Servo: Application Manual

ServoOne
Application Manual
Description of
Base Software
ServoOne Application Manual
ServoOne High-performance drives

The modularity of the ServoOne guarantees you optimum integration into the machine
process. Communication with the machine controller can be routed via a high-speed
field bus system or via the distributed programmable Motion Control intelligence in
the drive controller.
ServoOne Application Manual We reserve the right to make technical changes.

The content of this Application Manual was compiled with the greatest care and atten-
ID no.: 1100.22B.1-00 tion, and based on the latest information available to us.
Date: 03/2009 We should nevertheless point out that this document cannot always be updated in line
Applicable as from firmware version: V1.35 with ongoing technical developments in our products.
Information and specifications may be subject to change at any time. Please visit
www.lt-i.com for details of the latest versions.
Overview How do I read the documents?
First be sure to read the Operation Manual, so as to install the device correctly.
Attention: Disregarding the safety notes during installation and operation
Since the drive controller software offers a wide range of functions, including the facil- ! can cause damage to the device and danger to the life of operating person-
nel.
ity to interface different field buses, the documentation is spread across a number of
individual documents. The layout of the sections of this Application Manual and the order of
subject areas in the DriveManager follow the chronological sequence of
Systematics of the ServoOne documentation an initial commissioning procedure.
For basic configuration and operation of the motor you should follow the descriptions in
Document Contents Description the chapters of this Application Manual. If you intend to utilize further internal functions
Operation Manual Device mounting, installation, Hardware of the drive, such as digital or analog I/Os, you should read the corresponding chapters
safety, specification in this documentation. Here you also receive information concerning errors and warn-
Application manuals Function description Base software
ings.
If you use a field bus option board to control a controller, please use the relevant sepa-
CANopen/EtherCAT Description and parameter- Hardware and software of
User Manual setting of the ServoOne on the field bus version rate bus documentation.
CANopen/EtherCAT field bus
Attention: When working with the ServoOne please always use a Drive-
!
system
Manager version DM 5.X.
SERCOS User Manual Description and parameter- Hardware and software of
setting of the ServoOne on the field bus version
SERCOS II field bus system We wish you much pleasure and success working with this device!
PROFIBUS-DPV Description and parameter- Hardware and software of
User Manual setting of the ServoOne on the field bus version
Profibus-DPV field bus system
Parameter Description Short description of all para- Base software

meters
ServoOne Application Manual 3

Order code Pictograms

The order designation provides information on the configuration variant of the servo- To provide clear guidance, this Application Manual uses pictograms. Their meanings are
controller supplied to you. For details on the order code refer to the ServoOne Order set out in the following table. The pictograms always have the same meanings, even
Catalogue. where they are placed without text, such as next to a connection diagram.
Important! Misoperation may result in damage to the drive or
! malfunctions.
Danger from electrical tension! Improper behaviour may endan-

ger human life.
Danger from rotating parts! Drive may start up automatically.
Note: Useful information

Table of contents 4
4.1
Closed-loop control............................................................... 31
Controller basic setting............................................................................................31
4.1.1 Basic setting.................................................................................................34
Overview.......................................................................................... 3 4.2 Torque control.........................................................................................................34

4.2.1 Advanced torque control..............................................................................37
1. Power stage............................................................................. 7 4.3 Speed control..........................................................................................................39
1.1 Setting the power stage parameters........................................................................7 4.3.1 Digital filter...................................................................................................42
4.4 Position control........................................................................................................47
2. Motor....................................................................................... 9
4.4.1 Pre-control of speed, torque/force................................................................50
2.1 PS Motor/Synchronous motor..................................................................................9
4.4.2 Field weakening mode..................................................................................52
2.1.1 Loading the motor data/Electrical data PS....................................................9
4.4.3 Autocommutation........................................................................................59
2.1.2 Motor calculation.........................................................................................10
4.5 Commissioning........................................................................................................61
2.1.3 Motor identification:.....................................................................................11
4.5.1 Autotuning...................................................................................................61
2.2 PS linear motor........................................................................................................12
4.5.2 Test signal generator (TG).............................................................................62
2.3 AS Motor/Asynchronous motor................................................................................13
4.6 Motor test via V/F characteristic...............................................................................65
2.3.2 Saturation characteristic for main inductance...............................................15
4.6.1 Axis error compensation...............................................................................66
2.3.3 Motor protection..........................................................................................16
5. Motion profile........................................................................ 69
3. Encoder.................................................................................. 21
5.1 Scaling ....................................................................................................................69
3.1 SinCos X7 (channel 1)..............................................................................................22
5.1.1 Standard/CiA 402 profile..............................................................................70
3.1.2 Zero pulse evaluation via encoder channel 1.................................................24
5.1.2 SERCOS profile.............................................................................................72
3.1.3 Encoder correction (GPOC)...........................................................................24
5.1.3 “USER” scaling without scaling wizard.........................................................76
3.2 Resolver X6 (channel 2)............................................................................................25
5.1.4 Scaling examples for “USER” scaling:...........................................................76
3.3 Optional encoder module X8 (channel 3).................................................................26
5.2 Basic settings...........................................................................................................78
3.4 Encoder gearing.......................................................................................................27
5.2.1 Control location, control source/Set control and Reference..........................79
3.5 Increment-coded reference marks............................................................................27
5.2.2 Profile...........................................................................................................79
3.6 Pin assignment for X6 and X7/X8.............................................................................29
5.2.3 Profile generator/Interpolated position mode...............................................79
5.2.4 Speed control via IP mode............................................................................81
[Power [ Closed-loop [ Motion [ Inputs/

Stage] [ Motor ] [ Encoder ] control ] profile ] [ Limits ] [ Diagnosis ] [ Field bus ] [ Technology ] [Appendix]
Outputs]
5.2.5 Position control via profile generator (PG mode)...........................................81 7.1.4 Power stage voltage limitation......................................................................120
5.2.6 Configuration of position control via IP mode...............................................82 7.1.5 Power failure reaction...................................................................................120
5.2.7 “Smoothing” and “Velocity offset”..............................................................82 7.1.6 SW limit switch.............................................................................................121
5.3 Stop ramps..............................................................................................................83
5.4 Homing....................................................................................................................85
8. Diagnostics........................................................................... 123
8.1 Error status/Warning status......................................................................................123
5.4.1 Drive-controlled homing...............................................................................85
8.1.1 Error reactions..............................................................................................123
5.5 Jog mode.................................................................................................................93
8.1.2 Error details/Alarm & warning details............................................................124
5.6 Table setpoints/Setpoint table..................................................................................93
8.1.3 Warning messages.......................................................................................131
5.7 Analog channel ISA0x..............................................................................................96
5.7.1 Setpoint setting via analog inputs (IP/PG mode)............................................97
9. Field bus systems.................................................................. 133
5.8 Touch probe.............................................................................................................98
9.1 CANopen.................................................................................................................133
9.2 PROFIBUS-DP...........................................................................................................133
6. Inputs/outputs........................................................................ 99
9.3 SERCOS....................................................................................................................133
6.1 Digital inputs...........................................................................................................99
6.1.1 Settings for digital inputs ISD00-ISD06.........................................................100
10. Technology option................................................................ 135
6.1.2 Hardware enable ISDSH STO (Safe Torque Off).............................................101
10.1 SinCos module.........................................................................................................135
6.1.3 Hardware enable and autostart....................................................................102
6.1.4 Manual drive control via digital inputs..........................................................102 A Appendix...............................................................................137
6.2 Digital outputs.........................................................................................................103 Drive status ....................................................................................................................137
6.3 Analog inputs..........................................................................................................110 Status bits ....................................................................................................................137
6.3.1 Weighting of analog inputs..........................................................................111 State machine....................................................................................................................138
6.4 Analog output (option module)...............................................................................113 Manual mode ..................................................................................................................138
6.5 Motor brake.............................................................................................................114 Monitoring functions.........................................................................................................139
Interpolation method.........................................................................................................140
7. Limits....................................................................................115
7.1 Control limitation.....................................................................................................115
7.1.1 Torque limitation (torque/force limits)...........................................................115
7.1.2 Speed limitation Speed/Velocity...................................................................118
7.1.3 Position limitation.........................................................................................120
1. Power stage Parameter table:
Parameter
P. no.: name/ Designation in DM5 Description
Settings
Power stage switching frequency
P 0302 CON_SwitchFreq Switching frequency
1.1 Setting the power stage parameters setting.
It is advisable to operate the drive

The ServoOne can be operated with different voltages and switching frequencies for the controller with the default setting. In-
power stage. To operate the controller generally, the power stage must be adapted to creasing the switching frequency can
2 kHz - 16 kHz be useful to improve the control dy-
the local voltage conditions. A combination of mains voltage and matching power stage Switching frequency
(device-specific) namics. Temperature-related derating
switching frequency is offered for this. may occur. Switching frequency noise
decreases as the switching frequency
DM5 setup screen rises (audible range < 12 kHz).
P 0307 CON_ VoltageSupply Voltage supply mode Adaptation to the voltage conditions
1x 230 V(0)
3x 230 V(1)
3x 400 V(2)
Voltage supply mode Adjustable voltage range
3x 460 V(3)
3x480 V(4)
Bild 1.1 Power stage screen
Safety low voltage (5)
[ Power stage ]
Mains supply
During initial commissioning the mains voltage setting must first be checked and
adjusted as necessary via parameter P 0307 CON_VoltageSupply. The combination of
voltage value and switching frequency corresponds to a stored power stage data set.
An unsupported voltage value generates the non-resettable error message E-02-08. If
an unknown combination of voltage and switching frequency is selected, the resettable
error E-15-05 is generated.
(For an overview of the error codes refer to the “Diagnostics” section.)
Attention: Any changes to parameters must be saved in the device. The set-
ting is only applied on the device after a power off/on cycle.
If the power stage parameters are changed, the rated currents, overload
values and braking chopper thresholds may also change.
Switching frequency
As another power stage parameter, the switching frequency can also be set via P 0302
CON_SwitchFreq. It is advisable to operate the drive controller with the default setting.
Increasing the switching frequency can be useful to improve the control dynamics.
Temperature-related derating may occur. Switching frequency noise decreases as the
switching frequency rises (audible range < 12 kHz). For an overview of the currents de-
pendent on the switching frequency refer to the Operation Manual.
2. Motor 2.1 PS Motor/Synchronous motor
2.1.1 Loading the motor data/Electrical data PS

To start up a system quickly and easily and attain good overall performance, we The LTi website provides a database with the data sets of all LTi standard motors. Using
recommend using LTi standard motors and encoders from the Servomotors catalogue the right motor data set ensures that
(ID 0814.05B.2-01).
•• the electrical data of the motor are correctly parameterized,
LSH-097-1-30-320 •• the motor protection is correctly set,
2 4
•• the control circuits of the drive are preset,
1 3 5
•• the torque controller is optimally set, so no further adaptations are required for the
initial “turnover” of the motor.
1 LTi synchronous ,Motor series LST or LSH
2 Edge dimmensions of motor [mm] (not flange dimensions)
3 Length
4 Nominal speed (x100) Motor selection
5 DC link voltage of controller [V]
•• Selection of the desired motor data set via Motor selection (possibly LTi DRiVES
GmbH website). All necessary parameters (e.g motor protection, control param-
eters) are read-in.
Figure 2.1 Motor key •• With the motor identification the complete motor data set (name, parameter,
motion mode) is loaded. Preset parameters are overwritten.
Each motors can only be operated if its field model and the control parameters are cor-
rectly set. If a third-party motor is used instead of an LTi motor with a matching data set, •• Save motor data to device.
it is possible to calculate or identify a motor data set. •• The individual items of motor data are displayed in the “Show motor data” win-
The difference between the two methods is that when calculating a motor data set the dow and can be edited manually.
impedances must be taken from the data sheet. The impedances in the case of identifi-
cation are measured automatically.
[ Motor ]
Motor data set
Figure 2.3 Dialogue box for data set calculation
Figure 2.2 Motor data Parameters:

Parameter name/
P. no. Designation in DM5 Function
Settings
2.1.2 Motor calculation P 0490 MOT_IsLinMot -> ROT (0)
Selection if linear or rotatory
Selection for rotary or linear motor
motor data are valid
Click the Calculation button to open the dialogue box for calculation of a data set.
P 0450 MOT_Type -> PSM Motor type Motor type (ASM, PSM)
The motor data relevant to the calculation must be entered manually from the data
P 0451 MOT_Name 1)
Name of motor parameter set Freely selectable motor name
sheet (see figure 2.3).
P 0455 MOT_FNom 2) Motor rated frequency Rated frequency of the motor
Motor rated voltage
P 0456 MOT_VNom 2) Rated voltage of the motor
(line voltage)
P 0457 MOT_CNom 2) Motor rated current Rated current of the motor
P 0458 MOT_SNom Motor rated speed Rated speed
P 0459 MOT_PNom 1) Motor rated power Rated power output
P 0460 MOT_TNom Motor rated torque Rated torque
P 0461 MOT_J 2) Motor inertia Mass inertia of the motor
Parameter name/ The following values are calculated:
Settings
1. Flux settings (including for torque constant)
P 0463 MOT_PolePairs Motor number of pole pairs Number of pole pairs
2. Control settings for PI current controller: The current controller is dimensioned
P 0470 MOT_Rstat 2) Motor stator resistance Stator resistance
dependent on the switching frequency setting.
P 0471 MOT_Lsig 2) Motor stray/stator inductance Stator inductance
SCD_SetMotor Determination of default mo-
3. PI-speed controller and position controller gain: In this, a moderately rigid mecha-
P 1530 Start of calculation nism and a 1:1 moment of inertia adjustment from the load to the motor are as-
Control tor control settings
1)
The parameters are intended for information only, but should be set for a complete motor sumed (if total moment of inertia = 0). If the total mass moment is not equal to 0,
data set. the calculation wizard is used to calculate the speed controller with the total mass
2)
The parameters are used for calculation of controller settings and have a direct influence inertia (P 1515 = 100 %).
on the behaviour of the servocontroller. On each change of parameter P 1515 the speed and position controller is recalcu-
lated.
If the mass moment of inertia of the motor P 0461 is not known, a moment of inertia cor- 4. V/F characteristic
responding to a standard motor with the same power output and number of pole pairs is
assumed. Click the “Start calculation” button to start the calculation.
The progress of the calculation can be observed on the DM5 View > Messages menu by
way of the Message window.
Attention: All previous speed and position control parameters are overwritten.
2.1.3 Motor identification:

!
•• Current controller tuning: Current controller optimization
•• Measurement of P 0476 Rotor resistance, P 0471 Stray (leakage) inductance for

operation below rated current
•• Measurement of the saturation characteristic, table values of the stator inductance

P 0472. Measurements are taken up to 4 times rated current, provided the power
stage current permits it at standstill. If it does not, measurements are taken with a
correspondingly lower current.
•• Calculation of operating point: via P 0462 Rated flux, P 0340 Magnetizing current
•• Calculation of: current, speed and position control parameters
[ Motor ]
2.2 PS Linear motor Parameter
Parameter name/
To make the calculations based on the characteristic quantities for a linear motor, P 0490 P. no. Designation in DM5 Function
Settings
must be = LIN(1). The parameter automatically sets the number of pole pairs of the mo-
Selection if linear or rota-
tor to P 0463 = 1. Thus, one pole pitch division from north-to-north corresponds to a P 0490 MOT_IsLinMot -> LIN (1)
tory motor data are valid
Selection for rotary or linear motor
virtual revolution P 0492.
P 0450 MOT_Type -> PSM Motor type Motor type
Linear PS motor setting P 0451 MOT_Name 1)

Name of motor
parameter set
Motor name
P 0457 MOT_CNom 2) Motor rated current Rated current

Width of one motor
P 0492 MOT_MagnetPitch 2) Pole pitch (NN)
pole (NN)
Maximum (nominal)
P 0493 MOT_SpeedMax 2) Maximum velocity
motor speed
P 0494 MOT_ForceNom 2) Nominal force of motor Rated force
P 0496 MOT_MassMotor 2)
Mass of motor slide Mass of motor carriage
Mass of total mass,
P 0497 MOT_MassSum 2)
Total mass to be moved
moved by the motor
P 0498 MOT_EncoderPeriod 2) Period of line signals Encoder signal period
Motor stray/stator
P 0470 MOT_Lsig 2) Primary section inductance
inductance
1)
The parameters are intended for information only, but should be set for a complete motor
data set.
2)
The parameters are used for calculation of controller settings and have a direct influence
on the behaviour of the servocontroller.
The following values are calculated:
1. Translation of the linear nominal quantities into virtual rotary nominal quantities.
Figure 2.4 PS Linear motor screen 2. Default values for autocommutation.
3. Encoder lines per virtual revolution.
4. Flux settings (including for torque constant).
5. Control settings for PI current controller: The current controller is dimensioned
dependent on the switching frequency setting.
6. PI-speed controller and position controller gain: In this, a moderately rigid mecha-
nism and a 1:1 moment of inertia adjustment from the load to the motor are
assumed (if total moment of inertia = 0). If the total mass moment is not equal to
0, the calculation wizard is used to calculate the speed controller with the total
mass inertia (P 1515 = 100 %). On each change of parameter P 1515 the speed and
position controller is recalculated.
7. The default setting of the speed tracking error monitor is 50 %.
8. V/F characteristic.
2.3 AS Motor/Asynchronous motor
2.3.1 Electrical data/Electrical data AS

For commissioning of third-party motors, the rated data and characteristic variables of Figure 2.5 Motor identification
the motor must be known and be entered manually in the relevant dialogue box. Click
the Identification button to calculate the basic setting for the control based on those
values. The impedances (stator and stray impedances) are obtained by measurement.
If the identification is successful, the torque control is adequately configured. An adjust-

ment to the machine mechanism and to the motion profile is also required.
[ Motor ]
Parameter name/
Settings
P 0460 MOT_TNom Motor rated torque Rated torque
P 0461 MOT_J 2 Motor inertia Mass inertia of the motor
P 0471 MOT_Lsig 2 Motor stray/stator inductance Stator inductance
Motor main inductance, cor-
P 0478 MOT_LmagNom Motor main inductance responding to rated magnetizing
current P 0340
SCD_SetMotor Determination of default motor
P 1530 Start of calculation
Control control settings
1)
The parameters are intended for information only, but should be set for a complete motor
data set.
2)
The parameters are used for calculation of controller settings, but have no direct influence
on the behaviour of the servocontroller. All other parameters have a direct effect.
If the mass moment of inertia of the motor P 0461 MOT_J is not known, a moment of
inertia for a standard motor is calculated from the power output and number of pole
pairs. The progress of the identification can be observed on the DM5 View > Messages
Figure 2.6 Motor parameters menu by way of the Message window.
For asynchronous motors the following parameters are stored in the dialogue box. In the
Parameter Editor motor data can be modified without using dialogue boxes.
Identification sequence:
Parameter name/
P. no. Designation in DM5 Function •• Current controller tuning
Settings
P 0490 MOT_IsLinMot -> ROT (0)

Selection if linear or rotatory
Selection for rotary or linear motor •• Measurement of: P 0470 Stator resistance, P 0476 Rotor resistance, P 0471 Stray
motor data are valid
(leakage) inductance
P 0450 MOT_Type -> PSM Motor type Motor type
P 0451 MOT_Name 1) Name of motor parameter set Freely selectable motor name •• Max. effective current Idmax P 0474
P 0452 MOT_CosPhi Motor rated cos(phi) Parameter informative only •• Calculation of operating point: P 0462 Rated flux, P 0340 of magnetizing current
P 0455 MOT_FNom 2) Motor rated frequency Rated frequency of the motor
Motor rated voltage
•• Calculation of: current, speed and position control
P 0456 MOT_VNom 2) Rated voltage of the motor
(line voltage)
P 0457 MOT_CNom 2 Motor rated current Rated current of the motor
P 0458 MOT_SNom 2 Motor rated speed Rated speed
P 0459 MOT_PNom 1) Motor rated power Rated speed
2.3.2 Saturation characteristic for main inductance
Attention: All existing motor parameters are overwritten.
! The main inductance is frequently determined inaccurately, in particular for higher-pow-
ered motors. An improvement of this value can be achieved at high speed, with no load
on the machine if possible, by way of a measurement process.
Calculation of motor data from rating plate data Procedure:
Input of rated data as above. Parameter P 0452 MOT_CosPhi must additionally be en- –– Run motor at 50 - 90 % of rated speed (e.g. via Manual mode)
tered. By setting P 1530 SCD_SetMotorControl = 2 the motor parameters of the asyn- –– Tuning is started when P 1531 Tune Lmag characteristics = 4
chronous machine are calculated. Parameters calculated are P 0470 MOT_Rstat,
Sequence:
P 0471 MOT_Lsig, the main inductance in the basic setting range P 0473 MOT_LmagTab,
P 0474 MOT_LmagldMax and the flux P 0462 MOT_FluxNom, P 0340 CON_FM_Imag. –– The main inductance is determined with varying magnetization.
–– The results are written to parameters P 0473 MOT_LmagTab,
P 0474 MOT_LmagIdMax.
Identification sequence: The operating point is recalculated.
•• Calculation of: P 0470 Stator resistance, P 0476 Rotor resistance, P 0471 Stray (leak-
age) inductance
•• Calculation of main inductance in the basic setting range P 0473, P 0474
•• Calculation of operating point: P 0462 Rated flux, P 0340 Quadratic mean of mag-
netizing current
•• Calculation of: current, speed and position control
[ Motor ]
2.3.3 Motor protection •• P 0731(0) If thermal protection is implemented by way of a KTY, the trigger tem-
perature is set via this parameter.
The I2xt monitor protects the motor against overheating throughout the speed range.
This is especially important for internally cooled motors. When IEC asynchronous stan- Parameter
dard motors (ASM) are operated for a prolonged period of time at low speed, the cool- name/ Settings
ing provided by the fan and the housing is insufficient. Consequently, for an internally
cooled ASM a reduction of the maximum permissible continuous current dependent on MON_MotorTem- Max. motor temperatur, switch
P 0731 Shut-off threshold for KTY
Max_ off value
the rotation frequency is required. When set correctly, the I2xt monitor replaces a motor
circuit-breaker. The characteristic can be adapted to the operating conditions by way of 0 0-1000 - Factory setting: 100 %
the interpolation points.
P 0732 MON_MotorPTC Select motor temperature sensor Selection of sensor type
(0) OFF(0) No sensor No evaluation

Temperature monitor setting KTY(1) KTY84-130 sensor KTY84-130
The device can evaluate different temperature sensors. With P 0732 the sensor fitted in PTC to DIN 44081 with short-
PTC(2) PTC with short circuit proof
the motor and the wiring variant are set (sensor cable routed in resolver or separate). In circuit monitoring
an evaluation via KTY, the shut-off threshold of the motor temperature can additionally
Switch Klixon
be set. TSS(3) Klixon switch
PTC to DIN 44081 without short-

PTC1(4) PTC1 without short circuit proof
circuit monitoring
Not used(5)
NTC(6) NTC sensor(6) Only on enquiry (adapter)
(1) contact Sensor connection Connection variant
Connection of the sensor to

X5(0) Motor temperature connector X5
terminal X5
Figure 2.7 Temperature monitor setting Sensor connection is routed in

X6(1) Via Resolver connector X6
resolver cable
P 0733 MON_MotorI2t Motor I2t protection parameters Setting of I2t characteristic
(0) Inom [%](0) Rated current FNom Rated current of the motor
Parameter for temperature monitor setting:
First current interpolation point of
The values refer to the rated motor current P 0457 MOT_CNom. motor protection characteristic:
(1) I 0 [%](1) Rated current (0 Hz)
Maximum permissible standstill
•• P 0732(0) selects the matching motor temperature sensor current
•• P 0732(1) selects the matching wiring variant

Parameter
name/ Settings
Second current interpolation

point of motor protection char-
(2) I1 [%](2) Rated current (f1)
acteristic referred to maximum
characteristic current
First frequency interpolation
(3) f1 [Hz](3) Interpolation point-only ASM point of motor protection char-
acteristic
(4) fN / F(f) [Hz] (4) Nominal frequency Rated frequency
Max. overload current referred to

(5) Imax [%](5) Motor maximum currrent
rated motor current
(6) tmax [sec](6) Motor maximum currrent Overload time tmax at Imax
Figure 2.8 I2xt protection ASM

Characteristic setting for an asynchronous motor (ASM)
When internally cooled ASMs are operated for a prolonged period of time at low speed, It is necessary to adapt the I2t characteristic because the factory settings mostly do not
the cooling provided by the fan and the housing is insufficient. Consequently, for an exactly map the current motor. The difference between factory setting and the charac-
internally cooled ASM a reduction of the maximum permissible continuous current de- teristic configured above is shown in the following illustration.
pendent on the rotation frequency is required.
Motor protection characteristic setting

To protect the motor, as a rule of thumb the motor protection characteristic and opera-
tion of the IEC asynchronous motor should conform to the following limit values:
[ Motor ]
If the integrator exceeds its limit value, the error E-09-01 is triggered. The current value
Defaultsetting I [A] of the integrator is indicated in parameter P 0701 (0).
Defaultsetting
Sub Id 00 IN
I [A]
Sub Id 02 I1
Sub Id 00 Note: The limits are specified in the servocontroller as percentages of the
rated quantities (e.g. current, torque, speed,...), so that following calculation
logical default settings are available. The default settings refer to 100% of
Sub Id 01 I0
the rated values and the parameters must thus be adapted to application and
0
motor.
f1 fN f [Hz]
Sub Id 03 Sub Id 04
f [Hz]
fN
Example: Sub Id 05 = 150% x In
Sub Id 00 Sub Id 06 = für 120s
Figure 2.9 Figure left: Constant characteristic / Figure right: Characteristic with interpolation points
Characteristic setting for a permanently excited synchronous motor (PSM)
A synchronous motor by design has lower loss than the ASMs (because permanent mag-
nets replace the magnetizing current). It is normally not internally cooled, but discharges
Frequency (Hz) Rated motor current (%) its heat loss by internal convection. For that reason it has a different characteristic, which
typically looks like this:
0 30 (I 0)
25 (f1) 80 (I1)
50 (fN) 100 (IN)
The shut-off point to VDE 0530 for IEC asynchronous standard motors is
150 % x IN for 120 s.
For servomotors, it is advisable to set a constant characteristic. The switch-off point

defines the permissible current-time area up to switching off.
Note: For servomotors, refer to the motor manufacturers’ specifications.

