Igus® Motion Plastics: Dryve D1, ST-DC - EC/BLDC-Motor Control System

igus® Motion Plastics®
dryve D1, ST- DC- EC/BLDC-Motor Control System

Manual V3.0.1
Website shop Videos/Tutorials

www.igus.eu/D1 www.igus.eu/dryve/tutorial
1/195
D1_EN – V3.0.1
Table of contents
Table of Contents
1 Safety Instructions, Protective Measures and Guidelines............................ 6
1.1 Important Instructions ........................................................................ 6
1.2 Qualified Personnel ........................................................................... 6
1.3 Maintenance ...................................................................................... 6
1.4 Safety Instructions ............................................................................. 7
1.4.1 Information Classification .................................................................. 7
1.5 Electromagnetic Compatibility ........................................................... 7
2 Quick Setup ...................................................................................................... 8
3 Product Overview............................................................................................14
3.1 Operating Modes ..............................................................................14
3.2 Technical Data .................................................................................15
4 Installation .......................................................................................................18
4.1 Mechanical Installation .....................................................................18
4.2 Electrical Installation.........................................................................19
4.2.1 General Electrical Installation Information ........................................19
4.2.2 Grounding of motor and encoder cable ............................................19
4.2.3 Cable Cross Sections .......................................................................20
4.2.4 Power supply selection.....................................................................20
4.2.5 Connection Overview .......................................................................23
4.2.6 Pin Assignment ................................................................................25
4.2.7 CANopen Interface ...........................................................................31
4.2.8 Ethernet/Modbus TCP Gateway Interface ........................................32
4.2.9 Status Display ..................................................................................32
5 Initial Operation and User Interface ...............................................................33
5.1 User Interface Connection Establishment ........................................34
5.1.1 Connection Loss ..............................................................................35
5.2 User Interface Information ................................................................36
5.2.1 Entering Parameters ........................................................................37
5.2.2 Parameterisation storage when using the bus systems ...................37
5.3 Start..................................................................................................38
5.3.1 Language .........................................................................................38
5.3.2 Measuring System............................................................................38
5.3.3 Movement Type ...............................................................................38
5.3.4 Time Units ........................................................................................38
5.3.5 Configuration ....................................................................................39
5.3.6 Firmware ..........................................................................................40
5.3.7 Password .........................................................................................41
5.4 Motor configuration...........................................................................42
5.4.1 Motor ................................................................................................43
5.4.2 User-Defined Motor ..........................................................................44
5.4.3 Gear .................................................................................................45
5.4.4 Feedback .........................................................................................45
5.4.5 Closed-Loop .....................................................................................47
5.4.6 Self-Tuning .......................................................................................47
2/195
D1_EN – V3.0.1
Table of contents
5.4.7 Brake ................................................................................................48

5.4.8 Braking Resistor for EC/BLDC Motors .............................................49
5.4.8.1 Braking Resistor selection for igus motors .......................................49
5.4.8.2 Braking Resistor dimensioning for custom motors ...........................50
5.4.8.3 Braking Voltage Setting ....................................................................53
5.5 Axis Configuration ............................................................................54
5.5.1 Axis ..................................................................................................54
5.5.2 Motion Limits ....................................................................................54
5.5.3 Limit Switch ......................................................................................56
5.5.3.1 Triggered Limit Switches ..................................................................57
5.5.4 Homing .............................................................................................58
5.5.4.1 Offset................................................................................................59
5.5.5 Analogue Absolute Feedback ..........................................................60
5.6 Communication ................................................................................61
5.6.1 Ethernet TCP/IP ...............................................................................61
5.6.2 Transmission Protocol ......................................................................62
5.6.3 Bus Systems ....................................................................................63
5.6.3.1 CANopen..........................................................................................63
5.6.3.2 Modbus TCP Gateway .....................................................................65
5.6.4 Ethernet MAC address .....................................................................66
5.7 Inputs/Outputs ..................................................................................66
5.7.1 Digital Inputs ....................................................................................66
5.7.2 Operating Modes Digital Inputs ........................................................67
5.7.3 Digital Outputs ..................................................................................69
5.7.4 Digital Outputs Signal Characteristics ..............................................69
5.7.5 Analogue Inputs ...............................................................................71
5.7.6 Digital Input Switch Characteristics ..................................................71
5.8 Drive Profile ......................................................................................72
5.8.1 Drive Mode Selection .......................................................................72
5.8.2 Test Function ...................................................................................74
5.8.3 Position Adoption .............................................................................74
5.8.4 Binary ...............................................................................................75
5.8.5 Tipp/Teach .......................................................................................79
5.9 Oscilloscope and Controller Data .....................................................80
5.9.1 Oscilloscope Settings .......................................................................80
5.9.2 Controller Data .................................................................................81
5.9.3 Controller Data Fine-Tuning .............................................................82
5.10 Feed Rate Specification ...................................................................83
5.11 Absolute Feedback...........................................................................85
5.12 Impulse check ..................................................................................85
5.12.1 Impulse Check with Physical Limitation............................................86
5.12.2 Impulse Check without Limit .............................................................86
5.13 Restore Factory Settings ..................................................................86
6 External Signal Exchange ..............................................................................87
6.1 Usage of DI 7 – Enable ....................................................................87
6.2 Binary ...............................................................................................87
6.2.1 Binary Mode Requirements ..............................................................87
3/195
D1_EN – V3.0.1
Table of contents
6.2.2 Binary Signal Sequence ...................................................................89

6.3 Tipp/Teach .......................................................................................91
6.3.1 Tipp/Teach Requirements ................................................................91
6.3.2 Tipp/Teach Signal Sequence ...........................................................92
6.4 Step/Direction ...................................................................................94
6.4.1 Assignment of Step Mode to Motor Speeds .....................................94
6.4.2 Requirements Step/Direction ...........................................................95
6.5 CANopen..........................................................................................96
6.5.1 Special Features of SDO/PDO Communication ...............................96
6.5.2 Telegram Structure...........................................................................96
6.5.3 PDO mapping ...................................................................................97
6.5.4 Activation and Configuration 8 RX/TX PDOs ...................................97
6.5.5 Network Management ......................................................................98
6.5.6 Necessary User Interface Settings ...................................................99
6.5.7 Parameter Input ...............................................................................99
6.5.8 Saving Object Data ..........................................................................99
6.5.9 State Machine Visualisation after Boot Up .....................................100
6.5.10 Statusword .....................................................................................101
6.5.11 Controlword ....................................................................................102
6.5.12 Homing ...........................................................................................103
6.5.13 Profile Position Mode .....................................................................104
6.5.14 Profile Velocity Mode......................................................................104
6.5.15 Cyclic Synchronous Position Mode ................................................105
6.5.16 CANopen Error Output and Reset ..................................................105
6.5.17 Abort Code SDO Communication ..................................................106
6.5.18 Object information ..........................................................................107
6.5.19 Overview of available Objects ........................................................108
6.5.20 Detailed description Motion Control Objects ..................................109
6.6 Modbus TCP Gateway ...................................................................170
6.6.1 Motion Control via Modbus TCP as Gateway.................................170
6.6.2 Necessary User Interface Settings .................................................170
6.6.3 Conversion Decimal into Double Word Decimal .............................171
6.6.4 Communication Verification ............................................................171
6.6.5 Byte Assignment Modbus TCP Gateway Telegram .......................172
6.6.6 RX/TX Telegram Example..............................................................173
6.6.7 Error Output Modbus TCP Gateway...............................................178
6.6.7.1 Motion Control Error .......................................................................178
6.6.7.2 Data Telegram Error.......................................................................178
7 Alerts and Errors ...........................................................................................179
8 Troubleshooting ............................................................................................181
9 FAQs ..............................................................................................................183
10 Wiring Schemes Motor, Encoder and Brake ...............................................184
10.1 Stepper Motor und Special Stepper Motor .....................................184
10.1.1 Motor Cable, Connector X5 ............................................................184
10.1.2 Encoder Cable, Connector X6 ........................................................186
10.2 DC-Protect Motor ...........................................................................187
10.3 DC-Motor wit Serration Gear ..........................................................187
4/195
D1_EN – V3.0.1
Table of contents
10.3.1 Motor, Connector X5 ......................................................................187

10.3.2 Hall, Connector X6 .........................................................................188
10.4 EC/BLDC-Motor .............................................................................188
10.4.1 Motor, Connector X5 ......................................................................188
10.4.2 Hall/Encoder, Connector X6 ...........................................................189
11 Accessories ...................................................................................................190
12 Abbreviations ................................................................................................190
13 Explanation of terminology ..........................................................................190
14 Overview of input values ..............................................................................192
15 Service ...........................................................................................................195
5/195
D1_EN – V3.0.1
Safety Instructions, Protective Measures and Guidelines
1 Safety Instructions, Protective Measures and Guidelines
1.1 Important Instructions
Read this manual carefully before operating the dryve D1 motor control system. Familiarise with the safety instructions and
ensure that the required safety measures are followed.
This manual was created according to the best of our knowledge and belief. It is used for technical documentation and for
assisting the user during the initial operation. The warnings, cautions and instructions issued by igus® regarding the dryve D1
motor control system must in any case be passed on to the end user if the dryve D1 motor control system is used as part of an
overall system.
igus® undertakes warranties only for igus® products in accordance with the standards, norms and specifications given in this
manual. The guarantee covers only the replacement or repair of a defective dryve D1 motor control system. There is no liability
for consequential damage and consequential errors. The igus® GmbH does not take any responsibility for the integration of the
dryve D1 motor control system into the overall system. The responsibility for it lies with the plant designer or the end user.
Please observe the instructions under "Qualified Personnel". The company igus® assumes no liability for personal injury or
damage to property resulting from misuse or unauthorised technical modification of the dryve D1 motor control system.
The igus® GmbH reserves the right to make changes and improvements to the product or the technical documentation at any
time without prior notice.
The dryve D1 motor control system must only be used if:

- All information and safety instructions in this manual have been observed.
- The control system has been properly installed in a control cabinet in accordance with the instructions under Electrical
Installation (p. 19)
- No changes have been made to the dryve D1 motor control system and it is in a technically flawless condition.
- The operating limits that are specified in Technical Data (p. 15) are complied with.
1.2 Qualified Personnel

Sebastian Probst
The operation of the product must only be carried out by qualified personnel.
- The personnel must have read and understood this manual and any other additional documentation that exists
- The personnel must be familiar with all relevant applicable standards, provisions and accident prevention regulations.
- The personnel must be able, due to their training, to anticipate or recognise any hazards that may arise when using the
control system.
- The personnel must ensure the safety of persons and objects when using the motor control system in the overall
system.
1.3 Maintenance
The dryve D1 is maintenance-free Apart from the connectors, the dryve D1 does not contain any components that the user can
replace from the outside. Never open the motor control system. If hardware problems occur, please get in touch with
Customer service (p. 195)
Opening the housing will void the warranty.
Sebastian Probst
6/195
D1_EN – V3.0.1
Safety Instructions, Protective Measures and Guidelines
1.4 Safety Instructions
1.4.1 Information Classification

The degree and type of hazard are marked unambiguously. All safety instructions are assigned to one of the following classes.
DANGER!
Safety instructions marked with DANGER indicate an imminently hazardous situation. A disregard of the notice inevitably
leads to a serious or even fatal accident.
WARNING!
Safety instructions marked with WARNING indicate a potential hazardous situation. Failure to observe the instruction can
possibly lead to a serious or even fatal accident or to equipment/property damage.
CAUTION!
Safety instructions marked with CAUTION indicate potential danger. Failure to comply with the notice may possibly result in
an accident or property damage.
NOTE
Safety instructions marked with NOTE indicate a potential hazardous situation. Disregard of the notice may possibly result
in property damage.
1.5 Electromagnetic Compatibility

WARNING!
• Risk of injury due to interference with signals and devices

Disturbed signals can cause unforeseen device reactions.
Carry out the wiring in accordance with the EMC measures. Failure to follow these instructions can result in death, serious
injury, or material damage
Measures for EMC Effect

Device assembly Use cable clamps for the shield support, Good conductivity due to surface contact.
connect metal parts over a large area.
Switching devices such as contactors, relays Reduce mutual interference couplings.
or solenoid valves with interference
suppression units or spark suppressors (e.g.
diodes, varistors, RC elements).
Wiring Keep cables as short as possible. Avoid capacitive and inductive interference.
Do not place fieldbus cables and signal cables Avoid reciprocal interference.
for direct and alternating voltage over 60 V
together in a cable conduit.
Earth the shields of digital signal cables at both Avoid interference on control cables, reduce
ends or by means of conductive connector emissions.
housings.
7/195
D1_EN – V3.0.1
Quick Setup
2 Quick Setup
Thank you very much,
for choosing the dryve D1 motor control system!
In the following, "quick initial operation" it is explained how to setup the dryve D1 and to control a stepper or DC-Motor with a
PC. The dryve D1 motor control system has been designed for operation with direct voltage. In this “quick initial operation” guide
a voltage of 24 V is being used.
Within just a few minutes, you will be able to operate your motor and even create your first fully automatic motion program.
Have fun!
Minimum requirements for initial operation of the dryve D1 with a PC
1. Voltage supply of 12 to 24 V with cables
2. Motor without feedback or

brake with appropriate cable
3. Ethernet cable
4. PC/Notebook
8/195
D1_EN – V3.0.1
Quick Setup
Connect the components in accordance with the following diagrams and instructions. When connecting the cores, take note of
the following illustrations, which are intended to assist you.
1. Press the orange spring

into the connector by hand
or with pliers and hold
the spring down.
2. After removing the insulation, push

the cores (X1 and X5: 10 mm, X2: 8 mm)
deeply into the opening.
3. Release the orange spring
X1 Logic/Load Voltage Connector

1. Connect inputs X1.1 and X1.3 to the voltage supply
2. Connect input X1.2 to 0 V
X2 Digital Inputs Connector

1. Connect inputs X2.11 and X2.12 in accordance with the following diagram.
9/195
D1_EN – V3.0.1
Quick Setup
X5 Motor Connector
For a Stepper Motor:
1. Connect inputs X5.1 - X5.4 in accordance with the following diagram.
For a DC-Motor:
1. Connect inputs X5.1 and X5.2 in accordance with the following diagram
IP address
The IP address which is assigned by the PC to the dryve D1 must be entered in the browser in order to establish a connection
to the dryve D1. If the dryve D1 is set to factory settings, this is done automatically.
Start an Internet browser (Google Chrome, Microsoft Edge etc.)
1. Connect the dryve D1 to the PC with an Ethernet cable.
2. Switch on the voltage supply the connected power supply.
3. The status display of the dryve shows the IP address
(e.g. 169.254.1.0). Type the address in the address bar
of your browser and press Enter.
4. You will be forwarded to the user interface.

5.
NOTE
The IP address is displayed anew after the ethernet connector is plugged out and in again
You can navigate using the tabs in the Navigation menu on the left-hand side
Help buttons display detailed descriptions of the individual settings.
Settings are changed via entering values, use of drop-down menus or sliders.
10/195
D1_EN – V3.0.1
Quick Setup
After a connection has been established, the user is automatically transferred to the Start page of the dryve. All the necessary
settings for "quick initial operation" of the system have already been made ex works.
1. Specify the motor type

2. Select the igus® article number that is shown on the motor label
3. The parameters are set automatically
4. Leave the field by clicking in a free area
5. Click on "Apply"
If an customer motor is to be used, select "User Defined Article" at the "Article Number" dropdown menu and set the parameters
manually.
11/195
D1_EN – V3.0.1
Quick Setup
1. Enter the Available Stroke and the Feed Rate. The Feed Rate defines the performed movement with each motor shaft
revolution. A possible value for the Available Stroke is for example 100 mm and 60 mm for the Feed Rate.
These values must be adopted to the used linear axis.
2. The "Movement Limits" must be specified to ensure a safe and reliable operation. If the user is operating the dryve D1
for the first time, choose low values such as:
Max. Velocity: 5 mm/s
Jog Velocity: 2 mm/s
Max. Acceleration: 100 mm/s²
Quick Stop: 1000 mm/s²
Following Error: 10 mm
Positioning Window: 0 mm
Positioning Time: 0 ms
3. In addition, the Reference Method must be set. Please select “SCP (Current Position)
All necessary communication settings for "quick initial operation" have been completed ex works.
1. Activate "DI 7 Enable" to enable the motor.

The set Motor Current will now be applied to the motor.
NOTE
As soon as the motor is supplied with electric current, it generates a holding torque. Make sure that the motor can move
freely.
12/195
D1_EN – V3.0.1
Quick Setup
A first test run can be carried out to

test the wiring.
1. In the drop-down menu, select the "Binary" travel profile.

2. Use the "clockwise" and "counter-clockwise" buttons
under the table to move the motor.
4. Check to make sure that the "Clockwise" button
moves the motor shaft clockwise. If this
is not the case, disconnect the power supply and
check the wiring.
Now, an example of parameterisation can be carried out.
5. Using the buttons, move the carriage or rotation arm manually
to the middle of the distance available for travel.
6. Create the motion sequence shown in the table.
7. Select Row 1 by clicking in the number field of the row.
8. Start the program with the "Start" button.
The program can be stopped with the "Stop" button. If the program were to be started again,
it would continue from the marked row.
For igus® motors, the motor controller data have been set appropriately by default.
For user-defined motors, the controllers must be parameterised.
Use the help notes provided in the manual.
Congratulations!
You are now familiar with the basic functions of the dryve D1.
13/195
D1_EN – V3.0.1
Product Overview
3 Product Overview
Ready to use instantly
The igus® dryve D1 uses standard commercially available Ethernet technology and therefore can communicate directly with
your network or a control unit (PC or PLC) via a standard Ethernet cable. The user interface is displayed in a browser of your
choice, without having to install any additional software. This makes it possible to parameterise the igus® dryve D1 motor
controller in an extremely short time.
Easy to control
You can use the simple intuitive user interface to parameterise positioning movements, accelerations and velocities of your
linear axis without the need of having any prior knowledge. Programs for continuously recurring movements can be created in
just a few seconds. A "Teach" function makes it possible to incorporate current actuator positions into the parameterisation with
just one click of the mouse.
Industry standards
The standard communication protocols CANopen and Modbus TCP Gateway make it very easy to connect the system to
industrial controllers such as the programmable logical controllers (PLC) as of Siemens or Beckhoff. The ten digital inputs, 5 of
which are binary coded for the preselection of 32 positioning movements, and five digital outputs enable extremely easy
communication with higher-level industrial controllers as well as with low-price open-source modules such as an Arduino or
Raspberry Pi.
Powerful technology
The igus® dryve D1 supports stepper, DC and EC/BLDC-Motors in Open-Loop as with Closed-Loop technology. With the
sinusoidally commutated Closed-Loop, a Stepper Motor can be operated as a servo motor. Due to the Closed-Loop, the Motor
Current is controlled according to the load case, because of which the operating temperature of the dryve D1 and the connected
motor can be lowered.
To optimally attune the igus® dryve D1 to a motor, current, velocity and position control parameters are able to be tuned. In
addition an automatic Step Mode selection is available.
The system can be set to the "zero point" by different external and internal homing methods. Position monitoring with automatic
Following Error correction and Closed-Loop control is available via different Feedback systems. The supported load voltage of
up to 48 V ensures high motor velocities, whereby the high rated current of 7 A and peak currents of up to 21 A (depending on
type of motor) enable powerful and dynamic movements.
I²T motor protection

To protect motors against thermal overload, the igus® dryve D1 is equipped with I²T protection for overload monitoring.
I²T protection makes it possible to safely operate the motor for a certain time even if used with overload conditions.
3.1 Operating Modes

In the following section, the different operating modes of the dryve D1 motor control system are described. Due to the different
operating modes, the arrangement of the electric wiring changes depending on the intended application.
Binary
The "Binary" operating mode offers up to 32 individual positioning movements parameterised with different motion types and
movement data such as accelerations and velocities. It is possible to generate a simple programme sequence executed via the
user interface or control it entirely with a higher-level control system via the Digital Inputs/Outputs
In addition, the target position of the command can be specified in the absolute reference system of the axis or relative to the
current position.
It is possible to execute manually controlled movements via the user interface.
Tipp/Teach
With the "Tipp/Teach" mode, positioning movements can be executed by external switches. The motor can be moved manually
with these external switches in the desired direction at a pre-set acceleration and velocity.
Up to 8 individual positioning movements can be pre-set via the user interface. The target positions can be altered with the
external switches without the user interface being used.
Step/Direction
In the "Step/Direction" mode, a step frequency and a direction signal are applied to the dryve D1 motor control system by a
master controller. The acceleration and the speed are fed to Digital Input 1 and the movement direction is fed to Digital Input 2.
BUS communication
The dryve D1 motor control system can be controlled by an external higher-level control system via the CANopen protocol or
the Modbus TCP Gateway protocol.
14/195
D1_EN – V3.0.1
Product Overview
3.2 Technical Data

Mechanical Data
D x W x H in millimetres, incl. connectors & mounting elements 124 x 31 x 139

Weight in grams 200 g
Electrical Data
CAUTION!
• Risk of destruction
An operating voltage above the voltage indicated in the technical data will destroy the dryve D1
Select an operating voltage within the voltage range specified in the technical data.
Induced voltages from other electrical loads and/or motors may result in a function interference. Allow corresponding safety
reserves and countermeasures.
Make sure that your voltage supply is energy feedback protected if the logic voltage and load voltage are supplied from the
same power supply unit or from the same transformer.
CAUTION!
• Danger of burning
The housing of the dryve D1 motor control system as well as the driven motor may reach very high temperatures.
Overview electrical data
Voltage Supply Logic 12 to 24 V, max. 26 V
Load 12 to 48 V, max. 50 V
Digital I/O 5 to 24 V, max. 26 V
Current Drain Logic Min. 75 mA to 225 mA
Current Drain Load 5 mA to 7 A, max 22 A (Boost)
Current Drain Digital I/O 35 mA to 1,1 A
Motor Types ST 2 Phase Stepper Motor, bipolar
DC DC Motor
EC/BLDC Electronically Commutated Motor
Continuous Motor Current 7A
Boost Current Output Duration Max. 2 s
ST 10.5 A
DC 14 A
EC/BLDC 21 A
Load Power Output Max. 340 W
Peak Power Output Max. 1000 W
Dissipation Loss Min. 2,5 W (idle)
Max. 15 W (full load)
Max. Velocity Stepper 25,000 steps/s
DC Motor dependent
EC/BLDC Min.14,000 rpm
Feedback Permissible Feedback Types 5V
Internal Voltage Source 5V ±10%
50 mA to 120 mA
15/195
D1_EN – V3.0.1
Product Overview
Feedback Internal Voltage Source Short Circuit Protected
Resolution 1 – 4096 increments
Encoder Input Frequency Min. 300 kHz
Hall Sensor Input Frequency 5 kHz
Holding Brake Voltage output 24 V
Current output Max. 1 A
PWM at 48 V UB at X 1.1 312 kHz
Braking Resistor External resistor between X5.4 and X5.5 24 V at X1.1 Min. 0,8 Ω
48 V at X1.1 Min. 1,7 Ω
Frequency 24 kHz
Overload protection shut off After 1 s permanent trigger
Motor and encoder cable lengths < 30m
Digital Inputs 10 Digital Inputs
Short-Circuit Protected
Galvanically Separated by Optocoupler
ULow 10% UB X2.11
UHigh 60% UB X2.11
PNP Pull-Down, internal
NPN Pull-Up, internal
Maximum Frequency DI 1 and DI 2 25 kHz
Maximum Frequency DI 3 to DI 10 100 Hz
Debounce Filter DI 1 to DI 10
10 ms
(not at Step/Direction Mode)
Current Drain 5 V at X2.11 5 mA
24 V at X2.11 8 mA
Digital Outputs 5 Digital Outputs
Short-Circuit Protected
Galvanically Separated by Optocoupler
PNP Pull-Down, internal
Output Current Max. 200mA
Output Voltage UB at X2.11
Analogue Inputs Voltage Interval ± 10V
Input Resistance 50 kΩ
Accuracy ± 0.1 V
Signal Filter 16 ms, level dependent
± 10 V Signal 12 Bit
0-10 V Signal 11 Bit
Internal Voltage Supply 10 V ±2%
Max. 15 mA
Regulated
Short Circuit Protected
External resistor between X4.1 and X4.4 700 Ω to 50 kΩ
16/195
D1_EN – V3.0.1
Product Overview
Environmental Conditions
WARNING!
- Danger of malfunction
- Fire hazard
- Explosion hazard
- Danger of electric shock
Never operate the dryve D1 motor control system in water or in an aggressive, flammable or explosive atmosphere.
Ambient Temperature Operation -20 °C to +45 °C
Transport -40 °C to +60 °C

Storage -40 °C to +60 °C
Relative Humidity ≤ 90 %, non-condensing
Protection Class IP 30
Degree of soiling according to EN 61010 1
MTTF value @ 25°C 64,72 Years
17/195
D1_EN – V3.0.1
Installation
4 Installation
4.1 Mechanical Installation

- Installation in a control cabinet by mounting it on a TS 35 supporting rail (EN 50022) or by removing the mounting clip
and screwing the base of the housing directly onto a mounting plate.
- The device must be aligned vertically. For horizontal alignment, the maximum power must be reduced by 30% to
prevent overheating
- The installation site must be free of extreme vibrations or shocks.
- Minimum free space above and underneath the device: 50 mm
- The ventilation openings are to be kept free
- 35 mm of space for plug-in connectors and cables must be kept free in front of the device.
- If several dryve D1 devices are placed next to each other, a space of 10 mm must be kept in between (applies for
continuous operation)
- If several dryve D1 devices are placed without space in between, the maximum continuous current must be reduced to
5.5 A or an active cooling system must be used (applies for continuous operation)
- The heated air flow of other devices and components must not be led through the area of the dryve D1.
18/195
D1_EN – V3.0.1
Installation
4.2 Electrical Installation

WARNING!
- Danger of electrical voltage
- Danger of electric arcs
Danger of injury and destruction of components.

Always turn off the power before disconnecting or making electrical connections in the system. Secure the power supply
against restart.
After switching the device off, wait at least 5 minutes. Check for the absence of voltage before working on the system.
Danger of electric arcs with improperly mounted electrical connections.
Wires connected to the dryve D1 must not have exposed wire ends without insulation. Check all connections for being
secured.
In the event of a fault, the motor housing can carry high currents. Connect the motor housing to the ground conductor via the
motor mounting components. In this regard, please observe the instructions in EN 60204-1.
CAUTION!
The maximum current of a Stepper Motor can be above the indicated rated current. The actual occurring current must be
considered for installation.
Any current setting are made at your own risk.
CAUTION !
The connection terminals are designed for single wires.

