive must be homed.

• The working area can be restricted with the position limit. Absolute
positioning blocks will only be executed if the desired position lies
within the admissible working area.
Relative Positioning
In a relative positioning block, the desired position is referred to as a

relative distance from the actual position, ot the last reached target pos.
A measurement string can be positioned through a string of relative

positioning blocks.
Note: If relative positioning is used to start a string of position blocks, it

is important to recognize that the string of distances will be lost
under the following conditions:
· Cycling the drive enable signal

· Jogging between positioning blocks
· Continuous motion in the positive/negative direction between
positioning blocks.
· Activation of a relative positioning block after
an interrupted absolute positioning block.
· Homing
· Absolute encoder setting.
In these cases, the current relative positioning refers to the actual
feedback position.
If a positioning block is rejected, the drive reacts as if this block
had never been initialized.
If a string of relative positioning blocks is positioning continuously

forwards or backwards (conveyor belt), then the scaling of the position
data must be fixed in modulo format. (Modulo value = conveyor belt
length).
Fig. 6-6: Positioning block input with relative target position
Example: Relative positioning with a desired position = 700 (actual

position = 200)
Relative positioning blocks will also be executed if the drive has not been
homed. (In this case, however, the position limits have no effect).
Speed
profile v
STANDSTILL WINDOW
200 900 x
POS1...POS5
POSQ1...POSQ5
AH/START
INPOS
INBWG
Drive Enable
t
< 14 ms
Positioning acknowledgement outputs show after valid record acceptance the

position inputs are in a noninverted condition SV0002_d1.drw
Fig. 6-7: Relative positioning block
Interruption of relative positioning blocks
Example: Interrupted relative positioning block with desired position =

600
Velocity profile
v
STANDSTILL WINDOW
100 700 x
POS1...POS5
01
POSQ1...POSQ5
~01 01 01 01
AH/START
INPOS
INBWG
Drive Enable
t
< 14 ms
Positioning input is valid.
Positioning acknowledgement output shows negated state of positioning input.

Positioning acknowledgement output after valid block is accepted shows
non-inverted state of positioning input.
SV0041d2.drw
Fig. 6-8: Interruption of relative positioning blocks
Note: After the interruption of a relative positioning block, another

relative positioning block will be started refering the actual
position. The relation of the string of distances will be lost.
Relative Positioning Block after Jogging Operation.
Example: Interruption of the relative positioning block after the jogging

operation with target position = 600
Velocity profile
v
STANDSTILL WINDOW
150 750 x
POS1...POS5
01
POSQ1...POSQ5
~01 01
AH/START
INPOS
INBWG
Drive Enable
t
Jog+
< 14 ms

Positioning acknowledgement output after valid block is accepted shows the number
of the active positioning block.
SV0037d2.drw
Fig. 6-9: Relative positioning block after the jogging operation
Relative Positioning Block after Activation of the Drive

Enable
Example: Interruption of relative process block after activation of RF

(=Drive enable) with target position = 600.
Velocity profile v
STANDSTILL WINDOW
200 800 x
POS1...POS5
01
POSQ1...POSQ5
02 03
AH/START
INPOS
INBWG
Drive Enable
t1
t
Positioning input is valid. t1 > 10ms

Positioning acknowledgement output after valid block is accepted shows the
number of the active positioning block.
SV0038d2.drw
Fig. 6-10: Relative positioning block after activation of drive controller enable
Continuous Motion in Positive/Negative Direction
Should a motor move with a defined speed, acceleration and jerk, but
without a specific desired position, then one of the process mode, "Motion
in the positive direction" or "Motion in the negative direction" must be
assigned. The drive moves continuously in the given direction until the
start signal is removed (i.e. one of the position limits or travel limit
switches is reached).
The input target position has no meaning in this positioning mode.
Also see Chap.7.8 Jogging
Velocity profile v
STANDSTILL WINDOW
x
> 10 ms
POS1...POS5
01 XX
POSQ1...POSQ5
~01 01
AH/START
INPOS
INMOT
Drive Enable
t
< 14ms
Positioning input is valid, for example positioning block 01.
XX State of positive input is not relevant.
Positioning acknowledgement output shows negated state of positioning input,

for example positioning block No. 1 negated.
Positioning acknowledgement output after valid block is accepted shows non-inverted
state of the positioning input, for example positioning block 01.
SV0003D2.drw
Fig. 6-11: Continuous motion in positive/negative direction
Fig. 6-12: Positioning block input for continuous travel without target position
Following Block Operation
General Information on Following Block Operation
Following block processing in ECODRIVE allows you to execute several

positioning blocks in uninterrupted sequence, without a new start signal
having been given.
Typical applications are positioning procedures in which a long path must

be covered at a high velocity, and then, without any intervening time,
positioning to the end position must take place at a low velocity.
• Picking up or setting down goods to be transported in handling

robotics.
• Performing tasks in assembly facilities
A sequence chain consists of a starting block and one or more following

blocks. The starting block is selected and activated as usual. The
transition to a following block can take place in various ways.
Two different modes of block switching are possible:
• Position-dependent block switching

Switching to another block, to the block with the next higher block
number upon traversing the programmed target position.
• Switch-signal-dependent block switching
The block switch to the block with the next higher number is initiated
by an externally generated switching signal.
Following block operation is possible both with absolute and relative

positioning blocks.
Selection and activation of a block with following block takes place in the
usual manner. The following block is always the block with the next higher
number. A following block can itself take a following block. Up to 63
following blocks can be set up after the starting block. The following block
which would come after number 63 is block 0.
Also see Chap.6.4 Starting Positioning blocks
Position-Dependent Block Switching
In position-dependent block switching, the switching to the following block

takes place at the starting block's target position. There are three
possibilities for the block transition:
• Block transition with old positioning velocity (Mode 1)
• Block transition with new positioning velocity (Mode 2)
• Block transition with pause
Block switching Mode 1 In this mode the target position of the starting block is traversed at the
velocity of the starting block. Then the positioning velocity switches to the
velocity of the following block.
v
Velocity profile
POS1...POS5
01
POSQ1...POSQ5
~01 01 02
AH/START
INPOS
INBWG
Drive Enable
t
.
Positioning input is valid

SV0007D2.drw
Fig. 6-13: Position-dependent block switching (Mode 1)
Fig. 6-14: Positioning block input with following block mode 1
Block switching Mode 2 In following block mode 2 with position-dependent block switching, the
target position of the starting block is traversed at the positioning speed of
the following block. The necessary braking or acceleration procedures to
adjust to this velocity have already been performed in the starting block.
v
Velocity profile
STANDSTILL WINDOW
x
POS1...POS5
01
POSQ1...POSQ5
~01 01 02
AH/START
INPOS
INBWG
Drive Enable
t

SV0008d2.drw
Fig. 6-15: Position-dependent block switching (Mode 2)
Fig. 6-16: Positioning block input with following block, Mode 2
Block Switching with Pause In block switching with pause, the drive first positions to the target position
of the starting block. When the actual position within the positioning
window has reached the target position, the following block is
automatically started without any new external start signal having been
given.
Fig. 6-17: Positioning block input with following block and pause
Switch-Signal-Dependent Block Switching
Switch-signal-dependent block switching enables transition to a following

block based on an external switch signal. ECODRIVE's two limit switch
inputs are available as switch signal inputs.
Note: If switch-signal dependent block switch is used, the function

"Travel area limit with limit switch" cannot be used!
When a switch signal is created at input LIMIT+, control switches to the

next block after the started block. A signal at input LIMIT- causes control
to switch to the block after the next one, in respect to the starting block.
max. 20 m
X3
1
NS
2
free
3
0,5 mm2 free
HIGH 4
Limit+
5
0,5 mm2 Limit-
HIGH 6
7
AK1
8
0V
9
AK2
0 Vext 10
0V
11
free
12
free
inputs:
input voltage min. max.
HIGH 16 V 30 V
LOW -0,5 V 8V
input resistance ca. 8 kOhm
6k3 10k
2k 10n
AP0010d1.drw
Fig. 6-18: Connection diagram Limit+/-
Limit- Limit+ Drive Response

0 0 Drive goes to target
position from block n
0 0->1 Block n+1 is started
0->1 0 Block n+2 is started
0->1 1 Block n+1 is started
1 0->1 Block n+1 is started
Fig. 6-19: Drive reaction with various switch signal sequences
n: the block currently being executed.

(n must be set in the appropriate parameter as a following block.)
v
Velocity profile
STANDSTILL
WINDOW x
POS1...POS5
01
POSQ1...POSQ5
~01 01 02 03
02
Limit -
Limit +
AH/START
INPOS
INBWG
Drive Enable

SV0010d2.drw
Fig. 6-20: Switch-signal-dependent block switching
Fig. 6-21:Positioning block input with following block after switch signal
Absence of the switching signal The starting block of a switch-signal-dependent following block can be
for a block transition either an absolute or a relative positioning block.This means that if the
switch signal for switching to the next block is not encountered before the
target position is reached, the drive will stop.
If a switch signal is generated subsequently, the drive executes the
following block.
v
Velocity profile
STANDSTILL
WINDOW x
POS1...POS5
01
POSQ1...POSQ5
~01 01 02
Limit+
AH/START
INPOS
INBWG
t
Drive Enable

SV0011d2.drw
Fig. 6-22: Switch-signal-dependent block transition (reaction to absent switching-

signal)
6.4 Choosing, Starting and Selecting a Positioning block
Choosing a Positioning Cblock
Six binary selection inputs in the profibus control word are available for
selecting a positioning block with DKC03.1. The block number of the
desired positioning block is written into the highest-ordered byte of the
control word.
Starting Positioning Blocks
Positioning blocks are basically started by the drive control word. There
are two possibilities.
• Creating a 0-1 edge at bit AH/start.
• Creating a 0-1 edge at the strobe bit while AH/start stays on. If you use
strobe, process block change is also possible during the travel.
Interrupting Positioning Blocks
Positioning blocks can be interrupted during the block operation by

removing the start signal (AH/START = 0).
Acquittance of Positioning Block Selection with Drive Enable

Active
If the drive is in "Drive Halt" (AH/start-signal not active), the complement

of the positon input signals will be sent to the position acknowledgement
outputs.
After the AH/start-signal has been activated, a check is made to see if the
selected positioning block can be accepted. If the positioning block is
accepted, the number of the accepted positioning block appears at the
acknowledgement outputs, coded in binary.
For positioning blocks that are not executed, the complement of the
number of the selected positioning block is generated.
Velocity profile v
STANDSTILL WINDOW
x
> 10 ms
POS1...POS5
01 XX
POSQ1...POSQ5
~01 01
AH/START
INPOS
INBWG
Drive Enable
t
< 14ms
Positioning input is valid, for example positioning block 01.
XX State of input is not relevant.

state of the positioning input, for example positioning block 01.
SV0003D2.drw
Fig. 6-23: Acknowledgement with an executable positioning block
Note: After the AH/start-signal has been activated, the acceptance of

the new positioning block is acknowledged after 14 ms by means
of block selection acknowledgement bits. At the same time as the
block selection acknowledgement bits, the INPOS signal = 0 as
long as the new target position has not yet been reached.
v
Velocity profile
POS1...POS5
01 XX
POSQ1...POSQ5
~01
AH/START
INPOS
INBWG
Drive Enable
t
Positioning input is valid, for example positioning block No. 01.

state of the active positioning block, for example positioning block No. 1.
SV0042D1.drw
Fig. 6-24: Acknowledgement with a non-accepted positioning block
In following block operation, the number of the block that is presently

being processed is acknowledged.
v
Velocity profile
STANDSTILL
WINDOW x
POS1...POS5
01 XX XX XX 05
POSQ1...POSQ5
~01 01 02 03 ~05
AH/START
INPOS
INBWG
Drive Enable
>14ms <14ms < 14ms t

SV0005d2.drw
Fig. 6-25: Acknowledgement with following block operation
Acknowledgement When Drive Enable is Switched Off
After the Drive enable is switched off, the last positioning block accepted
is sent to the acknowledgement outputs. If the drive is at the target
position of the last accepted positioning block, the
"IN-POS" message is generated as well.
The last accepted positioning block is saved in parameter P-0-4052, Last
accepted positioning block when power is turned off, and when it is
turned back on again, the last accepted positioning block is always
generated. So, if an absolute value encoder and absolute positioning
blocks are being used, there is a way to determine after control voltage
has been turned off and back on whether the drive was "IN-POS".
v
Velocity profile
POS1...POS5
01 XX ~02 XX 01
POSQ1...POSQ5 ~01 01 ~02 01 ~01 01
AH/START
INPOS
INBWG
Drive Enable
t
<10ms

SV0006D1.drw
Fig. 6-26: Acknowledgement and "IN-POS" after turning off drive enable
6.5 Target Position Processing with Modulo Scaling
If the scaling of the position data is in modulo format, the target position
can only be entered within the range from -(modulo value) to +(modulo
value).
The path of travel of a positioning block can also have only the modulo
value as a maximum amount.
Also see S-0-0103, Modulo value
Example 1:
0°
270° 90°
180°
SB0001D1.ds4
Fig. 6-27: Positioning with modulo scaling (positive direction)
In this case, the modulo value is 360°, and the drive is at 90°. By
activating an absolute positioning block, with target position = 180°, or by
activating a relative positioning block with target position = 90°, the drive
will move from 90° to 180°.
Also see Chap. 7.1 Processing Position Data
Example 2:
0°
270° 90°
180°
SB0001d1.drw
Fig. 6-28: Positioning with modulo scaling (negative direction)
By activating an absolute positioning block with a target position of 0° or

by activating a relative positioning block with a target position of 270°, the
drive moves back by 90°.
Note: You can force a certain rotation by setting the "command value
mode for modulo format" (only negative, or always positive). (Also
see P-0-0013, Command Value Mode for Modulo Format).
For relative travel in negative direction, negative values are also possible
for the target position to be entered.
7 General Drive Functions
7.1 Scaling and Mechanical System Data
With ECODRIVE it is possible to process position, velocity, and

acceleration data with respect to machine motions and mechanical
transmission elements.
The Scaling/mechanical system dialog in DriveTop provides all the
settings which are necessary to allow machine mechanical systems to
work with the drive controller.
Linear Scaling
Fig. 7-1: Scaling/mechanical system
In applications where a linear carriage is to be moved, all output variables

of the shaft should be entered and recorded in linear units. Linear scaling
should be selected and the mechanical data of the shaft entered (S-0-
0123, Feed constant; S-0-0121, Transmission input revolutions and S-0-
0122, Transmission output revolutions).
DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96 General Drive Functions 7-1

A standard arrangement of a mechanical system with a circular rotation

shaft is shown in the diagram. Other similar mechanical combinations can
be derived from this standard configuration.
For rack and pinion mechanical systems, the feed constant equals the
effective circumference of the pinion. It is calculated as follows:
Feed constant = actual diameter * π

Fig. 7-2: Calculating the feed constant for rack and pinion mechanical systems
n1
Z1
n2 Dm
Z2
Optional transmission
Dm: Actual pinion diameter

AP0004d1.drw
Fig. 7-3: Drive system with rack and pinion
The unit of the feed constant to be entered depends on the unit of

measure which has been selected for the position data.
Data References
When using linear scaling, all output variables such as position, velocity,
and acceleration are interpreted in reference to the load.
7-2 General Drive Functions DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96

Unit of Measure
When using linear scaling, the unit of measure in which position data,
velocity data, and acceleration data will be displayed can be adjusted
between inch and mm.
The feed constant must be entered in the unit per revolution that has
previously been selected.
Example:
Unit of Measure: mm
Unit for feed constant: mm/revolution
Negating Position, Velocity, and Torque Data
Position, velocity, and torque data can be negated in order to adapt the
output variables to the logical direction of motion of an axis.
Negating this data has absolutely no effect on the control logic sense.
Positive feedback in the velocity or position control loops cannot be
caused by changing these polarities.
Rotary Scaling
Fig. 7-4: Rotary scaling

For applications in which a rotary table or rotating shaft is to be driven, it

is convenient to enter all output variables for the axis in rotary units, and
for them to be displayed in these same units. For this, you should purpose
select rotary scaling and enter the mechanical transmission data for the
axis (coupling ratio input turns n1 and output turns n2). A standard
arrangement for a typical mechanical system is shown in the figure. Other
mechanical combinations (such as those with multi-leveled transmissions)
can be derived from this standard arrangement. For example, a toothed
gear or wheel transmission system can be configured by counting the
input wheel Z1 and entering that value in the output turns n2 parameter,
and counting the output wheel teeth Z2 and entering that value in the
input turns n1 parameter.
Mechanical transmission ratio = n1/n2 = Z2/Z1
Data References
The position, velocity and acceleration data which is displayed can be

referenced to either the load side or the motor side in the rotary scaling
mode. Normally the load side is selected.
Processing Position Data
Position data can be processed in absolute or modulo format.
Absolute format
Motion in one direction will show a continually ascending or descending

position value when processing in absolute format. In other words, the
position data is displayed as an absolute position over many revolutions of
the motor or the load. It overflows at the end of the position data
presentation area.
Maximum Presentation Range with Absolute Position Data

Processing
The maximum presentation range with absolute position data processing

is 4096 motor revolutions.
Modulo Format
Position data for shafts or rotary tables which are to be moved

continuously in one direction is normally processed in modulo format.This
means that the position data overflows at a defined location (at the
modulo value).
If modulo processing is selected, a "modulo value" must be entered. The
position data will then always fall within this modulo range. The modulo
value of a simple rotary table is usually set at 360°. This means that after
one revolution of the round table, the position counter will begin again at
0°.
Different modes of modulo processing can be selected:
Also see Chapter 6.5 Target positioning Processing in Modulo

Scaling

• Shortest Path
The given target position is always approached via the shortest path. If
the distance in a given direction between the actual position and the
target position is larger than half of the modulo value, the drive will
approach the target position from the opposite direction.
• Positive Direction
The given target position is always approached in the positive
direction.
• Negative Direction
The given target position is always approached in the negative
direction.
Border Conditions for Modulo Processing
Several border conditions, which are checked in the general parameter

test that is performed when switching from Set parameter mode to
Operating mode, must be met for proper modulo processing. If
necessary, violations of these conditions are displayed with the diagnosis:
C227 Modulo range error.
• The contents of parameter S-0-0103, Modulo value, may not be

greater that one half the maximum travel range. The maximum travel
range is 4096 revolutions (in reference to the motor shaft).
• For rotary scaling and position data referenced at the load, the product
of S-0-0103 Modulo value * 4 and S-0-0121 Input revolutions of
load gear must be less than 2^63.

7.2 Drive limits
Fig. 7-5: Drive limits
Transverse Range Limits
ECODRIVE provides two internal methods to monitor the travel range of

an axis:
• Travel limit switches

• Position limits
A message indicating the travel range has been exceeded is generated if

a directional travel limit switch is tripped, or when a position feedback
value referenced to the machine zero point exceeds one of the position
limit values.

Activation and Parameters for Position Limit Monitoring
The drive must be homed before the position limit can be monitored.
The position limit monitor can be activated or deactivated. In particular,
the position limit monitor must be deactivated in applications with
continually rotating shafts.
The positive and negative position limits can be independently entered.
The current position feedback value is displayed to assist with orientation.
Activating and Setting Parameters for Limit Switches
Travel limit switches are available to limit the travel range. These limit
switches can be activated and deactivated. The logic to be used with the
limit switch can be selected when actively using the limit switches (limit
switch inputs may be configured to be either active high or active low).
Connecting the Travel Limit Switch
max. 20 m
X3
1
NS
2
free
3
positive limit switch 0,5 mm2 free
HIGH 4
Limit+
negative limit switch 5
0,5 mm2 Limit-
HIGH 6
7
AK1
8
0V
9
AK2
0 Vext 10
0V
11
free
12
free
inputs:
HIGH 16 V 30 V
LOW -0,5 V 8V
6k3 10k
2k 10n
AP0245D4
Fig. 7-6: Connecting the travel limit switch

Reaction to Transverse Range Violations
The drive has several responses to going beyond the travel range. The
following responses can be selected:
Transverse Range Violations as The drive reacts to going beyond the transverse range by switching the
a Warning Response velocity command value to zero without turning off the drive enable and
without opening the bb-contact. The warning is automatically recalled
when command values are given which lead into the proper transverse
range.
Transverse Range Violations as The drive responds to going beyond the transverse range by switching the
an Error Response velocity command value to zero, automatically turning off the drive enable,
and opening the bb-contact. To resume operation, clear the error, turn on
the mains power supply, and enable the drive again. As long as the
transverse range is exceeded, only command values which lead back into
the proper transverse range will be accepted. Command values outside of
this range result in another error.
Also see: Error handling
Limiting the Velocity
The maximum velocity to be reached by the drive can be set with

parameter S-0-0091, Bipolar velocity limit value. If the requested
velocity is greater than this limit, the drive will automatically contain the
velocity at the limit value.
Also see Chap. 7.9 Positioning at Limited Velocity
Torque Limit
In order to protect the components of the machine, it may be necessary to

reduce the maximum torque of the drive. The method available for doing
this is:
• Permanently limiting torque via parameters
Limiting Torque via Parameter
The maximum torque to be produced by the drive can be set with

parameter S-0-0092, Bipolar torque limit value. This value is entered as
a percentage. One hundred percent corresponds to the motor`s
continuous stall torque.
If process commands are started which are not physically possible with
the limits set for them, error F228, Excessive control deviation will be
generated during the travel.

7.3 Error Handling
Many functions are monitored in connection with operating modes and

parameter settings of a drive. If a condition is recognized which will not
allow proper functioning of the drive, an error message is generated and
the drive will automatically respond to the error.
Fig. 7-7: Error handling
Error Classes
Errors are divided into different classes:
Seven-Segment Drive Error Response

Error Class Display Message
Fatal F8/xx Switch to torque-free state
Transverse F6/xx Velocity command value
range set to zero
Interface F4/xx may be selected
Non-fatal F2/xx may be selected
Fig. 7-8: Error classes

Drive Error Response
If the drive is in control mode and an error is detected, an error response

is automatically carried out. An alternating indicator is visible on the H1
display (Fx/xx).
If the error allows for a variable response, either Switching to torque-
free state or Setting the velocity control value to zero can be selected
as the error response. After the drive has responded to the error, it will
automatically switch to torque-free operation and open the ready-for-
operation relay.
UB
Drive error
bb
t
t
b1 tbb
~
tb1 ~ 5s, if no initializing error exists
t < 10ms, if a fatal drive error occurs
bb ~
t ~ 500ms, if a non-fatal drive error occurs
bb
SV0028d1.drw
Fig. 7-9: Bb timing when switching on the supply voltage
7.4 Control Loop Settings
General Information for Control Loop Settings
The control loop settings in a digital drive controller are important for the
performance characteristics of the servo axis. Determining the regulator
circuit settings requires expert knowledge.
It is usually not necessary to For this reason, all INDRAMAT digital drive controllers have motor-
"optimize" the control settings. specific control parameters.
For some exceptions, however, it may be necessary to adjust the control

loop settings for a specific application. The following section gives a few
simple but important rules for setting the control loop parameters in cases
such as these.
In any case the prescribed methods should only be viewed as a guideline
leading to a robust control setting. Specific aspects of some applications
may require settings which deviate from these guidelines.

Loading Default Parameters
The Load default parameters function is used to activate factory-set

control parameters . The parameters are specified for a matched moment
of inertia relationship of Jmotor = Jload. These parameters will work with
standard applications.
Default values are available for the following parameters:

• S-0-0106, Proportional Gain 1 Current Regulator 1
• S-0-0107, Current Regulator 1 Integral Action Time
• S-0-0100, Velocity Loop Proportional Gain
• S-0-0101, Velocity Loop Integral Action Time
• P-0-0004, Smoothing Time Constant
• S-0-0104, Position Loop Kv Factor (Closed-Loop Control)
• P-0-1003, Velocity Feedback Value Filter Time Base
Executing the Basic Load Feature After Changing Motor or Drive
The drive controller will recognize if it is operating with a motor type for
the first time. The drive controller will read "UL" on the 7-digit display.
Pressing the S1 key on the drive controller or the reset button in the
DRIVETOP diagnostic display will activate the standard control
parameters in the drive.
Also see C700, Basic load

Executing the Basic Load Feature as a Command in the "Control Loop

Setting" Dialog
The standard control loop parameters can be activated in the "Control

loop setting" dialog. This can create a stable default condition if the basic
tuning values have been lost while changing the control settings.
Fig. 7-10: Setting standard control parameters

Setting the Current Regulator
Fig. 7-11: Control loop settings: current loop
The parameters for the current control loop are set by INDRAMAT and
cannot be adjusted for specific applications. The parameter values
predefined by the manufacturer are set during the Basic load command
(Set default values).
The parameters for the current regulator are set via:
• S-0-0106, Proportional Gain 1 Current Regulator

• S-0-0107, Current Regulator 1 Integral Action Time
Note: Any change to an INDRAMAT-defined value is unacceptable and

can lead to motor and drive controller damage.

Setting the Speed Controller (Velocity Loop)
Fig. 7-12: Control loop settings: the velocity loop
The velocity loop is set via the parameters
• S-0-0100, Velocity Loop Proportional Gain

• S-0-0101, Velocity Loop Integral Action Time
• P-0-0004, Smoothing Time Constant
• P-0-1003, Velocity Feedback Value Filter Time Base
These can be set either by executing the Basic load function once or by
completing the following procedure.

Preparations for Setting the Velocity Loop
A number of preparations must be made in order to set the velocity loop:
• The mechanical system must be set up in its final form in order to

have true relationships while setting the parameters.
• The drive must be properly connected as described in the user
manual.
• The safety limit switches must be checked for proper functionality (if
applicable).
Begin the adjustment procedure by settings the following parameters to

the indicated values:
S-0-0100, Velocity regulator proportional amplifier = default value of

the connected motor.
S-0-0101, Velocity Loop Integral Action Time = 0 ms
P-0-0004, Velocity Loop Smoothing Time Constant = Minimum value
(500µs)
P-0-1003, Velocity Feedback Value Filter Time Constant = 500µs
S-0-0104, Position Loop Kv Factor = 1.0 x 1000/min
Determining the Critical Proportional Gain and

P-0-0004, Smoothing Time Constant
• After turning on the controller enable, let the drive move at a slow
speed (10..20 rpm).
• Increase S-0-0100, Velocity loop proportional gain until unstable
operating behavior begins (continuous limit cycle oscillation).
• Determine the frequency of the oscillation by measuring the actual
velocity with an oscilloscope. When the frequency of the oscillation is
substantially higher than 500Hz, raise P-0-0004, Smoothing time
constant until the oscillation goes away. After this, raise S-0-0100,
Velocity loop proportional gain until it becomes unstable again.
• Reduce S-0-0100, Velocity loop proportional gain until the
oscillation goes away on its own.
The value found using this process is called the "Critical velocity loop
proportional gain."
Determining the Critical Integral Action Time
• Set S-0-0100, Velocity loop proportional amplification = 0.5 x

critical proportional amplification. Set S-0-0101 to its own default
value.
• Lower S-0-0101, Velocity control integral action time until unstable
operating behavior results.
• Raise S-0-0101, Velocity control integral action time until
continuous oscillation stops.
The value found using this process is called the "Critical integral action
time."

Determining the Velocity Loop Setting
The critical value which is determined can be used to derive a control

setting with the following characteristics:
• It is independent of changes to the axis since there is a large enough
safety margin to the stability boundaries.
• It provides a safe reproduction of the characteristics in production
machines.
The following table shows many of the most frequently used application
types and the corresponding control loop settings.
Velocity Velocity
loop loop
proportional integral action
Application Type: gain: time: Remarks:
Feed axis on Good load rigidity and good
standard machine Kp = 0.5 x Kpcrit Tn = 2 x Tncrit drive characteristics
machine
Feed axis on High proportional amplification; no I-gain
perforating machine Kp = 0.8 x Kpcrit Tn = 0 to achieve short transient periods.
or punch machines
Feed drive on Kp = 0.5 x Kpcrit Tn = 0 relatively undynamic control setting
cut-off without I-piece to avoid bracing the
device material to be separated with the separation
device.
Fig. 7-13: Application-specific velocity control loop settings
Fir. 7-14: Control loop setting: position loop

Setting the position loop is done with parameter
• S-0-0104, Position loop Kv factor (closed-loop control)
This can be set by either executing the Basic load function once, or by
following this process:
Preparations for Setting the Position Control Circuit
A number of preparations must be made in order to set the position

controller:
• The mechanical system must be set up in its final form in order to

have true relationships while setting the parameters.
• The drive must be properly connected as described in the user
manual.
• The safety limit switches must be checked for proper functionality (if
applicable)
• Position control operating mode must be selected in the drive
controller.
• The underlying velocity controller must be properly installed. The
beginning value selected for the Kv factor should be relatively small (Kv
= 1).
Determining the Critical Position Loop Gain
• Run the axis at a low velocity, for example by jogging the connected
NC control system (10...20 rpm).
• Raise the Kv-factor until it begins to be unstable.
• Reduce the Kv factor until the continuous oscillation disappears by
itself.
The Kv factor determined through this process is the "Critical position
control loop gain".
Position Loop Setting
In most applications, an appropriate position control setting will lie

between 50% and 80% of the critical position control loop gain.
This means:
S-0-0104, Position loop Kv factor (closed-loop control)

= 0.5..0.8 x KvCrit

7.5 Loop Monitoring
The following loop monitors are provided to ensure that the drive
controller functions properly:
• Velocity loop monitoring

• Position loop monitoring
Fig. 7-15: Loop monitoring

Velocity Loop Monitoring
Velocity loop monitoring is also useful in Position control operating mode.
Primary Mode of Operation for the Velocity Loop Monitor
The velocity loop monitor functions according to the following principle:

As soon as the peak current limit (peak torque limit) is active, the
difference between the velocity command value and the velocity actual
value is checked to see if it is greater than 10% of S-0-0113 Maximum
motor velocity. If this is the case, the velocity loop monitor checks to see
if the drive controller is accelerating in the given direction. If, over a time
period of 20ms, an acceleration in the opposite direction is detected, the
velocity loop monitor will generate error F878 Error in the velocity
control loop.
Possible reasons for triggering the velocity loop monitor:
• Faulty wiring in the motor power cables

• Defect in the power supply of the drive controller
• Defect in the feedback system
• Insufficient gain in the velocity regulator parameters
Deactivating the Velocity Loop Monitor
Drive controller errors or faulty wiring can lead to

uncontrollable axis motion.
⇒ The velocity loop monitor should be activated under

DANGER normal circumstances and should only be deactivated
in certain exceptional cases.
The velocity loop monitor can be deactivated for specific applications in

which the drive controller is specifically operated at its power limit (for
example moving to a positive stop and similar situations).

Position Loop Monitoring
The position loop monitor helps to diagnose errors in the position control
loop.
Basic Mode of Operation for the Position Loop Monitor
An estimated position feedback value is generated from the position

command value. If the difference between the measured and the
estimated position feedback value is greater than the value entered in the
monitoring window, the drive will execute its error handling routine
according to the parameters which have been set (Also see Error
Handling).
Possible reasons for triggering the position loop monitor:
• Exceeding the torque or acceleration capability of the drive.

• Blockage of the axis mechanical system
• Disruptions in the position feedback
• Exceeding S-0-0113, Maximum velocity of the motor by entering too
great a transversing velocity or setting too great a position command
value difference.
• Incorrect controller parameters
Also see F228, Excessive Control Deviation
Requirements for Setting the Position Loop Monitor Correctly
• Be sure that the velocity- and position control loops are set properly.
• The axis in question should be checked regarding its mechanics, and
should be in its final condition.
Setting the Position Loop Monitor
A typical processing or load cycle should be entered into the connected

control system. In so doing the maximum intended velocity and
acceleration should be reached.
The maximum variance between the measured and estimated position
feedback values is continuously displayed in parameter P-0-0098,
Maximum model deviation. (Note: the contents of this parameter are
not saved online; this means that when the power supply is turned on, its
contents equal zero).
The value determined for the maximum deviation helps to suggest how to
set the monitoring window. The contents of parameter S-0-0159,
Maximum position deviation, multiplied by a safety factor should be
written to the "Monitoring window" parameter. A safety factor between 1.5
and 2.0 is recommended.