Defaultsetting
I [A]
I0
I [A]
Sub Id 00
IN / I1
f [Hz]
fN
Sub Id 04 fN / f 1 f [Hz]
Figure 2.11 Characteristic of PSM
If the preset integrator exceeds its limit value, the error E-09-01 is triggered (see “Diag-
nostics” section). The current value of the integrator is indicated in parameter P 0701 (1).
Figure 2.10 I2xt protection PSM
It is necessary to adapt the I2xt characteristic because the factory settings mostly do not
exactly map the current motor. The difference between factory setting and the charac-
teristic configured above is shown in the following illustration.
[ Motor ]
3. Encoder Interfaces between encoder and control
OFF(0) No encoder selected

P 0520
Ch1(1) SinCos X7
A range of encoder variants are available to measure the position and speed. The en- Motor-
commutation
coder interfaces can be flexibly selected for a specific application. Singleturn-Info Ch2(2) Resolver X6
Ch3(3) Option X8
Selection of encoder channels (CH1, CH2, CH3)
Up to three encoder channels can be evaluated at a time. The evaluation is made via
OFF(0) No encoder selected
connectors X6 and X7. They are part of the controller’s standard on-board configuration.
Ch1(1) SinCos X7 P 0521
A third channel X8 can be ordered as an optional encoder. Speed Control
Feedback
Speed Info Ch2(2) Resolver X6
The dialogue box (figure 3.1) is used to set the encoders for torque, speed and the position.
Ch3(3) Option X8
The “Encoder offset/Detect” option accesses a wizard to define the current encoder
offset. For the definition the motor is run in “Current control” mode. For a correct defi-
nition it is necessary for the motor to be able to align itself freely. External load torques OFF(0) No encoder selected
will corrupt the result. P 0522
Ch1(1) SinCos X7 Position Control
The motor is supplied with a voltage so that the motor shaft can align itself. Attention: Absolute Position Feedback
Ch2(2) Resolver X6
The motor shaft must be able to move. A connected brake is automatically vented, if
Ch3(3) Option X8
connected to the brake output. The process takes about 10 seconds. Then the current
value of the offset is entered in the display field and the original parameter setting is
restored. Figure 3.1 Interface configuration between encoder channels and control
[ Encoder ]
3.1 SinCos X7 (channel 1)

Encoder channel 1 is used for evaluation of high-resolution encoders.
The signal resolution is 12-bit over one track signal period.
Figure 3.2 Dialogue box for setting the encoder channel
Assignment of encoder information to control
Parameter name/
P. no. Description in DM5 Function
Settings
Selection of encoder channel for commuta-

Encoder: Channel Select for
P 0520 ENC_MCon tion angle (feedback signal for field oriented
Motor Commutation
control)
Figure 3.3 Dialogue box for setting channel 1
Encoder: Channel Select for Selection of encoder channel for speed con-
P 0521 ENC_SCon
Speed Control figuration (feedback signal for speed control)
Selection of encoder channel for position

Encoder: Channel Select for
P 0522 ENC_PCon information (feedback signal for position
Position Control
control)
Note: When an encoder channel is selected and an encoder physically con-

nected to the controller, the wire break detector is automatically activated.
OFF Parameter
P 0540-P 0545 0 P. no. Designation in DM5 Function
name/ Settings
SSI 1
P 0540 Purely incremental encoder without absolute
(0) OFF “
Absolute EnDat2.1 2 value information
Position
(1) SSI “ Serial communication to Heidenhain SSI protocol
Interface Hiperface
P 0505 3
(2) EnDat2.1 “ To Heidenhain EnDat 2.1 protocol
Positionvalue
Encoder (3) Hiperface “ To Stegmann-Hiperface protocol
Channel 1 OFF
SinCos (X7) P 0549 P 0542 0 Encoder Channel 1: Index
P 0541 ENC_CH1_Np Zero pulse evaluation
Analog Pulse Test-Mode
Signal SinCos 1 P 0510, P 0511
correction Vibrations P 0505 Control
elektronic gear Setting of the incremental number of lines. For
Encoder Channel 1:
encoders with EnDat2.1 and Hiperface protocols
P 0542 ENC_CH1_Lines Number of Lines
the lines per revolution are read out of the en-
SinCos-Encoder
coder and automatically parameterized1).
Figure 3.4 Encoder configuration based on example of channel 1
Encoder Channel 1:
P 0543 ENC_CH1_MultiT Multiturn: Bit width setting
Number of MultiTurn Bits
Overview of parameters for channel 1
Encoder Channel 1: Num-
P 0544 ENC_CH1_SingleT Singleturn: Bit width setting
ber of SingleTurn Bits
Parameter
name/ Settings Encoder Channel 1: Code
P 0545 ENC_CH1_Code Selection of coding: Gray/binary
Select
P 0505 ENC_CH1_Sel Encoder channel 1: Select Configuration of the incremental interface
1)
For EnDat2.1 and Hiperface, the single/multiturn, coding and lines per revolution information is automatically
(0) OFF “ No evaluation read from the encoder.
High-resolution SinCos encoder with fine
(1) SinCos “
interpolation
(2) SSI “ Purely digital encoder via serial communication
Setting of the incremental number of lines. For

Encoder channel 1:
encoders with EnDat2.1 and Hiperface protocols
P 0542 ENC_CH1_Lines Number of Lines
the lines per revolution are read out of the en-
SinCos-Encoder
coder and automatically parameterized1).
1 - 65535
Definition of protocol type: When starting the de-

Encoder channel 1: vice and after changing the encoder parameters,
P 0540 ENC_CH1_Abs
Absolute Position Interface the absolute position of an incremental measuring
system is read out via a digital interface.
[ Encoder ]
3.1.1 Zero pulse evaluation via encoder channel 1 Test mode for zero pulse detection
The zero pulse evaluation via encoder channel CH1 is only set “active” for SinCos encod- Test mode is activated by parameter P 0571 ENC_CH3_Np =1. Encoder initialization is
ers with no absolute value interface. triggered manually by P 0149 MPRO_DRVCOM_Init =1. Homing runs can also be carried
out during test mode.
Setting:
P 0505 ENC_CH1_Sel (setting “SinCos encoder”) When homing is completed, or if an error has occurred, detection is aborted even
P 0540 ENC_CH1_Abs (setting “OFF”: Incremental encoder with zero pulse): though parameter P 0541 = 1. To reactivate test mode, parameter P 0541 must be reset
from 0 to 1 and re-initialized.
•• Sin/Cos encoders only ever output a zero pulse when no absolute value interface is
present. To view the zero pulse with the scope function, the variable CH1-np-2 (index pulse length
1 ms) can be recorded on the digital scope.
•• TTL encoders always have a zero pulse.
•• Resolvers output no zero pulse. ATTENTIONG: The pulse width of the scope signal does not match the pulse
! width of the actual zero pulse. The representation on the scope appears
wider (1 ms when using variable CH1-np-2), enabling better detection of the
Zero pulse evaluation only works by selecting the intended homing types (see “Homing”
in “Motion profile” section). zero pulse. The decisive factor here is the rising edge of the scope signal.
3.1.2 Encoder correction (GPOC)

For each channel the GPOC (Gain Phase Offset Correction) method can be activated for
the analog track signals. This enables the mean systematic gain, phase and offset errors
to be detected and corrected. GPOC weights the amplitude of the complex pointer
described by the track signals by special correlation methods. The dominant errors can
thereby be determined very precisely, with no interference from other encoder errors,
and then corrected. There are two GPOC variants to use. Track signal correction can be
used with stored values (CORR) or with online tracked values (ADAPT) . Where multiple
encoders are in use, it is advisable to apply the method for the encoder used to deter-
mine the velocity signal.
Parameters for GPOC encoder correction based on the example of channel 1: –– Switch to “ADAPT” during operation and wait about 1-3 minutes for the
compensation algorithms to reach their steady state. The speed ripple should
Parameter decrease after about 1 minute (observed with scope).
P. no. name/ Designation in DM5 Function
–– Apply setting and save secure against mains power failure.
Settings
–– Procedure 1: Access the stored values with “CORR” or
P 0549 Encoder Channel 1/2: Signal
ENC_CH1/2_Corr Selection of correction method
P 0561 Correction –– Procedure 2: Use current correction values with “ADAPT”
0 OFF No reaction No method –– With the “Reset” setting the values are restored to their factory defaults.
1 CORR Correction with saved values Activate correction with stored values
2 ADAPT Auto correction Autocorrection Note: The setting made with “ADAPT” applies only to the motor with which
the function was executed. If the motor is replaced by another of the same
3 RESET Reset correction values Reset values
type, this method must be applied again.
P 0550, ENC_CH1/ Encoder Channel 1/2:
Signal correction
P 0562 2_CorrVal Signal Correction Values
0 Offset A Offset, track A Defined offset of track signal A For channel 3 encoder correction as from software version V 2.0 is configured.
1 Offset B Offset, track B Defined offset of track signal B
2 Gain A Gain track A-SinCos

Determined gain correction factor for track
signal A
3.2 Resolver X6 (channel 2)
Defined gain correction factor for track Channel 2 evaluates a resolver by default.
3 Gain B Gain track B-sin
signal B
Functions of encoder channel 2: A 12-bit fine interpolation over one track signal period
4 Phase phase
Calculated phase correction between track takes place. The pole pairs are set via P 0560 ENC_CH2_Lines.
signals A and B
An additional function is shut-off of the excitation for evaluation of a Hall sensor
(for more information consult the LTi Helpline).
Encoder correction::
–– Open the open-loop control window and set speed-controlled mode.
–– Set the optimization speed
Resolver: approx. 1000 to 3000 rpm
Optical encoder: approx. 1 to 5 rpm
–– Adjust scope: Plot actual speed value
[ Encoder ]
3.3 Optional encoder module X8 (channel 3)

With the channel 3 encoder module option the same encoder types can be evaluated as
in channel 1 (SinCos/TTL/SSI)
The ServoOne EnDat2.1/SinCos module specification details encoder channel 3.
Note: When using two identical encoders, the speed encoder should be con-
nected to channel 1 and the position encoder to channel 3 in order to obtain
optimum controller performance.
Figure 3.5 Dialogue box for setting channel 2
Parameter name/
P. no. Description in DM5 Function
Settings
P 0564 ENC_CH2_Info Encoder information ch2 Encoder name
P 0506 ENC_CH2_Sel Encoder Channel 2: Select Interface configuration
OFF (0) No evaluation
RES (1) Resolver evaluation
P 0512 ENC_CH2_Num ENC CH2: Gear Numerator Numerator of transmission ratio
P 0513 ENC_CH2_Denom ENC_CH2: Gear Denominator Denominator of transmission ratio
Encoder Channel 2: Number of Parameterization of number of pole

P 0560 ENC_CH2_Lines
Pole Pairs pairs of resolver
The GPOC encoder correction func-

P 0561 ECC_CH2_Corr ENC_CH2: Signal correction type tion (see section 3.2.2) is also avail-
able to channel 2.
3.4 Encoder gearing To determine reference positions over the shortest possible distance, encoders with
increment-coded reference marks are supported (e.g. HEIDENHAIN ROD 280C). The ref-
erence mark track contains multiple reference marks with defined increment differences.
For channels 1 and 3 one gear ratio each can be set for the encoder:
The tracking electronics determines the absolute reference when two adjacent reference
•• Adaptation of a load-side encoder to the motor shaft marks are passed over – that is to say, after just a few degrees of rotation.
•• Inversion of the encoder information
For encoder channel 2 it is assumed that the resolver is always mounted on the motor
shaft. The adjustment range is therefore limited to 1 or -1, i.e the encoder signal can only Rotary measurement system:
be inverted.
Rotary encoder (figure 3.6):
Parameters of encoder gearing:
Basic increment, reference measure A: (small increment, e.g. 1000)
Parameter name/ corresponding to parameter P 0610 ENC_CH1_Nominal increment A
Settings
Basic increment, reference measure B: (large increment, e.g. 1001)
P 0510 ENC_CH1_Num Encoder Channel 1: Gear Nominator Denominator in channel 1 corresponding to parameter P 0611 ENC_CH1_Nominal Increment B
P 0511 ENC_CH1_Denom Encoder Channel 1: Gear Denominator Nominator in channel 1 The number of lines is entered in parameter P 0542 ENC_CH1_Lines.
P 0512 ENC_CH2_Num Encoder Channel 2: Gear Nominator Denominator in channel 2 A sector increment difference of +1 and +2 is supported.
P 0513 ENC_CH2_Denom Encoder Channel 2: Gear Denominator Nominator in channel 2 One mechanical revolution is precisely one whole multiple of the basic increment A.
P 0514 ENC_CH3_Num Encoder Channel 3: Gear Nominator Denominator in channel 3
P 0515 ENC_CH3_Denom Encoder Channel 3: Gear Denominator Nominator in channel 3
3.5 Increment-coded reference marks

In the case of relative encoders with increment-coded reference marks, multiple refer-
ence marks are distributed evenly across the entire travel distance. The absolute position
information, relative to a specific zero point of the measurement system, is determined
by counting the individual measuring increments between two reference marks.
The absolute position of the scale defined by the reference mark is assigned to precisely
one measuring increment. So before an absolute reference can be created or the last
selected reference point found, the reference marks must be passed over.
[ Encoder ]
Linear measurement system:

Linear System
Nom. in
B
crem
. incr
ement
ent
A Nominal-Increment
Nom of Referencemarks
P 0572 ENC_CH3_Number of lines
tr.
5 03 S 502 Referencemarks
Str.
1000 S
tr.
0 Str.
100 Zeroposition 501 502 503
.
10
tr
1001 1001
4S
50
00
50
St
1000 1000
1S
r.
.
Str
tr.
00
10
„small distance“ „large distance“

P 0630 ENC_CH3_Nominal Increment A P 0631 ENC_CH3_Nominal Increment B
Basic Increment Basic Increment
Reference Measure A Reference Measure B
Figure 3.6 Schematic view of circular graduations with increment-coded reference marks
Figure 3.7 Schematic view of a linear scale with increment-coded reference marks
Example of a rotary measurement system

Basic increment G Basic increment G
Number of lines Number of refer-
Nominal Increment A Nominal Increment B
P 0542 ence marks
P 0610 P 0611
18 x 1000 lines 18 basic marks Reference measure A = Reference measure B
+ 18 coded 1000 lines, corre- 1001 lines
marks = ∑36 sponding to 20°
3.6 Pin assignment for X6 and X7/X8 X7 / PIN SINCOS
Absolute encoder Absolute encoder
SSI/ EnDat 2.1 HIPERFACE©
X6 / PIN Assignment Description 1 A- A- REFCOS
2 A+ A+ + COS
1 Sin + (S2) Analog differential input track A
X6 2 Refsin (S4) Analog differential input track A
+ 5 V / max 150 mA + 5 V / max 150 mA Jumper between pins
7 and 12 produces
3
3 Cos + (S1) Analog differential input track B a voltage of 12V /
100 mA on X7/3
4 - Internally connected to pin 7
Resolver
4 - Data + Data +
X7/X8
1
6
2
5 ϑ+ (PTC, KTY, Klixon)

5 - Data - Data -
7
3
6 Ref + (R1) Analog excitation at (16 KHz, 8-11 V AC)

4
6 B- B- REFSIN
9
5
Geber/ SSI
11
7 Ref - (R2) Analog excitation
6
7 - - Us-Switch
12
2
13
3
8 Refcos (S3) Analog differential input track B
8
8 GND GND GND
14
4
15
5
10
9 ϑ- (PTC, KTY, Klixon) 9 R- - -
Figure 3.8 Pin assignment, resolver on X6 10 R+ - -
11 B+ B+ + SIN
12 Sense + Sense + Us-Switch
13 Sense - Sense - -
14 - CLK + -
15 - CLK - -
Figure 3.9 Pin assignment, connector X7
Attention: A jumper between X7/7 and 12 delivers a voltage rise up to

! 11.8 V on X7/3 (only for use of a Hiperface encoder).
[ Encoder ]
Attention: Encoders with a voltage supply of 5 V +5% must have a separate

! sensor cable connection. The sensor cables are required to measure a supply
voltage drop on the encoder cable. Only use of the sensor cables ensures
that the encoder is supplied with the correct voltage. The sensor cables must
always be connected!
If a SinCos encoder delivers no sense signals, connect pins 12 and 13
(+ / -Sense) to pins 3 and 8 (+ 5 V/GND) on the encoder cable end.
4. Closed-loop control
4.1 Control basic setting

A servocontroller works on the principle of field-oriented regulation. In the motor the
current is injected where the magnetic flux is at the maximum. This produces a maxi-
mum torque on the motor shaft or on the carriage of a linear motor.
Specified properties:
•• Constant speed (synchronism)
•• Positioning accuracy (absolute and repeatable)
•• High dynamics
•• Constant torque
•• Disturbance adjustment
When using a LTi DRiVES standard motor data set, the control parameters are preset for
the specific motor model. If using third-party motors, a manual setting must be made
for den drive by way of the motor identification or by calculation in order to get the ap-
propriate control parameters for the motor model (see “Motor” section).
The individual controllers for position, speed and current are connected in series (see
figure 4.1). The matching control loops are selected by the control mode.
[ Closed-loop control ]
Positioncontroll with feed forward
P 0376
Motion Profile
P 0372 P 0375 P0386 +

+
position isq_FF Speedcontrol
nref_FF P 0322 eps_RS isq Currentcontrol
P 0321 P 0310 P 0302
P 0374 P 0360 P 0320 P 1516
nref + isqref P 0329 P 0311
pos_delta isqref_nreg + M
+ - - - 3~
P 0328 speed-/
position- anti cogging dig. Filter fw isq current-
controller velocity- controller
controller P 0520
posact nact
P 0351 isu, isv, isw
P 0521
E1
dig. Filter bw 0-OFF GPOC
1-E1 SinCos E2
P 0522
2-E2 Resolver
3-E3 SinCos2 E3
correction table
spindle error
branch of Feedback
Figure 4.1 Control structure

The basic control settings are made on the Control screen.
Note: Synchronous and asynchronous machines and also synchronous linear
motors (ironless/iron-core) can be controlled.
Owing to the cascade structure of the control loops, it is necessary to perform the opti-
mization “from the inside outwards“.
Sequence for optimization of controllers:
1. Current control loop: For LTI motors with motor encoder optimization of the cur-
rent controller is not needed because the corresponding parameter values are
transferred when the motor data set is loaded. For linear motors and third-party
motors the motor must be identified (section 3, “Motor”).
2. Speed controller: The settings of the speed controller with the associated filters are
dependent, firstly, on the motor parameters (mass moment of inertia and torque/
force constant) and, secondly, on mechanical factors (load inertia/mass, friction,
rigidity of the connection,...). Consequently, a manual or automatic optimization is
often required.
3. Position control loop: The position control loop is dependent on the dynamics of
the underlying speed controller, on the reference type and on the jerk, acceleration
and interpolation methods.
Figure 4.2 Control screen for selection of the control parameters
Parameter P 0300 CON_CFG_Con specifies the control mode with which the drive is to be
controlled. This parameter takes effect online. Uncontrolled online switching can cause
an extreme jerk, a very high speed or an overcurrent, which may cause damage to the
system.
Selection of control mode:
–– Current control TCON(1)
–– Speed control SCON(2)
–– Position control PCON(3)
4.1.1 Basic settings For this reason the speed controller still needs to be adapted to the mass moment of
inertia and rigidity of the mechanism. The adjustment described next should result in a
The “Basic settings” button opens the dialogue box for control-related basic settings. good control response with the drive.
The basic settings include:
•• Mass moment of inertia of system Determination of motor mass inertia (see also 4.5):
•• Rigidity, speed controller scaling Set control mode to speed control (P 0300 = SCON)
•• Current/speed/position control gain factors Open Control/Commissioning/Autotuning subject area.
Set parameter P 1517 SCD_AT_JsumCon to Start(2) = start test signal and calculation.
•• Speed filter
This calculates the mass inertia. When the calculation has been successfully made, the
value for the mass inertia on the Motor screen must change.
Adaptation to the rigidity of the mechanism

Adaptation to the rigidity of the mechanism can be effected after calculating the mass
moment of inertia P 1516 by writing parameter P 1515 for the rigidity of the control.
By writing a percentage value the rigidity, and thus also the phase reserve of the speed
control loop, is influenced.
Based on the rigidity set via P 1515, the mass moment of inertia and the filter time con-
stant for the speed feedback P 0351, the PI speed controller
P 0320, P 0321 and the P position controller P 0360 are set. At the same time, the ob-
server for a single-mass system is parameterized but not yet activated. Speed feedback
still takes place via the delaying digital filter.
4.2 Current control/Torque controller

By optimizing the current controller it can be adapted to the special requirements of the
Figure 4.3 Basic setting dialogue box
drive task. For dynamic applications it is highly recommended to design the current con-
troller as dynamically as possible with a short rise time. For noise-sensitive applications, a
less dynamic setting with a longer rise time is recommended.
Adaptation to the system mechanism
In the standard motor data set the speed controller is preset for a moderately stiff
mechanism. For load adaptation the coupled, reduced mass moment of inertia of the
system is equal to the motor‘s moment of inertia (load to motor ratio 1:1).
Step response to rated current:
Figure 4.5 Step up to rated current
The faster the actual value approaches the setpoint (reference), the more dynamic is the
Figure 4.4 Dialogue box for the current control loop controller setting. During settling, the overshoot of the actual value should be no more
than 15 % of the reference setpoint.
The current controller can also be set by way of the test signal generator. This controller
Current controller optimization optimization method is described in more detail in section 4.5, Commissioning.
In order to optimize the current control loop, a stepped current reference “Step1” is Detent torque compensation/anti cogging
injected for the time “Time1”. In the process, the motion of the rotor results in a current
output value “isd”. With “Step2” a current reference step response is preset for the time In order to compensate for detent torques (caused by non-sinusoidal EM curves), the
“Time2”. This should correspond to the rated current of the motor. The “Start Test Sig- torque-forming q-current is entered in a table and “taught-in” for one pole pitch divi-
nal” button opens a dialogue box containing safety instruction before the step response sion.
can be generated. The necessary setting of the scope function is made automatically by After elimination of the offsets (compensated table), the q-current is inverted and fed-in
the wizard. The time base can be set manually. as the feed forward control value of the control (see figure 4.6). The compensation func-
tion can be described by means of compensating currents (q-current, scope signal isqref)
dependent on a position (electrical angle, scope signal epsrs). A “teach-in” run imports
the values into a table with 250 interpolation points. Parameter P 0382 CON_TCog-
gComp activates the function (ON/OFF).
Teach anti cogging

Teaching is controlled via parameter P 0385 CON_TCoggTeachCon. The teach procedure
P 0380 P 0383
to determine the detent torque characteristic is as follows.
Run the motor at low speed (feed frequency < 0.1 Hz) in speed control mode, then write Compensation
Teach Tab.
the control word P 0385 to the value TeachTab1(1). The characteristic of the q-current current Tab. Offset
0 0
is averaged by a special filter and recorded in the table values of parameter P 0383
CON_TCoggTeach1. Each table value should have been written at least once. The motor 0 1 0 1
Teaching ON/OFF
should thus have moved through several pole pitch divisions during teach mode. Then Compensation ON/OFF
the control word P 0385 is written to the value CalCorrTab(3). The recorded currents are P 0382 P 0385
filtered, a calculated offset is extracted and the result is written to the compensation
table of parameter P 0380 CON_TCoggAddTab. dig. Filter isqref
Position isqref_nreg + Current
Controller Controller
Compensation Speed
P 0382 CON_TCoggComp (ON/OFF)enables the compensation table. The interpolation Controler
between the table values is linear. The characteristic is not saved automatically; the SAVE Figure 4.6 Schematic for detent torque compensation
command must be used.
The progress of the teach process and the compensation can be tracked on the scope. The following parameters are available to activate this process:
The signal isqCoggTeach indicates the current output value of the teach table during
teach mode, while isqCoggAdapt contains the current value from the compensation
table. Parameter
P. no. name/ DM5 description Function
Settings
Anti Cogging - compensation Table with compensated values

P 0380 CON_TCoggAddTab
current table
Anti Cogging - compensation Compensated table values are

P 0382 CON_TCoggComb
on/off imported into the control
Anti Cogging - recorded cur- The characteristic of the q-

rents at teaching current is averaged by a special
P 0383 CON_TCoggTeach1 filter and imported into the table
of parameter
P 0383 CON_TCoggTeach1.
Anti Cogging - teach control Start of teach function to fill

P 0385 CON_TCoggTeachCon
word table
4.2.1 Advanced torque control Limitation
There are additional functions to improve the control performance of current and speed Limitation of the voltage components usqref and usdref.
controllers. Here the >Limitation, >Gain Scheduling, and >Observer functions are de- This also enables so-called overmodulation (limitation to hexagon instead of circle) in
scribed. order to make better use of the inverter voltage.
P 0310 Parameter
P 0311 P. no. name/ Description in DM 5 Function
Currentcontrol
isdref
Settings
Fluxcontrol usdref Tu
-
select current control / limita-
P 0432 CON_CCONMode Voltage limitation of usq,ref and usd,ref.
isd
tion mode
Power Stage
Decoupling
PWM
Feedforwart Tv
Limitation
Torque
Hard switch from d-priority (moto-
Limitation
(0) PRIO(0) Hard-Change-over of priority
rized) to q-priority (regenerative)
Currentcontrol
usqref
Speedcontrol isqref Tw
Expert mode: Switch from d-priority
- -
(motorized) to q-priority (regene-
isq
Priority with reserve (CON_ rative). A portion of the voltage is
Gain
(1) PRIO_RES(1)
Scheduling
CCON_VLimit) held in reserve; the amount can
be specified via parameter P 0431
CON:CCON_VLimit.
isd isu
Current
isv
Calculation
isq isw
(2) Phase(2) CON_CCONOV_Mode:Phase Phase-correct limitation
Figure 4.7 Structure diagram of current and speed control
Hexagon modulation with phase-
correct limitation. More voltage is
Hexagon modulation, limitati-
(3) HEX_PHASE (3) available for the motor. The current
on with correct phase angle
exhibits a higher ripple at high volta-
ges however.
Adaptation of current control/gain scheduling

Scaleing of q-stator inductance [L / %]
In the high overload range, saturation effects reduce the inductance of many motors.
Consequently, the current controller optimized to the rated current may oscillate or
[0] 100 %
become unstable.
As a remedy, it can be adapted to the degree of magnetic saturation of the motor. [1] 90 %
The gain of the current controller can be adapted to the load case over 4 interpolation P 0472
points. Interpolation [2] 68 %
points
Index [0-3]
[3] 30 %
Scaling In/[%]
In x [5] In x [7]
In x [4] In x [6] P 0472
Interpolations pointes
Index [4-7]
Figure 4.9 Example of current control adaptation
Parameter
P. no. name/ Description in DM 5 Function
Settings
q-Stator inductance variation
P 0472 MOT_LsigDiff in % Scaling of q-stator inductance
of MOT_Lsig
Scaling of q-stator inductance
0-3 100% Lsig_q 0-3
in [%]; interpolation points [0-3]
Scaling of rated motor current in

Figure 4.8 DM5 dialogue box for adaptation to current controller 4-7 100% Current 0-3
[%]. Interpolation points [4-7]
In the lower area of the screen the values for the interpolation points are entered.
On the left are the inductance values, and on the right the values for the overload ( >
100% of rated current) (see figure 4.8). Note: Between the interpolation points the scaling factor is interpolated in
linear mode. The current scaling of the inductance is plotted in the scope vari-
able “Is_ActVal_under Control, Flux Model”.
Observer, Current calculation Note:
To increase the current control dynamics and reduce the tendency to oscillation, there is Low value for the actual speed value filter High control dynamics
a so-called observer. It predicts the current. High value for the actual speed value filter Control dynamics decreases,
smooth running quality increases
Parameter
P. no. name/ Designation in DM 5 Function The dialogue box (figure 4.10) can be used to set the control parameters of the speed
Settings controller:
CON_CCON_ObsMod Select current observer Switching the observer on and off
P 0433 •• Gain
mode for current control
(0) OFF(0) Observer not used •• Lag time
Use observer design acc. The currents determined from the •• Gain scaling
time contant observer are used for the motor control.
(1) Time Const(1) The configuration is based on setting of a •• Filter time
filter time constant in
P 0434, Index 0 •• Speed limitation
Use observer preset of Direct parameterization of the observer
Kp and Tn feedback via
(2) Direct(2)
P 0434 index 1 (KP) and 2 (Tn)
4.3 Speed control

If the motion range is not limited, it is advisable to optimize the speed controller by
means of step responses. In this, the motor model must be adapted precisely to the
individual motor. In the standard motor data set the speed controller is preset for a mod-
erately stiff mechanism.
The speed controller may need to be adapted to the moment of inertia and the rigidity
of the mechanism (see Control section, “Adaptation to the mechanism”). Figure 4.10 Speed controller screen
All parameters take effect online, though only the scaling parameter
Parameter
P 0322 is transferred in defined real time (with speed controller sampling time).
P. no. name/ Description with DM 5 Function
So setting the gain via the scaling parameter P 0322 is useful for the following reasons: Settings
•• With this the gain can be adapted via the field bus or an internal PLC to respond to P 0402 CON_SCON_AddSRef Value Speed reference
a variable mass moment of inertia.
•• By selecting the scaling there is always a refer-back to the reference setting of
100%. Speed controller optimization:
The reference steps necessary for optimization can be executed in a user-friendly way by
way of the Control window. This requires the following settings:
Speed controller optimization by step responses
Open Control window
To activate step responses the controller should be operated in speed control mode
“SCON”. For this purpose please set the parameters in the following list to the specified Make settings:
values and use parameter P 0402 CON_SCON_AddSRef to adjust the step height of the - Control mode
speed reference. Speed-controlled (SCON)
- no ramps: Acceleration ramp = 0
The important factor here is that the speed controller shows low-level signal response,
which means that the q-current reference does not reach the limitation during the step.
This can be easily identified by its constant value over a certain time during the accelera-
tion phase. In this case either the maximum torque P 0329 CON SCON_TMax Tmax must
be increased or the height of the reference step P 0402 reduced.
Parameter
P. no. name/ Description with DM 5 Function
Settings
P 0165 MPRO_REF_SEL TAB(3) = via table Selection of reference source
P 0300 CON_Cfg_Con SCON(2) Speed control activated
P 0320 CON_SCON_Kp Speed controller gain
P 0321 CON_SCON_Tn Speed controller lag time

Figure 4.11 Speed controller optimization
P 0322 CON_SCON_KpScale 100 % Gain scaling
P 0328 CON_SCON_SMax Speed limitation
Recommended setting: 0.6

P 0351 CON_SCALC_TF Actual value filter
to 1.2 ms
Open scope:
Setting:
Channel:
CH 0 = speed reference (nref)
CH 1 = actual speed (nact)
CH 2 = actual torque (mact)
Trigger:
Trigger signal: Speed reference (nref)
Mode: Rising edge
Level: 30 rpm
Pretrigger: 0 %
Time:
Sampling time: = base time
(6.25E-0.5 s)
Recording time = 0.2 s
Figure 4.11 Speed controller optimization
This graph (figure 4.11) shows a typical speed step response with a rise time of 14 ms
Figure 4.11 Speed controller optimization and an overshoot amplitude of 15 %.
The reference of the q-current must not reach the limit during the step. This can be eas-
ily identified by its assuming a constant value over a certain time during the acceleration
phase. In this case either the maximum torque P 0329 CON SCON_TMax Tmax must be
increased or the level of the reference reduced.
To set the speed controller gain the P 0322 CON_SCON_KpScale can be used. The default
setting of this parameter is 100 %. If this parameter is changed in order to set the gain,
the deviation of the setting from the default is precisely known.
Note:
Hard controller setup High control dynamics,

smooth running quality decreases
Soft controller setup Control dynamics decreases,
smooth running quality increases
4.3.1 Digital filter

To suppress potential disturbance frequencies (resonances) which might cause a system
to oscillate, it is possible to activate different filter types.
For this, a general digital filter with the following time-discrete transfer function is imple-
mented in the forward branch of the speed controller (figure 4.1):
•• y(k) = B(4)*x(k-4)+ B(3)*x(k-3)+ B(2)*x(k-2) + B(1)*x(k-1) + B(0)*x(k)

- A(4)*x(k-4)+ A(3)*x(k-3)+ A(2)*y(k-2) - A(1)*y(k-1)
Figure 4.12 Dialogue box for setting the digital filters
With the notch filter P 0326 CON_SCON_FilterAssiit is possible to suppress defined un-
wanted frequencies. The blocking frequency and bandwidth are required for this.
When writing the parameter, the corresponding coefficients of the transfer function in P
0327 are changed.
For parameterization of standard filters, field parameter P 0325 CON_SCON_FilterReq is
provided to specify limit frequencies and bandwidths.
Settings for assistance parameter P 0326 CON_SCON_FilterAssi:
Parameter
Parameter
Settings
Settings 1. filter=OFF,
(6) PT1(6)
2. filter=PT1
P 0325 CON_SCON_FilterFreq filter frequencies of digital filter Limit frequencies PT1(6), PT2(7), PT3(8), PT4(9):
1. filter=OFF, A low-pass filter with the limit
(0) 1 - 8000 Hz 1 st center/cutoff 1. Mid/blocking frequency (7) PT2(7)
2. filter=PT2 frequency in P 0325(2)
At lower frequencies higher-order
(1) 1 - 1000 Hz 1 st width Width 1. filter=OFF, filters (PT3, PT4) should not be
(8) PT3(8)
2. filter=PT3 used.
(2) 1 - 8000 Hz 2 nd center/cutoff 2. Mid/blocking frequency
(9) PT4(9) 1. filter=OFF, 2. filter=PT4
(3) 1 - 1000 Hu 2 nd width Width
P 0327 CON_SCON_FilterPara coefficients of digital filter Coefficients of the digital filter
P 0326 CON_SCON_FilterAssi Digital filter calculation wizard
(0) a0*x(k)
(0) OFF(0) Reset & switch off filter No filter active
(1) USER a1*x(k-1)
direct (write parameter CON_
(1) USER(1)
DigFilCoeff) (2) USER a2*x(k-2)
A notch filter with blocking fre- (3) USER a3*x(k-3)