A firm connection cannot be guaranteed due to improper multiple occupancy. There is a risk that wires may slip out of the
terminals and cause short circuits.
If several signals/wires have to be connected to one terminal, they must be brought together via an external terminal and
connected from there with a single wire.
CAUTION !
The logic power connection does not supply energy to the motor The motor will decelerate uncontrolled if the logic power
supply collapses. In case of a vertical axis with an attached load it might result in an accelerated motion.
NOTE
Follow the instructions regarding PELV wiring 25and use suitable components for earthing.
NOTE
The dimension of a circuit breaker must be selected according the actual current demand of the dryve D1. A sample
calculation is available in the chapter Power supply selection (p. 20)
4.2.1 General Electrical Installation Information

The dryve D1 is designed for DC voltages.
All voltage specifications listed in this operating manual therefore are to be considered as DC voltage.
4.2.2 Grounding of motor and encoder cable

The D1 does not have dedicated contacts for connecting a potential equalisation to avoid interference via a shield in the motor
or encoder cable. If these are required in the planned application, the cable shields must be connected via special potential
equalisation contacts in the control cabinet.
19/195
D1_EN – V3.0.1
Installation
4.2.3 Cable Cross Sections

Connector X1 and X5 mm² AWG
Min 0,2 24
Max 2,5 13
Connector X2 to X4 and X6 mm² AWG

Min 0,14 26
Max 0,5 20
4.2.4 Power supply selection

For the correct dimensioning of the power supplies to be used, various aspects must be considered
• Number of used motor controller per power supply
• Maximal current draw of each motor (consider the set Boost)
• Maximal current draw of used peripheral devices (e.g. sensors and other devices)
• Maximal current draw of the Logic
The current draw must be added voltage wise. This sum defines the minimal current supply capacity of the power supply.
NOTE
If different power supplies are used for the load and logic voltage, the grounds of both power supplies must be connected to
create a common potential.
Example 1:
Common 24 V power supply for load, logic and digital inputs/outputs, no boost current
Current consumption load*1: 4.2 A

Current consumption logic: 0.2 A
Current consumption digital inputs/outputs*²: 0.8 A
Total current consumption, continuous: 5.2 A
Power supply selection incl. safety reserve: approx.6 A
*1 Current consumption load corresponds to the set motor current

*² Value includes loads such as limit switches and/or relays
Example 2:
Common 24 V power supply for load, logic and digital inputs/outputs,
Boost current used (p. 40): 150%.
Current consumption load*1, continuous: 4.2 A

Current consumption load*1, short-term: 6.3 A
Total current consumption, continuous: 5.2 A

Total current consumption, short-term: 7.3 A
Power supply selection incl. safety reserve: approx. 8 A

*² Value includes loads such as limit switches and/or relays.
20/195
D1_EN – V3.0.1
Installation
Example 3:
Common 24 V power supply for logic and digital inputs/outputs.
48 V power supply for load circuit.
Used Boost Current (p. 43): 150%.
24 V power supply

Total current consumption: 1A
Selection of power supply for logic and

Digital inputs/outputs incl. safety reserve: approx.: 1.5 A
48 V power supply
Current consumption load*1, continuous: 7A

Current consumption load*1, short-term: 10.5 A
Total current consumption, short term: 10,5 A
Selection of power supply incl. safety reserve: approx. 11 A

*² Value includes consumers such as limit switches and/or relays
Example 4:
2 dryve D1, 2 igus NEMA 23 Stepper Motor, common 24 V power supply for load, logic and digital inputs/outputs,
no boost current
Single Combined
Current consumption load*1: 4,2 A 8,4 A
Current consumption logic: 0.2 A 0,4 A
Current consumption digital inputs/outputs*²: 0.8 A 1,6 A
Total current consumption, continuous: 10,4 A

Example 5:
2 dryve D1, 1 igus NEMA 23 Stepper Motor, 1 NEMA 17 Stepper motor, common 24 V power supply for load, logic and digital
inputs/outputs, no boost current
Single Combined
Current consumption load*1 D1 NEMA 23: 4,2 A 4,2 A
Total current consumption, continuous: 8A

21/195
D1_EN – V3.0.1
Installation
Example 6:
3 dryve D1, 2 igus NEMA 23 Stepper Motor, 1 NEMA 17 Stepper motor, common 24 V power supply for logic and digital
inputs/outputs.
48 V power supply for load circuit.
Used Boost Current (p. 43): 150%.
24 V power supply
Single Combined

Total current consumption: 3A
Selection of power supply for logic and

Digital inputs/outputs incl. safety reserve: approx. 3 A
48 V power supply
Single Combined

Current consumption load*1 D1 NEMA 23, short-term: 6,3 A 12,6 A

Current consumption load*1 D1 NEMA 17, short-term: 2,7 A 2,7 A
Total current consumption, short term: 15,3 A

22/195
D1_EN – V3.0.1
Installation
4.2.5 Connection Overview

Connector Pin Assignment Description
1 12 - 48 V Load Motor Voltage Supply (necessary for operation)
X1 Logic/Load-Voltage 2 0 V Logic/Load Common Ground (necessary for operation)
3 12 - 24 V Logic Controller Voltage Supply (necessary for operation)
Binary Tipp/Teach Step/Direction
1 Digital Input 1 Bit 0 Bit 0 Step
2 Digital Input 2 Bit 1 Bit 1 Direction
3 Digital Input 3 Bit 2 Bit 2 -
4 Digital Input 4 Bit 3 Jog left -
5 Digital Input 5 Bit 4 Jog right -
X2 Digital Inputs 6 Digital Input 6 Start Start/Teach -
7 Digital Input 7 Enable Enable Enable
8 Digital Input 8 Limit Switch positive Limit Switch positive Limit Switch positive
9 Digital Input 9 Limit Switch negative Limit Switch negative Limit Switch negative
10 Digital Input 10 Stop/Reset Stop/Reset Reset
11 5 - 24 V External I/O Supply necessary for operation)
12 0V External I/O Supply (necessary for operation)
1 Digital Output 1 Ready
2 Digital Output 2 Active
X3 Digital Outputs 3 Digital Output 3 Referenced
4 Digital Output 4 Alert
5 Digital Output 5 Error
1 10 V Supplied by controller
2 Signal 1 Velocity and position setpoint
X4 Analog Inputs
3 Signal 2 Position feedback (only AAF (p. 58) or DC Motor Feedback)
4 0V Supplied by controller
1 A (ST), U (EC/BLDC), + (DC) Motor connection
2 A/ (ST), V (EC/BLDC), - (DC) Motor connection
3 B (ST), W (EC/BLDC) Motor connection
Motor/Brake/
X5 4 B/ (ST), RBrake (EC/BLDC) Motor and Braking Resistor connection
Braking Resistor
5 Ground, RBrake (EC/BLDC) Ground and Braking Resistor connection
6 24 V Holding Brake Holding Brake connection
7 0 V Holding Brake Holding Brake connection
1 5V Feedback
2 0V Feedback
3 A Feedback
4 A/ Feedback
5 B Feedback
X6 Feedback 6 B/ Feedback
7 N Feedback
8 N/ Feedback
9 H 1/U (EC/BLDC), 1 (DC) Feedback
10 H 2/V (EC/BLDC), 2 (DC) Feedback
11 H 3/W (EC/BLDC) Feedback
1 - NC
2 CAN_L CAN Signal Low
3 CAN_GND CAN Masse
4 - NC
X7 CANopen 5 - NC
6 - NC
7 CAN_H CAN Signal High
8 - NC
8 - NC
Ethernet Standard assignment according to
X8
Modbus TCP Gateway TIA-568A und TIA-568B
X9 Status Display
23/195
D1_EN – V3.0.1
Installation
The arrow marks pin 1
24/195
D1_EN – V3.0.1
Installation
4.2.6 Pin Assignment

The connectors must be wired according to your application. For this purpose, use the detailed illustrations below for each
individual connector.
X1 Logic/Load Connector
If the dryve D1 is to be connected as a PELV wiring, the 0 V X1.2 terminal is to be connected to the earth potential of the overall
application.
NOTE
For proper operation, it is necessary to ensure that the logic voltage supply can provide a minimum current of 75 mA. If this
current can’t be supplied, the user interface might still be accessed in individual cases, but it is not guaranteed that the dryve
D1 will still function properly.
X2 Digital Inputs Connector

The wiring and function of each input depends on the Operating Modes Digital Inputs (p. 67).
To enable an operation of the dryve D1 motor control system, a voltage supply for the digital inputs must be connected to X2.11
and X2.12 (5-24 V). The same voltage source as that of the logic supply at X1.3 applicable. A connected PLC or microcontroller
must be attached to the same electric potential as the dryve D1 to maintain a proper operation,
Applicable for the igus limit switches: The brown wire of the cable is connected to 24V and the blue wire is connected to 0V. The
black wire is connected to terminal X2.8 or X2.9 of dryve D1, depending on the position. The supply voltage (brown and blue
wires of the limit position switch) is not provided by the D1. The wires must be connected to external terminals (e.g. in your
control cabinet).
All inputs must be uniformly wired either as PNP or NPN. The type of wiring interconnection can be selected later via the user
interface Digital Input Switch Characteristics (p. 71)
The Digital Inputs can be configured in such a way that they are activated in response to a high or low signal (NO contacts/NC
contacts). Configuration at Digital Inputs (p. 66).
The motor controller is equipped with internal “Pull Up“ and “Pull Down” resistors.
NOTE
The internal 10 V power supply at connector X4 "Analogue inputs" (pin 1 and 4) must only be used for the operation of
potentiometers at AI1 (pin 2) and AI2 (pin 3).
25/195
D1_EN – V3.0.1
Installation
X3 Digital Outputs Connector

The output voltage of the digital outputs corresponds to the voltage across the X2.11 connector.
The outputs have been permanently set to PNP and cannot be changed to NPN. Due to the internally installed pull-down
resistors, micro-controllers that work with NPN logic can be used as well. The digital outputs can be configured in such a way
that the emitted signals are inverted.
X4 Analogue Inputs Connector

With the Analogue Inputs it is possible to process position and velocity setpoints as well as position feedbacks with a 0 V to 10
V or ± 10 V signal. An analogue position setpoint potential can be supplied by an external master (i.e. a higher-level control
system, whereby the external voltage supply must be connected to the X4.4 ground contact) to X4.2 as well as voltage-
changing components (e.g. potentiometer, temperature-dependent resistors, etc.).
For analogue position feedback, an axis mounted absolute value feedback (e.g. a precision multiturn potentiometer) can be
connected to X4.3.
The dryve D1 has got an build in 10 V voltage supply. It can be used to directly supply connectable components for the
stipulation of position setpoints and for feedback as well.
NOTE
The internal 10 V power supply at connector X4 "Analogue inputs" (pin 1 and 4) must only be used for the operation of
potentiometers at AI1 (pin 2) and AI2 (pin 3).
Pin Assignment Designation

X4.1 10 V Voltage Supply Output
X4.2 AI 1 Velocity or Position Setpoint Input
X4.3 AI 2 Position Feedback input
X4.4 0V Voltage Supply Output
26/195
D1_EN – V3.0.1
Installation
X5 Motor/Brake/Brake Resistor Connector

The dryve D1 can control either a Stepper Motor, a DC Motor or an EC Motor. The following wiring diagrams demonstrate the
connection for a Stepper Motor (X5.1 to X5.4), DC-Motor (X5.1 to X5.2) and EC/BLDC-Motor (X5.1 to X5.3).
In case an EC/BLDC motor is being used an additional Brake Resistor might be attached to X5.4 and X5.5 to dissipate the
generated excessive energy.
Wiring schemes available at chapter Wiring Schemes Motor, Encoder and Brake (p. 184)
DANGER!
- Danger of falling load
The motor holding brake is not suitable for slowing down the load on a vertical axis.
Never work under unsecured vertical axes and loads.
Secure the axis or load against falling by a mechanical safety device or other approved safety method.
WARNING!
- Danger of malfunction
- Fire hazard
Use the dryve D1 motor control system only to control Stepper, DC or EC Motors that are compatible with technical
connectivity and technical performance of the dryve D1 motor control system.
NOTE
Only one motor at a time is to be connected!
NOTE
The connector X5.5 is directly connected to the shared ground of the Logic and Load Supply at X1.2 and is not intended for
the connection of external earthing wires.
NOTE
If the case of uncertainties or connection of a Stepper Motor with 6 or 8 connecting wires, please consult the motor data
sheet and connect the wires according to the instructions.
NOTE
When using EC/BLDC motors variants that only use Hall sensors for commutation, uneven movements can occur at low rotor
speeds - speed < 300 rpm.
At standstill, a target position between 2 detectable positions can also lead to a pendulum movement/oscillation.
The following illustrations show how to connect a holding brake to X5.6 and X5.7.
If the dryve D1 motor control system is operated with a load voltage of 24 V at X1.1, the voltage is directly passed on to the X5.6
brake output. In the case of a load voltage of 48 V at X1.1, the brake output voltage is lowered by a PWM (p. 190) with 312 kHz
to 24 V.
In case of a necessary motor potential equalisation this is to be achieved via X5.5.
27/195
D1_EN – V3.0.1
Installation
Stepper Motor
EC/BLDC Motor
DC Motor
28/195
D1_EN – V3.0.1
Installation
X6 Feedback Connector
The dryve D1 supports Incremental Feedback (Encoder) and Hall Sensors for position determination with a supply voltage of 5
V. These can be single-ended or line-driver (Encoder) or 2-pole or 3-pole Hall Sensors.
If an encoder has an index channel, one homing pulse per motor revolution can be processed.
The following table shows the connection assignment.
Feedback Type Compatibility Connection Options

Line Driver Encoder Stepper Motor • 5V
DC-Motor • 0V
EC/BLDC-Motor • A
• A/
• B
• B/
• N (optional)
• N/ (optional)
Single Ended Encoder Stepper Motor • 5V
DC-Motor • 0V
EC/BLDC-Motor • A
• B
• N (optional)
Hall Sensor 2-pole DC-Motor • 5V
• 0V
• Hall 1 DC
• Hall 2 DC
Hall Sensor 3-pole • EC/BLDC-Motor • 5V
• For an EC/BLDC-Motor operation, the 3-pole Hall • 0V
Sensor is required • Hall 1/U EC/BLDC
• The 3-pole Hall Sensor is only intended for the • Hall 2/V EC/BLDC
EC/BLDC-Motor and cannot be selected separately
• Hall 3/W EC/BLDC
• If the EC/BLDC-Motor is selected, 3-pole Hall Sensor
is activated automatically
• A encoder line driver or as single-ended might be
connected additionally
NOTE
If there is a need to process the encoder signals additionally at a higher-level control system, they can be accessed in
parallel at connector X6.
Please note that the internal voltage supply can source a maximum of 120 mA.
Please use the corresponding feedback data sheets for additional information supplied by the manufacturer.
29/195
D1_EN – V3.0.1
Installation
Stepper Motor
EC/BLDC-Motor
DC-Motor
30/195
D1_EN – V3.0.1
Installation
4.2.7 CANopen Interface

X7 CANopen Port
The dryve D1 may be controlled with the CANopen communication protocol. For this purpose, the dryve D1 will be connected to
the bus and the master via the CANopen port. The standard pin assignment in accordance with CiA 301 is illustrated in the
table.
CAN Port Pin Assignment
Top view of CANopen port
Pin Layout Designation

X7.1 -------------- Not assigned
X7.2 CAN_L CAN Signal Low
X7.3 CAN_GND CAN ground
X7.4 -------------- Not assigned
X7.5 -------------- Not assigned
X7.6 -------------- Not assigned
X7.7 CAN_H CAN Signal High
X7.8 -------------- Not assigned
X7.9 -------------- Not assigned
Transmission Speeds
Possible transmission speeds are dependent on the used cable lengths. The dryve D1 supports Baud Rates of 10 Kbit/s up to 1
Mbit/s.
Baud Rate Length

10kbit/s 6,700m
20kbit/s 3,300m
50kbit/s 1,000m
125kbit/s 500m
250kbit/s 250m
500kbit/s 125m
1Mbit/s 25m
Termination Resistors
At each end of the bus cable, the CAN bus needs a termination resistor with 120 Ω between the CAN high channel and the CAN
low channel. These resistors are needed for defined difference-signal evaluation of the CAN low and CAN high channels.
31/195
D1_EN – V3.0.1
Installation
4.2.8 Ethernet/Modbus TCP Gateway Interface

X8 Ethernet Port
The assignment of the X8 Ethernet port corresponds to the standard assignment according to TIA-568A/B.
Ethernet
To configure the dryve D1, the Ethernet Port must be connected to a network or directly to a computer via a patch cable.
Communication is based on the TCP/IP protocol.
Modbus TCP Gateway

If the communication shall be executed via the Modbus TCP Gateway protocol, the Ethernet Port must be connected to a
network or directly to a computer via a patch cable. Communication is based on the Ethernet TCP/IP protocol.
4.2.9 Status Display

X9 Status Display
The IP address is shown on the status display after an Ethernet connection has been established.
If the network cable is plugged in anew or the interfaces on the master control/PC are deactivated/activated, the IP address is
output again.
In addition, the error codes are output via the status display in case of a alert or an error – Alerts and Errors (p. 179). The output
will repeat cyclical until the alert or error is resolved.
Example:
Alert A 10 Driver stage temperature above 85°C.
Error E 10 Driver stage overheated - An emergency stop is executed
32/195
D1_EN – V3.0.1
Initial Operation and User Interface
5 Initial Operation and User Interface

In the following, initial operation and the user interface of the dryve D1 is described.
This section explain all functions to be used to parameterise the control system for your application.
WARNING!
- Danger of entanglement
Danger of hair and clothing getting entangled into rotating components. Do not wear your long hair open, do not wear loose
clothing, jewellery, ties, scarves or gloves.
WARNING!
- Risk of injury due to moving parts
- Risk of crushing
Never put your hand into moving components and never touch any driven/rotating components.
Make sure that even unexpected movements of the driven components cannot cause personal injury or damage to
equipment/hardware.
Make sure that an emergency shutdown can be performed at any time.
33/195
D1_EN – V3.0.1
5.1 User Interface Connection Establishment

To establish a connection to the dryve D1 web server, the IP address assigned to the dryve D1 must be entered in the browser.
The assignment is done automatically in the case of dryve D1’s with factory settings.
Proceed as follows:
1. Start an Internet browser (Google Chrome, Mozilla Firefox, Microsoft Edge etc., no Internet connection necessary).
2. Using an Ethernet cable, connect the dryve D1 to the PC
3. Switch the voltage supply of the dryve D1 on
4. Type in the IP address shown on the status display of the dryve D1 (e.g. 169.254.1.0 or 192.168.0.100, individually
assigned) into the address bar of your browser and press Enter
5. You will now be automatically taken to the user interface of the dryve D1
If the dryve D1 has already been used and an IP address is shown to which you cannot gain access, it may be necessary to
adapt the network adapter setting in accordance with the IP address. If you cannot configure the computer, a reset to factory
settings must be executed – Restore Factory Settings (p. 86).
NOTE
NOTE
If you receive the error message "Address not available" (or similar) in the browser when attempting to establish a connection
to dryve D1, please check the following aspects:
- Does the set address range of the PC match the displayed IP address on the dryve D1?
IP dryve D1: 192.168.1.1, IP range PC 169.254.1.1:- Address range not compatible!
Despite a manually set PC IP address, it usually only assigns addresses in the 169.254.XXX.XXX range.
- Are Ethernet and WIFI allowed to be active at the same time and establish connections?
- Are the firewall settings too restrictive?
I case of further issues, please contact your IT department.
NOTE
In some cases, a password may be requested even though none has been assigned. In this case, the browser tries to
access outdated data from the browser cache.
Please check whether the IP address of dryve D1 has changed. If there is a discrepancy, enter it again into your browser.
If the IP address has not changed, please have the browser reset the browser cache with the key combination "CTRL + F5"
and reload the user interface.
If a connection is still not possible, please restart your computer and dryve D1.
NOTE
In rare cases, programs running on the PC connected to the dryve D1 can prevent the IP address from being assigned
automatically. After closing all programmes, the IP address can be output again and the connection to the user interface can
be established. If the IP address has been assigned, all programmes can be opened again.
34/195
D1_EN – V3.0.1
5.1.1 Connection Loss

If the Ethernet connection to the dryve D1 is interrupted, the dryve D1 automatically tries to re-establish it. In such a case, a
dialogue window displays help topics.
Once the connection has been re-established and communication is possible, the dryve D1 automatically reconnects itself to the
user interface, the dialogue window closes automatically and the parameterisation can be continued in the same tab.
If the power supply for the dryve D1 is switched off and on again while there is an active connection to the user interface, the
browser page must be loaded manually. If the IP address is assigned automatically, please check if the IP Address has
changed.
The user interface will always return to the "Start" page.
NOTE
If HTTP is used for communication, the password is transmitted unsecured. This can lead to many and/or periodic
connection losses in combination with certain anti-virus and firewall software. This issue can be solved by adopting/configure
said software.
NOTE
If the IP address is set to a fixed value in the range 169.254.XXX.XXX, connection interruptions may occur due to a current
error in the Windows 10 operating system.
These connection interruptions can be prevented by changing to a different address range.
NOTE
If the Modbus TCP gateway connection is closed during operation, but the user interface is still accessible, the configured
Modbus TCP gateway port has been closed.
This can be due to the following reasons:
Faulty telegram structure - less or more data byte sent than specified in configuration.
Refer to Byte Assignment Modbus TCP Gateway Telegram (p. 172)
Automatic "heart beat" signal is not sent 3 times by the master or not forwarded by the network
The master itself closes the communication port
The motor controller can only close the port in case of error 1. or 2. A termination of the port due to a time without active
communication between motor control and master controller is not implemented.
35/195
D1_EN – V3.0.1
5.2 User Interface Information

Navigation Menu
The desired page will be displayed by clicking on the corresponding tab in the grey navigation menu at the left-hand edge of the
screen. The page currently being shown is highlighted in orange.
Switches
The status of the individual ON/OFF switches and Either-Or switches can be changed by clicking on them.
Status Area
The status area is located underneath the navigation menu. The current action status as well as warnings and error messages
are shown in the upper part. In the lower part, the controller temperature, the Motor Current, the actual-and the set-position are
shown.
Help Buttons
Detailed information to the corresponding functions are available for display via the Help Buttons.
NOTE
A response or execution time of control commands and feedback requests cannot be guaranteed. The provision of
information and response times are dependent on the used Ethernet network. There is no guaranteed response time or
execution time for control of the dryve D1 motor control system via the user interface in the browser.
For this reason, use the user interface in the browser only for initial operation or diagnosis.
36/195
D1_EN – V3.0.1
5.2.1 Entering Parameters

The parameters entered are transferred directly, i.e. "live", to the control system. Additional confirmation, advance deactivation
of the "Enable" signal or a reboot of the control system is only necessary for parameters that are critical for operation.
Before the dryve D1 is rebooted, a period of 5 seconds must elapse before altered parameters are permanently saved.
Confirmation after Parameters entry

- Motor Article Number
- Motor Current
- Boost Current
- Holding Current
- Step Mode
Deactivation of "Enable"
- Loading a configuration
- Execute FW update
- Motor Type
- Step Angle
- Pole Pairs
- Gearbox Activation
- Gearbox Ratio
- Feedback Activation
- Feedback Type
- Feedback Impulses
- Closed Loop
- Brake Activation
- Analogue Position Feedback Voltage Level AI2
- Controller "Reboot"
Controller Reboot
- "Automatic IP" or "Manual IP" Setting
- IP Address
- Subnetwork Mask
- Standard Gateway
- Host Name
- "HTTPS" or "HTTP" Setting
Activated Bus Systems

All movement relevant parameter won’t be changeable via the user Interface if one of both Bus Systems is activated.
Every parameter change must be done via the activated and set dominant system.
The minimum and maximum values for each user interface parameter is found in the chapter Input Values (p,192)
5.2.2 Parameterisation storage when using the bus systems

The parameterisation of the dryve D1 can be performed in three different methods when used via the bus systems.
- - Parameterisation via the user interface

If the configuration is performed via the pages of the user interface, all basic parameters, such as
the Feed Constant (p. 54), are stored in the bus system objects (p.96) and permanently transferred to the non-volatile
memory after a period of 5 seconds.
- - Parameterisation via the bus systems
If all parameters are set exclusively via the bus systems, they must be transferred manually to the non-volatile memory
via object 1010h Store Parameters(p. 113).
- - Parameterisation via predefined configuration file
If a configuration file is imported, the movement parameters are adopted. These parameters are permanently
transferred to the non-volatile memory after 5 seconds. CANopen PDO mapping parameters must be written separately
by the master and stored manually via object 1010h Store Parameters(p. 113).
37/195
D1_EN – V3.0.1
5.3 Start
5.3.1 Language
The following languages are available for operation of the dryve D1:
- German
- English
The user can select a language by clicking on the respective national flag.
5.3.2 Measuring System

The user can choose between the metric and imperial measurement systems. Meters and millimetres are available with the
metric and feet and inches with the imperial system. If changed, all previously entered values are automatically converted into
the new measurement system.
5.3.3 Movement Type

A linear or rotational movement can be selected. Accordingly, positions are displayed with the selected length or degree symbol
(e.g. mm or °). . If changed, all previously entered values are automatically converted into the new measurement system.
When the Bus Systems (p. 63) are activated, parameterisation only possible via the dominant system and not via the user
interface.
5.3.4 Time Units

It is possible to display velocities and accelerations in seconds or minutes (e.g. mm/s or mm/min).
38/195
D1_EN – V3.0.1
5.3.5 Configuration
The whole parametrisation, as well as the Drive Profile can be saved and reloaded as a configuration file.
interface.
Configuration Name Assignment
Click in the blank text field and enter the desired configuration name. 40 characters are available.
Leave the field by clicking somewhere outside the text field
The new Configuration Name is now set and displayed on top of the user interface
Save
1. Click on "Save"
2. The current configuration is downloaded as a .txt file and is placed in the standard download directory of your computer
NOTE
To save a configuration the configuration name must be set first.
If the name is not set the “Save” button will be greyed oud and not usable.
Load
Deactivate the dryve D1 via disabling the Digital Input 7 “Enable” (external signal or use of the switch on
“Inputs/Outputs” page
Click on "Load"
The file manager of the browser opens automatically
Navigate to the storage location of your configuration
Select it and click on "Open"
The desired configuration is now loaded into the dryve D1 and is active immediately
39/195
D1_EN – V3.0.1
5.3.6 Firmware
If necessary, the Firmware of the dryve D1 can be updated with a build in routine. The currently installed version is shown under
"Version".
Downloading the update file

To download a new Firmware the used computer must be connected to the Internet. The update file
(dryve-D1-1-XXXXXXXX.cpio) can be found in a ZIP directory together with the release notes.
Click on "Search".
Your browser is downloading the update directory automatically
The update file is placed in your download folder
Unpack the ZIP file in a folder of your choice
The update file is available for download at www.igus.eu/D1as well.

Additionally, available are 2D and 3D drawings as well as certificates.
Update process
“Inputs/Outputs” page
Click on "Update"
The file manager of the browser opens automatically
Navigate to the storage location of the firmware file (dryve-D1-1-XXXXXXXX.cpio)
Select it and click on "Open"
The update now starts automatically. If the function for automatic IP Address Assignment is used, a new address may
be shown in the Status Display after the update.
NOTE
To execute a FW update the digital input DI 7 “Enable” must be low/0
NOTE
It is recommended to reduce the Ethernet communication to a minimum while the update is executed.
It is advised not to use the browser for additional activities, don’t execute programmes which need to communicate via the
Ethernet and don’t start or at least pause big data movements.
40/195
D1_EN – V3.0.1
5.3.7 Password
Available are "Admin" (administrator) and "Guest". Users can be activated or deactivated with the respective switches. If both
users have been deactivated, the user interface is entered as the "Admin" without a previous password entry. The "Guest" can
only be activated if the "Admin" has been previously activated.
Activate the corresponding switch

Click on "Change"
Enter your password (maximum 30 characters) and repeat it
Confirm the password by clicking on "OK"
User Access Rights

Admin Read/Write rights
Guest Read rights
41/195
D1_EN – V3.0.1
5.4 Motor configuration

The dryve D1 can control Stepper, DC and EC/BLDC-Motors. Basic information is provided in the following chart.
Stepper Motor (ST)

Parameters Description
Motor Current Indicates the maximum permissible continuous current of the motor.
Boost Current The Boost Current indicates the increase of the Motor Current during acceleration and deceleration
phases. An increase of the Motor Current to the value of the Boost Current is possible for a
maximum of 2 s and may be set up to 150%. Activation of the Boost Current depends on the
frequency of movement.
Holding Current The Holding Current sets the current applied to the motor if it is at a standstill (only in the case of
Stepper Motors in Open-Loop circuit, otherwise greyed out).
Step Mode The "Step Mode" can be used to influence the positioning accuracy and smoothness of the
movement. The smaller the step, mode the more precise the positioning movement, the better the
motion steadiness and the less noise is emitted,
Available are Auto, 1/1 Full Step, 1/2 Step, 1/4 Step, 1/8 Step, 1/16 Step, 1/32 Step und 1/64 Step.
(only available with Stepper Motors, otherwise greyed out).
Step Angle The Step Angle indicates the size of a step (0,72°, 0,9°, 1,8° etc.) and set the needed steps per
revolution (1,8° correspond to 200 steps per revolution).
Direct Current Motor (DC)

maximum of 2 s may be set up to 200%. Activation of the Boost Current depends on the frequency
of movement.
Holding Current The Holding Current is not used if a DC Motor is selected. The corresponding field has been
greyed out.
Pole Pairs/Step Angle The Pole Pairs/Step Angle value is not used if a DC Motor is selected. The corresponding field has
been greyed out.
Electronically Commutated Motor (EC/BLDC)

maximum of 2 s may be set up to 300%. Activation of the Boost Current depends on the frequency
of movement.
Holding Current The Holding Current is not used of an EC/BLDC-Motor is selected. The corresponding field has
been greyed out.
Pole Pairs The Pole Pairs indicate the number and arrangement of the motor coils
Note In the case of the EC/BLDC-Motor, a 3-pole Hall Sensor is required for commutation. It is therefore
possible to select an additional encoder in order to increase positioning accuracy.
42/195
D1_EN – V3.0.1
5.4.1 Motor
NOTE
A motor type change is only possible after DI 7 "Enable" has been revoked.
NOTE
The "Auto" mode adapts the Step Mode in relation to the motor's shaft speed. At low rotating speeds, the 1/64 Step Mode is
preselected and, when the rotating speed increases, it is successively changed until 1/1 Full Step Mode is reached
NOTE
The maximum of 25.000 steps/seconds must not be exceeded if a fixed step mode is being used (steps per revolution
divided by selected step mode)
NOTE
If the motor is used in the "Step/Direction (p.74)" operating mode, please select a Step Mode corresponding to your
application. If one shaft revolution corresponds to 200 steps in the case of a 1.8° motor, please select 1/1 Full Step. If one
shaft revolution corresponds to 12,800 steps with the same motor, please select 1/64 Step.
The "Auto" Step Mode is not available with Step/Direction
interface.
Commissioning of the dryve D1 with the example of a stepper motor

Deactivate the dryve D1 by revoking the DI 7 "Enable" signal (external signal or switch on the "Inputs/Outputs" page)
Change to the "Motor" page
Select the used motor type. A selection must be made from the following:
a. ST (Stepper Motor)
b. DC (Direct Current Motor)
c. EC (Brush-Less DC-Motor)
43/195
D1_EN – V3.0.1
Select the igus® article number which is shown on the motor label
The parameters "Motor Current", "Boost Current", "Holding Current", "Step Angle" and "Pole pairs" are automatically
filled with Default Values.
The predefined igus® motor currents have been reduced by 25% compared to the datasheet values
Installed peripheral devices such as motor-mounted gearboxes or feedback systems, including the necessary
parameters, are automatically set and activated.
Please do not alter these settings as the system might not be operational afterwards
Motor-specific control parameters are entered automatically on the "Oscilloscope" page
Select the Step Mode needed
Click on "Apply"
5.4.2 User-Defined Motor