7.6 Status Messages
The current status of the drive can be determined by a superordinate

control through different status messages and evaluated for technical
control purposes. Four status messages are available in addition to the
potential free operating condition contact (Bb) which indicates readiness
for use in closed state.
Also see Chapter 5.3 Drive Status Word
Ready for Operation (bb)
The drive indicates that no internal error is present through the operating
condition contact "Bb". After the supply voltage is switched on, the drive
controller initializes itself. If the initialization is successful, the Bb-contact
will close after several seconds. After this the power supply can be
switched on and the drive can be put into operation.
When an internal error occurs, the Bb-contact opens. The time delay
between the occurrence of the error and the opening of the Bb-contact
depends on the type of error. For fatal errors the contact is opened
immediately, while for non-fatal errors the internal error handling routine is
executed first.
UB
Drive error
bb
t
t
b1 tbb
~
tb1 ~ 5s, if no initializing error exists
t < 10ms, if a fatal drive error occurs
bb ~
t ~ 500ms, if a non-fatal drive error occurs
bb
SV0028d1.drw
Fig. 7-16: Bb timing when switching on the supply voltage

In Position (INPOS)
The message "INPOS" refers to positioning operation and drive-controlled

homing procedures.
The message "INPOS" is given by the drive if the following requirements
has been satisfied:
• The difference between the target position and the actual position is
less than the value set in parameter S-0-0057, Position window.
This message can help a superordinate control system determine the

correct completion of a positioning command.
Note: The INPOS message defaults to being inactive during jogging and
when the controller enable is switched off.
Also see Acknowledgement when Controller Enable is Switched Off
Desired position 1 Desired position 2

v
Speed
profile
Positioning x
window
POS1...POS5
01 02
POSQ1...POSQ5
~01 ~01 ~02
AH/START
INPOS
INBWG
Drive enable
t
Positioning acknowledgement outputs show after valid record acceptance the number of the
active position records.
SV0039d1.drw
Fig. 7-17: INPOS message response during positioning procedures
Note: After a positioning command is started, the INPOS message is

set to zero at the same time as the output of the command
selection acceptance POSQ, as long as the target position has
not yet been reached.

In Motion (INBWG)
The INBWG message is given if the drive is moving at a velocity greater

than the value set in parameter S-0-0124, Standstill window parameter.
Note: If an very small value is selected for the standstill window, the
drive may display INBWG even though it is not in motion. This can
be explained by the limited resolution of the actual velocity.
Entering larger values will solve this problem. (Standstill window =
20 rpm)
Also see S-0-0331, Status nfeedback = 0
In Reference (INREF)
The INREF message shows that the internal position feedback value
refers to the machine zero point. The INREF message has the following
properties:
• When motors with resolver feedback are used, the INREF message is
only given after successful execution of the drive internally controlled
homing procedure.
• In applications with motors with the resolver feedback and absolute
encoder option, the INREF message is given after the supply voltage
is switched on. This requires that the "Set absolute measurement"
command has previously been executed once.
Also see S-0-0403, Status position feedback value
Position Switch Point (WSP)
The DKC has a function for actualizing a position switch point. A bit in the
profibus status word is sent to a position set by parameter, which can be
sent to a PLC for further processing. This enables position-dependent
switching functions to be activated. The logic of the position switch point is
as follows:
Actual position > Position switch point function:

Path switch point output = 1
Actual position < Position switch point function:
Path switch point output = 0
The path switch point signal can be negated to adapt to the superordinate
control system.
Also see: S-0-0059, Position Switch Flag Parameter
Note: The position switch point function is only active in drive controllers
which have been homed, because the absolute relationship to the
machine's zero point can only be known in a drive in which the
homing procedure has been carried out.

Position Switch Point When Using Motors With Resolver

Feedback (Standard)
Before using the position switch point function, the drive-controlled

homing procedure must be executed.
Position Switch Point When Using Motors with Resolver

Feedback and Absolute Encoder (Option)
If a switch signal is required within the travel region of an axis, it is usually

realized with a cam-actuated switch attached to the machine mechanical
system.
Using a motor with absolute encoder (optional) ECODRIVE saves the
expenditure for a mechanical cam switch. When using a motor with
absolute encoder, the positin reference is available as soon as the supply
voltage is turned on. Consequently, the position switch point signal is also
valid and can be used as a replacement for a mechanical cam.
Profibus status word
Messages, acknowledgements and diagnostic messages from the drive

to the control system
Bit 0 :Operation mode

0 : positioning
1 : jogging
Bit 1 : WSP position switch point
1 : right from WSP
0 : left from WSP
Bit 2 : InRef
1 : Drive is homed
Bit 3 : InBwg
1 : In motion
Velocity > Standstill window
Bit 4 : InPos.
1 : Drive is in positioning window
Bit 5 : OK
1 : OK
0 : drive error
Bit 6 : Ready
1 : ready
Bit 7 : Power
1 Power turned on
Bit 8 -.13 : Process block acknowledgement

inverted: pre-selection
positive: block running
Fig. 7-18: Profibus status word, from the drive to the profibus

7.7 Drive-controlled homing procedure
The measuring relationship to the machine zero point can be derived in

"Position control with positioning interface" operating modes using the
drive-internal homing procedure.
Homing When Using a Motor With Resolver Feedback (Standard)
Absolute positioning sets and position limit value monitoring can only be
used after the drive controlled homing procedure is successfully
executed.
The homing procedure should be used in the following situations when
using a motor with resolver feedback:
• After turning on the control voltage

• Whenever there is a transition from operating mode to set parameter
mode and back to the operating mode.
The status message INREF signals to a connected control system that

the drive controller has established a measurement relationship, or, in
other words, that the homing procedure was successfully executed. This
message must be processed immediately for applications which require a
measurement relationship.
Fig. 7-19: Drive-controlled homing procedure for motors with resolver feedback

Direction of Motion During the Homing Procedure
The user must determine the direction of motion for the drive-controlled
homing procedure in conjunction with the machine mechanical system,
the placement of the home switch and/or the determination of the home
point. This determination always occurs in relation to the motor shaft
without regard to the axis mechanical system.
Homing with Evaluation of the Home Switch
The drive moves at the specified acceleration and velocity in the home
direction until it receives the home switch signal. This point is the home
point (or reference point). Then the drive brakes, reverses and moves
back to the home point.
If the axis is located at the home switch cam at the start of the drive-
controlled homing procedure, it will move away from the cam and head
back towards the home switch cam until the edge of the home point
switching signal is received.
Reference point
switch signal
Starting point Reference point
SV0031d1.drw
Fig. 7-20: Homing with evaluation of the home switch

Homing with Evaluation of the Position Encoder Reference

Mark
The drive controller moves at the specified acceleration and velocity in the
home direction and positions itself on the next home referencing mark of
the motor encoder. This point is the home point.
Reference point
x
Reference
impulse of
the motor
generator
Starting point Reference mark
SV0032d1.drw
Fig. 7-21: Homing with evaluation of the position encoder homing mark
Note: Multiple home referencing marker pulses per motor revolution will
appear with MKD motors:
• MKD025/MKD041: 3 home referencing marks

• MKD071/MKD090/MKD112: 4 home referencing marks
Homing with Evaluation of the Home Switch and the

Reference Mark
The drive moves in the home direction until it receives the home switch
signal. The drive controller then positions itself on the next motor encoder
homing mark which appears. This point is the home point.
If the axis is on the home switch cam at the start of the drive controlled
homing procedure, it will first move away from the cam until the home
switch signal is removed, reverse direction and head back again in the
direction of the home switch cam to find the home point.

Reference point
x
Reference marks
Reference point
switch signal
Starting point Reference mark
SV0033d1.drw
Fig. 7-22: Homing with evaluation of the home switch and the refence home mark
Note: S-0-0041, Homing velocity may not be greater than 1000 rpm (in
reference to the motor shaft); if it is greater, there will be no way to
calculate the position of the home switch signal and the home
reference of the motor encoder unambiguously.
Homing to the Current Actual Value
The drive does not move. The actual position value is set equal to the
value of parameter Reference S-0-0052, Reference distance 1
immediately after the homing procedure is activated.
Homing Parameters
Reference distance 1 When the internal homing procedure is finished, the drive positions itself
on the home point and enters the value of parameter S-0-0052,
Reference distance 1 into the current actual position value.
Reference Offset 1 The home point can be offset in relation to the home reference of the
motor encoder using this parameter.
When the motor is attached to a specific mechanical system, the home
reference mark of the motor encoder is in an arbitrary position with
respect to the desired home point. Zero should initially be entered into
parameter S-0-0150, Reference offset 1 when setting up. After the first
homing attempt, calculate the difference between the desired home point
and the position where the drive controller stops at the end of the first
homing procedure.
This value should be entered in the Reference offset 1 parameter. The
sign is significant. After another homing procedure, the drive controller will
be in the desired home position.

Homing velocity, These parameters determine the motion profile of the drive controller
Homing Acceleration and while executing the drive-controlled homing procedure. These parameters
Positioning Jerk must be set for each specific application.
Position window The drive must be positioned on the home point at the end of the homing
process. If the drive controller moves around the home point within the
positioning window, the drive controller will recognize the successful
completion of the homing procedure and will display the INREF (In
Reference) message.
Note: Parameter S-0-0057, Position Window is also used in

connection with the positioning sets.
Effects on velocity during drive-controlled homing
The velocity at which the drive moves during the homing procedure can
be controlled with the Feedrate override feature. The value in the
"Feedrate override" parameter determines at what proportional velocity
the drive should move with respect to the programmed S-0-0041,
Homing velocity. In other words, at 100% the drive controller will move
at precisely the homing velocity value.
Detailed information on this can be found in the chapter "Feedrate

Override Feature."
The feature Positioning at limited velocity also limits the velocity for
homing.
Home Switch Configuration

The home switch cam should be configured as shown in the figure shown
below to ensure that the homing procedure can be started from any
position in the transverse range.
Fig. 7-23: Configuration of the home switch cams

Connecting the Home Switch Input
max. 20 m
X3
Reference switch flag 0,5 mm2 1
HIGH NS
2
free
3
free
4
Limit+
5
Limit-
6
7 AK1
8
0V
9
AK2
0 Vext 10
0V
11
free
12
free
inputs:

HIGH 16 V 30 V
LOW -0,5 V 8V
6k3 10k
2k 10n
AP0244D4
Fig. 7-24: Connecting the home switch input
Initiating the Drive-Controlled Homing Procedure
The homing procedure can be initiated by the following series of signals:

The homing procedure is selected at the NF signal input. Activating the
START signal begins the homing procedure. After successful completion
of the procedure, the message INREF (In Reference) is generated.
Afterwards, deactivating the NF signal and the AH/START signal can
terminate the homing procedure.

Drive enable
RF
Drive-controlled
homing NF
Start
InReference INREF
t1
t1 > 2ms
SV0043d1.drw
Fig. 7-25: Drive-controller homing procedure
Homing When Using a Motor With Integrated Absolute Encoder

Function (Optional)
When using a motor with an integrated absolute encoder function

(optional), the measurement relationship is available immediately after
turning on the supply voltage, assuming that the command "Set absolute
measurement" was executed during the initial installation.
This enables execution of absolute process commands without a homing
procedure immediately after the supply voltage is switched on.
The status message INREF (In Reference) signals to the connected
control system that the drive has a measurement relationship to the
machine zero point.

Fig. 7-26: Drive-controlled homing procedure with a motor with integrated

absolute encoder function
Setting the Absolute Position
The relationship to the machine mechanical system (the machine zero

point) must be established when an axis is initially installed with a motor
with an absolute value encoder (optional). This is done by following these
steps:
• Move the motor to a position known in relation to the machine zero

point either via the jogging function or manually.
• Enter the value in parameter S-0-0052, Reference distance 1 which
should be given as the actual position value of this known position.
• Enter 0 in parameter "S-0-0150 Reference offset 1".
• Press the "Absolute encoder set" button.
After command P-0-0012, C3 Set absolute measurment is executed,

the current actual position is set equal to the value found in parameter S-
0-0052, Reference distance 1, as long as the controller enable is
currently deactivated. If the controller enable is active, the calculation for
accepting the homing position is made. The actual acceptance of the
homing value in the actual position value will not occur until after the
controller enable is deactivated.

Moving Towards the Home Position
If a motor with an integrated absolute encoder is being used, then "drive-

controlled homing" means travel in the homing position.
The velocity, acceleration, and jerk with which motion to the home
position should be carried out can be entered via the appropriate homing
motion parameters.
The drive moves to the home position when the "NF" signal is set and the
start signal is given. This requires that the drive controller has been
homed, or, in other words, that the "Set absolute measure" command has
been successfully executed.
Drive enable
RF
t
Drive-controlled
homing NF
t
Start
t
t1 t
t1 > 2ms Homing position SV0044d1.drw
Fig. 7-27: Moving towards the home position
Absolute Encoder Monitoring
To ensure the safety of the absolute encoder function, the DKC has a
monitoring system which can recognize errors in determining the absolute
actual position value. The current actual position is saved when the DKC
supply voltage is turned off. When it is turned on again, the actual position
which was saved is compared to the current motor position as read from
the motor encoder. If the difference between the two position values is
greater than the value entered in parameter P-0-0097, Absolute encoder
monitoring window, error message F276, Absolute encoder out of
allowed window will be generated.
Various circumstances can trigger that absolute encoder monitor:

• The axis was moved while the drive was turned off.
• The motor encoder is showing a function error.
• Changing motors

Setting the Absolute Encoder Monitoring Window
The value for the absolute encoder monitoring window must be

determined specifically for each application. It should be selected such
that possible motion of the axis while the power is turned off are taken
into account so that the monitor is not unnecessarily activated.
7.8 Jogging
The axis can be moved with the jog function in the "Position control with
step motor interface" and "Position control with positioning interface"
operating modes. The parameters relevant to the jog function can be
entered in the "Jog" dialog.
Fig. 7-28: Entering the jogging parameters
Also see S-0-4030, Jogging velocity
Jog+ Jog- Drive Display

0 0 stops AH
0->1 0 moves forward JF
0 0->1 moves Jb
backwards
1 1 stops AH
Fig. 7-29: Boolean truth table for jogging operation

Feedrate Override Feature While Jogging
Note: The speed at which the drive moves while jogging can be
controlled with the Feedrate override feature. The feature
Positioning with limited velocity also has an immediate effect
on the jogging velocity.
For more details, please refer to the chapter "Feedrate Override

Function".
7.9 Positioning at Limited Velocity
Function
By moving at limited velocity = Slow travel you can uniformly limit all
positioning drive travel to a selectable maximum velocity S-0-0259,
Positioning velocity. Travel which is slower than this will not be affected
(this is different than the proportional reduction with Feedrate override).
The limit works with

• Travel with process blocks
• Jogging
• Homing/zero travel
The limit becomes effective immediately, even for the travel in progress.
The same applies to deactivation.
Applications
The velocity limit is useful for

• Set-up operation, test travel
• Reduced velocity in dangerous ranges,
but only in combination with other monitoring, since:
⇒ The function "Limited velocity" does not in and of

itself provide any personal protection.
WARNING

Example
v
Velocity profile
Limited velocity
POS1...POS5
01 02
POSQ1...POSQ5
~01 01 ~02 02
Bit 4
AH/START
INPOS
INBWG
t
Drive Enable

SV0040d1.drw
Fig. 7-30: Travel with and without limited velocity
The value of the acceleration remains the same. The travel time
increases when the velocity is lower, while acceleration times and paths
decrease. Axes which had equal travel times at full velocity will arrived at
different times at a reduced velocity.
Parameter
The amount to which the velocity is limited is S-0-0259, Positioning

velocity. This parameter depends from the as the basis of scaling for
velocities, whether rotary or linear.
Activation
For ECODRIVE with Profibus, limited velocity is activated by setting

bit 4 (value 10hex) in the drive control word. This bit affects the drive in
conjunction with bit 6 of the function parameter.
bit 4 = 1 Limited velocity
bit 4 = 0 Full velocity, as pre-selected
The limitation becomes effective immediately. Even a positioning
procedure currently in progress will be limited in velocity.

7.10 Feedrate Override Feature
The velocity of the positioning sets, the homing velocity, and the jogging
velocity are influenced by the feedrate override feature. Parameter S-0-
0108, Feedrate override, determines at what velocity travel will take
place, as a percentage of the programmed velocity. In other words, at
100% the drive will move precisely at programmed velocity.
7.11 Analog Output
DKC drive controllers operate digitally. This means that all output
variables are available as digital information from the DKC. The DKC has
two analog diagnostic outputs to make values for velocity, speed currents,
etc. visible via an oscilloscope.
Fig. 7-31: Analog output

The selection of the output signals includes the following values:
Number: Signal selection: Scaling:

0x0 Zero point 0V
0x1 Torque-producing command current P-0-0136
0x2 Velocity feedback actual value (after P-0-0040
mixing and filtering)
0x3 S-0-0036, Velocity command value P-0-0040
0x4 Position command value difference P-0-0040
0x5 S-0-0051, Position feedback value 1 P-0-0042
0x6 S-0-0053, Position feedback value 2 P-0-0042
0x7 S-0-0189, Following error P-0-0042
0x8 Sine signal of motor feedback 1: 1
0x9 Cosine signal of motor feedback 1: 1
0xa P-0-0139 1:1
0xb P-0-0140 1:1
0xd Velocity command value P-0-0040
0x10 Sine signal external feedback 1: 1
0x11 Cosine signal external feedback 1: 1
0x12 Torque-producing current actual P-0-0136
value
0x13 Magnetization current actual value P-0-0136
0x14 Velocity feedback value of the motor P-0-0040
feedback
0X16 Continuous bleeder load 10V = 100%
Fig. 7-32: Signal selection for analog output
Note: Velocity and position data always refer to the motor shaft! The
scalable output signals can reach overload if the scale is selected
such that the current signal value exceeds the +/-10V limit. The
exceeded value is emulated in the displayable range (+/-10V) and
makes it possible to examine signals with a higher resolution.
Oscilloscope, etc.
X3
7
AK1
8
CH1 CH2 0V
9
AK2
10
Outputs:
Output voltage min. max.
AK1-0V; AK2-0V - 10 V + 10 V
DA converter 8 Bit
Resolution per bit 78 mV AP0246D4
Fig. 7-33: Connections for analog outputs

7.12 Motor brake
Servo axes must be secured against undesired motion when the power is
off, if this motion could cause damage.
INDRAMAT motors offer optionally available integrated holding brakes.
ECODRIVE DKC drive controllers have an integrated brake control.
Note: INDRAMAT motors have optional holding brakes, which are not
designed to be operating brakes. In a closed state, holding brakes
become worn after approximately 20000 motor revolutions. It is
therefore important to pay close attention to the proper function of
the holding brake when installing a drive with an integrated brake.
Proper release of the brake can be checked by a "clack-noise"
when activating the controller enable.
Connecting the Motor Brake
A regulated voltage DC is required for the brake's power supply.

(24V / +/-10%)
DKC conf. Cable MKD

control dive IKG 006 servo motor
X6 X2
1 5 1 1
TM+ PTC
2 6 2 2
TM-
3 7 + +
4 8 - -
U
Internal 8
brake Brake
7
control
6 0V Voltage connection
5
for brake
24V
DC 24 V ± 10 %
AP0209d1.drw
Fig. 7-34: Connecting the motor brake

Brake Reaction After Switching Off the Controller Enable and

in Error Conditions
The brake is controlled via the drive controller. The diagrams below show
the chronological reaction of the brake control after the controller enable
is turned off and in error conditions.
External
1
Drive Enable
via control 0
Velocity command 1
value = 0 0
1
Motor torque
0
1) 2)
Brake activation 1
0
n<10 min -1 n>10 min -1
4)
0 100 200 300 400 500

3) t [ms]
1) The brake falls below a velocity of 10min -1 and is activated.
2) The brake is activated after 400 ms, even if the motor

velocity > 10 min -1.
3) The brake is released at the same time the Drive enable is set.
4) Warning: 100 ms after the brake has been activated the motor
will become torque free.
SV0027d1.drw
Fig. 7-35: Brake: Reaction after removal of controller enable
1
Error
0
Velocity command
1
zero switch
0
Motor torque 1)
1
0
Holding brake 1) 2)
1
begins operation
0
n<10 min -1 n>10 min -1
Time axis
0 100 200 300 400
3 500 4) t [ms]
1) The holding brake is activated if error response is set to 1.
2) Error response
The holding brake is activated if velocity of 10 rpm is not maintained.
.
The holding brake is activated after 400 ms, even if the rotation of the
motor is >10 rpm.
3) If error response is set to 3, the holding brake is activated when the error
warning period of 30 seconds has expired, as above in 2).
4) After the cause of the error has been eliminated, the holding brake is de-
activated simultaneously to setting the drive enable.
sv0026d1.ds4
Fig. 7-36: Brake: Reaction in error conditions

7.13 Activating the Drive
Controller Enable
The drive is activated via the drive enable signal.
Requirements for Activating the Drive Controller
The drive must be ready for operation and the power supply must be
turned on for the drive to be activated. (state display: "Ab")
If the drive enable is set while missing power supply, the drive will register
F226 Under Voltage Error.
Drive Stop/Start
Drive Controller Stop/Start During Positioning Operation
If the drive halt signal is active (bit drive start = 0), the drive will remain in
position control at the current position. If the drive is in motion when the
drive halt is activated, the motor will brake at the programmed
acceleration to a standstill.
The drive can be moved in drive halt state by the jog bits in the Drive
control word.
When the start signal is activated, the previously selected Positioning
set is started.
t1
Smallest time t1 = 10ms
Fig. 7-37: Smallest time
Drive Controller Stop/Start During a Drive-Controlled Homing

Procedure
If the drive-controlled homing signal is activated (Bit NF in the Profibus

control word = 1) and then the Drive start signal is activated, the drive will
perform the internal Homing procedure.

E-Stop Function
The E-Stop function (Emergency Stop) makes it possible to bring the

drive to a standstill locally on the drive. When P-0-0008, E-Stop Function
Activation = 1 is activated, a voltage (24V) must be present on the E-
Stop input so that the drive can operate.
Parameter P-0-0008, E-Stop function activation, activates the E-Stop

input. The E-Stop input itself is always 0-active. The polarity of the E-
Stop input cannot be selected; it can only be operative (with P-0-0008 = 1)
or non-operative (with P-0-0008 = 0).
Initiating the E-Stop feature causes the non-fatal error F234, Emergenca
Stop in the drive.
Controller Enable, Drive Halt and E-Stop Signal Connections
X4
DKC control voltage connection 1
+24V
2
free
3
Emergency-Stop E-STOP
Zero-reference for control voltage 4

0V
5
Bb
Ready for operation 6
Bb
input :

HIGH 16 V 30 V
LOW -0,5 V 8V
6k3 10k
2k 10n
AP0247D4
Fig. 7-38: Bb and E-Stop connections

8 Serial Communication
8.1 General Information for Serial Communication
The DKC01.1/DKC11.1 contains one serial interface port. Parameter and

diagnostic information can be exchanged through this interface. You can
choose to operate the interface either in RS232 mode or in RS485 mode.
8.2 Communication via the RS232 Interface
The RS232 interface is specifically designed to connect a PC with the

DRIVETOP installation program. The maximum cable length possible is
15 m.
RS232
PC with DriveTop
Profibus-DP
PLC
DKC DKC DKC DKC
FS0014d1.drw
Fig. 8-1: : Communication via the RS-232 interface
DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96 Serial Communication 8-1

8.3 Communication via the RS485 Interface
Communication via the RS485 interface allows the realization of a serial

bus with the following specifications:
• Up to 32 drives can be connected with a bus master.
• Transmission rate: 9600 and 19200 baud
• Maximum cable length: 1000m
• Half duplex operation via 2 wire transmission line
Types of data exchange via RS485:

• Parameter
• Commands
• Diagnostics
Operating of Multiple Drives with DRIVETOP
Operational Advantages:
• Startup of several DKCs without reconnection of the interface cable
(central connection for diagnostics and setting parameters).
• Realization of a central PC-supported visualization unit
RS232 RS232/RS485 RS485-bus

converter
RTS
PC with DriveTop
Profibus-DP
PLC
DKC DKC DKC DKC
FS0015d1.drw
Fig. 8-2: Operating multiple drives with DRIVETOP
8-2 Serial Communication DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96

Diagnostic Messages and Setting Parameters via a PLC
• You can change parameters via a PLC (for example to adjust the
positioning commands).
• Expanded diagnostic possibilities for the PLC through processing of
the error codes.
RS485-bus
PLC
Profibus-DP
DKC DKC DKC DKC
FS0016d1.drw
Fig. 8-3: Diagnostics and setting parameters via a PLC

Diagnostics and Setting Parameters of Drive Groups Through an

Operator Interface
• Implementation of a central visual display unit
RS232 RS485-bus
RS232/RS485
converter
User interface unit
Profibus-DP
PLC
DKC DKC DKC DKC

FS0017d1.drw
Fig. 8-4: Diagnostics and setting parameters for drive groups through an
operator interface

8.4 Communication Procedures
Communication Parameters
The data exchange over the serial interface is controlled by three

parameters:
• P-0-4022, Drive Address

• P-0-4021, Baud Rate (RS232/485)
• P-0-4050, Answer Delay RS232/485
RS232 Interface
P-0-4022, Drive Address With an RS232 interface, there is no need to determine the drive address
explicitly, since in this case only one drive can be connected at a time.
RS485 Interface
If multiple drives are connected via the RS485 interface, then the data
exchange must be organized by the allocation of drive addresses to the
individual units on the bus.
P-0-4021, Baud Rate The baud rate of the serial interface is set by parameter. The following
(RS232/485) settings are possible:
0: 9600 Baud
1: 19200 Baud
⇒ All the devices on the bus must be set to the same

baud rate.
P-0-4050, The RS485 interface operates in half duplex mode with 1 twisted pair.
Answer Delay RS232/485 The direction of the data must be switched during the data exchange. The
switch of the data direction happens in less than half a milli-second for the
DKC devices. In order for the connected terminal devices (PC or SPS) to
be given enough time for the data direction switch to occur, the answer
delay/SPS time of the drive can be set in this parameter.
The input is in ms. The maximum setting is 200ms.
The default value for the answer delay is set at 1ms by the manufacturer.
From past experience, most PCs will function without any problems with
this setting.
If communication problems appear, for example a "TIMEOUT display" in
DriveTop, then the value for the answering delay can be gradually set to a
higher value until no more problems occur. For a safe margin, the limit
value so determined should be multiplied by 1.5 and then entered as the
answering delay.

Setting the Drive Address
Setting the drive address by coding switch
In the case where communication takes place via the RS485 bus, each of
the bus communication devices must be provided with a unique bus
address, which is set with the coding switch. In order to avoid access
conflicts, each drive address may only be used once.
The DKC03.1 has 2 coding switches for addresses 0..99. The switches
determine the bus address for the profibus. The profibus address is
evaluated only when the device is turned on.
Setting the drive address by parameter
If the address of the RS-485 interface needs to be different from the

profibus address, the desired address must be entered via DriveTop im
parameter P-0-4022, Drive address.Valid addresses range from 0 to 99.
To assign address selection to the coding switch again, enter the value
256 into P-0-4022, Drive address.
Original State after Establishing the Control Voltage
After turning on the control voltage, all drives connected via the RS485
bus are in the "passive mode".
In passive mode, there is no possibility of communication. To reach the
active mode, a drive must be targeted and contacted with a "Change
drive" command.
Communication with a Specific Bus Unit
In order to establish communication with a unit on a bus, a CHANGE

DRIVE command must be issued with the target to the specific drive
address on the bus. With every CD command, the contacted drive will be
activated and all other drives will be switched into the passive mode. The
contacted drive reports with its prompt. From this point the
communication continues with the activated drive, until communication is
switched to another drive through a subsequent CHANGE DRIVE
command.
Example:
BCD:04 (CR) Command for switching communication to drive 4

A04:> Response of the contacted drive. All other drives
operate passively.

Parameter Structure
All parameters of the drive are stored in a standard parameter structure.

Each parameter consists of 7 elements. The table below defines the
individual elements and the access possibilities. The following sections
will reference each diagrammed parameter structure.
Element-No. Data Block Element Access Possibilities

1 ID number Read
2 Name Read
3 Attribute Read
4 Unit Read
5 Min. input value Read
6 Max. input value Read
7 Operating Data Read / Write
Fig. 8-5: Parameter Structure
Note: the Supplement contains a description of parameters with detailed

specifications of the features of all the available parameters.
Writing To a Parameter
The general form for writing to a parameter is as follows:

A01:> ID number of the parameter, data block element number, w,
operational datum (Carriage Return)
After a completed writing operation, the unit responds again with its
prompt.
For example, to write to the datum value of parameter P-0-0004,
Smoothing time constant the following input is required:
A01:>P-0-0004,7,w,500 (Carriage Return)

A01:> The drive writes the value 500 as the operating datum (data block
element 7).

Reading a Parameter
Reading a parameters takes place as follows:

A01:> ID number of the parameter, data block element number, r
(carriage return)
The drive responds with the contents of the contacted data block element
again.
For example, to access the operating data of parameter P-0-0004,
Smoothing time constant the following entry would be required:
A01:>P-0-0004,7,r (Carriage Return)
1000
The drive returns 1000 as the operating data (data block element 7).
Writing to a List Parameter
There is a number of list parameters in the drive. These lists must be

accessed in a somewhat different manner for write operations.
A01:> ID number of the parameter, data block element number, w>
(carriage return)
?List element 1 (carriage return)
?List element 2 (carriage return)
...
?List element x (carriage return)
?< (Carriage Return
It is important to end the input with the <- symbol. Only then will the data
be written to the drive.
Reading a List Parameter
Reading a list parameter is done in the same manner as with a normal

parameter. The drive responds, however, with an answer of all the list
elements.

Executing Parameter Commands
A number of commands can be processed in the DKC. The execution of

commands takes place automatically within the controller. There are
commands for:
• Switching between operating and set parameter modes
S-0-0127, C1 Communications phase 3 transition check
S-0-0128, C2 Communications phase 4 transition check
P-0-4023, C4 Transition to Phase 2
• S-0-0262, Basic Load Command

• S-0-0099, Reset class 1 diagnostics
• S-0-0148 Drive-Controlled Homing Procedure Command
• P-0-0012, Command Set Absolute Measurement
S-0-0099, Reset Class 1 Diagnostics 1 and S-0-0148, C6 Command

Drive-Controlled Homing Procedure are also available via the Profibus.
A command can be started, interrupted or ended via the serial interface.