1. filter=notch,
(2) Notch(2) quency in P 0325(0) and bandwidth
2. filter=OFF
in P 0325(1). (4) USER a4*x(k-4)
A notch filter with blocking fre- (5) USER b1*y(k-1

quency in P 0325(0) and bandwidth
1. filter=notch, in P 0325(1) in series with a notch (6) USER b2*y(k-2)
(3) NOTCH_NOTCH(3)
2. filter=notch filter with blocking frequency in
(7) USER b3*y(k-3)
P 0325(2) and bandwidth in
P 0325(3) b4*y(k-4)
(8) USER
1. filter=notch, NOTCH_PT1(4) and NOTCH_PT2(5):
(4) NOTCH_PT1(4)
2. filter=PT1 A notch filter with the blocking fre-
quency in P 0325(0) and bandwidth
in P 0325(1) in series with a low-
1. filter=notch,
(5) NOTCH_PT2(5) pass filter with limit frequency in
2. filter=PT2
P 0325(2).
Note that the filters not only influence the amount, but also the phase, of the frequency
10
response. At lower frequencies higher-order filters (PT3, PT4) should not be used, as the
Magnitude (dB)
0
PT1 phase within the control bandwidth is negatively influenced.
−10
PT2
−20
PT3
−30 Note: The coefficients can also be specified directly via parameter P 0327
PT4
−40
CON_SCON_FilterPara. They take effect directly, so changing them is only
0 200 400 600 800 1000 1200 1400 1600 1800 2000
recommended when the control is switched off.
Frequency (Hz)
0
Phase (degrees
−50 PT1 Procedure:

)
−100 PT2 1. Scope setting:

−150 PT3 isq (unfiltered, torque-forming current)
−200
PT4 Set shortest sampling time
0 200 400 600 800 1000 1200 1400 1600 1800 2000
Create scope plot without filtering
Frequency (Hz)
2. Click “Mathematical functions“ > FFT (Fourier analysis) icon. From the following
pop-up menu choose isq. Disturbance frequency is displayed.
Figure 4.13 Frequency responses of PT1, PT2, PT3, PT4 filters
3. Select filter: Select filter
10
4. center/cut-off: Enter disturbance frequency
Magnitude (dB)
0
5. width: Enter the bandwidth of the disturbance frequency; the width has no effect
−10
when using PTx filters
−20
6. Create Scope plot with filtering
−30
Note: A higher bandwidth results in less attenuation of the blocking frequen-
−40
300 400 500 600 700 800 900 1000 cy because of the filter structure.
Frequency (Hz) (Filter as little as possible but as much as necessary)
100
Phase (degrees
50
)
−50
−100
0 500 1000 1500
Frequency (Hz)
Figure 4.14 Notch filter: Blocking frequency 500 Hz and bandwidths 25, 50, 75 and 100 Hz
Oscillation of a motor shaft at speed zero: Speed controller gain reduction at low speeds
To avoid standstill oscillations with a simultaneously highly dynamic speed control setting
during a short positioning cycle, the speed control gain can be adapted at “low speeds”
or “speed zero” (especially effective with TTL encoders).
–– Speed gain reduction at low speeds
–– prevents “buzzing” or cogging (especially effective for TTL encoders)
The configuration is set by a parameter P 0336.
Parameter
Settings
CON_SCON_KpSca- Adaptation of speed control gain Reduction of speed controller gain
P 0336
leSpeedZero @ zero speed at low speeds or speed 0
Weighting of the speed controller

(0) Index 0 in [%] gain for low/zero speed
gain reduction in percent
Figure 4.15 Oscillation of a motor shaft under current at standstill without filter
definition of the speed limit to Weighting of the speed controller
(1) Index 1 [Rpm]
detect zero speed gain reduction in rpm
Oscillation suppression by a notch filter:
filter time for change from zero Filter time for the speed transition
(2) Index 2 [ms]
to higher speed from 0 to nmax
filter time for change from higher
Filter time for the speed transition
(3) Index 3 [ms] to zero speed filter time for
from nmax to 0
change from higher to zero speed
Figure 4.16 Motor shaft under current at standstill with activated notch filter (width f=40Hz,
mid-frequency f= 420 Hz)
Observer optimization:
n [Rpm] Kp Scale [%]
1. The mass moment of inertia must be determined correctly.
2. The dynamism is set via the equivalent time constant P 0353-Index 0, which be-
Actualspeed haves in a similar way to the actual speed filter time constant: Increasing the time
P 0281 n ist constant enhances the noise suppression, but also reduces the dynamics.
P 0 336 (2) P 0 336 (3)
Speedgain CON_SCON_KpScaleSpeed
3. By writing the calculation assistant P 0354 = Def the observer is reconfigured. This
P 0336 (0) 100% change takes effect online.
von P 0322
4. An optimization can be made iteratively (in steps) by adapting the equivalent time
constant, linked with rewriting of the calculation assistant.
Parameter
P 0336 (0) 40%
P 0 336 (2) P 0 336 (3)
Parameter
Settings
Selection of Speed calculation Selection of speed calculation
P 0350 CON_SCALC_SEL
method method
Figure 4.17 Speed controller gain reduction
(0) SEL_ObserverMethod “ “
Single-mass observer to determine actual speed value Filter(0) PT-Filter

Signal from observer system;
actual value filter activated
With the single-mass system observer the phase shift over time caused by the jitter
filter can be reduced in the feedback branch, thereby considerably enhancing the speed OBS1(1) One mass observer Single-mass observer
controller performance. OBSACC(2)
Observer with acceleration
Observer with acceleration sensor
sensor
During basic setting of the speed controller by means of the calculation assistant P 1515 OBS2(3) Two mass observer Dual-mass observer
SCD_ConDesign a single-mass system observer with medium dynamism has already been
(1) SEL_FeedbackMethod
calculated.
Feedback from Observer
OBS(0)
The observation algorithms are calculated as soon as the selector P 0350 Index 1 is set to method
“Filter(1)”. The PT1 filter and the selected observer type are then calculated in parallel. Filter(1) Feedback from Filter
CON_SCALC_Obs Equivalent time constant of

Feedback via the PT1 filter or via the observer can then be toggled by the selector P 0353 Observer design parameters
DesignPara observer
P 0350 Index 1.
(0) TF Time constant of observer Time constant 1 ms
1 Alpha Damping coefficient

Parameter
Settings
2 Load point Load torque is applied as from V 2.0
Time constant of speed

3 TF1 as from V 2.0
filtering
Time constant of load torque
4 TF2 as from V 2.0
adaption
Time constant of oscillation
5 TFosc as from V 2.0
adaption
Acceleration measurement
6 AccGain as from V 2.0
gain
CON_SCALC_ObsDe-
P 0354 Observer design assistent Calculation wizard for observer
signAssi
0 USER User definied design as from V 2.0
Default design for selected Start calculation with default

1 DEF
observer design rule
Observer design by double Figure 4.18 Position controller setup screen
2 DR as from V 2.0
ration
Observer design by time
3 TIMES as from V 2.0
constant
4.4 Position control

The higher the dynamics of the speed controller, the more dynamically the position
controller can be set and the tracking error minimized. In order to improve the dynamics
and performance of the position controller, the parameters listed in the bottom screen
are available to optimize the speed and acceleration feed forward control.
Position controller optimization:: Open scope:

The reference values for the necessary setpoint steps for controller opti- Setting:
mization can be easily preset by way of a reference table or the Control Channel:
window (see also “Motion profile” section). CH 0 = speed reference
(6 nref)
Reference via Control window CH 1 = actual speed
(13 nact)
CH 2 = tracking error in user units
(279 UsrPosDiff)
Trigger:
Trigger signal: Speed reference (6 nref)
Mode: Rising edge
Level: 30 rpm
Pretrigger: 10 %
Time:
Sampling time: = Base time
(6.25E-0.5 s)
Recording time = 1.0 s
Figure 4.19 Setting for Control window and scope in position controller optimization
• Select standard mode

• Select control mode “PCON”
• Set ramps
• Homing method -1. Type -1 sets the current posi- The position controller gain:
tion as the zero. • Set position reference
• Start the power stage via “START” (motion • Activate scope function (see Scope screen) When a standard motor data set is read-in, the control setting is also adopted. The set-
control) • Start motion ting equates to a controller with a medium rigidity.
• Start/stop homing mode
Note: In the default setting no smoothing is selected!
Figure 4.19 Setting for Control window and scope in position controller optimization
The following graphs show optimization of the position control of a synchronous ma- P 0375 100 % Speed control feed forward control scaling factor
chine.
The dimensioning of the tracking error 279 MPRO_FG_UsrPosDiff is on the right-side y P 0376 100 % Torque control feed forward control scaling factor
axis. A changed variable relative to the previous graph is highlighted in brown in the P 0386 0% Compensation of friction torques
value table.
P 1516 0.00014 kgm2 Mass inertia
The step responses show the controller setting with:
P 0166 0 ms Filter time
–– increased gain factor (P-component) with smoothing
Figure 4.20 Position gain after read-in of a standard motor data set
–– influence of feed forward control
Controller with medium rigidity (KP = 4000).
Position controller gain optimization
P. no. Value Function
P 0351 1.2 Speed controller filter time

P 0360 4000 Position control gain
P 0351 1.2 ms Actual speed filter time
P 0372 0.5 ms Filter time for position controller feed forward control
P 0360 30000 Position controller gain
P 0374 0 ms Delay time for position control feed forward control
Figure 4.21 Optimized position gain: Typical values for the position controller gain are between
Figure 4.20 Position gain after read-in of a standard motor data set 10000 and 40000 rpm.
Feed forward control parameters:
P 0374 0 ms Delay time for position control feed forward control

Parameter
P 0375 100 % Speed control feed forward control scaling factor P. no. name/ Designation in DM5 Function
Settings
P 0376 100 % Torque control feed forward control scaling factor
P 0360 CON_PCON_KP Position control gain Gain of position controller
P 0386 0% Compensation of friction torques
Speed feedforward filter time Filter time for position controller feed
P 1516 0.00014kgm2 Mass inertia P 0372 CON_IP_SFFTF
for position control forward control
P 0166 50 ms Filter time
Delay time for position control feed
P 0374 CON_IP_EpsDly Position delay time
Figure 4.21 Optimized position gain: Typical values for the position controller gain are between forward control
10000 and 40000 rpm.
Speed feedforward scaling Speed control feed forward control
P 0375 CON_IP_SFFScale
factor scaling factor
Torque/Force feedforward Torque control feed forward control

4.4.1 Feed forward control of speed, torque/force P 0376 CON_IP_TFFScale
scaling factor scaling factor
The feed forward control of the acceleration torque relieves the strain on the speed Acceleration feed forward Filter time for acceleration feed for-
P 0378 CON_IP_ACC_FFTF
controller and optimizes the control response of the drive. To feed forward control the filter time ward control
acceleration torque, the mass inertia reduced to the motor shaft must be known. friction compensation scaling Scaling factor for friction compen-
P 0386 CON_SCON_TFric
If the parameter for the overall mass inertia of the system P 1516 has a value unequal to factor sation
0, that value will be automatically used to feed forward control the acceleration torque. Total inertia of motor and Reduced mass inertia of motor and
P 1516 SCD_Jsum
plant machine
The feed forward control of the speed reference is preset by default to 100 % via pa-
rameter
P 0375 CON_IP_SFF_Scale. This value should not be changed. Attention: The feed forward control does not take effect if the control
The acceleration torque feed forward control can be optimized with P 0376 CON_IP_TFF_
! reaches the set limits because the ramp setting is too steep.
Scale. Note: The overall mass moment of inertia in P 1516 must not be changed to
Reducing this reduces the feed forward control value; conversely, increasing this value optimize the feed forward control, because this would also have an effect on
also increases the feed forward control value. other controller settings!
The position tracking error can be further reduced by predictive torque and speed feed
forward control, i.e. in advance of the position referencing. Owing to the time-discrete
mode of operation of the control circuits and the limited dynamics of the current control
circuit, this prediction is necessary to prevent the individual control circuits from oscillat-
ing against one another. Prediction in feed forward control is achieved by delaying the
speed and position controller reference setpoints. Delay parameter:
The value in P 0372 CON_IP_SFFFT for the PT1 filter to delay the speed feed forward
control value should be chosen slightly larger than the value for the actual speed value
filter P 0351 CON SCALC_TF.
Useful values for floating mean value filters to delay the position reference setpoint are
between 0.0625 ms and 1.5 ms. The following graph shows a driving profile with feed
forward control prediction:
Attention: In multi-axis applications requiring precise three-dimensional
! axis coordination, such as in the case of machine tools, the delay of the posi-
tion signal must be equally set on all axes via parameter P 0374-IP_EpsDly.
Otherwise the synchronization of the axes may suffer, leading to three-
dimensional path errors.
When using linear interpolation feed forward control is inactive.
P-Nr. Wert Funktion
P 0351 1.2 ms Speed controller filter time
P 0374 0.125 ms Delay time for position control feed forward control
P 0375 100 % Speed control feed forward control scaling factor
P 0386 0% Compensation of friction torques
P 1516 0.00014 kgm 2

Mass inertia
P 0166 50 ms Smoothing
Figure 4.22 Driving profile with feed forward control
Friction P 0374 0.125 ms Delay time for position control feed forward control
It is advisable to compensate for higher friction torques in order to minimize tracking er- P 0375 100 % Speed control feed forward control scaling factor
ror when reversing the speed of the axis. The drive controller permits compensation for
Coulomb friction components by means of a signum function dependent on the refer-
ence speed “nref_FF”. The speed controller can compensate for the other (e.g. viscous) P 0386 6% Compensation of friction torques
friction components because of their lower change dynamics. The compensation can be P 1516 0.00014 kgm2 Mass inertia
effected step-by-step as a percentage of the rated motor torque by means of
Figure 4.23 Graph of feed forward control torque reference and actual torque value
P 386 CON_SCON_TFric.
The following graph shows a good match between the feed forward control torque
reference and the actual torque value.
4.4.2 Field-weakening mode

Field-weakening for asynchronous motors
For field-weakening of asynchronous motors, the motor parameters must be known very
precisely. This applies in particular to the dependency of the main inductance on the
magnetizing current.
In the process, default values for the control circuits and the “magnetic operating point”
are set based on the rated motor data and the magnetizing current presetting in P340
CON_FM_Imag. A range of different methods are available for operation in field-weak-
ening mode.
P 0351 1.2 ms Speed controller filter time
Figure 4.23 Graph of feed forward control torque reference and actual torque value
Field weakening for Asynchronous motor
Feed forward control with 1/n-characteristic Feed forward control with modified isd=f(n)
1 K*TR P 0343 x y
CON_FM_ImagTab
P 0415 P 0415
nact x P 0340 CON_SCALC_ActSpeed
CON_SCALC_ActSpeed CON_FM_Imag
y
P 0341 = 0 default PD-T1-Glied

CON_FM_ImagSLim IhAct
x y
P 0342 CON_FM_SpeedTab
Lh-Characteristic P 0348 MOT_FM_SNom
P 0341 ≠ 0 P 0341 = 0 default

CON_FM_ImagSLim CON_FM_ImagSLim
P 0347
CON_FM_VRef
Voltage control
Available Uzk x y
P0345 P0346
Kp Tn vreg_max-isdref_tab isdref_tab
vmot 1 Ti
soll
vreg_isdref isdref
vreg_min-isdref_tab
d-current control
vmot_filt
P 0344
CON_FM_VConTF
udref
x2
1 Tf
Vmot Voltage
Calculation
uqref
y2
Figure 4.24 Asynchronous machine field-weakening
One method involves voltage regulation with feed forward control by way of a
Parameter
1/n characteristic. The motor identification sets the voltage regulator so that the voltage
supply in a weakened field is adequate. If the drive controller is at the voltage limit, it
Settings
reduces the d-current and thus the rotor flux. Since the controller has only limited dyna-
mism, and starts to oscillate if larger gain factors are set, there is a second option. The speed values for mag. current Speeds (as % of P 0340 CON_FM_
P 0342 CON_FM_SpeedTab scaling Imag) Used to set the field-weakening
voltage regulation combines with the feed forward control by way of a freely definable characteristic.
characteristic (modified 1/n characteristic) which describes the magnetizing current as a
percentage of the nominal value of P 0340 CON_FM_Imag dependent on the speed. mag. current scaling vs. speed d-current scaled as Imag (as % of P
P 0343 CON_FM_ImagTab 0340 CON_FM_Imag). Used to set the
The choice between the 1/n characteristic and the static characteristic is based on pa- field-weakening characteristic.
rameter P 0341 CON_FM_ImagSLim. If P 0341 becomes zero, the static characteristic is
evaluated. If the parameter is unequal to zero, the flux is routed along a 1/n characteris-
tic as from the speed ImagSLim. Application example:
P 0340 (0-7)
P 0341 = 0 signifies selection of the 1/n characteristic (no parameter setting) P 0342 (0-7)
P 0348 Rated speed Magnetizing current in
P 0341 ≠ 0 signifies selection of Isd = f/n characteristic (modified 1/n characteristic). Field-weakening speed
field-weakening mode
(0) 100 % 0A
Parameterization of Isd = f/n characteristic setting of d-current dependent on the speed. (1) 110 % 55 A
The speed is specified relative to the rated speed in P0458 MOT_SNom, the d-current (2) 120 % 70 A
relative to the magnetizing current in parameter P 0340 CON_FM_Imag. Up to the field- (3) 130 % 90 A
nnom = 1800 rpm
weakening speed, a constant magnetizing current is injected P 0340 (0-7). (4) 140 % 100 A
(5) 150 % 100 A
(6) 160 % 100 A
Parameter (7) 170 % 100 A

Settings
magnetization current (r.m.s) Effective value of the rated current for Attention: The speeds in P 0342 CON_FM_SpeedTab must continuously
P 0340 CON_FM_Imag
Only valid for ASM

magnetization
Field-weakening activation point (as

! increase from index 0 -7.
% of P 348 MOT_SNom). This effects

the switch from the 1/n to the Isd=f/n)
P 0341 CON_FM_ImagSLim characteristic.
Voltage regulator parameters
For a synchronous machine this value
must be set to 0. The voltage regulator is overlaid on the selected characteristic. When using the volt-
age regulator, a portion of the available voltage is used as a control reserve. The more
dynamic the running, the more control reserve is required. In this case it may be that the
voltage for rated operation is not sufficient, and also that the regulator starts to oscillate.
The PI voltage regulator can be optimized by adaptation of the P gain P 0345, the Synchronous motor field-weakening
lag time P 0346 and the filter time constant for the motor voltage feedback P 0344.
Synchronous motors can also be operated above their rated speed at rated voltage, by
Parameter P 0347 sets the voltage reference, though the threshold needs to be reduced
reducing their voltage consumption based on on injection of a current component.
in response to rising demands as this maintains a kind of voltage reserve for dynamic
control processes.
A certain voltage reserve is necessary for stable operation. It is specified by way of pa-
rameter P347 CON_FM_VRef (< 100 %). The value should be set high ( <= 90 %) where
there are high demands in terms of dynamics. For less dynamic response, the maximum
attainable torque can be optimized by higher values (> 90 %).
Note: If the control reserve is too small, the inverter typically shuts off with an
overcurrent error.
Parameter
Parameter
Settings
voltage control filter time Time constant of the voltage regulator

P 0344 CON_FM_VConTF
constant actual value filter
P 0345 CON_FM_VConKp voltage control gain Voltage regulator gain factor Kp
voltage control integration time Voltage regulator lag time Tn

P 0346 CON_FM_VConTn
constant
voltage control reference Voltage regulator reference (as % of the

P 0347 CON_FM_VRef (scaling of max. voltage) current DC link voltage) If the value 0 % is
set, the regulator is not active.
P 0348 MOT_SNom Motor rated speed Rated speed of the motor
Default values:
P 0344 CON_M_VConTf 10 ms
P 0345 CON_FM_VConKp 0.1 A/V
P 0346 CON_FM_VCon_Tn 100 ms
P 0347 CON_FN_VRef 90 %
Field weekening for Synchronousmotor

3D look-up table
isd=f(n) Characteristic
i sd
iq i sq isdref [1/n]
=0
ωe P 0341
ωe CON_FM_ImagSLim
u zk
off
P 0435= 2
isd=f(n) Charcteristic= OFF
2 1 0
P 0343=0
P 0435
CON_FM_FWMode
P 0347 isdref_tab
CON_FM_VRef
Voltage control
Available Uzk x y
P0345 P0346
Kp Tn vreg_max-isdref_tab
vmot 0 1
soll
vreg_isdref i sdrefmod vreg_min-isdref_tab
+
√2 * P 0340 CON_FM_Imag d-current control
Ti
vmot_filt
P 0344
CON_FM_VConTF
udref
x2
1 Tf
Vmot Voltage
+ Calculation
uqref
y2
Figure 4.25 Synchronous machine field-weakening

The following conditions must be met. The maximum amount of the “field-weakening” d-current is defined by parameter
1. To effectively reduce the voltage consumption, the ratio of stator inductance ( P CON_FM_Imag P340 (specification of effective value).
0471) x rated current (P 0457) to rotor flux (P 0462) must be sufficiently large.
Note: Parameter P 0341 must be set to zero for synchronous machines.

L Stator > ΦRotor ∧
= P 0457 * P 0471 > Factor * P 0462
Factor > 0,2
For field-weakening of synchronous motors, various options are implemented. The
method is selected via parameter P0435 FWMode, which specifies how the d-current
2. If the speed achieved by field-weakening is so high that the induced voltage reference is calculated.
exceeds the overvoltage threshold of the device (for 400 V devices approximately
800 V, for 230 V devices approximately 400 V), this will result in DESTRUCTION of
the servocontroller if no additional external safety measures are applied. Parameter
Condition:
Settings
Fieldweakening mode for Selection mode for field-weakening of

Rotorflux * Maximal speed (in rad/s) < 700 V P 0435 CON_FM_FWMode
synchrounus motors synchronous motors
∧ (0) None
Fieldweakening is disabled Field-weakening is off, regardless of other
= settings.
2Π Isd set by PI Controller and table Field-weakening is effected by way of

P 0462 * (P 0458 * P 0328) * < 700 (1) Table
parameter a characteristic which specifies the d-
60 current dependent on the speed isd = f(n)
and is set via parameters P342 and P343.
Field-weakening is effected by way of a

characteristic which is set internally via
Attention: When configuring projects, it must be ensured that the speed the motor parameters. The d-current refe-
NEVER exceeds the value of nmax. In such cases the induced no-load voltage
!
rence is then calculated dependent on the
Isd set by PI Controller and
(2) Calc speed AND the required q-current: isd =
reaches the overvoltage limit. motor parameter
f(n, isq_ref). The inaccuracies with regard
to the motor parameters, the available
voltage etc. can be compensated by way
of the Scale parameters P436.
3. In contrast to field-weakening of asynchronous motors, synchronous motors can
also be operated in the “field-weakening range” with full rated torque at the
nominal value of the q-current. Power beyond the rated power output can there- Note: In mode 1 and mode 2 the voltage regulator can be overlaid. It is also
fore be drawn from the machine in field-weakening mode, even at rated current. possible in mode 1 to disable the characteristic and run solely with the volt-
This must be taken into consideration when configuring the motor. age regulator.
Selection of field-weakening method:

This is how to select a suitable method from the various options: Select setting P 0435 CON_FM_FWMode = (2) Calc
Select setting P 0435 CON_FM_FWMode = (1) Table If very rapid speed or load changes occur in the field-weakening range, the setting
P 0340 CON_FM_FwMode = 2 is preferable.
If no rapid speed change in the field-weakening range is required, the voltage regulator
is well suited (setting 1). Features of this method:
–– Very fast adaptations, with high dynamism, are possible (open-loop control
Disable table P 0341 = 0 and set entries in field parameter P 0343 = 0 method).
–– Motor parameters must be known quite precisely.
Features of this method:
–– A badly set table can result in continuous oscillation.
–– The method is relatively robust against parameter fluctuations.
–– The controller can only follow rapid speed and torque changes to a limited
degree. If continuous oscillation occurs, it should first be determined whether the drive is tem-
porarily at the voltage limit. The preset negative d-current value is then not sufficient. In
–– A non-optimized controller may cause oscillation;
this case the scaling parameter P 0436 can be used to evaluate the map at higher speeds
the controller must be optimized.
(P 0436 > 100 %).
The voltage regulator is overlaid on the evaluation of the map if the gain P 0345 is set
A presetting of the controller is effected when calculating the motor data via parameter greater than zero. The voltage regulator can be set in the same way as described above
P 1530 -> 1 (see “Motor” section). for setting 1.
If oscillation occurs when applying this method, the voltage regulator gain setting P 0345 The set combination of voltage regulator and map entails the highest commissioning
must be reduced. If substantial variations between the q-current reference and actual commitment, but it enables the best stationary behaviour (highest torque relative to cur-
values occur during run-up to reference speed in the field-weakening range, the drive rent) and the best dynamic response to be achieved.
may be at the voltage limit. In this case, a check should first be made as to whether the
preset maximum value P 0340 has already been reached and can be increased. If the
maximum value has not yet been reached, the voltage regulator is not dynamic enough
and the gain P 0345 must be increased. 4.4.3 Autocommutation
If no suitable compromise can be found, the voltage threshold as from which the voltage For field-oriented regulation of permanently excited synchronous machines with a
regulator intervenes must be reduced by the scaling parameter P 0347 CON_FM_VRef. purely incremental measuring system, the commutation position must be determined
This then also quadratically reduces the torque available when stationary however. once when the control is started (adjustment of current rotor position to encoder zero
If the response with voltage regulator is unproblematic and no particular demands are [Encoder offset]).
made in terms of dynamics, the available torque can be optimized by setting P 0347 to This procedure is executed by the “Autocommutation” function after initial enabling of
values up to 98 %. the control when the mains voltage has been switched on for the first time. It can also
be forced during commissioning by changing a parameter, which causes a complete
controller initialization (e.g. change of autocommutation parameters, change of control
mode, etc.).
Owing to the differing requirements arising from the applications, various commutation Selection of commutation method:
methods are provided. The selection is made via the selector
P 0390 CON_ICOM. Parameter
P. no. name/ Designation in DM 5 Function
For synchronous machines with no absolute measuring system, the two methods
settings
IENCC(1) and IECON(4) are recommended. Use of the much more complex LHMESS(2)
commutation method requires prior consultation with LTi DRiVES. P 0390 CON_ICOM
Selection of commutaionfin-
Selection of the commutation method
ding-method
OFF(0) Function off No commutation method selected
IENCC (1) autocommutation with movement:

An easily parameterized method in which,
IENCC(1) Current injection however the rotor moves by as much as half
a revolution, or half a pole pitch unit (where
p = 1).
2. LHMES (2) autocommutation with braked

machine:
Saturation of inductance The machine must be blocked by a suitable
LHMESS(2)
evaluated brake during auto-commutation. The occur-
ring torques and forces may attain the rated
torque and force of the machine.
IECSC(3) not implemented Not implemented!
IECON (4) autocommutation with minimized

movement:
Current injection minimized Here, too the rotor must be able to move,
IECON(4)
movement though appropriate parameter-setting can
reduce the rotor movement to just a few
degrees per mm.
HALLS (5) autocommutation: Evaluation of

HALLS(5) not implemented
analog Hall sensors (from V 2.0)
The IENCC(1) method (movement of shaft permitted)

In the IENCC method the rotor aligns in the direction of the injected current and thus to
a defined position. The relatively large movement (up to half a rotor revolution) must be
taken into consideration.
This method cannot be used near end stops or limit switches! It is advisable to use the
rated current Inom. The time should be set so that the rotor is at rest during the
measurement. For control purposes, the commutation process can be recorded with the
P. no. Setting Function
Drive-Manager Scope function.
P 0391 0-10000 % Scaling of dynamics
The IECON(4) method (movement of shaft not permitted) P 0392 0-10000 ms Measuring time
The motor shaft motion can be minimized by an angle controller. The structure and [0] 500 ms Ramp time t[0]
parameters of the speed controller are used for the purpose. The gain can be scaled via
parameter P 0391 CON_ICOM_KpScale. This therefore means that the speed control loop [1] 500 ms Injected current time t[1]
must already be set. [2] 500 ms Ramp time t[2]
•• Increasing the gain results in a reduction of the motion. [3] 500 ms Injected current time t[3]
•• An excessively high gain will result in oscillation and noise. In both methods (1) and P 0393 Preferential value
(4) the flux-forming current “Isdref” is injected as a test signal, the course of which
is shown in the diagram. The diagram illustrates the IECON(4) method. [0] I[1] Rated current: INom step 1
[1] I[2] Rated current: INom step 2

IECON-Method
Isdref
For linear motors the values for time and current adjust automatically when calculating
the data set.
I[1]
P 0393
CON_ICOM
Current Note:
mp
I[2]
a
•• Inexperienced users should always choose the rated motor current (ampli-
t_R
en
tude) as the current and a time of at least 4 seconds.

p
rr
am
Cu
•• The motor may be moved jerkily during autocommutation. The coupled

R
nt_
rre
mechanical system must be rated accordingly.