If no igus® motor is used, select "Custom Article" at "Article Number" and enter the parameter manually. If needed, use the help
information provided in the manual or on the user interface. In addition, the “Controller Data” parameters for current, speed and
position loop need to be entered on the "Oscilloscope" page. For Stepper Motors in Open Loop, only the current Controller Data
is needed.
The necessary current controller settings can be obtained automatically via the Self-Tuning (P. 47) button on the “Motor” page.
interface.
44/195
D1_EN – V3.0.1
5.4.3 Gear
For igus® motors with motor-mounted gearboxes, all the necessary configurations have already been set.
If you have selected a "Custom article" at "Article Number" or if you want to use a gearbox that matches an igus® motor, please
configure the gearbox manually. For this purpose, use the Help information provided in the manual or on the user interface.
Activate the gearbox by setting the switch to "ON"
Insert the gear transmission ratio in the "Gear Ratio" field. Please obtain the necessary information from the gearbox
data sheet
5.4.4 Feedback
With a feedback sensor, a position change during a movement can be measured. As a result, it is possible to increase
positioning accuracy and compensate for incorrect positioning (step loss). Motor-mounted encoder have already been
configured for igus® motors. If an axis-mounted feedback sensor or a user-defined motor with a feedback sensor is used, please
configure it manually.
interface.
Feedback Description
Encoder as line driver If a line driver is used, differential data transmission of the angular encoder signals is used. As
a result, the signals are considerably more resistant to interference.
Data transfer takes place on channels A, A/, B and B/. As an option, an index signal can be
transmitted via N and N/. The index signal is emitted once per motor revolution.
Encoder as single ended If a single ended encoder is used, the signals of the angular encoder are transmitted along
channels A and B. As an option, an index signal can be transmitted via N. The index signal is
output once per motor revolution.
Hall 2-pole The signals of 2 Hall Sensors are evaluated for position monitoring.
Hall 3-pole The signals of 3 Hall Sensors are evaluated for commutation. They are located at 120° from
each other. To operate an EC/BLDC-Motor, the 3 Hall Sensors must be connected.
The Hall Sensors are activated automatically and can’t be selected separately.
Analogue feedback If analogue feedback is used, the position is monitored by analogue position feedback sensor
connected to AI2. Carry out the further steps and then follow the instructions under Absolute
Value Feedback (p.67).
The following configurations are available
Feedback Stepper Motor DC-Motor EC/BLDC-Motor

Without Feedback Yes Yes Yes*
Encoder as Line Driver (p. 190) Yes Yes Yes
Encoder as Single Ended (p. 190) Yes Yes Yes
2 channel Hall Sensor (p. 190) Not supported Yes Not supported
Analogue Feedback (p. 190) Not supported Yes Not supported
*The Hall 3-pole Sensor will be activated as soon as an EC/BLDC motor is selected
45/195
D1_EN – V3.0.1
Activate a “Feedback” by setting the switch to "ON"
Select the used Feedback from the dropdown menu
If an index channel is available, it can be activated. The associated data sheet will give you the information whether
your encoder has an index channel
a. The index channel is activated by setting the switch to "ON"
Enter the impulses per shaft revolution into the "Impulses" field
a. If the Feedback impulse count is not known, a “Impulse Check” can be executed after further settings have
been done. The instructions are to be found at Impulse check (p. 85).
NOTE
If, after using the pulse check, a resolution other than that specified in the encoder's data sheet is displayed, please execute
it again.
If the deviation persists, there is a possibility that the encoder is defective.
46/195
D1_EN – V3.0.1
5.4.5 Closed-Loop
The Closed-Loop control is able to reduce the motor's power consumption and its operating temperature significantly.
Due to a continuous position monitoring, step losses are not possible.
Open Loop - Closed Loop Comparison
Open Loop Closed Loop

Motor Current Constant current level Load-dependent
Boost Current Constant current level, output during Load-dependent, output during
acceleration/deceleration phases, acceleration/deceleration phases,
max. 2 seconds max. 2 seconds
Holding Current Load dependent No separate parameter, current level Load-
dependent, max. boost current for 2 seconds, then
max. motor current
Commutation Block Sinus
Error Correction Direct correction during phases with constant Continuous, no step loss possible
velocity,
Step loss possible during deceleration phases,
correction during subsequent movement
Motor Speeds Higher than in closed loop, Lower than in open loop,
regulated by load voltage supply and load to regulated by load voltage supply,
be moved load to be moved and control algorithm
Temperature D1 Higher due to higher current values Lower due to lower average current values
and Motor
interface.
Activate the “Closed-Loop” by setting the switch to "ON"
NOTE
Closed-Loop control is only available with a connected encoder
NOTE
When the speed limit range of stepper motors in closed loop is reached, the speed can no longer be kept constant and a
howling noise from the motor will be audible
5.4.6 Self-Tuning
The Self-Tuning function determines the optimal motor current “Controller Data” and stores them automatically on the
“Oscilloscope" page. These values are directly live.
interface.
47/195
D1_EN – V3.0.1
5.4.7 Brake
If a load is to be held in position without any Motor Current applied, the dryve D1 can control a holding brake.
interface.
Setting Description
Standard Mode The brake is energised and thus released after “Enable” is set at DI7.
The brake is not applied again until the signal is revoked, an Error (p. 179) occurs or the
load voltage is removed
Eco-Mode Function which causes the brake to be applied and the Holding Current to be switched off
whenever a movement is stopped. This can reduce the thermal load on the motor and save
electrical energy.
ECO Delay Indicates the delay in milliseconds which must pass until the ECO-Mode is activated
Switching Delay Indicates the time in milliseconds during which the motor is still supplied with current and
the brake has already been engaged. This function is needed to reliably achieve the holding
torque of the motor and brake.
WARNING!
If a holding brake is mounted but not activated, malfunctions or component damage might occur
NOTE
®
The igus motors with built-in brakes are designed as holding brakes. These brakes are only designed for holding the load in
position at a standstill and are not used to decelerate loads during a movement.
NOTE
The "ECO-Mode" is not recommended for Stepper Motors without an encoder.
It is not guaranteed that, after the brake has been applied and released, no step loss will occur. This might happen due to the
Motor Current being switched off and the rotor subsequently being realigned after a current is applied again.
Activate the "Brake" by setting the switch to "ON"
If desired, the "Eco-Mode" can be activated by setting the switch to "ON"
Enter different “Off/On Delay” times if needed
48/195
D1_EN – V3.0.1
5.4.8 Braking Resistor for EC/BLDC Motors

While reducing the motor speed the motor will to change into the generator operation state. This produces a counter-voltage
peaks which might be higher as the applied load voltage and might cause the destruction of the dryve D1 controller.
If an application requires high decelerations a Braking Resistor must be used to dissipate the generated excessive energy.
Each used dryve D1 controller driving an EC/BLDC motor must be equipped with it’s own Braking Resistor.
Danger!
- Fire Hazard!
An incorrectly dimensioned Brake Resistor might cause a thermal overload and lead to an acute fire hazard.
WARNING!
- Burn Hazard!
The surface temperature of the resistor can reach temperatures of above 250°C.
Consider necessary component mounting distances and ensure an adequate resistor and switching cabinet cooling.
WARNING!
- Risk of destruction!
Using a multi axis system containing several dryve D1 controller with EC/BLDC motors and connecting all these controllers
motor connector X5 wise to one single Braking Resistor may lead to a destruction of all connected controllers due to high
current flow in-between.
NOTE
The Braking Resistor is only available for EC/BLDC motors.
5.4.8.1 Braking Resistor selection for igus motors

The stated resistor values were determined from different application scenarios and are meant as a guideline to select an
appropriate resistor.
The corresponding part number is stated at the Accessories (p. 184).
If the application requires a detailed determination, please proceed at “Braking Resistor Dimensioning for Custom Motors”.
Motor Resistance Value with 48 V Load Voltage Power

MOT-EC-42-XXX 18 Ω 15 W – 35 W
MOT-EC-56-XXX 4,7 Ω 25 W – 65 W
MOT-EC-60-XXX 3,3 Ω 50 W – 85 W
MOT-EC-86-XXX 2,7 Ω 50 W – 100 W
Wire Cross-Section
Cable length Min Cross-Section

Max. 3m 0,34 mm²
49/195
D1_EN – V3.0.1
5.4.8.2 Braking Resistor dimensioning for custom motors
The Braking Resistor value and power rating are determined according to the following formulas.
NOTE
The minimal resistance with 48 V at X1.1 is 1,7 Ω and 0,8 Ω with 24 V.
If a lower resistance is used the error E02 “Motor Overcurrent” will be executed right after DI 7 “Enable“ is set.
Resistance
Basic value to determine the Braking Resistor
𝑛𝑚𝑎𝑥 ∗ 𝑀𝑚𝑎𝑥
𝑃𝑚𝑎𝑥 𝑏𝑟𝑎𝑘𝑒 =
9,55
Pmax brake Maximal produced motor braking power in watt [W]

ɳmax Maximal motor speed in revolutions per minute [min-1]
(dependent on Load Voltage at X1.1)
Mmax Maximal motor torque (Mpeak) in newton meter [Nm]
9,55 Constant to determine the mechanical power from corresponding numerical value equation divided by 1000
Example:
3000 min−1 ∗ 3 𝑁𝑚
𝑃𝑀𝑜𝑡𝑜𝑟 𝑚𝑎𝑥 = = 942,4 𝑊
9,55
Determination Resistance Value

𝑈𝐵𝑟𝑎𝑘𝑒 𝑉𝑜𝑙𝑡𝑎𝑔𝑒 ²
𝑅𝐵𝑟𝑎𝑘𝑒 =
𝑃max 𝑏𝑟𝑎𝑘𝑒
RBrake Optimal Brake Resistor value in Ohm [Ω]

UBrake Voltage Braking Voltage threshold to activate the Braking Resistor in volt [V] – see Braking Voltage Setting (p. 53)
PMotor max Maximal produced motor braking power in watt [W]
Example:
51 𝑉 2
𝑅𝐵𝑟𝑎𝑘𝑒 = = 2,76 𝛺
942,4 𝑊
In case of a result not fitting to a Default Value it’s recommended to use the very next smaller or bigger resistance with the
smallest value delta. With a result of 2,76 Ω the next smaller and bigger available Default Values are 2,7 Ω and 3,3 Ω. In this
case the recommended value is 2,7 Ω.
Power
Basic value to determine the needed power dissipation (if not mentioned in data sheet)
𝑛𝑚𝑎𝑥 ∗ 𝑀𝑛𝑜𝑚
𝑃𝑛𝑜𝑚 𝑏𝑟𝑎𝑘𝑒 =
9,55
Pnom brake Nominal produced motor braking power in watt [W]

(typically identical to nominal motor power)
ɳmax Maximal motor speed in revolutions per minute [min-1]
(dependent on Load Voltage at X1.1))
Mnom Nominal motor torque (Mrated) in newton meter [Nm]
9,55 Constant to determine the mechanical power from corresponding numerical value equation divided by 1000
Example:
3000 min−1 ∗ 1 𝑁𝑚
𝑃𝑛𝑜𝑚 𝑏𝑟𝑎𝑘𝑒 = = 314,1 𝑊
9,55
50/195
D1_EN – V3.0.1
Power dissipation value
Horizontal application
𝑇𝐵𝑟𝑎𝑘𝑒
𝑃𝑏𝑟𝑎𝑘𝑒 ∅ = 𝑃nom 𝑏𝑟𝑎𝑘𝑒 √
3 ∗ (𝑇𝐶𝑦𝑐𝑙𝑒 + 𝑇𝑃𝑎𝑢𝑠𝑒 + 𝑇𝐵𝑟𝑎𝑘𝑒 )
Pbrake Ø Average motor braking power produced at a single movement cycle in watt [W]]
Pmax brake Maximal produced motor braking power in watt [W]
TBrake Dwell time of the motor in the generator operation state in seconds [s]
(see “Determination generator operation dwell time”)
TCycle Total duration single movement cycle in seconds [s]
TPause Pause time after single movement cycle in seconds [s]
Determination generator operation dwell time
Generator operation state only at deceleration phase.
Acceleration Uniform movement Deceleration
Example:
0,3 𝑠
𝑃brake Ø = 314,1 𝑊√ = 61,6 𝑊
3 ∗ (1,3 𝑠 + 1 𝑠 + 0,3 𝑠)
To avoid a thermal overload, it’s recommended to always use a resistor with the next bigger power rating then the calculated
value. At a value of 61,6 W a power rating of minimal 62 W is recommended.
NOTE
Please consider the power derating curves of the resistor supplied by the manufacturer
51/195
D1_EN – V3.0.1
Vertical application:
𝑇
𝑇𝐵𝑟𝑎𝑘𝑒 + 𝑀𝑜𝑣𝑒 𝑑𝑜𝑤𝑛 𝑇𝐵𝑟𝑎𝑘𝑒
(√ 4 +√ )
3 ∗ (𝑇𝐶𝑦𝑐𝑙𝑒 + 𝑇𝑃𝑎𝑢𝑠𝑒 + 𝑇𝐵𝑟𝑎𝑘𝑒 ) 3 ∗ (𝑇𝐶𝑦𝑐𝑙𝑒 + 𝑇𝑃𝑎𝑢𝑠𝑒 + 𝑇𝐵𝑟𝑎𝑘𝑒 )
𝑃𝑏𝑟𝑎𝑘𝑒 ∅ = 𝑃nom 𝑏𝑟𝑎𝑘𝑒
2
Determination generator operation dwell time upward movement

Generator operation state only at deceleration phase.
Determination generator operation dwell time downward movement

Generator operation state at deceleration and at the uniform movement with reduced intensity.
Example:
0,7 𝑠
0,3 𝑠 + 0,3
(√ 4 +√ )
3 ∗ (1,3 𝑠 + 1 𝑠 + 0,3 𝑠) 3 ∗ (1,3 𝑠 + 1 𝑠 + 0,3 𝑠)
𝑃𝑏𝑟𝑎𝑘𝑒 ∅ = 314,1 𝑊 = 69,56 𝑊
2
To avoid a thermal overload, it’s recommended to always use a resistor with the next bigger power rating then the calculated
value. At a value of 69.56 W a power rating of minimal 70 W is recommended.
NOTE
Please consider the power derating curves of the resistor supplied by the manufacturer
52/195
D1_EN – V3.0.1
5.4.8.3 Braking Voltage Setting
DANGER!
- Fire Hazard!
Incorrect Braking Voltage settings can cause a fire hazard!

If the Braking Voltage is set below the applied Load Voltage at X1.1, the Braking Resistors power rating is too low and the
power supply is not adequately dimensioned an „Overload protection shut off“ after 1 second is not available
The Braking Voltage sets the threshold to activate the Brake Resistor and dissipate the excessive energy.
To ensure a safe operation the Braking Voltage is equipped with a ON/OFF hysteresis of 1 V. To dissipate energy the counter-
voltage must rise above the set threshold plus 1 V. Tom stop the dissipation the voltage must sink below 50 V.
interface.
“Inputs/Outputs” page)
Enter the desired Braking Voltage
Activate the dryve D1 via enabling the Digital Input 7 “Enable” (external signal or use of the switch on “Inputs/Outputs”
page)
NOTE
Setting the Braking Voltage to high might cause dissipating too less energy resulting in the error E09 Load Supply High (p.
180)
53/195
D1_EN – V3.0.1
5.5 Axis Configuration

Available settings for linear or rotational axis configuration are described in the following.
5.5.1 Axis
Necessary basic settings for exact positioning.
interface.
Settings Description
Available Stroke Specifying the movement window for "ABS" mode (Absolute Positioning). All other modes
remain unaffected by this restriction. This window starts at the zero-point set after a homing
run and ends at the entered value. Only movements within this window are permitted in the
"Absolute Positioning" mode. Specification of a negative window is not possible.
Feed Rate The feed rate indicates the resulting traversing movement per drive shaft rotation
If a rotational axis is used, the value 360° must be entered for the feed rate.
Enter the desired maximum distance

Enter the "Feed rate"
NOTE
If no value is entered in the available stroke, it is not possible to execute an absolute positioning in the operation mode
Binary (p. 75) Tipp/Teach(p.79). Relative movements as well as a manual movement via the Position Adoption (p. 74) are
still possible.
NOTE
When using the bus systems, the objects 6092h Feed Constant (p. 161) and 60A8h SI Unit Position (p.164) must be set
according to the respective description.
5.5.2 Motion Limits

It is recommended to set movement limits. They ensure a safe and reliable operation and avoid damage and malfunctions due
to incorrect entries.
interface.
Setting Description
Max. Velocity Maximum motor, carriage or rotation arm velocity. Used to avoid errors due to accidental
entries of excessively high values in the Drive Profile.
Jog Velocity Velocity of the linear axis, the rotation axis or the motor in Tipp/Teach mode and the position
adaption function. The entered velocity must be lower than the “Max. Velocity”
Max. Acceleration Maximum motor, carriage or rotation arm acceleration.
Used as the acceleration with the Tipp/Teach mode and the position adaption function.
54/195
D1_EN – V3.0.1
Setting Description
S-Curve Selection between speed optimized trapezoidal or jerk reduce sinusoidal acceleration and
deceleration ramps.
Trapezoidal ramps are usually used with 1 axis applications without special requirements
regarding a jerk forming at transitions between acceleration or deceleration phases to a
constant velocity phase.
Sinusoidal ramps are used if jerk sensitive goods are transported or several axes must interact
(e.g. Delta Robot)
When using S-Curve, the average acceleration or deceleration is specified!
At the inflection point of the sine function, the maximum acceleration reaches a value that is up
to twice as high as the value entered under "Drive Profile".
Quick-stop Deceleration rate when a movement is stopped in an emergency.
To stop a movement in time to avoid an accident, it is recommended that the "Quick Stop"
deceleration rate is set higher than the “Max. Acceleration” (recommendation: factor 10). It is
important to ensure, that the increased deceleration rate is appropriate for the intended
application and cannot destroy the mechanical structure.
A “Quick-Stop” is executed if the “Quick-Stop” button (Test functions, p. 74) is used, the
“Enable” signal at DI 7 is revoked.
Following Error Permissible deviation of the actual position from the desired position.
If 50% of the permissible Following Error is reached, a warning is displayed. If the permissible
Following Error is exceeded, the movement is stopped and an error message will be
displayed.
If a movement is to be executed at high accelerations and velocities, a higher Following Error
value must be set.
If the Following Error value has been set to 0, monitoring is activated.
Positioning Window Specification of a position range in a positive and negative direction around the target point.
Example:
Target 100 mm
Positioning Window 10 mm
Positioning interval 90 mm to 110 mm
If the interval is reached by the Actual Position, the Positioning Time is lapsed and the Position
Setpoint as well, the movement can be assessed as being finished despite a mechanical
blocking of the axis/motor. As a result, a "Ready" signal is set at DO1.
If a 0 (zero) is entered in the window, the Positioning Window and the Positioning Time are
deactivated.
The Positioning Window is only available if Feedback sensors are used.
Positioning Time Specification of the retention time, the actual position must be placed in the Positioning
Window interval before a movement can be assessed as having finished.
The value is entered in milliseconds.
The Positioning Time is only available Feedback sensors are used.
Please enter the maximum permitted limits for your application.
55/195
D1_EN – V3.0.1
5.5.3 Limit Switch

Specification of the position and number of limit switches used.
The switched signal of the limit switch must be connected to the corresponding input (DI8 "Limit switch positive" or DI9 "Limit
switch negative").
The information about which wire carries the switched signal can be found in the data sheet of the igus® limit switches.
Further information about the connection of the limit switches in the FAQ (p. 183).
The setting for whether the limit position switches work as " normally closed " or " normally open " can be found under Digital
Inputs (p. 66).
Please note that the power supply of the limit position switch must be the same as that connected to X2.11 and X2.12.
interface.
Setting Description
None No limit switch installed on the axis
Negative Limit switch placed at the negative end of the axis
Positive Limit switch placed at the positive end of the axis
Negative and Positive Limit switches placed at the positive and negative ends of the axis
Position specification and selection of limit switches
View from drive shaft onto motor block

Clockwise motor rotation
End position of the movement corresponds to the positive limit switch position
Positive axis end
Please refer to the corresponding limit switch datasheet for a correct connection.
Selection Limit Switch
Select the limit switches installed at the axis in the "Position" drop-down menu.
56/195
D1_EN – V3.0.1
5.5.3.1 Triggered Limit Switches

If an activated limit switch is triggered, the "E12 Limit Switch" error is shown and the movement is stopped. A retracting
movement in the opposite direction is possible after the error has been acknowledged.
If no position feedback is used, a triggered Limit Switch causes the “Referenced” status signal to be revoked. With ABS in
"Binary" and "Tipp/Teach", and a revoked “Referenced” signal, an automated movement can only be performed after the
homing procedure was executed. A manual movement is possible with the "Left" and "Right" “Position Adoption” buttons
(requirement for homing run after a Limit Switch was triggered: The set Limit Switch mustn’t be overrun and the Limit Switch
signal must be applied continuously to Digital Inputs DI 8 or DI 9).
In the case of "Tipp/Teach", movement off the Limit Switch is also possible via Digital Inputs DI 4 or DI 5.
Limit Switch triggered

Movement sequence is stopped
Error message "E12 Limit Switch" is displayed
Without feedback: Loss of the "Referenced" status signal
Error reset: Setting DI 10 "Stop" or pressing the reset button on the user interface
Movement off the limit switch
a. Binary
i. ABS
1. A) Manual movement by hand: Motor moved after DI 7 “Enable” has been revoked.
B) Automated movement in the opposite direction with the clockwise/anticlockwise
buttons of the "Position Adaption" function
2. Repeated homing run
ii. All other travelling modes
2. Start of a movement in the opposite direction
b. Tipp/Teach
i. ABS
C) Automated movement in the opposite direction with Digital Input DI 4 and DI 5
NOTE
If an activated limit switch is reached/set, this is always evaluated as a range violation and the error "E12 Limit switch" is
output.
If a limit switch evaluation shall only be performed during the reference run, "None" must be selected under "Position".
57/195
D1_EN – V3.0.1
5.5.4 Homing
Selection of the preferred homing method and specification of a position offset.
interface.
Methods Description
SCP Set Current Position Homing takes place at the current position
LSN Limit Switch Negative Homing takes place at the negative limit switch
LSP Limit Switch Positive Homing takes place at the positive limit switch
IEN Index Encoder Negative Homing to the encoder index pulse in negative searching direction
IEP Index Encoder Positive Homing to the encoder index pulse in positive searching direction
AAF Analogue Absolute Value
Homing takes place by means of an analogue absolute value encoder.
Feedback
The zero-position of the coordinate system is set when referencing to a limit switch or an encoder index signal is executed when
the respective signal is set low/0.
Behaviour when referencing to a limit switch
Search for the preselected limit switch position with configured acceleration and speed
Movement stop after reaching the limit switch with configured deceleration
After standstill, start of movement in the opposite direction
Set zero-position ion when reference signal is set low/0 and initiate movement stop with configured deceleration
Standstill after deceleration phase at the resulting position, e.g. 0.5 mm or 0.12°
Behaviour when referencing to an encoder index signal
Search for the index signal in preselected direction with configured acceleration and speed
Setting of the zero-position and initiation of movement stop after detection of the falling index signal with configured
deceleration
Standstill after deceleration phase at the resulting position in the previous direction of rotation, e.g. 0.5 mm or 0.12°
A movement back to the 0-position is possible at any time
NOTE
It is recommended to use an acceleration value 5 to 10 times higher than the velocity value when referencing
NOTE
If no position feedback is available the reference signal will be reset every time the controller is disabled via DI7 “Enable” or
an error occurs.
Select the desired homing method for determination of the mechanical zero point
Enter a desired position offset in the blank field
58/195
D1_EN – V3.0.1
5.5.4.1 Offset
The offset specifies the distance by which the coordinate system is shifted after the homing has been completed. The position
physically reached during homing is retained, but the distance specified at Offset is added to the zero position.
interface.
Example:
If the homing is to be executed to the positive limit switch, and the set Available Stroke (p. 54) is 200 mm, the Offset must be set
to the same value. This overwrites the zero-position set during homing with the position of 200 mm and thus shifts the zero point
to the negative side of the axis.
NOTE
If referenced to the positive limit switch - Homing Method (p. 58) and using absolute positioning (ABS, p. 75), the offset must
be set to the value of the Available Stroke (p. 54)
59/195
D1_EN – V3.0.1
5.5.5 Analogue Absolute Feedback

Configuration of the analogue Target Position value and the analogue Current Position value.
The Available Stroke (p. 54) will be integrated with these voltages.
interface.
Example:
If the Available Stroke is set to 100 mm and the set voltage interval at Analogue Input AI 1 is from 1 V up to 9 V,
these 100 mm will be mapped on the available 8 V (100 mm / 8V = 12,5 mm per 1 V at Analogue Input AI 1).
Setting Description
AI 1 Target Value Min. (V) Minimum voltage setting as target zero value at Analogue Input AI 1.
Enter 1V if the minimal stroke of 0 mm shall be reached at 1 V instead of 0 V.
Set this value to -10 V or higher if a ±10 V source is being used.
AI 1 Target Value Max. (V) Maximum voltage setting as target value at the Analogue Input AI 1.
Enter 9 V if the maximum stroke of e.g. 100 mm shall be reached at 9 V instead
of 10 V. Set this value to 10 V or lower.
AI 1 Dead Band Zero Value(V) Adjustment of a window placed symmetrically around the 0 V set point signal of
Analogue Input AI 1. The dead band can be used to minimize unwanted motor
movements during standstill caused by a higher set point signal ripple or other
interferences.
ARO ±10 V: -10 V 0-10 V: 0 V
ADR ±10 V: 0 V 0-10 V: 5V)
APS ±10 V: -10 V 0-10 V: 0 V
The value is inserted in 0,001 V steps.
AI 1 Dead Band Input Signal Adjustment of a window placed symmetrically around the input signal of Analogue
Input AI 1. The dead band can be used to minimize unwanted motor movements
during standstill as well as inconsistent movements and velocities caused by
interferences as well as a signal source with a high ripple.
The value is inserted in 0,001 V steps.
AI 1 Filter (ms) Interval used to determine the signal average.
Used to filter signal surges to prevent movement inconsistencies.
Low values result in a quickly responding system with a higher proneness to
disturbances. High values are resulting in a more stable system but with less agility.
AI 2 Absolute Value Min (V) Minimum voltage of the axis mounted analogue absolute feedback system as a zero-
point connected to Analogue Input AI 2.
AI 2 Absolute Value Max (V) Maximum voltage of the axis mounted analogue absolute feedback system as an end-
point connected to Analogue Input AI 2.
Further settings must be made to use an analogue absolute feedback sensor.

First, complete all other settings .Afterwards change to chapter Absolute Feedback (p. 60) and follow the instructions.
60/195
D1_EN – V3.0.1
5.6 Communication
Configuration of the different communication forms with a web browser and higher-level automation controllers.
5.6.1 Ethernet TCP/IP

Configuration of Ethernet TCP/IP communication.
The IP address can be assigned automatically or manually.