The status of the command execution can also be read via this interface.
The general form for executing a command is as follows:
A01:> ID number of the parameter, 7, w, 11 (carriage return)
Requesting the Status of a Command
The actual status of a command can be requested. Using the request for
the command status is especially important when it is necessary to
establish that the drive side of the command process is completed before
the connected control (or the PC) ends a command.
The general form for requesting the status of a parameter command is as
follows:
The drive responds to the request to write to the ID number of the

command parameter by returning the current command status. For
example:
11 (meaning the command in the drive is set and enabled)
Possible status messages:

• Command is set in the drive
• Command execution terminated in the drive
• Command is not yet completed
• Command execution is not possible (error)
• Command successfully completed
• Command operation interrupted in the drive
• Command is not set in the drive

The command status will be transmitted in the form of a bit list. The
meaning of each bit is displayed below.
Bit 0 :
reserve reserve 0 : command not set in drive
1 : command set in drive
Bit 1 :
0 : execution of command in drive
interrupted
1 : execution of command in drive
enabled
Bit 2 :
0 :command executed
1 :command not yet executed
Bit 3:
0 : no error
1 : error: execution of command is not
possible
Bit 8 :
0 : operating data valid
1 : operating data invalid
Fig. 8-6: Command reception (data status)
Ending a Parameter Command
The general form for ending a parameter command is as follows:


Error Messages
If illegal parameter access is attempted or for example writing access to a

read-only data block element is attempted, an error message is issued by
the drive.
List of the possible error codes Error code: Error description:

#1001 ID number missing
#1009 Invalid access to element 1
#2001 Name is missing
#2002 Transmitted name is too short
#2003 Transmitted name is too long
#2004 Name cannot be written to
#2005 Name is currently not editable
#3002 Transmitted attribute is too short
#3003 Transmitted attribute is too long
#3004 Attribute cannot be changed
#3005 Attribute is currently write-protected
#4001 Unit missing
#4002 Transmitted unit is too short
#4003 Transmitted unit is too long
#4004 Unit cannot be changed
#4005 Unit cannot currently be changed
#5001 Min. value missing
#5002 Transmitted min. value is too short
#5003 Transmitted min. value is too long
#5004 Min. value cannot be changed
#5005 Min. value cannot currently be changed
#6001 Max. value missing
#6002 Transmitted max. value is too short
#6003 Transmitted max. value is too long
#6004 Max. value cannot be changed
#6005 Max. value is currently write-protected
#7002 Transmitted data is too short
#7003 Transmitted data is too long
#7004 Data cannot be changed
#7005 Data cannot currently be changed
#7006 Data < min. value
#7007 Data > max. value
#7008 Datum is not correct
#9001 Input is not identifiable
#9002 Parameter type error
#9003 Invalid data set number
#9004 Invalid data block number
#9005 Data element number is not defined
#9006 Error in read-write recognition (r/w)
#9007 Invalid character in the data

8.5 Application Examples
Changing Positioning Block Data
Assumption:
• Multiple drives are connected over a RS485 interface to a PLC. The
drive in question has the address 1.
• The drive operates in positioning mode. It will use 4 positioning blocks.
• The target positions of the positioning block data should be changed
via the RS485 interface.
Integrating Communication to the Desired axis

BCD:01 (CR) Command for Switching to Drive A01:>
Response of the contacted drive. All other
drives operate passively.
Note: There is no immediate echo character by character. Instead the

drive transmits the complete input sequence back after reception
of the CR.
The resident memory mode is deactivated

Normally the parameter will be stored through writing in an EEPROM so
that the data remains after the supply voltage is turned off.
If an application requires frequent changes of the parameters during
operation, for example changing the target position of positioning data
sets, there is a danger of eventually exceeding the maximum allowable
number of writing cycles of the EEPROM. In order to avoid this possibility,
the resident memory must be turned off.
The resident memory mode must be turned off after each time the power
supply of the connected controller is turned on and is valid until the next
time the power supply is turned off. While non-resident mode is active, all
parameter data is written to RAM memory only.
Turning off the resident memory: A01:> S-0-0269,7,w,1 (CR)
Writing the List of the Target Positions in the Drive

The target positions of all the axes are stored in the form of a list in
parameter P-0-4006, Process command target position. In order to
change one or more of these values, all of the relevant values of this list
must be written. If four target positions are to be used, then all 4 positions
must be written even if only one of the positions should be changed.

A01:> P-0-4006, 7,w,> (CR)

?100.0 (CR) Target position command 0
?<(CR) (CR)
As soon as the target positions have been written, they take effect in the
drive.
8.6 Connections
RS485 Connection
X1
PC or PLC
RS485 +
4 5 6
RS485 -
Termination resistance
120 Ohm/0.6W
4 5 6
4 5 6
4 5 6
X1 X1 X1
DKC DKC DKC
AP002d1.drw
Fig. 8-7: RS485 Connection
Note: Up to 32 drives can be connected. Note that the total maximum

cable length is 1000m. The terminal resistance is manufactured
with each end of the transmission path containing a double core
housing case.

RS 232 Connection
Fig. 8-8: RS 232 Connection
Note: Only point-to-point connections are possible, and the maximum

cable length is 15m. The PC and drive control device must share
a common central ground. Please pay close attention so that the
connection of the reference potential (OV/GND) is made on the
inner shield of the cable !

F
9 Index
Feedrate override feature while jogging
7-37
Feedrate override Feature with the Drive
A Control Homing Procedure 7-31
Absolute encoder monitoring 7-35

Absolute encoder monitoring window 7- H
35
Holding Brake 1-3
Absolute format 7-4
Home direction 7-28–7-29
Absolute value encoder 7-34
Home point 7-28–7-30
Activating and setting parameters for
limit switches 7-8 Home point switch signal 7-28, 7-30
Active Mode 8-6 Home Switch Configuration 7-28, 7-31
Actual position value measurement 1-3 Homing parameters 7-30
Homing point 1-3
Homing procedure 1-2, 7-24, 7-26, 7-
B 30–7-31, 7-33, 7-43
Basic load 7-12, 7-14–7-15, 7-18, 8-9 Homing to the current actual value 7-30
Basic mode of operation for the position Homing with evaluation of the home
loop monitor 7-21 switch 7-28
Border conditions for modulo processing Homing with evaluation of the home
7-6 switch and the reference mark 7-
Brake control 7-41–7-42 29
Brake reaction after switching off the Homing with evaluation of the position
controller enable and in error encoder reference mark 7-29
conditions 7-42
I
C INBWG message 7-24
Cam switch 7-25 Initial installation 2-4, 7-33
Connecting the home switch input 7-32 INPOS message 7-23
Connecting the motor brake 7-41 INREF message 7-24
Connecting the travel limit switch 7-8 Integrated brake activation 1-3
Integrated diagnostic display 1-3
Interruption of relative positioning
D commands 6-9
Data References 7-2–7-4
Deactivating the velocity loop monitor 7-
20 K
Determining the critical integral action Kv Factor 4-5, 7-12
time 7-16
Determining the critical position loop
gain 7-18 L
Determining the direction of motion Limiting torque via parameter 7-9
during the homing procedure 7-28
Load reference 7-4, 7-6
Determining the velocity loop setting 7-
17, 7-18
Diagnostic message output 7-39 M
Direct power supply connection 1-3
Maximum presentation range with
Drive controller stop/start during a drive- absolute position data processing
controlled homing procedure 7-43 7-4
Drive controller stop/start during Modulo format 6-7, 6-23, 7-4
positioning operation 7-43
Modulo range 7-4
Drive error response 7-10–7-11
Modulo value 6-7, 6-22, 7-4
Moduloverarbeitung 7-4–7-6
E Moving towards the home position 7-35
Easy installation 1-3
Ending the drive-controlled homing N
procedure 7-32
Error classes 7-10 Negating position, velocity, and torque
data 7-3
Exceeding a travel range 7-7
DOK-ECODRV-PDP-03VRS-FKB1-EN-P • 11.96 Index 9-1

O T
Offline mode 3-8 Target position 6-1
Operating mode 3-13–3-14, 7-6, 7-26 Travel limit switch 1-2, 6-12
Travel limit switches 7-7–7-8
P
Parameter setup through offline U
operation startup procedure 3-8 unit of measure 7-2–7-3
Parameter setup through online
operation startup procedure 3-8
Passive Mode 8-6 V
Position limits 1-2, 6-5, 6-12, 7-7 Velocity loop monitoring 7-19–7-20
Position loop monitoring 7-19, 7-21 Velocity preset control 4-5
Power supply 7-9, 7-22, 7-43 Vibrations 4-5, 6-3
Preparations for setting the velocity loop
7-16
Primary mode of operation for the
velocity loop monitor 7-20
Process command acceleration 6-1
Process command jerk 6-1
Process command mode 6-1
Process command velocity 6-1
R
Rack and pinion mechanical systems 7-
2
Range of Uses 1-1
Reaction to transverse range violations
7-9
Ready for operation relay 7-11
Reasons for vibration 6-4
Relative positioning command after
activation of the drive enable 6-11
jogging operation. 6-10
Requirements for activating the drive
controller 7-43
Requirements for executing an absolute
positioning command 6-5
Requirements for setting the position
loop monitor correctly 7-21
RS232 mode 8-1
RS485 mode 8-1
S
Selection lists 4-1, 4-4
Set absolute measurement 7-24, 7-33–
7-35, 8-9
Set Parameter Mode 3-13, 7-6, 7-26, 8-9
Setting the absolute encoder monitoring
window 7-36
Setting the absolute position 7-34
Setting the position loop monitor 7-21
Setting the velocity control value to zero
7-11
Surges in acceleration 4-5
Switch to torque-free state 7-10–7-11
9-2 Index DOK-ECODRV-PDP-03VRS-FKB1-EN-P • 11.96

ECODRIVE
DKC03.1 Drive Controller
Supplement A
Parameter Description
PDP 03VRS
Contents
1 General Information 1-1
Using This Manual......................................................................................................................... 1-1
Definitions...................................................................................................................................... 1-1
2 Standard Parameters 2-1

S-0-0014, Interface Status ............................................................................................................ 2-1
S-0-0021, IDN List of Invalid Operating Data for Comm. Phase 2................................................ 2-2
S-0-0022, IDN List of Invalid Operating Data for Comm. Phase 3................................................ 2-2
S-0-0030, Manufacturer Version ................................................................................................... 2-3
S-0-0032, Primary Mode of Operation .......................................................................................... 2-3
S-0-0033 Secondary Operation Mode 1........................................................................................ 2-4
S-0-0036, Velocity Command Value ............................................................................................. 2-4
S-0-0037, Additive Velocity Command Value ............................................................................... 2-5
S-0-0040, Velocity feedback value................................................................................................ 2-5
S-0-0041, Homing Velocity............................................................................................................ 2-5
S-0-0042, Homing Acceleration .................................................................................................... 2-6
S-0-0043, Velocity Polarity Parameter .......................................................................................... 2-7
S-0-0044, Velocity Data Scaling Type........................................................................................... 2-8
S-0-0045, Velocity Data Scaling Factor ........................................................................................ 2-9
S-0-0046, Velocity Data Scaling Exponent ................................................................................... 2-9
S-0-0047, Position Command Value........................................................................................... 2-10
S-0-0049, Positive Position Limit Value ...................................................................................... 2-10
S-0-0050, Negative Position Limit Value..................................................................................... 2-11
S-0-0051, Position Feedback Value 1 (Motor Feedback) ........................................................... 2-11
S-0-0052, Reference Distance 1................................................................................................. 2-12
S-0-0055, Position Polarity Parameter ........................................................................................ 2-12
S-0-0057, Position Window......................................................................................................... 2-14
S-0-0059, Position Switch Flag Parameter ................................................................................. 2-14
S-0-0060, Position Switch Point 1 ............................................................................................... 2-15
S-0-0076, Position Data Scaling Type ........................................................................................ 2-15
S-0-0077, Linear Position Data Scaling Factor ........................................................................... 2-16
S-0-0078, Linear Position Data Scaling Exponent ...................................................................... 2-16
S-0-0079, Rotational Position Resolution.................................................................................... 2-17
S-0-0080, Torque/Force Command Value.................................................................................. 2-17
S-0-0084, Torque/Force Feedback Value................................................................................... 2-18
S-0-0085 Torque Polarity Parameter .......................................................................................... 2-18
S-0-0086, Torque/Force Data Scaling Type ............................................................................... 2-19
S-0-0091, Bipolar Velocity Limit Value ........................................................................................ 2-20
S-0-0092, Bipolar Torque/Force Limit Value............................................................................... 2-20
S-0-0093, Torque/Force Data Scaling Factor ............................................................................. 2-21
S-0-0094, Torque/Force Data Scaling Exponent ........................................................................ 2-21
S-0-0095, Diagnostic Message ................................................................................................... 2-22
DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96 Contents I

S-0-0097, Mask Class 2 Diagnostic ............................................................................................ 2-22

S-0-0098, Mask Class 3 Diagnostic ............................................................................................ 2-22
S-0-0099, Reset Class 1 Diagnostic ........................................................................................... 2-23
S-0-0100, Velocity Loop Proportional Gain ................................................................................. 2-23
S-0-0101, Velocity Loop Integral Action Time ............................................................................. 2-24
S-0-0103, Modulo value .............................................................................................................. 2-25
S-0-0104, Position Loop KV-Factor............................................................................................. 2-25
S-0-0106, Proportional Gain 1 Current Regulator ....................................................................... 2-26
S-0-0107, Current Regulator 1 Integral Action Time................................................................... 2-26
S-0-0108, Feedrate Override ...................................................................................................... 2-27
S-0-0109, Motor Peak Current .................................................................................................... 2-27
S-0-0110, Amplifier Peak Current ............................................................................................... 2-28
S-0-0111, Motor Current at Standstill.......................................................................................... 2-28
S-0-0112, Amplifier Nominal Current .......................................................................................... 2-29
S-0-0113, Maximum Motor Speed (nmax).................................................................................. 2-29
S-0-0116, Resolution of Rotational Feedback 1 ......................................................................... 2-30
S-0-0121, Input Revolutions of Load Gear.................................................................................. 2-30
S-0-0122, Output Revolutions of Load Gear............................................................................... 2-31
S-0-0123, Feed Constant ............................................................................................................ 2-31
S-0-0124, Standstill Window ....................................................................................................... 2-32
S-0-0127, C1 Communications phase 3 Transition Check ......................................................... 2-32
S-0-0128, C2 Communications Phase 4 Transition Check......................................................... 2-33
S-0-0135, Drive Status Word ...................................................................................................... 2-34
S-0-0138, Bipolar Acceleration Limit Value................................................................................. 2-35
S-0-0140, Controller Type ........................................................................................................... 2-35
S-0-0141, Motor Type ................................................................................................................. 2-36
S-0-0142, Application Type ......................................................................................................... 2-36
S-0-0147, Homing Parameter ..................................................................................................... 2-37
S-0-0148, C600 Drive-Controlled Homing Procedure................................................................. 2-38
S-0-0150, Reference Offset 1 ..................................................................................................... 2-38
S-0-0159, Monitoring Window..................................................................................................... 2-39
S-0-0160, Acceleration Data Scaling Type ................................................................................. 2-39
S-0-0161, Acceleration Data Scaling Factor ............................................................................... 2-40
S-0-0162, Acceleration Data Scaling Exponent .......................................................................... 2-41
S-0-0182, Manufacturer Class 3 Diagnostics.............................................................................. 2-42
S-0-0189, Following Error ........................................................................................................... 2-43
S-0-0192, IDN List of Backup Operation Data ............................................................................ 2-43
S-0-0193, Positioning Jerk .......................................................................................................... 2-44
S-0-0258, Target Position ........................................................................................................... 2-44
S-0-0259, Positioning Velocity..................................................................................................... 2-45
S-0-0260, Positioning Acceleration ............................................................................................. 2-45
S-0-0262, Command Basic Load ................................................................................................ 2-46
S-0-0269, Parameter Buffer Mode .............................................................................................. 2-46
S-0-0277, Position Feedback 1 Type Parameter ........................................................................ 2-47
S-0-0299, Home Switch Offset.................................................................................................... 2-48
S-0-0331, Status Feedback = 0 .................................................................................................. 2-48
S-0-0390, Diagnostic Message Number ..................................................................................... 2-49
S-0-0400, Home Switch .............................................................................................................. 2-49
S-0-0403, Position Feedback Value Status ................................................................................ 2-50
II Contents DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96

3 Product Specific parameters 3-1

P 0 0001 Diagnostic Message Number......................................................................................... 3-1
P-0-0004, Smoothing Time Constant............................................................................................ 3-2
P-0-0005, Language Selection...................................................................................................... 3-2
P-0-0006, Overload Factor............................................................................................................ 3-3
P-0-0008, Activation E-Stop-Function ........................................................................................... 3-3
P-0-0009, Error Message Number ................................................................................................ 3-4
P-0-0010, Excessive Position Command Value............................................................................ 3-5
P-0-0011, Last Valid Position Command Value ............................................................................ 3-5
P-0-0012, C300 Set Absolute Measurement Command............................................................... 3-6
P-0-0013, Command value mode for modulo format.................................................................... 3-6
P-0-0018, Number of Pole Pairs/Pole Pair Distance..................................................................... 3-7
P-0-0019, Position Start Value ...................................................................................................... 3-8
P-0-0020, Reference Cam Shifting ............................................................................................... 3-8
P-0-0038, Signal Selection for Analog Output Channel 1 ............................................................. 3-9
P-0-0039, Signal Selection for Analog Output Channel 2 ........................................................... 3-10
P-0-0040, Scaling of Velocity Data on Analog Output Channel 1 ............................................... 3-12
P-0-0041, Scaling of Velocity Data on Analog Output Channel 2 ............................................... 3-12
P-0-0042, Scaling for Position Data on Analog Output Channel 1.............................................. 3-13
P-0-0043, Scaling for Position Data on Analog Output Channel 2.............................................. 3-13
P-0-0050 Acceleration Feedforward, Proportional Gain ............................................................. 3-14
P-0-0051, Torque/Force Constant .............................................................................................. 3-15
P-0-0090, Travel Limit Parameter ............................................................................................... 3-16
P-0-0097, Absolute Encoder Control Window............................................................................. 3-17
P-0-0098, Maximum Model Deviation ......................................................................................... 3-17
P-0-0109 Torque/Force Peak Limit ............................................................................................. 3-18
P-0-0119, Decceleration as best as possible.............................................................................. 3-19
P-0-0123, Absolute Encoder Buffer ............................................................................................ 3-20
P-0-0136, Scaling Torque/Force Channel 1................................................................................ 3-20
P-0-0137, Scaling Torque/Force Channel 2................................................................................ 3-21
P-0-0139, Analog Output 1.......................................................................................................... 3-21
P-0-0140, Analog Output 2.......................................................................................................... 3-22
P-0-0168, Maximum Acceleration ............................................................................................... 3-22
P-0-0508, Commutator Offset..................................................................................................... 3-23
P-0-0509, Slot-Angle ................................................................................................................... 3-23
P-0-0510, Moment of Inertia of the Rotor.................................................................................... 3-24
P-0-0511, Brake Current ............................................................................................................. 3-24
P-0-0512, Default Position Loop Kv factor .................................................................................. 3-25
P-0-0513, Feedback Type........................................................................................................... 3-25
P-0-0514, Absolute Encoder Offset ............................................................................................ 3-26
P-0-0516, Feedback Interface..................................................................................................... 3-26
P-0-0518 Amplifier Nominal Current 2 ........................................................................................ 3-27
P-0-0519, Amplifier Peak Current 2 ............................................................................................ 3-27
P-0-0520, Hardware Code .......................................................................................................... 3-28
P-0-1003, Velocity Feedback Value Filter Time Base................................................................. 3-28
P-0-1222, Command Value Smoothing Time Constant.............................................................. 3-29
P-0-4000, Current Zero Trim Phase U ........................................................................................ 3-29
P-0-4001, Current Zero Trim Phase V ........................................................................................ 3-30
DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96 Contents III

P-0-4002, Current Amplify Trim Phase U.................................................................................... 3-30

P-0-4003, Current Amplify Trim Phase V.................................................................................... 3-31
P-0-4004, Magnetization Current ................................................................................................ 3-31
P-0-4005 Back EMF Constant .................................................................................................... 3-32
P-0-4006, Process block Target Position.................................................................................... 3-32
P-0-4007, Process block Velocity................................................................................................ 3-33
P-0-4008, Process block Acceleration ........................................................................................ 3-33
P-0-4009, Process block Jerk ..................................................................................................... 3-34
P-0-4010, Load Inertia................................................................................................................. 3-34
P-0-4011, Switching Frequency .................................................................................................. 3-35
P-0-4012, Slip Factor .................................................................................................................. 3-35
P-0-4013 Maximum Rotor Frequency ......................................................................................... 3-36
P-0-4014, Motor Type ................................................................................................................. 3-36
P-0-4015, Intermediate Voltage .................................................................................................. 3-37
P-0-4016, Dynamic Compensation ............................................................................................. 3-37
P-0-4019, Process block Mode ................................................................................................... 3-38
P-0-4021, Baud Rate (RS232/485) ............................................................................................. 3-38
P-0-4022, Drive Address ............................................................................................................. 3-39
P-0-4023, C4 Communicationphase 2 transition check.............................................................. 3-40
P-0-4024, Test Status ................................................................................................................. 3-40
P-0-4025, Password.................................................................................................................... 3-41
P-0-4026, Process block Selection ............................................................................................. 3-41
P-0-4027, Function Parameter.................................................................................................... 3-42
P-0-4028, Impulse Wire Feedback Offset................................................................................... 3-43
P-0-4029, Impulse Wire Feedback PIC Counter Value .............................................................. 3-43
P-0-4030, Jog Velocity ................................................................................................................ 3-44
P-0-4035, Trim-Current ............................................................................................................... 3-44
P-0-4036, Connected Motor Type ............................................................................................... 3-45
P-0-4037, Default Velocity Loop Proportional Gain..................................................................... 3-46
P-0-4038, Default Velocity Loop Integral Action Time................................................................. 3-46
P-0-4039, Default Current Loop Proportional Gain ..................................................................... 3-47
P-0-4040, Digital Inputs............................................................................................................... 3-47
P-0-4041, Digital Outputs ............................................................................................................ 3-48
P-0-4042, Default Velocity Loop Delay Time .............................................................................. 3-49
P-0-4043, Bleeder Overload Factor ............................................................................................ 3-50
P-0-4044, Bleeder load ............................................................................................................... 3-50
P-0-4045, Active permanent Current .......................................................................................... 3-51
P-0-4046, Active Peak Current ................................................................................................... 3-52
P-0-4047, Motor Inductance........................................................................................................ 3-53
P-0-4048, Stator Resistance ....................................................................................................... 3-53
P-0-4049, Default Current Loop Integral Action Time ................................................................. 3-54
P-0-4050, Delay Answer RS232/485 .......................................................................................... 3-54
P-0-4051 Process block Acquittance .......................................................................................... 3-55
P-0-4052 Last Process block ...................................................................................................... 3-55
P-0-4094 C8 Command Base-Parameter load ........................................................................... 3-56
4 Index 4-1
IV Contents DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96

1 General Information
Using This Manual
All standard and product-specific parameters are listed in this chapter in
ascending numerical order.
It serves as a supplement to the information in the Functional
Description, and provides a complete description of all parameters used
in ECODRIVE firmware.
Note: The parameter description is especially useful when you are

using the drive controller's serial interface (RS483/232).
You do not require a detailed knowledge of the meaning of
individual parameters if you are using DriveTop to set
parameters during installation.
The description of the individual parameters is divided into two

subsections.
1) General description
This part offers information on the function or meaning of the
parameters, and help on setting the parameters.
2) The Attributes section contains a description of the meaning of each

parameter, and help for setting and editing parameter values.
This includes the list of characteristics and characteristic values used to
classify the parameter. They are necessary for a complete description of
the parameter.
However, if you would just like a quick overview of the meaning of the
parameter, they are not necessary.
Definitions
The following abbreviations are used:
Data length:
2-byte - the data length for the operating data is 2 bytes.
4-byte - the data length for the operating data is 4 bytes.
1-byte variable - this is a piece of operating data of variable length (list).

The length of a data unit is 1 byte.

The length of a data unit is 2 bytes.

The length of a data unit is 4 bytes.
Format:
BIN - the display format for the operating data should be binary.
HEX - the display format for the operating data should be hexadecimal.
DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96 Supplement A: Parameter Description 1-1

DEC_OV - the display format for the operating data should be decimal
without
a plus or minus sign.
DEC_MV - the display format for the operating data should be decimal
with
a plus or minus sign.
ASCII - the operating data is an ASCII string.
IDN - the operating data is an ID number.
Editability:
No - the operating data cannot be edited.
P2 - the operating data can only be edited in communications phase 2.
P23 - the operating data can only be edited in communications phase 2
and 3.
P234 - the operating data can be edited in any communications phase.
Memory:
fixed - the operating data is programmed in the drive (fixed value).
no - the operating data is not buffered in the drive, the value after turning
on the drive controller is not defined.
Param.E²prom - the operating data is buffered in parameter E²prom
(DSM) on the drive controller main circuit board.
Ampl.E²prom - the operating data is buffered in the drive controller's
E²prom.
Feedb.E²prom - the operating data is buffered in the motor feedback
data memory's E²prom (for MDD and MKD motors only).
Validity check:
no - the operating data is not checked for validity.
Phase2 - the operating data is checked in the "Communications phase 3
transition check" command.
Phase3 - the operating data is checked in the "Communications phase 4
transition check" command.
Extreme value check:

no - the operating data is not checked for its extreme values when it is
written to.
yes - the operating data is checked for its extreme values when it is
written to.
Combination check:
no - the operating data is not checked (bitwise) for a valid combination
with other parameter values when it is written to.
yes - The operating data is checked (bitwise) for a valid combination with
other parameter values when it is written to.
Cyc. transmittable:
In SERCOS devices only
1-2 Supplement A: Parameter Description DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96

2 Standard Parameters
S-0-0014, Interface Status
Description:
The current communications phase can be polled (queried) using the first
three bits (0, 1, 2).
2 The drive is in Parameter mode.

4 The drive is in Operate mode.
Parameter structure:
Bit 0 - 2: Communication phase
Bit 3 : reserved
Bit 4 : reserved
Bit 5 : reserved
Bit 6: reserved
Bit 7: reserved
Bit 8: reserved
Bit 9 : reserved
Bit 10: reserved
Bit 11: reserved
Bit 12 : reserved
Bit 13 : reserved
Bit 14 : reserved
Bit 15 : reserved
Fig. 2-1: S-0-0014, Interface Status
S-0-0014 - Attributes
Name in German: Schnittstellen-Status
Name in English: Interface status
ID number: S-0-0014 Editability: no
Function: Parameter Memory: no
Data length: 2 bytes validity check: no
Format: BIN Extreme value check: no
Unit German/English: --/-- combination check: no
Posit. after the dec.: 0 cyc. transmittable: no
Input value min / max: --/-- Default value:

S-0-0021, IDN List of Invalid Operating Data for Comm. Phase 2
Description:
Before the drive executes the delayed phase switch from 2 to 3 that was
initiated by command S-0-0127, Communications phase 3 transition
check, it will check to see if all communication parameters are complete
and correct. If the drive identifies one or more IDNs as invalid, it will write
the operating data that is still needed or is invalid to this ID No. list. This
is displayed to the drive by command error diagnostic message C101,
Communication parameters incomplete.
Name in German: IDN-Liste ungültige Betriebsdaten Phase 2
Name in English: IDN List of invalid op. data for comm. ph2
Data length: 2-byte variable validity check: no
Format: IDN Extreme value check: no
Input value min / max: --/-- Default value: --
S-0-0022, IDN List of Invalid Operating Data for Comm. Phase 3
Description:
Before the drive executes the delayed phase switch from 3 to 4 that was
initiated by command S-0-0128, Communications phase 4 transition
check, it will check the parameters for the following items:
• Validity of the parameter
• The parameter value is found within the valid input range
• "Compatibility" with other parameters.
If a parameter check turns out negative, this operating data will be

entered in this ID No. list.
The drive then responds to the transition command with the messages:
• C201 Invalid Parameter (->S-0-0022) or
• C202 Limit Error Parameter (->S-0-0022) or
• C203, Parameter Calculation Error (->S-0-0022)
Name in German: IDN-Liste ungültige Betriebsdaten Phase 3
Name in English: IDN List of invalid op. data for comm. ph3

S-0-0030, Manufacturer Version
Description:
You can read the drive product version as text from this parameter.
Example:
DKC01.1-ASE-02V07
Name in German: Hersteller-Version
Name in English: Manufacturer version
Function: Parameter Memory: fixed
Format: ASCII Extreme value check: no
S-0-0032, Primary Mode of Operation
Description:
The mode of operation defined in this parameter will be activated in the
drive if:
• the control and power sections are ready for operation
• the controller enable RF is set and
• the AH/Start signal has been given.
The operating mode can be selected by entering a bit list.

Bit list: Meaning:
0000,0000,0011,0011 Position regulation, positioning interface, with
following error
0000,0000,0011,1011 Position regulation, positioning interface, without
following error
Fig. 2-1: Mode of operation
Name in German: Hauptbetriebsart
Name in English: Primary mode of operation
ID number: S-0-0032 Editability: P23
Function: Parameter Memory: Param.E²prom
Data length: 2 bytes validity check: Phase 3
Unit German/English: --/-- combination check: yes
Input value min / max: --/-- Default value: 111 011 b

S-0-0033 Secondary Operation Mode 1
Description:
The first secondary operation mode is reserved for jog mode with DKC.
The secondary operation mode is a fixed setting and cannot be changed.
Name in German: Nebenbetriebsart-1
Name in English: Secondary operation mode 1
Function: Parameter Memory: Parallel E²Prom
Data length: 2 bytes validity check: yes
Format: Binary Extreme value check: no
Unit German/English: -/- combination check: yes
Posit. after the dec.: - cyc. transmittable: no
Input value min / max: -/-
Default value: 1100000000011011 b
S-0-0036, Velocity Command Value
Description:
This parameter indicates the velocity command value. It is combined with
S-0037, Velocity command value additively to determine the drive's
effective velocity set point.
In the position control operating modes, this parameter displays the
output error signal of the position controller.
Name in German: Geschwindigkeits-Sollwert
Name in English: Velocity command value
Format: DEC_MV Extreme value check: yes
Unit German/English: S-0-0044/S-0-0044 combination check: no
Posit. after the dec.: S-0-0044 cyc. transmittable: MDT
Input value min / max: S-0-0044/S-0-0044 Default value: --

S-0-0037, Additive Velocity Command Value
Description:
The additive velocity command value is added to S-0-0036; Velocity
command value in the drive.
Name in German: Geschwindigkeits-Sollwert additiv
Name in English: Additive velocity command value
S-0-0040, Velocity feedback value
Description:
The velocity feedback value is updated by the drive controller every
500ms (it can be transferred via the serial communication interface).
Name in German: Geschwindigkeits-Istwert
Name in English: Velocity feedback value
Format: DEC_MV Extreme value check: no
Posit. after the dec.: S-0-0044 cyc. transmittable: AT
S-0-0041, Homing Velocity
Description:
Together with parameter S-0-0108, Feedrate override, this determines
the velocity for command S-0-0148, C600 Drive-controlled homing
procedure. In the case of a drive motor with an absolute encoder (K-type
feedback option), if command S-0-0148, Drive-controlled homing is
initiated, then the drive will proceed to the reference point (homing point)
that was determined by command P-0-0012, C300 Command Set
absolute measurement with this velocity.