Cu
P 0392 •• If the axis is blocked, i.e. the rotor is unable to align itself freely, the
CON_ICON methods will not work properly. As a result, the commutation angle will be
t[0] time
t[1] t[2] t[3] incorrectly defined and the motor may perform uncontrolled movements.
Description of the LHMES(2) method with braked machine:

In this method, saturation effects in the stator inductance are evaluated. Two test signal
sequences are used for this purpose, whereby the position of the rotor axis is known
Figure 4.26 Schematic for the IENCC(1) and IECON(4) methods
after the first sequence and the direction of movement after the second.
Parameter setting: This method is suitable for determining the rotor position with braked rotors or motors
with a relatively high mass inertia.
Precondition:
The rotor must be braked so that the motor cannot move even when the rated current is
4.5 Commissioning
applied.
The stator of the machine must be iron-core.
4.5.1 Autotuning
Parameterization of a test signal (example):
The drive controller is able to automatically determine the mass moment of inertia re-
Frequency of test signal f = 333 Hz P 1506
duced to the motor shaft by means of a test signal. However, this requires that the mass
Amplitude 1A P 1505 moment of inertia only fluctuates very little or not at all during motion.
Number of periods 50 P 1508 The moment of inertia has the following effect on the control response:
Direct component 3.1 A P 1503
•• It is taken into account when calculating the speed controller gain.
In most cases a good result is achieved with a test signal frequency of 333 Hz, an ampli- •• In feed forward control the moment of inertia is used to translate the acceleration
tude of the magnitude of one quarter of the rated current, evaluation of 50 oscillations into force/torque or q-current.
and a direct component equivalent to the rated current (3.1A). •• In feed forward control the moment of inertia is used to translate the acceleration
into force/torque or q-current.
Attention: Parameters of the “Autocommutation” subject area may only be To determine the mass inertia, the drive controller generates a pendulum movement of
! changed by qualified personnel. If they are set incorrectly the motor may start
up in an uncontrolled manner.
the connected motor complete with the mechanism and uses the ratio of acceleration
torque to speed change to determine the mass inertia of the overall system.
After the control has been started, determination of the mass inertia is activated by set-
ting the control word P 1517 SCD_AT_JsumCon to the value Start(2). The drive executes a
Note: It is advisable to parameterize speed tracking error monitoring with short pendulum movement by accelerating several times to the parameterized speed
the “Power stage off” error response. This monitoring feature reliably pre- P 1519 SCD_AT_SConHysTorq with the parameterized torque
vents the motor from racing. P 1518 SCD_AT_SConHysSpeed. If the torque and speed have not been parameterized
(setting zero), the process uses default values determined on the basis of the rated speed
and nominal torque.
The mass moment of inertia determined for the entire system is calculated after the end
of the test signal and entered in parameter P 1516 SCD_Jsum.
Parameter:
Parameter
Parameter
Settings
Settings P 0400 CON_FM_AddIsdRef additional d-current d-current reference
Speed and position control dyna- additional torque/force refe-

P-1515 SCD_ConDesign Rigidity of the mechanism P 0401 CON_SCON_AddTRef Torque/force reference
mic (stiffness) rence value
Mass moment of inertia (motor additional speed reference Speed reference without
P-1516 SCD_Jsum Total inertia of motor and plant P 0402 CON_SCON_AddSRef
and load) value, direct without ramp ramps
Autotuning for Jsum estimation, Automatic estimation of mass additional position reference
P-1517 SCD_AT_JsumCon P 0403 CON_IP_AddEpsRef Position reference
control word inertia value
Autotuning Jsum, hysteresis speed additional speed reference

P-1518 SCD_AT_SConHysSpeed Determination of mass inertia P 0404 CON_SCON_AddSRamp Speed reference with ramp
control, speed limit value, via ramp generator
Autotuning for Jsum, speed hyste-

P-1519 SCD_AT_SConHysTorq Determination of mass inertia
resis control, torque limit
Note: An additive position reference P 0403 CON_IP AddEpsRef only takes
effect in position control; the additional speed reference via ramp
P 0404 CON_SCON_AddSRamp only takes effect in speed control mode with
4.5.2 Test signal generator (TG) reference via ramp.
The TG is a function for optimization of the control loops over a protracted period of
motion with a reference value sequence. The TG is particularly well suited to current
controller optimization.
Various signal forms can be generated, with the possibility of overlaying different signal
forms.
Test signals (additive reference values)

Regardless of the control mode, (additive) references (test signals), which take effect im-
mediately, are used for the individual control loops.
The test signal generator can overlay defined signal forms over those references. If the
test signal parameter are set to zero, the “pure signal forms” are switched to the control-
lers (see “Structure of test signal generator”).
Test signal generator parameters:
Motion Profile
TSIG_Output
Reference Speed from
Motion Profile
Reference Position from
Motion Profile
Testsignal-Generator Parameter
Start/Stop

5 TSIG_Out
Sel
4 0
OFF
Settings
Add_SRamp TSIG_Con
3 1
2
Add_EpsRef
Add_IsdRef
Add_MRef
P 0310 CON_CCON_KP Current control gain Current controller gain
Add_SRef isd_ref
Ramp-Generator Interpolation
P 0311 CON_CCON_Tn Current integration time constant Current controller lag time
d-Current Control
IP_Mode,
PCON Control word of test signal gene-
CON_IP = IP,
CfgCon = PCON eps_ref n_ref isq_ref P 1500 SCD_TSGenCon Testsignal generator control word
other
m_ref
rator
Position Control Speed Control q-Current Control
1/Km
Testsignal generator output signal Test signal generator output
other P 1501 SCD_TSIG_OutSel
Rectangular TSIG_Offset
selector selector
Wave
TSIG_Time
P 1502 SCD_TSIG_Cycles Number of Testsignal Cycles Number of cycles
CON_IP = RFG,
CfgCon = SCON TSIG_Output Sinus Wave TSIG_Amp
P 1503 SCD_TSIG_Offset Testsignal generator Offsets Level of square signal

TSIG_Freq
TSIG_PRBS Testsignal generator times for

PRBS Noise Time
P 1504 SCD_TSIG_Time Period of square signal
TSIG_PRBS
rectangular waves
Amp
Testsignal generator amplitude of

P 1505 SCD_TSIG_Amp Amplitude of a sine signal
Figure 4.27 Structure of test signal generator sinusoidal wave
Testsignal generator frequence of

P 1506 SCD_TSIG_Freq Frequency of sine
sinusoidal wave
Testsignal generator initial phase Start phase of current space vector

P 1507 SCD_TSIG_SetPhase
for rotating current vector in VFCON and ICON mode
Testsignal generator PRBS minimum

P 1508 SCD_TSIG_ PRBSTime PRBS signal generator, cycle time
toggle time
Testsignal generator PRBS signal

P 1509 SCD_TSIG_ PRBSAmp PRBS signal generator, amplitude
amplitude
Figure 4.28 Dialogue box for the test signal generator
The duration of a test signal sequence results from the parameterized times t1, t2 The PRBS signal is suitable for achieving a high-bandwidth system excitation with a test
P 1504 (0,1) and the number of test cycles “Ncyc” P 1502 for the square signal sequence: signal. A binary output sequence with parameterizable amplitude P 1509 SCD_TSIG_
RBSAmp and a “random” alternating frequency is generated with the aid of a looped-
•• Square signal sequence: The signal level is set via P 1503(0,1) SCD_TSIG_Offset and
back shift register.
the times via P 1504(0,1) SCD_TSIG_Time.
PRBS Time range
•• Sine generator with presetting of amplitude P 1505 SCD_TSIG_Amp and frequency
P 1506 SCD_TSIG_Freq
P 1509
•• A PRBS (Pseudo-Random Binary Sequence) noise signal with presetting of ampli- SCD_TSIG_PRBS_Amp
tude P-1509 SCD_TSIG_PRBSAmp and cycle time P-1508 SCD_TSIG_ PRBSTime. This r(t) λPRBS
enables different frequency responses to be plotted.
a
t
Sum of Sinus- und Squaresignal sequence -a
Tp=Np λPRBS
P 1508
SCD_TSIG_PRBS_Time
Output
Srr(ω)
a2(Np+1)
Np2
Amplitude PRBS Frequency range

Srr3dB
P 1505
SCD_TSIG_Amp P 1503(1)
SCD_TSIG_Offset [1]
P 1503(0)
SCD_TSIG_Offset [0]
t
ω3dB 2π = ω 6π ω
P 1504(1) 2π 4π
P 1504(0) B
SCD_TSIG_Time [1] λPRBS λ λPRBS
SCD_TSIG_Time [0] Np λPRBS PRBS
P 1506
Period time SCD_TSIG_Freq
Figure 4.29 Addition of sine and square signal Figure 4.30 PRBS signal in time and frequency range
4.6 Motor test via VFC characteristic usdref = sqrt(2/3) x CON_VFC_VBoost +
CON_VFC_VNom
x ref
CON_VFC_FNom
In VFC mode it is possible to run a simple test indicating to the user whether a motor is The reference is set by parameter P 0402 CON_SCON_AddSRef [rpm]
connected correctly and moving in the right direction (linear drive: clockwise/anti-clock-
wise). If the direction has been reversed, the motor is stopped or executing uncontrol- Parameter
lable movements, the termination plan and the motor data must be checked.
P. no. Parameter Function Description
boost voltage (at zero fre-

P 0313 CON_VFC_VBoost Boost voltage at standstill
quency)
P 0314 CON_VFC_FNom nominal frequency Rated frequency
P 0315 CON_VFC_VNom voltage at nominal frequency Voltage at rated frequency
Additional speed reference

P 0402 CON_SCON_AddSRef Speed reference without ramps
value via VFC characteristic
Figure 4.31 V/f open loop control for test purposes
As a test mode, a voltage/frequency control system is implemented in such a way that

the closed-loop speed control circuit is replaced by open-loop control. So the reference
in this case is also the speed reference; the actual speed is set equal to the reference.
The feed frequency “fref” is calculated by way of the number of pole pairs of the motor
P 0463 MOT_PolePairs.
n ref
f ref =
60
x P 0463_Mot polpairs
A linear characteristic with two interpolation points is implemented, with a fixed boost
voltage setting P 0313 CON_VFC_VBoost at 0 Hertz.
As from the rated frequency P 0314 CON_VFC_FNom the output voltage remains con-
stant. An asynchronous machine is thus automatically driven into field-weakening as the
frequency rises.
The phase-to-phase voltages are specified under the voltages. The internal voltage refer-
ence (space vector variable) is thus:
4.6.1 Axis error compensation Parameters: (all values in user-defined path units)
The actual position value delivered by the encoder system and the real actual position
Parameter
value on the axis may vary for number of reasons.
These may be:
Settings
–– Inaccuracy of the measuring system Encoder assignment: Setting range
–– Transfer inaccuracies in mechanical elements such as the gearing, coupling, feed P 0590 ENC_ACOR_Sel Axis Correction: Select 0=OFF,1=encoder1, 2= encoder2
(see ENCODER section 3.6)
spindle etc.
P 0591 ENC_ACOR_PosStart Axis Correction: Start Position Definition of correction range: The
–– Thermal expansion of machine components.
range is defined by parameters P 0591
Start Position and P 0592 End Position.
To compensate for these non-linear inaccuracies, the axis error compensation function
The start position is user-specified; the
can be used. end position is determined from the
P 0592 ENC_ACOR_PosEnd Axis Correction: End Position maximum value of correction table
3000
Achsfehlerkorrektur, kub. BSplines
interpolation points used P 0595, P
0596 and the interpolation point pitch
2500
P 0593.
Interpolation point pitch: The positions

2000
at which the correction interpolation
ACorrVal , *=table values
points are plotted are defined via para-

1500
meters P 0593 Interpolation point pitch
P 0593 ENC_ACOR_PosDelta Axis Correction: Delta Position
and P 0591 Start position. Between
1000
the correction interpolation points,
the correction values are calculated by
500
cubic spline interpolation.
0 Axis Correction: Actual Position

0 5 10 15
P 0594 ENC_ACOR_Val Actual position
scaled Input position, table index
Value
Axis Correction: Table for neg.

Figure 4.32 Axis error compensation Example of axis error correction in case of P 0595 ENC_ACOR_VnegTab
speed
Correction table for negative direction
interpolation with cubic B-splines
Axis Correction: Table for pos.
P 0596 ENC_ACOR_VposTab Correction table for positive direction
speed
For precision machining (such as spindle drives) position and directions-dependent cor-
rection values must be used in the drive controller.
For this, a correction value table is filled with values for each of the two directions. The
respective correction value is produced from the current axis position and the direction
of movement by means of cubic (jerk-stabilized) interpolation. The actual position value
is adapted on the basis of the corrected table. Both tables contain 250 interpolation position value when the direction is reversed, and so possibly to a step re-
points. sponse adjustment to the reference position.
Correction factor
Directional dependence of the correction
In speed-controlled mode the directional dependence is determined by way of the rated Endposition
speed, whereas in positioning it is determined from the speed feed forward control P 0592
value (scope variable nref_FF) by comparison with a standstill window. If there is no
mechanical play, such as in the case of direct drives, both tables must be filled with the
same values.
The standstill window setting is currently fixed at 1 min-1.
Startposition
•• The function is only active when P 0590 ENC_ACOR_Sel is unequal to OFF, P 0591
P 0593 ENC_ACOR_PosDelta is unequal to zero and homing has been carried out.
•• New values only take effect following control initialization (retrigger ENPO and
enable). Correction interpolation points
1 2 3 4 5 6 7.... max. 250
•• Start position P 0591 ENC_ACOR_PosStart, resolution P 0593 ENC_ACOR_PosDelta
and the last table index of P 0595 ENC_ACOR_VnegTab or Interpolation point distance
P 0596 ENC_ACOR_VposTab unequal to zero produce the end position P 0593
P 0592 ENC_ACOR_PosEnd.
Legend: Interpolation point Incorrected Positionvalue (conter-clockwise rotation)

conter clockwise correction
Interpolation point Incorrected Positionvalue (clockwise rotation)

clockwise correction
Note: The parameters are set in the selected user unit for the position as
integer values. Figure 4.33 Correction value formation from the defined correction interpolation points
Note: It is advisable to use the same number of correction interpolation

points for the positive and negative directions. The first and last correction
values in the table must be zero in order to avoid instability (step changes) in
the actual position value.
Note: Differing correction values for the positive and negative directions at
the same interpolation point will lead to instability in the associated actual
5. Motion profile Motion Profile screen
At the start of drive parameterization the reference interface between Motion Profile
and loop control is configured. In the dialogue box the basic settings necessary for initial
turnover of the drive can be set (see below).
Interface between
Motion profile and control
Standardisation
Basic settings:
M Profile-Selction
M Control-Selection
Autostart
Motion profile Profilgenerator Control
Stopramps
Bild 5.11 Motion Profile screen
homing type
Jog Mode
Bild 5.10 Reference interface 5.1 Scaling

By way of Motion Control, reference values must be preset in user-defined travel units.
These values must be converted into internal units. This section describes how the
various factors influence the system, how they are calculated and what variables are
required for the purpose. A wizard is provided for scaling in the standard/CiA DS402 and
SERCOS profiles. To start it, click the “Standardisation/units” button. Scaling via USER is
only possible by way of the Parameter Editor.
[ Motion profile ]
5.1.1 Standard/CiA 402 profile
Scaling via standard / CiA402 profile
Figure 5.1 Selection of scaling mode
Parameter
P.no. Designation in DM 5 Function
name/Setting
P 0283 MPRO_FG_Type Factor group Type selection Scaling source
Scaling is based on the parameters

Standard acc. To CANopen specified in the CIA 402 profile.
(0) STD_DS402
DSP402 Used in open-loop control via termi-
nal or PLC
Scaling is based on the parameters

(1) SERCOS Units acc. To SERCOS
specified in the SERCOS profile
Scaling is based on parameters P-270

(2) User specific User defined units
to P275
Figure 5.2 Definition of feed constant

Scaling via standard / CiA402 profile Scaling via standard / CiA402 profile
In this dialogue box the units for the position, speed and acceleration are defined.
The >Continue button navigates the user through the subsequent dialogue boxes.
In the catalogue windows of these three variables initially the exponent is set. The
desired units for position and speed must also be selected.
Definition of direction: Referred to the motor, the positive direction is clockwise as

seen when looking at the motor shaft (A-side bearing plate).
Input of changes should not be aborted prematurely. Always finish the action in the
regulation manner and restart input from the first screen.
[ Motion profile ]
Scaling via standard / CiA402 profile Weighting via the SERCOS profile
“Feed constant” defines the ratio of the feed rate to the motor revolution.
Feed forward
feed constant =
Motor revolution gear output side
Gear ratio” defines the ratio of a motor revolution upstream of the gearing to the
number of revolutions on the gear output side.
Motor revolution
gear ratio =
Revolution at gear output side
“Position encoder resolution” defines the encoder resolution in increments per motor
revolution.
This is the start screen of the SERCOS scaling wizard, in which the settings for position,
Encoder Increments
Position encoder resolution = speed, torque and acceleration can be made. From this screen the user is navigation
Motor revolution through the scaling parameters.
Figure 5.2 Definition of feed constant So as not to have to display all individual screens, the following schematic views are
presented:
•• Schematic 1 : Weighting method for position data
5.1.2 SERCOS profile •• Schematic 2 : Weighting method for speed data
When using the SERCOS profile, the term “weighting” is used in defining the units. •• Schematic 3 : Weighting method for force/torque
The weighting describes the physical unit and number of decimal places with which the
•• Schematic 4 : Weighting method for acceleration
numerical values of the parameters exchanged between the master control system and
the drives are to be interpreted. The method of weighting is defined by the parameters Figure 5.3 Weighting wizard for SERCOS
for position, speed, torque and acceleration weighting.
Note: If no weighting is selected, the weighting factor and weighting expo-

nent are irrelevant.
Weighting of position data Schematic 1: Position data
Schematic 1: Position data Position resolution in rotary mode:
Wheighting of position data 1 Revolution

LSB = Unit *
- translational mode rotary mode
Position resolution in rotary mode
Load / Motor Load / Motor Load / Motor 360 degree

Example:
preferential Parameter preferential Parameter 3 600 000
Weighting Weighting Weighting Weighning
Meter Meter Grad Grad

Preferential rotary weighting:
Weighting Rotary position Weighting Preferential

LSB = 10 E-7 m LSB = variabel
Resolution 360000
LSB = variabel Unit
LSB = 0,0001 Grad method resolution exponent weighting
rotativ degrees 3 600 000 -7 0.0001 degrees
Position resolution in translational mode:

LSB = Unit * Exponent
Modulo weighting
If Modulo (indexing table application) is selected, the number range of the position
Preferential translational weighting:
data (Modulo value) must be entered. If the travel exceeds the modulo range, modulo
calculation is carried out.
Weighting Unit Weighting Weighting Preferential
method factor exponent weighting Position polarity:
linear m 1 -7 0.1 µm The polarity of the position data (preceding sign) can be inverted according to the
application. A positive position reference indicates clockwise rotation (looking at the
Figure 5.4 Weighting of position data motor shaft).
Figure 5.4 Weighting of position data
[ Motion profile ]
Weighting of speed data Schematic 2: Speed data

Schematic 2: Speed data Position resolution in translational mode:
Weighting of speed data Distance unit
LSB = Unit * Exponent *
Time unit
Load / Motor Load / Motor Load / Motor Preferential translational weighting:

preferential Parameter- preferential Parameter
Weighting Weighting Weighting- Preferential
Weighting Weighting Weighting Weighting Unit
method factor exponent weighting
linear m/min 1 -6 0.001 mm/min
min min oder s min s minGrad
oder s
Preferential rotary weighting:

Meter Meter
Weighting Weighting Wighting- Preferential
Unit
LSB = LSB = variabel LSB = LSB = LSB = variabel
10 E-6 m/min 10 E-4 min -1 10 E-6 -1 rotativ 1/min 1 -4 0.001 1/min
S
rotativ 1/s 1 -6 0.000001 1/s
If no weighting is selected, the weighting factor and weighting exponent are irrelevant.
Figure 5.5 Weighting of speed data Figure 5.5 Weighting of speed data
Speed polarity:
The polarity of the speed data (preceding sign) can be inverted according to the applica-
tion. A positive speed reference difference indicates clockwise rotation (looking at the
motor shaft).
Weighting of acceleration data Schematic 3: Acceleration data
Schematic 3: Acceleration data Preferential translational weighting
Weighting of acceleration data Weighting

Unit
Weighting Weighting Preferential
translatorisch m/s2 1 -6 0.001 mm/s2
Preferential rotary weighting
Load / Motor Load / Motor Load / Motor
Weighting Weighting Weighting Preferential
Unit
preferential Parameter- preferential Parameter-
Weighting Weighting Weighting Weighting Rotatorisch rad/s2 1 -3 0.001 rad/s2
Figure 5.6 Weighting method for acceleration data

2 3 2 3 2 3 2 3
s oder s s oder s s oder s s oder s
Weighting of torque and force data

Meter Meter Grad Grad
Schematic 4: Torque/force data
Weighting of torque and force data

LSB = 10 E-6 LSB = 10 E-3
Variabel Variabel
2(3) 2(3)
m/s LSB Weight m/s LSB Weight
percental
transational mode (Force) rotary mode (Torque)
(0,1 %)
All acceleration data (reference, actual and limit values) are subject to the preset
weighting. If no weighting is selected, the weighting factor and weighting exponent Load / Motor
Load / Motor Load / Motor
are irrelevant.
Parameter- preferential preferential Parameter
Weighting Weighting Weighting Weighting
Acceleration in translational and rotary mode:
Distance unit N N Nm Nm
LSB = Unit * Exponent *
Time unit
LSB LSB
LSB = 1,0 N variabel LSB = 10 E-2 Nm variabel
Figure 5.6 Weighting method for acceleration data

Figure 5.7 Weighting method for torque and force data
[ Motion profile ]
Schematic 4: Torque/force data

User-Standardisation
In percentage weighting the permanently permissible standstill torque of the motor is
P 0270 MPRO_FG_PosNorm
used as the reference value. All torque/force data is given in % with one decimal place.
Position
[Pos Unit] P 0271 MPRO_FG_Num
x y
Pos [incr]
x y x y
P 0272 MPRO_FG_Den
LSB = Unit * Exponent

P 0273 MPRO_FG_Reverse
Preferential translational weighting of force data

Weighting Weighting- Wighting- Preferential Control command Control
Unit Speed [Speed Unit]
x y x y Speed [rev / min]
translatorisch N 1 -0 1N
P 0274 MPRO_FG_SpeedFac
Acceleration [Acc Unit]

Preferential rotary weighting of force data x y
2
Acc [rev / s ]
Weighting Weighting- Wighting- Preferential P 0275 MPRO_FG_AccFac

Unit
rotatorisch 0,01 Nm
Figure 5.8 Schematic of user scaling
Nm 1 -2
Figure 5.7 Weighting method for torque and force data

5.1.4 Scaling examples for “USER” scaling:
Torque polarity
Rotary motor scaling:
The polarity is switched outside of a controlled system (at the input and output). A posi-
tive torque reference difference and non-inverted polarity means the direction of rota- Presetting: 1 motor revolution corresponds to 360° or 1048576 increments
tion is clockwise, looking at the motor shaft. •• Velocity in [rpm]
•• Acceleration in [rpm/s]
5.1.3 “USER” scaling without scaling wizard
No wizard is available for USER scaling, and it should only be used when scaling using •• Positioning in [°degrees]
the wizard is not possible. The following schematic is provided an an aid to parameter
setting. Calculation of the factors P 0271 / P 0272 for position, P 0274 for speed and
P 0275 for acceleration is dependent on the selected “User Unit”1 and the feed constant
or gear ratio.
Example: Linear motor scaling:
Given: Pos Unit: P 0284 = µm
Example: Scaling of the linear motor:
Speed Unit: P 0287 = m/s
Given: Travel in [µm]
Acc Unit: P 0290 = m/s2 Speed in [mm/sec]
Feed constant: 1 mm = 10 rev Acceleration in [mm/s2]
Gearing: 1 drive revolution = 3 motor revs One revolution corresponds to 32mm pitch
Parameter setting: See P 0274, P 0275

Pos Unit:
1 µm = 1/1000 mm = 10/1000 rev (output) = 30/1000 rev (motor) Parameter name/ Default setting
P. no. Description
P 0271 = 30 or P 0271 = 3 Settings for linear motor:
P 0272 = 1000 or P 0272 = 100 Increments/
P 0270 MPRO_FG_PosNorm 1048576
Speed Unit: revolution
1 m/s = 1000 mm/s = 10 000 rev/s (output) = P 0271 MPRO_FG_Num Numerator 1
30 000 rev/s (motor)*60 (min) = 1 800 000 rev/min
P 0272 MPRO_FG_Den Denominator 32000 µm
P 0274 = 1 800 000
Direction of False
Acc Unit: P 0273 MPRO_FG_Reverse
rotation (clockwise)
1 m/s2 = 1000 mm/s = 10 000 rev/s (output) = 1.875 rps corresponds to 1mm/s,
30 000 rev/s2 (Motor)*60 (min) = 1 800 000 rev/min P 0274 MPRO_FG_SpeedFac Velocity factor 1/32 mm = 0.03125 rps2
P 0275 = 1 800 000 0.03125 rps2*60 s = 1.875 rps
Acceleration 1/32 mm = 0.03125 rps2

P 0275 MPRO_FG_AccFac
Parameter name/ Default setting for Internal factor corresponds to 1 mm/s2
P. no. Function
Settings rotary motor: unit
Increments per
P 0270 MPRO_FG_PosNom 1048576 [incr/rev]
revolution
P 0271 MPRO_FG_Nom Numerator 1[rev] Pos/1
Position per
P 0272 MPRO_FG_Den Denominator 360° [POS]
revolution
P 0273 MPRO_FG_Reverse Reverse direction False = clockwise
P 0274 MPRO_FG_SpeedFac Velocity factor 1[rpm] rpm
Acceleration
P 0275 MPRO_FG_AccFac 1/60 = 0.01667 [rpm/s] rps2
factor
[ Motion profile ]
5.2 Basic settings P. no.