The following methods are available for automatic assignment of the IP address.
• Zeroconf method (direct connection of a laptop to the dryve)

• DHCP (connection of PC to the dryve via router)
If the IP address is assigned manually, you must specify an IP address,

subnet mask and a standard gateway that match your network.
"Automatic IP" has been preselected as the standard
Setting Description
Automatic IP / Manual IP Selection of IP address assignment method
IP Address Specification of the manual IP Address, e.g. 169.254.0.10
Subnetwork Mask Specification of the subnet mask, e.g. 255.255.255.0
Standard Gateway Specification of the standard gateway, e.g. 169.254.0.1
Host Name Specification of the plain-text designation of the dryve D1 control system. Used as an
alternative to the IP Address (a router with DNS server required).
Ethernet Settings Adoption A reboot causes the made Ethernet Communication changes to be activated. For this
purpose, it is necessary that DI 7 "Enable" has been revoked. In the case of
"Automatic IP", an address change can occur. This depends on the connected PC or
router.
NOTE
In the case of automatic IP address assignment, it is possible that another IP address will be specified for the dryve
whenever the dryve is restarted or a new connection with a network is established.
This is due to the settings of your computer or your router/network.
The automatic change of the IP address can be prevented by setting a Manual IP address.
NOTE
A reboot of the dryve D1 is only possible if DI 7 "Enable" has been revoked.
NOTE
NOTE
If you encounter any problems when configuring the Ethernet TCP/IP settings, please contact your network administrator to
clarify whether the configuration used by you is compatible with the available networks.
NOTE
If HTTP is used for communication, the password is transmitted unsecured. This can lead to many and/or periodic
connection losses in combination with certain anti-virus and firewall software. This issue can be solved by adopting/configure
said software.
61/195
D1_EN – V3.0.1
Preferred IP Address Assignment Method Selection
Select "Automatic IP" or "Manual IP"

In the case of "Automatic IP", no further settings must be made
Please go straight to point 6
Entry of the desired "IP Address"
Entry of the desired "Subnet Mask"
Entry of the desired "Standard Gateway"
Possible entry of the desired "Host Name"
Application of the TCP/IP settings via the "Reboot" button
5.6.2 Transmission Protocol

Selection of whether an unencrypted or encrypted connection to the web server of the dryve D1 motor control system is to be
used.
“http” is set as the standard communication method.
Setting Description
HTTP The Hypertext Transfer Protocol is used to transfer data between the browser and the dryve
D1 motor control system without encryption.
HTTPS The Hypertext Transfer Protocol Secure performs the same task as “http”, but encrypted.
This enables the establishment of an encrypted connection between the dryve D1 motor
control system and the browser.
The “HTTPS” method is used by all normal browsers and therefore does not have to be
installed separately. If HTTPS has been activated „https//“ must be entered in front of the IP
address to establish a connection to the dryve D1.
HTTPS Certificate The use of “HTTPS” requires a digital certificate that uniquely identifies the server (dryve)
and the client (browser). If there are special guidelines regarding the setting-up of a “HTTPS”
connection, please consult your IT department.
External HTTPS Certificate A certificate that has been especially issued for the dryve D1 by an official or non-official
certification authority (CA).
Self-Signed HTTPS A “HTTPS” certificate is generated for the IP address assigned to the dryve D1 at this time
Certificate and is automatically stored in the browser. If an encrypted connection is established via
“HTTPS”, it is recommended that a fixed IP address (p.62) is set before the certificate
generation.
62/195
D1_EN – V3.0.1
Selection of the preferred Transmission Protocol
Select "HTTPS" or "HTTP"

a. If you choose "HTTP", no further settings must be made
b. Please go straight to point 3
Selection of the certificate type
a. "Self-signed HTTPS certificate"
i. Click on "Generate"
b. External “HTTPS” certificate
i. Selection of the desired certificate file via the dialogue box that opens
ii. Click on "Upload to the dryve"
Restart of the dryve D1 control system with a click on "Reboot" (Apply Ethernet Settings)
Bypass of a “HTTPS” Warning

If you use a self-signed certificate or an external certificate created by a non-official certification authority (CA) on the dryve D1
or in the browser, a warning indicating of an insecure “HTTPS” connection will be displayed when the dryve D1 IP Address is
called up.
This warning must be shown as the browser cannot confirm whether this certificate is trustworthy.
There are two ways of avoiding this.
Use of a certificate that has been issued by an official certification authority

Manual installation of a certificate in the central “HTTPS” database of the respective computer
5.6.3 Bus Systems

Selection if the communication and control of the dryve D1 takes place via the user interface and the Digital Inputs/Outputs or
whether it is controlled by CANopen or Modbus TCP Gateway.
NOTE
If one of the two bus systems has been activated, all essential movement control settings can only be changed via the
dominant bus system – Drive Mode Selection (p.72).
Settings via the user interface are only possible after the bus systems have been switched off.
5.6.3.1 CANopen
Setting Description
CANopen Activation of communication complying to the CiA 402 standard.
Node ID Value for explicit identification of the dryve D1 in a Node. The range is between 1 to 127. Must
only be assigned once per Node.
Baud Rate Transmission rates have been predefined in the user interface and can be selected with a
drop-down menu. The baud rate of all connected devices must be identical.
The maximum transfer speed depends on the total bus length and the transmission rate of the
slowest device.
63/195
D1_EN – V3.0.1
Activation of CANopen communication
Enter the "Node ID" intended for the dryve D1 in the text field
Select the Node transmission rate from the dropdown menu
Activate CANopen communication with the switch
After activation, it is possible to send and receive CANopen data to and from the dryve D1.
Movement commands, however, cannot be processed until dominance has been set on the Drive Profile page - Drive Mode
Selection (p.72).
NOTE
If CANopen communication has been activated, it is no longer possible to select the Drive Mode Selection (p.72).To change
this, the CANopen communication must first be switched off.
64/195
D1_EN – V3.0.1
5.6.3.2 Modbus TCP Gateway

Setting Description
Modbus TCP Gateway Activation of communication.
Port Selection of an Ethernet communication port. The standard is port 502.
Port 80 and 443 are reserved by the motor controller and are not available for Modbus TCP
gateway communication
Unit Identifier Only needed if a gateway for communication with other Modbus protocols is used.
Value for explicit identification of the dryve D1 in other Modbus bus segments. The range is
between 1 to 255. Must only be assigned once per Modbus bus segment.
When using the igus® function block for communication between Siemens PLC and dryve
motor controller via Modbus TCP Gateway, this value must match the value set in the function
block.
Activation of Modbus TCP Gateway communication.
If another port than 502 is needed, enter the specific port for your Modbus TCP Gateway communication
Activate Modbus TCP Gateway communication with the switch
After activation, it is possible to send and receive data to and from the dryve D1 with Modbus TCP Gateway.
Movement commands, however, cannot be processed until dominance has been set on the Drive Profile page - Drive Mode
Selection (p.72).
NOTE
If Modbus TCP gateway-communication has been activated, it is no longer possible to select the Drive Mode Selection (p.
72). To change this, the Modbus TCP gateway communication must first be switched off.
If you use a gateway for translation into another Modbus protocols, the following configuration steps must be taken.
If another port than 502 is needed, enter the specific port for your Modbus TCP Gateway communication
Enter the "Unit Identifier" intended for the dryve D1
Activate Modbus TCP Gateway communication with the switch
NOTE
65/195
D1_EN – V3.0.1
5.6.4 Ethernet MAC address

Hardware address display of the dryve D1 motor control system. Explicit identification of the dryve D1 in a network.
5.7 Inputs/Outputs
The digital inputs and outputs respectively receive and send signals for communication purposes
"High" signals (H) or "Low" signals (L).
5.7.1 Digital Inputs
Signals under 10% of the voltage applied at X2.11 are evaluated as "Low". Signal over 60% as "High"
Input level percentage DI to voltage at X2.11
100%
High
60%
Undefined
10%
Low
0%
The functions of the Digital Inputs depend on the selected Drive Mode Selection (p.72). The respective functions for the
"Binary", "Tipp/Teach" and "Pulse/Direction" operating modes are shown in the corresponding tables below.
Select the "Drive Profiles" page in the Navigation menu

2. Select your desired operating mode in the drop-down menu
3. Return to "Inputs/Outputs"
An input set to "H" will be set in the case of a "High" signal.

NO contacts (NO = Normally Open) must therefore be set for "H".
An input set to "L" will be set in the case of a "Low" signal.

NC contacts (NC = Normally Closed) must therefore be set for "L".
The Digital Inputs can be configured for PNP and NPN by changing a switch.
Pull-down (PNP) and Pull-Up (NPN) resistors for explicit signals in the not set state have already been installed in the dryve D1.
interface.
Further information regarding the exchange of signals via the Digital Inputs/Outputs, available at Signal exchange. (p. 87)
Operating Modes
NOTE
In the operating modes Binary and Tipp/Teach, DI10 "Stop/Reset" is dominant.
If this input is permanently set "high/1", no movement can be executed.
66/195
D1_EN – V3.0.1
5.7.2 Operating Modes Digital Inputs

Binary
Input Function Description

DI 1 Bit 0 Bit for binary coding
DI 6 Start Start signal for the selected movement – positive edge
DI 7 Enable Supply of electric current to the motor
DI 8 Limit Switch Positive Limit switch at positive end of axis
DI 9 Limit Switch Negative Limit switch at negative end of axis
DI 10 Stop / Reset Stop of movement/ Acknowledgement of errors
Tipp/Teach
67/195
D1_EN – V3.0.1

DI 4 Jog Left Negative traversing with jog velocity
DI 5 Jog Right Positive traversing with jog velocity
Start/Teach Start signal movement - Negative edge
DI 6
Teach target position - Continuous signal for 5 seconds
DI 10 Stop / Reset Stop of movement/ Acknowledgement of errors
Pulse/Direction

DI 1 Clock Pulse signal for frequency control
DI 2 Direction Direction information
DI 3 Not used -
DI 4 Not used -
DI 5 Not used -
DI 6 Not used -
DI 10 Reset Acknowledgement of errors
CANopen and Modbus TCP Gateway

When using the bus systems, the digital inputs DI1 to DI6 and DI10 have no function and can be used as an interface for
communication between external switches, sensors or devices to the bus master.
The function of the digital inputs DI7 "Enable", DI8 "Limit switch positive" and DI9 "Limit switch negative" are kept.
If the Limit Switch (p. 56) are deactivated and the referencing is not executed via limit switches, DI8 and DI9 can also be used
for the interface function.
68/195
D1_EN – V3.0.1
5.7.3 Digital Outputs

The dryve D1 outputs status messages via the five Digital Outputs.
These can be evaluated by a master control unit (PLC, etc.) or can be used for information display via an external signal
hardware.
interface.

DO 1 Ready Positioning commands can be accepted
DO 2 Active A positioning command is being executed
DO 3 Reference The system has been referenced
DO 4 Alert Warning
DO 5 Error Error
An output set to "H" sends a "High" signal to indicate that it has been activated.
An output set to "L" sends a "Low" signal to indicate that it has been activated.
NOTE
The digital inputs have been permanently set to PNP. Micro-controllers with inputs set to NPN can communicate with the
dryve D1 despite the different characteristics due to the built-in "pull-down" resistors.
5.7.4 Digital Outputs Signal Characteristics
Example: Simple Positioning Movement

le 1
d 1
ab nt
En me
En se che ent
a m g
Pa l re vem
ke ve
Gort m ing
St Ho in
En Ho le
St Ena te
vo mo
d m
art b
t ta
a o
u a
Se al s
Ro of
d
ti
Signal Type Signal Typ

Ini
DO Ready
DO Active
DO Referenced
DO Alert
DO Error
internal Goal Reached
DI / internal Enable
69/195
D1_EN – V3.0.1
D1_EN – V3.0.1
DO
DO
DO
DO
DO
DO
DO
DO
DO
DO
internal
internal
DI / internal
DI / internal
Signal Type
Signal Type
DO
DO
DO
DO
DO
DI / internal
Signal Type
Ready
Ready
Alert
Alert
Goal Reached
Goal Reached
Referenced
Referenced
Enable
Active
Enable
Active
Error
Error
Ini Ini
ti ti
Ready
Alert
Internal Goal Reached

Referenced
Enable
Active
Error
Se al s Se al s
t ta t ta
M St Ena te
a b
St Ena te
a b
o En rt Ho le En rt Ho le
Po vem d m d m
s e St Ho in St Ho in
Po ition nt a m g a m g
s Gort loo ing Gort loo ing
M ition Win
o d a p a p
Pa l se , se Pa l se , se
Pa vem Win ow u t t u t t
u e d E St se 1 re 1
art loo ac
St se 1 re 1
art loo ac
Ex se nt Sow ntry
t S T Go loo p he Go loo p he
Po erna tart top ime a p 1 d a p 1 d
s l Se St l se , se
a t t
St l se , se
a t t
Po ition Mo
s v t Gort loo 2 re 2 Gort loo 2 re 2
Ex ition Con em a p a a p a
ter W tro nt e Al l se , se che
e t t d
Al l se , se che
e t t d
Co na in l S S Pa rt 1 re 1 Pa rt 1 re 1
u l d t ta u ac u ac
Po nte Mo ow art * rt St se he St se he
s r- v E a lo d a lo d
Po ition Mo em xit
s v e Al rt loo op
ert p 1
Al rt loo op
ert p 1
Example: I/O Movement with Error
M ition Win ement S St fix , se St fix , se

ov W do n to a e t a e t
e
Pa m in w t S p Er rt loo d 2 Er rt loo d 2
u e d R ta ro p ro p
Example: I/O Movement with Feedback Error
Ne se nt Sow e-e rt Fix r (fe , se Fix r (n , se

w End to Tim ntry e t o t
M p e Re erro dba 1 Re erro t fee 1
ov Se s r ck s r db
em t St et v
art ia rel St et v
art ia
ac
kr
en ate
t Ho St
m op
d) loo St
p, op
ela
ted
ing D
I1 se DI )
0 t 1 10
Example: I/O Movement with Pause, Closed Loop and active Postioning Window
Signal Typ
Signal Typ
Signal Typ
70/195
Example: Bus operation with Closed Loop and active Positioning Window
t
Se
Se
em p e y
Nevem Win ow t S p
un l M dow tar tart
w en dow Re tart
ov to im tr
d n to
M t S T -en
Po ition Mo top ime
Po erna nt Sow ntry
Coerna Win rol Snt S
M ion in e S
Po ition Mo em xit
t
sit W vem ent
t e d E
s r- v E
T
e
Ex ition Con em
t
Ex vem Win ow
en
d
v
t
M ition Win
Po te o
Po ition nt
s e
s l
Po vem
s
o
o
t
M
DO Ready
DO Active
DO Referenced
DO/CAN Alert
DO Error
CAN/Internal
Goal Reached
DI / internal Enable
5.7.5 Analogue Inputs

0 V to 10 V and ± 10 V signals can be converted into setpoints and position feedback via the analogue inputs.
Setting Operating Mode

AI 1 Velocity or position setpoint.
AI 2 Position Feedback from analogue sensor.
Specify if the analogue inputs shall process 0 to 10 V signals with a resolution of 11 bit or a ± 10 V signal with a
resolution of 12 bit
If ± 10 V signals are used, the lower value of the Analogue Absolute Feedback (p. 60) must be set to the minimum
voltage value used
5.7.6 Digital Input Switch Characteristics

interface.
Setting Description
PNP In the set state, the input is raised to UB (voltage being applied to X2.11). In the non-connected
state, the signal is pulled to ground due to a "pull-down" resistor
In the case of PNP, the flow of current is from the output of the higher-level control system to
the input of the dryve D1.
NPN In the set state, the input is pulled to ground. In the non-connected state, the signal is raised to
UB (voltage being applied to X2.11) due to a "pull-up" resistor
In the case of NPN, the current flows from the input of the dryve D1 to the output of the higher-
level control system.
71/195
D1_EN – V3.0.1
5.8 Drive Profile
5.8.1 Drive Mode Selection

The selection will set the corresponding drive mode dominant and is now entitled to execute movements.
Available for selection are:
• Binary (p. 75) – Use of the digital/analogue inputs and digital outputs to preselect motion profiles
• Tipp/Teach (p. 79) – Preselection of single movements with external manual motion controll
• Step/Direction – Movement conversion from square-wave frequency signals with dedicated directional preset
• „CANopen“ – Movement control via CANopen communication protocol
• „Modbus TCP“ – Movement control via l Modbus TCP as Gateway communication protocol
Only "Binary" and "Tipp/Teach" require further settings.

For Step/Direction (p. 94), CANopen (p. 96) and Modbus TCP Gateway (p.170) please continue in the respective chapter. To
visualize movements and tune them, please continue at the Oscilloscope (p. 80).
NOTE
interface.
NOTE
The maximal values for “Position”, “Acceleration” (“Deceleration”) and “Velocity” are set on the Axis page under
Motion Limits (p. 54)
NOTE
It is not possible to enter negative target positions while using absolute positioning (ABS, p.75). If the reference point is to be
set at the positive end point of an axis and positioned absolutely, a positive Offset (p. 58) must be entered over the entire
axis length (p. 54).
Creating Movements
To create a movement, fill in the cells of a row from left to right. The movement type must be specified in the "Mode" column.
The functions of the other cells in a row depend on the selected mode.
Parameterising Table
Each row of the table represents a positioning movement
72/195
D1_EN – V3.0.1
CANopen and Modbus TCP Gateway

If CANopen or Modbus TCP Gateway has been selected, it is possible to display all available objects live on the drive profile
page.
Writeable objects can also be edited via this page. Values entered are automatically transferred to the corresponding
parameters on the user interface.
As a pre-condition, the Bus Systems (p. 63) must be deactivated and the " enable" at DI7 must be deactivated for specific
objects - see Entering Parameters (p. 37).
73/195
D1_EN – V3.0.1
5.8.2 Test Function

Created commands can be tested with the help of the "Start", "Stop" and "Quick-Stop" buttons.
This feature is only available with “Binary” and “Tipp/Teach”
Select the "Inputs/Output" tab in the Navigation menu

Set DI 7 “Enable
Select the "Drive Profile" tab in the Navigation menu
Mark the row to be executed by clicking in the number field in front of it
Click on "Start" to execute the movement
Click on "Stop" to stop the movement with a pre-set rate of deceleration
Click on "Quick Stop" to stop the movement with the rate of deceleration previously set at "Motion Limits" on the
"Axis" page.
5.8.3 Position Adoption

The buttons under the parameterising table on the right-hand side of the screen can be used to manually move the motor
clockwise or anti-clockwise with the Jog Velocity specified under "Motion Limits".
Anti-clockwise Clockwise
With the "Teach" button, manually reached positions are adopted as the target position in a previously marked row of the
Parameterising Table (p. 72).
Rotation Direction Determination
View from drive shaft onto motor block

Klick on “Clockwise” movement button
Clockwise motor rotation
74/195
D1_EN – V3.0.1
5.8.4 Binary
The following parameters are set on the page Drive Profile (p. 74).
Delays specified at "Pause" are not started until the positioning movement has ended. The row link "Next" is executed when the
pause time is lapsed.
Execution of the created motion sequences is explained under Signal Exchange, Binary (P. 87).
The following command modes are available in the "Binary" operating mode:
Mode Description
HOM Homing run
With absolute positioning (ABS), a homing run must be executed to define an explicit zero position.
The homing method must be specified on the "Axis" page.
If a Homing is necessary it must be executed after every restart of the dryve D1 control system,
after the controller is disabled and no position feedback is used, an error caused by position
feedback hardware or a change of the motor type, peripheral motor devices or the axis
parameters.
If an analogue absolute feedback is used, the result of homing is permanently retained after the
initial position comparison is executed.
ABS Absolute Positioning
Movement with an absolute relation to the home point.
Example:
Start is 0 mm
Desired position 1 equals to 100 mm, entered target is 100
A homing run is a precondition for absolute positioning.
REL Relative Positioning
Movement with a relation to the actual position.
Example:
Start is 0 mm
Desired position 1 equals 100 mm entered target is 100
Desired position 2 equals 50 mm entered target is -50 (minus 50)
Desired position 3 equals 150, entered target is 100
ROT Rotation
Rotary movement with a set motor rotation direction, acceleration and velocity.
The rotary movement is executed continuously. It is only stopped in the event of a "Stop", Quick
Stop", cancellation of the enabled status or an error occurrence.
ARO Analogue Rotation
Rotary movement with a set motor rotation direction, acceleration and maximum velocity.
The rotation velocity setpoint is set via the signal at Analogue Input "AI 1". The signal can be
supplied manually or by a higher-level control system.
If a voltage interval of 0 V to 10 V has been selected, the maximum speed can be reached at 10 V.
If an interval of -10 V to 10 V has been chosen, the maximum speed can be reached at 10 V.
The rotary movement is executed continuously at a certain velocity after the setpoint has been set.
The movement is only stopped because of one of the following actions/commands:
- The value of the analogue setpoint is set to a standstill
- A "Stop" command
- A "Quick Stop" command
- DI 7 “Enable” is revoked
- An "Error" occurs
75/195
D1_EN – V3.0.1
Mode Description
ADR Analogue Rotation with Direction Definition
Rotary movement with a set acceleration and maximum velocity. The rotation direction and the
rotation velocity setpoint is set via Analogue Input "AI 1". The signal can be supplied manually or
by a higher-level control system.
Voltage interval of 0 V to 10 V
- 0 V to 5 V motor rotating anti-clockwise
- 5 V to 10 V motor rotating clockwise
Maximum velocity at 0 V or 10 V
Voltage interval of -10 V to +10 V
- -10 V to 0 V motor rotating anti-clockwise
- 0 V to +10 V motor rotating clockwise
Maximum velocity at -10 V or +10 V

The rotary movement is executed continuously at a certain velocity after the setpoint has been set.
The movement is only stopped because of one of the following actions/commands:
- The value of the analogue setpoint is set to a standstill
- A "Stop" command
- A "Quick Stop" command
- DI 7 “Enable” is revoked
- An "Error" occurs
APS Analogue Positioning

Movement with a set acceleration and maximum velocity. The position is defined by a voltage
applied to Analogue Input "AI 1" and the selected voltage interval. The signal can be supplied
manually or by a higher-level control system.
Voltage interval of 0 V to 10 V
-
Minimum position at 0 V
-
Maximum position at 10 V
Voltage interval of -10 V to 10 V

-
Minimum position at -10 V
-
Maximum position at 10 V
After the target position is reached nor “Ready” signal at Digital Output DO1 will be emitted with
Analogue Positioning. In this case the “Target Reached” information can be obtained with the
negative edge of Digital Output DO2 “Active” instead.
Theoretically, a positioning accuracy of 0.244 mm is available with the 12-bit resolution and a travel
distance of, for example, 1000 mm.
In comparison, a positioning accuracy of 0.0024 mm is available for a travel distance of 100 mm.
This accuracy is, however, reduced when real circumstances are considered due to interference
and other occurrences. As a result, deviations may occur depending on the environment and the
used linear axis.
It is also important to consider the situation to which this accuracy is applied.
If a new position is to be approached in the immediate vicinity, the configurable dead bands and
filter times of the analogue input play a role (Analogue Absolute Feedback, p. 60).
Thus, it may not be possible to reach a target position from a too near distance from the actual
position.
If, however, the same target position is approached from a greater distance, it is quite possible to
reach it.
76/195
D1_EN – V3.0.1
In the following chapter the configuration steps for each mode are explained.
HOM
Select "HOM" in the “Mode” drop-down menu.

If "SCP" has been selected as homing type on the "Axis" page, go straight to point 4
The "Position" value automatically corresponds to the homing type selected on the "Axis" page
Enter the desired values for "Acceleration", "Velocity" and "Deceleration". If no value or a 0 (zero) is entered at
"Deceleration", the value from "Acceleration" is used
If a delay is needed, enter the desired time in milliseconds (ms) under "Pause"
Enter the row number of the movement that is to be executed subsequently in “Next”.
If no automatic subsequent movement shall be executed, type in a 0
ABS
Select "ABS" in the “Mode” drop-down menu

Specify the target position. There are various ways available:
a. Enter the desired target position in relation to the home point at "Position"
b. Use of the user interface for teaching
i. Mark the desired position by selecting the number field of the row
ii. Move to the desired target position with the "Position Adoption" buttons.
For this purpose, the motor must have been enabled via "DI 7"
iii. Click on the "Teach" button
Enter the row number of the movement that is to be executed subsequently in “Next”
REL
Select "REL" in the “Mode” drop-down menu

Enter the desired target position in relation to the actual position at “Position”
Enter the row number of the movement that is to be executed subsequently in “Next.”.
ROT
Select "ROT" in the “Mode” drop-down menu

Select the desired motor rotation direction at “Position”
Enter the desired "Acceleration" and "Velocity values"
77/195
D1_EN – V3.0.1
ARO
Select "ARO" in the “Mode” drop-down menu

Select the desired motor rotation direction at “Position”
Enter the desired values for "Acceleration" and "Deceleration". If no value or a 0 (zero) is entered at "Deceleration",
the value from "Acceleration" is used
The final setup of the “ARO” positioning mode is described at Signal Exchange, Binary
ADR
Select "ADR" in the “Mode” drop-down menu

Enter the desired values for "Acceleration" and "Deceleration". If no value or a 0 (zero) is entered at "Deceleration",
the value from "Acceleration" is used
The final setup of the “ADR” positioning mode is described at Signal Exchange, Binary (p.69)
APS
Select "APS" in the “Mode” drop-down menu

The final setup of the “APS” positioning mode is described at Signal Exchange, Binary (p.69)
78/195
D1_EN – V3.0.1
5.8.5 Tipp/Teach
The following parameters are set on the page Drive Profile (p. 74).
Execution of the created motion sequences is explained under Signal Exchange, Tipp/Teach (p. 91)
The following command modes are available in the "Binary" operating modes
Mode Description
HOM Homing run
With absolute positioning (ABS), a homing run must be executed to define an explicit zero
position. The homing method must be specified on the "Axis" page.
If a Homing is necessary it must be executed after every restart of the dryve D1 control
system, after the controller is disabled and no position feedback is used, an error caused by
position feedback hardware or a change of the motor type, peripheral motor devices or the
axis parameters.
If an analogue absolute feedback is used, the result of homing is permanently retained after
the initial position comparison is executed.
ABS Absolute Positioning
Movement with an absolute relation to the home point.
Example:
Start is 0 mm
A homing run is a precondition for absolute positioning.
HOM
Select "HOM" in the “Mode” drop-down menu

If "SCP" has been selected as homing type on the "Axis" page, go straight to point 4
The "Position" value automatically corresponds to the homing type selected on the "Axis" page
Enter the row number of the movement that is to be executed subsequently in “Next”
ABS
Select "ABS" in the “Mode” drop-down menu

Specify the target position. There are various ways available:
a. Enter the desired target position in relation to the home point at "Position"
b. Use of the user interface for teaching
i. Mark the desired position by selecting the number field of the row
ii. Move to the desired target position with the "Position Adoption" buttons.
For this purpose, the motor must have been enabled via "DI 7"
iii. Click on the "Teach" button
c. Teaching via external control hardware. Please following the instructions at Signal Exchange, Tipp/Teach
(p. 91)
79/195
D1_EN – V3.0.1
5.9 Oscilloscope and Controller Data
5.9.1 Oscilloscope Settings

The internal oscilloscope enables simultaneous observation of 4 channels over a period of 5 seconds. Each channel can
transfer one of eight different values.
• Actual current (A)

• Following Error
• Speed (rpm)
• Actual position
• Desired position
• Digital inputs
• Analogue input 1
• Analogue input 2
Select the desired value with a drop-down menu

Click on "Start" to start the oscilloscope
Click on "Stop" to stop the recording
Click on "Save" to download the data (in the form of a *.csv file) recorded by the oscilloscope. The file will
automatically be stored in the download folder of your browser
The axes corresponding to the respective channels are located at the left and right of the oscilloscope and are scaled
automatically. The Y axes are scalable manually by scrolling with the mouse wheel. All Y axes are scaled simultaneously with
the same factor. The automatic scaling is reactivated with a double click.
80/195
D1_EN – V3.0.1
5.9.2 Controller Data

The dryve D1 can control the motor current, the velocity and the rotor position.
PI controllers are used for current control and velocity control whereas a P controller is used for rotor position control. Alteration
of the individual parameters enables adaptation of the dryve D1 to the requirements of very different applications.
For igus® motors, universal parameters have already been set.
In applications with high velocities or with heavy loads or special attention to noise minimisation , it might be necessary to
fine-tune the Control Data settings.
interface.
Current control parameters

Stepper Motors: Silent operation can be achieved by lowering the P and I parameters. However, this is at the expense of
dynamic responsiveness and the maximum torque generation.
EC/BLDC-Motor: Dynamic operation with a high torque can be achieved by raising the P parameter and lowering the I
parameter.
DC-Motor: Dynamic operation with a high torque can be achieved by increasing the P parameter and I parameter.
Speed control parameters

All motor types: If the inertia of the overall application is low, the P parameter can be reduced for a rough harmonisation.
The I parameter must be adapted for fine-tuning.
Position control parameters

All motor types: If the inertia of the application is low, the P parameter can be reduced.
81/195
D1_EN – V3.0.1
5.9.3 Controller Data Fine-Tuning

If you want to manually parameterise motors not supplied by igus®, observe the following instructions.
CAUTION!
A current controller with incorrect settings may damage the dryve D1 or the connected motor!
Excessively high currents might be supplied to the motor!
CAUTION!
Inappropriate Control Data tuning may lead to unforeseeable movements and vibrations. This may result in an accident or
equipment damage.
The Controller Data must be altered must small steps only!
NOTE
If a Stepper Motor or DC-Motor is operated in Open-loop (p. 190) only the current control parameters needs to be set
Select comparable motor from the igus® product catalogue. Check whether the motor has a mounted encoder and/or
brake
Select the motor on the "Motor" page and click "Apply"
Go to the “Oscilloscope” page and make a note of the “Controller Data”
Go back to the "Motor" page and select "Custom article"
Enter the specific currents for the non- igus® motor and confirm by clicking on "Apply"
Return to the "Oscilloscope" page
Enter the “Controller Data” previously noted
Go to the "Drive Profile" page and enter parameters leading to a oscillating movement (p. 190) with the maximum
acceleration, velocity and deceleration as used in your application
Set "Enable" on the "Inputs/Outputs" page or by an external signal to DI 7
Go to the "Drive Profile" page and start the oscillating movement
Go to the “Oscilloscope” page and fine-tune the “Controller Data” while the motor is moving
NOTE
Until a feel of how to correctly fine-tune the combination of dryve D1, motor and linear or rotary axis in your application is
gained, modifications should be done following magnitudes only.
Current Amplification P ≤ 1
Current Time Constant I ≤ 10
Velocity Amplification P ≤ 0.1
Velocity Time Constant I ≤ 0.1
Position Amplification P ≤ 10
12. Make a note of the “Controller Data” found

13. Stop the movement and repeat the procedure for medium and slow rates of acceleration, velocity and deceleration
14. Once again, make a note of the “Controller Data” found
15. Fine-tune the “Controller Data” at a motor standstill with “Enable” being set
16. Once again, make a note of the “Controller Data” found
17. Compare all the “Controller Data” found and calculate the averages of the individual parameters
18. Enter the average value in the respective field of the “Controller Data”
82/195
D1_EN – V3.0.1
5.10 Feed Rate Specification

If the “Feed rate” is not known, It can be easily determined with a measuring instrument such as a steel ruler. This procedure is
described with reference to an example.
NOTE
Do not carry out a homing run before specifying the feed rate.
Choose a moderate speed to avoid accidents
Go to the "Axis" page
Enter "70" as the “Feed Rate” value
Set the following movement limits.

Set "Enable" on the "Inputs/Outputs" page or by an external signal to DI 7
Go to the “Drive Profile” page and select "Binary" from the drop-down menu
Make a note of the actual position shown in the status area
This value is called XS1.
(In this example: XS1 = 80 mm)
Measure the distance of the carriage to one end of the axis.

This value is called XM1
(In this example: XM1 = 100 mm).
83/195
D1_EN – V3.0.1
Use the “Position Adaption” buttons to execute short movements to check whether the set “Jog Velocity” is set for a
safe operation.
If the carriage moves very slowly or hardly at all, gradually increase the “Jog Velocity” on the "Axis" page, until a
movement is clearly visible. If the carriage moves too quickly, reduce the “Jog Velocity”
Use the Position Adoption buttons to move the carriage as far as possible. Measure the distance of the carriage to
one end of the axis again.
This value is called XM2.
(In this example: XM2 = 200 mm)
Read the new “Actual Position” in the status window.
This value is called XS2.