Name in German: Referenzfahr-Geschwindigkeit
Name in English: Homing velocity
Format: DEC_OV Extreme value check: yes
Posit. after the dec.: S-0-0044 cyc. transmittable: no
Input value min / max: >0/S-0-0044 Default value: --
S-0-0042, Homing Acceleration
Description:
This parameter defines the acceleration value at which the drive
performs command S-0-0148, C600 Drive-controlled homing
procedure.
Name in German: Referenzfahr-Beschleunigung
Name in English: Homing acceleration
Input value min / max: 0/S-0-0160 Default value: 1000; 0000

S-0-0043, Velocity Polarity Parameter
Description:
This parameter is used to switch the polarity of the velocity data in
relation to the application.
The polarity is switched externally (at the command and feedback input
and actual value output) and not within the control system velocity
regulator.
The following applies to rotary motors:
Clockwise rotation when facing the motor shaft is the rule for a positive
velocity command value and a positive velocity feedback value polarity.
Bit 0 : Velocity command value

0: Positive polarity
1: Negative polarity
Bit 1 : Velocity command value, additive
Bit 2 : Velocity feedback value
Fig. 2-2: S-0-0043, Velocity polarity parameter
Name in German: Geschwindigkeits-Polaritäten-Parameter
Name in English: Velocity polarity parameter
Input value min / max: 0/-- Default value: 0

S-0-0044, Velocity Data Scaling Type
Description:
Various scaling types can be defined for the velocity data in the drive.
Examples: rpm -> rotary
mm/min -> linear
Bit 2 - 0: Scaling type

0 0 0: unscaled
0 0 1: linear scaling
0 1 0: rotary scaling
Bit 3 :
0 : preferred scaling
1 : parameter scaling
Bit 4 : Unit of measure for linear scaling
0 : meter [m]
1 : inch [in]
Unit of measure for rotary scaling
0 : revolution
1 : reserved
Bit 5 : Unit of time
0 : minute [min]
1 : second [sec]
Bit 6: Data reference
0 : to the motor shaft
1 : to the load
Bit 15 - 7: reserved
Fig. 2-3: S-0-0044, Velocity data scaling type
Name in German: Wichtungsart für Geschwindigkeitsdaten
Name in English: Velocity data scaling type
Data length: 2 bytes validity check: Check_P3
Input value min / max: --/-- Default value: 0 x 000A

S-0-0045, Velocity Data Scaling Factor
Description:
This parameter defines the scaling factor for all velocity data in the drive.
If preferred scaling is set with S-0-0044, Velocity data scaling type, this
parameter will be set to 1.
Name in German: Wichtungs-Faktor für Geschwindigkeitsdaten
Name in English: Velocity data scaling factor
Input value min / max: 1/65535 Default value: 1
S-0-0046, Velocity Data Scaling Exponent
Description:
This parameter defines the scaling exponent for all velocity data in the
drive.
Name in German: Wichtungs-Exponent Geschwindigkeitsdaten
Name in English: Velocity data scaling exponent
Input value min / max: -32/+32 Default value: -4

S-0-0047, Position Command Value
Description:
For positioning interface, the position command value is generated by the
internal position command value interpolator. You can read the active
position command value here.
Name in German: Lage-Sollwert
Name in English: Position Command Value
S-0-0049, Positive Position Limit Value
Description:
The "positive position limit value" describes the maximum extent of travel
in the positive direction.
The position limit is only active if all position data is referenced to the
homing point, i.e., the drive is homed (bit 0 in parameter S-0-0403,
Position feedback value status is set to 1). The position limit values
can be switched off via bit 4 in S-0-0055, Position polarity parameter.
If a target position on the other side of the positive position limit is set in
the drive, warning E253, Target position out of range, will be
generated.
Name in German: Lage-Grenzwert positiv
Name in English: Positive position limit value
Input value min / max: S-0-0076/S-0-0076 Default value: 10000.00

S-0-0050, Negative Position Limit Value
Description:
The "negative position limit value" describes the maximum extent of
travel in the negative direction.
The position limit is only active if all position data is referenced to the
homing point, i.e., the drive is homed (bit 0 in parameter S-0-0403,
Position feedback value status is set to 1). The position limit values
can be switched off via bit 5 in S-0-0055, Position polarity parameter.
If a target position on the other side of the negative position limit is set for
the drive, warning E253, Target position out of range, will be
generated.
Name in German: Lage-Grenzwert negativ
Name in English: Negative position limit value
Input value min / max: S-0-0076/S-0-0076 Default value: -10000.00
S-0-0051, Position Feedback Value 1 (Motor Feedback)
Description:
"Position feedback value 1" represents the current position of the
rotational feedback. This value is updated every 500 ms (this can be read
over the serial interface).
Name in German: Lage-Istwert-1
Name in English: Position feedback value 1 (Motor feedback)

S-0-0052, Reference Distance 1
Description:
This parameter displays the distance between the machine zero point
and the homing point for the motor measurement system (Position
feedback value 1).
After command S-0-0148, C600 Drive-controlled homing procedure
has been executed, the drive will set the Position command value, S-0-
0047 and the Position feedback value "9.8, Drive-controlled homing
procedure", S-0-0051 to this value.
Name in German: Referenzmaß Lage-Istwert 1
Name in English: Reference distance 1
Input value min / max: S-0-0076/S-0-0076 Default value: 0
S-0-0055, Position Polarity Parameter
Description:
This parameter can be used to invert the polarities of the given position
data. These polarities are switched outside of the control system position
regulator (i.e., at the command and feedback value input to and from the
actual value output from the control system).
Since the position data from the rotational feedback are inverted, the
result will be a different numeric value.
Note the following in reference to rotary motors:

"Motor-clockwise rotation" means the motor shaft turns in a clockwise
direction (facing the motor shaft) if the position command value
difference and the position feedback polarity are both positive.
Bit 4 is used to activate or deactivate product position limits.

Bit 0 : Position feedback value

0: positive polarity
1: negative polarity
Bit 1 : Position feedback value additive
Bit 2 : Position command value 1
Bit 3 : Position command value 2
Bit 4 : Position limits
0 : not active
1 : active
Fig. 2-4: S-0-0055, Position polarity parameter
Note: Only the bits named here are supported by the firmware.
If bit 0 is altered by the control system, the drive will also set the
value for bits 1 - 3 to match the value of bit 0.
Name in German: Lage-Polaritäten-Parameter
Name in English: Position polarity parameter
Format: BIN Extreme value check: yes
Input value min / max: 0/31 = 11111 bin Default value: 0

S-0-0057, Position Window
Description:
The drive sets the output "into position" when the amount of difference
between the position feedback value and the position command value is
less than the value of the position window and the position command
value is the same as the target position.
During command S-0-0148, C6 Drive-controlled homing, this
parameter is used to signal the end of the command through the INPOS
output if the position feedback value enters into the homing point region ±
S-0-0057.
Also see Functional Description: “Into position INPOS“
Name in German: Positionierfenster
Name in English: Position window
Input value min / max: 0/S-0-0076 Default value: 10.00
S-0-0059, Position Switch Flag Parameter
Description:
The flag for the position switch point is dependent on the position
feedback value.
If S-0-0051, Position feedback value 1, is less than S-0-0060, Position
switch point, the corresponding flag is set to 0. If the position feedback
value is greater than or equal to the position switch point, the
corresponding flag will be set to 1. The status of the output "path switch
point" at pinx2/19 corresponds to this flag.
Name in German: Positionsschaltpunkt - Parameter
Name in English: Position switch flag parameter
Posit. after the dec.: -- cyc. transmittable: no
Input value min / max: --/-- Default value: 0

S-0-0060, Position Switch Point 1

The position switches are made up of a position switch point and a
position switch point flag. If the position feedback value is less than the
position switch point, the corresponding flag will be set to 0. If the position
feedback value is greater than or equal to the position switch point, the
corresponding flag will be set to 1.
Name in German: Positionsschaltpunkt 1
Name in English: Position switch point 1
ID number: S-0-0060 Editability: P2/P3/P4
Function: Parameter Memory: Param E2prom
Data length: 4 bytes validity check: yes
Format: S-0-0076 Extreme value check: yes
S-0-0076, Position Data Scaling Type

Description:
Various scaling types for the position data in the drive can be set as
described below.

0 0 0: unscaled
Bit 3 :
0 : meter [m]
1 : inch [in]
0 : degree angles
1 : reserved
Bit 5 : reserved

1 : to the lead
Bit 7: Processing format
0 : absolut format
1 : modulo format
Fig. 2-5: S-0-0076, Position data scaling type

Name in German: Wichtungsart für Lagedaten
Name in English: Position data scaling type
S-0-0077, Linear Position Data Scaling Factor
Description:
This ID number contains the scaling factor that is to be used to scale all
position data in the drive.
The parameter is set to 1 if linear preferred scaling has been set in S-0-
0076, Position data scaling type.
Name in German: Wichtungs-Faktor transl. Lagedaten
Name in English: Linear position data scaling factor
S-0-0078, Linear Position Data Scaling Exponent
Description:
This ID number contains the scaling exponent that is to be used to scale
all position data in the drive if linear scaling has been selected.
If linear preferred scaling is selected, this parameter will be set by the
drive.
Name in German: Wichtungs-Exponent transl. Lagedaten
Name in English: Linear Position Data Scaling Exponent
Input value min / max: 32/32 Default value: -6

S-0-0079, Rotational Position Resolution
Description:
If rotary position scaling is selected, the LSB valence for all position data
will be set in this parameter.
The LSB bit can be specified in the following manner:
Example:
If you would like a resolution of 0.01 degrees for the LSB, you must set
the parameter to a value of 36000.
If preferred scaling was set in parameter S-0-0076, Position data

scaling type, the rotational position resolution will be set at 3,600,000.
That means that the resolution for the LSB will be 0.0001 degrees.
Name in German: Rotations-Lageauflösung
Name in English: Rotational position resolution
S-0-0080, Torque/Force Command Value

Description:
This parameter shows the drive's current torque/force command value.
During operation, this value is formed cyclically by the velocity controller.
The evaluation is dependent on the scaling of the torque and force data
(only percentage scaling is currently supported).
100% = Motor continuous standstill torque, Mdn
Also see
S-0-0111, Motor current at standstill and P-0-0051; Torque/force
constant
Name in German: Drehmoment/Kraft-Sollwert
Name in English: Torque/force command value

S-0-0084, Torque/Force Feedback Value

Description:
This parameter represents the motor's current torque feedback value.
The evaluation is dependent on the scaling of the torque and force data
(only percentage scaling is currently supported).
100% = Motor continuous standstill torque, Mdn
Also see
constant
Name in German: Drehmoment/Kraft-Istwert
Name in English: Torque/force feedback value
S-0-0085 Torque Polarity Parameter
Description:
The polarities for the given torque data as related to the application can
be switched in this parameter.
The polarity is switched externally (at the command and feedback input
and actual value output) and not within the control system velocity
regulator.
The following applies to rotary motors:
Clockwise rotation when facing the motor shaft is the rule for a positive
torque command value and a positive torque feedback value polarity.
Structure of the parameter:
Bit 0 : Torque command value

Bit 1 : Torque command value additive
Bit 2 : Torque feedback value

Fig. 2-6: S-0-0085, Torque/force polarity parameter
Note: If bit 0 is altered, the drive will also set the value of bits 1 - 2 to
match the value of bit 0.

Name in German: Drehmoment-Polaritäten-Parameter
Name in English: Torque polarity parameter
Function: Parameter Memory: Param E²Prom
S-0-0086, Torque/Force Data Scaling Type

Description:
Currently, only percentage scaling for torque force data is supported.
Note that
100 % = S-0-0111, Motor current at standstill
Also see
constant
Name in German: Wichtungsart für Drehmoment-Kraftdaten
Name in English: Torque/force data scaling type
ID number: S-0-0086 Editability: 23

S-0-0091, Bipolar Velocity Limit Value
Description:
The "Bipolar velocity limit value" describes the maximum allowable
velocity that is symmetrical in both directions. The maximum input value
is restricted by S-0-0113, maximum motor speed.
Name in German: Geschwindigkeits-Grenzwert bipolar
Name in English: Bipolar velocity limit value
Input value min / max: >0/S-0-0113 Default value: 3000, 0000
S-0-0092, Bipolar Torque/Force Limit Value

Description:
This parameter describes the maximum allowable torque that is
symmetrical in both directions (acceleration, deceleration).
The evaluation refers to the percentage of motor current at standstill.
100% = Motor current at standstill
Also see
constant
Note: The maximum torque is also affected by:

• P-0-0006, Overload factor
• P-0-0109, Torque/force peak limit
• P-0-4011, Switching frequency
⇒ If this value is set at < 100%, the motor will not

be able to produce ist rated torque.
WARNING

Name in German: Drehmoment/Kraft-Grenzwert bipolar
Name in English: Bipolar torque/force limit value
Input value min / max: 0/calculated peak moment
Default value: 5000
S-0-0093, Torque/Force Data Scaling Factor
Description:
This parameter determines the scaling factor for all torque/force data in
the drive.
Currently the parameter has no meaning, since only percentage scaling
can be set for torque and force data.
Name in German: Wichtungs-Faktor für Drehmoment-Kraftdaten
Name in English: Torque/Force data scaling factor
Format: DEC_OV Extreme value check: no
S-0-0094, Torque/Force Data Scaling Exponent
Description:
This parameter determines the scaling exponent for all torque/force data
in the drive.
Currently the parameter is not in use, since only percentage scaling can
be set for torque and force data.
Name in German: Wichtungs-Exponent für Drehmoment-Kraftdaten
Name in English: Torque/force data scaling exponent
Input value min / max: --/-- Default value: -1

S-0-0095, Diagnostic Message
Description:
This parameter allows you to read in the currently relevant operating
status for the drive.
The appropriate diagnostic message number from P-0-0001, Diagnostic
message number will appear in front of the operating status.
Example: "A010 Drive halt"
Name in German: Diagnose
Name in English: Diagnostic message
Data length: 1-byte variable, up to 40 characters
validity check: no
S-0-0097, Mask Class 2 Diagnostic
Description:
This parameter is not used in DKC03.1
Name in German: Maske Zustandsklasse 2
Name in English: Mask Class 2 diagnostic
Input value min / max: --/--
Default value: 1111 1111 1111 1111 b
S-0-0098, Mask Class 3 Diagnostic
Description:
This parameter is not used in DKC03.1

Name in German: Maske Zustandsklasse 3

Name in English: Mask Class 3 diagnostic
Input value min / max: --/--
Default value: 1111 1111 1111 1111 b
S-0-0099, Reset Class 1 Diagnostic
Description:
This command can be activated with the S1 key on the Drive or through
the serial interface. All errors in the drive will be cleared when this
command is started through the serial interface. The drive will switch to
the "Ready for operation" status if no other error is present.
If the command "Reset class 1 diagnostic" is activated with the S1 key,
only one error will be deleted at a time. If the drive has stored several
errors (up to 4 errors), a diagnostic message that corresponds to each
error will appear sequentially each time the S1 key is pressed.
Name in German: Reset Zustandsklasse-1
Name in English: Reset class 1 diagnostic
Function: Command Memory: no
Input value min / max: 0/11 b Default value: --
S-0-0100, Velocity Loop Proportional Gain
Description:
This parameter contains the value for the velocity loop proportional gain.
The option is available to load motor-specific default values for the

control loop parameters with the "Basic load" command.

Name in German: Geschwindigkeitsregler-Proportionalverstärkung
Name in English: Velocity loop proportional gain
Unit German/English: As/rad/As/rad combination check: no
Input value min / max: 0/312.9 Default value: 7
S-0-0101, Velocity Loop Integral Action Time
Description:
The velocity controller forms a current command value derived from the
difference between the velocity command value and the velocity
feedback value (= velocity regulation deviation).
This current command value consists of a proportional component and
an integral component. The velocity loop integral action time corresponds
to the time in which the integral component of the current command
value is increasing with respect to the value of the proportional
component.
Definition of the Integral action time
icom
dω*kP = Integral component
dω*kP = Proportional component
TN = Integral t
action time with:
TN : Velocity controller action time [ms]
TN = KP / KI KP : Velocity controller proportional ampl.
[A*sec/rad]
KI : Integral ampl. [A/rad]
icom : Current command value
dω : Velocity controller deviation
Fig. 2-7: Integral action time
The value of the time axis for which the integral component is equal to
the proportional component is described as integral action time.
The integral component is turned off with the input value 0sec.

Name in German: Geschwindigkeitsregler-Nachstellzeit
Name in English: Velocity loop integral action time
Unit German/English: ms/ms combination check: no
Input value min / max: 2/3276.7 Default value: 15.0
S-0-0103, Modulo value
Description:
When modulo format is set (parameter S-0-0076, Position scaling bit
7), the modulo value determines where position data will overflow at 0. If
the position data are represented in modulo format, the input range of all
position data must be between “-“ and “+“ Modulo value.
Name in German: Modulowert
Name in English: Modulo value
Input value min / max: >0/S-0-0076 Default value: 360.00
S-0-0104, Position Loop KV-Factor
Description:
This parameter contains the value for the proportional gain of the position
controller.
There is an option which allows you to load a default value for the control
loop parameters with the "Basic load" command.
Name in German: Lageregler KV-Faktor
Name in English: Position loop KV factor
Unit German/English: 1000/min/1000/min combination check: no
Input value min / max: 0.02/239 Default value: 1.00

S-0-0106, Proportional Gain 1 Current Regulator
Description:
This parameter represents the proportional gain of the current Drive.
The current controller proportional gain is fixed for each of the motor-
drive combinations. It depends on the type of motor and may not be
changed. It can be determined with the "Basic load" command or from
the motor data sheets.
Name in German: Stromregler-Proportionalverstärkung 1
Name in English: Proportional Gain 1 Current Regulator
Unit German/English: V/A/V/A combination check: no
Input value min / max: 0/500 Default value: 30.00
S-0-0107, Current Regulator 1 Integral Action Time
Description:
The value of this parameter depends on the motor and can be found in
the motor data sheet.
2ms is loaded for the current controller integral action time 1 with the
command "Basic load".
Name in German: Stromregler-Nachstellzeit-1
Name in English: Current Regulator 1 Integral Action Time
Unit German/English: ms/ms combination check: no

S-0-0108, Feedrate Override
Description:
The feedrate override only works for "drive-controlled motion commands"
such as:
• "Drive-controlled homing" command

• "Command-controlled operation" operating mode
• Jog mode
In such instances, the drive calculates the velocity command value itself.
The feedrate override has a multiplying effect on the homing velocity, the
block velocity and the jog velocity.
Name in German: Feedrate-Override
Name in English: Feedrate override
Unit German/English: %/% combination check: no
S-0-0109, Motor Peak Current
Description:
Describes the maximum current that can flow in the motor without
damaging it.
If the motor's peak current is less than the amplifier's peak current, the
maximum current that is available will automatically be limited to the
motor's peak current.
This value is stored in motor feedback for MDD and MKD motors and is
uploaded into the controller RAM when the controller is turned on.
Name in German: Spitzenstrom Motor
Name in English: Motor peak current
Unit German/English: A/A combination check: no
Input value min / max: 0/500 Default value: --

S-0-0110, Amplifier Peak Current
Description:
The peak current available from the drive controller. The value is set by
the drive itself. This current is available for short durations only.
Name in German: Spitzenstrom Verstärker
Name in English: Amplifier peak current
Function: Parameter Memory: Amplf.-
Input value min / max: 0.001/500 Default value: --
S-0-0111, Motor Current at Standstill
Description:
The "motor current at standstill" is the continuous motor current capability
at standstill according to the motor data sheet.
All torque/force data refer to motor current at standstill = 100%.
Name in German: Stillstandstrom Motor
Name in English: Motor current at standstill
Input value min / max: 0/500 Default value: --

S-0-0112, Amplifier Nominal Current
Description:
Allowable continuous current for the drive controller. The value is set by
the drive itself.
Name in German: Nennstrom Verstärker
Name in English: Amplifier nominal current
Input value min / max: 0.001/500 Default value: --
S-0-0113, Maximum Motor Speed (nmax)
Description:
The maximum rotational speed of the motor cannot be exceeded. It also
limits parameter S-0-0091, Bipolar velocity limit value.
In torque regulation, if the maximum motor speed is exceeded by more
than 12.5%, the drive will be switched into a torque-free state and error
message F879, Velocity limit value exceeded, will be generated.
Name in German: Maximalgeschwindigkeit des Motors
Name in English: Maximum motor speed (nmax)
Input value min / max: 0/S-0-0044 Default value: --

S-0-0116, Resolution of Rotational Feedback 1
Description:
For motors with resolver feedback, the resolution of the rotational
feedback is equal to the number of motor pole pairs. That means that a
motor with 4 pole pairs has a resolver with 4 electrical cycles per motor
mechanical revolution.
This value is stored in the motor feedback memory and cannot be
changed.
Name in German: Rotationsgeber-1 Auflösung
Name in English: Resolution of rotational feedback 1
Unit German/English: Zykl/Umdr bzw. /Cycl/Rev or inch (depending on P-0-4014
combination check: no
S-0-0121, Input Revolutions of Load Gear
Description:
A mechanical gear will often be employed between the motor and the
load.
The gear ratio is defined by:

Output Revolutions of load Gear
Input Revolutions of load Gear
Fig. 2-8: Gear ratio

Example:
5 motor revolutions result in 2 gear output revolutions.
=> S-0-0121: 5
S-0-0122: 2
Name in German: Lastgetriebe-Eingangsumdrehungen
Name in English: Input revolutions of load gear

S-0-0122, Output Revolutions of Load Gear
Description:
A mechanical gear will often be employed between the motor and the
load.
The gear ratio is defined by:
Input Revolutions of load Gear (S-0-0121)
Output Revolutions of load Gear (S-0-0122)
Fig. 2-9: Gear ratio
Example:
5 motor revolutions result in 2 gear output revolutions.
S-0-0121: 5
S-0-0122: 2
Name in German: Lastgetriebe-Ausgangsumdrehungen
Name in English: Output revolutions of load gear
S-0-0123, Feed Constant
Description:
This parameter describes the conversion from rotary to linear motion. It is
defined as the linear displacement of the load measured during one
revolution of the gear drive shaft.
Ball screw spindle: Rack and pinion:

Feed constant=pitch of screw Feed constant=
(typical value 10.00 mm) actual pitch diameter for the pinion * Pi
Fig. 2-2: Characteristic value for the feed constant
Also see Functional Description: “Scaling and Mechanical System Data“

Name in German: Vorschubkonstante
Name in English: Feed constant
Input value min / max: --/-- Default value: 10,000.00
S-0-0124, Standstill Window
Description:
The motor's standstill is defined by the condition that the value of the
Velocity feedback value, S-0-0040 remains below the threshold for
which parameters can be set (the "Standstill window").
In standstill, the output signal "In motion" is deleted.
Name in German: Stillstandsfenster
Name in English: Standstill window
S-0-0127, C1 Communications phase 3 Transition Check
Description:
The commands "S-0-0127, C1 Communications phase 3 transition
check" and "S-0-0128, C2 Communications phase 4 transition check"
are used to switch from Set parameter mode to Operating mode.
When command "S-0-0127, C1 Communications phase 3 transition
check" is used, the validity of all of the interface parameters will be
checked. If any of the parameters are found to be invalid, the drive ends
the command with an error message.

Name in German: C1 Umschaltvorbereitung auf Komm.-
Name in English: C1 Communications phase 3 transition check
S-0-0128, C2 Communications Phase 4 Transition Check
Description:
Commands "S-0-0127, C1 Communications phase 3 transition check"
and "S-0-0128, C2 Communications phase 4 transition check" are used
to switch from Set parameter mode to Operating mode.
When command "S-0-0128, C2 Communications phase 4 transition
check is executed, all parameters will be checked for validity and limit
value encroachments. If any invalid parameters or any limit values have
been encroached upon, the drive ends the command with an error
message.
Also see P-0-4023, C4 Communicationphase 2 transition check
Name in German: C2 Umschaltvorbereitung auf Komm.-
Name in English: C2 Communications phase 4 transition check

S-0-0135, Drive Status Word
Description:
This parameter makes it possible to read the drive status word via the
serial interface.
It's structure is shown below:
Drive status word
Bit 0-2: Control Information for device

channel
Bit 5 : Change bit command
Bit 6 & 7: Real time status bits 1 & 2
Bit 8 & 9: Feedback operating mode
00 - Main operating mode active
01 1. Secondary operating mode, etc.
Bit 11 : Change bit class 3 diagnostics
Bit 12 : Change bit class 2 diagnostics
Bit 13 : Drive lock, error in class 1 diagnostics
Bit 14 & 15 : Ready to operate

00 - Drive not ready for power on since internal
checks are not positively connected
01 - Ready for power on
10 - Control and power components ready to
operate
11 - In operation, with torque
Fig. 2-10: Structure of the drive status word
Also see the functional description: "Drive status word"
Name in German: Antriebs - Status

Name in English: Drive status word
ID number: S-0-0135 Editability: --
Function: Parameter Memory: --

S-0-0138, Bipolar Acceleration Limit Value
Description:
"Bipolar acceleration" describes the maximum allowable acceleration that
is symmetrical in both directions (acceleration and deceleration).
When "Drive halt" is used, the drive brakes at this deceleration until the
velocity = 0.
During the jogging operation, the drive accelerates and brakes at this
deceleration.
Name in German: Beschleunigung bipolar
Name in English: Bipolar acceleration limit value
S-0-0140, Controller Type
Description:
The device type of the manufacturer can be found in text form in the
operating data for the controller type.
Example:
DKC01.1-040-7
Name in German: Regelgerätetyp
Name in English: Controller type
Data length: 1-byte variable validity check: Phase 3

S-0-0141, Motor Type
Description:
The motor type of the connected motor can be seen as text in the
operating data for the motor type.
This value is stored for MDD and MKD motors in the motor feedback and
is loaded from there when the drive is started for the first time.
Example:
MDD 065A-N040-N2L-095GB0
Name in German: Motortyp
Name in English: Motor type
Data length: 1-byte variable validity check: Phase 3
S-0-0142, Application Type
Description:
A descriptive name for the drive can be stored in this parameter (e.g.,
swivel axis). It has no functional significance.
Name in German: Anwendungsart
Name in English: Application type
Data length: 1-byte variable, max.
validity check: Phase 3
Input value min / max: --/-- Default value: Default

S-0-0147, Homing Parameter
Description:
This parameter is used to set the processes for the Drive-controlled
homing procedure, S-0-0148 in relation to the machine layout, NC and
drive installation.
Bit 0 : Direction of movement

0: positive - Clockwise with view of motor
shaft
1: negative - Counter-clockwise with view
of motor shaft
Bit 5 : Home switch analysis
0: home switch is being analyzed
1: home switch is not being analyzed
Bit 6 : Home mark analysis
0: home mark is being analyzed
1: home mark is not being analyzed
Fig. 2-11: S-0-0147, Homing Parameter
Name in German: Referenzfahr-Parameter
Name in English: Homing parameter
Input value min / max: --/-- Default value: 100 b

S-0-0148, C600 Drive-Controlled Homing Procedure
Description:
When this command is set and enabled, the drive switches automatically
into internal position control and accelerates using S-0-0042, Homing
acceleration to S-0-0041, Homing velocity (as long as the drive is in
“AF“ operating status).. Bit 0 in S-0-0403, Position feedback value
status, will be deleted as long as the drive is not yet in homing mode. If
the command is still active, changes in the cyclic position command
values will be ignored.
The process for the homing procedure can be determined with the
Homing parameter, S-0-0147. After the command has been properly
executed (drive is at standstill and position feedback value is related to
the homing position), the drive sets bit 0 in parameter S-0-0403, Position
feedback value status.
The position feedback value status parameter corresponds to the output
"In reference".
If an absolute encoder is installed on the motor, this command will result

in travel to the homing point.
Name in German: C6 Kommando Antriebsgeführtes Referencing
Name in English: C600 Drive-controlled homing procedure
S-0-0150, Reference Offset 1

Description:
This parameter describes the distance between the position feedback
reference mark 1 and S-0-0052, Reference distance 1.
At the end of the coming drive controlled homing procedure, the drive will
position itself at the point equal to Reference distance 1 + Reference
offset 1.
Name in German: Referenzmaß Offset 1
Name in English: Reference offset 1

S-0-0159, Monitoring Window
Description:
The monitoring window makes it possible to set the maximum tolerable
deviation between the measured position and the calculated position
feedback value. If the position deviates and crosses into the monitoring
window, the drive will set error F228, Excessive deviation in class 1
diagnostics.
The greatest deviation that occurs will always be stored in the parameter
P-0-0098, Maximum model deviation.
Name in German: Überwachungsfenster
Name in English: Monitoring window
S-0-0160, Acceleration Data Scaling Type

Description:
Various scaling types can be set as described below for the acceleration
data in the drive.

0 0 0: unscaled
Bit 3 :
0 : meter [m]
1 : inch [in]
0 : degree angles
1 : reserved
Bit 5 : Unit of time

0 : seconds [s]
1 : reserved
1 : to the load
Fig. 2-12: S-0-0160, Acceleration data scaling type

Name in German: Wichtungsart für Beschleunigungsdaten
Name in English: Acceleration data scaling type
Input value min / max: --/-- Default value: 0 x 000A
S-0-0161, Acceleration Data Scaling Factor
Description:
If parameter scaling is set in S-0-0160, Acceleration data scaling type,
the scaling factor for all acceleration data in the drive will be determined
in this parameter.
Bit 0 - 15: Factor

Fig. 2-13: S-0-0161, Scaling factor for acceleration
Name in German: Wichtungs-Faktor für Beschleunigungsdaten
Name in English: Acceleration data scaling factor

S-0-0162, Acceleration Data Scaling Exponent
Description:
If parameter scaling is set in S-0-0160, Acceleration data scaling type,
the scaling exponent for all acceleration data in the drive will be
determined in this parameter.
Bit 0 - 14: Exponent
Bit 15 : Sign
0 : positive
1 : negative
Fig. 2-14: Scaling exponent for acceleration data
Name in German: Wichtungs-Exponent für Beschleunigungsdaten
Name in English: Acceleration data scaling exponent
Input value min / max: 32/32 Default value: -3

S-0-0182, Manufacturer Class 3 Diagnostics
Description:
Various messages regarding operating status are stored here every 8ms.
If the status of a message changes, this will not be signaled by a change
bit.
Bit 0 : 1=active
Bit 1 : | Feedback velocity | < S-0-0124,

Standstill window
Bit 6 : IZP
| S-0-0258, Target pos. - Feedback pos. | < S-0-0057, Posit. window
&&
| S-0-0189, Following error | < S-0-0057, Positioning window
&&
| S-0-0040, Feedback velocity | < S-0-0124, Stillstand window
Bit 11 : AHQ Drive stop && | Feedback velocity | < S-0-0124
Fig. 2-15: S-0-0182, Manufacturer class 3 diagnostics
Name in German: Hersteller-Zustandsklasse-3
Name in English: Manufacturer class 3 diagnostics
Posit. after the dec.: 0 cyc. transmittable: AT

S-0-0189, Following Error
Description:
In this operating data, the drive displays the current Control deviation of
the position controller. This is the difference between the S-0-0047,
Position command value and the S-0-0051, Position feedback value
associated with it. The systematic following error for Positioning with
following error is retained.
Following error = Position command value - Position feedback value 1
see also P-0-0098, Maximum model deviation
Name in German: Schleppabstand
Name in English: Following Error
ID number: S-0-0189 Editability: --
Format: Decimal with plus or minus sign
Extreme value check: no
Unit German/English: Scaling-based, S-0-0076/Scaling-based, S-0-0076
combination check: no
Posit. after the dec.: Scaling-based, S-0-0076
cyc. transmittable: AT
S-0-0192, IDN List of Backup Operation Data
Description:
The ID numbers for all operating data that must be loaded in the drive for
proper operation are backed up in the IDN list. Normally these are the
2
parameters that are buffered in parallel in parameter E Prom.
The control system and DriveTop use this IDN list to create a backup
copy of the drive parameters.
Name in German: IDN-Liste der zu sichernden Betriebsdaten
Name in English: IDN list of backup operation data

S-0-0193, Positioning Jerk
Description:
The positioning jerk limits the acceleration change with respect to time in
the operating mode with "Drive internal interpolation".
• Starting up positioning blocks

• Referencing
• Jogging
Note: At 0 value, the jerk filter is shut off.
Name in German: Positionier-Ruck
Name in English: Positioning jerk
Input value min / max: 0/S-0-0160 Default value: 0
S-0-0258, Target Position
Description:
The target position is assigned to the drive as a command value by the
controller in "Internal drive interpolation" operating mode. The drive
travels toward the "target position" with due regard to S-0-0259,
Positioning velocity, S-0-0260, Positioning acceleration and S-0-
0193, Positioning jerk.
In the "Position control with positioning interface" operating mode, the
target position of the current Positioning command is copied to
parameter S-0-0258, Positioning target position.
Name in German: Zielposition
Name in English: Target Position

S-0-0259, Positioning Velocity
Description:
In "Drive internal interpolation" operating mode, S-0-0258, Target
position is approached at the positioning velocity. In "Block-controlled"
operating mode, this value indicates the maximum positioning velocity for
the case of positioning at limited velocity.
Also see Functional Description: Positioning at Limited Velocity
Name in German: Positionier-Geschwindigkeit
Name in English: Positioning velocity
S-0-0260, Positioning Acceleration
Description:
"Positioning acceleration" is used in the "Drive internal interpolation"
operating mode to accelerate up to the S-0-0259, Positioning velocity .
Name in German: Positionier-Beschleunigung
Name in English: Positioning acceleration

S-0-0262, Command Basic Load
Description:
When this command is set and enabled, the default parameters in the
motor for current, velocity and position control loop settings will be loaded
and activated. The default parameters are not optimized for all
applications. They establish a stable control loop status.
Also see C700: Basic Load
⇒ When this command is executed, parameters

that have already been optimized may be
overwritten.
Name in German: Kommando Urladen
Name in English: Basic load command
S-0-0269, Parameter Buffer Mode
Description:
The "Parameter buffer mode" is used to determine whether the data
transmitted through the serial interface will be stored temporarily (in
RAM) or permanently (in EEPROM).
1: data will not be stored permanently.