Parameter name/
Designation in DM 5 Function
Settings
From the “Motion Profile” screen, clicking on “Basic settings” navigates to the lower MPRO_DRVCOM_
screen. In it, settings are made for the required motion profile such as control location, P 0144 DriveCom: Auto start of system Autostart function
Auto_start
reference source, start condition, profiles and a possible directional limitation.
Normal operation: The drive is
Switch off drive first in case of power stopped by cancelling the start
(0) Off(0)
of fault reset condition or in the event of an
error.
The drive automatically starts

Start/Restart drive automaticly in immediately on completion of
(1) ON(1)
case of power or fault initialization, provided the mains
voltage is connected.
P 0165 MPRO_REF_SEL Motion profile selection Selection of reference source
(0) OFF(0) No setpoint No reference selected
(1) ANA0(1) via analog channel ISA0 Analog input ISA0
(2) ANA1(2) via analog channel ISA1 Analog input ISA1
(3) TAB(3) via table Table values

Figure 5.9 Basic settings selection screen
(4) PLC4) Basic Library PLC open as from V 2.0
Parameter name/ (5) PLC(5) via IEC 61131 program as from V 2.0
P. no. Designation in DM 5 Function
Settings The reference is preset by
(6) PARA(6) via parameter definition
parameter
P 0159 MPRO_CTRL_SEL Motion control selection Selection of control location
(7) CiA 402(7) via CiA CiA 402 motion profile CiA 402
(0) OFF(0) No control selector defined No control location selected
(8) SERCOS(8) via SERCOS motion profile SERCOS
(1) TERM(1) via terminals Control via terminal
(9) PROFIBUS(9) via PROFIBUS DPV motion profile PROFIBUS
(2) PARA(2) via parameter interface via parameter
(3) (3) not defined not defined P 0301 Con_Ref_Mode Select Reference Mode Selection of interpolation type
(4) PLC(4) via IEC 61131 program IEC 1131 PG(0): The internal reference
is generated by the Profile
via CiA 402 motion profile Generator. In it, all ramp func-
(5) CiA 402(5) CiA 402
(CANopen/EtherCAT) tions, such as acceleration and
(0) PG(0) setpoint effects to profile generator
braking ramps, jerk, smoothing
(6) SERCOS(6) via SERCOS motion profile SERCOS
are implemented. The internal
(7) PROFIBUS(7) via PROFIBUS DPV motion profile PROFIBUS generation is always executed at
a sampling time of 1 ms
Parameter name/ 5.2.1 Control location, control source/Set control and Reference
Settings –– P 0159: Selection of control location
IP(1): The reference input of –– P 0165: Selection of reference source
the higher-level PLC is routed
directly to the Fine Interpolator. –– P 0144: Selection of controller start condition (Autostart)
setpoint effects directly to control
(1) IP(1) Adaptation of the sampling time
loop (without ramp)
between the PLC and the drive
controller is essential. The default 5.2.2 Profile
setting is 125 µs.
–– P 0301: Selection of reference processing via Profile Generator or interpolated
Sampling time for interpolation
Adaptation of sampling time position mode (see following section)
P 0306 CON_IpRefTS between ext PLC and drive
default 250 µs
controller –– P 2243: Setting of different smoothing curves (only in PG mode)
–– P 0166: Setting of smoothing time (only in PG mode)
0,25 ms - 1000 ms –– P 0167: Setting of speed override dependent on the maximum preset reference
value (only in PG mode)
P 0370 CON_IP Interpolation type control
Selection of interpolation –– P 0335: Direction block
method
(0) NoIp(0) No interpolation

The interpolation methods are
described in section 1.2.
5.2.3 Profile generator/Interpolated position mode
(1) Lin(1) Linear interpolation Linear interpolation
The Profile Generator has 3 different operating modes:
Interpolation with external feed Interpolation with external feed

•• Absolute positioning
(2) SplineExtFF(2) - The specified target position is approached
forward forward control value
(3) SplineII(3) Cubic spline interpolation Cubic spline interpolation •• Relative positioning
- New position = old position + relative position
(4) NonIPSpline(4) Cubic spline approximation Cubic spline approximation
•• Speed mode
- The specified speed is implemented, regardless of the position
Note: The possible settings must be checked for plausibility. The standard
profile of the servocontroller is the Motion Profile CiA 402, effective for the
control locations and reference sources over the CAN, EtherCAT and PROFI-
BUS field buses.
[ Motion profile ]
The Profile Generator calculates the motion profile in two stages:

Speed Control
1. Speed profile generator: with PG-Mode
Calculation of the speed profile taking into account aMax and vMax, followed by P 0301 = PG(0)
integration of the speed to get the travel profile. P 0165
P 0300 = SCON(2)
Sampling Time
P 0305=125µs default
2. Mean value filter: OFF(0)
In order to limit the jerk time, a mean value filter is used to smooth the travel ANA0(1)
Motion profile Motion profile Basic settings

profile of the speed profile generator. The jerk time is proportionate to the filtering ANA0(2)
Standardisation-
depth of the mean value filter. The longer the jerk time, the lower the resulting TAB(3)
Referncevalue assistent Referencevalue Profil Generator Interpolator Speed Control
not defined(4)
in User-units in Increments PG n_ref Current
jerk. A jerk time of 0 means that the max. permissible acceleration can be directly Select Control
PLC(5) CiA DS402 (Stop)Ramps
used for starting or braking (the mean value filter is inactive). SERCOS Smooth
Interpolation
PARA(6) Mode
User Filter
CiA DS402(7)
SERCOS(8)
PROFIBUS(9)
Speed control via the Profile Generator (PG mode) VARAN(10)
BUS Sampling time 1 ms

To use the Profile Generator in speed control mode, the two parameters P 0301 = PG(0)
and P 0300 = SCON(2) must be set.
When the reference source has been selected the reference is scaled to the matching
user unit. The reference is transferred to the Profile Generator (Motion Profile) in incre- Figure 5.10 Configuration of speed control in PG mode
ments and passes via the Fine Interpolator (Basic settings) to the speed controller (see
figure 5.12).
5.2.4 Speed control via IP mode With the additional information on jerk P 0166 MPRO_REF_JTIME and an override factor
P 0167 MPRO_REF_OVR for the travel speed, the Profile Generator generates a time-opti-
In speed control via IP mode (Interpolated Position mode), the reference values from the mized trajectory for the position reference, taking into account all limitations, in order to
reference source are scaled, always interpolated in linear mode, and switched to the reach the target position.
control loops. No feed forward control values are generated!
The position reference values are then fine-interpolated in the Interpolator, with the
Speed Control interpolation method selected via parameter P 0370 CON_IP.
with IP-Mode From the position references feed forward control values are generated for speed and
P 0301 = IP(1) acceleration. These are scanned at the sampling time of the position controller (normally
P 0300 = SCON(2) 125 µs) and switched to the control loops.
P 0165 Sampling Time
P 0305=125µs default
OFF(0) Further information on how to generate motion commands using the field buses or in-
ANA0(1)
ternal options can be found in the field bus documentation.
ANA0(2) Motion profile Basic settings
Position Control with PG-Mode
TAB(3) Reference Value in Standardisation
User units Speed Control P 0301 = PG(0)
assistent Reference value in
Interpolator P 0300 = PCON(3)
not defined(4) Increments n_ref Current
Select Control
PLC(5) CiA DS402
Interpolation P 0165 Sampling Time
SERCOS P 0305=125µs default
PARA(6) Mode OFF(0)
User
CiA DS402(7) ANA0(1)
Controll
ANA0(2) Motion profile Motion profile Basic settings
SERCOS(8) Feed forward controll
isq_ref isq_ref
Refernce Value in
TAB(3) Standardisation Reference value
Profil Generator Interpolator Feed forward controll
PROFIBUS(9) User units in Increments
assistent n_ref n_ref
not defined(4) PG
VARAN(10) BUS Sampling time 1 ms
PLC(5) Selct Position Current
CiA DS402 (Stop)Ramps
Interpolation eps_ref
Controll
Controll
SERCOS Smoothing
PARA(6) Mode
User Filter
Figure 5.11 Configuration of speed control in IP mode CiA DS402(7)
SERCOS(8)
PROFIBUS(9)
5.2.5 Position control via Profile Generator (PG mode) VARAN(10)

In configuration of position control in PG mode, a PLC transfers complete motion com-
mands to the internal Profile Generator. The setting is made in the Motion Profile subject
Figure 5.12 Configuration of position control in PG mode
area under “Basic Settings”. A motion command consists of:
•• Ref_Position: target position
•• Ref_Speed: Maximum travel speed
•• Ref_Acceleration: Maximum acceleration
•• Ref_Deceleration: Maximum deceleration
[ Motion profile ]
5.2.6 Configuration of position control via IP mode 5.2.7 “Smoothing” and “Velocity offset”
In position control configuration in IP mode, position references are set at a sampling
Parameter name/
time specified by the higher-level control. The drive controller sampling time can be P.no. Designation in DM 5 Function
Settings
matched to the sampling time of the PLC using parameter P 0306 CON_IpRefTS.
Setting of smoothing time (jerk
The position references are then transferred to the Fine Interpolator. The interpolation P-0166 MPRO_REF_JTIME Motion profile jerk time
limitation)
method to be used is set via parameter P 0370 CON_IP. The resulting feed forward con-
trol values for speed and acceleration are switched to the control loops. The reference is weighted in percent
Motion profile speed override
P-0167 MPRO_REF_OVR dependent on the maximum specified
factor
reference value
Position Controll with IP-Mode
P 0301 = IP(1)
P 0300 = PCON(3) The jerk limitation increases the acceleration and deceleration time by the smoothing
P 0166. The smoothing settings field appears on the screen only when JerkLin(3) = Jerk
P 0165 Sampling Time
OFF(0)
P 0305=125µs default limited ramp is set in parameter P 2243 “Profile type” (see figures 5.16, 5.17). With
ANA0(1)
Speed override P 0167 the maximum preset speed reference can be scaled in percent.
Controll
ANA0(2) Motion profile Basic settings
Feed forward controll
isq_ref isq_ref
TAB(3)
Reference Value in
Normierungs- Refernce Value Interpolator Feed forward controll
User units assistent in Uncrements n_ref n_ref
not defined(4)
PLC(5) Select Position

CiA DS402 Controll Speed
Interpolation eps_ref
SERCOS controller
PARA(6) Mode
User
CiA DS402(7)
SERCOS(8)
PROFIBUS(9)
VARAN(10)
Figure 5.13 Configuration of position control in IP mode
Figure 5.14 Without smoothing: Red = actual speed value; Grey = actual position
Figure 5.16 Stop ramps screen
Figure 5.15 With smoothing of 2000 ms; Red = actual speed value; Grey = actual position value The following ramp options are available:
P.no. System state Stop ramps Preferred setting
5.3 Stop ramps P 2218 Quick stop MP_QuickStopOC (2)
P 2219 Control off MP_ShutdownOC (-1)

Each reference source has its own acceleration and braking ramps. In addition to this
Transition from “Operation
there are the special deceleration ramps to the CiA 402 standard listed below. The P 2220 MC_DisabledOpOC (1)
Enable” to “Switch on”
ramp functions are only effective in certain system states. The required settings can be
P 2221 Stop feed HaltOC (1)
selected from the screen. Clicking the “Error/fault reactions” button directly accesses the
dialogue box for the error responses. P 2222 Error MP_FaultReactionOC
P 2242 Braking ramp for quick stop MPRO_402_QuickStopDec
Response to “Quickstop Option Code”

The quick-stop brakes an ongoing movement. The drive controller is in the “Quick-stop“
system state. During braking, and depending on the response, acceleration is again pos-
sible in the old “Control active” state.
[ Motion profile ]
P 2218 Designation in DM 5 Function Response to shutdown option code / “Control off”

The state transition “Control off” is passed through when the power stage is switched
0(0) = Disable power stage/drive
POFF(0)
function
Disable power stages; the drive coasts to a stop off. The control is switched off by way of various control channels (terminals, bus, PLC).
1(1) = Slow down on slow down The drive brakes with the programmed deceleration
P2219 Designation in DM 5 Function
SDR(1)
ramp ramp, then the power stage is disabled
In response to a shutdown command the stop variant
QSOPC(-1) According Quickstop option code
selected in the quick-stop option code is executed
2(2) = Slow down on slow quick- Braking with quick-stop ramp, then the power stage is
QSR(2) POFF(0) Disable power stage/drive function Disable power stages; the drive coasts to a stop
stop ramp disabled
Slow down with slow down ramp; The drive brakes with the programmed deceleration
Braking with max. dynamics at current limit. The speed SDR(1)
disable of the drive function ramp, then the power stage is disabled
CLIM(3) 3(3) = Slow down on current limit reference value is set equal to 0, then the power stage is
disabled.
Reserve(4) Reserve
Response to “Disable Option Code”
Braking with programmed deceleration ramp. The drive The “disable operation option code“ parameter determines which action is to be ex-
5(5) = Slow down on slow quick-
SDR_QS(5) remains in the quick stop state, current is applied to the
stop ramp and stay in quickstop
axis at zero speed. 1) ecuted at the transition from “Operation enable” to “Switched on“ (4 and 5).
Braking with quick-stop ramp. P 2220 Designation in DM 5 Function

6(6) = Slow down on slow quick-
QSR_QS(6) The drive remains in the quick-stop state, current is ap-
stop ramp and stay in quickstop POFF(0) 0(0)= Disable power stage/drive function Disable power stages; drive coasts to a stop
plied to the axis at speed 0. 1)
1(1)= Slow down with slow down ramp; dis- The drive brakes with the programmed decel-
Braking with max. dynamics at the current limit, SDR(1)
able of the drive function eration ramp, then the power stage is disabled
7(7) = Slow down on current limit the speed reference is set equal to 0.
CLIM_QS(7)
and stay in quickstop The drive remains in the quick-stop state, current is ap-
plied to the axis at speed 0. 1)
Response to stop option code / “Stop feed”
Reserve(8) Reserve
The “Stop feed” state brakes an ongoing movement for as long as the state is active.

1)
Transition to the “Ready” state is only possible by resetting the quick-stop request. In the “Quick-stop” state cancelling the During braking the drive can be accelerated back to the previous state. When deacti-
“Start closed-loop control/drive” signal has no effect as long as the quick-stop request is not reset as well.
vated, the programmed acceleration ramp is again applied.
P 2221 Designation in DM 5 Function Note: These drive-controlled homing runs with the corresponding param-
eters are also used in the case of control via the SERCOS and PROFIBUS field
The drive brakes with a programmed deceleration
SDR(1) 1(1)= Slow down on slow down ramp
ramp
buses and in conjunction with internal reference generation.
QSR(2) 2(2)= Slow down on slow quickstop ramp Braking with emergency stop ramp
5.4.1 Drive-controlled homing
Braking with max. dynamics at current limit. When relative encoder systems are used, the drive must be homed via bit 11 in control
CLIM(3) 3(3)= Slow down on current limit
The speed reference is set equal to 0.
word 1. As soon as this bit is set by the master, the drive performs a position-controlled
Free(4) - homing run using an internal profile generator taking into account homing speed, hom-
ing acceleration and the strategy stored in the homing method.
Response to “Fault Reaction Option Code” Homing speed

The homing speed is preset via parameter P 2262 MPRO_402_HomingSpeeds in the
P 2222 Designation in DM 5 Function DriveManager. In this, the user has the possibility to specify two different homing speeds.
SDR(1) Disabled drive, motor is free to rotate Disable power stages; the drive coasts to a stop
Designation in
The drive brakes with a programmed deceleration
P 2262 MPRO_402_HomingSpeeds Function
QSR(2) Slow down on slow down ramp DM 5
ramp
(0) SpeedSwitch(0) Speed during search Speed on the way to the limit switch
Braking with max. dynamics at current limit. for switch
CLIM(3) 3(3)= Slow down on current limit
The speed reference is set equal to 0
(1) SpeedZero(1) Speed during search Speed during travel to zero point
Free(4) - for zero
Braking ramp for “Quickstop” Homing acceleration

P 2242 Settings MP_QuickStopDec: The homing acceleration is preset via P 2263 MPRO_402_HomingAcc in the DriveManager.
0 3000 Setting of quick-stop ramp Zeroing offset

Absolute encoders (e.g. SSI-Multiturn encoders) are a special feature in homing, because
they establish the absolute position reference directly. Homing with these encoders
therefore requires no movement and, under certain conditions, no current to the drive.
5.4 Homing Homing type -5 is recommended for the zero balancing. A zero offset can be set via
parameter P 0525 ENC_HomingOff.
The drive-controlled homing runs are executed according to the CANopen drive profile
DSP 402 as from V 2.0.
[ Motion profile ]
Zero pulse evaluation

Parameter name/
If a homing run is selected which requires evaluation of a zero pulse, the evaluation Setting
is automatically started in the background and automatically stopped when homing
is complete. It is possible to plot the zero pulse on the scope for diagnostic purposes P 2261
P 0101 to P 0107 MPRO_402_Homing-
Digital inputs
(Scope channel: Encoder Position Channel 1/3 Np). MPRO_INPUT_FSISDxx Method
(0) - Not defined No homing

Reference cam, limit switch
Neg. end switch, zero Homing negative limit switch and
(1) LCCW
The reference cam signal can be optionally linked to one of the digital inputs. Inputs pulse zero pulse
ISD00 to ISD06 are available. In homing to a limit switch, the digital input must be se- Homing positive limit switch and zero
lected with the available selection parameter LCW(5) for a positive or LCCW(6) negative (2) LCW Pos. end switch, zero pulse
pulse
limit switch. In homing to a cam, the selection parameter HOMSW(10) must be chosen
Pos. reference cams, zero Homing to cam negative edge, posi-
(see parameters P 0101–P 0107). (3) HOMSW
pulse at RefCam=Low tive direction + zero pulse
Pos. reference cams, zero Homing to cam positive edge, positive

(4) HOMSW
pulse at RefCam=High direction + zero pulse
Parameter name/
P.no. Designation in DM 5 Function Neg. reference cams, zero Homing to cam negative edge, nega-
Setting (5) HOMSW
pulse at RefCam=Low tive direction + zero pulse
P 0101 to P 0107 MPRO_402_Homing- Neg. reference cams, zero Homing to cam positive edge, nega-
P 2261 Digital inputs (6) HOMSW
MPRO_INPUT_FSISDxx Method pulse at RefCam=High tive direction + zero pulse
Move pos. direction, for Homing method for increment-coded Left reference cam polarity,
(-7) - (7) to (14) HOMSW Various homing runs to cam
distance coded encoder encoder for positive direction zero pulse at RefCam=Low
Move pos. direction, for Homing method for increment-coded (15), (16) - not defined Reserved
(-6) -
distance coded encoder encoder for negative direction
(17) LCCW Neg. end switch Homing negative limit switch
Act. position + homing
(-5) - Homing (absolute value encoder) (18) LCW Pos. end switch Homing positive limit switch
offset (multiturn-encoder)
Pos. reference cams, Stop Homing to cam negative edge, posi-
Homing mode type 22 Continuous homing, negative edge of (19) HOMSW
(-4) HOMSW at RefCam=Low tive direction
with continuous reference reference cam
Pos. reference cams, Stop Homing to cam positive edge, positive
Homing mode type 20 Continuous homing, positive edge of (20) HOMSW
(-3) HOMSW at RefCam=High direction
with continuous reference reference cam
Neg. reference cams, Stop Homing to cam negative edge, nega-
No homing mode (act. No homing; only an offset adjustment (21) HOMSW
(-2) - at RefCam=Low tive direction
position + homing offset) is made
Neg. reference cams, Stop Homing to cam positive edge, nega-
Reference position = (22) HOMSW
at RefCam=High tive direction
(-1) - homing offset (parameter Actual position=Zero
HOOFF) (23) bis Left reference cam polarity,
HOMSW Various homing runs to cam
(30) Stop at RefCam=Low
Accordingly, in operation of a SSI-Multiturn encoder for example, homing with zero
Parameter name/ offset = 0 delivers the absolute position of the SSI encoder. Another homing run with
Setting unchanged setting of the zero offset does not cause a change in position.
P 0101 to P 0107 MPRO_402_Homing- Homing or zero balancing of the system is performed as follows:
P 2261 Digital inputs
MPRO_INPUT_FSISDxx Method 1. Enter zero offset = 0
(31), (32) - Not defined Reserved 2. Homing (Start homing) delivers the absolute position of the encoder
(33) - Next left zero pulse Zero pulse in negative direction 3. Move drive to reference position (machine zero)
Left reference cam polarity, 4. Then enter the zero offset (the value by which the position is to be changed rela-
(34) - Zero pulse in positive direction
Stop at RefCam=High tive to the displayed position)
Actual position = 5. Repeat homing (Start homing)
(35) - Zero is current position
Reference position 6. Save setting (zero offset)
7. At power-on the system is automatically homed. Manual homing is no longer
necessary.
Homing method
The homing method is selected via parameter P 2261 MPRO_402_HomingMethod (type Type -4: Ongoing homing, negative reference cam:
(-5) to type (35)). As homing method 22, with subsequent possibility of continuous homing. For more
The different homing methods are described in the following. The individual reference information see “Type -3”.
points corresponding to the zero are numbered in the graphs. The different homing
speeds (V1=SpeedSwitch, V2=SpeedZero) and the directions of movement are also Type -3: Ongoing homing, positive reference cam:
shown. As homing method 20, with subsequent possibility of continuous homing. Types “-3”
and “-4” can only be used with an infinite travel range. They are used for fully auto-
Type -5: Absolute encoder: mated compensation for slip or inaccurate gear ratios. After initial homing the actual
This type is suitable for absolute encoders (e.g. SSI-Multiturn encoders). Homing is position is overwritten with the zero offset at every rising edge of the reference cam.
performed immediately after power-on. It can also be activated with the power discon- The distance still to be travelled is corrected, enabling the axis to perform any number of
nected. relative movements in one direction without drifting, even with drives susceptible to slip.
The current position corresponds to the zero point. The zero position is calculated on The circumferential length must match the distance between two reference signals as
basis of the absolute encoder position + zero offset. closely as possible. In other words: The same position must be indicated again after one
circulation, otherwise disturbing movements may occur during a correction. The permis-
sible lag must be larger than the maximum mechanical inaccuracy.
[ Motion profile ]
Attention: Correction of the actual position is effected in steps. No ac- Type 2, Positive limit switch and zero pulse
! celeration ramps are active. The correction is this treated like a tracking error
adjustment. The maximum speed of the positioning driving profile has no
The initial movement is as shown in figure 5.20 towards the positive (right) hardware
limit switch (which is inactive) and the direction of movement is reversed when the edge
effect here.
is active. The first zero pulse after the falling edge corresponds to the zero.
Type: -2, No homing is performed:
No homing is performed. The current position is added to the zero offset. The first time
the power stage is switched on the “Homing completed” status is set. This method is v1
suitable for absolute encoders, as long as no zero balancing is required. For zero balanc-
2
ing please select type -5.
v2
Type: -1, Actual position = 0:
Zero pulse
The actual position corresponds to the zero. It is set to 0, i.e. the controller performs an
actual position reset. The zero offset is added.
Positive limit switch
Type: 0:
Not defined. Figure 5.18 Type 2: Positive limit switch and zero pulse
Type: 1, Negative limit switch and zero pulse:

The initial movement is as shown in Figure 5.17 towards the negative (left) hardware Type: 3+4, Positive reference cam and zero pulse
limit switch (which is inactive) and the direction of movement is reversed when the edge The initial movement is as shown in Figure 5.19 towards the positive (right) hardware
is active. The first zero pulse after the falling edge corresponds to the zero. limit switch, if the reference cam is inactive - see symbol A in Figure 5.19 .
As soon as the reference cam is active, the type 3 direction is reversed. The first zero
pulse after the falling edge corresponds to the zero.
v1 With type 4, the first zero pulse after the rising edge corresponds to the zero. The initial
movement is towards the negative (left) hardware limit switch and the reference cam is
active - see symbol B in Figure 5.19 .
v2 1 If the reference cam becomes inactive, the first zero pulse of type 3 corresponds to the
zero. With type 4, the direction reverses as soon as the reference cam becomes inactive.
Zero pulse The first zero pulse after the rising edge corresponds to the zero.
Negative limit switch
Figure 5.17 Type 1: Negative limit switch and zero pulse

For type 6 the first index pulse after the ascending flank corresponds with the zero
point.
v1
3 v2
v2
A 5
v2
3 v1
4 B A
v2 v1 v2
5
v1
v2 4 B
6
Zero pulse
v2
v2
6
Reference cam
Zero pulse
Referece cam
Figure 5.19 Type 3+4: Positive reference cam and zero pulse Figure 5.20 Type 5+6: Negative reference cam and zero pulse
Type 5+6: Negative reference cam and zero pulse Homing method for increment-coded encoders:
The initial movement is towards the positive (right) hardware limit switch and the refer- Type -6: move negative direction for distance coded encoder-
ence cam is active - see symbol A in Figure 5.20 . Type -7: move positive direction for distance coded encoder-
With type 5 the first zero pulse after the falling edge corresponds to the zero.
When the reference cam becomes inactive, the type 6 direction is reversed and the first
zero pulse after the rising edge corresponds to the zero. The initial movement is towards Type 7 to 10, Reference cam, zero pulse and positive limit switch
the negative (left) hardware limit switch and the reference cam is inactive - see symbol B
in Figure 5.20 . The initial movement is towards the positive (right) hardware limit switch. It and the
reference cam are inactive (see symbol A in figure 5.23). Type 7 reverses the direction of
With type 5 the direction of movement is reversed as soon as the reference cam be- movement after an active reference cam. The zero corresponds to the first zero pulse af-
comes active, and the first zero pulse after the falling edge corresponds to the zero. ter a falling edge. With type 8 the zero corresponds to the first zero pulse with an active
[ Motion profile ]
reference cam. Type 9 reverses the direction of movement if the reference cam has been
overrun. The zero corresponds to the first zero pulse after the rising edge. With type 10
the reference cam is overrun and the first zero pulse after that corresponds to the zero.
v1 v1 v2
The initial movement is towards the negative (left) hardware limit switch. The positive A 8 10
limit switch is inactive and the reference cam is active - see symbol B in figure 5.23. 7 v2 9 v2
With type 7 the zero corresponds to the first zero pulse after a falling edge of the
reference cam. Type 8 reverses the direction of movement after a falling edge of the v2 B C v2
reference cam. The zero corresponds to the first zero pulse after the rising edge of the
7 10
reference cam. 8 9
v2 v2
The initial movement is towards the positive (right) hardware limit switch. It is inactive v1
D
and the reference cam is active - see symbol C in figure 5.23. v2 v1 v1
7 9
Type 9 reverses the direction of movement if the reference cam is inactive. The zero
corresponds to the first zero pulse after the rising edge. With type 10 the first zero pulse v2 8 v2
10
after a falling edge of the reference cam is the zero point.
The initial movement is towards the positive (right) hardware limit switch. It and the Zero pulse
reference cam are inactive. As soon as the positive limit switch becomes active, the
direction of movement is reversed - see symbol D in figure 5.23.
Reference cam
With type 7 the first zero pulse after overrunning the reference cam corresponds to the
zero.
Positive limit switch
Type 8 reverses the direction of movement if the reference cam has been overrun. The
zero corresponds to the first zero pulse after the rising edge.
Figure 5.21 Type 7 to 10: Reference cam, zero pulse and positive limit switch
With type 9 the zero corresponds to the first zero pulse with an active reference cam.
Type 10 reverses the direction of movement after an active reference cam. The zero cor-
responds to the first zero pulse after a falling edge.
Type 11 to 14, Reference cam, zero pulse and negative limit switch
The initial movement is towards the negative (left) hardware limit switch. It and the
reference cam are inactive - see symbol A in figure 5.24.
Type 11 reverses the direction of movement after an active reference cam. The zero cor-
responds to the first zero pulse after a falling edge. With type 12 the zero corresponds to
the first zero pulse with an active reference cam.
zero corresponds to the first zero pulse after the rising edge.
With type 14 the reference cam is overrun and the first zero pulse after that corresponds
to the zero.
The initial movement is towards the negative (left) hardware limit switch. It is inactive
and the reference cam is active - see symbol B in figure 5.24.
Type 13 reverses the direction of movement if the reference cam is inactive. The zero v2 v1 v1
14 12 A
corresponds to the first zero pulse after the rising edge. With type 14 the first zero pulse
after a falling edge of the reference cam is the zero point. v2 13 v2 11
The initial movement is towards the positive (right) hardware limit switch. The positive v2 B C v2
limit switch is inactive and the reference cam is active - see symbol C in figure 5.24. 14 11
With type 11 the zero corresponds to the first zero pulse after a falling edge of the
D 13 12
v1 v2 v2
reference cam. Type 12 reverses the direction of movement after a falling edge of the
reference cam. The zero corresponds to the first zero pulse after the rising edge of the v1
13 11
reference cam. v1
14 v2 12 v2
The initial movement is towards the negative (left) hardware limit switch. It and the
reference cam are inactive. As soon as the negative limit switch becomes active, the
direction of movement is reversed - see symbol D in figure 5.24.
With type 11 the reference cam must be overrun, then the first zero pulse corresponds
Zero pulse
to the zero.
zero corresponds to the first zero pulse after the rising edge. Reference cam
With type 13 the zero corresponds to the first zero pulse with an active reference cam.
Type 14 reverses the direction of movement after an active reference cam. The zero cor- Negative limit switch
responds to the first zero pulse after a falling edge.
Figure 5.22 Type 11 to 14: Reference cam, zero pulse and negative limit switch
Type 15 and 16
These homing methods are not defined.
Type 17 to 30, Reference cam

Homing method types 17 to 30 are similar to types 1 to 14. Determination of the zero
point does not depend on the zero pulse, but solely on the reference cam or the limit
switches.
[ Motion profile ]
Type 33 and 34, Zero pulse

The zero corresponds to the first zero pulse in the direction of movement.
v1
19
v2
v2
19
33 v2
v2
20
v1 v2 34
v2
20
Zero pulse
Reference cam Figure 5.24 Type 33 + 34: Zero pulse
Figure 5.23 Type 17 to 30: Reference cam

Type 35
Type comparison for the individual homing methods The current actual position corresponds to the zero.
Type 1 corresponds to type 17 Type 12 corresponds to type 28
Type 4 corresponds to type 20 Type 14 corresponds to type 30
Type 8 corresponds to type 24
Type 31 and 32
These homing methods are not defined.
5.5 Jog mode
Jog mode enables the drive to be moved manually. A bus system or reference sourcing
via terminal can be selected as the reference. The unit corresponds to the selected user
unit. It is possible to select fast and a slow jog speeds in both directions. For jogging in
positive and negative direction two digital input parameters must be set to INCH_P(7) =
Jog + and INCH_P(8) = Jog -. For jogging at different speeds, both switches must be
activated. If the “Jog left” switch is activated first and then switch two, quick jog mode
left is started. If the “Jog right” switch is activated first, quick jog mode right is started.
Bild 5.2 Reference table screen

Bild 5.1 Dialogue box for jog mode
There are 16 driving sets (0-15)
Parameter name/
P.no. Index Designation in DM 5 Function
5.6 Table references Settings
P 0199 0-15 MPRO_TAB_PAcc Position mode acceleration Acceleration ramp

Fixed speeds, fixed torques or a fixed position can be preset by way of a table. A travel
P 0200 0-15 MPRO_TAB_PDec Position mode deceleration Braking ramp
profile is generated internally using the Profile Generator. The 16 table values can be
selected using the on-screen slider. P 0201 0-15 MPRO_TAB_PSpd Position mode speed Velocity
Reference input for fixed positions: P 0202 0-15 MPRO_TAB_PPos

Position mode reference
Reference
Each position value is assigned a speed and acceleration and braking ramps. position
P 0203 0-15 MPRO_TAB_PMode Position mode Positioning mode
(0) ABS(0) Absolut Absolute positioning
Relative positioning after

(1) REL(1) Relative, after target reached
target position reached
[ Motion profile ]
Parameter name/ Parameter name/

P.no. Index Designation in DM 5 Function P.no. Index Designation in DM 5 Function
Settings Settings
The current motion task is in- Display of the currently

P 0207 MPRO_TAB_ActIdx Actual Index
terrupted and a new pending selected motion task
(2) REL at once(2) Relative at once
task is directly accepted and
executed.
Endless motion, SPD (endless Note: Before a driving set can be executed, the data set is first selected.
motion task): If a table value is Then it must be read-in. If the activation is via terminal, this is done with a
set to SPD, an endless motion digital input parameterized to “TBEN”. A motion task is selected via field bus
task is transmitted. If a table
value with the setting ABS or
by setting the corresponding bits (see SERCOS/CANopen user manual).
(3) SPEED(3) Endless, Speed controlled
REL is additionally selected,
the endless task is quit and
the newly selected table value Note: The driving sets contain predefined standard units. So before config-
is approached from the cur- uring the driving set parameters the units and scaling must first be checked.
rent position.
Once the reference source has been selected from the table, parameter
Max time for position or
With follow-up tasks: Wait P 0283 MPRO_FG_Type must be set to >USER (see section 5.1, Scaling).
P 0204 0-15 MPRO_TAB_Wait time time until execution of the
speed control
next motion task
P 0205 MPRO_TAB_Mode Operation mode Selection of table values
Selection of a table value via