(In this example XS2 = 160 mm)
Now calculate the correct “Feed Rate” with the following formula:
|𝑋𝑀2 − 𝑋𝑀1|
𝐹𝑒𝑒𝑑 𝑅𝑎𝑡𝑒 = ∗ 70 [𝑚𝑚]
|𝑋𝑆2 − 𝑋𝑆1|
In this example:
|200 − 100|
𝐹𝑒𝑒𝑑 𝑅𝑎𝑡𝑒 = ∗ 70 [𝑚𝑚] = 87,50 [𝑚𝑚]
|160 − 80|
Enter the new “Feed Rate” at "Axis".
84/195
D1_EN – V3.0.1
5.11 Absolute Feedback
Analogue Setpoints Configuration (APS, ARO, ADR)
Enter the voltage for the minimum stroke in "AI 1 Stroke Min".
Enter the voltage for maximum stroke in "AI 1 Stroke Max".
Absolute Feedback Configuration
Activate the “Feedback” on the "Motor" page

Select "Analogue Feedback" in the drop-down menu
Select the "AAF" method (Analogue Absolute Feedback) at "Homing" on the "Axis" page
Set the DI 7 “Enable” signal (external signal or switch on the "Inputs/Outputs" page)
Go to the "Drive Profile" page and use the "Position Adoption" buttons to move to the negative end of the axis or to
the maximum negative position corresponding to your application
Go to “Absolute Feedback" on the "Axis" page
Click on the orange arrow next to "AI 2 Absolute Value min. (V)" to automatically transfer the actual voltage value to
the field on the right
Go back to the "Drive Profile" page
Use the "Position Adoption" buttons to move to the positive end of the axis or to the maximum positive position
corresponding to your application
Go back to “Analogue Feedback”
Click on the orange arrow next to "AI 2 Absolute Value max. (V)" to automatically transfer the actual voltage value to
the field on the right
The “Absolute Feedback” has now been configured and is ready for use.
5.12 Impulse check

If you use a user-defined motor with a encoder including an index and the impulse count per motor revolution is not known, a
“Impulse Check” can be executed to determine the value.
When using the “Impulse Check”, a distinction must be made as to whether the motor has already been installed and therefore
a physical limitation is present or whether the motor can rotate without limitation.
interface.
85/195
D1_EN – V3.0.1
5.12.1 Impulse Check with Physical Limitation

Go to the "Drive Profile" page and use the "Position Adoption” buttons to move to the negative end of the axis
Make sure that the motor can execute 2 complete rotations → If this is not possible, the motor must be removed from
the axis. After removal, continue with "Impulse Check without Limit"
Revoke the DI 7 “Enable” signal (external signal or switch on the "Inputs/Outputs" page)
Go to the "Motor" page and click on the "Pulse Check" button under "Feedback"
The dryve D1 will execute 2 motor rotations, determine the impulse count and automatically enter the value
5.12.2 Impulse Check without Limit

Revoke the DI 7 “Enable” signal (external signal or switch on the "Inputs/Outputs" page)
Go to the "Motor" page and click on the "Pulse Check" button under "Feedback"
The dryve D1 will control the motor to execute 2 rotations, determine the impulse count and automatically enter the
value
Note
If an unplausible resolution is displayed after using the impulse check several times (most encoders have even resolutions
(e.g. 100, 500 or 1000) or resolutions of the power of 2 (e.g. 128, 512 or 1024), please contact the encoder manufacturer to
check the problem.
It is likely that the encoder is defective.
5.13 Restore Factory Settings

A reset button, located inside the dryve D1, enables a restoration of the factory settings. The opening, located under the product
label, is covered to prevent accidental activation. The opening diameter is 1 mm.
Actuation Period Function

3 to 9 seconds Reset of the network settings (IP addresses assigned automatically)
More than 10 seconds Reset to factory settings, incl. deletion of all entered parameters
Pierce the product label on the right-hand side of the left-hand "u" arc of the igus® logo
Insert a long thin object, e.g. a straightened paper clip, into the opening
Press and hold the button down either for 3 or 10 seconds, depending on which reset you want to perform
Remove the used object
The dryve D1 will now reboot
Check whether the IP address has changed. If yes, make a note of it
Enter the IP Address in your browser to open the user interface again
86/195
D1_EN – V3.0.1
External Signal Exchange
6 External Signal Exchange
6.1 Usage of DI 7 – Enable

The "Enable" signal at Digital Input 7 is required to permanently energise the motor.
If this signal is revoked, the motor will decelerate to a standstill using the value specified as Quick Stop (p. 54). After the motor
has come to a standstill, the motor current is switched off.
Note
It is recommended to integrate the enable signal into the emergency stop circuit of the entire application.
This enables a worst-case analysis to determine the maximum stopping distance and/or the maximum time until the motor is
no longer energised.
6.2 Binary
Positioning movements created with the Drive Profile (p. 72)can be started as well from a higher-level control system. The
Digital In/Outputs are used for communication.
Certain requirements must be complied before parameterised positioning movements are executed. These requirements
depend on the chosen mode.
6.2.1 Binary Mode Requirements

The signal/s for selecting the movement to be executed, must be applied to DI 1 to DI 5 for at least 10 ms before a “Start” signal
is set via DI 6.
Note
A traversing movement in "Binary" mode requires the positive edge of digital input DI 6
Binary: Execution Drive Profile Row 2 Binary: Execution Drive Profile Row 11
le
file
ofi
lay Pr
lay ro
l S em nt De P
l S em nt De e
tia ov e al ive
tia ov e al riv
Ini p M vem ign 1 D
Ini M em ign Dr
op ov S 2
o o S 1
St M ut ow
St rt M put ow
e t
e t
tat en
tat en
art Inp R
a In R
St s of
St s of
Se Enaate
Se Enaate
10 ctio le
10 ctio le
le b
le b
m n
m n
t t
t t
Se al S
Se al S
ti
ti

Ini
Ini
DI 1 Bit 0 DI 1 Bit 0
DI 6 Start DI 6 Start
DI 7 Enable DI 7 Freigabe
DI 10 Stop DI 10 Stop
87/195
D1_EN – V3.0.1
Usage of the inverting switches

If the inputs with a PNP connection are used, the respective signal must be switched from "Low Level" to "High Level" so that
the signal is processed in the dryve D1.
In the case of an NPN connection, the respective signal must accordingly be switched from "High Level" to "Low Level".
To execute a movement, it must be complied to the following requirements
HOM
- Homing Method (p. 58) selection
- Feed Rate
- Max Velocity
- Jog Velocity (≤ Max. Velocity)
- Max. Acceleration
- Set DI 7 “Enable”
- “Ready” signal at DO 1
- No "Active" signal at DO 2
- No "Error" signal at DO 5
REL, ARO, ADR, ROT

- Feed Rate
- Max Velocity
- Max. Acceleration
ABS, APS
- Available Stroke
- Feed Rate
- Max Velocity
- Max. Acceleration
88/195
D1_EN – V3.0.1
6.2.2 Binary Signal Sequence

HOM, REL, ABS, ROT
Select the desired positioning movement by setting the Digital Inputs in accordance with the “Summary Binary
Movement Selection” table
Start the positioning movement by setting DI 6 “Start”
You can stop the movement by setting DI 10 “Stop“ or revoking DI 7 “Enable“.
ARO, ADR
Select the desired positioning movement by switching the Digital Inputs in accordance with the “Summary Binary
Apply a voltage to AI 2. Ensure that the set voltage does not trigger any movement as soon as DI 6 “Start” is set
Control the velocity and direction (ADR only) by varying the voltage applied to AI 2. Follow the instructions at Drive
Profile Binary (p. 75)
APS
Select the desired positioning movement by switching the Digital Inputs in accordance with the “Summary Binary
Apply a voltage to AI 1. Ensure that the set voltage does not trigger any movement as soon as DI 6 “Start” is set
Control the position by varying the voltage applied to AI 1. Follow the instructions at Drive Profile Binary (p. 75)
89/195
D1_EN – V3.0.1
Summary Binary Movement Selection

The table shows which Digital Inputs must be switched to select the desired positioning movement.
If you use the Inverting function (switch for the respective input changed from "H" (High) to "L" (Low) on the "Inputs/Outputs"
page), this input will be interpreted as active if it is pulled to ground.
Movement No. DI 5 DI 4 DI 3 DI 2 DI 1
1 0 0 0 0 0
2 0 0 0 0 1
3 0 0 0 1 0
4 0 0 0 1 1
5 0 0 1 0 0
6 0 0 1 0 1
7 0 0 1 1 0
8 0 0 1 1 1
9 0 1 0 0 0
10 0 1 0 0 1
11 0 1 0 1 0
12 0 1 0 1 1
13 0 1 1 0 0
14 0 1 1 0 1
15 0 1 1 1 0
16 0 1 1 1 1
17 1 0 0 0 0
18 1 0 0 0 1
19 1 0 0 1 0
20 1 0 0 1 1
21 1 0 1 0 0
22 1 0 1 0 1
23 1 0 1 1 0
24 1 0 1 1 1
25 1 1 0 0 0
26 1 1 0 0 1
27 1 1 0 1 0
28 1 1 0 1 1
29 1 1 1 0 0
30 1 1 1 0 1
31 1 1 1 1 0
32 1 1 1 1 1
A "1" corresponds to a voltage between 5 and 24 V. A "0" corresponds to 0 V (ground).
If automated motion sequences have been set at the “Drive Profile”, they are executed after the positioning has been
completed.
90/195
D1_EN – V3.0.1
Example: Usage positioning pre-selection via DI 1 to Di5

- Valid for PNP Digital Input Switch Characteristics (p. 71)
- Binary Mode Requirements (p. 87) applied
Configured Drive Profile:
Required Digital Inputs

Command Purpose Mode
Position pre-selection + 10ms Start
1 Homing HOM - - - - - DI 6
2 Movement Goal 0 mm, Wait position ABS DI1 - - - - DI 6
3 Movement Goal 75 mm, Pick up component ABS - DI2 - - - DI 6
4 Movement Goal 200 mm, Discard component ABS DI1 DI2 - - - DI 6
32 Movement Goal 50 mm, Maintenance position ABS DI1 DI2 DI3 DI4 DI5 DI 6
6.3 Tipp/Teach
Besides manual positioning, parameterised positioning movements as created under Drive Profile (p. 72) can be executed by a
higher-level control system (p. 190) as well. The Digital In/Outputs are used for communication.
Certain requirements must be complied before parameterised positioning movements are executed. These requirements
depend on the chosen mode.
6.3.1 Tipp/Teach Requirements

The signal/s for selecting the movement to be executed, must be applied to DI 1 to DI 5 for at least 10 ms before a “Start” signal
is set via DI 6.
Note
A traversing movement in "Tipp/Teach" mode requires the negative edge of digital input DI 6
Binary: Execution Drive Profile Row 2 Binary: Execution Drive Profile Row 11
le
file
ofi
lay Pr
lay ro
l S em nt De P
l S em nt De e
tia ov e al ive
tia ov e al riv
Ini p M vem ign 1 D
Ini p M vem ign Dr
o o S 2
o o S 1
St rt M put ow
St rt M put ow
e t
e t
tat en
tat en
a In R
a In R
St s of
St s of
Se Enaate
Se Enaate
10 ctio le
10 ctio le
le b
le b
m n
m n
t t
t t
Se al S
Se al S
ti
ti
Signal Type Signal Type

Ini
Ini
DI 6 Start DI 6 Start
DI 7 Enable DI 7 Enable
DI 10 Stop DI 10 Stop
Usage of the inverting switches

If the inputs with a PNP connection are used, the respective signal must be switched from "Low Level" to "High Level" so that
the signal is processed in the dryve D1.
In the case of an NPN connection, the respective signal must accordingly be switched from "High Level" to "Low Level".
91/195
D1_EN – V3.0.1
The following conditions must be fulfilled to execute movements:
Manual Positioning
- Feed Rate
- Max Velocity
- Max. Acceleration
- Trigger of a movement signal via DI 4 “Jog Left” or DI 5 “Jog Right”
HOM
Requirements for a “Homing” execution:
- Homing Method (p. 58) selection
- Feed Rate
- Max Velocity
- Max. Acceleration
ABS
Requirements for execution of a movement with an absolute position relation to the zero point:
- Available Stroke
- Feed Rate
- Max Velocity
- Max. Acceleration
6.3.2 Tipp/Teach Signal Sequence

Manual positioning
Use the control hardware connected to DI 4 “Jog Left” and DI 5 “Jog Right” to move the connected linear axis, rotary
axis or motor to the desired position at the pre-set Jog Velocity (p.42)
HOM, ABS
Select the desired positioning movement by setting the Digital Inputs in accordance with the “Summary Tipp/Teach
92/195
D1_EN – V3.0.1
Teaching
In the “Tipp/Teach” operating mode, it is possible to modify the goal position of already existing movements without using the
user interface.
Use the control hardware connected to DI 4 “Jog Left” and DI 5 “Jog Right” to move the connected linear axis, rotary
axis or motor to the desired position at the pre-set Jog Velocity (p. 54)
Select the desired positioning movement by setting the Digital Inputs in accordance with the “Summary Tipp/Teach
Set the control hardware connected to DI 6 “Start/Teach” for at least 5 seconds
The actual position will be adopted as the new goal position of the selected positioning movement
Overview Drive Profile Preselection

The table shows which Digital Inputs must be switched to select the desired positioning movement .
If you use the Inverting function (switch for the respective input changed from "H" (High) to "L" (Low) on the "Inputs/Outputs"
page), this input will be interpreted as active if it is pulled to ground.
Movement No. DI 3 DI 2 DI 1
1 0 0 0
2 0 0 1
3 0 1 0
4 0 1 1
5 1 0 0
6 1 0 1
7 1 1 0
8 1 1 1
A "1" corresponds to a voltage between 5 and 24 V. A "0" corresponds to 0 V (ground).
Example: Usage positioning pre-selection via DI 1 to Di5

- Valid for PNP Digital Input Switch Characteristics (S.71)
- Tipp/Teach Requirements(S.91) applied
Configured Drive Profile:
Required Digital Inputs

Command Purpose Mode
Position pre-selection + 10ms Start
1 Homing HOM - - - DI 6
2 Movement Goal 15 mm, Product seize 1 ABS DI1 - - DI 6
3 Movement Goal 20 mm, Product seize 2 ABS - DI2 - DI 6
4 Movement Goal 25 mm, Product seize 3 ABS DI1 DI2 - DI 6
5 Movement Goal 45 mm, Product seize 4 ABS - - DI3 DI 6
6 Movement Goal 47 mm, Product seize 5 ABS DI1 - DI3 DI 6
7 Movement Goal 65 mm, Product seize 6 ABS - DI2 DI3 DI 6
8 Movement Goal 78 mm, Product seize 7 ABS DI1 DI2 DI3 DI 6
93/195
D1_EN – V3.0.1
6.4 Step/Direction
Each positive edge of a square wave signal corresponds to a step movement. The acceleration and velocity is varied with the
applied signal frequency. The amount of counted positive edges determines the goal position.
NOTE
Step/Direction mode is momentarily available for Stepper Motors only.
Example
With a Step Mode of 1/1, a Step Angle of 1.8° and a frequency of 200 Hz, the motor executes one revolution per second, i.e. 60
revolutions per minute.
NOTE
For correct positioning, the step mode in the motor controller and the master controller must be identical.
6.4.1 Assignment of Step Mode to Motor Speeds

Step Mode Steps per Revolution Max Motor Speed
1/1 Full Step 200 7500 rpm
1/2 Step 400 3750 rpm
1/4 Step 800 1875 rpm
1/8 Step 1600 937 rpm
1/16 Step 3200 468 rpm
1/32 Step 6400 234 rpm
1/64 Step 12800 117 rpm
94/195
D1_EN – V3.0.1
6.4.2 Requirements Step/Direction

To control the motor in the "Step/Direction" mode, proceed as follows:
Set the values for “Max. Velocity”, “Jog Velocity” on the “Axis” page under “Movement limits” to 100.000 and “Max.
Acceleration” to 1.000.000
Set the movement direction by setting DI 2 "Direction”
Digital Input 2 Voltage Direction

0 0V Anti-Clockwise
1 5 V to 24 V Clockwise
4. Apply the square wave signal frequency at DI 1 “Clock”
Voltage Max. frequency Minimum Period

5 V to 24 V 25 kHz 40 µs
The movement can be stopped by ceasing the signal frequency at DI 1 “Clock or revoking DI 7 “Enable“.
If a rotation direction change is to be executed, DI 2 “Direction” must be changed after the last negative edge of the “Clock”
signal. The “Direction” signal must be set at least 10 µs after the last negative edge and at least 10 µs before the first positive
edge of the “Clock” signal and must be applied continuously. To ensure that all impulses are counted, it is required to change
the “Direction” signal only when the level of the “Clock” signal is 0.
Sebastian Probst
95/195
D1_EN – V3.0.1
6.5 CANopen
In the following chapter, the CANopen interface is explained.
The implementation is according to CiA301 and CiA402 (CiA402-3 servo drives).
Motion parameter are stored in the corresponding objects (p. 108)
6.5.1 Special Features of SDO/PDO Communication

SDO
SDO communication is primarily for parameterisation of object entries.
If the dryve D1 is disconnected from the voltage supply, all the configured SDO parameters are lost.
These must be re-written by the master every time the device is switched on again.
PDO
PDO communication is used for process data transfer.
With factory settings, 4 Receive (RX) and Transmit (TX) PDOs are available for communication. 4 more are available after
configuration Activation and Configuration 8 RX/TX PDOs (p.97).
The overview of which communication type is available in which state is described in Network Management (p. 98).
6.5.2 Telegram Structure

To accomplish a successful communication, a read/write telegram must correspond to the following scheme.
For example, a telegram for reading the object 6041h Statusword and the response telegram of the dryve D1 in "Operation
Enabled" status (State Machine Visualisation, p. 100) In this case, the dryve D1 has the "Node-ID 1".
In later sections, we will only refer to Bytes 1 to 7.
Telegram Structure
COB-ID DLC Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
CAN Amount of Write/Read Object Object Object LSB MSB
identifier + send data Command Index part Index part Sub-Index
Node ID 2 e.g., 1 e.g., e.g. Data range - specification of the "Least
6092h 6092h 6092h:01 Significant Bit (LSB) in byte 4 and the
"Most Significant Bit (MSB)" in byte 7
600 + 1 0 bis 8 40h 92h 60h 01h 00h 00h 00h 00h
Read telegram
CAN Quantity of Write/Read- Object Object Object Data – Specification of the "Least Significant
identifier + send Byte Command Index Part Index Part Sub-Index Bit (LSB)" in Byte 4 and the "Most Significant
Node ID 2 1 Bit (MSB)" in Byte 7
601h 8h 40h 41h 60h 00h 00h 00h 00h 00h
Response telegram
581h 8h 4Bh 41h 60h 00h 27h 06h 00h 00h
Write/Read Commands
Request SDO Client Response SDO Server Description
22h 60h Write data, seize not specified
23h 60h Write data, seize 4 Byte
27h 60h Write data, seize 3 Byte
2Bh 60h Write data, seize 2 Byte
2Fh 60h Write data, seize 1 Byte
40h 42h Read data, seize not specified
40h 43h Read data, seize 4 Byte valid in response
40h 47h Read data, seize 3 Byte valid in response
40h 4Bh Read data, seize 2 Byte valid in response
40h 4Fh Read data, seize 1 Byte valid in response
NOTE
The data range seize for read/write commands is predefined by the used object
96/195
D1_EN – V3.0.1
6.5.3 PDO mapping

PDO mapping allows data from several objects to be transmitted simultaneously within one telegram.
Instead of the information on COB-ID, DLC, command, object and subindex as well as data contained in an SDO telegram, the
PDO telegram consists purely of data which can be found at predefined positions in the telegram.
Transmission and reception can be triggered automatically by various trigger events, such as after a defined time interval has
elapsed (synchronous), by the transmission/reception of individual objects or by the change of values in individual objects
(asynchronous).
By manually configuring the PDO mapping, up to 40 subindices with 64 bits of data each can be transmitted per RX/TX PDO.
The PDO mapping corresponds to the standard configuration according to CiA 301 in the state of delivery.
Settings of the PDOs to be received are executed in the following objects

Settings for the trigger events:
1400h Receive PDO Communication Parameter 1 (p. 117) to
1407h Receive PDO Communication Parameter 8 (p. 124)
Settings for the data positions:
1600h Receive PDO Mapping Parameter 1 (p. 125) to
1607h Receive PDO Mapping Parameter 8 (p. 129)
Settings of the PDOs to be sent are executed in the following objects

Settings for the trigger events:
1800h Transmit PDO Communication Parameter 1 (p. 130) to
1807h Transmit PDO Communication Parameter 8 (p. 137)
Settings for the data positions:
1A00h Transmit PDO Mapping Parameter 1 (p. 138) to
1A07h Transmit PDO Mapping Parameter 8 (p. 143)
6.5.4 Activation and Configuration 8 RX/TX PDOs

To use the 8 possible Receive (RX) and Transmit (TX) PDOs the 4 additional PDOs must be activated separately.
For this purpose, it is necessary to configure the relevant RX/TX PDO communication parameters 5 to 8 and Receive/Transmit
PDO mapping parameters 5 to 8.
Example of activation and configuration based on RX/TX PDO 5 when using the EDS file for 4 PDO
Invalidate object 1804h Transmit PDO Communication Parameter 5 (p.134) by setting bit 31 "high/1" in sub-index 1
"Cob-ID"
Invalidate object 1A04h Transmit PDO Mapping Parameter 5 (p. 141) by writing the value 00h in subindex 0 "Number
of Entries"
Configuration of the data to be transmitted in the required sub-indices 1 to 8 - see short description 1A04h Transmit
PDO Mapping Parameter 5 (p. 141)
Activate/validate object 1A04h Transmit PDO Mapping Parameter 5 (p. 141) subindex 0 "Number of Entries" by
writing the value equal to the number of configured sub indices
Activate/validate object 1804h Transmit PDO Communication Parameter 5 (p.134) by setting bit 31 "low/0" in sub-
index 1 "Cob-ID"
The configuration of the additional RX/TX PDOs starts with step 3 when using the EDS file for 8 PDOs, as these are already set
to Invalid by default.
97/195
D1_EN – V3.0.1
6.5.5 Network Management

An initialisation process must be completed before the dryve D1 can be controlled by the master.
This initialisation process is performed by the D1 automatically.
Available are SDO and the synchronous and asynchronous PDO data transmission.
The asynchronous data transmission is available with and without event timer. If no event timer is used the PDO must include
the “Statusword”. The data is only transmitted if the “Statusword” is changed.
Transition Description
1 Automatic start of the initialisation process after the system has been started.
2 Automatic transition to pre-operational state after NMT initialisation Boot-up message is sent.
3 Transition to the operational state set by bus control or local control. PDO communication active.
4, 7 Transition to pre-operational state. PDO communication stopped, SDO communication still active.
5, 8 Externally determined transition to stop. SDO and PDO communication stopped.
6 Transition to the operational state set by bus control. PDO communication active.
9, 10 ,11 Total reset of the control system. All objects are reset to Default Values.
12, 13, 14 Reset of communication. Objects 1000h to 1FFFh are reset to Default Values.
Overview of Defined States

The states are controlled by reading and processing different bits of the Statusword 6041h and Controlword 6040h. The dryve
D1 is controlled by the Controlword. The Statusword is used to display feedback.
The states must be set by the user (master control system).
To go through the State Machine the Bits 0, 1, 2 and 3 must be set permanently after being set the first time.
98/195
D1_EN – V3.0.1
Command Bit assignment, Controlword 6040h Transitions

Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Shutdown 0 X 1 1 0 2, 6, 8
Switch On 0 0 1 1 1 3
Switch On and Enable Operation1 0 1 1 1 1 3, 4
Disable Voltage 0 X X 0 X 7, 9, 10, 12
Quick Stop 0 X 0 1 X 7, 10, 11
Disable Operation 0 0 1 1 1 5
Enable Operation 0 1 1 1 1 4, 16
Fault Reset 1 X X X X 15
1
Automatic transition to Enable Operation after Switch On has been set
Note
After passing through the State Machine successfully and obtaining the state “Operation enabled” the Bits 0, 1, 2 and 3 must
be sent with each Controlword telegram to maintain the state “Operation enabled”
6.5.6 Necessary User Interface Settings

The following objects/parameters must be set in the user interface of the dryve D1.
“Motor” page
All parameters relevant to the motor must be set in the user interface.
“Communication” page
Parameterization and activation of the CANopen communication interface Bus Systems (p.63).
“Drive Profile” page

Setting the dominance via the dropdown menu to allow the CANopen master to execute movements.
Only after this selection is the CANopen master authorised to execute move commands.
6.5.7 Parameter Input

All parameters are to be entered without dimensions. Parameters that require a dimension due to their nature are dealt with in
detail in the respective object descriptions.
The target position specification for a "relative movement" (bit 6 controlword 6040h set to 1) is specified in object 607Ah "Target
Position" by positive and negative values.
The target position input for an "absolute movement" cannot use negative target values.
If the values entered in the movement parameters are greater than the values entered at Motion Limits (p. 54), no movement
can be executed.
6.5.8 Saving Object Data

The values entered in the objects can be saved in 2 ways.
Automatic saving during parameterisation via the user interface.