0: data will be stored permanently.
After the control voltage supply has been switched on, the drive will
initialize bit 0 to "0". To activate temporary storage mode, bit 0 must be
forced to "1".

Name in German: Speicherungsmode
Name in English: Parameter buffer mode
Function: Parameter Memory: de
Format: DEC_0V Extreme value check: yes
S-0-0277, Position Feedback 1 Type Parameter
Description:
This parameter is used to determine the significant properties of the
motor feedback (Position feedback 1).
For DKC03.1, the parameter will be set automatically by the drive.
Bit 0 : Encoder type

0: rotary
1: linear
Bit 1 : Reserved
Bit 3 : Direction of movement

0: not inverted
1: inverted
Bit 6 : Encoder resolution
0: not absolute
1: absolute
Fig. 2-16: S-0-0277, Position feedback parameter

Remark:
For absolute measurement systems with data memory, bit 6 will be set
automatically.
When MDD and MKD motors are used, bits 0, 1, and 3 will be set and
write-protected by the drive.
Name in German: Lagegeberart-Parameter 1
Name in English: Position feedback 1 type parameter

S-0-0299, Home Switch Offset

Description:
If several home references of the measurement system to be homed to
are detectable in the travel region of the axis, then one of these marks
must be selected as the relevant one by using a zero switch.
You should be careful not to select too small a distance between the zero
switch edge and reference mark, because the edge may not be
recognized at the correct time, and the next mark will be selected as a
result.
For measurement systems with several home references having a
constant, known distance between them, the distance from the edge to
the mark will therefore be monitored.
The minimal permissible distance is ¼ · d, where d = the distance
between the home references. The optimal distance is ½ · d.
If the distance is less than ¼ · d, then S-0-0148, C6 Drive-controlled
homing procedure will be interrupted with negative acknowledgement
error C602, Distance homing switch-reference mark erroneous. The
distance can then be changed mechanically or by using this parameter.
This parameter is not used for drives with an absolute encoder.
Also see P-0-0020, Reference cam shifting
Name in German: Referenzschalter-Offset
Name in English: Home switch offset
Function: Parameter Memory: Parameter-
EEPROM
S-0-0331, Status Feedback = 0

Description:
This parameter sets an IDN for the "status feedback = 0" which can be
used to allocate it to a real-time status bit (IDN 0-0305). The "status
feedback = 0" is defined as a bit in class 3 diagnostics (IDN 0-0013) and
is set when the velocity feedback value is found within the standstill
window (IDN 00124).
Only bit 0 is defined in the operating data
The output "In motion" corresponds to this bit.

Name in German: Meldung nist = 0
Name in English: Status "feedback = 0"
Function: Parameter Memory: --
Data length: 2 bytes validity check: --
Format: Binary Extreme value check: --
Unit German/English: --/-- combination check: --
S-0-0390, Diagnostic Message Number

Description:
The "Diagnostic message number" paramter contains a number which is
also visible in the seven segment display. The control system can use
this diagnostic message number to generate ist ow diagnostics (this can
be used, for example, to generate messages in a language not available
for diagnostics on the drive).
Example:
Diagnostic message: "F822 Motor encoder error: signals too
small" in parameter S-0-0095
Seven-segment display: Alternates between "F8" <=> "22"
Diagnostic message number: "F822(hex)" in parameter P-0-0001
Also see S-0-0095, Diagnostic message
Name in German: Diagnose Nummer
Name in English: Diagnostic message number
Data length: 2-bytes validity check: no
Format: Hex Extreme value check: no
S-0-0400, Home Switch

Description:
This parameter is used to assign an IDN to the home switch status
(external signal).
Parameter structure
Bit 0 : Home switch

0: not activated
1: activated
Fig. 2-17: S-0-0400, Home switch

Name in German: Referenzpunktschalter
Name in English: Home switch
S-0-0403, Position Feedback Value Status
Description:
Bit 0 for this parameter is set by the drive if the position feedback value,
whose origin was selected in bit 3 from S-0-0147, Homing Parameter, is
fix-referenced to the machine zero point.
If the commands S-0-0148, Drive controlled homing procedure, or P-

0-0012, Set absolute distance are performed, the bit will be reset when
they are started and then set to 1 again once the command has been
successfully completed.
The bit status position feedback value corresponds to the output "In
reference".
Bit 0 : Position feedback value

0: are relative
1: applies to the machine zero point
Fig. 2-18: S-0-0403, Position feedback value status
Name in German: Status Lageistwerte
Name in English: Position feedback value status

3 Product Specific parameters

P 0 0001 Diagnostic Message Number
Description:
The diagnostic message number is stored in parameter "Diagnostic
message number". It can also be viewed in the seven-segment display.
This makes it possible for the control system to generate its own
diagnostics using the diagnostic message number (for example in
diagnostics in additional languages which are not stored in the drive). The
machine control can use the diagnostic number to generate its own
specific set of diagnostic messages.
Example:
Diagnostic Message: F822 Motor Feedback Error: "Signals are
too small" in parameter P-0-0095
Seven-segment Display: Alternates between "F8" <=> "22"
Diagnostic message number: "F822(hex)" in parameter S-0-0001
Also see S-0-0095, Diagnostic Message
Note: This parameter displays the same thing as S-0-0390.
P-0-0001 - Attributes
Name in German: Diagnose Nummer

Name in English: Diagnostic message number
ID number: P-0-0001 Editability: no
Data length: 2 bytes Validity check: no
Format: HEX Extreme value check: no
Unit in Ger./Eng.: --/-- Combination check: no
Pos. after the dec.: 0 Cyc. transmittable: no
Input min/max: --/-- Default value: --

P-0-0004, Smoothing Time Constant
Description:
The time constant that can be activated in this parameter affects the
output of the velocity loop regulator. It can be used to suppress
quantization effects and limit the bandwidth of the velocity loop.
Name in German: Glättungszeitkonstante

Name in English: Smoothing time constant
ID number: P-0-0004 Editability: P234
Data length: 2 bytes Validity check: Phase 3
Unit in Ger./Eng.: us/us Combination check: no
Input min/max: 500/65535 Default value: 500
P-0-0005, Language Selection
Description:
All parameter names, units and diagnostic warning messages within the
drive controller are stored in several languages. This parameter
determines the output language for the text.
• 0: German
• 1: English
Additional languages are in preparation.
Name in German: Sprachumschaltung

Name in English: Language Selection
Input min/max: 0/1 Default value: --

P-0-0006, Overload Factor
Description:
The "overload factor" parameter affects and determines the values for the
torque-related drive parameters Mmax, MKB and the short duration torque
percent duty cycle, ED.
Increasing the overload factor corresponds to a reduction of the
parameter values for:
• The percent duty cycle ED and
• the maximum peak torque Mmax, in some cases
M KB
ÜF ≈ ⋅100%
M dN
OF = P-0-00061
MKB = Short period operational torque in Nm
MdN = Standstill torque in Nm
Formula 2-1: Overload factor
P-0-0006 Attributes
Name in German: Überlastfaktor

Name in English: Overload factor
Unit in Ger./Eng.: %/% Combination check: no
P-0-0008, Activation E-Stop-Function
Description:
Parameter P-0-0008, E-Stop function activation, causes activation of E-
Stop input. The E-Stop input itself is always 0-active. The polarity of the
E-Stop input cannot be selected; it can only be operative (with P-0-0008 =
1) or non-operative (with P-0-0008 = 0).
Activation of the E-Stop function initiates the same response in the drive
as if a non-fatal error had been recognized. The response is P-0-0119,
Best possible deceleration.
There are only 2 meaningful values in the ECODRIVE for activating E-
Stop.
0: The E-Stop input is NOT evaluated.
1: The E-Stop input is operative.
Only the lowest-ordered bit of the binary parameter is evaluated.
Error F234, Emergency-Stop will be initiated if these two conditions are

both satisfied at the same time:
1. P-0-0008 = 1
2. E-Stop input = 0 = without voltage

Note: If P-0-0008 = 1 (activated), a (24V) voltage must be present on the

E-Stop input for the drive to operate.
Name in German: Aktivierung E-Stop-Funktion

Name in English: Activation E-Stop function
Data length: 2 Bytes Validity check: Phase 3
Unit in Ger./Eng.: --/-- Combination check: yes
Input min/max: 0/11 b Default value: 0
P-0-0009, Error Message Number
Description:
If an error occurs during cyclical operation, it will be diagnosed by the
drive and shown on the seven-segment display.
At the same time a bit will be set in S-0-0011, Class 1 diagnostic and the
change bit for this diagnostic class will be set in drive status word S-0-
0135. The control system can now read the displayed error code as a
decimal value (in the range 201 ... 899) and respond to the error in a
specific, targeted manner.
If there is no error, the value of this parameter is 0.
Example:
Queuing error: F822, "Motor feedback error:
signal amplitude error"
P-0-0009: 822
Also see S-0-0390, Diagnostic message nummer
Name in German: Fehler Nummer

Name in English: Error message number
Format: DEC_0V Extreme value check: no

P-0-0010, Excessive Position Command Value
Description:
The position command value monitor triggered error F237, Excessive
position command value difference, and decelerated the drive
according to the error handling defined in parameter P-0-0119, Best
possible deceleration.
The excessive position command value which triggered the error is stored
in parameter P-0-0010, and the last valid position command value is
stored in parameter P-0-0011, Last valid position command value.
Only command values preset by the NC will be monitored.
Name in German: Exzessiver Lagesollwert

Name in English: Excessive Position Command
Unit in Ger./Eng.: S-0-0076 Combination check: no
Pos. after the dec.: S-0-0076 Cyc. transmittable: no
Input min/max: S-0-0076 Default value: --
P-0-0011, Last Valid Position Command Value
Description:
If error F237, Excessive position command value difference occurs,
then the last valid position command value will be stored in this
parameter.
Name in German: Letzter gültiger Lagesollwert

Name in English: Last valid position command value

P-0-0012, C300 Set Absolute Measurement Command
Description:
When an absolute measuring system starts up, the drive will indicate a
feedback value that is arbitrary and not referenced to the machine zero
point. The value of the parameter S-0-0403, Position feedback value
status will be 0.
The position feedback of this measuring system can be set to the desired
value with the command "Set absolute measurement". After the "Set
absolute measurement" command is executed, the position feedback
value of the measurement-supplied encoder will contain a defined
reference to the machine zero point.
Buffering all the required data of the absolute measuring system in the
feedback data memory or parameter data memory ensures that all
information is available after rebooting the system. The position feedback
value permanently retains its reference to the machine zero point. All the
required data for the absolute measuring system is permanently either in
the feedback position data memory or in the drive parameter data
memory, and is available after rebooting the drive system.
Parameter P-0-012 can be used for this function.
Also see S-0-0128, C2 communications phase 4 transition check
Name in German: Kommando Absolutmaß setzen

Name in English: C300 Command 'set absolute measurement'
Input min/max: 0/11 b Default value: --
P-0-0013, Command value mode for modulo format
Description:
Position command values such as S-0-0047, Position command value
andS-0-0258, Target position with a modulo function active are
interpreted according to the mode setting.
Parameter P-0-0013, command value mode in modulo format can be
used to set the mode.
This parameter works only when S-0-0076, Scaling type position data
had been activated for modulo format.
The parameter can take on the following values:

P-0-0013: Meaning:
0 shortest path
1 positive direction
2 negative direction
Fig. 2-3: Parameter P-0-0013

⇒ With the step motor interface, only

0 = "shortest path" can be set.
Warning
Name in German: Sollwertmodus im Moduloformat

Name in English: Command value mode for modulo format
Pos. after the dec.: 0 Cyc. transmittable: MDT
P-0-0018, Number of Pole Pairs/Pole Pair Distance
Description:
This indicates the number of pole pairs per motor revolution for rotating
motors.
This value does not need to be indicated here for motors with motor
feedback data memory.
Name in German: Polpaarzahl/Polpaarweite

Name in English: Number of pole pairs/pole pair distance
Function: Parameter Memory: Feedback
Format: DEC-OV Extreme value check: yes
Combination check: no
Unit in Ger./Eng.: Polpaare /Pairs of poles; or mm (depends on P-0-4014,
Motor type)

P-0-0019, Position Start Value
Description:
The position start value is used in non-absolute measurement systems to
set parameters for a defined initialization value with Position feedback
value of 1.
During initialization of the Position feedback value, the drive tests whether
the Position start value was written in communications phase 2 or 3. Only
then will the position feedback value 1 be set on this value. The initial
position value works only with a single-turn feedback.
Name in German: Lageanfangswert

Name in English: Position start value
Input min/max: S-0-0076 Default value: 0
P-0-0020, Reference Cam Shifting
Description:
During drive-controlled homing, the home switch can be evaluated by the
drive. There is an optimal location from the relative position of the home
switch flag to zero mark of the motor encoder. To help the installer during
initial installation, the distance from the homing cam to the ideal point is
given in this parameter.
The value displayed is dependent on the selected position data scaling
type (S-0-0076, Position data scaling type). It can be displayed in [mm],
[degrees] or [inch].
Also see S-0-0299, Home switch offset
Name in German: Verschiebung des Referenznockens um..

Name in English: Reference cam shifting

P-0-0038, Signal Selection for Analog Output Channel 1
Description:
Two outputs make it possible to read internal drive operational signals
and output variables as analog voltage signals. These can be examined
by connecting an oscilloscope to the analog outputs. The maximum
output voltage is +/- 10V with a resolution of 8 bits. Pre-defined channel-
selection numbers are available to select specific signals. For analog
channel 1, the selection can be indicated by entering the channel
selection number in parameter P-0-0038.
The following predefined signals are available:

0x0 Zero point 0V
0x1 Torque-producing P-0-0136
command current
0x2 Velocity feedback actual P-0-0040
value (after mixing and
filtering)
0x3 S-0-0036, Velocity P-0-0040
command value
0x4 Position command value P-0-0040
difference
0x5 S-0-0051, Position P-0-0042
feedback value 1
0x6 S-0-0053, Position P-0-0042
feedback value 2
0x8 Sine signal of motor 1: 1
feedback
0x9 Cosine signal of motor 1: 1
feedback
0xa P-0-0139 1:1
0xb P-0-0140 1:1
0x10 Sine signal external 1: 1
feedback
0x11 Cosine signal external 1: 1
feedback
0x12 Torque-producing current P-0-0136
actual value
0x13 Magnetization current P-0-0136
actual value
0x14 Velocity feedback value of P-0-0040
the motor feedback
0X16 Bleeder load 10V = 100%
The following parameters should be considered for scaling:

• P-0-0040 Scaling for velocity data on analog channel 1
• P-0-0042 Scaling for position data on analog channel 1

Name in German: Signal-Auswahl Analogkanal 1

Name in English: Signal Select Analog Output Channel 1
Input min/max: --/-- Default value: 0
P-0-0039, Signal Selection for Analog Output Channel 2
Description:
Two output channels make it possible to read internal drive operational
signals and output variables as analog voltage signals. These can be
examined by connecting an oscilloscope to the analog outputs. The
maximum output voltage is +/- 10 volts, with a resolution of 8 bits.
Predefined channel selection numbers are available to select specific
signals. For analog channel 2, the selection can be indicated by entering
the channel selection number in parameter P-0-0039.

The following predefined signals are available:

0x0 Zero point 0V
0x1 Torque-producing P-0-0137
command current
0x2 Velocity feedback actual P-0-0041
value (after mixing and
filtering)
0x3 S-0-0036, Velocity P-0-0041
command value
0x4 Position command value P-0-0041
difference
0x5 S-0-0051, Position P-0-0043
feedback value 1
0x6 S-0-0053, Position P-0-0043
feedback value 2
0x8 Sine signal of motor 1: 1
feedback
0x9 Cosine signal of motor 1: 1
feedback
0xa P-0-0139 1:1
0xb P-0-0140 1:1
0x10 Sine signal external 1: 1
feedback
0x11 Cosine signal external 1: 1
feedback
0x12 Torque-producing current P-0-0137
actual value
0x13 Magnetization current P-0-0137
actual value
0x14 Velocity feedback value of P-0-0041
the motor feedback
0X16 Bleeder load 10V = 100%
The following parameters should be considered for scaling:

• P-0-0041 Scaling the speed of analog channel 1
• P-0-0043 Scaling the position data of analog channel 1
Name in German: Signal-Auswahl Analogkanal 2

Name in English: Signal select analog output channel 2

P-0-0040, Scaling of Velocity Data on Analog Output Channel 1
Description:
If velocity data have been selected with parameter P-0-038, Signal
selection for analog output channel 1, scaling for this data can be
defined with parameter P-0-0040.
The unit of rpm/10V will always be in reference to the motor. If a gear
ratio is present, it will not be considered.
Name in German: Wichtg. von Geschwindigk. Analogausgabe-Kanal 1

Name in English: Scaling of velocity data on output channel 1
Format: DEC-OV Extreme value check: yes
Unit in Ger./Eng.: Upm/10V / rpm/10V
P-0-0041, Scaling of Velocity Data on Analog Output Channel 2
Description:
If velocity data have been selected with parameter P-0-039, Signal
selection for analog channel 2, scaling for this data can be defined with
parameter P-0-0041.
The unit of rpm/10V will always be in reference to the motor. If a gear
ratio is present, it will not be considered.
Name in German: Wichtg. von Geschwindigk. Analogausgabe-Kanal 2

Name in English: Scaling of velocity data on analog output channel 2
Unit in Ger./Eng.: Upm/10V / rpm/10V

P-0-0042, Scaling for Position Data on Analog Output Channel 1
Description:
If position data has been selected with parameter P-0-0038, Signal
selection for analog output channel 1, then scaling of this data can be
defined with parameter P-0-0042.
The unit "degrees" always refers to the motor.
Name in German: Wichtg. von Lagedaten Analogausgabe-Kanal 1

Name in English: Scaling for position data on analog output channel 1
Input min/max: 0.1/6553.5 Default value: 360.0
Unit in Ger./Eng.: Grad/10V / Deg/10V
P-0-0043, Scaling for Position Data on Analog Output Channel 2
Description:
If position data have been selected with parameter P-0-0039, Signal
selection for analog output channel 2, then parameter P-0-0043 can
be used to determine the scaling of this data.
The unit "degree" always refers to the motor.
Name in German: Wichtg. von Lagedaten Analogausgabe-Kanal 2

Name in English: Scaling for position data on analog output channel 2
Input min/max: 0.1/6553.5 Default value: 360.0
Unit in Ger./Eng.: Grad/10V / Deg/10V

P-0-0050 Acceleration Feedforward, Proportional Gain
Description:
Acceleration feedforward reduces the following error during acceleration
in an operating mode with no following error. The current acceleration
command value is multiplied by the "Proportional gain acceleration
feedforward"
(→ Ccomm) and the result is added to the current command value from
the velocity controller.
V-command A-command
Position Velocity
controller controller
Stromsoll-
∆x wert
Prop. PI
V-actual
Fig. 2-1: Velocity and acceleration feedforward
Activation
Acceleration feedforward is activated by writing a value greater than 0 to
the parameter.
Note: Note that the controller also works without feedforward! (default
value = 0). Acceleration feedforward is only possible in operating
mode without following error.
Comparison between Feedforwards

Velocity feedforward is activated by selecting an operating mode without
following error. From the point of view of the position controller, it results
in Feedforward 1st level (velocity) and makes the position deviation 0 at
a constant velocity. During acceleration and braking, however, there will
still be a following error.
Acceleration feedforward is activated by entering a value greater than 0
for this parameter. From the point of view of the position controller, it
results in Feedforward 2nd level (prop. to the acceleration) and reduces
the position deviation to 1 if the correct value was selected and
acceleration is constant.
Name in German: Beschleunigungsvorsteuerung Prop.verst.

Name in English: Proportional gain acceleration feedforward
Function: Parameter Memory: Param.EEPROM
Input min/max: 0/5006.5 Default value: 0
Unit in Ger./Eng.: mA/(rad/s²) / mA/(rad/s²)

P-0-0051, Torque/Force Constant
Description:
The torque/force constant determines what driving torque of the motor is
given by a specified motor current.
In synchronous motors, this value depends entirely on the design of the
motor.
This value is stored in the motor feedback memory and cannot be
changed.
MA[Nm; N ] = (P − 0 − 0051) ⋅ (P − 0 − 0080) ⋅ (S − 0 − 0111)

MA: Drive torque
P-0-0051 Torque/force constant [NmTorque]
S-0-0080 Torque/force command value [%]
S-0-0111 Continuous motor current at standstill
Formula 2-2: Drive torque
Name in German: Drehmoment/Kraft-Konstante

Name in English: Torque constant
Unit in Ger./Eng.: Nm/A/Nm/A Combination check: no

P-0-0090, Travel Limit Parameter
Description:
Parameter P-0-0090 activates the travel limit switch. In addition to this,
the inputs can be inverted in this parameter.
Bit 0 : negation
0: E2/3 not inverted,
24 V => travel range
exceeded
1: E2/3 inverted,
0 V => travel range
exceeded
Bit 1 : activation
0: travel range limit switch is
not active
1: travel range limit is active
Fig. 2-19: P-0-0090, Travel limit parameter
Name in German: Fahrbereichsgrenzschalter-Parameter

Name in English: Travel limit parameter
Input min/max: 0/111 bin Default value: 0

P-0-0097, Absolute Encoder Control Window
Description:
An absolute encoder can be used to compare the drive memory data and
the actual feedback position value on the axis during command execution
of window 3 -> 4.
If the difference is greater than what was set as allowable in parameter P-
0-0097, error message C276, Absolute encoder error will be generated.
This error indicates that the absolute position of the axis has
changed since the last time it was taken out of operating mode.
Typically, 30 degrees in reference to the motor shaft can be used as a
default value if the shaft contains a holding brake (i.e. it is self-locking).
Name in German: Absolutgeber-Überwachungsfenster

Name in English: Absolute encoder control window
Input min/max: 0/S-0-0076 Default value: 250.00
P-0-0098, Maximum Model Deviation
Description:
Maximum model deviation refers to the maximum deviation between the
actual position feedback and the model position feedback value
calculated by the drive.
The parameter can be used to assist in setting parameters for S-0-0159,
Monitoring window.
Two cases must be distinguished for understanding and using the model
position feedback.
• position control allowing following error
In this operating mode, the controlled trajectory is simulated by means of
a model.
The maximum deviation between the calculated position feedback
module value and the real position feedback value will be stored in
parameter P-0-0098.
The control system model represents a delayed component of the first
order, which is dependent only on the Kv factor of the position controller.
• position control without following error
In this operating mode, the position command value is compared to the
position feedback value. The maximum deviation encountered will be
stored in P-0-0098.
A model for the controlled system is not necessary in this case.
Note: The parameter can be written to, so that it can be set back to 0, for
example.

Name in German: max. Modellabweichung

Name in English: Maximum model deviation
Input min/max: 0/S-0-0076 Default value: --
P-0-0109 Torque/Force Peak Limit

Description:
This parameter restricts the maximum allowable torque. 100%
corresponds to Motor torque at standstill. This limitation works together
with S-0-0092, Bipolar torque limit. The latter value (S-0-0092) should
be smaller.
Also see
constant
Name in German: Spitzendrehmoment/Kraft-Begrenzung

Name in English: Torque/force peak limit
Combination check: no Cyc. transmittable: no
Input min/max: 0/= peak torque encountered
Unit in Ger./Eng.: Scaling-based, S-0-0086
Pos. after the dec.: Scaling-based, S-0-0086
Default value: 500.0 %

P-0-0119, Decceleration as best as possible
Description:
This parameter specifies the type of braking to a standstill for the drive in
the event of:
• non-fatal errors
• interface errors
• switching off the controller enable signal
P-0-0119: Response type:

0 Velocity command value zero switch, i.e., the motor will
be braked with consideration of the bipolar torque limit
value.
The maximum allowable braking time is 500ms.
The holding brake will be activated 100 milliseconds
before the operation of the brake time.
Should the velocity already have fallen below the value of
"S-0-0124 Standstill window", the holding break will be
activated immediately.
After 500ms, the motor is torque-free.
1 Switch to torque-free state
Fig. 2-6: Type of response
At the earliest, the controller enable can be turned on again after the error
response has expired.
Name in German: Bestmögliche Stillsetzung

Name in English: Decceleration as best as possible

P-0-0123, Absolute Encoder Buffer
Description:
All the data that the absolute encoder needs for position initialization is
stored in this parameter.
It does not appear in the DriveTop, nor in the list of all parameters.
Name in German: Absolutgeber-Puffer

Name in English: Absolute encoder buffer
Data length: 2-byte variable Validity check: no
P-0-0136, Scaling Torque/Force Channel 1
Description:
If torque data were selected with parameter P-0-0038, Signal selection
for analog channel 1, parameter P-0-0136 can be used to determine
scaling for this data.
The unit for P-0-0136 is A/10V = current/full amplitude.
For example, if 40.0 A/10V is given, then the analog signal will have a
scaling of 4 A/V.
Name in German: Wichtung Drehmoment/Kraft Analogausgabe Kanal 1

Name in English: Scaling torque/force channel 1
ID number: P-0-0136 Editability: 234
Function: Parameter Memory: Prog.Module
Unit in Ger./Eng.: A/10V / A/10V Combination check: no
Input min/max: 0.1/6553.5 Default value: ITYP

P-0-0137, Scaling Torque/Force Channel 2
Description:
If torque data were selected with parameter P-0-0039, Signal selection
for analog channel 2, parameter P-0-0137 can be used to determine
scaling for this data.
The unit for P-0-0137 is A/10V = current/full amplitude.
For example, if 40.0 A/10V is given, then the analog signal will have a
scaling of 4 A/V.
Name in German: Wichtung Drehmoment/Kraft Analogausgabe Kanal 2

Name in English: Scaling torque/force channel 2
Function: Parameter Memory: Prog.Module
Unit in Ger./Eng.: A/10V / A/10V Combination check: no
Input min/max: 0.1/6553.5 Default value: ITYP
P-0-0139, Analog Output 1
Description:
If analog output 1 (P-0-0139) has been selected with parameter P-0-0038
Signal selection for analog output channel 1 or P-0-0039 Signal
selection for analog output channel 2, the content of parameter P-0-
0139 will be sent to analog output channel 1 or 2.
Only values between -128 and +127 are possible. They will be converted
to +/-10V at a ratio of 1:1.
Name in German: Analogausgang 1

Name in English: Analog output 1
Unit in Ger./Eng.: 0.078V/0.078V Combination check: no
Input min/max: -128/127 Default value: --

P-0-0140, Analog Output 2
Description:
If analog output 1 (P-0-0140) has been selected with parameter P-0-0038
Signal selection for analog output channel 1 or P-0-0039 Signal
selection for analog output channel 2, the content of parameter P-0-
0140 will be sent to analog output channel 1 or 2.
Only values between -128 and +127 are possible. They will be converted
to +/-10V at a ratio of 1:1.
Name in German: Analogausgang 2

Name in English: Analog output 2
Unit in Ger./Eng.: 0.078V/0.078V Combination check: no
Input min/max: -128/127 Default value: --
P-0-0168, Maximum Acceleration
Description:
The maximum possible acceleration for the drive in use is displayed in
this parameter's data field.
The value is closely approximate to being indirectly proportional to the
drive's total moment of inertia (motor plus load) and directly proportional
to the peak torque of the drive.
This maximum value is determined when controller values are
automatically set, P-0-0162 and is used as a default value for
determining the positioning commands.
Thus the parameter will contain a meaningful value only if command "C9
Automatic controller settings" has been started previously.
The numeric value 0 is entered as a default value to make it obvious that
the parameter has not yet been set to a valid value.
Name in German: max. parametrierbare Beschleunigung

Name in English: Maximum acceleration
ID number: P-0-0168 Editability: P2,P3,P4
Input min/max: 0/S-0-0160 Default value: 0

P-0-0508, Commutator Offset
Description:
For synchronous motors, this parameter indicates the offset between the
raw value of the rotational feedback and the resulting absolute electrical
angle between the stator current vector and the rotor flux vector.
For motors with motor feedback data memory, the commutator offset is
stored in the memory and therefore does not need to be entered.
Name in German: Kommutierungs-Offset

Name in English: Commutator offset
P-0-0509, Slot-Angle
Description:
This parameter is not currently available for use.
Name in German: Paßfedernutwinkel

Name in English: Slot-angle

P-0-0510, Moment of Inertia of the Rotor
Description:
This parameter gives the moment of inertia of the rotor without a load. For
motors with feedback memory, it is stored there.
Name in German: Rotorträgheitsmoment

Name in English: Moment of inertia of the rotor
Unit in Ger./Eng.: kgm²/kgm² Combination check: no
Input min/max: 0/1.00000 Default value: --
P-0-0511, Brake Current
Description:
This parameter does not work with DKC01.
Name in German: Haltebremsenstrom

Name in English: Brake current
Unit in Ger./Eng.: A/A Combination check: no

P-0-0512, Default Position Loop Kv factor
Description:
Default value for the position loop proportional gain. This parameter is set
during the manufacturing stage and cannot be changed. The "Load
default parameters" command copies the value of this parameter into
parameter S-0-0104, Position loop Kv factor.
Also see S-0-0104, Position Loop KV-Factor
Name in German: Defaultwert für Lageregler Kv-Faktor

Name in English: Default position loop Kv factor
Data length: 2 bytes Validity check: P3
Format: decimal Extreme value check: yes
Unit in Ger./Eng.: 1000/min/1000/min Combination check: no
Input min/max: 0.01/327.67 Default value: --
P-0-0513, Feedback Type
Description:
This value is available for all measuring systems with feedback data
memory and diagrams important properties of the measuring system, in
addition to control analysis. The coding of the parameter is set by the
manufacturer of the drive or encoder.
The parameter cannot be written (read only) and serves merely to provide
information about the connected feedback.
For motors with single-turn resolver, the value is = 0.