(0) PARA(0) Control via parameter P0207
P 0207

(1) TERM(1) Control via terminals
terminal

(2) AUTO(2) Control via timer, P 0204
terminal P 0204

(3) BUS(2) Control via fieldbus
field bus system
Setting for number of table

values to be worked through
in sequence from top to bot-
tom. Example: If this value is
set to 6, the first six reference
P 0206 MPRO_TAB_MaxIdx Max Index im AUTO Mode
values from the table are
worked through in sequence.
This process is repeated until
the table is disabled or the
start contact is removed.
Selection of driving sets: Reference setting:
Motion Control provides references in user-defined travel units. These values must be
Activation Setting Description
converted into internal units. This is done by way of the scaling block “Standardisation/
Triggering via termi-
Enabling a selected driving set The selection of units”.
Input ISDxx = TBEN a new motion task always interrupts an ongo-
nal _ I/O configuration There are three options for scaling of the drive controller: The selection is made via
ing positioning or follow-up task logic.
P 0283 MPRO_FG_Type (for more information see “Scaling” section).
The binary significance (20, 21 , 22 , 23) results
from the TABx assignment. The TAB0 setting
Triggering via termi-
Input ISDxx = TAB0 to TAB3 has the lowest significance (20), and the TAB3 Velocity:
nal _ I/O configuration
the highest (23). A Logical 1 level at the input
activates the significance. The speed can be specified signed. A negative setting is only evaluated in case of endless
positioning. It is limited by the parameter P 0328 CON_SCON_SMax.
Enabling a selected driving set The selection of
Triggering via field bus Cross-check “Execute motion task”
a new motion task always interrupts an ongo-
system bit with control word!!!
ing positioning or follow-up task logic.
Starting and braking
The binary significance (20, 21 , 22 , 23) results
The acceleration values for starting and braking can be parameterized independently of
Triggering via field bus Cross-check “Activate follow-up from the TABx assignment of the control word. each other. The input must not be zero. Accelerations are controlled by the limitations.
system task” bit with control word!!! The TAB0 setting has the lowest significance
(20), and the TAB3 the highest (23). Follow-up task:
The motion tasks from zero up to the value set in P 0206 “Number of follow-up tasks to
be processed” are continuously processed. Once the driving set in P 0206 is finished, the
Table settings dependent on control mode:
first data set is restarted. Processing is only stopped by removing the start contact. If a
task has the setting REL at once, the driving set can be aborted and a new one can be
Control Table Acceleration Braking Positioning
Velocity started immediately.
mode reference ramp ramp mode
Torque P 0195 P 0193 P 0194
Speed P 0198 P 0196 P 0197
Position P 0202 P 0199 P 0200 P 0201 P 0203
[ Motion profile ]
Driving sets in speed control 5.7 Analog channel ISA0x

Each driving set, either for speed or torque, has an acceleration and a braking ramp.
To be able to specify reference setpoints for the control via the two analog inputs ISA0
Parameter name/ and ISA1, the following function selectors must be set accordingly.
Settings Setting of analog input ISA0/1:
P 0109, P 0110 must each be set to REV(-2). The functions usable in analog mode are
P-0196 0-15 MPRO_TAB_SAcc Speed mode acceleration Acceleration ramp
indicated by a (-) mark (see “I/O configuration” section).
P-0197 0-15 MPRO_TAB_SDec Speed mode deceleration Braking ramp
Parameter name/
P 0198 0-15 MPRO_TAB_SRef Speed mode reference value Reference Settings
P 0109 MPRO_INPUT_FS_ Function of analog input

Function of the analog input
P 0110 ISA0/1 ISA0/1
Driving sets in torque control
The analog reference can be passed on
REFV(-2) Analog command
to the control
Parameter name/
Settings P 0165 MPRO_REF_SEL Motion profile selection Reference selector
ANA0/1 Via analog channel ISA00 Selection of the analog reference source
P-0193 0-15 MPRO_TAB_TAcc Torque mode acceleration Acceleration ramp
P-0194 0-15 MPRO_TAB_TDec Torque mode deceleration Braking ramp

Depending on the parameterized control mode (P 0300 CON_CfgCon), a speed or a
P 0195 0-15 MPRO_TAB_TRef Torque mode reference value Reference torque can be set as the reference.
Structure diagram: 5.7.1 Reference input via analog inputs (IP/PG mode)
The parameter P 0301 CON_REF_Mode is used to determine whether the analog refer-
ences are specified via the ramp generator (setting PG(0)) or directly (setting IP(1)).
IP-Mode Control
Weighting P 0406 (0) If direct input via IP mode is selected, only the input filters are active. The analog values
ISA00
P 0405
are in this case scanned and filtered in the current control cycle and then directly trans-
ISA01 P 0301
ferred as references for the speed or torque control. This is the mode to set, for example,
(1) if the position controller (or speed controller) is implemented in a higher-level controller
and transfers the speed references (or torque references) to the drive controller via the
PG-Mode analog input.
Scale/offset/backlash function, ramps

Function Selektor At start of configuration the +/- 10 V is assigned (Scale) to the maximum reference value
Profil Generator
P 0110 (e.g. 3000 rpm). Component spread is compensated by way of the offset function and
TLIM (-4)
P 0109 TRamp P 0176(0,1) the Backlash setting defines a backlash range. The setting for specifying torque refer-
OVR (-3) P 0186(0,1) ences is made via the analog channel, as in speed control. The braking and acceleration
REFV (-2)
Control ramp corresponds to the ramp for torque rise and fall.
SRamp
not defined (1) P 0177(0,1)
P 0187(0,1)
OFF (0) Analogchannel
Dig. Funk. (1) - (26)
Filter Scale Offset
P 0133 P 0132 P 0131

Index 0/1 Index 0/1 Index 0/1
Bild 5.3 References via analog input (analog channel ISA00 and ISA01)
Parameters for reference processing are available for all control modes (torque, speed
and position control). The scaling, weighting, an offset and a threshold (backlash) are
programmable. The parameters are described in the following sections. The reference Bild 5.4 Analog channel ISA00
can also be filtered via parameters P 0405 CON_ANA_Filt0 and P 0406 CON_ANA_Filt1.
Note: For additional information on PG and IP modes refer to the Motion

control section, 5.2.3/Profile generator/Interpolated mode.
[ Motion profile ]
Parameter name/ Parameter name/

P.no. Designation in DM 5 Function P.no. Designation in DM 5 Function
Settings Settings
P 0173 P 0176 acceleration ramp(0) and

MPRO_ANA0_Scale scale factors Scaling/weighting: MPRO_ANA0_TRamp Acceleration ramp (0), braking ramp (1)
P 0183 P 0186 deceleration ramp (1)
scale factor for torque Scaling for the torque reference (0) TRamp Torque acceleration ramp Torque acceleration ramp
(0) TScale
reference (Nm/10 V)
scale factor for speed Scaling for the speed reference (1) TRamp Torque deceleration ramp Torque braking ramp
(1) SScale
reference (rpm / 10 V)
scale factor for position Scaling for the position reference P 0177 Speed mode acceleration (0)
(2) PScale MPRO_ANA0_SRamp Acceleration and braking ramp
reference (user unit/10 V) P 0187 and deceleration (1)
P 0174 (0) SRamp Speed acceleration ramp Speed acceleration ramp

MPRO_ANA1_OFF Offset Reference offset (Nm)
P 0184
(0) TOffset Offset for torque reference Offset for the torque reference (Nm) (1) SRamp Speed deceleration ramp Speed breaking ramp
P 0405
(1) SOffset Offset for Speed reference Offset for the speed reference CON_ANA_Filt0 filter time Filter time for analog input (0-100 ms)
P 0406
Offset for the position reference

(2) POffset Offset for position reference The reference can be filtered via parameter P 0405 CON_ANA_Filt0.
(user unit)
P 0175
MPRO_ANA1_Thresh threshold Backlash
P 0185
(0) TThreshold Threshold for torque reference Backlash for the torque reference (Nm)
(1) SThreshold Threshold for speed reference Backlash for the speed reference
5.8 Touch probe
Threshold for Backlash for the position reference
(2) PThreshold The touch probe function is described in section 9 of the SERCOS User Manual.
position reference (user unit)
6. Inputs/outputs Dialogue boxes for the digital inputs:
6.1 Digital inputs

All digital inputs of the controller are set by way of a function selector. By this selector a
unique function can be assigned to each input. Other settings can be made by clicking
the >Options button.
Function selector for the digital inputs:
Digit. Inputs ISDxx

Hardware enable ENPO, ISDSH
Digit. Inputs Settings
OFF(0) No function
P 0101 ISD00 START(1) Start motor control
P 0102 ISD01 Terminal (2) not defined Figure 6.2 Dialogue box for the digital inputs:
P 0103 ISD02 digital
STOP(3) Force quickstop
Inputs
P 0104 ISD03 *
P 0105 ISD04 *
P 0106 ISD05 *
P 0107 ISD06 TAB1(24) Binary table index 2
1
TAB2(25) Binary table index 2

2
TAB3(26) Binary table index 2

3
Hardware enable
Terminal
digital OFF(0) Hardware enable powerstage
Inputs START(1) Hardware enable powerstage &
P 0100 ENPO enable motor control
Terminal
digital ISDSH(0) Activate Safty torque off(STO)
Inputs
P 0108 ISDSH
Figure 6.1 Function selector
Figure 6.3 Example of “Start” function
[ Inputs/outputs ]
Seven digital inputs (ISD00 to ISD06) can be assigned a wide variety of functions via
Parameter name/
parameters P 0101 to P 0107. The two inputs ISDSH STO “Safe Torque Off” and ENPO P. no. Designation in DM 5 Function
Settings
“Enable Power” are reserved for the hardware enable. For the touch probe function the
two “fast” inputs ISD05 and ISD06 are provided. Function of digital input Reserved for STO (Safe torque off),
P 0108 MPRO_INPUT_FS_ISDSH
ISDSH (see also Inputs/outputs section)
Overview of function selectors:
Function of analog input Analog input ISA00 see Analog inputs
P 0109 MPRO_INPUT_FS_ISA00
ISA00 section
Parameter name/
Settings Function of analog input Analog input ISA01 see Analog inputs
P 0110 MPRO_INPUT_FS_ISA01
ISA01 section
Function of digital input
P 0100 MPRO_INPUT_FS_ENPO Setting of hardware input ENPO
ENPO
Hardware enable The digital input ENPO (terminal 10 on

OFF(0)
powerstage X4) is reserved for hardware enable. In its 6.1.1 Settings for digital inputs ISD00-ISD06
default setting “OFF” it only executes the
“Hardware enable” function. Apart from
this, it can also be assigned the “START”
function. In combination with parameter
P.no. Parameter name/
Function
P 0144 DRVCOM AUTO_START= “LEVEL”, P 0101-P 0107 Settings
START(1) autostart mode is active.
If STO is active, activation of the hardware (0) OFF Input off
enable ENPO via terminal 10 on X4 is
sufficient to switch on the drive control Start of closed-loop control – motor is energized. The direction of
(1) START
(section 6.1.4) rotation depends on the reference
Function of digital input (2) (2) Not defined

P 0101 MPRO_INPUT_FS_ISD00
ISD00
Quick stop according to quick stop reaction (Low active) see
(3) STOP
Function of digital input “Reactions in case of quick stop”
ISD01
Settings for the digital inputs ISD00 – ISD06 The running movement of the axis is interrupted according to the
are listed in the following table. (4) STOP STOP reaction (see “Reactions in case of STOP feed”) is interrupted
P 0103 MPRO_INPUT_FS_ISD02 and continued when reset.
ISD02
Function of digital input Limit switch evaluation without override protection. The response
P 0104 MPRO_INPUT_FS_ISD03 (5) LCW to limit switch activation and to interchange limit switches is pro-
ISD03
grammable (see “Error reactions, alarms, warnings” section)
P 0105 MPRO_INPUT_FS_ISD04 Limit switch evaluation without override protection. The response
ISD04
(6) LCCW to limit switch activation and to interchange limit switches is pro-
Function of digital input Settings for the digital inputs ISD00 – ISD06 grammable (see “Error reactions, alarms, warnings” section)
ISD05 are listed in the following table.
In manual positioning the axis can be moved in creep speed or in
(7) INCH_P
Function of digital input rapid motion
ISD06
In manual positioning the axis can be moved in creep speed or in
(8) INCH_N
rapid motion
P.no. Parameter name/ 6.1.2 Hardware enable ISDSH STO (Safe Torque Off)
Function
P 0101-P 0107 Settings For the function “Save Torque Off” STO acc. to EN 954-1 “Category 3”, under due
Start homing: according to the homing method parameterized in consideration of the requirements specified in EN 61508 concerning the fulfillment of
(9) HOMST
P 02261 MPRO_402_Homing Method the systematic integrity for SIL2, the drive controllers are equipped with an integrated
(10) HOMSW For zero point definition in positioning
circuit with feedback contact. The logic cuts the power supply to the pulse amplifiers to
activate the power stage. Combined with the “ENPO” controller enable, a two-channel
Error messages from external devices cause an error message with block is placed on the occurrence in the power circuit of a pulse pattern suitable to gen-
(11) E-Ext the reaction determined in parameter P 0030 Error-Reaction Sub
Index 11
erate a rotating field in the motor.
When the “ENPO” is cancelled the motor runs uncontrolled.
(12) WARN External collective warning
Function test: The STO function (protection against unexpected starting) must essentially
Error messages are reset with an ascending flank, if the error is no
(13) RSERR be checked to ensure it is operative.
longer present
In field bus operation switching of the reference source P 0165 •• During initial commissioning
(14) MAN CON_CfgCon and the control location P 0159 MPRO_CTRL to
•• After any modification of the system wiring
Term can be set via a digital switch.
•• After replacing one or more items of system equipment.
(15) PROBE Only adjustable for the fast inputs ISD05 and ISD06
•• When the STO is cancelled the motor runs uncontrolled.
(16) PLC Placeholder, inputs can always be read, irrespective of the setting
The drive controller has its own relay contact for feedback (terminal RSH on x4).
(17) PLC_IR Interruption of the program
(18) (18) Not defined

Attention: The machine manufacturer is responsible for determining the
(19)
(20)
(19)
(20)
Not defined
Not defined
! safety category required for an application (minimizing risk).
(21) TBEN Import and execution of selected table driving set
(22) TBTBA Teach in for position driving set table
(23) TAB0 Binary driving set selection (Bit 0) , (significance 20) for speed
Binary driving set selection (Bit 1) , (significance 21) for speed or

(24) TAB1
positioning

(25) TAB2
positioning

(26) TAB3
positioning
[ Inputs/outputs ]
6.1.3 Hardware enable and autostart 6.1.4 Manual drive control via digital inputs
The digital input ENPO (terminal 10 on X4) is reserved for hardware enable. In its default Setting a digital input to “MAN(14)” allows a change of control location to the reference
setting “OFF” it only executes the “Hardware enable” function. Apart from this, it can source selected in P 0164 MPRO_REF_SEL_MAN. This enables fast switching to manual
also be assigned the “START” function. In combination with parameter P 0144 DRVCOM control for setup or emergency running mode for example.
AUTO_START= “LEVEL”, autostart mode is active.
Parameter name/
If the “Safe Stop” function is active, the activation of the hardware enable ENPO via P.no. Designation in DM 5 Function
Settings
terminal 10 on X4 suffices to switch on the drive control.
P 0164 MPRO_INPUT_FS_ISDx Function of digital input Function selection
When the “ENPO” is cancelled the drive runs down freely.
(0) OFF No profile selected No profile selected
(1) ANA0 Profile via channel analog 0 Reference value of analog input
ISA0
Power-up sequence (2) Reference value of analog input
ANA1 Profile via channel analog 1
Regardless of which control mode was selected, the power-up sequence must be fol- ISA1
lowed in order to start the drive. (3) TAB Profile via table positioning Reference from table
Power-up sequence Command System state (4) (4) not defined vacant
(5) PLC Profile via PLC definition Reference from PLC

ISDSH (STO)
1 STO ISDSH 2) Switch-on inhibit
0 (6) PARA Profile via parameter Reference via parameter
definition
ENPO (STO)
1
ENPO-Enable Power (3) Ready to switch on (7) DS402 Profile via DS402 definition Reference via CIA402 IE1131
0
≥ 2 ms
START (8) SERCOS Profile via SERCOS definition Reference via SERCOS
1 FS_ISDXX or Start. (4) Switched on
0
≤ 4 ms BIT= START(1) (9) PROFI Profil via PROFIBUS definition Reference via DriveCom
Regelung aktiv
1 (10) Reference via VARAN
0 control active (5) Control active VARAN Profil via VARAN definition
t (11) TWIN Profil via TechOption Reference via external option
definition
Figure 6.4 Starting sequence for control
If the power-up sequence as shown in figure 6.49 is followed, the drive starts with a
rising edge of the digital input parameterized to START or when the corresponding Start
bit is set via a bus system. The reference polarity determines the direction of rotation.
Required parameters
6.2 Digital outputs
Parameter name/ The digital standard outputs OSD00 to OSD02 can also be assigned corresponding func-
Settings tions via selectors P 0122 to P 0124. The relay output P 0125 MPRO RELOUT1 is intended
MPRO_INPUT_FS_ISD00 - for the motor brake. It can also be assigned other functions via function selectors P 0122
P 0101 - P 0107 Function of digital input Set digital input to MAN(14)
ISD06 to P 0124 as necessary.
The control mode must not The digital output RELOUT2 is set to the “STO SH_H” function and its setting cannot be
P 0159 MPRO_CTRL_SEL Motion control selection be changed when switching
reference source
changed. Additional information on the STO function can be found in the “Safety” sec-
tion of the Operation Manual.
P 0164 MPRO_REF_SEL_MAN Motion profile selection Target reference source
P 0165 MPRO_REF_SEL Motion profile selction Reference source
Control mode must not be Digit. Outputs OSDxx, RELOUT1

P 0300 CON_CfgCon Select control mode
changed
Settings
When a digital input set to “MAN(14)” is activated, the control location P 0159 MPRO_REF_ No function OFF(0) Digit. Outputs
SEL switches to “TERM” (switch to TERM is not displayed in the DM5). In parallel, the refer- Error ERR(1)
ence source is set to the reference selected via parameter P 0164-MPRO_REF_SEL_MAN. Motor brake BRAKE(2) Terminal
Additionally, the start signal must be connected to a digital input (ISDxx = Start). Powerstage active ACTIVE(3) digital
P 0122 OSD00
digital Value *
Inputs
P 0123 OSD01
The control mode P 0300_CON_CfgCon cannot be switched. * P 0124 OSD02
“MAN(14)” mode is displayed in the remote bit in the CIA 402. * P 0126 RELOUT1
*
Safe torque off (STO) active SH_S(55)
Note: Brake Chopper
failure signal, negative
BC_Fail(56)
•• It is not possible to switch to “MAN” mode when the power stage is acti-
vated (system states 1,2,3) or when the drive in the DM5 is operated via the
Control window.
Figure 6.5 Function block for adaptation of the digital outputs
•• A level-triggered START (P 0144 MPRO_DRVCOM_AUTO_START=LEVEL (1))
is ignored in “MAN” mode. After activation of “MAN” mode, the START
input must be reset.
•• When “MAN” mode is ended the motor control also stops.
[ Inputs/outputs ]
Parameter Designation in
P.no. Description
name/Settings DM 5
P 0122 - MPRO_OUTPUT_ Function of digital

Function selection
P 0127 FS_OSD0x output
The preset reference has been reached (depen-

(6) REF Target reached,
dent on control mode)
(7) HOMATD Homing attained Homing complete
(8) E_FLW Following error Tracking error
Motor in standstill window when running

(9) ROT_R Rotation right
clockwise
Motor in standstill window when running anti-

Figure 6.6 Dialogue box for digital outputs (10) ROT_L Rotation left
clockwise
Motor in standstill window, depending on actual

(11) ROT_0 Motor stand still
value
Parameter Designation in (12) STOP Drive in “Quickstop” The drive is in the “quick-stop“ state
P.no. Description
name/Settings DM 5 Indicates system is in HALT state (activated
via DS 402 profile, input or PROFIBUS
P 0122 - MPRO_OUTPUT_ Function of digital
Function selection (13) HALT Drive in “halt” IntermediateStop, SERCOS from V 2.0).
P 0127 FS_OSD0x output
Reaction according to HALT option code
(0) OFF(0) No function Input off (P-2221 MPRO_402_HaltOC).
(1) ERR(1) Error Collective error message The output function LIMIT(14) detects when a
(14) LIMIT Reference limitation reference reaches its limitation. In this case the
Output becomes active in accordance with the output is set.
(2) BRAKE(2) Motor brake holding brake function, see section 4.6, Motor
brake. Nact greater than Nx where Nx = value in
(15) N_GT_Nx Speed greater than Nx
P 0740 MON_SpeedThresh
Power stage active and closed-loop/open-loop
(3) ACTV(3) Power activ Nact less than Nx where Nx = value in
control in function (16) N_LT_Nx Speed less than Nx
P 0740 MON_SpeedThresh
Output is activated when the device is initialized
(4) S_RDY(4) Device initialized Position reference limited (e.g. with parameter-
after power-on. (17) P_LIM_activ Position setpoint limited
ized software limit switches from V 2.0)
Output is activated when the device is “Ready
to switch on” based on setting of the ENPO (18) N_LIM_activ Speed setpoint limited Speed reference limitation active
(5) C_RDY(5) Control initialized signal and no error message has occurred. Device
(19) I_LIM_activ Current setpoint limited Current reference active.
ready - ReadyToSwitchOn flag in DriveCom status
word set (in states 3, 4, 5, 6, 7) Warnings/warning thresholds are set via P 0730 MON_WarningLevel.
Warnings/warning thresholds are set via P 0730 MON_WarningLevel.

Parameter Designation in Parameter Designation in
P.no. Description P.no. Description
name/Settings DM 5 name/Settings DM 5
P 0122 - MPRO_OUTPUT_ Function of digital P 0122 - MPRO_OUTPUT_ Function of digital

Function selection Function selection
P 0127 FS_OSD0x output P 0127 FS_OSD0x output
Set via communication (36) TB1 Actual table index 2^1 Significance 21
(20) COM Set output via COM option (from V 2.0)
profile
(37) TB2 Actual table index 2^2 Significance 22
Activate motor contactor (wiring of motor via
(21) ENMO Motor contactor output (38) TB3 Actual table index 2^3 Significance 23
contactor)
(22) PLC PLC sets output Use output via PLC program (39)-(54) CM1 – CM16 Cam switch 1 bis 16 Cam gear (as from V 2.0)
(23) WARN Warning Collective warning message (55) SH_S Safe Standstill activ STO function activated
(24) UV Warning undervoltage Warning: undervoltage in DC link Brake chopper failure

(56) BC:Fail Braking chopper error
signet
(25) WOW Warning overvoltage Warning: voltage overload in DC link
Warning IxIxt power Warning I2xt power stage protection threshold
(26) WIT
stage reached
(27) WOTM
Warning overtemperatur
Warning: motor temperature Output function “Reference reached REF(6)”
motor
P 0122 to P 0127 OSDxx = REF(6)
(28) WOTI Warning heat sink temperature of inverter
drive For torque and speed control as well as positioning the setting REF(6) can be used to
define a range in which the actual value may deviate from the reference without the
(29) WOTD Warning internal temperature in inverter “Reference reached” (REF) message becoming inactive. Reference fluctuations caused by
motor
reference input, e.g. via analog inputs, can thus be taken into account.
Warning current
(30) WLIS Warning apparent current limit value exceeded
threshold reaktion
Warning speed
(31) WLS Warning speed limit value exceeded
threshold reaktion
Warning IxIxt motor

(32) WIT Warning I2xt motor protection threshold
protection
Warning torque/force
(33) WLTQ Warning torque limit value exceeded
threshold
(34) TBACT Table positioning active Table positioning in AUTO and activated state
(35) TB0 Actual table index 2^0 Significance 20
[ Inputs/outputs ]
Positioning:
Limit value monitoring becomes active when the speed reference exceeds the max.
REF(6) bei 100 %
speed or the torque reference exceeds the max. torque.
n [1/min]
Endless positioning/speed mode:
REF(6) bei 50 %
Monitoring is activated in endless positioning (speed mode) when the speed reference
has been reached.
0 t
n soll / n max [%]

If an ongoing positioning operation is interrupted with “HALT”, the “Reference reached”
100 message is not sent in this phase. The message only appears after the actual target posi-
ISA0x 50 tion has been reached.
0
Output function “Switch motor contactor” OSDxx = ENMO(21)

1
REF(6) The motor cable must always be switched with the power cut, otherwise problems such
0 t
as burnt-out contactor contacts, overvoltage or overcurrent shut-off may occur.
Figure 6.7 REF setting: “Reference reached” window for speed control via analog input In order to assure currentless switching, the contacts of the motor contactor must be
closed before the power stage is enabled. In the opposite case the contacts must remain
closed until the power stage has been switched off. This can be achieved by implement-
ing the corresponding safety periods for switching of the motor contactor into the
control sequence of the machine or by using the special ENMO software function of the
Output function “LIMIT(14)” drive controller.
The output function LIMIT(14) detects when a reference reaches its limit. In this case the A power contactor in the motor supply line can be directly controlled by the drive con-
output is set. troller via parameter P 0125 MPRO_OUTPUT_FS_MOTO = ENMO. With the timer param-
The limit values for maximum torque and maximum speed depend on the control mode. eter P 0148 MPRO_DRVCOM_ENMO_Ti the on-and-off delay of the power contactor can
A detailed description is given in the Limits section. be taken into account. This ensures that the reference will only be applied after the start
enable when the contactor is closed, or if the motor is isolated from the position control-
Torque control: ler via contactor when the power stage is inactive.
Limit value monitoring becomes active when the torque reference exceeds the
max. torque.
Note: The MPRO_DRVCOM_ENMO_Ti timer time should allow additional
Speed control:
times for typical contactor bounce. They may be several hundred ms, depend-
Limit value monitoring becomes active when the speed reference exceeds the
ing on contactor.
max. speed.
Relay output RELOUT1/Motor brake:
This output is to be used in conjunction with a brake. If the output is set to BRAKE(2),
the brake can be configured by way of the option field.
Figure 6.8 Brake output
An optional holding brake built-in to motor provides protection against unwanted

motion when the power is cut and in case of error. If the brake is mounted on the axle
mechanism and not directly on the shaft, undesirably severe torsional forces may occur
on sudden engagement of the brake.
!
Attention: Please check the settings of the stop ramps if use of a holding
brake is specified (Motion profile section, Stop ramps P 2219).
The brake response can be adapted to the requirements of the application as shown in
the following illustration and using the parameters listed. This function can be used in
both speed and position control mode.
[ Inputs/outputs ]
Brake function
P 0219 P 0217 P 0218

Msoll = last-torque x 100% + start-torque
MRef
Reference value
activ
t
Braking function on Braking function off Braking function on
„ENPO enable“
Amplifier is activ
Control is activ
P 0148 ENMO time
P 0215 Rise time
P 0213 Lift time
P 0214 Close time

P 0216 Fade time
Legend:
= timer activ
Figure 6.9 Brake function graph

Parameter Parameter
P. no. Designation in DM 5 Function P. no. Designation in DM 5 Function
name/Settings name/Settings
Output for use of a motor holding brake. If the loads change on restarting, a
MPRO_OUTPUT_FS_ Setting of analog
If no brake is used, the output can be restart with the LastTorque (torque on
P 0125 output from OFF(0) to
MOTO used for a wide variety of other func- MPRO_BRK_Last- Motor brake factor shutdown) is recommended. In this case
BC_Fail(56)
tions (section 6.2). P 0217 for application of last the actual value parameter is applied
TorqFact:
torque with a factor 1-100 %. (0 % = off).
MPRO_DRVCOM_ Note: On the very first power-up a Start-
P 0147 CHeck EnablePower Power-up condition
EPCHK Torque P 0218 must be set.
Check enable power If the moving load always remains con-

Hardware enable “ENPO” is switched via stant, Mref is set by way of parameter P
(0) OFF False for ENPO over
the motor contactor. 0218 “StartTorque”.
ENMO
Mref = lasttorque * lasttorque-factor+
ENPO must be switched via a digital starttorque
(1) ON Check enable power
input. If LastTorque factor is set = 0 as per the
MPRO_BRK_Start- Motor brake contstant formula, only the StartTorque setting is
The timer “ENMO” (Enable Motor Con- P 0218
Torq initial torque used. If StartTorque = 0 is set, the Last
tactor) generates an On/Off delay of the Torque is also used. On the very first
MPRO_DRVCOM_ Time out in “Ready/to
motor contactor and thus of the power operation there is no LastTorque though.
P 0148 switch On;” to enable
ENMO stage. The effect is active when setting In this case StartTorque is set = 0 and
motor switch
and resetting the START command and LastTorque factor unequal to 0 and then
in case of error. the control is started. The last torque
applied is adopted.
The “lift time” takes account of the me-
chanically dictated opening time of the This parameter is only a display param-
P 0213 MPRO_BRK_LiftTime Motor brake lift time
brake. An applied reference will only be Motor brake torque eter. In it, the last torque applied is en-
activated when this timer has elapsed. MPRO_BRK_Last-
P 0219 samples at last closing tered on shutdown and the scale factor
Torq
time P 0217 is applied to it as a percentage
The “Closetime” starts after cancelling where necessary.
the start condition or in case of error. It
P 0214 MPRO_CloseTime Motor brake close time
is the mechanically dictated time which a For testing only. By setting this param-
brake takes to close. P 0220 MPRO_BRK Lock Lock brake eter the brake can be applied during
operation.
Motor brake torque The “rise time” is the rise of the ramp to
P 0215 MPRO_RiseTime
rise time build up the reference torque “Mref”.
The “fade time” is the descending

Motor brake torque
P 0216 MPRO_FadeTime ramp to reduce the reference torque
fade time
Mref to 0.
[ Inputs/outputs ]
6.3 Analog inputs

With the two analog inputs ISA00 and ISA01 the analog references (input signals) are
processed and filtered. Four analog functions are available.
Analog Input ISA00/ ISA01
Actual value
P 0407-0 TLIM (-4)
P 0332 CON_SCON_TMaxScale
P 0407-0
OVR (-3)
P 0167 MPRO_REF_OVR
+/- 10V P 0406

ISA0x P 0405 Analog Channel ISA0 / ISA1 Analog Channel Profil Generator
REFV (-2) SRamp,TRamp, Threshold, Offset, Scale
ISA00, ISA01
In Out P 0109
P 0183 bis P 0187 (ISA01)
P 0173 bis P 0177 (ISA00)
Scale
Offset
TRamp
SRamp
Regelung
Figure 6.11 Dialogue box for analog inputs
Threshold
P 0110
not defined (-1)
OFF (0)
Digitale Function (1) - (26)
Analog setting options ((-4) to (-1))
2,4 V
Weighting
analog Input 0,4 V
Analog Parameter name/
Output [V] Switching hysteresis for P.no. Designation in DM 5 Function
Output
digital Fuction Settings
max + 10 V
P 0109 MPRO_INPUT_FS_ Function of anlalog input