If the user interface is used for commissioning, all values entered via this interface are automatically transferred to the
non-volatile memory of the motor controller after 5 seconds and are permanently saved – even after switching off/loss
of the logic voltage.
Manual saving when parameterising via bus systems
If commissioning is executed via the bus systems, parameterisation must be initiated manually via object 1010h Store
Parameters (p. 113). Only with this command all values are transferred to the non-volatile memory of the motor
control
99/195
D1_EN – V3.0.1
6.5.9 State Machine Visualisation after Boot Up
Start D1 boot up
Not ready
to switch on
Automatic state transition

Read
Statusword 6041h Switch on
bin 0000 0100 0100 0000 (MSB...LSB) disabled
dec 04 64
hex 04 40
Set Digital Input 7 to status high Set Digital Input 7
Read
Statusword 6041h Bit 9 = High? No
bin 0000 0110 0100 0000
ec 06 64
hex 06 40
Write
Controlword 6040h Shutdown
bin 0000 0000 0000 0110
dec 00 06
hex 00 06
Read
Statusword 6041h
bin 0000 0110 0010 0001 Ready to No
dec 06 33 switch on?
hex 06 21
Write
Controlword 6040h Switch on
bin 0000 0000 0000 0111
dec 00 07
hex 00 07
Read
Statusword 6041h Switched on? No
bin 0000 0110 0010 0011
dec 06 35
hex 06 23
Yes
Write
Controlword 6040h Enable Operation
bin 0000 0000 0000 1111
dec 00 15
hex 00 0F
Read
Statusword 6041h Operation
No
bin 0000 0110 0010 0111 enabled?
dez 06 39
hex 06 27
D1 ready for further usage Motor Current

e.g. Homing applied
100/195
D1_EN – V3.0.1
6.5.10 Statusword
The Statusword provides general operating state information of the dryve D1.
Bit assignment of Statusword 6041h
Bit Description Different meaning "Mode Specific"

Homing Profile Position Profile Velocity
0 Ready to Switch On - - -
1 Switched On - - -
2 Operation Enabled - - -
3 Fault - - -
4 Voltage Enable - - -
5 Quick Stop - - -
6 Switch On Disabled - - -
7 Warning - - -
8 Manufacturer Specific - - -
9 Remote 0: DI 7 logical 0 0: DI 7 logical 0 0: DI 7 logical 0
1: DI 7 logical 1 1: DI 7 logical 1 1: DI 7 logical 1
10 Target Reached Refer to Homing (p. 103) 0: Target not reached 0: Velocity not reached
Refer to Homing (p. 103 1: Target reached 1: Velocity reached
11 Internal Limit Active - - -
12 Operation mode specific Refer to Homing (p. 103 0: Wait for new setpoint 0: Speed ≠0
Refer to Homing (p. 103 1: Setpoint applied 1: Speed =0
13 Operation mode specific Refer to Homing (p. 103 - -
Refer to Homing (p. 103 - -
Bit assignment, Statusword 6041h, data package Meaning

Bit 15 → Bit 0
xxxx xxxx x0xx 0000b Not Ready to Switch On
xxxx xx1x x1xx 0000b Switch On Disabled
xxxx xx1x x01x 0001b Ready to Switch On
xxxx xx1x x01x 0011b Switched On
xxxx xx1x x01x 0111b Operation Enabled
xxxx xx1x x00x 0111b Quick Stop Active
xxxx xx1x x0xx 1111b Fault Reaction Active
xxxx xx1x x0xx 1000b Fault
101/195
D1_EN – V3.0.1
6.5.11 Controlword
The Controlword can be used to trigger changes to the dryve D1
Bit assignment Controlword 6040h
Bit Description Different meaning "Mode Specific"

Homing Profile Position Profile Velocity
0 Switch On - - -
1 Enable Voltage - - -
2 Quick Stop - - -
3 Enable Operation - - -
4 Mode Specific 0: Homing Blocked 0: No Start Signal -
1: Homing Start 1: Start of Movement -
5 Mode Specific - - -
- 1: Instant new parameter -
adoption
6 Mode Specific - 0: Absolute Positioning -
- 1: Relative Positioning
7 Fault Reset - - -
1: Error Reset 1: Error Reset 1: Error Reset
8 Halt 0: Enable Bit 4 0: Movement Enabled -
1: Not enabled/Stop 1: Not enabled/Stop -
9 Mode Specific - 0: Point to point movement -
- 1: Movement Transition (p. 104) -
10 Reserved - - -
Note
After passing through the State Machine successfully and obtaining the state “Operation enabled” the Bits 0, 1, 2 and 3 must
be sent with each Controlword telegram to maintain the state “Operation enabled”
Note
The start command via Bit 4 must not be set before all required objects are configured
102/195
D1_EN – V3.0.1
6.5.12 Homing
Homing is used to reach a homing (reference) point and thus specify the zero point of the axis.
For this mode to be used, the value 6 must be entered in object 6060h "Modes of Operation".
Homing Execution
Requirements
• CANopen communication set active Bus Systems (P. 63)

• CANopen communication set dominant Drive Mode Selection (P. 72)
• Chapter Necessary User Interface Settings (p. 99)
• Digital Input DI 7 „Enable“ set high
• Pass through the „State Machine“ till „Operation Enabled“
The following objects are to be parameterised (minimal requirement)
Object Name Description

6060h Modes of Operation Mode selection – Target value: 6
6092h:01h Feed_constant_Feed Shaft federate
6092h:02h Feed_constant_Shaft_revolutions Shaft revolutions l
6099h:01h Switch Search VEL Switch Search Speed
6099h:02h Zero Search VEL Zero Search Speed
609Ah Homing ACC Acceleration/deceleration for homing run
6098h Homing Method Referencing method
607Ch Home Offset Home Point Offset (optional in user interface)
6040h Controlword Start Command via Bit 4
Before the Bit 4 start command can be set in Controlword 6040h, one system cycle (waiting for the masters response telegram)
should be planed as a delay to ensure a reliable data adoption. An indication/assessment that the homing run has been
completed positively is possible with Statusword Bit 10 and Bit 12. If these two bits have been set to 1, homing is regarded as
been completed positively.
The information whether a referencing was successfully completed or still remains is stored in object
2014h Status Flags (p. 152) in Bit 1.
In addition, the indicator "Referenced" and the Digital Output DO 3 "Referenced" will be set to 1 on the dryve D1 user interface.
Note
It is recommended to set the value 609Ah Homing Acceleration (p. 163) 5 to 10 times higher than the value 6099h Homing
Speeds (p. 163) to search for the limit switch.
If accelerations are set too low, the limit position switch can be overrun and the axis can be destroyed by driving into a block.
Homing specific explanation Bit 10, 12 and 13 Statusword 6041h
Bit 12 Bit 10 Description

Homing Attained Target Reached
0 0 0 Homing is being executed.
0 0 1 Homing is interrupted or not yet started.
0 1 0 Homing is executed but the target is not yet reached.
0 1 1 Homing is executed successfully.
1 0 0 An Error occurred, velocity ≠ 0
1 0 1 An Error occurred, velocity = 0
1 1 X Reserved
103/195
D1_EN – V3.0.1
6.5.13 Profile Position Mode

The Profile Position Mode (PP) is used for the execution of positioning movements. To perform positioning movements, the
parameters for position, velocity, acceleration and deceleration must be entered.
The value 1 must be set in object 6060h "Modes of Operation" so that this mode can be used.
Positioning movement Execution
Requirements
• Successful execution of a reference movement (Homing) – only with „Absolut“ positioning (Bit 6 „Controlword“ „0“)
• No negative values in object 607Ah Target Position when using absolute positioning
The following objects must be parameterized (minimal requirement)

607Ah Target Position Indication of the New Target Position
6081h Profile Velocity Speed
6083h Profile Acceleration Acceleration
6084h Profile Deceleration Deceleration (optional)
6040h Controlword Start Command via Bit 4
If “Absolut Positioning” (Controlword 6041h, Bit 6 not set) is used a previous homing is strictly necessary (Statusword 6041h, Bit
10 and 12 set). While using “Relative Positioning” (Controlword 6041h, Bit 6 set) a previous “Homing” is not necessary.
Before the Bit 4 start command can be set in Controlword 6040h, a delay period of one system cycle (write telegram sent and
answer telegram received) should be planned to ensure a reliable adoption of the data .
After Bit 4 "Start" has been set in Controlword 6040h, Bit 10 "Target Reached" is reset in Statusword 6041h by the D1 and Bit
12 (New Setpoint) is set. The Start command Bit 4 in the Controlword should be reset now.
The D1 resets Bit 12 (New Setpoint) in the Statusword automatically If Bit10 is then set in the Statusword, the movement has
been executed successfully.
For display and evaluation of the actual position, object 6064h "Position Actual Value" can be used and object 606Ch "Velocity
Actual Value" can be used for the actual velocity.
Bit 9 Controlword: Movement Transition
If a movement shall move directly to an alternative target position before reaching the original target position and setting the
"Target Reached" Bit high , the new target position must be written into object 607Ah "Target Position" and Bit 5 " Instant new
parameter adoption " must be set high/1 before the Start command (Bit 4) has been issued.
If other acceleration, velocity or deceleration values are to be used for the movement execution of the new target position, these
must be written into the respective objects before the new movement is started.
6.5.14 Profile Velocity Mode

The Velocity Mode is used to set a motor target velocity. A Homing is not necessary.
The value 3 must be set in object 6060h "Modes of Operation" so that this mode can be used.
Movement Execution
Requirements
The following objects must be parameterized (minimal requirement)

6083h Profile Acceleration Acceleration
6084h Profile Deceleration Deceleration (optional)
60FFh Target Velocity Target Speed set point
104/195
D1_EN – V3.0.1
If an acceleration value has been entered in object 6083h “Profile Acceleration” the movement is started immediately after
setting the "Target Velocity" in object 60FFh. The movement is stopped by entering the value 0 (zero) in Object 60FFh.
Positive values result in clockwise movements, negative values result in counterclockwise movements - Rotation direction
determination (p. 74).
Object 6064h "Position Actual Value" or Object 606Ch "Velocity Actual Value" can be used to display and evaluate the current
position or the current speed.
6.5.15 Cyclic Synchronous Position Mode

The Cyclic Synchronous Position Mode (CSP) is used to implement motion control by specifying many individual position points.
This mode is particularly suitable for circular movements or for a synchronization of several axes.
Accelerations and velocities are generated internally according to the next Target Position command.
The trajectory must be generated in a higher-level control system.
To use this mode, the value 8 must be set in object 6060h "Modes of Operation"
Execution of movements
Requirements:

• Successful execution of a reference movement (Homing)
• No negative values in object 607Ah Target Position when using absolute positioning
The following objects must be parameterized

607Ah Target Position Indication of the New Target Speed
60C2h Interpolation Time Period Minimum cycle time for adopting new position set points
If the value in object 6060h "Modes of Operation" was set to 8, the CSP mode is directly active. If values are now written into
object 607Ah "Target Position", position changes are executed directly
Note
If a fault shutdown during a traversing movement had to be executed, e.g. Following Error (P. 190) and the movement shall
be restarted again, a new trajectory generation must be created from the current position.
If a too large Actual Position to Target Position deviation is being used for restarting the movement (e.g. destination or initial
starting position), a new following error can immediately arise.
The object 6064h "Position Actual Value" can be used to display and evaluate the current position or the object 606Ch "Velocity
Actual Value" for the current speed.
6.5.16 CANopen Error Output and Reset

If an error is detected by the dryve D1, Bit 3 "Fault" in the 6041h Statusword (p. 154) is set high/1.
In addition, in object 1001h Error Register (p. 109), the information to which error group this is assigned is stored by setting the
respective Bit high/1.
Object 1003h Pre-defined Error Field (p. 109) serves as an error memory for up to 8 errors. These are filled in the sub-indices 1
to 8 with the respective error code from object 603Fh Error Code (p. 152).
Errors can be reset by setting Bit 7 "Fault Reset" in the Controlword (DI 7 "Enable"/Bit 9 "Remote" in the Statusword must be
high/1), by using the reset button on the graphical user interface or by setting DI 10 to high/1. In addition, descriptions and
remedies are provided for all errors.
105/195
D1_EN – V3.0.1
6.5.17 Abort Code SDO Communication

If invalid SDO telegrams are sent, an "Abort Code" specific to the cause is returned via the response telegram. This is indicated
by an 80h in Byte 0 (p. 96) of the response telegram.
Table of Abort Codes
Description
Byte Byte Byte Byte
4 5 6 7
00 00 03 05 Toggle bit not alternated.
00 00 04 05 SDO protocol timed out.
01 00 04 05 Client/server command specifier not valid or unknown.
00 00 01 06 Unsupported access to an object.
01 00 01 06 Attempt to read a write only object.
02 00 01 06 Attempt to write a read only object.
00 00 02 06 Object does not exist in the object dictionary.
41 00 04 06 Object cannot be mapped to the PDO.
42 00 04 06 The number and length of the objects to be mapped would exceed PDO length.
43 00 04 06 General parameter incompatibility reason.
47 00 04 06 General internal incompatibility in the device.
00 00 06 06 Access failed due to a hardware error.
10 00 07 06 Data type does not match
11 00 09 06 Sub-index does not exist.
30 00 09 06 Invalid value for parameter (download only).
31 00 09 06 Value of parameter written too high (download only).
32 00 09 06 Value of parameter written too low (download only).
36 00 09 06 Maximum value is less than minimum value.
23 00 0A 06 Resource not available: SDO connection
00 00 00 08 General error
20 00 00 08 Data cannot be transferred or stored to the application
21 00 00 08 Data cannot be transferred or stored to the application because of local control
22 00 00 08 Data cannot be transferred or stored to the application because of the present device state
23 00 00 08 Object dictionary is generated from file and generation fails because of an file error)
106/195
D1_EN – V3.0.1
6.5.18 Object information

Variable
Information in an object without sub index structures
Array
Information indicated in an object with sub index structures
Visible String
Information indicated in an object in the ASCII format.
Indication of the length always in sub index 0, information from sub index 1 onwards
Unsigned 8 to 32
Type of data for integral values with 8 to 32 Bit (1 to 4 Byte) in the positive value range
Integer 8 to 32
Type of data for integral values with 8 to 32 Bit (1 to 4 Byte) in the same distribution in the negative and positive value range
RO
Objects with this attribute can only be read
RW
Objects with this attribute can be read and written.
RWW
Objects with this attribute can be read and written. If an object is written with this attribute, the process result is affected
immediately. (CiA DSP 306 V 1.2: CANopen electronic data sheet (EDS) specification for CANopen)
107/195
D1_EN – V3.0.1
6.5.19 Overview of available Objects

1000h Device Type 1802h 3rd TPDO Com Parameter 6040h Controlword
1001h Error Register 1803h 4th TPDO Com Parameter 6041h Statusword
1003h Pre-Defined Error Field 1804h 5th TPDO Com Parameter 6060h Modes of Operation
th
1005h COB-ID SYNC 1805h 6 TPDO Com Parameter 6061h Modes of Operation Display
th
1006h Communication Cycle Period 1806h 7 TPDO Com Parameter 6064h Position Actual Value
th
1007h Synchronous Window Length 1807h 8 TPDO Com Parameter 6065h Following Error Window
st
1008h Manufacturer Device Name 1A00h 1 TPDO Mapping Parameter 6066h Following Error Time Out
nd
1009h Manufacturer Hardware Version 1A01h 2 TPDO Mapping Parameter 6067h Position Window
100Ah Manufacturer Software Version 1A02h 3rd TPDO Mapping Parameter 6068h Position Window Time
100Ch Guard Time 1A03h 4th TPDO Mapping Parameter 606Ch Velocity Actual Value
100Dh Life Time Factor 1A04h 5th TPDO Mapping Parameter 6073h Max Current
th
1014h COB-ID EMCY 1A05h 6 TPDO Mapping Parameter 6075h Motor Rated Current
th
1015h Inhibit Time EMCY 1A06h 7 TPDO Mapping Parameter 6078h Current Actual Value
th
1016h Consumer Heartbeat Time 1A07h 8 TPDO Mapping Parameter 607Ah Target Position
1017h Producer Heartbeat Time 2000h Motor Current 607Bh Position Range Limit
1018h Identity Object 2001h Step Mode 607Ch Home Offset
1010h Store Parameters 2002h Motor pole Pairs 607Fh Max Profile Velocity
1200h SDO Server Parameter 2003h Encoder 6081h Profile Velocity
1400h 1st RPDO Com Parameter 2004h Closed loop enabled 6083h Profile Acceleration
nd
1401h 2 RPDO Com Parameter 2005h Brake 6084h Profile Deceleration
rd
1402h 3 RPDO Com Parameter 2006h Brake Resistor Voltage 6085h Quick Stop Deceleration
th
1403h 4 RPDO Com Parameter 2007h S Curve Ratio 608Fh Position Encoder Resolution
th
1404h 5 PDO Com Parameter 2008h Limit Switch Position 6091h Gear Ratio
th
1405h 6 RPDO Com Parameter 2009h Analog Input Min 6092h Feed Constant
1406h 7th RPDO Com Parameter 200Ah Analog Input Max 6098h Homing Method
1407h 8th RPDO Com Parameter 200Bh Analog Input Dead Band 6099h Homing Speeds
1600h 1st RPDO Mapping Parameter 200Ch Analog Input Hysteresis 609Ah Homing Acceleration
nd
1601h 2 RPDO Mapping Parameter 200Dh Analog Input Filter 60A8h SI Unit Position
rd
1602h 3 RPDO Mapping Parameter 200Eh Analog Input Value 60C2h Interpolation Time Period
th
1603h 4 RPDO Mapping Parameter 200Fh Digital Input Type 60C5h Max Acceleration
th
1604h 5 RPDO Mapping Parameter 2010h Digital Input Polarity 60F4h Following Error Actual Value
th
1605h 6 RPDO Mapping Parameter 2011h Digital Output Polarity 60FDh Digital Inputs
1606h 7th RPDO Mapping Parameter 2012h Controller Parameters 60FEh Digital Outputs
1607h 8th RPDO Mapping Parameter 2013h Controller Temperature 60FFh Target Velocity
1800h 1st TPDO Com Parameter 2014h Status Flags 6402h Motor Type
nd
1801h 2 TPDO Com Parameter 603Fh Error Code 6502h Supported Drive Modes
108/195
D1_EN – V3.0.1
6.5.20 Detailed description Motion Control Objects

1000h Device Type
Short description
Information about the device type to identify all similar devices in one Node.
Parameter Name Device_Type

Object Type VAR 0x7
Data Type UNSIGNED32 0x0007 4 Byte
Access RO
Default Value 0x420192
PDO Mapping No
1001h Error Register

Short description
When switching to an error state, general error information is entered in this object by setting the respective bit. Bit 0 is always
set in the event of an error.
If the error has been resolved, the object value is automatically reset to 0 without an actively executed reset.
Parameter Name Error_Register

Object Type VAR 0x7
Access RO
PDO Mapping No
Bit Assignment
0 Generic Error
1 Current
2 Voltage
3 Temperature
5 Device Profile Specific
7 Manufacturer Specific
1003h Pre-defined Error Field

Short description
Sub-index 0 shows how many errors have occurred so far. A maximum of 8 errors can be logged. The first error is entered in
sub-index 1. When another error occurs, this information moves to sub-index 2 and successively to sub-index 8.
If the 9th error occurs, the oldest entry is deleted and overwritten by the second oldest.
The error codes from 603Fh Error Code (p. 152) are entered in the subindices. These correspond to the error codes of the user
interface.
If no error has occurred yet, subindex 0 has the value 00h.

The subindices 1 to 8 are not readable and are acknowledged with an
Abort Code SDO Communication (p. 106)" 11 00 09 06h".
Parameter Name Pre-defined_Error_Field

Object Type ARRAY 0x8
Subindex Number 9
1003h sub 0 Number of entries
Parameter Name Number_of_Eorros
Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
1003h sub1 Standard Error Field
Parameter Name Standard_Error_Field
Object Type VAR 0x7
Access RO
PDO Mapping No
Object Type VAR 0x7
Access RO
PDO Mapping No
109/195
D1_EN – V3.0.1

Object Type VAR 0x7
Access RO
PDO Mapping No
Object Type VAR 0x7
Access RO
PDO Mapping No
Object Type VAR 0x7
Access RO
PDO Mapping No
Object Type VAR 0x7
Access RO
PDO Mapping No
Object Type VAR 0x7
Access RO
PDO Mapping No
Object Type VAR 0x7
Access RO
PDO Mapping No
1005h Cob-ID Sync

Short description
Setting of the SYNC telegram COB-ID of the SYNC protocol.
If a value other than the standard 80h shall be used, it must be ensured that no assigned or reserved COB-IDs are used.
Parameter Name Cob-ID_Sync

Object Type VAR 0x7
Access RW
Default Value 0x80
PDO Mapping No
110/195
D1_EN – V3.0.1
1006h Communication Cycle Period

Short description
Configuration of the cycle times between 2 PDO SYNC telegrams. Specification of the values in µs.
If the value is set to 0, the transmission of SYNC telegram is deactivated.
Parameter Name Communication_Cycle_Period

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
1007h Synchronous Window Length

Short description
Configuration of the time frame for synchronous PDOs.
Within the time frame, the TX PDO must have been sent by the motor controller and the RX PDO must have been received by
the master. If this frame is exceeded, all synchronous TX-PDOs are discarded and an EMCY message is transmitted.
Synchronous RX-PDO processing is resumed with the next SYNC telegram.
Specification of the values in µs.
If the value is set to 0, the time window is deactivated.
Parameter Name Synchronous_Window_Length

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
1008h Manufacturer Device Name

Short description
Device name stated as number sequence
Parameter Name Manufacturer_Device_Name

Object Type VAR 0x7
Data Type VISIBLE_STRING 0x0009 Size not defined
Access CONST
PDO Mapping No
1009h Manufacturer Hardware Version

Short description
Hardware version stated as number sequence
Parameter Name Manufacturer_Hardware_Version

Object Type VAR 0x7
Access CONST
PDO Mapping No
100Ah Manufacturer Software Version

Short description
Software version stated as number sequence
Parameter Name Manufacturer_Software_Version

Object Type VAR 0x7
Access CONST
PDO Mapping No
111/195
D1_EN – V3.0.1
100Ch Guard Time

Short description
Configuration of the time window between 2 remote frame telegrams of the "Nodeguarding" functionality.
Specification of the values in ms.
If the value is set to 0, "Nodeguarding" is deactivated.
The use of nodeguarding/remote frame telegrams cannot be recommended due to the high error rate.
Compare: "CiA Application Note AN802 - CAN remote frames: Avoiding of usage".
Parameter Name Guard_Time

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
100Dh Life Time Factor

Short description
Configuration of the factor for determining the time period until the end of which a new remote frame telegram must have been
received by the dryve D1.
The factor is multiplied by the value from the object 100Ch "Guard Time".
If the value is set to 0, "Nodeguarding" is deactivated.
The use of nodeguarding/remote frame telegrams is not recommended due to the high error rate.
Compare: "CiA Application Note AN802 - CAN remote frames: Avoiding of usage".
Parameter Name Life_Time_Factor

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
112/195
D1_EN – V3.0.1
1010h Store Parameters

Short description
One-time saving of the parameters in the non-volatile memory.
In order to save the parameters, the following values must be transmitted in the telegram data range during the respective
saving process.
Subindex 01: Save All Parameters
Permanent storage of all available parameters
Subindex 02: Save Communication Parameters
Permanent saving of the parameters in the objects 1000h to 1FFFh
Subindex 03: Save Application Parameters
Permanent saving of the parameters in the objects 6000h to 9FFFh
Data range of the Byte 0 Byte 1 Byte 2 Byte 3

sub-indices LSB MSB
ISO8859 coding S A V E
Numerical values 73h 61h 76h 65h
Parameter Name Store_Parameters

Subindex Number 4
Parameter Name Number_of_entries
Object Type VAR 0x7
Access Const
Default Value 0x3
PDO Mapping No
1010h sub1 Save All Parameters
Parameter Name Save_All_Parameters
Object Type VAR 0x7
Access RW
PDO Mapping No
1010h sub2 Save Communication Parameters
Parameter Name Save_Communication_Parameters
Object Type VAR 0x7
Access RW
PDO Mapping No
1010h sub3 Save Application Parameters
Parameter Name Save_Application_Parameters
Object Type VAR 0x7
Access RW
PDO Mapping No
1014h COB-ID EMCY

Short description
COB ID of the emergency service.
Bits 0 to 30 are set automatically according to the node ID.
The emergency service is deactivated by manually setting bit 31.
Parameter Name COB-ID EMCY

Object Type VAR 0x7
Access RW
Default Value $NODEID+0x80
PDO Mapping No
113/195
D1_EN – V3.0.1
1015h Inhibit Time EMCY

Short description
Configuration of the time delay until an EMCY telegram is sent again.
Specify the value in multiples of 100 µs.
If the value is set to 0, the EMCY telegram is sent once.
Parameter Name Inhibit_Time_EMCY

Object Type VAR 0x7
Access RW
PDO Mapping No
1016h Consumer Heartbeat Time

Short description
Configuration of the consumer heartbeat cycle time.
The consumer heartbeat is used to monitor whether the configured device (subindex 1,master or slave) continues to send the
producer heartbeat as an NMT telegram (1017h Producer Heartbeat Time) at regular intervals.
If the cycle time is exceeded, an EMCY telegram is sent.
Monitoring is only started after receipt of the first producer heartbeat telegram.
Parameter Name Consumer_Heartbeat_Time

Subindex Number 2
Object Type VAR 0x7 1 Byte
Data Type UNSIGNED8 0x0005
Access Const
Default Value 0x1
PDO Mapping No
1016h sub1 Consumer Heartbeat Time
Parameter Name Consumer_Heartbeat_Time
Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping Yes
Bit Assignment
0 to 15 Configuration cycle time
16 to 23 Configuration of monitored Node-ID
24 to 31 Reserved
If the value in Bit 0 to 16 is set to 0, the consumer heartbeat monitoring is deactivated
1017h Producer Heartbeat Time

Short description
Configuration of the Producer Heartbeat cycle time.
The producer heartbeat periodically sends NMT telegrams to indicate the online status of the dryve D1.
If the value is set to 0, the producer heartbeat monitoring is deactivated.
Parameter Name Producer_Heartbeat_Time

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
114/195
D1_EN – V3.0.1
1018h Identity Object

Short description
Information about the device manufacturer, the product code, the revision number and the serial number
Parameter Name Identity_Object

Object Type VISIBLE_STRING 0x9
Subindex Number 5
Object Type VAR 0x7
Access Const
Default Value 0x4
PDO Mapping No
1018h sub1 Vendor-Id
Parameter Name Vendor-Id
Object Type VAR 0x7
Access RO
Default Value 0x3FE
PDO Mapping No
1018h sub2 Product Code
Parameter Name Product_Code
Object Type VAR 0x7
Access RO
PDO Mapping No
1018h sub3 Revision Number
Parameter Name Revision_Number
Object Type VAR 0x7
Access RO
PDO Mapping No
1018h sub4 Serial Number
Parameter Name Serial_Number
Object Type VAR 0x7
Access RW
PDO Mapping No
115/195
D1_EN – V3.0.1
1200h SDO Server Parameter

Short description
COB-ID configuration for SDO communication.
Parameter Name Identity_Object

Subindex Number 3
Object Type VAR 0x7
Access Const
Default Value 2
PDO Mapping No
1200h sub1 COB-ID Client->Server (rx)
Parameter Name COB-ID_Client->Server_(rx)
Object Type VAR 0x7
Access CONST
PDO Mapping No
1200h sub2 COB-ID Server->Client (tx)
Parameter Name COB-ID_Server->Client_(tx)
Object Type VAR 0x7
Access RO
PDO Mapping No
116/195
D1_EN – V3.0.1
1400h Receive PDO Communication Parameter 1

Short description
Receive PDO communication parameter configuration
Transmission Type
Parameterisation of when synchronous or asynchronous ("event triggered") transmitted data is considered "valid" and
processed.
00h to F0h Synchronous data transfer

F1h to FDh Reservedt
FEh Asynchronous data transfer – User specific Trigger-Event
FFh Asynchronous data transfer –Trigger-Event defined by device and application profile
Inhibit Time
Setting of the cycle time with which the synchronous PDO telegram is sent.
Specify the value in multiples of 100 µs. The value 0 deactivates the inhibit time.
Configuration only possible while Bit 31 of the COB-ID is set to 0.
Event Timer
Configuration of the time window in which the PDO must be received again.
The function is active as soon as a value has been entered in the subindex and the first PDO has been received.
Parameter Name Receive_PDO_Communication_Parameter_1

Subindex Number 5
Object Type VAR 0x7
Access RO
Default Value 5
PDO Mapping No
Low Limit 0x2
High Limit 0x5
1400h sub1 COB ID
Parameter Name COB_ID
Object Type VAR 0x7
Access RW
PDO Mapping No
1400h sub2 Transmission Type
Parameter Name Transmission_Type
Object Type VAR 0x7
Access RW
Default Value 0xFF
PDO Mapping No
1400h sub3 Inhibit Time
Parameter Name Inhibit_Time
Object Type VAR 0x7
Access RW
PDO Mapping No
1400h sub5 Event Timer
Parameter Name Event_Timer
Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
117/195
D1_EN – V3.0.1

Short description
See short description 1400h Receive PDO Communication Parameter 1 (p. 117)

Subindex Number 5
Object Type VAR 0x7
Access RO
Default Value 5
PDO Mapping No
Low Limit 0x2
High Limit 0x5
1401h sub1 COB ID
Object Type VAR 0x7
Access RW
PDO Mapping No
Object Type VAR 0x7
Access RW
Default Value 0xFF
PDO Mapping No
Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
118/195
D1_EN – V3.0.1

Short description

Subindex Number 5

Object Type VAR 0x7
Access RO
Default Value 5
PDO Mapping No
Low Limit 0x2
High Limit 0x5
1402h sub1 COB ID

Object Type VAR 0x7
Access RW
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0xFF
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
119/195
D1_EN – V3.0.1

Short description

Subindex Number 5

Object Type VAR 0x7
Access RO
Default Value 5
PDO Mapping No
Low Limit 0x2
High Limit 0x5
1403h sub1 COB ID

Object Type VAR 0x7
Access RW
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0xFF
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
120/195
D1_EN – V3.0.1

Short description
Configuration of the additional Receive PDO 5.
Deactivated by default.
Activation by setting the parameters in subindex 1 COB-ID.
See Activation and Configuration 8 RX/TX PDOs (p. 97)
Further configuration see short description 1400h Receive PDO Communication Parameter 1 (p. 117)

Subindex Number 5

Object Type VAR 0x7
Access RO
Default Value 5
PDO Mapping No
Low Limit 0x2
High Limit 0x5
1404h sub1 COB ID

Object Type VAR 0x7
Access RW
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0xFF
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
121/195
D1_EN – V3.0.1

Short description

Subindex Number 5

Object Type VAR 0x7
Access RO
Default Value 5
PDO Mapping No
Low Limit 0x2
High Limit 0x5
1405h sub1 COB ID

Object Type VAR 0x7
Access RW
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0xFF
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
122/195
D1_EN – V3.0.1

Short description
Parameter Name Receive_PDO_Communication_Parameter 7

Subindex Number 5

Object Type VAR 0x7
Access RO
Default Value 5
PDO Mapping No
Low Limit 0x2
High Limit 0x5
1406h sub1 COB ID

Object Type VAR 0x7
Access RW
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0xFF
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
123/195
D1_EN – V3.0.1

Short description

Subindex Number 5

Object Type VAR 0x7
Access RO
Default Value 5
PDO Mapping No
Low Limit 0x2
High Limit 0x5
1407h sub1 COB ID

Object Type VAR 0x7
Access RW
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0xFF
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
124/195
D1_EN – V3.0.1
1600h Receive PDO Mapping Parameter 1

Short description
Definition where certain data is stored in the Receive PDO telegram.
The number of subindices declares the number of objects to be transmitted per PDO.
Example 1:
Value Subindex 1 60400010h

Object Assignment 6040h → Controlword
Subindex Assignment 00h
Available Bit 40h → 64 Bit
Reserved Bit 10h → 16 Bit
Reserved Telegram Position Bit 0 to 16
Unused Bit 30h → 48 Bit
Example 2:

Object Assignment 6040h → Controlword
Value Subindex 2 607A0020h

Object Assignment 607Ah → Target Position
Parameter Name Receive_PDO_Mapping_Parameter_2

Subindex Number 2

Object Type VAR 0x7
Access RW
Default Value 0x1
PDO Mapping No
Low Limit 0x0
1600h sub1 PDO Mapping Entry
Parameter Name PDO_Mapping_Entry

Object Type VAR 0x7
Access RW
PDO Mapping No
125/195
D1_EN – V3.0.1

Short description
See short description 1600h Receive PDO Mapping Parameter 1 (p. 125)

Subindex Number 3

Object Type VAR 0x7
Access RW
Default Value 0x2
PDO Mapping No
Low Limit 0x0

Object Type VAR 0x7
Access RW
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x607A0020
PDO Mapping No

Short description

Subindex Number 3

Object Type VAR 0x7
Access RW
Default Value 0x2
PDO Mapping No
Low Limit 0x0

Object Type VAR 0x7
Access RW
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x60FF0020
PDO Mapping No
126/195
D1_EN – V3.0.1

Short description

Subindex Number 2

Object Type VAR 0x7
Access RW
Default Value 0x1
PDO Mapping No
Low Limit 0x0

Object Type VAR 0x7
Access RW
PDO Mapping No

Short description
Object only available in object 1404h Receive PDO Communication Parameter 5 (p. 121) has been activated in advance.