For motors with multi-turn resolver, the value is = 16.
Name in German: Feedbacktyp

Name in English: Feedback type
Function: Parameter Memory: Feed.-E²prom

P-0-0514, Absolute Encoder Offset
Description:
The parameter function for the initializing position of the absolute
encoder.
P-0-0514 read only (cannot be written to).
Name in German: Absolutgeber-Offset

Name in English: Absolute encoder offset
Function: Parameter Memory: Feedb.-E²prom
Unit in Ger./Eng.: Inkr./Incr. Combination check: no
P-0-0516, Feedback Interface
Description:
This parameter is not used with DKC03.1
Name in German: Feedback-Schnittstelle

Name in English: Feedback interface
Function: Parameter Memory: Amplf.-EEProm
Format: DEC Extreme value check: yes
Pos. after the dec.: -- Cyc. transmittable: no

P-0-0518 Amplifier Nominal Current 2
Description:
This parameter specifies the maximum nominal current of the amplifier at
reduced peak current.
Based on parameters S-0-0110, Amplifier peak current, S-0-0112,
Amplifier nominal current and P-0-0519, Amplifier peak current-2, it
specifies the length of the peak current characteristics for the peak
current limit of the amplifier.
No value can be entered since it is permanently programmed within the
amplifier.
Name in German: Verstärker Dauerstrom 2

Name in English: Amplifier nominal current 2
Function: Parameter Memory: Amplf.
Input min/max: 0.001/500 Default value: --
P-0-0519, Amplifier Peak Current 2
Description:
The drive allows you to define a changed continuous peak current
characteristic line with reduced amplifier peak current, thus with an
increased amplifier continuous current.
For this case, parameter P-0-0519 specifies an amplifier peak current.
It determines the functioning points on the peak current characteristic line.
No value for this parameter can be entered, since it is permanently
programmed in the amplifier.
Name in German: Verstärker Spitzenstrom-2

Name in English: Amplifier Peak Current-2
Input min/max: 0.001/500 Default value: --

P-0-0520, Hardware Code
Description:
Parameter for identification of the hardware.
The parameter is set during the manufacturing stage and cannot be
changed.
Name in German: Hardware-Kennung

Name in English: Hardware Code
ID number: P-0-0520 Editability: not editable
Function: Parameter Memory: Amplf. EEprom
Format: decimal Extreme value check: no
Unit in Ger./Eng.: keine/none Combination check: no
P-0-1003, Velocity Feedback Value Filter Time Base
Description:
The velocity feedback value filter is used as a VZ1 low-pass filter. This
filter time constant is adjusted within this parameter.
The filter does not work at an input of 500 usec.
Name in German: Geschwindigkeitsistwert Filterzeitkonstante

Name in English: Velocity feedback value filter time base

P-0-1222, Command Value Smoothing Time Constant
Description:
Parameter P-0-1222, Velocity command filter works in "Velocity
regulation" operating mode and in response to the error "Velocity
command value zero switch with ramp and filter".
With the time base entered here, S-0-0036, Velocity command value is
performed in Velocity regulation operating mode along with it, using a low-
pass filter. This serves to diminish surges in acceleration over the course
of command values.
The resulting velocity command value results from the sum of the ramped
and filtered value in S-0-0036, Velocity command value and the direct
value in S-0-0037, Additive velocity command value.
Name in German: Geschwindigkeits-Sollwert-Filterzeitkonstante

Name in English: Command Value Smoothing Time Constant
Unit in Ger./Eng.: us / us Combination check: no
Input min/max: 500 / 65535 Default value: 500
P-0-4000, Current Zero Trim Phase U
Description:
This parameter serves to display the determined result of the zero trim
procedure for the current feedback sensor of the U phase.
Name in German: Strommeß-Nullabgleich Phase U

Name in English: Current zero trim phase U
Function: Parameter Memory: Amplf.-E²prom
Input min/max: -100.00/100.00 Default value: --

P-0-4001, Current Zero Trim Phase V
Description:
This parameter serves to display the determined result of the zero trim
procedure for the current feedback sensor of the V phase.
Name in German: Strommeß-Nullabgleich Phase V

Name in English: Current zero trim phase V
Input min/max: -100.00/100.00 Default value: --
P-0-4002, Current Amplify Trim Phase U
Description:
The test field of this parameter is used to trim the current sensor in
reference to its amplifier error with a DKC devices.
Name in German: Strommeßverstärkungsabgleich Phase U

Name in English: Current amplify trim phase U

P-0-4003, Current Amplify Trim Phase V
Description:
The test field of this parameter is used to trim the current sensor in
reference to its amplifier error with a DKC devices.
Name in German: Strommeßverstärkungsabgleich Phase V

Name in English: Current amplify trim phase V
P-0-4004, Magnetization Current
Description:
This parameter is not in use. It does not appear in DriveTop.
Name in German: Magnetisierungsstrom

Name in English: Magnetization current
Input min/max: 0.001/500.000 Default value: 0

P-0-4005 Back EMF Constant
Description:
This parameter is not in use.
Name in German: EMK-Konstante

Name in English: Back EMF constant
ID number: P-0-4005 Editability: --
Unit in Ger./Eng.: Vs/rad/Vs/rad Combination check: no
Default value: --
Input min/max: 0.0001/429496.7295
P-0-4006, Process block Target Position
Description:
List of the target positions for block-controlled operating mode (positioning
interface). Up to 64 position values can be entered, where the first
element specifies the target position of process command 0 and the
second element specifies the target position of process command 1, etc.
The number of the target positions must always be greater than or equal
to the number of the process commands to be handled. If process
commands are selected for which there are no target positions, then the
warning "non-programmed process command" will be generated.
Name in German: Verfahrsatz Zielposition

Name in English: Process block target position
ID number: P-0-4006 Editability: P2/P3/P4
Function: Parameter Memory: parallel EEProm
Validity check: yes
Data length: A list with 64 elements per 4 bytes, total 256 bytes

P-0-4007, Process block Velocity
Description:
List of the process command velocity for block-controlled operating mode
(positioning interface). Up to 64 velocities values can be entered, where
the first element specifies the maximum velocity of process command 0
and the second element specifies the velocity of process command 1, etc.
The number of the process command velocities must always be greater
than or equal to the number of process commands to be handled. If
process commands are selected for which there are no process
command velocities, then the warning "non-programmed process
command" will be generated.
Name in German: Verfahrsatz Geschwindigkeit

Name in English: Process block velocity
Validity check: yes
Input min/max: 0/S-0-0044 Default value: 10.0000
P-0-4008, Process block Acceleration
Description:
A list of the acceleration for the block-controlled operating mode
(positioning interface). Up to 64 acceleration values can be entered,
where the first element specifies the maximum acceleration of process
command 0 and the second element specifies the acceleration of process
command 1, etc.
The number of accelerations must always be greater than or equal to the
number of operation process commands. If process commands are
selected for which there is no acceleration, then the warning "non-
programmed method operation" will be generated.
Name in German: Verfahrsatz Beschleunigung

Name in English: Process block acceleration
Validity check: yes
Input min/max: >0/S-0-0160 Default value: 100.000

P-0-4009, Process block Jerk
Description:
List of the jerk limit value for block-controlled operating mode (positioning
interface). Up to 64 jerk limit values can be entered, where the first
element specifies the maximum jerk limit value of process command 0
and the second element specifies the maximum jerk limit value of process
command 1, etc.
The number of the jerk limit values must be greater than or equal to the
number of operation process commands. If process commands are
selected for which there is no jerk limit value, then the warning "non-
programmed process command" will be generated.
The jerk limit can be turned off by entering 0.
Name in German: Verfahrsatz Ruck

Name in English: Process block jerk
Function: Parameter Memory: yes
Validity check: yes
Format: Parameter Extreme value check: no
Input min/max: 0/S-0-0160 Default value: 0
P-0-4010, Load Inertia
Description:
The parameter contains the calculated load inertia independent of P-0-
0510, Moment of inertia of the rotor. The load inertia is useful in
optimizing the rotation velocity control, but is not used in the current
version. The load refers to the motor, in a rotational sense.
Also see P-0-0510, Moment of inertia of the rotor
Name in German: Lastträgheitsmoment

Name in English: Load inertia
ID number: P-0-4010 Editability: P234 (always)
Unit in Ger./Eng.: kg m²/kg m² Combination check: no
Input min/max: 0/2147.483647 Default value: 0

P-0-4011, Switching Frequency
Description:
This parameter can be used to set the switch frequency of the pulse
switching controller to 4 and 8 kHz.
Name in German: Schaltfrequenz

Name in English: Switching frequency
Unit in Ger./Eng.: kHz/kHz Combination check: yes
P-0-4012, Slip Factor
Description:
Name in German: Schlupffaktor

Name in English: Slip factor
ID number: P-0-4012 Editability: -
Data length: 2 bytes Validity check: -
Unit in Ger./Eng.: Hz/100A/Hz/100A Combination check: no
Input min/max: -/- Default value: --

P-0-4013 Maximum Rotor Frequency
Description:
Name in German: Maximale Rotorfrequenz

Name in English: Maximum rotor frequency
Data length: 2 bytes Validity check: -
Unit in Ger./Eng.: Hz/Hz Combination check: no
Input min/max: -/- Default value: --
P-0-4014, Motor Type
Description:
The motor type can be selected with this parameter. The parameter
cannot be changed, since only synchronous motors can be operated.
• 1: Synchronous motor
Name in German: Motorart

Name in English: Motor type

P-0-4015, Intermediate Voltage
Description:
The DC bus voltage is stored in the amplifier as a parameter.
The parameter is not editable and serves only for display, as well as for
internal calculations (PWM).
Name in German: Zwischenkreisspannung

Name in English: Intermediate Voltage
Unit in Ger./Eng.: V/V Combination check: no
P-0-4016, Dynamic Compensation
Description:
This parameter is not in use.
Name in German: Dynamischer Kommutierungsoffset

Name in English: Dynamic compensation
Data length: 2 bytes Validity check: yes
Unit in Ger./Eng.: Grad/1000Upm/Degrees/1000rpm

P-0-4019, Process block Mode
Description:
Setup for process command mode for each individual process command
("relative process command", "absolute process command", travel in
positive direction" or "travel in negative direction"). The first element of the
list specifies the mode for the process command 0, the second specifies
the mode for the process command 1, etc.
Process mode Value to be set up

Absolute process command 1h
Relative process command 2h
Travel in pos. direction 4h
Travel in neg. direction 8h
Fig. 2-7: Possible adjustable process command modes
Also see Functional Description: "Positioning Operation"
The higher-ordered bits designate the mode in Following block

operating mode.
The number of process command modes must always be greater than or
equal to the number of process commands to be handled. If process
commands are selected for which there are no process modes, the
warning "non-programmed process command" will be generated.
Name in German: Verfahrsatz Modus

Name in English: Process block Mode
Validity check: yes
Unit in Ger./Eng.: --/-- Combination check: yes
P-0-4021, Baud Rate (RS232/485)
Description:
Various baud rates can be set for communication via serial interface.
Setting in parameter
Baud rate [Baud] P-0-4021
9600 0
19200 1
Fig. 2-8: Possible baud rates

Note: Do not turn off baud rates in the list of all parameters in DriveTop.
Doing this will block out further communication.
Name in German: Baud - Rate (RS232/485)

Name in English: Baud rate (RS232/485)
Unit in Ger./Eng.: -/- Combination check: no
Pos. after the dec.: - Cyc. transmittable: no
P-0-4022, Drive Address
Description:
The address for the drive can be set here, providing the address deviates
from the coding switches selected. For communication via RS485-
interface with more than one drive, each drive must contain a different
address, so that at any one time only the drive actually accessed will
respond.
The address can range from 0 to 99.
A terminal program is used to select the drive with the desired address,
with drive address BCD.
Also see Functional Description: Setting the Drive Address
Name in German: Antriebsadresse

Name in English: Drive address
ID number: P-0 4022 Editability: P2

P-0-4023, C4 Communicationphase 2 transition check
Description:
Switching command from drive mode (phase 3, P3) into parameter mode
(phase 2, P2).
The command can only be processed if the controller enable is turned off.
Also see Functional Description: DriveTop Menu Structure
Name in German: C4 Umschalten auf Phase 2

Name in English: C4 Communicationphase 2 transition check
Format: Binary Extreme value check: yes
P-0-4024, Test Status
Description:
Provides information about the progress on product in development.
Name in German: Prüfstatus

Name in English: Test status
ID number: P-0-4024 Editability: --
Input min/max: --/-- Default value: no

P-0-4025, Password
Description:
A password can be entered to prevent any unauthorized users from
writing values to any of the parameters. The password "007" is set when
the product is delivered. Parameters can be written to by using the
password "007".
Also see Functional Description: "Password protection"
Name in German: Passwort

Name in English: Password
Data length: max. Validity check: no
P-0-4026, Process block Selection
Description:
You can use this parameter to read the process command selected by
input signals P0 to P5 when "Drive halt" has occurred. If the device is in
"drive enable" (AF), then the number of the positioning command which
currently being processed can be read here.
Name in German: Verfahrsatzauswahl

Name in English: Process block selection
ID number: P-0-4026 Editability: yes

P-0-4027, Function Parameter
Description:
A bit bar with which you can turn various functions in the firmware on and
off.
Bit 0 : 1=feedrate override from analogue

channel
0=feedrate override from parameter
S-0-0108
Bit 1 : 1=torque reduction from analogue
channel
0=torque reduction from parameter
S-0-0092
Bit 2 : 1=switch off speed monitor
0=speed monitor active
Bit 3 : free
Bit 4 : 1=invert position switch point
0=position switch point not inverted
Bit 5 -Bit 15: free
Fig. 2-20: P-0-4027, Function parameter
Name in German: Funktionsparameter

Name in English: Function parameter
Input min/max: --/-- Default value: 0 x 0040

P-0-4028, Impulse Wire Feedback Offset
Description:
This parameter is used to store the offset of the impulse wires for resolver
feedback.
It is set before the product is delivered to you and stored in feedback
memory.
Name in German: Impulsdrahtgeber-Offset

Name in English: Impulse wire feedback offset
Function: Parameter Memory: Feedb.-E²prom
Format: DEC Extreme value check: no
Input min/max: --/-- Default value: 10.0000
P-0-4029, Impulse Wire Feedback PIC Counter Value
Description:
This parameter contains the information for the absolute position of the
encoder.
The value is updated at each position initialization. The value is read only
(cannot be edited).
Name in German: Impulsdrahtgeber-Zählerstand

Name in English: Impulse wire feedback PIC counter value
Function: Parameter Memory: Feedb.-
Input min/max: --/-- Default value: 10.0000

P-0-4030, Jog Velocity
Description:
The limit value for the travel velocity during travel via jog input. The value
must be less than the contents of parameter S-0-0091 "Bipolar velocity
limit value".
Travel velocity is also affected by "S-0-0108, Feedrate override".
Name in German: Tipp-Geschwindigkeit

Name in English: Jog velocity
Unit in Ger./Eng.: S -0-0044 Combination check: no
Pos. after the dec.: S -0-0044 Cyc. transmittable: no
Input min/max: >0/S -0-0044 Default value: 10.0000
P-0-4035, Trim-Current
Description:
This parameter contains the current value with which the scaling of the
current measurement of the drive control is precisely compared in the
factory. This serves to eliminate system errors in the current
measurement. The value is of no direct use to the user, and it cannot be
changed.
Also see
P-0-4002, Current Amplify Trim Phase U and P-0-04003, Current
Amplify Trim Phase V
Name in German: Abgleichstrom

Name in English: Trim-Current
Function: Parameter Memory: Verst.-EEPROM

P-0-4036, Connected Motor Type
Description:
The drive control uses this parameter to keep track of the type of motor
attached to it. The information is in text format.
If the type stored in this parameter differs from the type returned by
feedback, S-0-0141, Motor type, when operating mode is turned on, this
means that a new motor has been attached. The display will then request
that the user run "UL" (basic load) to initialize the motor dependent
parameters. In this regard, see command S-0-0262, Comand Basic
load. A number of things take place in Basic load, including overwriting
this parameter, "Connected motor type".
Also see S-0-0141, Motor type
Name in German: Angeschlossener Motortyp

Name in English: Connected motor type
Data length: up to 40 symbols Validity check: Phase 3
Input min/max: --/-- Default value: empty

P-0-4037, Default Velocity Loop Proportional Gain
Description:
The default value for the velocity loop proportional gain. This parameter is
set during the manufacturing stage and cannot be changed. During "Load
default parameters", the value of the parameter is copied into parameter
S-0-0100, Velocity loop proportional gain.
The scaling and the unit are different from S-0-0100, Velocity loop
proportional gain.
The motor can be run with the default values; for optimal adaptation to the
mechanical environment, parameter S-0-0100 must still be optimized.
Name in German: Default Drehzahlregler-Proportionalverstärkung

Name in English: Default velocity loop proportional gain Kp
Unit in Ger./Eng.: mAs/rad/mAs/rad Combination check: no
P-0-4038, Default Velocity Loop Integral Action Time
Description:
The default value for the velocity loop integral action time. This parameter
is set during the manufacturing stage and cannot be changed. During
"Load default parameters", the value of the parameter is copied into
parameter S-0-0101, Velocity loop integral action time.
The motor can be operated with the default values. For optimal adaptation
on the mechanical environment, parameter S-0-0101 must still be
optimized.
Name in German: Defaultwert Drehzahlregler-Nachstellzeit

Name in English: Default velocity loop integral action time
Unit in Ger./Eng.: ms/ms Combination check: no

P-0-4039, Default Current Loop Proportional Gain
Description:
The default value for the current loop proportional gain. This parameter is
S-0-0106, Proportional gain 1 current regulator.
The current loop gain is already optimized and should not be changed.
Name in German: Default Stromregler-Proportionalverstärkung

Name in English: Default current loop proportional gain
Unit in Ger./Eng.: V/A/V/A Combination check: no
P-0-4040, Digital Inputs
Description:
Bit bar for reading DKC digital input signals. At the limit switches and the
zero switch, 1 means: there is a voltage of approximately 24V at the input.
The other signals come from the Profibus interface.
Bit 0 : X4/2 drive enable signal

Bit 1 : X4/3 AH/start
Bit 2 : X2/13 go to zero
Bit 3 : X2/14 zero switch
Bit 4 : X2/15 positive travel range limit switch
Bit 5 : X2/16 negative travel range limit switch
Bit 6: X2/17 jogging imput - positive direction
Bit 7: X2/18 jogging imput - negative direction
Bit 8: X2/1 select block line 1 /step motor input SM1
Bit 9 : X2/2 select block line 2 /step motor input SM1
Bit 12 :X2/5 select block line 5
Bit 13 : free
Bit 14 : free
Bit 15 : free
Fig. 2-21: P-0-4040 digital inputs

Also see Functional Description "Drive control word"
Name in German: Digitale Eingänge

Name in English: Digital Inputs
Format: binary Extreme value check: no
P-0-4041, Digital Outputs
Description:
A bit bar with DKC digital output signals.
Bit 0 : free
Bit 1 : ready relay control
Bit 2 : brake relay control
Bit 3 : position switch point X2/19
Bit 4 : software start relay control
Bit 5 : X2/20 in reference
Bit 6: X2/21 in motion
Bit 7: X2/22 in position
Bit 8: free
Bit 9 : free
Bit 10: free
Bit 11: X2/6 select position 1 acknowledgement
Bit 12 : X2/7 select position 2 acknowledgement
Fig. 2-22: P-0-4041 digital outputs
Note: The highest-ordered bit of the process command

acknowledgement will be truncated.
Also see Functional Description Drive control word"

Name in German: Digitale Ausgänge

Name in English: Digital outputs
P-0-4042, Default Velocity Loop Delay Time
Description:
The default value for the velocity loop smoothing base. This parameter is
P-0-0004, Smoothing Time Constant.
Name in German: Defaultwert Drehzahlregler-Glättungszeitkonstante

Name in English: Default velocity loop delay time

P-0-4043, Bleeder Overload Factor
Description:
The parameter describes the transient overloadability of the installed
braking resistance. If the bleeder overload factor = 60, then the peak
capacity of the braking resistance is 60 times the continuous capacity.
This parameter is set during the manufacturing stage and cannot be
changed.
Name in German: Bleederüberlastfaktor

Name in English: Bleeder overload factor
Function: Parameter Memory: Amplf.-EEProm
P-0-4044, Bleeder load
Description:
This parameter specifies the average capacity of the braking resistance.
100% here means that the braking resistance will be applied continuously.
For a safe operation, the load should be < 80% The value is very highly
smoothed.
In order to determine whether a processing cycle is placing excessive
load on the braking resistance, the analog signal "Bleeder load" should be
considered.
P-0-4044 Attributes
Name in German: Bleederauslastung

Name in English: Bleeder Load

P-0-4045, Active permanent Current
Description:
This parameter indicates how much current the drive can supply in the
current combination in continuous operation. This value, when multiplied
by the P-0-0051, Torque constant of the motor, yields the continuous
available torque.
This parameter is calculated by the drive controller when operating mode
is turned on, and cannot be changed. The following current and
torque/force limits and settings are used to determine this limit value:
ID
Number Name Unit
S-0-0111 Motor current at standstill 1) A
S-0-0112 Amplifier continuous current 1 A
P-0-0518 Amplifier nominal current 2 A
S-0-0092 Bipolar torque limit 2) %
P-0-0006 Overload factor 3) %
Fig. 2-9: Factors for determining active continuous current
1) The motor current at standstill is that value to which the percentage

specifications are related; it corresponds to 100%.
2) included if < 100%
The overload factor is not linearly dependent. It should be considered
in connection with continuous current 1 and nominal current 2.
Name in German: Wirksamer Dauerstrom

Name in English: Active permanent current

P-0-4046, Active Peak Current
Description:
This parameter shows how much current the drive can supply in the
current combination momentarily (0.4s). When multiplied by the P-0-
0051, Torque constant of the motor, it yields the available transient
torque (e.g. for acceleration procedures).
This parameter is calculated by the drive controller when operating mode
is turned on, and cannot be changed. The following current and
torque/force limits and settings are used to determine this limit value:
ID
Number Name Unit
S-0-0109 Motor peak current A
S-0-0110 Amplifier peak current 1 A
P-0-0519 Amplifier peak current 2 A
S-0-0092 Bipolar torque limit %
P-0-0006 Overload factor 3) %
Fig. 2-10: Factors in determining the active peak current
3) The overload factor is not linearly dependent. It should be

considered in connection with peak current 1 and peak current 2.
Name in German: Wirksamer Spitzenstrom

Name in English: Active peak current

P-0-4047, Motor Inductance
Description:
The inductance of the motor as measured between two supply terminals.
changed.
Name in German: Motorinduktivität

Name in English: Motor inductance
Unit in Ger./Eng.: mH/mH Combination check: no
P-0-4048, Stator Resistance
Description:
The stator resistance of the motor as measured between two supply
terminals.
changed.
Name in German: Wicklungswiderstand

Name in English: Stator resistance
Unit in Ger./Eng.: Ohm/Ohm Combination check: no

P-0-4049, Default Current Loop Integral Action Time
Description:
The default value for the current loop integral action time. This parameter
is set during the manufacturing stage and cannot be changed. During
"Load default parameters", the value of the parameter are copied into
parameter S-0-0107, Current Regulator 1 Integral Action Time.
The current loop integral action time is already optimized and cannot be
changed.
Name in German: Defaultwert Stromregler-Nachstellzeit

Name in English: Default current loop integral action time
P-0-4050, Delay Answer RS232/485
Description:
Defines the minimal time that must pass after the last character of a
telegram has been received over the serial interface before the first
symbol of the response can be sent. This time span is required for RS485
operation for switching from send to recieve operating mode or vice-
versa. This parameter is not actually required for RS232 mode, but should
nevertheless be set to 1ms.
Also see Functional Description: General Information for Serial

Communication
Name in German: Antwortverzögerung RS232/485

Name in English: Delay answer RS232/485

P-0-4051 Process block Acquittance
Description:
This parameter reflects the positioning command selection acquittance. It
is also accessible in the profibus outputs provided for this purpose.
At Drive_Start = 0 (Drive Halt) the acquittance displays the preselected
positioning command, inverted (complement), if controller enable = 1.
At Drive_Start = 1 acquittance displays the current positioning
command, and is not inverted, if it was accepted.
Also see Functional Description: "Acquittance of positioning block

selection with controller enable active"
Name in German: Positioniersatzquittung

Name in English: Process block acquittance
P-0-4052 Last Process block
Description:
This parameter contains the number of the last accepted positioning
command. This last process command number is also available after
switching off and back on as the positioning block selection acquittance,
as long as controller enable has not been given.
Name in German: Letzter angenommener Positioniersatz

Name in English: Last process block

P-0-4094 C8 Command Base-Parameter load
Description:
When this command is executed, all parameters in the parallel EEProm
will be set to the default values in the EProm. Invalid parameters will be
corrected.
After the firmware version is changed, all parameters will be set to invalid
values. The drive then reports "PL" on the seven-segment display (the
serial interface is not yet active). You can also start this command by
pressing the S1 key, so that all parameters will revert to the default value.
Also see C800, Command load basic parameter
Name in German: Kommando Parameter-Default-Einstellung

Name in English: C8 Command Base-Parameter load
Format: Binary Extreme value check: yes

F
4 Index
Feedrate override feature while jogging
7-35
Feedrate override Feature with the Drive
A Control Homing Procedure 7-29
Absolute encoder monitoring 7-33

Absolute encoder monitoring window 7- H
33
Holding Brake 1-3
Absolute format 7-4
Home direction 7-26–7-27
Absolute value encoder 7-32
Home point 7-26–7-28
Activating and setting parameters for
limit switches 7-7 Home point switch signal 7-26, 7-28
Active Mode 8-6 Home Switch Configuration 7-26, 7-29
Actual position value measurement 1-3 Homing parameters 7-28
Homing point 1-3
Homing procedure 1-2, 7-23, 7-25, 7-
B 28–7-29, 7-31, 7-41
Basic load 7-11, 7-13–7-14, 7-17, 8-9 Homing to the current actual value 7-28
Border conditions for modulo processing Homing with evaluation of the home
7-5 switch 7-26
Brake control 7-39–7-40 Homing with evaluation of the home
Brake reaction after switching off the switch and the home mark 7-27
controller enable and in error Homing with evaluation of the position
conditions 7-40 encoder homing mark 7-27
C I
Cam switch 7-24 INBWG message 7-23
Connecting the home command and Initial installation 2-4, 7-31
home switch inputs 7-30 INPOS message 7-22
Connecting the motor brake 7-39 INREF message 7-23
Connecting the travel limit switch 7-7 Integrated brake activation 1-3
Integrated diagnostic display 1-3
D Interruption of relative positioning
commands 6-8
Data References 7-2–7-4
Deactivating the velocity loop monitor 7-
19 K
Determining the critical integral action Kv Factor 4-5, 7-11
time 7-15
Determining the critical position loop
gain 7-17
L
Determining the direction of motion
during the homing procedure 7-26 Limiting torque via parameter 7-8
Determining the velocity loop setting 7- Load reference 7-4, 7-5
16, 7-17
Diagnostic message output 7-37
M
Direct power supply connection 1-3
Drive controller stop/start during a drive- Maximum presentation range with
controlled homing procedure 7-41 absolute position data processing
7-4
Drive controller stop/start during
positioning operation 7-41 Modulo format 6-6, 6-22, 7-4
Drive error response 7-9–7-10 Modulo range 7-4
Modulo value 6-6, 6-21, 7-4
Moduloverarbeitung 7-4–7-5
E Moving towards the home position 7-33
Easy installation 1-3
Ending the drive-controlled homing
procedure 7-30 N
Error classes 7-9 Negating position, velocity, and torque
Exceeding a travel range 7-6 data 7-3

O T
Offline mode 3-8 Target position 6-1
Operating mode 3-13–3-14, 7-5, 7-25 Travel limit switch 1-2, 6-11
Travel limit switches 7-6–7-7
P
Parameter setup through offline U
operation startup procedure 3-8 unit of measure 7-2–7-3
Parameter setup through online
operation startup procedure 3-8
Passive Mode 8-6 V
Position limits 1-2, 6-5, 6-11, 7-6 Velocity loop monitoring 7-18–7-19
Position loop monitoring 7-18, 7-20 Velocity preset control 4-5
Power supply 7-8, 7-21, 7-41 Vibrations 4-5, 6-3
Preparations for setting the velocity loop
7-15
position loop monitor 7-20
velocity loop monitor 7-19
Process command acceleration 6-1
Process command jerk 6-1
Process command mode 6-1
Process command velocity 6-1
R
Rack and pinion mechanical systems 7-
2
Range of Uses 1-1
Reaction to transverse range violations
7-8
Ready for operation relay 7-10
Reasons for vibration 6-4
activation of the drive controller
enable 6-10
jogging operation. 6-9
Requirements for activating the drive
controller 7-41
Requirements for executing an absolute
positioning command 6-5
Requirements for setting the position
loop monitor correctly 7-20
RS232 mode 8-1
RS485 mode 8-1
S
Selection lists 4-1, 4-4
Set absolute measurement 7-23, 7-31–
7-33, 8-9
Set Parameter Mode 3-13, 7-5, 7-25, 8-9
Setting the absolute encoder monitoring
window 7-34
Setting the absolute position 7-32
Setting the position loop monitor 7-20
Setting the velocity control value to zero
7-10
Surges in acceleration 4-5
Switch to torque-free state 7-9–7-10

ECODRIVE
DKC03.1 Drive controller
Supplement B
Diagnostic Message Description
PDP 03VRS
DOK-ECODRV-PDP-03VRS-FKB1-EN-P • 11.96
Contents
1 DIAGNOSTIC MESSAGE DESCRIPTION 1-1
1.1 Trouble Shooting Guide ....................................................................................................................... 1-1
Reset Button S1 ............................................................................................................................ 1-2
Condition Display H1 ..................................................................................................................... 1-2
1.2 Error Diagnostic Messages.................................................................................................................. 1-3
UL Motor Type Not Reported ........................................................................................................ 1-3
PL Load Default Parameter Values............................................................................................... 1-3
F207 Switching to an Uninitialized Operating Mode...................................................................... 1-4
F218 Heatsink Overtemperature Shutdown.................................................................................. 1-4
F219 Motor Overtemperature Shutdown....................................................................................... 1-5
F220 Bleeder Overtemperature Shutdown ................................................................................... 1-6
F226 Under Voltage Error ............................................................................................................. 1-6
F228 Excessive Deviation ............................................................................................................. 1-7
F229 Motor Encoder Error: Quadrant Error .................................................................................. 1-8
F234 Emergency-Stop .................................................................................................................. 1-8
F248 Low Battery Voltage ............................................................................................................. 1-9
F276 Absolute Encoder Error, Position Deviation > P-0-0097 ...................................................... 1-9
F277 Current Measurement Trim Error....................................................................................... 1-10
F402 Double MDT Error Shutdown ............................................................................................. 1-10
F630 Position Limit Value Exceeded........................................................................................... 1-12
F644 Travel Limit Switch Activated ............................................................................................. 1-12
F822 Motor Encoder Error: Signals too Small............................................................................. 1-13
F860 Overcurrent: Short in Powerstage...................................................................................... 1-14
F870 +24 V Error......................................................................................................................... 1-15
F873 Power Supply Driver Stage Fault ....................................................................................... 1-15
F878 Velocity Loop Error............................................................................................................. 1-16
F879 Velocity Limit Value Exceeded (S-0-0092)......................................................................... 1-17
F895 4 kHz Signal Error .............................................................................................................. 1-17
1.3 Warning Diagnostic Messages .......................................................................................................... 1-18
E250 Heatsink Overtemperature Warning .................................................................................. 1-18
E251 Motor Overtemperature Warning....................................................................................... 1-19
E252 Bleeder Overtemperature Warning.................................................................................... 1-19
E253 Target Position Out of Range ............................................................................................ 1-20
E254 Drive not Referenced ......................................................................................................... 1-20
E255 Feedrate Override (S-0-0108) = 0 ..................................................................................... 1-21
E256 Torque Limit Value = 0....................................................................................................... 1-22
E257 Continuous Current Limiting Active.................................................................................... 1-22
E258 Selected Process Block Is Not Programmed..................................................................... 1-23
E259 Command Velocity Limit Active ......................................................................................... 1-23
E264 Target Position Not Representable.................................................................................... 1-24
E825 Overvoltage in the Power Stage ........................................................................................ 1-24
E830 Position Limit Value Exceeded .......................................................................................... 1-25
E831 Position Limit Reached During Jogging ............................................................................. 1-25
DOK-ECODRV-PDP-03VRS-FKB1-EN-P • 11.96 Contents I

E844 Travel Limit Switch Activated ............................................................................................. 1-26