Korr
ec t
ur
Function selection
P 0110 ISA00/ISA01 ISA0x
0
G ∆y
∆x Analog
Input Output Input [V]
min - 10 V min Input
+ 10 V
max
Online torque scaling: 0 to 10 V corre-
lt
sponds to 0-100 % of the maximum set

fau
De
- 10 V
torque. The torque scaling is recorded
directly after the analog filter and before
Analog Torque limit
(-4) TLIM(-4) the backlash (threshold, offset). The analog
0-100%
Figure 6.10 Analog inputs function block, PG/IP switching, Analog channel and Weighting input describes the parameter P 0332
SCON TMaxScale torque limitation. The
backlash is therefore not effective for these
functions.
0 to 10 V corresponds to 0 – 100 % scaling

of the parameterized travel speed in posi-
tioning. The override is tapped directly after
Speed Overrite 0-100% at the analog filter and before the backlash.
(-3) OVR(-3)
positioning At this point the system branches off to
parameter P 0167 Profile Speed override
factor. The backlash (threshold, offset) is
thus without any effect for these functions!
Parameter name/ 6.3.1 Weighting of analog inputs
Settings
It is possible to change the weighting of the two inputs. With the two parameters
P 0109 MPRO_INPUT_FS_ Function of anlalog input P 0428 and P 0439 the input gain and input offset can be changed.
Function selection
P 0110 ISA00/ISA01 ISA0x
Reasons for changing the weighting:
Reference input +/-10 V. Observe the scal-
(-2) RERFV(-2) Analog command ing and adapt the reference structure by •• Change to input voltage range of analog torque scaling
means of the reference selector. •• Change to input voltage range of speed override function
(-1) Not defined(-1) Not defined Not assigned •• Change to switching threshold of a digital input function
(0) OFF(0) No function No function The illustration shows how the weighting function works. With the specified formulas,
Corresponds to the settings
the gain and offset can be defined.
START - Tab3 The analog inputs ISD00 to ISD06 can also
(1)-(26) for digital inputs ISD00 to
(1) - (26) be used as digital inputs.
ISD06
Attention: The analog inputs are operated in a 1 ms cycle. By switching
!
parameter P 0301 from PG(0) to IP(1) mode, an analog input can be used as a
“fast input”. The switching frequency set in parameter P 0305 for the interpo-
lation takes effect
Note: The two analog inputs ISA00 and ISA01 can also be used as digital
inputs (function (1) – (26)). The switching thresholds for reliable High Level
and Low Level are:
high: > 2.4 V, Low: < 0.4 V
[ Inputs/outputs ]
Note: The output voltage of the weighting is not exactly limited to +/- 10 V.
Analog
Output [V]
Output + 10 V
max
Example: Analog torque weighting:
Default setting (standard controller function):
r An input voltage range of the torque scaling from
tu
orrec 0 0 V to +10 V corresponds to 0% - 100%.
c ∆y -10 V to 0 V corresponds to 0%.
G
∆x Analog
Correction of input and offset gain:
Input Output Input [V]
- 10 V min Input
The entire +/-10 V input voltage range is to be used.
min + 10 V
max
-10 V corresponds to 0%
+10 V corresponds to 100% of the torque scaling
t
ul
The following settings are required for this:

fa
de
-10 V input voltage (Inmin = -10 V) corresponds to 0 V output voltage (Outmin = 0 V)

- 10 V corresponds to 0% torque scaling
+10 V input voltage (Inmax = +10 V) corresponds to +10 V output voltage

(OUTmax = 0 V) corresponds to 100% torque scaling
Based on the formula, this results in:
(OUTmax �V�) (OUTmin �V�) Gain G = 0,5
Gain G =
(IN max �V�) (IN min �V�) Offset O=5V
P 0428 (0, 1)
Offset 0 = [(OUTmin �V�) (IN min �V�)] x G

P 0429 (0, 1)
Output OUTmin �V� =� 0 + INmin � x G

OUTmax�V� =� 0 + INmax� x G
Figure 6.12 Weighting of analog inputs

6.4 Analog output (option module)
The analog outputs serve to output an actual value from the device. To set the analog
outputs OSA00 and OSA01 the scaled actual values to be outputted by the analog out-
put must be specified.
The sampling time depends on the speed controller and is 125 µs (default). The following
settings are available for processing of actual values:
Analog Output
Settings
P 0129
OFF(0) No function P 0130 Filter Scale Offset
NACT(1) Actual speed
actual value OSA00
TACT(2) Actual torque/force
OSA01 Figure 6.14 Dialogue box for the analog outputs
IRMS(3) RMS current
PARA(4) Value of parameter P 0134 P 0133 P 0132 P 0131
Index 0/1 Index 0/1 Index 0/1 Analog output settings:
Parameter name/
Figure 6.13 Schematic of analog output with Filter, Scale, Offset functions P. no. Designation in DM 5 Function
Settings
P 0129 MPRO_Output_FS_ Function of anlalog output

Function selection
P 0130 OSA0/1 OSAx
(0) OFF (0) No function No function
(1) NACT(1) Actual speed Actual speed value
(2) TACT(2) Actual torque/force Actual torque value
(3) IRMS(3) RMS current Mean current value
Value of parameter Value in parameter P 0134 is delivered

(4) PARA(4)
P 0134 directly at the analog output.
[ Inputs/outputs ]
Parameter name/
Settings
MPRO_Output_ MPRO_OUTPUT_OSA_Off-
P 0131 Offset
OSAx_Offset set
(0) Offset Offset OSA00 Voltage offset in [V]:

Offset setting: Changing P 0131 shifts the
operating point of the analog outputs out of
(1) Offset Offset OSA01 the 0 point (see diagram above).
MPRO_Output_
P 0132 MPRO_OUTPUT_OSA_Scale Scale
OSA0_Scale
(0) Scale Scale OSA00 Scaling of analog output:

Scale function setting: The scaling function
can be used to scale the analog output.
(1) Scale Scale OSA01
MPRO_Output_
P 0133 MPRO_OUTPUT_OSA_Filter Filter
OSA0_Filter
(0) filter Filtertime for_OSA0 Filter time of analog output:

Filter function setting: Noise and component
(1) filter Filtertime for_OSA1 spread can be compensated.
6.5 Motor brake

See “Digital outputs” section / Relay output RELOUT1.
7. Limits
7.1 Control limitation

To protect the device and the motor, it is necessary to limit some variables. The different
limitations are described in the following. They take effect independently of other limita-
tions within the motion profile. In addition, the servocontroller offers the possibility to
set the limits for positive and negative values asymmetrically and/or to change the limits
online. The limits are specified as percentages of the rated quantities (current, torque,
speed,...), so that following calculation logical default settings are available. The default
settings refer to 100% of the rated values and the parameters must thus be adapted to
application and motor.
Figure 7.12 Torque limitation without field-weakening

7.1.1 Torque limitation (torque/force limits)
To protect against overspeed, when the maximum rotation speed P 0329 is reached a
speed governor is activated which limits the speed to the configured maximum. It is
possible to limit the negative (P 0330) and the positive torque (P 0331) independently of
each other online.
[ Limitation ]
Parameter:
Parameter name/
P. no. DM 5 designation Function
Settings
Scaling of the maximum torque,

motor torque scaling
P 0329 CON_SCON_TMax referred to the rated torque P 0460
of limits
MOT_TNom (not changeable online).
motor torque scaling of Torque limitation in negative direc-

P 0330 CON_SCON_TMaxNeg
negative limit tion (not changeable online)
motor torque scaling of Torque limitation in positive direc-

P 0331 CON_SCON_TMaxPos
positive limit tion (not changeable online)
CON_SCON_TMax- motor torque scaling Percentage torque weighting (de-

P 0332
Scale (online factor) fault 100%) (changeable online)
P 0460 MOT_TNom motor rated torque Rated motor torque
monitoring torque/
P 0741 MON_TorqueThres Setting of limit for torque threshold.
force threshold
The torque reference is limited symmetrically by parameter P 0332. If the limitation is to

be directional, the setting can be made via P 0330 (negative direction) and P 0331 (posi-
tive direction). The limitation of the torque reference always corresponds
to the parameter with the lowest value.
Current- (Torque-) Limit
Online -Calculation
Initialisation 5 ms 1 ms – Control-task
CON_SCON_TMaxScale
Min( , ) CON_SCON_TMaxNeg
Min( , ) CON_SCON_TMaxPos
pi_control _n.min
imax_torq_2
MOT_TNom -1
* * *
1 Speed Control
CON_SCON_TMax km,act
* pi_control_ n max
Legend:
* = Multiplication
= Limitation
± = Sum/Subtraction
= most minimal value
Min( , )
Figure 7.13 Dependence in case of field-weakening and/or limitation by power stage
[ Limitation ]
In the following cases additional limitations of the torque may occur, so that the param- With P 0745 MON_RefWindow the standstill window is set for the speed.
eterized limit torque is not reached:
Possible parameterization error: Note: Parameters P 0337 CON_SCON_SMaxScale, P 0328 CON_SCON_SMax

Ratio of rated current to rated torque incorrect: and P 0335 CON_SCON_DirLock are not changeable online. Parameters
The torque constant of the motor (parameterized by way of the flux for a synchronous P 0333 SCON_SCON_SMaxNeg, P 0334 CON_SCON_SMaxPos are changeable
machine or the magnetizing current for an asynchronous machine) does not fit the ratio online.
of rated current and rated torque. If the torque constant is less than this ratio, the motor
current is limited in order to prevent excessively high motor current. These parameteriza-
tion error is avoided by using an original motor data set or by generating the motor data
using the servocontroller’s calculation wizard.
Maximum power stage current too high:

The maximum current resulting from the torque limitation is greater than the maximum
current of the power stage.
The field-forming d-current is not equal to zero:

In the field-weakening range the field-forming current isd becomes unequal to 0 for
the synchronous machine. The q-current component isqmax remaining for the torque is
reduced correspondingly, so that the maximum current ismax is not exceeded.
In the upper field-weakening range for asynchronous machines (the speed is then more
than 3 to 5 times the rated speed) the slip is limited to the pull-out slip by reducing the
torque limit.
7.1.2 Speed limitation Speed/Velocity

The following diagram shows the speed limitation structure. The speed can be symmetri-
cally limited in relation to the rated speed by the scaling parameter P 0328 CON_SCON_
SMax. Asymmetric limiting is possible via parameters P 0333 CON_SCON_SMaxNeg and
P 0334 CON_SCON_SMaxPos.
An activated reversing lock (P 0337 CON_SCON_DirLock) also has an effect on the limita-
tions with respect to the reference speeds for the control. The setting POS locks the
positive references and NEG the negative references.
Speed limitation in CON_SCON
Initialisation Speed control
P 0335 CON_SCON_DirLock
P 0333 SCON_SMaxNeg
0 nmax_neg_1 nmax_neg_2
-1
P 0337 SCON_SMaxScale Min()
*
P 0458 MOT_SNom
*
0 n.max_pos_1
P 0328 SCON_SMax
Min()
* n.max_pos_2
P 0334 SCON_SMaxPos
Legend:
* = Multiplication
= Limitation
± = Sum / Subtraction
Figure 7.14 Speed limitation
[ Limitation ]
Parameters: 7.1.4 Power stage voltage limitation

Parameter name/
P-Nr. Designation in DM 5 Function Parameter name/
Settings P. no. Designation in DM 5 Function
Settings
voltage limit for power fail Voltage threshold for power failure
Direction lock for speed P 0747 MON_PF_ONLimit
P 0335 CON_SCON_DirLock Directional lock, left and right reaction response
reference value
Speed control maximum Scaling to the rated speed in

P 0328 CON_SCON_Max
speed P 0458 Motor rated speed Limitation of rated motor current
P 0333
CON_SCON_AMax- Motor speed scaling of
Speed limitation in negative direction Note: Information on motor temperature and current limitation is given in the
Neg negative limit
Motor and Encoder sections (I2xt).
CON_SCON_TMax- motor torque scaling (on-
P 0334 Speed limitation in positive direction
Scale line factor)
Percentage speed weighting

P 0337 CONSCON_SMaxScale Motor speed scaling
(default 100%)
7.1.5 Power failure reaction
P 0740 MON_SpeedThresh monitoring speed threshold Setting of threshold for maximum speed
If the value of the d.c. link voltage drops below the value set in parameter
P 0744 MON_SDiffMax
Monitoring speed differ- Setting of threshold for maximum posi- P 0747 MON_PF_OnLimit, the error ERR-34 “Power failure detected” is reported and
ence threshold tion tracking error the parameterized error reaction is triggered.
Motionprofile speed By parameterizing a quick stop as an error reaction with a sufficiently steep deceleration
P 0167 MPRO_REF_OVR Setting of override factor
override factor
ramp, the d.c. link voltage can be maintained above the undervoltage threshold (power
failure bridging). This reaction lasts until the drive has been braked to a low speed.
The default setting is 0 V (function disabled).
7.1.3 Position limitation
Parameter name/
Settings
P 0743 MON_UsrPosDiffMax monitoring position difference Limit value for the maximum permissible
threshold tracking error in USER units
P 0746 MON_UsrPosWindow position window, for “target Standstill window for position reached
reached” status
7.1.6 Software limit switches
The software limit switches are only applicable in positioning mode, and are only acti-
vated once homing has been completed successfully.
The software limit switches are deactivated with the setting = 0.
Parameter name/
Settings
P 2235 MPRO_402_Software- 607DH DS 402 Software Positive and negative software limit switch
PosLimit Position Limit
(1) Software Position Limit min position lim Negative limit switch
(2) Software Position Limit max position lim Positive limit switch
The response to reaching a SW limit switch depends on the preset error response
(see parameter P 0030 Error reaction).
Positioning mode Response
Absolute Before enabling an absolute motion task, a check is

made whether the target is in the valid range – that is,
within the software limit switches.
If the target is outside, no motion task is signalled
Relative
and the programmed error response as per P 0030 is
executed.
The drive travels until a software limit switch is de-

Endless
tected. Then the programmed error response as per P
(speed controlled)
0030 is executed.
[ Limitation ]
8. Diagnostics Clicking the “Error” button in the “Drive Status” window calls up a buffer memory log
listing the last 20 errors. When the 21st error occurs, the oldest error in the list is over-
written.
8.1 Error status/Warning status

Errors are shown on the drive controller display (for D1/2 display see Operation Manual)
and in parallel in the DriveManager. When a new error occurs, the bottom window
opens, indicating the error name, location and cause. In addition, the green rectangle in Bild 8.2 Error history; storage of last 20 errors
the “Drive Status” switches to red.
8.1.1 Error reactions

Each of the errors listed in parameter P 0030 (Sub Id 0-44) can be assigned one of the
error responses listed below.
However, not every error has every selection option.
Parameter name/
P. no. Description in DM 5 Error reactions
Settings
P 0030 Error Programmable reaction in case of

Error response
Sub Id 0-44 Reactions failure
(0) Ignore Ignore error The error is ignored
A specific error
Notify error, reaction is forced by
(1) Specific1 response can be pro-
internal PLC function block
grammed via PLC
A second specific error

Notify error, reaction is forced by
(2) Specific2 response can be pro-
external control unit
grammed via PLC
Bild 8.1 Current error display The error is registered.

FaultReaction Notify error, reaction as given by The error reaction
(3)
OptionCode fault reaction option codes follows the set Error
Option Code
[ Diagnostics ]
P.no.
Parameter name/ Error name Description of error
P. no. Description in DM 5 Error reactions P 0030
Settings
(4) ParameterAdd Registration of a parameter
Notify error, execute quick stop Quick stop, wait for
(4) ServoStop (5) ParameterCheck Check of current parameter list values
and wait for restart of control control restart
(6) ParameterListAdmin Management of parameter list
Notify error, execute quick stop, Quick stop, block
(5) ServoStopAndLock disable power stage, protect power stage, secure (7) ParaList_PST Non-resettable errors from PowerStage: EEPROM data
against restart against switching on error
(6) ServoHalt Notify error, disable power stage Block power stage (8) ParaList_PST_VL Error in power stage initialization; selected device voltage
not supported
Notify error, block power stage, Block power stage,
(7) ServoHaltAndLock
protect against restart block enable (3) OFF
Block power stage, (1) Off_MON_Device Undervoltage

Notify error, block power stage
reset only by switching
(8) WaitERSAndReset and reset only via switching off/ OverVoltage
the 24 V control voltage (4)
on control voltage (24 V)
off and back on
(1) OverVoltage_MON_Device Overvoltage
(5) OverCurrent
8.1.2 Error details/Alarm & warning details
(1) OverCurrent_HardwareTrap Overcurrent shut-off by hardware
P.no. (2) OverCurrent_Soft Overcurrent shut-off (fast) by software

Error name Description of error
P 0030 (3) OverCurrent_ADC Measuring range of AD converter exceeded
(0)) (0) no error No fault (4) OverCurrent_WireTest Short-circuit test on initialization
(1) (1) RunTimeError Runtime error (5) OverCurrent_DC (Fast) Overcurrent shut-off “below 5 Hz“
(2) RunTimeError_DynamicModules Internal error in device initialization (6) OverCurrent_Zero, Total current monitoring
(3) RunTimeError_Flashmemomry Error in flash initialization (7) OverCurrent_I2TS Fast I2xt at high overload
(4) RunTimeError_PLC PLC runtime error (6) OvertempMotor
(2) ParaList (1) OvertempMotor_MON_MotTemp Calculated motor temperature above threshold value
(1) ParameterInit Error in parameter initialization (2) OvertempMotor_MON_De- PTC to DIN1

vice_DIN1
(2) ParameterVirginInit Basic parameter initialization (factory setting)
(3) OvertempMotor_MON_De- PTC to DIN2
(3) ParameterSave Parameter data backup vice_DIN2
P.no. P.no.
Error name Description of error Error name Description of error
P 0030 P 0030
(4) OvertempMotor_MON_De- PTC to DIN3 (3) ComOptSercos_CableBreak SERCOS: Cable break

vice_DIN3
(4) ComOptSercos_DataDisturbed SERCOS: Disturbed data transmission
(7) OvertempInverter
(5) ComOptSercos_MasterSync SERCOS: Faulty synchronization
(1) OvertempInverter_MON_Device Heat sink temperature too high
(6) ComOptSercos_MasterData SERCOS: Data telegrams missing
(8) OvertempDevice
(7) C
omOptSercos_Address- SERCOS: Duplicate address
(1) OvertempDevice_MON_Device Interior temperature evaluation Double
(9) I2tMotor (8) C

omOptSercos_Phase SERCOS: Faulty phase switching (Up shift)
SwitchUp
I2xt integrator has exceeded motor protection limit value
(1) I2tMotor_MON_I2t
(permissible current/time area) (9) C
omOptSercos_Phase SERCOS: Faulty phase switching (Down shift)
SwitchDown
(10) PowerAmplifier
(10) C
omOptSercos_Phase SERCOS: F aulty phase switching (missing
(1) I2tPowerAmplifier_MON_Device I2xt power stage protection limit value exceeded SwitchAck acknowledgement)
(11) ComOptSercos_InitParaList SERCOS: Faulty initialization of SERCOS parameter lists
(11) External (12) ComOptSercos_ SERCOS: Various runtime errors

RunTimeError
(1) External_MPRO_INPUT External error message
(13) ComOptSercos_Watchdog SERCOS: Hardware watchdog
(12) CAN
(14) ComOptSercos_Para SERCOS: E rror in parameterization (selection of OP mode,
(1) ComOptCan_BusOff CAN option: BusOff error IP times, etc...)
(2) ComOptCan_Guarding CAN option: Guarding error (14) EtherCat
(3) ComOptCan_MsgTransmit CAN option: Unable to send message (1) C
omOptEtherCat_Sm EtherCat: Sync-Manager0 - Watchdog
Watchdog0
(4) ComOptCan_HeartBeat CAN option: Heartbeat error
(2) C
omOptEtherCat_Wrong EtherCat: Parameter error, parameter data implausible
(5) ComOptCan_Addr CAN option: Invalid address
EepData
(6) ComOptCan_PdoMappingError CAN option: Mapping error
(3) ComOptEtherCat_RamError EtherCat: Internal RAM error
(7) ComOptCan_SyncTimeoutError CAN option: Synchronization error
(15) Parameters
(13) SERCOS
(1) P arameter_MON_Device_ Error in current monitoring initialization
(1) ComOptSercos_HardwareInit SERCOS: Hardware initialization Current
(2) ComOptSercos_IllegalPhase SERCOS: Invalid communication phase (2) Parameter_MON_I2t Motor protection
[ Diagnostics ]
P.no. P.no.
P 0030 P 0030
(3) Parameter_CON_ICOM Autocommutation: Plausibility tolerance exceeded (5) MotionControl_MC_HOMING_ Homing: Homing method available but not defined
MethodUndefined
(4) Parameter_CON_FM Field model
(6) MotionControl_MC_HOMING_ Homing: Drive not ready for homing
(5) Parameter_CON_Timing Basic initialization of control DriveNotReadyHoming
(6) Parameter_MPRO_FG Error calculating user units (7) MotionControl_MC_HOMING_ Homing: Drive not ready for jog mode
DriveNotReadyJogging
(7) Parameter_ENC_RATIO Error initializing encoder gearing
(8) MotionControl_MC_HOMING_ Homing: Control mode does not match homing method
(8) Parameter_Nerf Speed detection / observer
WrongConMode
(9) Parameter_ObsLib Error in matrix library
(9) MotionControl_MC_HOMING_ Homing: Encoder initialization error
EncoderInitFailed
(10) Parameter_CON_CCON Current control
(10) MotionControl_MC_HOM- Homing: Homing travel exceeded
(11) Parameter_reserved1 not used/reserved
ING_MaxDistanceOverrun
(12) Parameter_Inertia Moment of inertia is zero
(11) MotionControl_MPRO_REF_En- Max. permissible tracking error on “Start control”
(13) Parameter_MPRO PARA_WatchDog in open-loop control via DM5 abledOperationFailed exceeded
(14) Parameter_DV_INIT DV_INIT: Error in system initialization (12) MotionControl_MPRO_REF_SSP_ Memory overflow for table values
StackOverflow
(16) SpeedDiff
(13) MotionControl_MC_HOM- Error initializing last actual position after restart.
(1) SpeedDiff_MON_SDiff Speed tracking error above threshold value ING_RestoreBackupPos,
(2) SpeedDiff_MON_NAct Current speed above maximum speed of motor (19) FatalError Non-resettable error
(17) PositionDiff (1) FatalError_PowerStage_Limit_Idx PST: Data index too large
(1) PositionDiff_MON_ActDelta Position tracking error too large (2) FatalError_PowerStage_Switch- PST: Error in switching frequency-dependent data
Freq
(18) Motion control
(3) FatalError_PowerStage_DataIn- PST: Invalid EEPROM data
(1) MotionControl_MC_HOMING_ Homing: Limit switches interchanged valid
LimitSwitchInterchanged
(4) FatalError_PowerStage_CRC PST: CRC error
(2) MotionControl:MC_HOMING: Homing: Limit switch tripped unexpectedly
Unexpected home switch event (5) FatalError_PowerStage_Error- PST: Error reading power stage data
ReadAccess
(3) MotionControl_MC_HOMING_ Homing: Limit switch error
ErrorLimitSwitch (6) FatalError_PowerStage_Error- PST: Error writing power stage data
WriteAccess
(4) MotionControl_MC_HOMING_ Homing: Wrong homing method, homing method not
UnknownMethod available Current in braking resistor even though transistor switched
(7) FatalError_MON_Chopper
off
P.no. P.no.
P 0030 P 0030
(8) FatalError_HW_Identification Hardware identification error (9) E ncCH1Init_EnDat2.1_ Encoder channel 1 initialization, EnDat2.1: CRC error data
CrcData transfer
(9) FatalError_FlashMemory Error in flash memory
(10) E ncCH1Init_EnDat2.1_ Encoder channel 1 initialization, EnDat2.1: An attempt was
(20) HardwareLimitSwitch WriteToProt made to write to the protection cells in the encoder!
(1) HardwareLimitSwitch_Inter- Limit switches swapped (11) EncCH1Init_EnDat2.1_ Encoder channel 1 initialization, EnDat2.1: Timeout on SSC
changed SscTimeout transfer
(2) HardwareLimitSwitch_LCW Hardware limit switch LCW (12) EncCH1Init_EnDat2.1_ Encoder channel 1 initialization, EnDat2.1: Timeout, no
StartbitTimeout start bit from encoder
(3) HardwareLimitSwitch_LCCW Hardware limit switch LCCW
(13) EncCH1Init_EnDat2.1_ Encoder channel 1 initialization, EnDat2.1: Position data
Encoder general initialization (locations which cannot be
(21) EncoderInit PosConvert not consistent
assigned to a channel)
Encoder channel 1 initialization, SSI: Plausibility “Lines”
(1) EncoderInit_CON_ICOM_Eps Encoder general initialization: Autocommutation: excessive (14) EncCH1Init_SSI_Lines
from encoder
Delta motion
Encoder channel 1 initialization, SSI: Plausibility “Multiturn”
(2) EncoderInit_CON_ICOM_ Encoder general initialization: Autocommutation: excessive (15) EncCH1Init_SSI_Multiturn
from encoder
Tolerance tolerance
Encoder channel 1 initialization, SSI: Plausibility
(22) Encoder CH1Init Encoder channel 1 initialization (16) EncCH1Init_SSI_Singleturn
“Singleturn” from encoder
Encoder channel 1 initialization, Sincos: Plausibility‚ lines Encoder channel 1 initialization, SSI: Parity error position
(1) EncCH1Init_Sincos_Lines (17) EncCH1Init_SSI_ParityPos
from PRam_ENC_CH1_Lines transfer
Encoder channel 1 initialization, Sincos: Getting Encoder channel 1 initialization, SSI: Timeout on SSC
(2) EncCH1Init_Sincos_ABSquareSum (18) EncCH1Init_SSI_SscTimeout
AB-SquareSum, Timeout transfer
Encoder channel 1 initialization, SinCos: Encoder Encoder channel 1 initialization, SSI: Position data not
(3) EncCH1Init_Sincos_EncObs (19) EncCH1Init_SSI_PosConvert
monitoring Sincos consistent
(4) EncCH1Init_EnDat2.1_ Encoder channel 1 initialization, EnDat2.1: No EnDat2.1 Encoder channel 1 initialization, SSI: Encoder monitoring
NoEnDat2.1 encoder (encoder may be SSI) (20) EncCH1Init_SSI_EncObs
bit
Encoder channel 1 initialization, EnDat2.1: Plausibility‚ lines (21) EncCH1Init_Hiperface_ Encoder channel 1 error initializing Hiperface interface
(5) EncCH1Init_EnDat2.1_Line5
from encoder NoHiperface
(6) EncCH1Init_EnDat2.1_ Encoder channel 1 initialization, EnDat2.1: Plausibility (22) EncCH1Init_Hiperface_ Encoder channel 1 initialization, Hiperface: Interface,
Multiturn “Multiturn” from encoder Common general error
(7) EncCH1Init_EnDat2.1_ Encoder channel 1 initialization, EnDat2.1: Plausibility (23) E ncCH1Init_Hiperface_ Encoder channel 1 initialization, Hiperface: Interface,
Singleturn “Singleturn” from encoder Timeout Timeout
Encoder channel 1 initialization, EnDat2.1: CRC error
(8) EncCH1Init_EnDat2.1_CrcPos
position transfer
[ Diagnostics ]
P.no. P.no.
P 0030 P 0030
(24) EncCH1Init_Hiperface_ Encoder channel 1 initialization, Hiperface: Encoder, impos- (39) E ncCH1Init_EnDat2.1_ Encoder channel 1 initialization, EnDat2.1: Plausibility
CommandMismatch sible COMMAND in response TransferBits “transfer bits” in transfer
(25) EncCH1Init_Hiperface_ Encoder channel 1 initialization, Hiperface: CRC error in (40) E ncCH1Init_Np_ Encoder channel 1 initialization, NP: Plausibility “Lines” and
EStatResp_Crc error status response NominalIncrement “Nominal-Increment”
(26) E ncCH1Init_Hiperface_ Encoder channel 1 initialization, Hiperface: Error status Encoder channel 1 initialization, Endat21: Interface general
(41) EncCh1Init_Endat21_Common
EStatResp_Com response returns communication error error
(27) EncCH1Init_Hiperface_ Encoder channel 1 initialization, Hiperface: Error status (42) EncCh1Init_SSI_Common Encoder channel 1 initialization, SSI: Interface general error
EStatResp_Tec response returns technology or process error
Encoder channel 1 initialization, Sincos: Interface general
(43) EncCh1Init_Sincos_Common
(28) EncCH1Init_Hiperface_ Encoder channel 1 initialization, Hiperface: Error status error
EStatResp_None response returns no error(!)
(23) EncChannel2Init
(29) EncCH1Init_Hiperface_ Encoder channel 1 initialization, Hiperface: CRC error in
Response_Crc response (1) EncCH2Init_Res_Lines Encoder channel 2 initialization, Res: Plausibility “lines”
from PRam_ENC_CH2_Lines
(30) E ncCH1Init_Hiperface_ Encoder channel 1 initialization, Hiperface: Response with
Response_Com error bit: Status returns communication error (2) E ncCH2Init_Res_ Encoder channel 2 initialization, Res: Getting AB-Square-
ABSquareSum_TimeOut Sum, Timeout
(31) EncCH1Init_Hiperface_ Encoder channel 1 initialization, Hiperface: Response with
Response_Tec error bit: Status returns technology or process error (3) EncCH2Init_Res_EncObs Encoder channel 2 initialization, Res: Encoder monitoring
resolver
(32) EncCH1Init_Hiperface_ Encoder channel 1 initialization, Hiperface: Response with
Response_None error bit: Status returns no error (24) EncCH3Init
(33) EncCH1Init_Hiperface_ Encoder channel 1 initialization, Hiperface: Status telegram (1) E ncCH3Init_Module Encoder channel 3 initialization: No module inserted or
Status_Com reports communication error IdentificationFailed wrong module
(34) EncCH1Init_Hiperface_ Encoder channel 1 initialization, Hiperface: Status telegram (2) E ncCH3Init_Common_EO_ Encoder channel 3 initialization: General EO error (encoder
Status_Tec returns technology or process error Error option)
(35) EncCH1Init_Hiperface_ Encoder channel 1 initialization, Hiperface: Type identifica- (3) EncCH3Init_SSI_EncObs_20c Encoder channel 3 initialization: Encoder monitoring
TypeKey tion of encoder unknown
(4) E ncCH3Init_EnDat2.1_ Encoder channel 3 initialization, EnDat2.1: No EnDat2.1
(36) EncCH1Init_Hiperface_ Encoder channel 1 initialization, Hiperface: An attempt was NoEnDat2.1 encoder (encoder may be SSI)
WriteToProt made to write to the protection cells in the encoder!
(5) EncCH3Init_EnDat2.1_Lines Encoder channel 3 initialization, EnDat2.1: Plausibility
(37) EncCH1Init_TTL_ Encoder channel 1 initialization, TTL: Control pcb does not “Lines” from encoder
IncompatibleHardware support TTL evaluation
(6) E ncCH3Init_EnDat2.1_ Encoder channel 3 initialization, EnDat2.1: Plausibility
(38) E ncCH1Init_EnDat2.1_ Encoder channel 1 initialization, EnDat2.1: Plausibility Multiturn “Multiturn” from encoder
PositionBits “position bits” from encoder
Singleturn “Singleturn” from encoder
P.no. P.no.
P 0030 P 0030
(8) EncCH3Init_EnDat2.1_CrcPos Encoder channel 3 initialization, EnDat2.1: CRC error (40) E ncCH3Init_Np_ Encoder channel 3 initialization, NP: Plausibility “Lines” and
position transfer NominalIncrement “Nominal-Increment”
(9) EncCH3Init_EnDat2.1_CrcData Encoder channel 3 initialization, EnDat2.1: CRC error data (41) EncCH3Init_Endat21_Common Encoder channel 3 initialization, EnDat21: Interface,
transfer general error
(10) EncCH3Init_EnDat2.1_ Encoder channel 3 initialization, EnDat2.1: An attempt was (42) EncCH3Init_SSI_Common Encoder channel 3 initialization, SSi: Interface, general
WriteToProt made to write to the protection cells in the encoder! error
(11) EncCH3Init_EnDat2.1_ Encoder channel 3 initialization, EnDat2.1: Timeout on SSC (43) EncCH3Init_Sincos_Common Encoder channel 3 initialization, Sincos: Interface, general
SscTimeout transfer error
(12) EncCH3Init_EnDat2.1_ Encoder channel 3 initialization, EnDat2.1: Timeout, no (50) EncCH3Init_TOPT_cfg Encoder channel 3 initialization, interface, general error
StartbitTimeout start bit from encoder
(25) EncoderCycl Encoder general cyclic
(13) EncCH3Init_EnDat2.1_ Encoder channel 3 initialization, EnDat2.1: Position data
PosConvert not consistent (1) E ncoderCycl_CON_ Encoder general cyclic: Autocommutation: excessive
ICOM_Epsdelta motion
(14) EncCH3Init_SSI_Lines Encoder channel 3 initialization, SSI: Error initializing SSI
interface (2) E ncoderCycl_CON_ Encoder general cyclic: Autocommutation: excessive
ICOM_Tolerance tolerance
(15) EncCH3Init_SSI_Multiturn Encoder channel 3 initialization, SSI: Plausibility “Multiturn”
from encoder (26) EncCh1Cycl
(16) EncCH3Init_SSI_Singleturn Encoder channel 3 initialization, SSI: Plausibility (1) EncCH1Cycl_Np_Distance Encoder channel 1 cyclic, NP: Plausibility, CounterDistance
“Singleturn” from encoder
(2) E ncCH1Cycl_Np_ Encoder channel 1 cyclic, NP: Delta correction not possible
(17) EncCH3Init_SSI_ParityPos Encoder channel 3 initialization, SSI: Parity error position DeltaCorrection
transfer
(3) EncCH1Cycl_Np_Delta Encoder channel 1 cyclic, NP: Plausibility “CounterDelta”
(18) EncCH3Init_SSI_SscTimeout Encoder channel 3 initialization, SSI: Timeout on SSC
transfer (27) EncCh2Cycl
(19) EncCH3Init_SSI_PosConvert Encoder channel 3 initialization, SSI: Position data not (1) EncCH2Cycl_NoLocation Not used
consistent
(28) EncCh3Cycl
(20) EncCH3Init_SSI_EncObs Encoder channel 3 initialization, SSI: Encoder monitoring
(1) EncCH3Cycl_NoLocation Not used
bit
(29) TC (TriCore)
PositionBits “position bits” from encoder (1) TC_ASC TriCore ASC
(39) EncCH3Init_EnDat2.1_ Encoder channel 3 initialization, EnDat2.1: Plausibility (2) TC_ASC2 TriCore ASC2
TransferBits “transfer bits” in transfer
(3) TC_FPU TriCore floating point error
[ Diagnostics ]
P.no. P.no.
P 0030 P 0030
(4) TC_FPU_NO_RET_ADDR riCore floating point error, no return address available (37) Syncronization controller
(30) InitCon (1) RatioError The ratios between interpolation, synchronization and/or
speed control time do not match
(1) InitCon_AnaInput Initialization error analog input
(38) Braking chopper monitoring
(2) InitCon_FM_GetKM Initialization error calculating motor torque constant
(1) BC_Overload Braking chopper overload
(3) InitCon_FM_ASM Initialization error asynchronous motor
(39) TwinWindow Monitoring of speed and torque
(4) InitCon_FM_ASM_FW Initialization error asynchronous motor in field-weakening
(1) TwinWindow_Speed Speed deviation between Master and Slave
(31) PLC
(2) TwinWindow_Torque Torque deviation between Master and Slave
(1) PLC_Location User-specific: Errors generated in PLC program
0...65536 (40) Twin-Sync-Module Communication fault TECH option
(32) Profibus (1) TOPT_TWIN_CommLost
(1) ComOptDp_Timeout PROFIBUS DP: Process data Timeout (2) TOPT_TWIN_SwitchFreq