Subindex Number 2

Object Type VAR 0x7
Access RW
Default Value 0x1
PDO Mapping No
Low Limit 0x0

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
127/195
D1_EN – V3.0.1

Short description

Subindex Number 2

Object Type VAR 0x7
Access RW
Default Value 0x1
PDO Mapping No
Low Limit 0x0

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No

Short description

Subindex Number 2

Object Type VAR 0x7
Access RW
Default Value 0x1
PDO Mapping No
Low Limit 0x0

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
128/195
D1_EN – V3.0.1

Short description

Subindex Number 2

Object Type VAR 0x7
Access RW
Default Value 0x1
PDO Mapping No
Low Limit 0x0

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
129/195
D1_EN – V3.0.1
1800h Transmit PDO Communication Parameter 1

Short description
Transmit PDO communication parameter configuration
Transmission Type
Configuration of when to send preconfigured data with a certain PDO.
00h Acyclic synchronous: Data is transferred to the PDO when the SYNC telegram 1006h
Communication Cycle Period (p. 105) arrives but is only sent when a trigger event occurs.
01h to F0h Cyclic synchronous: Data is copied into the PDO when the SYNC telegram arrives and is
transmitted directly. If the value 1 is set, the data is transmitted with every SYNC telegram.
received. With the value 2, the PDO is sent with every second SYNC telegram. Up to 240.
H1h to FBh Reserved
FCh RTR Synchron: Data is transferred to the PDO with each SYNC telegram but is only sent after the
arrival of a remote frame telegram.
FDh RTR Event Trigger: After the arrival of a Remote Frame Telegram, the data is directly transferred
into the PDO and sent
FFh und FFh The data is transferred directly to the PDO and sent when a trigger event occurs.
Possible Trigger-Events - Reaching the "State Machine" state "Operation Enabled”

- The data in the object to be transmitted has changed
- The event timer from subindex 5 is elapsed
Inhibit Time
Configuration of the cycle time with which asynchronous PDO telegrams are sent.
Specify the value in multiples of 100 µs. The value 0 deactivates the inhibit time.
Configuration only possible while Bit 31 of the COB-ID is set to 0.
Event Timer
Configuration of the cycle when a trigger event is initiated.
Specify the value in multiples of 1 ms.
The value 0 deactivates the event timer
Parameter Name Transmit_PDO_Communication_Parameter_1

Subindex Number 5
Object Type VAR 0x7
Access RO
Default Value 0x5
PDO Mapping No
Low Limit 0x2
High Limit 0x5
1800h sub1 COB ID
Object Type VAR 0x7
Access RW
PDO Mapping No
Object Type VAR 0x7
Access RW
Default Value 0xFF
PDO Mapping No
Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
130/195
D1_EN – V3.0.1

Object Type VAR 0x7
Data Type UNSIGNED16 0x0006
Access RW
Default Value 0x0
PDO Mapping No

Short description
See short description 1800h Transmit PDO Communication Parameter 1 (p. 130)

Subindex Number 5

Object Type VAR 0x7
Access RO
Default Value 0x5
PDO Mapping No
Low Limit 0x2
High Limit 0x5
1801h sub1 COB ID

Object Type VAR 0x7
Access RW
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0xFF
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
131/195
D1_EN – V3.0.1

Short description

Subindex Number 5

Object Type VAR 0x7
Access RO
Default Value 0x5
PDO Mapping No
Low Limit 0x2
High Limit 0x5
1802h sub1 COB ID

Object Type VAR 0x7
Access RW
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0xFF
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
132/195
D1_EN – V3.0.1

Short description

Subindex Number 5

Object Type VAR 0x7
Access RO
Default Value 0x5
PDO Mapping No
Low Limit 0x2
High Limit 0x5
1803h sub1 COB ID

Object Type VAR 0x7
Access RW
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0xFF
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
133/195
D1_EN – V3.0.1

Short description
Configuration of the additional Transmit PDO 5.
See Activation and Configuration 8 RX/TX PDOs (p. 97):
Further configuration see short description 1800h Transmit PDO Communication Parameter 1 (p. 130)

Subindex Number 5

Object Type VAR 0x7
Access RO
Default Value 0x5
PDO Mapping No
Low Limit 0x02
High Limit 0x05
1804h sub1 COB ID

Object Type VAR 0x7
Access RW
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0xFF
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
134/195
D1_EN – V3.0.1

Short description

Subindex Number 5

Object Type VAR 0x7
Access RO
Default Value 0x5
PDO Mapping No
Low Limit 0x02
High Limit 0x05
1805h sub1 COB ID

Object Type VAR 0x7
Access RW
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0xFF
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
135/195
D1_EN – V3.0.1

Short description

Subindex Number 5

Object Type VAR 0x7
Access RO
Default Value 0x5
PDO Mapping No
Low Limit 0x02
High Limit 0x05
1806h sub1 COB ID

Object Type VAR 0x7
Access RW
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0xFF
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
136/195
D1_EN – V3.0.1

Short description

Subindex Number 5

Object Type VAR 0x7
Access RO
Default Value 0x5
PDO Mapping No
Low Limit 0x02
High Limit 0x05
1807h sub1 COB ID

Object Type VAR 0x7
Access RW
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0xFF
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
137/195
D1_EN – V3.0.1
1A00h Transmit PDO Mapping Parameter 1

Short description
Defines the data storage position in the Transmit PDO telegram.
The number of subindices declares the number of objects to be transmitted per PDO.
Example 1:

Object Assignment 6041h → Statusword
Available Bit 40h → 64Bit
Example 2:

Object Assignment 6041h → Statusword
Available Bit 40h → 64Bit

Object Assignment 6064h → Actual Position
Parameter Name Transmit_PDO_Mapping_Parameter_1

Subindex Number 2
1A00h sub 0 Number of entries

Object Type VAR 0x7
Access RW
Default Value 0x1
PDO Mapping No
Low Limit 0x0
1A00h sub1 PDO Mapping Entry

Object Type VAR 0x7
Access RW
PDO Mapping No
1A00h sub2 PDO Mapping Entry to sub8 PDO Mapping Entry

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
138/195
D1_EN – V3.0.1

Short description
See short description 1A00h Transmit PDO Mapping Parameter 1 (p.138)

Subindex Number 3

Object Type VAR 0x7
Access RW
Default Value 0x2
PDO Mapping No
Low Limit 0x0

Object Type VAR 0x7
Access RW
PDO Mapping No

Object Type VAR 0x7
Access RW
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
139/195
D1_EN – V3.0.1

Short description

Subindex Number 3

Object Type VAR 0x7
Access RW
Default Value 0x2
PDO Mapping No
Low Limit 0x0

Object Type VAR 0x7
Access RW
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x606C0020
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
140/195
D1_EN – V3.0.1

Short description

Subindex Number 2

Object Type VAR 0x7
Access RW
Default Value 0x1
PDO Mapping No
Low Limit 0x0

Object Type VAR 0x7
Access RW
PDO Mapping No

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No

Short description
Object only available in object .1804h Transmit PDO Communication Parameter 5 (p. 134) has been activated in advance.

Subindex Number 2

Object Type VAR 0x7
Access RW
Default Value 0x1
PDO Mapping No
Low Limit 0x0

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
141/195
D1_EN – V3.0.1

Short description

Subindex Number 2

Object Type VAR 0x7
Access RW
Default Value 0x1
PDO Mapping No
Low Limit 0x0

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No

Short description

Subindex Number 2

Object Type VAR 0x7
Access RW
Default Value 0x1
PDO Mapping No
Low Limit 0x0

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
142/195
D1_EN – V3.0.1

Short description

Subindex Number 2

Object Type VAR 0x7
Access RW
Default Value 0x1
PDO Mapping No
Low Limit 0x0

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
2000h Motor Current

Short description
Output of the "live" motor current and setting of the various motor currents.
All values in mA
Parameter Name Motor_Current

Subindex Number 4

Object Type VAR 0x7
Access Const
Default Value 0x3
PDO Mapping No
2000h sub1 Motor Current Actual value
Parameter Name Motor_Current_Actual_value

Object Type VAR 0x7
Access RO
PDO Mapping Yes
2000h sub2 Boost current
Parameter Name Boost_current

Object Type VAR 0x7
Access RWW
Default Value 0x0
PDO Mapping No
2000h sub3 Hold current
Parameter Name Hold_current

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
143/195
D1_EN – V3.0.1
2001h Step Mode

Short description
Step Mode settings for Stepper motors
Parameter Name Step_mode

Object Type VAR 0x7
Access RW
PDO Mapping No
Value Assignment
1 Auto Auto
2 1/1 Full Step 200 steps per revolution
3 1/2 Step 400 steps per revolution
2002h Motor Pole Pairs

Short description
Specification of pole pairs for stepper and EC/BLDC motors.
For stepper motors, the physical number of steps per revolution must be divided by 4.
If the controller has been enabled before, DI7 “Enable” must be toggled after settings were changed to adopt new
parametrisation
Parameter Name Motor:pole_pairs

Object Type VAR 0x7
Access RW
PDO Mapping No
144/195
D1_EN – V3.0.1
2003h Encoder
Short description
Feedback settings see Feedback (p. 45)
parametrisation

Subindex Number 4

Object Type VAR 0x7
Access Const
Default Value 0x3
PDO Mapping No
2003h sub1 Encoder Enabled
Parameter Name Encoder_Enabled

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
High Limit 0x1
2003h sub2 Encoder Type
Parameter Name Encoder_Type

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
2003h sub3 Encoder Index
Parameter Name Encoder_Index

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
High Limit 0x1
Value Assignment Subindex 2
1 Line Driver
2 Single Ended
3 Hall-Sensor
4 Analogue Feedback
2004h Closed loop enabled

Short description
Activating the Closed-Loop (p. 47)
parametrisation
Parameter Name Closed_loop_enabled

Object Type VAR 0x7
Data Type BOOLEAN 0x0001 1 Bit
Access RW
PDO Mapping No
145/195
D1_EN – V3.0.1
2005h Brake
Short description
Settings related to the Brake (p. 48)
Delay time specification in ms.
parametrisation

Subindex Number 5

Object Type VAR 0x7
Access Const
Default Value 0x4
PDO Mapping No
2005h sub1 Brake Enabled
Parameter Name Brake_Enabled

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
High Limit 0x1
2005h sub2 Brake Eco mode
Parameter Name Brake_Eco_mode

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
High Limit 0x1
2005h sub3 Brake Eco delay
Parameter Name Brake_Eco_delay

Object Type VAR 0x7
Access RW
Default Value 0x3E8
PDO Mapping No
High Limit 0x2710
2005h sub4 Brake Mechanical delay
Parameter Name Brake_ Mechanical _delay

Object Type VAR 0x7
Access RW
Default Value 0x64
PDO Mapping No
High Limit 0x3E8
2006h Brake Resistor Voltage

Short description
Setting from which load voltage level the braking resistor is switched on during operation of EC/BLDC motors.
Braking Voltage Setting (p. 53)
Value specification in V with three decimal digits
Parameter Name Brake_Resistor_Voltage

Object Type VAR 0x7
Data Type REAL32 0x0008 4 Byte
Access RW
Default Value 0x424C0000
PDO Mapping No
High Limit 0x424C0000
146/195
D1_EN – V3.0.1
2007h S Curve Ratio

Short description
Adjustment of the acceleration ramp type. Motion Limits (p. 54)
Specifying the value integer from 0 to 100
Parameter Name S_Curve_Ratio

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
High Limit 0x64
2008h Limit Switch Position

Short description
Selection of the used limit switches.
parametrisation
Parameter Name Limit_Switch_Position

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
High Limit 0x4
Value Assignment
1 No limit switch
2 Negative limit switch
3 Positive limit switch
4 Negative and positive limit switch
2009h Analog Input Min

Short description
Specification of the minimum values for the evaluation of the analogue inputs
Value specification in V with three decimal digits.
parametrisation
Parameter Name Analog Input Min

Subindex Number 3
Object Type VAR 0x7
Access Const
Default Value 0x2
PDO Mapping No
2009h sub1 Analog Input Min AI1
Parameter Name Analog_Input_Min_AI1
Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
High Limit 0x41200000
2009h sub2 Analog Input Min AI2
Parameter Name Analog_Input_Min_AI2
Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
147/195
D1_EN – V3.0.1
200Ah Analog Input Max

Short description
Specification of the maximal values for the evaluation of the analogue inputs
Value specification in V with three decimal digits.
parametrisation
Parameter Name Analog Input Max

Subindex Number 3
200Ah sub 0 Number of entries
Object Type VAR 0x7
Access Const
Default Value 0x2
PDO Mapping No
200Ah sub1 Analog Input Max AI1
Parameter Name Analog_Input_Max_AI1
Object Type VAR 0x7
Access RW
PDO Mapping No
200Ah sub2 Analog Input Max AI2
Parameter Name Analog_Input_Max_AI2
Object Type VAR 0x7
Access RW
PDO Mapping No
200Bh Analog Input Dead Band

Short description
Configuration of the zero-value dead band of the corresponding analogue input. Specification of the values in V
Parameter Name Analog_Input_Deadband

Subindex Number 3
200Bh sub 0 Number of entries
Object Type VAR 0x7
Access Const
Default Value 0x2
PDO Mapping No
200Bh sub1 Analog input dead band AI1
Parameter Name Analog_input_dead_band_AI1
Object Type VAR 0x7
Access RW
Default Value 0x3DCCCCCD
PDO Mapping No
High Limit 0x3F800000
200Bh sub2 Analog input dead band AI2
Parameter Name Analog_input_dead_band_AI2
Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
148/195
D1_EN – V3.0.1
200Ch Analog Input Hysteresis

Short description
Configuration of the dead band hysteresis around the input signal of the corresponding analogue input.
Specification of the values in V with three decimal digits.
Parameter Name Analog_Input_Hysteresis

Subindex Number 3
200Ch sub 0 Number of entries
Object Type VAR 0x7
Access Const
Default Value 0x2
PDO Mapping No
200Ch sub1 Analog Input Hysteresis AI1
Parameter Name Analog_Input_Hysteresis_AI1
Object Type VAR 0x7
Access RW
Default Value 0x3C23D70A
PDO Mapping No
200Ch sub2 Analog Input Hysteresis AI2
Parameter Name Analog_Input_Hysteresis_AI2
Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
200Dh Analog Input Filter

Short description
Configuration of the filter time for calculating an average value of the corresponding analogue input. Specification of the values
in ms
Parameter Name Analog_Input_Filter

Subindex Number 3
200Dh sub 0 Number of entries
Object Type VAR 0x7
Access Const
Default Value 0x2
PDO Mapping No
200Dh sub1 Analog Input Filter AI1
Parameter Name Analog_Input_Filter_AI1
Object Type VAR 0x7
Access RW
Default Value 0xA
PDO Mapping No
High Limit 0x3E8
200Dh sub2 Analog Input Filter AI2
Parameter Name Analog_Input_Filter_AI2
Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
High Limit 0x3E8
149/195
D1_EN – V3.0.1
200Eh Analog Input Value

Short description
Output of the corresponding analogue input value (live) in V
Parameter Name Analog_Input_Value

Subindex Number 3
200Eh sub 0 Number of entries
Object Type VAR 0x7
Access Const
Default Value 0x2
PDO Mapping No
200Eh sub1 Analog Input Value AI1
Parameter Name Analog_Input_Value_AI1
Object Type VAR 0x7
Access RO
PDO Mapping Yes
200Eh sub2 Analog Input Value AI2
Parameter Name Analog_Input_Value_AI2
Object Type VAR 0x7
Access RO
PDO Mapping Yes
200Fh Digital Input Type

Short description
Selection if the Digital Inputs are used in PNP or NPN configuration
Parameter Name Digital_Input_Type

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
High Limit 0x1
Value Assignment
0 PNP
1 NPN
2010h Digital Input Polarity

Short description
Selection which Digital Input (p. 66) signal shall be inverted.
The preselection is binary coded.
Example:
Object-value 66h (102dec) correspond to an active inversion of Digital Input DI2, DI3, DI6 and DI7
Parameter Name Digital_Input_Polarity

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
High Limit 0x3FF
150/195
D1_EN – V3.0.1
2011h Digital Output Polarity

Short description
Selection which Digital Output (p. 69) signal shall be inverted.
The preselection is binary coded.
Example: Object-value 1Ah (26dec) correspond to an active inversion of Digital Output DO2, DO4 and DO5
Parameter Name Digital_Output_Polarity

Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
High Limit 0x1F
2012h Controller Parameters

Short description
Adjustment of the control parameters – further information in chapter Controller Data (p. 81)
Name Controller_Parameters
Subindex Number 6
Object Type VAR 0x7
Access Const
Default Value 0x5
PDO Mapping No
2012h sub1 Current Proportional Gain
Parameter Name Current_Proportional_Gain
Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
2012h sub2 Current Integral Gain
Parameter Name Current_Integral_Gain
Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
2012h sub3 Velocity Proportional Gain
Parameter Name Velocity_Proportional_Gain
Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
2012h sub4 Velocity Integral Gain
Parameter Name Velocity_Integral_Gain
Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
2012h sub5 Position Gain
Parameter Name Position_Gain
Object Type VAR 0x7
Access RW
Default Value 0x0
PDO Mapping No
151/195
D1_EN – V3.0.1
2013h Controller Temperature

Short description
Output of the controller temperature (driver stage) in °C
Parameter Name Controller_Temperature

Object Type VAR 0x7
Access RO
PDO Mapping Yes
2014h Status Flags

Short description
Output of general status information
Parameter Name Status_Flags

Object Type VAR 0x7
Access RO
PDO Mapping Yes
Bit Assignment
0 0 Not referenced
1 Referenced
Bit 1 to 31 not assigned
603Fh Error Code

Short description
Assignment of the available errors emitted on the user interface to the CANopen error codes.
If an error occurs, these are inserted into the subindices of 1003h Pre-defined Error Field (p. 109).
Parameter Name Status_Flags

Object Type VAR 0x7
Access RO
PDO Mapping Yes
Value Assignment
MSB to LSB Displayed in telegram (HEX, LSB zu MSB)
----- No Error 0000h 00 00
E01 Error Configuration 6320h 20 63
E02 Motor Over-Current 2320h 20 23
E03 Encoder Over-Current 2311h 11 23
E04 10 V Output Over Current 2312h 12 23
E05 I/O Supply Low 5114h 14 51
E06 Logic Supply Low 3222h 11 32
E07 Logic Supply High 3112h 12 31
E08 Load Supply Low 3221h 21 32
E09 Load Supply High 3211h 11 32
E10 Temperature High 4310h 10 43
E11 Following Error 8611h 11 86
E12 Limit Switch FF00h 00 FF
E13 Hall Sensor 7306h 06 73
E14 Encoder 7305h 05 73
E15 Encoder Channel A FF01h 01 FF
E16 Encoder Channel B FF02h 02 FF
E17 Encoder Channel I FF03h 03 FF
E21 Braking Resistor Overload 7110h 10 71
152/195
D1_EN – V3.0.1
6040h Controlword
Short description
Object for controlling the dryve D1
Further information at Controlword (p, 102).
Parameter Name Controlword

Object Type VAR 0x7
Access RWW
PDO Mapping Yes
Bit Assignment
0 Switch On
1 Enable Voltage
2 Quick-Stop
3 Enable Operation
4 Mode Specific
5 Mode Specific
6 Mode Specific
7 Fault Reset
8 Halt
9 Mode Specific
10 Reserved
Example
Write “Controlword” – Command “Shutdown”
CANopen
601h 8h 2Bh 40h 60h 00h 6h 00h 00h 00h
Modbus TCP as Gateway

Byte
0- 4 5 6 7 8 9 10 - 11 12 13 14 - 17 18 19 20 - 22
bin 0000 0000 0000 1110 0000 0000 0010 1011 0000 1101 0000 0001 0000 0000 0110 0000 0100 0000 0000 0000 0000 0001 0000 0110 not send
hex 0h 0Eh 0h 2Bh 0Dh 1h 0h 60h 40h 0h 1h 6h not send
dec 0 14 0 43 13 1 0 96 64 0 1 6 not send
153/195
D1_EN – V3.0.1
6041h Statusword
Short description
Feedback of status information from the dryve D1
Further information at Statusword (p, 101).
Parameter Name Statusword

Object Type VAR 0x7
Access RO
PDO Mapping Yes
Bit Assignment
0 Ready to Switch On
1 Switched On
2 Operation Enabled
3 Fault
4 Voltage Enable
5 Quick-Stop
6 Switch On Disabled
7 Warning
9 Remote
10 Target Reached
11 Internal Limit Active
12 Mode Specific
13 Mode Specific
Example
Read “Statusword”
CANopen
601h 8h 40h 41h 60h 00h 00h 00h 00h 00h
Modbus TCP as Gateway

Byte
0- 4 5 6 7 8 9 - 11 12 13 14 - 17 18 19 - 22
bin 0000 0000 0000 1101 0000 0000 0010 1011 0000 1101 0000 0000 0110 0000 0100 0001 0000 0000 0000 0010 not send
hex 0h 0Dh 0h 2Bh 0Dh 0h 60h 41h 0h 2h not send
dec 0 13 0 43 13 0 96 65 0 2 not send
154/195
D1_EN – V3.0.1
6060h Modes of Operation

Short description
Operation mode pre-selection
Parameter Name Modes_of_operation

Object Type VAR 0x7
Data Type INTEGER8 0x0002 1 Byte
Access RWW
Default Value 0x1
PDO Mapping Yes
Value Assignment
0 No mode change / no mode assigned

1 Profile Position mode
2 Not implemented
3 Profile Velocity mode
4 Not implemented
5 reserved
6 homing mode
7 Not implemented
8 Cyclic Synchronous Position mode
Entry 9-128 Not assigned
6061h Modes of Operation Display

Short description
Object for feedback of current operating mode
Parameter Name Modes_of_operation_display

Object Type VAR 0x7
Access RO
PDO Mapping Yes
Value Assignment
0 No mode change / no mode assigned

1 Profile Position mode
2 Not implemented
3 Profile Velocity mode
4 Not implemented
5 reserved
6 homing mode
7 Not implemented
8 Cyclic Synchronous Position mode
Entry 9-128 Not assigned
6064h Position Actual Value

Short description
Output of the actual position.
Value dimension dependent on object 60A8h SI Unit Position (p. 164).
Parameter Name Position_actual_value

Object Type VAR 0x7
Access RO
PDO Mapping Yes
6067h Position Window

Short description
Entry of a symmetrical area around the target position.
If this area is reached, the target position is considered to be reached.
Parameter Name Position_window

Object Type VAR 0x7
Access RO
PDO Mapping Yes
155/195
D1_EN – V3.0.1
6065h Following Error Window

Short description
Configuration of the tolerable position deviation
If the value is set to FFFF FFFFh, monitoring is deactivated.
Parameter Name Following_Error_Window

Object Type VAR 0x7
Access RWW
PDO Mapping Yes
6066h Following Error Time Out

Short description
Configuration of the dwell time which must have lapsed before a position deviation greater than the interval specified in object
6065h Following Error Window causes an error message.
Parameter Name Following_Error_Time_Out

Object Type VAR 0x7
Access RWW
PDO Mapping Yes
6068h Position Window Time

Short description
Specification of a delay time that must elapse before a "Target Reached" signal can be emitted.
The time starts counting when the Position Window (6067h) is reached.
Parameter Name Position_window_time

Object Type VAR 0x7
Access RO
PDO Mapping Yes
606Ch Velocity Actual Value

Short description
Output of current Velocity.
Parameter Name Velocity_actual_value

Object Type VAR 0x7
Access RO
PDO Mapping Yes
6073h Max Current

Short description
Setting the motor boost current as a per mil value of the motor rated current in object 6075h Motor Rated Current (p. 157)
Parameter Name Max_Current

Object Type VAR 0x7
Access RWW
PDO Mapping Yes
Example
Value 6075h Motor Rated Current = 1000 -> 1A
Value 6073h Max Current = 2000 -> 2A Boost current during acceleration and deceleration phases
156/195
D1_EN – V3.0.1
6075h Motor Rated Current

Short description
Setting of the rated motor current in mA
Parameter Name Max_Current

Object Type VAR 0x7
Access RW
PDO Mapping No
6078h Current Actual Value

Short description
Display of the actual motor current in % of the value set in object 6075 Motor Rated Current
Parameter Name Current_Actual_Value

Object Type VAR 0x7
Access RW
PDO Mapping No
607Ah Target Position

Short description
Entry of the target position
Parameter Name Target_position

Object Type VAR 0x7
Access RWW
PDO Mapping Yes
607Bh Position Range Limit

Short description
Entry of the minimum and maximum value of the target position. Sub-index 2 corresponds to the Available Stroke (p. 54).
If these values in object 607Ah Target Position (p. 157) are exceeded or not reached, no movement is executed.
The value 0 must be entered in sub-index 1.

parametrisation
Parameter Name Position_Range_Limit

Subindex Number 3
607Bh sub 0 Number of entries
Object Type VAR 0x7
Access Const
Default Value 0x2
PDO Mapping No
607Bh sub1 Position Range Limit Min
Parameter Name Position_Range_Limit_Min
Object Type VAR 0x7
Access RWW
Default Value 0x0
PDO Mapping Yes
607Bh sub2 Position Range Limit Max
Parameter Name Position_Range_Limit_Max
Object Type VAR 0x7
Access RWW
Default Value 0x0
PDO Mapping Yes
High Limit 0x989680
157/195
D1_EN – V3.0.1
607Ch Home Offset

Short description
Specification of the difference between application and machine reference point
parametrisation
Parameter Name Home_offset

Object Type VAR 0x7
Access RWW
Default Value 0x0
PDO Mapping Yes
607Fh Max Profile Velocity

Short description
Entry of maximal velocity in Profile Position Mode
Parameter Name Max_Profile_Velocity

Object Type VAR 0x7
Access RWW
PDO Mapping Yes
6081h Profile Velocity

Short description
Entry of goal velocity
Parameter Name Profile_velocity

Object Type VAR 0x7
Access RWW
PDO Mapping Yes
6083h Profile Acceleration

Short description
Entry of acceleration
Parameter Name Profile_acceleration

Object Type VAR 0x7
Access RWW
PDO Mapping Yes
6084h Profile Deceleration

Short description
Entry of deceleration
Parameter Name Profile_deceleration

Object Type VAR 0x7
Access RWW
PDO Mapping Yes
158/195
D1_EN – V3.0.1
6085h Quick Stop Deceleration

Short description
Specification of the deceleration with which a movement is stopped in the event of an error or if the signal at DI7 “Enable” is set
low/0.
Parameter Name Quick_Stop_Deceleration

Object Type VAR 0x7
Access RWW
PDO Mapping Yes
608Fh Position Encoder Resolution

Short description
Specification of the increment count per shaft revolution of the encoder.
parametrisation
Parameter Name Position_Encoder_Resolution

Subindex Number 3
608Fh sub 0 Number of entries
Object Type VAR 0x7
Access Const
Default Value 0x2
PDO Mapping No
608Fh sub1 Position Range Limit Min
Parameter Name Position_Encoder_Resolution_Enocder_Increments
Object Type VAR 0x7
Access RWW
Default Value 0x1
PDO Mapping Yes
608Fh sub2 Position Range Limit Max
Parameter Name Position_Encoder_Resolution_Motor_Revolutions
Object Type VAR 0x7
Access RWW
Default Value 0x1
PDO Mapping Yes
159/195
D1_EN – V3.0.1
6091h Gear Ratio

Short description
Entry of the gear ratio
6091ℎ: 01 Motor Shaft Revolutions

6091ℎ 𝐺𝑒𝑎𝑟 𝑅𝑎𝑡𝑖𝑜 =
6091ℎ: 02 𝐷𝑟𝑖𝑣𝑖𝑛𝑔 𝑆ℎ𝑎𝑓𝑡 𝑅𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠
parametrisation
Example 1:
Gear with a transmission ratio of 5:1
6091ℎ: 01 Motor Shaft Revolutions = 5
6091ℎ: 02 𝐷𝑟𝑖𝑣𝑖𝑛𝑔 𝑆ℎ𝑎𝑓𝑡 𝑅𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠 = 1

Example 2:
Gear with a transmission ratio of 2,467:1

Example 3:
Gear with a transmission ratio of 2,467:1,25
Parameter Name Gear_Ratio

Subindex Number 3
6091h sub0 Number of Entries
Object Type VAR 0x7
Access RO
Default Value 0x2
PDO Mapping No
6091h sub1 Gear Ratio Motor Shaft Revolutions
Parameter Name Gear_Ratio_Motor_Shaft_Revolutions
Object Type VAR 0x7
Access RWW
Default Value 0x1
PDO Mapping Yes
6091h sub2 Gear Ratio Driving Shaft Revolutions
Parameter Name Gear_Ratio_Driving_Shaft_Revolutions
Object Type VAR 0x7
Access RWW
Default Value 0x1
PDO Mapping Yes
160/195
D1_EN – V3.0.1
6092h Feed Constant

Short description
Specification of the feed constant. The Feed Constant defines the distance, e.g .in millimetres, which a linear axis travels per
one drive shaft revolution. This value is also referred to as the spindle pitch for spindle drives.
The Feed Constant value is defined by specifying the Feed (6092h:01), the number of Shaft Revolutions (6092h:02) and the
separate object 60A8h SI Unit Position (p. 164).
For positioning in the 100th scale, in this example 0.01mm, the 60A8h SI Unit Position (p. 164).must be set to the
value 00 00 01 FBh (default value with "Linear" of the Movement Type (p. 38)). This setting results in a factor with the value 100.
All objects with acceleration, speed and position information must now be multiplied by this factor of 100.
6092ℎ: 01 𝐹𝑒𝑒𝑑 × 60𝐴8ℎ 𝑆𝐼 𝑈𝑛𝑖𝑡 𝑃𝑜𝑠𝑖𝑡𝑖𝑜𝑛