1.4 Command Diagnostic Messages ....................................................................................................... 1-27
C100 Communications Phase 3 Transition Check ..................................................................... 1-27
C101 Invalid Communication Parameters (S-0-0021) ................................................................ 1-27
C102 Limit Error Communication Parameter (S-0-0021)............................................................ 1-27
C200 Communications Phase 4 Transition Check ..................................................................... 1-28
C201 Invalid Parameter Block (-> S-0-0022) .............................................................................. 1-28
C202 Limit Error Parameter (-> S-0-0022).................................................................................. 1-28
C203 Parameter Calculation Error (-> S-0-0022) ....................................................................... 1-29
C207 Loading Error LCA ............................................................................................................. 1-29
C208 Invalid SSI Parameter (-> S-0-0022) ................................................................................. 1-30
C211 Invalid Feedback Data (-> S-0-0022) ................................................................................ 1-30
C212 Invalid Amplifier Data (-> S-0-0022) .................................................................................. 1-31
C213 Position Data Scaling Error................................................................................................ 1-31
C214 Velocity Data Scaling Error................................................................................................ 1-32
C215 Acceleration Data Scaling Error......................................................................................... 1-32
C216 Torque/Force Data Scaling Error....................................................................................... 1-33
C217 Motor Feedback Data Reading Error................................................................................. 1-34
C220 Motor Feedback Initializing Error ....................................................................................... 1-34
C227 Modulo Range Error .......................................................................................................... 1-35
C300 Command: Set Emulation Absolute Value ........................................................................ 1-35
C300 Set Absolute Measurement ............................................................................................... 1-35
C301 Setting Absolute Measurement Not Allowed, Drive Enabled............................................. 1-36
C302 Absolute Measurement System Not Installed.................................................................... 1-36
C400 Switch to Set Parameter Mode .......................................................................................... 1-37
C401 Active Drive, Switch Not Allowed ....................................................................................... 1-37
C500 Reset Class 1 Diagnostic .................................................................................................. 1-37
C600 Command: Drive-Controlled Homing Procedure............................................................... 1-38
C601 Homing Procedure Not Permitted Without Driver Enable ................................................. 1-38
C602 Distance homing switch-reference mark erroneous .......................................................... 1-39
C603 Homing Procedure Not Permitted in This Operating Mode ............................................... 1-39
C604 Homing Procedure Not Permitted With Absolute Measurement Control ......................... 1-40
C700 Basic Load ......................................................................................................................... 1-40
C800 Load Basic Parameters ..................................................................................................... 1-41
1.5 Status Diagnostic Message................................................................................................................ 1-41
A002 Communications Phase 2.................................................................................................. 1-41
A003 Communications Phase 3.................................................................................................. 1-41
A010 Drive Halt ........................................................................................................................... 1-42
A012 Control and Power Sections Ready for Operation ............................................................. 1-42
A013 Ready for Power ON.......................................................................................................... 1-42
A206 Position Mode/POSITION Encoder 1 ................................................................................ 1-43
A207 Position Mode/POSITION Without Following Error ........................................................... 1-43
AF Drive Enable .......................................................................................................................... 1-43
JF Jogging in the Positive Direction ............................................................................................ 1-43
Jb Jogging in the negative direction ............................................................................................ 1-43
2 Index 2-1
II Contents DOK-ECODRV-PDP-03VRS-FKB1-EN-P • 11.96

1 DIAGNOSTIC MESSAGE DESCRIPTION
1.1 Trouble Shooting Guide

The following diagnostic descriptions explain the meaning of the H1
status display on the DKC. The meaning, possible causes for the error,
and the possible remedies are descriped in this section.
You should proceed in this order for every incident:

• Read the diagnostic display on the device or DriveTop.
• Take note of the diagnostic description.
• Eliminate the cause of the error.
• Clear the error.
There are three ways to clear an error:

• The S1 reset button on the drive.
• DriveTop
• Profibus Freset
If a malfunction cannot be eliminated with the help of the diagnostic

descriptions, please contact INDRAMAT customer service.
DOK-ECODRV-PDP-03VRS-FKB1-EN-P • 11.96 Supplement B: Diagnostic message description 1-1

Reset Button S1
After the error has been eliminated, the error message must be cleared
by pressing the Clear error button S1. The drive controller has an error
memory which works on the "first-in, first-out" principle. If several errors
occur in a row, the first 4 will be saved. The error which occurred first is
displayed on H1. Each time the S1 key is pressed, the error which is
displayed will be cleared and the next error will appear in the display until
all of the saved errors have been cleared.
Clear error Condition

button S1 diagnosis H1
FAECO
Fig. 1-1: Condition diagnosis H1 and clear error button S1 on the DKC03
Condition Display H1
The H1 condition display on the front side of the DKC gives information
about:
• Operating condition of the drive controller
• Drive controller or cable malfunctions
• Motor malfunctions
• Malfunctions caused by invalid parameter input
• Application errors
1-2 Supplement B: Diagnostic message description DOK-ECODRV-PDP-03VRS-FKB1-EN-P • 11.96

1.2 Error Diagnostic Messages
UL Motor Type Not Reported
Description:
The settings for current regulation, velocity command, and position loop
are stored in the feedback of the motor. When the controller is connected
to a motor for the first time, the controller displays that the controller
settings are not the right ones for that motor. If the Basic load command
is started, the default controller settings are loaded into the drive controller
from feedback memory
By pressing the S1 button on the drive controller, you cause the drive to
overwrite its stored parameters with the control loop parameters from the
motor feedback.
Cause:
Motor was exchanged.
The parameter file was loaded in which parameter "P-0-4036,
Connected motor type" distinguishes motor types.
Remedy:
Activate command "C700 Basic load" or press the S1 button.
F208 Attributes
SS Display: UL
Diagnostic message: F208 Motortyp nicht angemeldet
F208 Motor type not reported
Diagnostic message number: F208
Error class: Non-fatal
Error number: 208
PL Load Default Parameter Values
Description:
After changing firmware (EPROMs), if the parameters have been
changed in regards to the old product, the drive will display "PL".By
pressing the S1 button on the controller, or by activating the "Load basic
parameter command", you will cause all parameters to be deleted and the
default values will be restored.
Cause:
The firmware was changed, and the number of parameters of the new
firmware was different than that of the older one.

Remedy:
Press S1 button on the drive controller. This will erase all the parameters
and restore the default values.
⇒ This procedure will overwrite all parameters and

process commands.
WARNING
F209 Attributes
SS Display: PL
Diagnostic message: PL Defaultwerte der Parameter laden
PL Load default parameter values
Diagnostic message number: PL
F207 Switching to an Uninitialized Operating Mode
Description:
A valid operating mode has not been defined.
Generally this error cannot occur with DKC03, since operating mode input
is checked as part of the input.
Remedy:
Input the correct operating mode.
F207 Attributes
SS Display: F2/07
Diagnostic message: F207 Umsch. auf nicht initial. Betriebsart
F207 Switching to an uninitialized operation mode
Error number: 207
F218 Heatsink Overtemperature Shutdown
Description:
The temperature of the DKC's heatsink is monitored. If the temperature of
the heatsink gets too high, the drive will power down in order to protect it
from damage.

Cause:
1. Ambient temperature is too high. The specified
operational data is valid up to an ambient temperature
of 45°C/113°F.
2. The DKC's heatsink is dirty.
3. Air flow is prevented by other assembly parts or a control
panel assembly.
4. Heatsink blower may be defective.
Remedy:
For 1. Reduce the ambient temperature. For example, you could
cool the control cabinet.
For 2. Remove any obstruction or dirt from the heatsink.
For 3. Install the device vertically and clear a large enough area
for proper heatsink ventilation.
For 4. Replace the drive.
F218 Attributes
SS Display: F2/18
Diagnostic message: F218 Verstärkerübertemp.-Abschaltung
F218 Heatsink overtemperature shutdown
Error number: 218
F219 Motor Overtemperature Shutdown
Description:
The motor is too hot. In response, the drive controller has issued the
warning: "E251 Motor overtemperature warning" for approx. 30
seconds. The drive controller then shuts down immediately.
Cause:
1. The motor became overloaded. The effective torque
demand on the motor was above its allowable continuous
torque level for too long.
2. Short or ground in the connection to the motor temperature
monitor.
3. Instability in the velocity loop.
Remedy:
For 1. Check the layout of the motor. If the system has been in
operation for a long time, check to see if the operating
conditions have changed (in regard to pollution, friction,
moved components, etc.).
For 2. Check wires and cables to the motor temperature monitor
for wire breaks and short circuits.
For 3. Check velocity loop parameters.

F219 Attributes
SS Display: F2/19
Diagnostic message: F219 Motorübertemp.-Abschaltung
F219 Motor overtemperature shutdown
Error number: 219
F220 Bleeder Overtemperature Shutdown
Description:
Overload of the bleeder resistor. When the maximum braking energy has
been exceeded, the drive controller is turned off after it is stopped,
thereby protecting the bleeder from temperature damage.
Cause:
1. The energy feed back from the machine's mechanism via
the motor is too great.
Remedy:
For 1. For too much power ---> reduce the acceleration value.
For too much energy ---> reduce the velocity.
Check the drive controller layout.
If necessary, install an additional bleeder module.
F220 Attributes
SS Display: F2/20
Diagnostic message: F220 Abschaltung wegen Bleederüberlast
F220 Bleeder overtemperature shutdown
Error number: 220
F226 Under Voltage Error
Description:
The level of the DC bus voltage is monitored by the drive controller. If the
DC bus voltage falls below a minimal threshold, the drive independently
shuts down according to the error response that was set.
Cause:
1. The power source has been interrupted without switching
off the drive with the drive enable signal (RF).
2. Interruption in the power supply

Remedy:
For 1 Check the logic for activating the drive controller within
the connected control system.
For 2 Check the power supply.
The error can be cleared by removing the controller enable signal.
F226 Attributes
SS Display: F2/26
Diagnostic message: F226 Unterspannungsfehler
F226 Under voltage error
Error number: 226
F228 Excessive Deviation
Description:
The drive could not process the given command value and responded
according to the set error response.
Cause:
1. The acceleration capacity of the drive was
exceeded.
2. The motor shaft was blocked.
3. Set parameter error in the drive parameters.
4. Parameters set incorrectly for "S-0-0159, Monitoring
window".
Remedy:
For 1. Check parameter S-0-0092, Bipolar torque limit
and set it equal to the maximum allowable value for
the application.
For 2. Check the mechanical system and eliminate any jamming

of the motor shaft.
For 3. Check the drive controller parameters.
For 4. Set parameters for "S-0-0159, Monitoring window".
F228 Attributes
SS Display: F2/28
Diagnostic message: F228 Exzessive Regelabweichung
F228 Excessive deviation
Error number: 228

F229 Motor Encoder Error: Quadrant Error

Description:
An encoder signal error was found during the encoder evaluation.
Cause:
1. Defective encoder cable
2. Insulation disturbance on the encoder or the encoder
cable
3. Defective drive controller
Remedy:
For 1. Check the encoder cable and exchange, if necessary.
For 2. Use only insulated motor and power cables.
Separate encoder cable from power cables.
For 3. Exchange drive controller.
F229 Attributes
SS Display: F2/29
Diagnostic message: F229 Motorgeberfehler: Quadrantenfehler
F229 Motor encoder failure: quadrant error
Error number: 229
F234 Emergency-Stop
Cause:
The E-Stop feature (Emergency Stop) was initiated by switching off the
+24V on the Input X4-3 / E-Stop . The drive was brought to a standstill by
the error response which had previously been set.
The feature had previously been activated by parameter P-0-0008,
Activation of E-Stop feature (Standard).
Remedy:
1. Eliminate the cause which led to switching off the +24V on the
input /E-Stop.
2. Activate command Reset class 1 diagnostics using control
system (see Control System Manual).
F234 Attributes
SS Display: F2/34
Diagnostic message: F234 E-Stop aktiviert
F234 Emergency Stop
Error number: 234

F248 Low Battery Voltage
Cause:
The connected motor has an absolute encoder, and the absolute position
information is stored in the motor feedback. This memory has a battery-
powered backup for the electronic circuit, and the battery is designed for
an operating life of 10 years. If the battery voltage falls below 2.8 V, this
message appears. The absolute encoder function will still be preserved
for about 2 weeks.
Instructions for Exchanging Batteries

Have the following tools and accessories ready:
• Torx screwdriver size 10
• Needle-nose pliers, torque wrench
• New packaged battery (Part No.: 257101)
If the control voltage is turned off while the battery is taken out, the
absolute position will be lost.
The measurement position must be reestablished by executing the Set
absolute measurement command.
F248 Attributes
SS Display: F2/48
Diagnostic message: F248 Batterie-Unterspannung
F248 Low battery voltage
Error number: 248
F276 Absolute Encoder Error, Position Deviation > P-0-0097
Description:
When a drive controller with an absolute encoder motor (multiturn) is
turned off, the current actual position is saved. When it is turned back on,
the absolute position given by the encoder is compared with this stored
position. If the deviation is greater than the "Absolute encoder
monitoring window" parameter value, then error "F276, Absolute
encoder error" will be generated and passed on to the control system.
Cause:
1. Turning on for the first time (invalid stored position).
2. The motor was moved further than allowed by the
parameter in the absolute encoder monitoring window,
P-0-0097, while it was turned off.
3. Incorrect position initialization.

Remedy:
For 1. Clear error (set absolute position).
For 2. The motor was moved while turned off and is located
outside of its permissible position. Check to see if the
displayed position is correct in relation to the machine zero point.
Then clear errors.
For 3. Accidental axis motion may cause an accident.
Check absolute position information. A feedback defect is
present if the absolute position information is false. The
motor should be exchanged and sent to INDRAMAT
Customer Service for testing.
F276 Attributes
SS Display: F2/76
Diagnostic message: F276 Absolutgeber außerhalb des Überwachungsfenster
F276 Absolute encoder error
Error number: 276
F277 Current Measurement Trim Error
This error should only occur in the factory during fine tuning of the current
measurement.
F277 Attributes
SS Display: F2/77
Diagnostic message: F277 Strommeßabgleich fehlerhaft
F277 Offset of current wrong
Error number: 277
F402 Double MDT Error Shutdown
What has happened?

Failure of bus connection to control system. Several master data
telegrams (MDT) have been excluded during cyclical communication.
For Sercos device DKC02
The master data telegram (MDT) was not received in the drive in two
successive SERCOS cycles.

Cause:
1. Disruption in the LWL transmission line.
2. Too much attenuation in the light signal.
3. Malfunction in the SERCOS interface (general).
Remedy:
For 1. Check all LWL connections in the SERCOS ring.
For 2. Measure the attenuation in the LWL cable. The maximum
attenuation between TX and RX must not exceed
12.5 dB.
For 3. Exchange the SERCOS interface module or the drive.
For Profibus device DKC03

After the bus has already been powered up (green LED is on), no for
more data telegrams have come from the bus master (control system),
for a longer period of time than the one set by the master Watchdog
time, typically 20ms..50ms. Several master data telegrams (MDT) are
thus missing. The green LED goes off again.
Note: The profibus doesn't need to run from the beginning on, but
there is no way to enable the DKC03 and proceed without it.
No error will be generated until the Profibus DP has already
been running with cyclical communication and has then
stopped.
Cause:
1. Incorrect configuration.
2. Waiting for another (missing) DP slave has gone on too long. If
the green LED flickers, this is probably the problem.
3. After the ECODRIVE has been initialized, other slaves are
initialized, and the wait for them is too long.
4. Defective contact in the bus cable or plug.
Remedy:
For 1. Please consult the control system Configurator program (bus
master).
For 2. Remove DP slaves which are not physically present from the
configuration for cyclical communication (in the control system).
For 3. After initialization, the ECODRIVE expects regular telegrams
within the selected Watchdog time. If necessary, change the order
in which the slaves are initialized. Put the ones that take longest
first.
For 4. Test the bus connection with a multimeter. The signals are
differential between pins 8 and 3 on the Profibus plugs (9p. D-
Sub).
F402 Attributes
SS Display: F4/02
Diagnostic message: F401 Abschaltung zweifacher MDT-Ausfall
F402 Double MDT error shutdown
Error number: 402
Error class: interface

F630 Position Limit Value Exceeded
Description:
The drive controller has been given a position command value which falls
outside of the travel region parameter. The drive controller has been
instructed to give an error when the travel range has been exceeded.
Travel Area Exceeded as Error:

The drive controller brakes with maximum torque. After it has stopped,
the drive controller switches to torque-free operation. After the error has
been cleared, the drive controller can be activated again and moved into
the allowable travel area.
Cause:
Actual position value is outside of the travel region.
Remedy:
1. Enter a command value in the direction of the travel area.
2. Shift the position limits if necessary.
3. Turn off the position limit monitor
(when displaying the position data in modulo format).
F630 Attributes
SS Display: F6/30
Diagnostic message: F630 Lagegrenzwert ist überschritten
F630 Position limit value exceeded
Error number: 630
Error class: Travel range
F644 Travel Limit Switch Activated
Description:
The motor was moved, and tripped one of the two travel limit switches.
The drive controller has been instructed to give an error when the travel
range has been exceeded.
Travel Area Exceeded as Error:

The drive controller brakes with maximum torque. After it has stopped,
the drive controller switches to torque-free operation. After the error has
been cleared, the drive controller can be activated again and moved into
the allowable travel area by entering an appropriate command value.
Cause:
One of the travel limit switches was tripped.

Remedy:
1. Enter a command value in the direction of the travel area.
2. Move the travel limit switches, if necessary.
3. Invert the analysis for the travel limit switches, if
necessary, or turn them off (when displaying the position
data in modulo format).
F644 Attributes
SS Display: F6/44
Diagnostic message: F644 Fahrbereichsendschalter betätigt
F644 Travel limit switch detected
Error number: 644
Error class: Travel range
F822 Motor Encoder Error: Signals too Small
Description:
The motor encoder signals are monitored. If the signal amplitudes as
measured via AK1 and AK2 fall outside of the allowable range between
Uss = 12.0V and Uss = 18.0 V, this error message appears. The drive
becomes torque-free and an optional brake is immediately activated.
Cause:
1. Defective feedback cable
2. Defective feedback
Remedy:
For 1. Check the feedback cable.
Lay the feedback cable well away from the motor power
cable.
The shielding must be placed on the drive control
(see project reference of the drive control).
For 2. Exchange motor.

12 - 18 V
Fig. 1-2: Regular signal amplitude measured via AK X31/1-2
F822 Attributes
SS Display: F8/22
Diagnostic message: F822 Motorgeberfehler: Signale zu klein
F822 Motor encoder failure: signals too small
Error number: 822
Error class: Fatal
F860 Overcurrent: Short in Powerstage
Description:
The current in the power transistor bridge has exceeded the value of the
peak current of the drive by a factor of two. As a result, the drive will be
switched to torque-free operation. An optional brake is activated
immediately.
Cause:
1. Short circuit in the motor cable.
2. Defective power section in the drive controller.
3. Incorrect parameters for the current regulator.
Remedy:
For 1. Check the motor cable for a short.
For 3. The current regulator parameters should not deviate from
the installation values from the feedback.

F860 Attributes
SS Display: F8/60
Diagnostic message: F860 Brückensicherung
F860 Overcurrent: short in powerstage
Error number: 860
Error class: Fatal
F870 +24 V Error
Description:
The DKC requires a 24V control voltage. If the maximum allowable
tolerance of +/- 20% is exceeded, then the drive controller is immediately
switched to torque-free operation. An optional brake is activated.
Cause:
1. Disturbance or overload of the 24 V supply voltage.
Measure control voltages.
Remedy:
For 1. Check the wiring and/or replace the power supply
module.
F870 Attributes
SS Display: F8/70
Diagnostic message: F870 + 24 Volt Fehler
F870 + 24 volt error
Error number: 870
Error class: Fatal
F873 Power Supply Driver Stage Fault
Description:
The voltage supply of the driver stage is monitored. If the voltage is too
low, the drive is turned off.
Cause:
1. Voltage supply of the driver stage is too low.
Remedy:

F873 Attributes
SS Display: F8/73
Diagnostic message: F873 Spannung der Treiberstufen gestört
F873 Power supply driver stage fault
Error number: 873
Error class: Fatal
F878 Velocity Loop Error
Description:
The velocity loop monitor will appear when the following conditions occur
simultaneously:
• The current command value is at the peak current limit.
• The difference between the actual velocity and the command velocity
is greater than 10% of the maximum motor velocity.
• The velocity control deviation does not diminish over a time frame of
20ms.
Cause:
1. Motor cable is connected incorrectly
2. Defective controller section of the drive
3. Defective feedback
4. Parameters set incorrectly for velocity
Remedy:
For 1. Check motor cable connection.
For 3. Exchange motor.
For 4. Check velocity controller to see if it is within operational
parameters.
F870 Attributes
SS Display: F8/70
Diagnostic message: F870 + 24 Volt-Fehler
F870 + 24 volt error
Error number: 870
Error class: Fatal

F879 Velocity Limit Value Exceeded (S-0-0092)
Description:
The feedback velocity is monitored in torque regulation mode. This error
is generated if the programmed velocity in parameter "S-0-0091, Bipolar
velocity limit value" is exceeded by 1.25 times, or a maximum of 100
rpm.
Cause:
The load torque was greater or less than the torque command value for
too long a time. This leads to an increase in the feedback velocity up to
the maximum possible motor velocity.
Remedy:
Check the primary control loop.
F879 Attributes
SS Display: F8/79
Diagnostic message: F879 S-0-0091, Geschwindigkeitsgrenzwert überschritten
F879 (S-0-0091) Velocity limit value exceeded
Error number: 879
Error class: Fatal
F895 4 kHz Signal Error
Description:
The 4kHz signal for creating the resolver signal is synchronized with the
software processing. This error message is generated when
synchronization occurs improperly.
Cause:
1. The resolver control voltage is not properly synchronized
in regards to the software.
2. The error can be produced by an electrical discharge.
Remedy:
For 1. Exchange drive controller and return it for testing.
For 2. Power down and then on. If this does not solve the
problem, exchange the drive controller and return it for
testing.

F895 Attributes
SS Display: F8/95
Diagnostic message: F895 4kHz Signal fehlerhaft
F895 4kHz fault
Error number: 895
Error class: Fatal
1.3 Warning Diagnostic Messages
E250 Heatsink Overtemperature Warning
Description:
The temperature of the heatsink in the drive controller has reached the
maximum allowable temperature. The drive controller follows the
command value input for a period of 30 seconds. This makes it possible
to bring the shaft to a standstill while remaining true to the process (for
example, close the operation, leave the collision area, etc.). After 30
seconds, the response set in the "Best possible deceleration, P-0-
0119" parameter will be initiated by the drive controller.
Cause:
1. Failure of the drive's internal blower.
2. Failure of the control cabinet's climate control.
3. Incorrect control cabinet dimensioning in regards to
heat dissipation.
Remedy:
For 1. If the blower fails, exchange the drive controller.
For 2. Install climatization feature in the cabinet.
For 3. Check the dimensions of the control cabinet.
E250 Attributes
SS Display: E2/50
Diagnostic message: E250 Verstärker Übertemp.-Warnung
E250 Drive overtemperature warning
Diagnostic message number: E250
Warning class: Non-fatal

E251 Motor Overtemperature Warning
Description:
The motor is too hot. The drive controller follows the command value
input for a period of 30 seconds. This makes it possible to bring the shaft
to a standstill while remaining true to the process (for example, close the
operation, leave the collision area, etc.). After 30 seconds the reaction set
in the "Best possible deceleration, P-0-0119" parameter will be initiated
by the drive controller.
Cause:
The motor became overloaded. The effective torque required of the motor
was above the allowable standstill continuous torque for too long.
Remedy:
Check the layout of the motor. For systems which have been in use for a
long time, check to see if the drive controller conditions have changed (in
regards to pollution, friction, components which have been moved, etc.).
E251 Attributes
SS Display: E2/51
Diagnostic message: E251 Motor Übertemp.-Warnung
E251 Motor overtemperature warning
E252 Bleeder Overtemperature Warning
Description:
(See cause)
Cause:
About 90% of the DKC's braking resistance is equalized by the energy
reflected back by the motor. The bleeder overtemperature warning shows
that bleeder overload should be expected if the reflected energy continues
to rise.
Remedy:
Reduce acceleration or velocity values and, if necessary, check the drive
controller layout.
E252 Attributes
SS Display: E2/52
Diagnostic message: E252 Bleedervorwarnung
E252 Bleeder overtemperature warning

E253 Target Position Out of Range
Description:
A position which would exceed the position limits will not be accepted.
The drive will not move in "command-controlled operation".
Cause:
1. Position limit value monitor was activated.
2. In the "Drive-internal interpolation" operating mode,
"S-0-0258, Target position" will be checked to
determine if it is in the possible travel range of the drive.
3. In the "Command-controlled operation" operating mode,
the target position of the selected process command will
be checked to see if it falls within the travel range.
The possible travel range is defined by the two parameters "S-0-0049

Position limit positive," and "S-0-0050, Position limit negative".
The E253 message will be generated if the target position lies outside of
the travel range.
Remedy:
For 1. Deactivate the position limit monitor.
For 2. Check S-0-0258, Target position which has been
entered and correct it if necessary.
For 3. Check the target position of the process command.
Relative paths of travel can be added together to
determine the current position.
Also, check the position limits.
E253 Attributes
SS Display: E2/53
Diagnostic message: E253 Zielposition außerhalb des Verfahrbereiches
E253 Target position out of range
E254 Drive not Referenced
Description:
If "Absolute positioning commands" are selected while in "Command-
controlled operation" the drive must be homed. If this is not the case, an
absolute position cannot be reached. The drive rejects this positioning
command and stops. This warning will be generated.
Cause:
Absolute positioning command was selected without the drive having
been referenced.

Remedy:
1. Reference the drive
2. Select "Relative positioning command".
E254 Attributes
SS Display: E2/54
Diagnostic message: E254 Referenz fehlt
E254 Drive not referenced
E255 Feedrate Override (S-0-0108) = 0
Description:
The transversing velocity can be changed while jogging, homing and
while in positioning operation with the "S-0-0108, Feedrate override"
parameter. The warning will be given if the value of this parameter is 0,
since the drive controller cannot follow command values which do not
move.
Cause:
1. Feedrate override is set to zero.
2. The "Feedrate override via analog output" field is
activated and the voltage there is 0V.
Remedy:
For 1. Set the S-0-0108 parameter to the correct value for the
application.
For 2. Deactivate the field or set a voltage greater than 0V.
E255 Attributes
SS Display: E2/55
Diagnostic message: E255 Feedrate Override(S-0-0108) = 0
E255 Feedrate override(S-0-0108) = 0

E256 Torque Limit Value = 0
Cause:
1. For protection against mechanical overload, the
maximum torque can be limited by parameter "S-0-0092,
Bipolar torque limit". If the current value of this
parameter is equal to 0, the motor does not develop
torque and does not follow the command value which has
been entered.
2. Torque reduction is set via an analog channel and the
current generated will be 10 V.
Remedy:
For 1. Set the torque limit to a value greater than 0.
For 2. Make the analog voltage less than 10 V.
E256 Attributes
SS Display: E2/56
Diagnostic message: E256 Momentgrenzwert
E256 Torque limit value = 0
E257 Continuous Current Limiting Active
Description:
The drive controller makes the peak current available for 400ms.
Thereafter, the continuous current limit becomes active and dynamically
limits the peak current to the continuous current.
Cause:
More continuous torque was required than was available.
Remedy:
1. Check the drive controller layout.
2. With systems which have been used for longer periods of

time, check to see if the drive controller conditions have
changed in regards to:
• friction
• components which have been moved

E257 Attributes
SS Display: E2/57
Diagnostic message: E257 Dauerstrombegrenzung aktiv
E257 Continuous current limiting active
E258 Selected Process Block Is Not Programmed
Cause:
A positioning block was selected for which there is no set target position,
positioning velocity, etc.
Remedy:
Select another positioning block or enter the required data.
E258 Attributes
SS Display: E2/58
Diagnostic message: Nicht programmierter Verfahrsatz angewählt
E258 Selected process block is not programmed
E259 Command Velocity Limit Active
Description:
The velocity command value is limited to the value set in parameter "S-0-
0091, Bipolar velocity limit" when in the position and velocity control
operating modes. This warning is given if the value in parameter "S-0-
0036, Velocity command value" reaches this limit.
Cause:
1. Parameter "S-0-0091, Bipolar velocity limit" was set
too low.

Remedy:
For 1. In normal operation, set parameter "S-0-0091, Bipolar
velocity limit" to a value 10% higher than the NC
operating velocity.
E259 Attributes
SS Display: E2/59
Diagnostic message: E259 Drehzahlbegrenzung aktiv
E259 Command velocity limit active
E264 Target Position Not Representable
Cause:
When using the "Command controlled operation" operating mode, the
target position of the selected additive process command is checked to
determine whether it falls within the represented range.
Remedy:
1. Check the target position and correct if necessary.
2. Select the position data display channel in modulo
format.
E264 Attributes
SS Display: E2/64
Diagnostic message: E264 Zielposition nicht darstellbar
E264 Target position not representable
E825 Overvoltage in the Power Stage
Cause:
1. The energy feed back from the machine's mechanism via
the motor was so great momentarily that it could not be
completely converted to heat by the bleeder. As a result,
the DC bus voltage rose above the maximum allowable
value. The motor was then switched to torque-free
operation. If the DC bus voltage falls below the maximum
allowable value, the controller will be turned on again.
2. DC bus voltage is too high.

Remedy:
For 1. Reduce the acceleration values and check the drive
controller layout if necessary. Install an auxiliary bleeder,
if necessary.
For 2. Check the supply voltage if necessary.
E825 Attributes
SS Display: E8/25
Diagnostic message: E825 Überspannung in Leistungsteil
E825 Overvoltage in the power stage
Error number: 825
E830 Position Limit Value Exceeded
Description:
A position command was given to the drive which falls outside of the
allowable travel area. The drive controller's response to exceeding the
travel region has been selected as a warning.
Exceeding the Travel Range as a Warning:

The drive brakes with maximum torque until it reaches a standstill and
stays in an activated condition at this position. If command values are
entered which lead into the permitted travel region, the drive will once
again follow these commands and the warning will disappear.
E830 Attributes
SS Display: E8/30
Diagnostic message: E830 Lagegrenzwert überschritten
E830 Position limit value exceeded
Warning class: Fatal
E831 Position Limit Reached During Jogging
Description:
If the position limit value monitor is activated and the drive is "HOMED",
then it will position on the trip limit while in travel. If the drive is at or past
the position limit, it will not move and will give the message "Position limit
reached during jogging."