Error in “Twin Sync” technology option
(33) Timing Task overflow (3) TOPT_TWIN_ModeConflict
(1) Timing_ADCTask_ReEntry ADC task automatically interrupted (4) TOPT_TWIN_RemoteError
(2) Timin_ControlTask Control task exceeded scan time (41) DC link fast discharge Maximum period for fast discharge
(34) PowerFail Power failure detection (1) FastDischarge_Timeout Maximum period for fast discharge exceeded (35s)
PowerFail Power failure detection; supply voltage error (42) EtherCAT Master Implementation Fehler EtherCat Master
(35) EncObs Encoder cable break (1) Location can‘t specified Communication error EtherCat Master
CommError
(1) EncObs_CH1_Sincos Cable break: Encoder channel 1
(43) Ethernet interface Error in Ethernet configuration
(1) EncObs_CH2_Resolver Cable break: Encoder channel 2
(1) Ethernet_Init Initialization error TCP/IP communication
(1) EncObs_CH3_Sincos Cable break: Encoder channel 3
(44) Cable break detected
(1) EncObs_CH1_SSI Cable break: Encoder channel 1
(1) WireBreak_MotorBrake No consumer on output X13 (motor holding brake)
(36) VARAN
(1) ComOptVARAN_InitHwError Error in hardware initialization: VARAN option
(2) ComOptVARAN_BusOffError “Bus off” error; no bus communication: VARAN option

8.1.3 Warning messages P 0034 Warning thresholds
In order to get timely information on excessive or inadequate values via an external con- 17 Monitoring of apparent current
troller or the drive’s internal PLC, warning thresholds can be freely parameterized with
18 Overvoltage
P 0730. Each warning is assigned on and off thresholds. This enables parameterization of
a hysteresis. 19 Protection of braking chopper, warning threshold exceeded
When a warning is triggered, the corresponding bit is entered in parameter P 0034- 20 Overtorque
ERR_WRN_State. The binary value enables a status interrogation. Warnings can also be 21 Reserve
programmed onto digital outputs (see section 6, I/O’s). The following warning thresholds
are supported by the parameter: 22 Reserve
23 Reserve
P 0034 Warning thresholds
24 Speed reference limitation active
BIT number
25 Current reference limitation
0 I2xt integrator (motor) warning threshold exceeded
26 Right limit switch active
1 Heat sink temperature
27 Left limit switch active
2 Motor temperature
28 External warning via input
3 Interior temperature
29 Reserve
4 Reserved for SERCOS
30 Reserve
5 Overspeed
31 Reserve

The ON and OFF options enable suitable on and off thresholds (switching hysteresis) to
8 Reserved for SERCOS be defined for the following warnings.
9 Undervoltage
P 0730 Parameter name MON
10 Reserved for SERCOS Meaning Warning level Warnings
Index WarnigLevel
0 UnderVoltage_ON DC link undervoltage
12 Reserved for SERCOS Undervoltage
1 UnderVoltage_OFF DC link undervoltage
2 OverVColtage_ON DC link overvoltage
14 Reserved for SERCOS Overvoltage
3 OverVoltage_OFF DC link overvoltage
16 I2xt integrator (device) exceeded
[ Diagnostics ]
P 0730 Parameter name MON

Meaning Warning level Warnings
Index WarnigLevel
4 Current_ON Motor current

Motor current
5 Current_OFF Motor current
6 Device I2t_ON I2t internal device protection

I2xt device protection
7 Device I2t_OFF I2t internal device protection
8 Motor I^2_ON I2t Motor protection

I2xt motor protection
9 Motor I^2_OFF I2t Motor protection
10 Torque ON Motor torque

Torque limit reached
11 Torque OFF Motor torque
12 Speed On Motor actual speed

Speed limit reached
13 Speed OFF Motor actual speed
TC ON Cooler (power electronics)

14
temperature
Heat sink temperature reached
TC OFF Cooler (power electronics)
15
temperature
Tint ON Internal (control electronics)

16
temperature
Housing internal temperature
reached
Tint OFF Internal (control electronics)
17
temperature
18 MotorTemp ON Motor temperatur

Motor temperature reached
19 MotorTemp OFF Motor temperatur
9. Field bus systems Key features
–– Data transmission using two-wire twisted pair cable (RS 485)
–– Transfer rate: optionally 9.6 K, 19.2 K, 45.45 K, 93.75 K, 187.5 K, 500 K, 1.5 M,
3 M, 6 M or 12 MBaud
–– Automatic baud rate detection
9.1 CANopen –– PROFIBUS address can be set using the rotary coding switches or alternatively
using the addressing parameters
–– Cyclic data exchange reference and actual values using DPV0
CANopen functionality of the ServoOne –– Acyclic data exchange using DPV1
The CANopen Communication Profile is documented in the CiA DS-301, and regulates –– Synchronisation of all connected drives using freeze mode and sync mode
“how” communication is executed. It differentiates between Process Data Objects –– Reading and writing drive parameters using the PKW channel or DPV1
(PDOs) and Service Data Objects (SDOs). The communication profile additionally defines
a simplified network management system. Note: For a detailed description of the PROFIBUS field bus system refer to the
Based on the communication services of DS-301 (Rev. 4.01) the device profile for separate “Profibus User Manual”.
variable-speed drives DSP402 was created. It describes the operation modes and device
parameters supported.
Note: For a detailed description of the CANopen field bus system refer to the
separate “CANopen User Manual”. 9.3 SERCOS
Short description of ServoOne SERCOS interface
9.2 PROFIBUS-DP The basis for implementing SERCOS in the ServoOne is the document titled
“Specification SERCOS Interface Version 2.2”
Short description of ServoOne PROFIBUS DP interface
Reference to PROFIdrive specification
The implementation in the ServoOne is based on the PROFIdrive profile Key features
“PROFIBUS PROFdrive-Profile Version 4.0”. –– Data transfer by fibre-optic cable
–– Transfer rate: optionally 2, 4, 8 or 16 MBaud
–– Automatic baud rate detection
–– Transmission power adjustable by DIP switches
[ Field bus ]
–– SERCOS address programmable via buttons and display –– S-0-0170 “Touchprobe” command
–– Cyclic data exchange of references and actual values with exact time equidis- –– S-0-0262 “Parameter initialization to defaults“ command
tance –– S-0-0263 “Parameter initialization to backup values“ command
–– SERCOS sampling time of 125 µs to 65 ms (multiples of 125 µs programmable) –– S-0-0264 “Save current parameter values” command
–– Multi-axis synchronization between reference action times and actual value
measurement times of all drives in the loop Note: For a detailed description of the SERCOS field bus system refer to the
–– Full synchronization of all connected drives with the master control system separate “SERCOS User Manual”.
–– Free configuration of telegram content

–– Maximum configurable data volume in MDT: 20 bytes
–– Maximum configurable data volume in AT: 20 bytes
–– Programmable parameter weighting and polarity for position, velocity,
acceleration and torque
–– Modulo weighting
–– Additive velocity and torque references
–– Fine-interpolation (linear or cubic) inside the drive
–– Optionally master control-side (external) or in-drive generation of rotation speed
and acceleration pre-control
–– Service channel for parameter setting and diagnosis
–– Support for touch probes 1 and 2
–– Support for configurable real-time status and control bits
–– Support for configurable signal status and control word
–– Supported commands:
–– S-0-0099 Reset state class 1
–– S-0-0127 Preparation for switch to phase 3
–– S-0-0127 S-0-0128 Preparation for switch to phase 4
–– S-0-0148 Drive-controlled homing
–– S-0-0152 “Position spindle” command
10. Technology option
10.1 SinCos module

The SinCos module enables evaluation of high-resolution encoders. A track signal period
is interpolated at a 12-bit resolution (fine interpolation).
Evaluation of the absolute value information is in preparation.
Note: For more information refer to the “SinCos Module” specification.
[ Technology ]
A Appendix Status bits
The “Status bits“ window displays the current
system states. The basis of those states is the
DriveCom state machine. The active states are
displayed in green. A schematic view is pre-
Drive status sented in figure A 3 and in figure 5.36 in the
“Motion profile“ section.
The “Drive status” window displays the current device status. In an error state the green
rectangle at the top turns red. The rectangles at the bottom turn from transparent to
green as soon as a condition (high) is met.
As soon as an error is detected, the status indica-
tor at the top of the window turns red. Detailed
information on the error and on previous errors
can be viewed by clicking the “Error history”
button. At the bottom of the window the current
state are displayed. A green light signifies active.
Figure A.2 Status bits window
Figure A.1 Drive status window
[ Appendix ]
State machine Manual mode

State machine of the drive controller: Manual mode enables a controller to be controlled in different modes regardless of
The system states of the controller are recorded in the bordered boxes. Blue arrows de- whether a higher-level control system is pre-installed or not. All that is required is for the
signate the individual state transitions, oriented to CiA 402. Changeable state transitions hardware to be enabled first (STO and ENPO).
are bordered in grey. When the manual mode window is closed, all the original settings are restored.
The drive motion can be plotted with the scope function, permitting analysis of the
control performance for example.
Power Fault 13
Disabled
Fault ATTENTION: Before this function is started, a controller must have been
Start
!
Reaction Active commissioned into operation as stipulated in the Operation Manual. When
0 14 the Control window is opened the parameter settings in the connected
device are automatically changed and are then restored when the window is
Not Ready to Fault
Switch On closed. Communication should not be interrupted (such as by a power failure,
unplugging the connecting cable or suchlike) while the Control window is
1 15 active.
Switch On
Disabled
DANGER: Manual mode causes the axis to execute movements. The con-
2
7 nected control system is not active, and cannot intervene in the movement.
Ready to It must be ensured that no hazard is posed to people or machinery.
Switch On
In an emergency, the drive can be stopped at any time by cancelling the
hardware enable (ENPO, STO). In the case of lifting applications, it must be
Power 10 12 ensured that a mechanical brake is installed.
3 6
Ensabled
Switched On
9 8
4
5
Operation 11 Quick Stop
Enable 16 Activ
Bild A.15 State machine of the drive controller

Note: If a drive cannot be moved by way of the Control window, check the
P. no. Parameter name/Setting Designation in DM 5 Function
following points:
speed command in user
P 0282 MPRO_FG_UsrCmdSpeed Speed command in user units
•• Controller system state units
•• Motor data actual motor voltage (rms,
P 0312 CON_CCON_VMot Actual motor voltage
•• Possibly safety switch phase to phase)
•• Quick stop active P 0410 CON_ACT_VDC actual DC link voltage Actual DC link voltage
•• Hardware enable via STO and ENPO
Actual position value in
P 0412 CON_PCON_ActPosition actual position in increments
increments
reference position in incre-

P 0413 CON_PCON_RefPosition Position reference in increments
ments
actual position diffence Difference between actual and

P 0414 CON_PCON_PosDiff
(RefPosition-ActPosition) reference position
Note: For a detailed description of manual mode, the drive, administration
and actual values, and for information on firmware downloading refer to the P 0415 CON_SCALC_ActSpeed actual speed Actual speed
separate “DriveManager User Manual”. P 0416 CON_SCON_RefSpeed reference speed Reference speed
speed difference (RefSpeed- Difference between actual and

P 0417 CON_SCON_SDiff
ActSpeed) reference speed
P 0418 CON_SCON_RefTorque reference torque Torque reference
Monitoring functions P 0419 CON_SCON_ActTorque actual torque Actual torque
P 0700 MON_CurrentRMS actual current (r.m.s) Actual current (mean value)

Actual values P 0702 MON_State Device status word Status word
P. no. Parameter name/Setting Designation in DM 5 Function Power stage temperature of

P 0703 MON_PowerStage_TKK Heat sink temperature
cooling block
P 0276 MPRO_FG_UsrActPos actual position in user units Current position in user units
Power stage temperature of
reference position in user P 0704 MON_Device_Tint Interior temperature
P 0277 MPRO_FG_UsrRefPos Reference position in user units interior
units
P 0734 MON_MotorTemp motor temperature Motor temperature
position command in user
P 0278 MPRO_FG_UsrCmdPos Position command in user units
units monitoring maximum posi- Position tracking error in user
P 0742 MON_UsrPosDiffHistory
tion difference units
P 0279 MPRO_FG_UsrPosDiff tracking error in user units Tracking error in user units
P 0280 MPRO_FG_UsrRefSpeed reference speed in user units Speed reference in user unit
P 0281 MPRO_FG_UsrActSpeed actual speed in user units Actual value in user units
[ Appendix ]
More actual values are contained in field parameter P 0701 LIN(1): Linear interpolation
Parameter name Reference value
Setting
Monitoring, actual values of Display of motor and controller

P 0701 MON_ActValues P5 P9
motor and inverter actual values
actual values of I2xt integrator Actual value of the I2xt integra-

P4
(0) I2xt_Motor
for motor protection tor for motor protection
P3
actual values of I2xt integrator Actual value of the I2xt integrator
(1) I2xt_Inverter P2 P10
for inverter protection for controller protection
P1
Actual value of motor current
(2) Phasor actual motor current amplitude
amplitude
actual magnetization (d-)cur- Actual amplitude value of mag- time

(3) Imag 125 µs 125 µs Zeit
rent amplitude netizing current
500 ms 500 ms
(4) Km actual torque constant Torque constant
Reference value from control Interpolated points
Figure A.1 Linear interpolation

Interpolation method
P 0370 CON_IP Interpolation type in IP mode In the linear interpolation method the acceleration between two points is generally zero.
(0) N0Ip(0) No Interpolation
Pre-control of the acceleration values is thus not possible and speed jumps are always
caused.
(1) Lin(1) Linear interpolation
Application:
(2) Spline_Ext_FF(2) Interpolation with external pre-control This method is used mainly for test purposes and for initial commissioning.
(3) Splinell(3) Cubic spline Interpolation
(4) NonIPSpline(4) Cubic spline approximation
NoIP(0): No interpolation
The values are transferred 1:1 to reference processing in 1 ms cycles.
SplineExtFF(2): Cubic spline interpolation with ext. pre-control value: NonIPSpline(4): Cubic Spline Approximation:
This method enables highly accurate adaptation of the position profile. The expected Reference value
Target
result should exhibit high contouring accuracy and low reference/actual value deviation.
Application: This method is only used from firmware version V 2.0.
SplineII(3): Cubic Spline Interpolation:

n
Reference value io
at
im
ox
ppr
A
Startposition
P5 P9
P4
time
125 µs 125 µs 125 µs 125 µs
P3
500 ms 500 ms 500 ms 500 ms
P2 P10
Reference value from control Interpolated points
P1
time Figure A.3 Cubic spline approximation: P 0305=125 µs cycle

125 µs 125 µs
Zeit
500 ms 500 ms
Reference value from control Interpolated points In this method the interpolation points are approximated by means of B-splines. The
trajectory normally does not run exactly through the points specified by the control.
The deviation is normally negligibly small. In the interpolation points the transitions are
continuous with regard to acceleration, which becomes apparent by minor “noise”.
In start and target position the interpolation points always match the trajectory.
Figure A.2 Cubic spline interpolation; P 0305=125 µs cycle
Application: Minimizing noise, smoother motion, restrictions on contouring
In this method interpolation is effected between the interpolation points of the control Note: Further information on how to generate motion commands using the
(P1, P5, P9, P10) by means of cubic splines. The trajectory is guided precisely by the con- field busses or internal possibilities can be found in the field bus documenta-
trol based on the specified points. This may cause a slight jerk at those points, noticeable tion.
in the form of “noise”.
Application: High contouring accuracy, slight “noise” is possible. “Noise” refers to
mathematical anomalies which cannot be entirely eliminated by the computing methods
applied.
[ Appendix ]
[ Appendix ]
Index D
Deceleration............................................................................................. 81
Detent torque compensation.............................................................. 35, 36
Digital filter............................................................................................. 103
A Digital Output......................................................................................... 103
Acceleration.............................................................................................. 81 Digital outputs.......................................................................................... 16
Acceleration torque.................................................................................. 50 Disable Option Code................................................................................. 79
Actual values.......................................................................................... 139 Drive status............................................................................................. 137
Adaptation of current control................................................................... 37
Additive references................................................................................... 62 E
Analog input............................................................................................. 78
Analog inputs........................................................................................... 96 Encoder.................................................................................................... 24
Analog output........................................................................................ 113 Encoder correction.................................................................................... 24
Anti-cogging............................................................................................. 35 Encoder correction (GPOC)....................................................................... 27
Asynchronous motor................................................................................. 61 Encoder gearing........................................................................................ 26
asynchronous motors................................................................................ 66 Encoder module X8.................................................................................. 58
Error number............................................................................................ 79
B F
Basic settings...................................................................................... 34, 78
FaltReaction Option Code......................................................................... 85
feed forward control............................................................... 35, 47, 51, 61
C Feed forward control................................................................................ 50
CAN . 79 Field bus................................................................................................... 95
CANopen.................................................................................................. 85 Field bus systems.................................................................................... 133
Channel 1................................................................................................. 22 Field-weakening mode.............................................................................. 52
CiA 402 profile......................................................................................... 70
Closed-loop control.................................................................................. 31 H
Commissioning......................................................................................... 61
Contouring accuracy............................................................................... 141 Halt option code....................................................................................... 84
Control location........................................................................................ 78 Hardware enable.................................................................................... 101
Cubic spline approximation..................................................................... 140 Hardware limit switch............................................................................... 85
Cubic spline Interpolation....................................................................... 140 Holding brake......................................................................................... 107
Current control......................................................................................... 34
I
145
ServoOne Operation Manual
[ Index ]
ServoOne Operation Manual 146
I2xt monitoring......................................................................................... 16 Monitoring functions.............................................................................. 139

IEC1131.................................................................................................... 78 Motion Profile........................................................................................... 16
IECON....................................................................................................... 60 Motion Profile DS402................................................................................ 17
IENCC....................................................................................................... 59 Motor . 114
Increment-coded reference marks............................................................. 27 Motor calculation.................................................................................... 106
Inputs/outputs.......................................................................................... 99
Interpolation method................................................................................ 78 O
Interpolation points................................................................................... 82
Interpolation type..................................................................................... 81 Observer................................................................................................... 39
IP Mode.................................................................................................. 101 Operation Manual................................................................................... 2, 4
Order code................................................................................................. 4
J Overload time tmax.................................................................................. 17
Override.................................................................................................... 81
Jerk. ...................................................................................................... 78 Overview of Application Manual................................................................. 3
Jitter filter................................................................................................. 46
P
L PG mode............................................................................................ 80, 81
LHMES...................................................................................................... 60 Pin assignment.......................................................................................... 29
„LIMIT“.................................................................................................. 106 PLC. ...................................................................................................... 79
Limitation................................................................................................. 37 Position control......................................................................................... 47
Limits. .................................................................................................... 115 Position controller..................................................................................... 47
Limit switch.............................................................................................. 86 Position controller setup screen................................................................. 47
Limit switch evaluation............................................................................ 102 Position gain............................................................................................. 49
Linear interpolation................................................................................. 140 Position limitation................................................................................... 120
Power failure reaction............................................................................. 120
M Power stage parameter........................................................................... 102
Power-up sequence..................................................................................... 9
Main inductance....................................................................................... 15 PRBS signal............................................................................................... 50
Mains supply............................................................................................... 8 Pre-control value..................................................................................... 141
Manual drive control............................................................................... 102 Precontrol values....................................................................................... 81
Manual mode......................................................................................... 138 Prediction................................................................................................. 50
Measuring system..................................................................................... 34 PROFIBUS.................................................................................................. 78
Mechanical installation.............................................................................. 73 Profile generator....................................................................................... 79
Mechanism of the system........................................................................... 9
Modulo..................................................................................................... 10
Q T
Quick-stop.......................................................................................... 83, 85 Table reference values............................................................................... 78
Quickstop Option Code............................................................................ 83 Table values.............................................................................................. 81
Target position.......................................................................................... 35
R Teach. ...................................................................................................... 62
Technology option.................................................................................... 62
Ramp functions......................................................................................... 83 Test signal generator (TG).......................................................................... 98
Ramp generator........................................................................................ 80 Test signals................................................................................................ 81
Rating plate.............................................................................................. 15 Torque controller....................................................................................... 81
Reference cam.................................................................................... 86, 91
Reference interface................................................................................... 69
Reference marks....................................................................................... 27
V
Reference processing................................................................................ 79 Velocity mode......................................................................................... 106
Resolver X6............................................................................................... 49 V/F characteristic....................................................................................... 54
Rigidity..................................................................................................... 34
W
S Warning messages.................................................................................. 131
Sampling time..................................................................................... 78, 79
Saturation characteristic............................................................................ 15 Z
Scaling...................................................................................................... 69
SERCOS.................................................................................................... 84 Zeroing offset........................................................................................... 85
SERCOS profile......................................................................................... 46 Zero pulse evaluation................................................................................ 86
Shutdown Option Code............................................................................ 46
Single-mass system observer..................................................................... 78
Smoothing................................................................................................ 39
Software limit switches............................................................................. 39
Speed control........................................................................................... 40
Speed limitation...................................................................................... 138
State machine......................................................................................... 106
LTi DRiVES GmbH We reserve the right to make technical changes.
Gewerbestraße 5-9 The content of our documentation was compiled with the great-
35633 Lahnau est care and attention, and based on the latest information avail-
Germany able to us.
Phone +49 (0) 6441/ 96 6-0
We should nevertheless point out that this document cannot
Heinrich-Hertz-Straße 18
always be updated in line with ongoing technical developments in
59423 Unna
our products.
Germany
Phone +49 (0) 2303/ 77 9-0 Information and specifications may be subject to change at any
www.lt-i.com time. Please visit www.lt-i.com for details of the latest versions.
info@lt-i.com ID no.: 1100.02B.1-00 • 01/2009

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ServoOne

ServoOne High-performance drives

ServoOne Application Manual We reserve the right to make technical changes.

Parameter Description Short description of all para- Base software

ServoOne Application Manual 3

Order code Pictograms

Important! Misoperation may result in damage to the drive or

Danger from electrical tension! Improper behaviour may endan-

Danger from rotating parts! Drive may start up automatically.

Note: Useful information

Overview.......................................................................................... 3 4.2 Torque control.........................................................................................................34

ServoOne Application Manual 5

[Power [ Closed-loop [ Motion [ Inputs/

It is advisable to operate the drive

ServoOne Application Manual 7

2.1.1 Loading the motor data/Electrical data PS

LSH-097-1-30-320 •• the motor protection is correctly set,

ServoOne Application Manual 9

Motor data set

Figure 2.3 Dialogue box for data set calculation

Figure 2.2 Motor data Parameters:

2.1.3 Motor identification:

•• Measurement of P 0476 Rotor resistance, P 0471 Stray (leakage) inductance for

•• Measurement of the saturation characteristic, table values of the stator inductance

•• Calculation of: current, speed and position control parameters

ServoOne Application Manual 11

2.2 PS Linear motor Parameter

Linear PS motor setting P 0451 MOT_Name 1)

P 0457 MOT_CNom 2) Motor rated current Rated current

The following values are calculated:

2.3 AS Motor/Asynchronous motor

2.3.1 Electrical data/Electrical data AS

If the identification is successful, the torque control is adequately configured. An adjust-

ServoOne Application Manual 13

P 0490 MOT_IsLinMot -> ROT (0)

•• Calculation of main inductance in the basic setting range P 0473, P 0474

•• Calculation of: current, speed and position control

ServoOne Application Manual 15

(0) OFF(0) No sensor No evaluation

PTC to DIN 44081 without short-

NTC(6) NTC sensor(6) Only on enquiry (adapter)

(1) contact Sensor connection Connection variant

Connection of the sensor to

Figure 2.7 Temperature monitor setting Sensor connection is routed in

P 0733 MON_MotorI2t Motor I2t protection parameters Setting of I2t characteristic

•• P 0732(1) selects the matching wiring variant

Second current interpolation

(4) fN / F(f) [Hz] (4) Nominal frequency Rated frequency

Max. overload current referred to

Figure 2.8 I2xt protection ASM

Motor protection characteristic setting

ServoOne Application Manual 17

150 % x IN for 120 s.

For servomotors, it is advisable to set a constant characteristic. The switch-off point

Note: For servomotors, refer to the motor manufacturers’ specifications.

Figure 2.11 Characteristic of PSM

Figure 2.10 I2xt protection PSM

ServoOne Application Manual 19

OFF(0) No encoder selected