Remedy:
1. Move the motor back to the allowable
travel region with the jog function.
2. Turn off the position limit monitor.
E831 Attributes
SS Display: E8/31
Diagnostic message: E831 Beim Tippen Lagegrenzwert erreicht
E831 Jog position limit value exceeded
Diagnostic message number: 831
E844 Travel Limit Switch Activated
Description:
The motor was moved, and tripped one of the two travel limit switches.
The drive controller's response to exceeding the travel region has been
selected as a warning.
Exceeding the Travel Range as a Warning:

The drive brakes with maximum torque until it reaches a standstill and
stays in an activated condition at this position. If command values are
entered which lead into the permitted travel region, the drive will once
again follow these commands and the warning will disappear.
E844 Attributes
SS Display: E8/44
Diagnostic message: E844 Fahrbereichsendschalter betätigt
E844 Travel limit switch activated

1.4 Command Diagnostic Messages
C100 Communications Phase 3 Transition Check
Description:
Command "S-0-0127, C1 Communications phase 3 transition check"
is activated. The drive switches from set parameter mode to operating
mode.
C100 Attributes
SS Display: C1/00
Diagnostic message: C100 Umschaltvorbereitung Phase 2 nach 3
C100 Communications phase 3 transition check
Diagnostic message number: C100
C101 Invalid Communication Parameters (S-0-0021)
Cause:
Invalid parameters were found during the switch from set parameter
mode to operating mode.
Remedy:
Connect the drive controller to a PC and activate DriveTop. Select menu
item "Parameter | List of invalid parameters" and set valid parameters.
C101 Attributes
SS Display: C1/01
Diagnostic message: C101 Kommunikations-Parameter unvollständig
(S-0-0021)
C101 Invalid communication parameter (S-0-0021)
C102 Limit Error Communication Parameter (S-0-0021)
Cause:
Parameters which exceed their limits were found during the switch from
the set parameter mode to operating mode.
Remedy:

C102 Attributes
SS Display: C1/02
Diagnostic message: C102 Kommunikations-Parameter Grenzwertfehler
(S-0-0021)
C102 Limit error communication parameter (S-0-0021)
C200 Communications Phase 4 Transition Check
Description:
The C2 command carries out the last steps of the switch from set
parameter mode to operating mode. This includes conducting numerous
parameter checks.
C200 Attributes
SS Display: C2
Diagnostic message: C200 Umschaltvorbereitung Phase 3 nach 4
C200 Communications phase 4 transition check
C201 Invalid Parameter Block (-> S-0-0022)
Cause:
Parameters which are necessary for the operation of the drive in
operating mode are invalid.
Remedy:
C201 Attributes
SS Display: C2/01
Diagnostic message: C201 Parametersatz unvollständig (-> S-0-0022)
C201 Invalid parameter (-> S-0-0022)
C202 Limit Error Parameter (-> S-0-0022)
Cause:
Parameters which are necessary for running the drive in operating mode
are outside of their minimum or maximum input values.

Remedy:
C202 Attributes
SS Display: C2/02
Diagnostic message: C202 Parameter Grenzwertfehler (-> S-0-0022)
C202 Limit error parameter (-> S-0-0022)
C203 Parameter Calculation Error (-> S-0-0022)
Cause:
Calculation errors were found in the parameters which are necessary to
run the drive controller in the operating mode. The errors make normal
operation impossible.
Remedy:
Connect the drive controller to a PC and activate DriveTop.Select menu
C203 Attributes
SS Display: C2/03
Diagnostic message: C203 Parameter Umrechnungsfehler (-> S-0-0022)
C203 Parameter calculation error (-> S-0-0022)
C207 Loading Error LCA
Cause:
Defective drive
Remedy:
1. Power down and then on again. If this does not solve the
problem,
2. Exchange the drive.
C207 Attributes
SS Display: C2/07
Diagnostic message: C207 Ladefehler LCA
C207 Load error LCA
DOK-ECODRV-PDP-03VRS-FKB1-EN-P • 11.96 Supplement B: Diagnostic message descriptio 1-29

C208 Invalid SSI Parameter (-> S-0-0022)
Description:
When the motors are first delivered, the parameter for absolute control
emulation is purposely invalid to ensure that the "Set absolute
measurement emulator command" will be executed after a motor is
exchanged.
Cause:
The SSI emulation was selected. The parameters required for emulation
are invalid.
Remedy:
Connect the drive controller to a PC and activate DriveTop.
Select the menu item "Actual position output" for controller emulation type
"Absolute controller emulation (SSI)":
• Write a value to "Homing position/offset".

• Select "Absolute control directional counter".
C208 Attributes
SS Display: C2/08
Diagnostic message: C208 SSI Parameter unvollständig (S-0-0022)
C208 Invalid SSI parameter (S-0-0022)
C211 Invalid Feedback Data (-> S-0-0022)
Description:
Invalid data was found while processing the parameters stored in the
motor feedback.
Causes:
1. Defective motor feedback cable
2. Defective motor feedback
Remedy:
For 1. Check the motor feedback cable.
For 2. Exchange the motor.
C211 Attributes
SS Display: C2/11
Diagnostic message: C211 Ungültige Feedbackdaten (-> S-0-0022)
C211 Invalid feedback data (-> S-0-0022)

C212 Invalid Amplifier Data (-> S-0-0022)
Description:
Data for device identification is read from the drive controller while the
drive is being initialized. If invalid data is detected, this error message will
be displayed.
Cause:
Defective hardware in the drive controller
Remedy:
Exchange drive controller.
C212 Attributes
SS Display: C2/12
Diagnostic message: C212 Ungültige Verstärkerdaten (-> S-0-0022)
C212 Invalid amplifier data (-> S-0-0022)
C213 Position Data Scaling Error
Cause:
The display format of the position data can be set with the position data
scaling parameter. The internal drive controller format of the position data
is dependent on the motor encoder being used and the resolution of the
controller. The factor for converting the position data from the internal
drive format into display format or vice-versa is outside of the workable
area because either:
• Rotary motor and linear positional scaling (in reference to motor)

cannot be represented or
• the calculated factor for converting the position data from display
format to internal format (or vice-versa) cannot be represented.
Remedy:
Connect the drive with a PC and start DriveTop. Select a scaling setting in
the "Scaling/mechanical system" dialog box.
If you want a scaling setting other than one used in DriveTop, check the
following parameters.
• S-0-0076, Position Data Scaling Type

• S-0-0077, Position Data Scaling Factor
• S-0-0078, Position Data Scaling Exponent
• S-0-0121, Input Revolutions of Load Gear
• S-0-0122, Output Revolutions of Load Gear
• S-0-0123, Feed Constant

C213 Attributes
SS Display: C2/13
Diagnostic message: C213 Wichtung der Lagedaten fehlerhaft
C213 Position data scaling error
C214 Velocity Data Scaling Error
Cause:
The display format of the velocity data can be set using the scaling
parameter. The internal drive format of the velocity data is dependent on
the rotational feedback in use and the resolution of the controller. The
factor for converting the velocity data from internal drive format to display
format (or vice-versa) is outside the workable area.
Remedy:
• S-0-0044, Velocity Data Scaling Type

• S-0-0045, Velocity Data Scaling Factor
• S-0-0046, Velocity Data Scaling Exponent
C214 Attributes
SS Display: C2/14
Diagnostic message: C214 Wichtung der Geschwindigkeitsdaten fehlerhaft
C214 Velocity data scaling error
C215 Acceleration Data Scaling Error
Cause:
The display format of the acceleration data can be set for the acceleration
data using scaling parameters. The internal drive format of the
acceleration data is dependent on the rotational feedback in use and the
resolution of the feedback. The factor for converting acceleration data
from internal drive format to display format (or vice-versa) is outside the
workable area.

Remedy:
• S-0-0160, Acceleration Data Scaling Type

• S-0-0161, Acceleration Data Scaling Factor
• S-0-0162, Acceleration Data Scaling Exponent
C215 Attributes
SS Display: C2/15
Diagnostic message: C215 Wichtung der Beschleunigungsdaten fehlerhaft
C215 Acceleration data scaling error
C216 Torque/Force Data Scaling Error
Cause:
The display format of the torque data can be set for the torque data using
scaling parameters. The factor for converting torque data from internal
drive format to display format (or vice-versa) is outside the workable area.
Remedy:
• S-0-0086, Torque/Force Data Scaling Type

• S-0-0093, Torque/Force Data Scaling Factor
• S-0-0094, Torque/Force Data Scaling Exponent
C216 Attributes
SS Display: C2/16
Diagnostic message: C216 Wichtung der Drehmoment/Kraftdaten fehlerhaft
C216 Torque/force data scaling error

C217 Motor Feedback Data Reading Error
Cause:
All MKD and MDD motors contain feedback data memory from which
settings for the controller can be read. An error was discovered while
reading these values.
Remedy:
Check the feedback cable.
Exchange the motor.
C217 Attributes
SS Display: C2/17
Diagnostic message: C217 Fehler beim Lesen der Motorgeberdaten
C217 Motor feedback data reading error
C220 Motor Feedback Initializing Error
Description:
A number of tests are performed when the motor feedback is initialized.
An error was detected while doing this. This error may be:
1. Interruption of communication with the feedback

2. Invalid offset between the high and low resolution track
3. Error in the measuring system micro-controller
Cause:
1. Defective motor feedback cable
2. Defective motor feedback
3. Defective measurement system interface
Remedy:
For 1. Check the motor feedback cable.
For 2. Exchange the motor.
For 3. Exchange the measuring system interface (module).
C220 Attributes
SS Display: C2/20
Diagnostic message: C220 Fehler bei Mot.Geber-Initialisierung
C220 Motor feedback initializing error

C227 Modulo Range Error
Cause:
The modulo value entered is greater than half of the drive controller's
position representation range. (Half of the position representation range
for the DKC03 is 2048 rotations.)
Remedy:
Select a smaller modulo value.
C227 Attributes
SS Display: C2/27
Diagnostic message: C227 Modulo-Bereichs-Fehler
C227 Modulo range error
C300 Command: Set Emulation Absolute Value
Description:
The actual position of the motor can be generated by means of an SSI
emulation. The zero point of the generated position can be set with
command "C300 Command: Set emulation absolute value".
C300 Attributes
SS Display: C3
Diagnostic message: C300 Kommando Absolutmaß-Emulator setzen
C300 Command set emulation absolute value
C300 Set Absolute Measurement
Description:
The command "P-0-0012, Set absolute measurement was activated by
the control system in use.
C300 Attributes
SS Display: C3
Diagnostic message: C300 Absolutmaß setzen
C300 Set absolute measurement

C301 Setting Absolute Measurement Not Allowed, Drive Enabled
Cause:
The command "C300 Command: Set absolute measurement emulator"
was started by the given control enabler.
Remedy:
End the command and deactivate the drive enable.
C301 Attributes
SS Display: C3/01
Diagnostic message: C301 Absolutmaß setzen bei Antriebfreigabe nicht
möglich
C301 Setting absolute measurement not allowed, drive
enabled
C302 Absolute Measurement System Not Installed
Description:
Command "P-0-0012, Command: set absolute measurement" was
given when no absolute measuring system was installed.
The command cannot be processed because no absolute measurement
system is available.
Cause:
1. The command should not have been activated.
2. The connected motor does not contain an absolute
encoder. (Option)
Remedy:
For 1. Stop the command process.
For 2. Equip the motor or external measurement system with an
absolute encoder function .
C302 Attributes
SS Display: C3/02
Diagnostic message: C302 Kein absolutes Meßsystem vorhanden
C302 Absolute measurement system not installed

C400 Switch to Set Parameter Mode
Description:
The command for transition to set parameter mode. This command must
be given to edit parameters which can only be edited in set parameter
mode.
C400 Attributes
SS Display: C4
Diagnostic message: C400 Umschalten auf Phase 2
C400 Command: switch to set parameter mode
C401 Active Drive, Switch Not Allowed
Cause:
The command "C400 Switch from operating to set parameter mode" was
started even though the drive enabler was activated.
Remedy:
End the command and turn off the drive enable; the command can then
be started again.
C401 Attributes
SS Display: C4/01
Diagnostic message: C401 Antrieb aktiv, Umschalten nicht zulässig
C401 Drive active, switch not allowed
C500 Reset Class 1 Diagnostic
Description:
The command for clearing errors, "S-0-0099, Reset class 1
diagnostics" was activated via the control system in use. All internal
drive errors are deleted. Previously, however, the errors should have
been corrected.
C500 Attributes
SS Display: C5
Diagnostic message: C500 Reset Zustandsklasse-1
C500 Reset class 1 diagnostic (error reset)

C600 Command: Drive-Controlled Homing Procedure
Description:
The command "S-0-0148, Drive-controlled homing procedure" was
activated via the control system in use. The drive controller automatically
performs the internal drive homing procedure. To do this, give the drive a
start command. Prior to this the drive must be enabled and under torque.
C600 Attributes
SS Display: C6
Diagnostic message: C600 Kommando Antriebsgeführtes Referenzieren
C600 Drive-controlled homing procedure command
C601 Homing Procedure Not Permitted Without Driver Enable
Cause:
The command was given without the drive enable being turned on.
Remedy:
1. Turn the drive enable on.
2. Give the command again.
C601 Attributes
SS Display: C6/01
Diagnostic message: C601 Referenzieren ohne Antriebsfreigabe nicht möglich
C601 Homing procedure not permissable without
driver enable

C602 Distance homing switch-reference mark erroneous
Cause:
During the drive-controlled homing procedure, an ambiguous position for

the home reference of the rotational feedback and the switch flank of the
home switch was determined
Remedy:
The cam of the home switch must be shifted such that an accurate
homing procedure is possible.
• Read the contents of parameter "P-0-0020, Shifting the homing

cam".
• Mechanically shift the homing cam by the amount in the parameter.
• Perform the drive-controlled homing procedure again.
C602 Attributes
SS Display: C6/02
Diagnostic message: C602 Abstand Nullschalter-Referenzmarke fehlerhaft
C602 Distance homing switch-reference mark erroneous
C603 Homing Procedure Not Permitted in This Operating Mode
Cause:
The homing command cannot be processed during operation of the drive
in torque control or velocity control.
Remedy:
Clear the homing command.
Set another operating mode.
C603 Attributes
SS Display: C6/03
Diagnostic message: C603 Referenzieren in dieser Betriebsart nicht möglich
C603 Homing procedure not permitted in this operating
mode

C604 Homing Procedure Not Permitted With Absolute Measurement

Control
Cause:
If the homing command is called up by with an absolute value controller
without the command "P-0-0012, Set absolute measurement" having
been previously processed, the homing command will be discontinued
with this error.
If the encoder was homed with "Set absolute measurement", the
homing command will activate positioning to the home point.
Remedy:
Home the absolute encoder with the command "Set absolute
measurement".
C604 Attributes
SS Display: C6/04
Diagnostic message: C604 Referenzieren mit Absolutmaßgeber nicht möglich
C604 Homing procedure not possible with absolute
measurement control
C700 Basic Load
Description:
The technical control adaptation of the mechanical system to the digital
drive is carried out on MDD and MKD motors by activating the velocity
control parameter stored in the motor feedback. The drive controller
signals with message C7 that the C7 basic load command was activated
by the "S-0-0262, Basic load" command.
C700 Attributes
SS Display: C7/00
Diagnostic message: C700 Urladen
C700 Basic load

C800 Load Basic Parameters
Description:
By pressing the S1 button on the controller with display PL or by starting
the "Load basic parameters command," all parameters will be erased and
reset to the default values.
The process commands are lost also.
C800 Attributes
SS Display: C8/00
Diagnostic message: C800 Kommando Basisparameter laden
C800 Command load basic parameters
1.5 Status Diagnostic Message
A002 Communications Phase 2
Set Parameter Mode
A002 Attributes
Diagnostic message: A002 Kommunikationsphase 2

A002 Communications phase 2
Diagnostic message number: A002
A003 Communications Phase 3
Set Parameter Mode
A003 Attributes
Diagnostic message: A003 Kommunikationsphase 3

A003 Communications phase 3

A010 Drive Halt
Description:
The drive halt function was activated by the control system in use. The
drive halt function serves to stop the motor at a defined deceleration and
a defined jerk.
The deceleration or jerk limit of the previous position block functions
during "linked block operation".
The acceleration limit and bipolar jerk value function during jogging
operation and step motor interface.
The drive is brought to a standstill by switching the velocity command
value to zero during velocity and torque control.
A010 Attributes
SS Display: AH
Diagnostic message: A010 Antrieb Halt
A010 Drive Halt
A012 Control and Power Sections Ready for Operation
Description:
The drive is supplied with control voltage and the power is switched on.
The drive is ready for power delivery.
A012 Attributes
SS Display: Ab
Diagnostic message: A012 Steuer- und Leistungsteil betriebsbereit
A012 Control and power sections ready for operation
A013 Ready for Power ON
Description:
The drive is supplied with a control voltage; there are no errors in the
drive controller. The drive is ready to be turned on.
A013 Attributes
SS Display: bb
Diagnostic message: A013 Bereit zur Leistungszuschaltung
A013 Ready for power ON

A206 Position Mode/POSITION Encoder 1
Description:
The drive controller is in position control mode allowing following error.
The drive is positioned on the selected target position with the given
acceleration, velocity and jerk.
A206 Attributes
SS Display: AF
Diagnostic message: A206 Lageregelung/POSITIONIER-Antrieb
A206 Position mode/POSITION encoder 1
A207 Position Mode/POSITION Without Following Error
Description:
The drive controller is in position control mode with no following error. The
drive is positioned on the selected target position with the given
acceleration, velocity and jerk.
A207 Attributes
SS Display: AF
Diagnostic message: A207 Lageregelung/POSITIONIER-Antrieb
schleppfehlerfrei
A207 Position Mode/POSITION Without Following
Error
AF Drive Enable
The drive will follow the velocity command.
JF Jogging in the Positive Direction
The drive moves with a jogging velocity in the positive direction.
Jb Jogging in the negative direction
The drive moves with a jogging velocity in the negative direction.

Notes

F
2 Index
F220 Bleeder overtemperature
shutdown 1-6
F277 Current measurement trim error 1-
+ 10
+24 V Error 1-15 F860 Overcurrent

short in powerstage 1-14
F873 Power supply driver stage fault 1-
4 15
F879 Velocity limit value exceeded (S-0-
4 kHz signal error 1-17
0092) 1-17
Feedrate override (S-0-0108) = 0 1-21
A
A013 Ready for power ON 1-42 H
Absolute encoder error, position
Heatsink overtemperature shutdown 1-4
deviation > P-0-0097 1-9
Heatsink overtemperature warning 1-18
Absolute measurement system not
installed 1-36 Homing procedure not permitted in this
operating mode 1-39
Acceleration data scaling error 1-32
Homing procedure not permitted with
Active drive, switch not allowed 1-37
absolute measurement control 1-
AF Drive Enable 1-43 40
Homing procedure not permitted without
driver enable 1-38
B
Basic load 1-40
I
Invalid amplifier data (->S-0-0022) 1-31
C Invalid communication parameters (S-0-
Command 0021) 1-27
drive-controlled homing procedure 1-38 Invalid feedback data (->S-0-0022) 1-30
Set emulation absolute value 1-35 Invalid parameter block (-> S-0-0022) 1-
28
Command diagnostic messages 1-27
Invalid SSI parameter (S-0-0022) 1-30
Command velocity limit active 1-23
Communications phase 2 1-41
Communications phase 3 1-41 J
Communications phase 3 transition
JB Jogging in the negative direction 1-43
check 1-27
JF Jogging in the positive direction 1-43
Communications phase 4 transition
check 1-28
Condition display H1 1-2
L
Continuous current limiting active 1-22
Limit error communication parameter (S-
Control and power sections ready for 0-0021) 1-27
operation 1-42
Limit error parameter (-> S-0-0022) 1-28
Load basic parameters 1-41
D Load default parameter values 1-3
Diagnostic Message Description 1-1 Loading error LCA 1-29
Distance homing switch-reference mark Low battery voltage 1-9
erroneous 1-39
Double MDT error shutdown 1-10
Drive halt 1-42
M
Drive not referenced 1-20 Modulo range error 1-35
Motor encoder error
quadrant error 1-8
E signals too small 1-13
E252 Bleeder overtemperature warning Motor feedback data reading error 1-34
1-19
Motor feedback initializing error 1-34
Emergency-Stop 1-8
Motor overtemperature shutdown 1-5
Error diagnostic messages 1-3
Motor overtemperature warning 1-19
Excessive deviation 1-7
Motor type not reported 1-3

O
Overvoltage in the power stage 1-24
P
Parameter calculation error (-> S-0-
0022) 1-29
Position data scaling error 1-31
Position limit reached during jogging 1-
25
Position limit value exceeded 1-12, 1-25
Position mode/POSITION encoder 1 1-
43
Position mode/POSITION without
following error 1-43
R
Reset button S1 1-2
Reset class 1 diagnostic 1-37
S
Selected process command is not
programmed 1-23
Set absolute measurement 1-35
Setting absolute measurement not
allowed, drive enabled 1-36
Status diagnostic messages 1-41
Switch to set parameter mode 1-37
Switching to an uninitialized operating
mode 1-4
T
Target position not representable 1-24
Target position out of range 1-20
Torque limit value = 0 1-22
Torque/force data scaling error 1-33
Travel limit switch activated 1-12, 1-26
Trouble shooting guide 1-1
U
Under voltage error 1-6
V
Velocity data scaling error 1-32
Velocity loop error 1-16
W
Warning diagnostic messages 1-18

Directory of Customer Service Locations

Germany
Sales Area Central Sales Area East Sales Area West Sales Area North
INDRAMAT GmbH INDRAMAT GmbH INDRAMAT GmbH INDRAMAT GmbH
D-97816 Lohr am Main D-09120 Chemnitz D-40849 Ratingen D-22085 Hamburg
Bgm.-Dr.-Nebel-Str. 2 Beckerstraße 31 Harkortstraße 25 Fährhausstraße 11
Telefon: 09352/40-0 Telefon: 0371/3555-0 Telefon: 02102/4318-0 Telefon: 040/227126-16
Telefax: 09352/40-4885 Telefax: 0371/3555-230 Telefax: 02102/41315 Telefax: 040/227126-15
Sales Area South Sales Area South-West INDRAMAT Service-Hotline

INDRAMAT GmbH INDRAMAT GmbH INDRAMAT GmbH
D-80339 München D-71229 Leonberg Telefon: D-0172/660 040 6
Ridlerstraße 75 Böblinger Straße 25
-oder-
Telefon: 089/540138-30 Telefon: 07152/972-6
Telefon: D-0171/333 882 6
Telefax: 089/540138-10 Telefax: 07152/972-727
Directory of Customer Service Locations in Germany
Europa
Austria Austria Belgium Denmark
G.L.Rexroth Ges.m.b.H. G.L.Rexroth Ges.m.b.H. Mannesmann Rexroth N.V.-S.A. BEC Elektronik AS
Geschäftsbereich INDRAMAT Geschäftsbereich INDRAMAT Geschäftsbereich INDRAMAT DK-8900 Randers
A-1140 Wien A-4061 Pasching B-1740 Ternat Zinkvej 6
Hägelingasse 3 Randlstraße 14 Industrielaan 8
Telefon: 086/447866
Telefon: 1/9852540-400 Telefon: 07229/4401-36 Telefon: 02/5823180 Telefax: 086/447160
Telefax:1/9852540-93 Telefax: 07229/4401-80 Telefax: 02/5824310
England Finnland France France

Mannesmann Rexroth Ltd. Rexroth Mecman OY Rexroth - Sigma S.A. Rexroth - Sigma S.A.
INDRAMAT Division SF-01720 Vantaa Division INDRAMAT Division INDRAMAT
Cirencester, Glos GL7 1YG Riihimiehentie 3 F-92632 Gennevilliers Cedex F-69634 Venissieux - Cx
4 Esland Place, Love Lane Parc des Barbanniers 4, 91, Bd 1 Joliot Curie
Telefon: 0/848511
Place du Village
Telefon: 01285/658671 Telefax: 0/846387 Telefon: 78785256
Telefax: 01285/654991 Telefon: 1/41475430 Telefax: 78785231
Telefax: 1/47946941
France Italy Italy Netherlands

Rexroth - Sigma S.A. Rexroth S.p.A. Rexroth S.p.A. Divisione Hydraudyne Hydrauliek B.V.
Division INDRAMAT Divisione INDRAMAT INDRAMAT Kruisbroeksestraat 1a
F-31100 Toulouse I-20063 Cernusco S/N.MI Via Borgomanero, 11 P.O. Box 32
270, Avenue de lardenne Via G. Di Vittoria, 1 I-10145 Torino NL-5280 AA Boxtel
Telefon: 61499519 Telefon: 02/92365-270 Telefon: 011/7712230 Telefon: 04116/51951
Telefax: 61310041 Telefax: 02/92108069 Telefax: 011/7710190 Telefax: 04116/51483
Spain Spain Sweden Switzerland

Rexroth S.A. Goimendi S.A. AB Rexroth Mecman Rexroth SA
Centro Industrial Santiago División Indramat INDRAMAT Division Département INDRAMAT
Obradors s/n Jolastokieta (Herrera) Varuvägen 7 Chemin de l`Ecole 6
E-08130 Santa Perpetua de Apartado 11 37 S-125 81 Stockholm CH-1036 Sullens
Mogoda (Barcelona) San Sebastion, 20017
Telefon: 08/727 92 00 Telefon: 021/731 43 77
Telefon: 03/718 68 51 Telefon: 043/40 01 63 Telefax: 08/64 73 277 Telefax: 021/731 46 78
Telex: 591 81 Telex: 361 72
Telefax: 03/718 98 62 Telefax: 043/39 93 95
Switzerland Russia
Rexroth AG Tschudnenko E.B.
Geeschäftsbereich INDRAMAT Arsenia 22
Gewerbestraße 3 153000 Ivanovo
CH-8500 Frauenfeld Rußland
Telefon: 052/720 21 00 Telefon: 093/22 39 633
Telefax: 052/720 21 11
Directory of Customer Service Locations without Germany
DOK-ECODRV-PDP-03VRS-FKB1-EN-P • 11.96 Directory of Customer Service Locations

Outside of Europa
Argentina Argentina Australia Brazil
Mannesmann Rexroth S.A.I.C. Nakase Australian Industrial Machenery Mannesmann Rexroth Automação
Division INDRAMAT Asesoramiento Tecnico Services Pty. Ltd. Ltda.
Acassusso 48 41/7 Diaz Velez 2929 Unit 3/45 Horne ST Divisão INDRAMAT
1605 Munro (Buenos Aires) 1636 Olivos Campbellfield VIC 2061 Rua Georg Rexroth, 609
Argentina (Provincia de Buenos Aires) Australia Vila Padre Anchieta
Argentina BR-09.951-250 Diadema-SP
Telefon: 01/756 01 40 Telefon: 03/93 59 0228
Argentina Caixa Postal 377
01/756 02 40 Telefax: 03/93 59 02886
BR-09.901-970 Diadema-SP
Telex: 262 66 rexro ar Telefon 01/790 52 30
Telefax: 01/756 01 36 Telefon: 011/745 90 65
011/745 90 70
Telefax: 011/745 90 50
Canada China China China

Basic Technologies Corporation Rexroth (China) Ldt. Rexroth (China) Ldt. Rexroth (China) Ldt.
Burlington Division Shanghai Office Shanghai Parts & Service Centre 1430 China World Trade Centre
3426 Mainway Drive Room 206 199 Wu Cao Road, Hua Cao 1, Jianguomenwai Avenue
Burlington, Ontario Shanghai Intern. Trade Centre Minhang District Beijing 100004
Canada L7M 1A8 2200 Yanan Xi Lu Shanghai 201 103 P.R. China
Shanghai 200335 P.R. China
Telefon: 905/335-55 11 Telefon: 010/50 50 380
P.R. China
Telefax: 905/335-41 84 Telefon: 021/622 00 058 Telefax: 010/50 50 379
Telefon: 021/627 55 333 Telefax: 021/622 00 068
Telefax: 021/627 55 666
China Honkong India Japan

Rexroth (China) Ldt. Rexroth (China) Ldt. Mannesmann Rexroth (India) Ltd. Rexroth Co., Ltd.
A-5F., 123 Lian Shan Street 19 Cheung Shun Street INDRAMAT Division INDRAMAT Division
Sha He Kou District 1st Floor, Cheung Sha Wan, Plot. 96, Phase III I.R. Building
Dalian 116 023 Kowloon, Honkong Peenya Industrial Area Nakamachidai 4-26-44
P.R. China Bangalore - 560058 Tsuzuki-ku, Yokohama 226
Telefon: 741 13 51/-54 und
Japan
Telefon: 0411/46 78 930 741 14 30 Telefon: 80/839 21 01
Telefax: 0411/46 78 932 Telex: 3346 17 GL REX HX 80/839 73 74 Telefon: 045/942-72 10
Telefax: 786 40 19 Telex: 845 5028 RexB Telefax: 045/942-03 41
786 07 33 Telefax: 80/839 43 45
Korea Korea Mexico

Rexroth-Seki Co Ltd. Seo Chang Corporation Ltd. Motorización y
1500-12 Da-Dae-Dong Room 903, Jeail Building Diseño de Controles, S.A. de C.V.
Saha-Gu, Pusan, 604-050 44-35 Yoido-Dong Av. Dr. Gustavo Baz No. 288
Youngdeungpo-Ku Col. Parque Industrial la Ioma
Telefon: 051/264 90 01
Seoul, Korea Apartado Postal No. 318
Telefax: 051/264 90 10
54060 Tlalnepantla
Telefon: 02/780-82 07 ~9
Estado de Mexico
Telefax: 02/784-54 08
Telefon: 5/397 86 44
Telefax: 5/398 98 88
USA USA
Rexroth Corporation Rexroth Corporation
INDRAMAT Division INDRAMAT Division
5150 Prairie Stone Parkway 2110 Austin Avenue
Hoffman Estates, Illinois 60192 Rochester Hills, Michigan 48309
Telefon: 847/645-36 00 Telefon: 810/853-82 90
Telefax: 857/645-62 01 Telefax: 810/853-82 90
Directory of Customer Service Locations outside of Europa
Directory of Customer Service Locations DOK-ECODRV-PDP-03VRS-FKB1-EN-P • 11.96

Notes
DOK-ECODRV-PDP-03VRS-FKB1-EN-P • 11.96 Directory of Customer Service Locations

Indramat

Ecodrive DKC03.1 Drive Controller: Rexroth

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engineering

Functional Description: PDP03VRS

Title ECODRIVE DKC03.1 Drive Controller

Document Type Description Functional Description

Document Type DOK-ECODRV-PDP-03VRS**-FKB1-EN-P

Internal Filing Notation • Map 58-03V-EN Register 3

Change Notice Document identification of Release Remarks

Copyright  INDRAMAT GmbH, 1996

Liability We reserve the right to make changes to the contents of the

Publisher INDRAMAT GmbH • Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main

Dpt. END (OS)

2 Safety Instructions for Electrical Drive Controllers 2-1

3 Preparation for Startup Procedure 3-1

4 Motor and Drive Controller Selection 4-1

DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96 Contents I

4.3 Drive Controller Selection .................................................................................................................... 4-3

5 Control Communication Via the Profibus DP 5-1

6 DKC03.1 Drive Controller with Integrated Position Control 6-1

7 General Drive Functions 7-1

II Contents DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96

Limiting the Velocity ...................................................................................................................... 7-8

8 Serial Communication 8-1

DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96 Contents III

Setting the Drive Address.............................................................................................................. 8-6

Supplement A: Parameter description

IV Contents DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96

1.1 Ecodrive - The Economical Control Drive for Automation

ECODRIVE is a digital intelligent automation system which provides a

1.2 Ecodrive - A Family of Drive Controllers

An ECODRIVE consists of a drive controller and an MKD servomotor.

• DKC01.1 with analog, stepping motor and

This description of functions refers to the DKC03.1. Separate

DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96 System Overview 1-1

1.3 Overview of Functions DKC03.1

DKC03.1 - Modes of Operation

Fig. 1-1: Servo drive with integrated positioning control

• Up to 64 positioning blocks can be stored in the DKC03.1. They can

1-2 System Overview DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96

General Features of DKC03.1

Direct Power Supply Connection

Integrated Brake Activation

Actual Position Value Measurement

• Incremental position measurement (standard)

Integrated Diagnostic Display

DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96 System Overview 1-3

1-4 System Overview DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96

2 Safety Instructions for Electrical Drive Controllers

2.1 General Information

• The safety information in this user's manual must always be observed.

DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96 Safety Instructions for Electrical Drive Controllers 2-1

2.2 Protection against Contact with Electrical Components

Life threatening or serious bodily harm

2-2 Safety Instructions for Electrical Drive Controllers DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96

High Leakage Current

2.3 Protection of Safely Separated Low Voltages

High electrical voltage through improper connection

2.4 Protection from Dangerous Motion

Different situations can cause this:

DOK-ECODRV-PDP-03VRS**-FKB1-EN-P • 11.96 Safety Instructions for Electrical Drive Controllers 2-3