6092ℎ 𝐹𝑒𝑒𝑑 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡 =
6092ℎ: 02 𝑆ℎ𝑎𝑓𝑡 𝑅𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠
CAUTION!
- - Execution of unpredictable movements
If new feed constant values are to be applied and the motor controller has already been activated via DI7 "Enable", the digital
input DI7 must be toggled (switched off and on) to apply the new feed constant values.
If DI7 "Enable" is not toggled, the previous feed value is retained. If position values are now to be executed on the basis of
the new feed, however, they will be executed on the basis of the old value.
Example:
Setting 6092h:01 to 6000 and 607Ah Target Position (p. 157) to 6000, activation of DI 7 and start signal-> execution of one
revolution of the motor shaft.
Change 6092h:01 to 7000 without subsequent toggle of DI 7, set 607Ah Target Position (p. 157) to 7000, start signal->
execution of 1.16 revolutions of the motor shaft.
Example 1:
Movement Type (p. 38): Linear
Positioning in 0,01 mm scale,
Tooth belt axis with 70 mm travel per drive shaft revolution
60A8h SI Unit Position (p. 164): Default Value
60𝐴8ℎ 𝑆𝐼 𝑈𝑛𝑖𝑡 𝑃𝑜𝑠𝑖𝑡𝑖𝑜𝑛 (𝑉𝑎𝑙𝑢𝑒 𝑓𝑟𝑜𝑚 𝐵𝑦𝑡𝑒 3, 𝐿𝑖𝑛𝑒𝑎𝑟) = 𝑀𝑒𝑡𝑒𝑟 × 10−5 ≡ 𝑀𝑖𝑙𝑖𝑚𝑒𝑡𝑒𝑟 × 10−2 ≡ 𝐹𝑎𝑐𝑡𝑜𝑟 100
6092ℎ: 01 𝐹𝑒𝑒𝑑 = 70 × 100 = 7000
6092ℎ: 02 𝑆ℎ𝑎𝑓𝑡 𝑅𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠 = 1
Example 2:
Movement Type (p. 38): Linear
Positioning in 0,01 mm scale,
Spindle drive axis with 4 mm travel per drive shaft revolution
60𝐴8ℎ 𝑆𝐼 𝑈𝑛𝑖𝑡 𝑃𝑜𝑠𝑖𝑡𝑖𝑜𝑛 (𝑉𝑎𝑙𝑢𝑒 𝑓𝑟𝑜𝑚 𝐵𝑦𝑡𝑒 3, 𝐿𝑖𝑛𝑒𝑎𝑟) = 𝑀𝑒𝑡𝑒𝑟 × 10−5 ≡ 𝑀𝑖𝑙𝑖𝑚𝑒𝑡𝑒𝑟 × 10−2 ≡ 𝐹𝑎𝑐𝑡𝑜𝑟 100
6092ℎ: 01 𝐹𝑒𝑒𝑑 = 4 × 100 = 400
Example 3:
Movement Type (p. 38): Rotary
Positioning in 0,01° scale,
Rotating axis with 360°
60𝐴8ℎ 𝑆𝐼 𝑈𝑛𝑖𝑡 𝑃𝑜𝑠𝑖𝑡𝑖𝑜𝑛 (𝑉𝑎𝑙𝑢𝑒 𝑓𝑟𝑜𝑚 𝐵𝑦𝑡𝑒 3, 𝑅𝑜𝑡𝑎𝑡𝑖𝑣) = 𝐺𝑟𝑎𝑑 × 10−2 ≡ 𝐹𝑎𝑐𝑡𝑜𝑟 100
6092ℎ: 01 𝐹𝑒𝑒𝑑 = 360 × 100 = 36000
161/195
D1_EN – V3.0.1
Parameter Name Feed_constant

Subindex Number 3
Parameter Name Feed_constant_number_of_entries

Object Type VAR 0x7
Access RO
Default Value 0x2
PDO Mapping No
6092h sub1 Feed
Parameter Name Feed_constant_Feed

Object Type VAR 0x7
Access RWW
Default Value 0x1
PDO Mapping Yes
6092h sub2 Shaft Revolutions
Parameter Name Feed_constant_Shaft_revolutions

Object Type VAR 0x7
Access RWW
Default Value 0x1
PDO Mapping Yes
6098h Homing Method

Short description
Reference method selection.
parametrisation
Parameter Name Homing_method

Object Type VAR 0x7
Access RO
PDO Mapping Yes
Value Assignment
17 LSN Limit Switch Negativ
18 LSP Limit Switch Positiv
33 IEN Index Encoder Negativ
34 IEP Index Encoder Positiv
37 SCP Set Current Position
255 AAF Analog Absolute Feedback
162/195
D1_EN – V3.0.1
6099h Homing Speeds

Short description
Entry of the corresponding velocities during a reference run.
Sub-index 1 defines the maximum velocity during the search movement for the selected limit switch or encoder index signal.
Subindex 2 defines the maximum velocity that is used when the limit switch was found and the reference point is set.
Subindex 2 is not used when the encoder index is used to determin the zero-position.
Parameter Name Homing_speeds

Subindex Number 3
Parameter Name Homing_speeds_number_of_entries

Object Type VAR 0x7
Access RO
Default Value 0x2
PDO Mapping No
6099h sub1 Search Velocity for Switch
Parameter Name Homing_speeds_Search_Velocity_for_Switch

Object Type VAR 0x7
Access RWW
Default Value 0x0
PDO Mapping Yes
6099h sub2 Search Velocity for Zero
Parameter Name Homing_speeds_Search_Velocity_for_Zero

Object Type VAR 0x7
Access RWW
Default Value 0x0
PDO Mapping Yes
609Ah Homing Acceleration

Short description
Entry of the acceleration used during homing runs.
Parameter Name Homing_acceleration

Object Type VAR 0x7
Access RWW
PDO Mapping Yes
163/195
D1_EN – V3.0.1
60A8h SI Unit Position

Short description
Configuration of the multiplying factor for object 6092h Feed Constant (p. 161) and all objects with acceleration, velocity and
position values.
This factor is needed to be able to transfer the input values correctly from the data objects to the user interface and back again.
The factor can be changed via the object within the given range
Standard object values when using the "Movement Type" switch on the "Start" page
Movement Type Byte 0 Byte 1 Byte 2 Byte 3

Linear 00h 00h 01h FBh
Rotary 00h 00h 41h FEh
Preselection Movement Type
Movement Type Value Byte 2 Basic Unit

Linear 01h Meter
Rotary 41h Degree
Preselection Exponent
Value Byte 3 Resulting Exponent Multiplying Factor Linear Multiplying Factor Rotary
02h 102 0,00001 0,01
01h 101 0,0001 0,1
00h 100 0,001 1
FFh 10−1 0,01 10
FEh 10−2 0,1 100 (Standard)
FDh 10−3 1 1.000
FCh 10−4 10 10.000
−5
FBh 10 100 (Standard) 100.000
−6
FAh 10 1.000 1.000.000
Parameter Name SI Init Position

Object Type VAR 0x7
Access RW
PDO Mapping No
164/195
D1_EN – V3.0.1
60C2h Interpolation Time Period

Short description
Specifies the time interval with which a new position set point is adopted from object 607Ah "Target Position".
If, for example, the value 5 is set in sub-index 01 and the value "-3" in sub-index 02, a new position support point is generated
every 5 ms.
𝑇𝑖𝑚𝑒 𝑖𝑛𝑡𝑒𝑟𝑣𝑎𝑙 = Subindex 01 ∗ 10 Subindex 02 𝑠
Example:
𝑇𝑖𝑚𝑒 𝑖𝑛𝑡𝑒𝑟𝑣𝑎𝑙 = 5 ∗ 10 −3 = 5𝑚𝑠
Parameter Name Interpolation time period

Subindex Number 3
60C2h sub0 Number of Entries
Parameter Name Homing_speeds_number_of_entries

Object Type VAR 0x7
Access RO
Default Value 0X2
PDO Mapping No
60C2h sub1 Interpolation time period value
Parameter Name Interpolation_time_period_value

Object Type VAR 0x7
Access RWW
Default Value 0x1
PDO Mapping Yes
60C2h sub2 Interpolation time index
Parameter Name Interpolation_time_index

Object Type VAR 0x7
Access RWW
Default Value 0xFD
PDO Mapping Yes
60C5h Max Acceleration

Short description
Entry of maximal acceleration
Parameter Name Max_Acceleration

Object Type VAR 0x7
Access RWW
Default Value 0x0
PDO Mapping Yes
60F4h Following Error Actual Value

Short description
Output of the actual Following Error value.
Parameter Name Max_Acceleration

Object Type VAR 0x7
Access RWW
Default Value 0x0
PDO Mapping Yes
165/195
D1_EN – V3.0.1
60FDh Digital Inputs

Short description
Status display of the Digital Inputs.
Bits 0, 1 und 3 are redundant to Bit 22, 23 und 24
Parameter Name Digital_inputs

Object Type VAR 0x7
Access RO
Default Value 0x0
PDO Mapping Yes
Bit Assignment
0 0 DI 9 Negative Limit Switch off
1 DI 9 Negative Limit Switch on
1 0 DI 8 Positive Limit Switch off
1 DI 8 Positive Limit Switch on
2 Not Assigned
3 Enable
4 Reserved
5 Reserved
6 Reserved
7 Reserved
8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved
16 0 DI 1 off
1 DI 1 on
17 0 DI 2 off
1 DI 2 on
18 0 DI 3 off
1 DI 3 on
19 0 DI 4 off
1 DI 4 on
20 0 DI 5 off
1 DI 5 on
21 0 DI 6 off
1 DI 6 on
22 0 DI 7 off
1 DI 7 on
23 0 DI 8 off
1 DI 8 on
24 0 DI 9 off
1 DI 9 on
25 0 DI 10 off
1 DI 10 on
26 Not Assigned
27 Not Assigned
28 Not Assigned
29 Not Assigned
30 Not Assigned
31 Not Assigned
166/195
D1_EN – V3.0.1
60FEh Digital Outputs

Short description
Automatic and manual setting of the Digital Outputs.
For manual Digital Output control the following steps must be followed.
1. The corresponding Bit of the Digital Output to be set manually must be set at the sub-index 2 “Digital Outputs
Bitmask” high and keep this state permanently
To ensure a safe operation it’s recommended to set one send/receive cycle as a delay before proceeding
2. Set the desired Bit at Subindex 1 „Digital Outputs Physical Outputs“ to high/1
Example:
If DO1 “Ready” and DO2 “Active” shall be set manually the Bits 16 and 17 at Subindex 2 must be set high/1 permanently.
Afterwards the Bits 16 and 17 at Subindex 1 must be set high/1.
The brake output Bit 0 is controlled exclusively by the dryve D1.
Live values of the Digital Outputs DO 1 to 5 are emitted at Bit 24 to 28 of the Subindex 1. These Bits always mirror the current
status of the Digital Outputs.
Parameter Name Digital_outputs

Subindex Number 3
60FEh sub0 Number of Entries
Parameter Name Digital_outputs_number_of_entries
Object Type VAR 0x7
Access RO
Default Value 0x2
PDO Mapping No
60FEh sub1 Digital Outputs Physical Outputs
Parameter Name Digital_outputs_Physical_outputs
Object Type VAR 0x7
Access RWW
Default Value 0x0
PDO Mapping Yes
The Bit Assignment is situated at the following page
167/195
D1_EN – V3.0.1
Bit Assignment 60FEh Digital Outputs
0 0 Brake off
1 Brake on
1 Reserved
2 Reserved
3 Reserved
4 Reserved
5 Reserved
6 Reserved
7 Reserved
8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved
16 0 DO 1 off
1 DO 1 on
17 0 DO 2 off
1 DO 2 on
18 0 DO 3 off
1 DO 3 on
19 0 DO 4 off
1 DO 4 on
20 0 DO 5 off
1 DO 5 on
21 Not Assigned
22 Not Assigned
23 Not Assigned
24 Live Value DO1
25 Live Value DO2
26 Live Value DO3
27 Live Value DO4
28 Live Value DO5
29 Not Assigned
30 Not Assigned
31 Not Assigned
60FEh sub2 Digital Outputs Bitmask
Parameter Name Digital_outputs_Bitmask

Object Type VAR 0x7
Access RWW
Default Value 0x0
PDO Mapping Yes
60FFh Target Velocity

Short description
Entry of the goal velocity in Profile Velocity Mode
Parameter Name Target_velocity

Object Type VAR 0x7
Access RWW
PDO Mapping Yes
168/195
D1_EN – V3.0.1
6402h Motor Type

Short description
Selection of the used motor type.
parametrisation
Parameter Name Motor_Type

Object Type VAR 0x7
Access RW
PDO Mapping Yes
Value Assignment
Typ Wert HEX Wert DEC
Stepper Motor 09 9
EC/BLDC Motor 0A 10
DC Motor 0D 13
6502h Supported Drive Modes

Short description
Display of the supported control modes
Parameter Name Supported_drive_modes

Object Type VAR 0x7
Access RO
PDO Mapping Yes
Bit Assignment
0 Profile Position Mode 1
1 Velocity Mode 0
2 Profile Velocity Mode 1
3 Profile Torque Mode 0
4 Reserved 0
5 Homing Mode 1
6 Interpolated Position Mode 0
7 Cyclic Synchronous Position Mode 1
8 Cyclic Synchronous Velocity Mode 0
9 Cyclic Synchronous Torque Mode 0
Bit 10 to 15 „Reserved“.
Bit 16 to 31 „Manufacturer Specific“
A mode is available if the respect bit has been set with a 1.

If a 0 has been entered, this mode is not supported.
169/195
D1_EN – V3.0.1
6.6 Modbus TCP Gateway

The Modbus TCP Gateway communication is implemented as a gateway and is solely used for data telegram transmissions.
It is based on the CAN in Automation (CiA) specification "Access from other networks" part 1 " General principles and services"
and part 2 "Modbus/TCP mapping“.
In the following chapter the data telegram read and write functions as well as the response telegrams are explained.
The customer must implement the read and write telegram communication in the master control on their own behalf.
6.6.1 Motion Control via Modbus TCP as Gateway

Internally the motion control is implemented with CANopen (p. 96).
All read/write commands and behaviours are the same as those described in the CANopen.
Instead of the CAN-Bus the Ethernet TCP/IP protocol is used to transfer data telegrams.
Only SDO communication is available. PDO communication is not supported.

Predefined read/write coils via function code 11 and 12 or 22 and 23 (and others), as used in the Modbus TCP communication
without a gateway function, are not supported.
The Modbus TCP as Gateway protocol cannot initiate an automatic data transmission of values such as the status word, the
current position, etc.. A read telegram must always be sent for each information transmission.
If values greater than those set under Motion Limits (p. 54) are entered as motion parameters, no motion can be executed.
Information about Homing (p. 103), Positioning (p. 104), Velocity Control (p. 104) and
Synchronous Position Control (p. 105) can be found in the respective CANopen chapters.
Note
The response time between sending a read/write telegram from the master and processing it in the dryve D1 and sending
the response telegram is approx. 0.6 ms on average with a "lean" connection (master and few slaves).
In connection with PLC systems, this communication time can increase to 20 ms and more due to internal speed restrictions
of the communication.
6.6.2 Necessary User Interface Settings

The following objects/parameters must be set in the user interface of the dryve D1.
“Motor” page
All parameters relevant to the motor must be set in the user interface.
“Communication” page
Parameterization and activation of the Modbus TCP as Gateway communication interface Bus Systems (p.63).
“Drive Profile” page

Setting the dominance via the dropdown menu to allow the Modbus TCP as Gateway master to execute movements.
Only by selecting this option the Modbus TCP Gateway Master is allowed to execute move commands.
170/195
D1_EN – V3.0.1
6.6.3 Conversion Decimal into Double Word Decimal

Integer Binary
Integer as double word
Byte 22 Byte 21 Byte 20 Byte 19
100 0000.0000.0000.0000.0000.0000.0110.0100 0 0 0 100
255 0000.0000.0000.0000.0000.0000.1111.1111 0 0 0 255
256 0000.0000.0000.0000.0000.0001.0000.0000 0 0 1 0
2.000 0000.0000.0000.0000.0000.0111.1101.0000 0 0 7 208
6.000 0000.0000.0000.0000.0001.0111.0111.0000 0 0 23 112
30.000 0000.0000.0000.0000.0111.0101.0011.0000 0 0 117 48
150.000 0000.0000.0000.0010.0100.1001.1111.0000 0 2 73 240
101.253.137 0000.0110.0000.1001.0000.0000.0001.0001 6 9 0 17
-100 1111.1111.1111.1111.1111.1111.1001.1100 255 255 255 156
-255 1111.1111.1111.1111.1111.1111.0000.0001 255 255 255 1
-256 1111.1111.1111.1111.1111.1111.0000.0000 255 255 255 0
-2.000 1111.1111.1111.1111.1111.1000.0011.0000 255 255 248 48
-6.000 1111.1111.1111.1111.1110.1000.1001.0000 255 255 232 144
-30.000 1111.1111.1111.1111.1000.1010.1101.0000 255 255 138 208
-150.000 1111.1111.1111.1101.1011.0110.0001.0000 255 253 182 16
-101.253.137 1111.1001.1111.0110.1111.1111.1110.1111 249 246 255 239
6.6.4 Communication Verification

Configuration of the dryve D1 according to the manual
Repowering the dryve D1 with “Enable” set – no further parameter changes during this test run
Sending telegram to read object 6041h "Statusword". Setting the value “15“ in Byte 0 and 1 for communication control
– Byte Assignment Modbus TCP Gateway Telegram (p.91)
Receiving the answer telegram and control of Bytes 0, 1, 19 and 20
Byte 0 and 1 Value: each 15 (F hex, 1111 bin)
Byte 19 and 20 value: 1600 (640 hex, 0000 0110 0100 0000 bin – compare to State Machine (p.78)
If the answer telegrams differ from RX/TX Telegram Example (p. 92) please check the program of your master
controller and redo these steps.
Continue going through the State Machine (p.78) with the goal “Operation enabled”
Writing the object 607Ah "Target Position" (value different to 0 or 1) and reading it subsequently to ensure the value
has been adopted correctly
If the previously written value has been sent back the communication can be considered as operational. If the answer telegrams
differ, please check the program of your master controller and redo these steps.
171/195
D1_EN – V3.0.1
6.6.5 Byte Assignment Modbus TCP Gateway Telegram

Byte Endianness Field Value Description
Byte 0 Big Endian Transaction 0 Identification of Modbus telegram (allocation of a response
Identifier to a command telegram). The master will set a value, e.g.
1, in the command telegram. The dryve D1 will adopt the
value 1 to the response telegram and will send it back to
Byte 1 0 the master. If the Transaction Identifier value is the same in
the command and the response telegram, both telegrams
are interrelated. If this function is not used, a 0 should be
set.
Byte 2 Protocol 0 0 = Modbus Protocol
Identifier
Byte 3 0 0 = Modbus Protocol
Byte 4 Length 0 Byte not used but must be send.
Byte 5 13 - 17 Information of how many bytes will be send in a telegram
after byte number 5. The value is 13 (0Dh) if a read
telegram is sent by the master. A 1-byte long SDO write
telegram does have the value 14 (0Eh). A 4-byte long
telegram has the value 17 (11h).
Byte 6 Unit 0 Byte not used but must be send.
Identifier
Byte 7 Function 43 (2Bh) Modbus TCP Gateway (CANopen) = 43 (2Bh)
code Exception Codes Modbus TCP Gateway (p. 178)
Byte 8 MEI type 13 (0Dh) Modbus TCP Gateway (CANopen) = 13 (0Dh)
Exception Codes Modbus TCP Gateway (p. 178)
Byte 9 Protocol 0 = read The value is a 0 for a read and a 1 for a write telegram.
option fields 1 = write
/ Protocol
control
Byte 10 Protocol 0 Byte not used but must be send.
option fields
/ Reserve
Byte 11 Node ID 0 Byte not used but must be send.
Byte 12 Object Index SDO Object Controlword SDO Object e.g. 96 (60h)
for Controlword (p. 102)
Byte 13 SDO Object Controlword SDO Object e.g. 64 (40h)
for Controlword (p. 102)
Byte 14 Sub Index SDO Object / Objects Sub Index
Sub Index
Byte 15 Starting 0 Byte not used but must be send.
Address
Byte 16 0 Byte not used but must be send.
Byte 17 SDO Object 0 Byte not used but must be send.
Byte 18 Byte count 1-4 Byte count detail depending on the SDO Object in Byte 12
and 13. For example the Controlword 6040h is 2 Byte long
the value must be 2
Byte 19 Little Endian Data Field Data read/write Information byte section. If the master sends a read
telegram to the dryve D1, it will respond with the requested
Byte 20 Data read/write information. The information will be transmitted in byte 19 to
22, depending on the SDO Object length. If only 1-byte
shall be read the response telegram contains byte 19 only.
Byte 21 Data read/write If the information is 4-byte long, byte 19 to 22 will be send.
A write telegram must have the length of byte 19 to 22. 1-
Byte 22 Data read/write byte information will be set in byte 19, 2-byte information in
byte 19 to 20 and so on.
172/195
D1_EN – V3.0.1
6.6.6 RX/TX Telegram Example

The following examples show how Ethernet telegrams must be structured to ensure proper communication between the dryve D1 and a Modbus TCP Gateway Master.
Listed below are read/write telegrams with the respective response telegram from the dryve D1. The Bytes highlighted in green must be configured for the respective purpose (e.g. reading the
Statusword 6041 or writing the Controlword 6040h).
The following telegrams describe the passage of the "State Machine", the execution of the "Homing" and a pendulum motion in "Profile Position" mode.
Byte
Telegram Type Task/Information 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22
Send Telegram (TX) bin 0000 1111 0000 1111 0000 0000 0000 0000 0000 0000 0000 1101 0000 0000 0010 1011 0000 1101 0000 0000 0000 0000 0000 0000 0110 0000 0100 0001 0000 0000 0000 0000 0000 0000 0000 0000 0000 0010 not send not send not send not send
1 Read Status Request hex Fh* Fh* 0h 0h 0h 0Dh 0h 2Bh 0Dh 0h 0h 0h 60h 41h 0h 0h 0h 0h 2h not send not send not send not send
Statusword 6041h dec 15* 15* 0 0 0 13 0 43 13 0 0 0 96 65 0 0 0 0 2 not send not send not send not send
bin 0000 1111 0000 1111 0000 0000 0000 0000 0000 0000 0000 1111 0000 0000 0010 1011 0000 1101 0000 0000 0000 0000 0000 0000 0110 0000 0100 0001 0000 0000 0000 0000 0000 0000 0000 0000 0000 0010 0100 0000 0000 0100 not send not send
2 Answer Telegram (RX) Switch On Disabled hex Fh* Fh* 0h 0h 0h 0Fh 0h 2Bh 0Dh 0h 0h 0h 60h 41h 0h 0h 0h 0h 2h 40h 4h not send not send
dec 15* 15* 0 0 0 15 0 43 13 0 0 0 96 65 0 0 0 0 2 64 4 not send not send
Digital Input DI 7 set "high" - Bit 9 "Remote" in Statusword 6041h

*Only used to identify the response telegram in multi axis application
3 Read Status Request hex 0h 0h 0h 0h 0h 0Dh 0h 2Bh 0Dh 0h 0h 0h 60h 41h 0h 0h 0h 0h 2h not send not send not send not send
Statusword 6041h dec 0 0 0 0 0 13 0 43 13 0 0 0 96 65 0 0 0 0 2 not send not send not send not send
4 Answer Telegram (RX) Switch On Disabled hex 0h 0h 0h 0h 0h 0Fh 0h 2Bh 0Dh 0h 0h 0h 60h 41h 0h 0h 0h 0h 2h 40h 6h not send not send
dec 0 0 0 0 0 15 0 43 13 0 0 0 96 65 0 0 0 0 2 64 6 not send not send
Send Telegram (TX) bin 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1111 0000 0000 0010 1011 0000 1101 0000 0001 0000 0000 0000 0000 0110 0000 0100 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0010 0000 0110 0000 0000 not send not send
Command:
5 Write hex 0h 0h 0h 0h 0h 0Fh 0h 2Bh 0Dh 1h 0h 0h 60h 40h 0h 0h 0h 0h 2h 6h 0h not send not send
Shutdown
Controlword 6040h dec 0 0 0 0 0 15 0 43 13 1 0 0 96 64 0 0 0 0 2 6 0 not send not send
bin 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1101 0000 0000 0010 1011 0000 1101 0000 0001 0000 0000 0000 0000 0110 0000 0100 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 not send not send not send not send
6 Answer Telegram (RX) Handshake hex 0h 0h 0h 0h 0h 0Dh 0h 2Bh 0Dh 1h 0h 0h 60h 40h 0h 0h 0h 0h 0h not send not send not send not send
dec 0 0 0 0 0 13 0 43 13 1 0 0 96 64 0 0 0 0 0 not send not send not send not send
Ready To
8 Answer Telegram (RX) hex 0h 0h 0h 0h 0h 0Fh 0h 2Bh 0Dh 0h 0h 0h 60h 41h 0h 0h 0h 0h 2h 21h 6h not send not send
Switch On
Command: Switch
9 Write hex 0h 0h 0h 0h 0h 0Fh 0h 2Bh 0Dh 1h 0h 0h 60h 40h 0h 0h 0h 0h 2h 7h 0h not send not send
on
173/195
D1_EN – V3.0.1
Byte
12 Answer Telegram (RX) Switched On hex 0h 0h 0h 0h 0h 0Fh 0h 2Bh 0Dh 0h 0h 0h 60h 41h 0h 0h 0h 0h 2h 23h 6h not send not send
Command:
13 Write hex 0h 0h 0h 0h 0h 0Fh 0h 2Bh 0Dh 1h 0h 0h 60h 40h 0h 0h 0h 0h 2h Fh 0h not send not send
Enable Operation
16 Answer Telegram (RX) Operation enabled hex 0h 0h 0h 0h 0h 0Fh 0h 2Bh 0Dh 0h 0h 0h 60h 41h 0h 0h 0h 0h 2h 27h 6h not send not send
Motor current applied - Ready for desired taks
Homing Mode
Send Telegram (TX) bin 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1110 0000 0000 0010 1011 0000 1101 0000 0001 0000 0000 0000 0000 0110 0000 0110 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0001 0000 0110 not send not send not send
Write Value:
17 Write hex 0h 0h 0h 0h 0h 0Eh 0h 2Bh 0Dh 1h 0h 0h 60h 60h 0h 0h 0h 0h 1h 6h not send not send not send
6 Homing
Modes of OP 6060h dec 0 0 0 0 0 14 0 43 13 1 0 0 96 96 0 0 0 0 1 6 not send not send not send
Modes Display 6061h dec 0 0 0 0 0 13 0 43 13 0 0 0 96 97 0 0 0 0 1 not send not send not send not send
bin 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1110 0000 0000 0010 1011 0000 1101 0000 0000 0000 0000 0000 0000 0110 0000 0110 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0001 0000 0110 not send not send not send
Mode:
20 Answer Telegram (RX) hex 0h 0h 0h 0h 0h 0Eh 0h 2Bh 0Dh 0h 0h 0h 60h 60h 0h 0h 0h 0h 1h 6h not send not send not send
6 Homing
dec 0 0 0 0 0 14 0 43 13 0 0 0 96 97 0 0 0 0 1 6 not send not send not send
Send Telegram (TX) bin 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0001 0001 0000 0000 0010 1011 0000 1101 0000 0001 0000 0000 0000 0000 0110 0000 1001 0010 0000 0001 0000 0000 0000 0000 0000 0000 0000 0100 0111 0000 0001 0111 0000 0000 0000 0000
Write Value:
21 Write hex 0h 0h 0h 0h 0h 11h 0h 2Bh 0Dh 1h 0h 0h 60h 92h 1h 0h 0h 0h 4h 70h 17h 0h 0h
6000
Feed Rate 6092h:01 dec 0 0 0 0 0 17 0 43 13 1 0 0 96 146 1 0 0 0 4 112 23 0 0
174/195
D1_EN – V3.0.1
Byte
Write Value:
1
Feed Rate 6092h:02 dec 0 0 0 0 0 14 0 43 13 1 0 0 96 146 2 0 0 0 1 1 not send not send not send
Write Value:
6000
Switch VEL 6099h:01 dec 0 0 0 0 0 17 0 43 13 1 0 0 96 153 1 0 0 0 4 112 23 0 0
Write Value:
6000
Zero VEL 6099h:02 dec 0 0 0 0 0 17 0 43 13 1 0 0 96 153 2 0 0 0 4 112 23 0 0
Write Value:
29 Write hex 0h 0h 0h 0h 0h 11h 0h 2Bh 0Dh 1h 0h 0h 60h 9Ah 0h 0h 0h 0h 4h 50h C3h 0h 0h
50000
Homing ACC 609Ah dec 0 0 0 0 0 17 0 43 13 1 0 0 96 154 0 0 0 0 4 80 195 0 0
30 Answer Telegram (RX) Handshake hex 0h 0h 0h 0h 0h 0Dh 0h 2Bh 0Dh 1h 0h 0h 60h 9Ah 0h 0h 0h 0h 0h not send not send not send not send
Command:
31 Write hex 0h 0h 0h 0h 0h 0Fh 0h 2Bh 0Dh 1h 0h 0h 60h 40h 0h 0h 0h 0h 2h 1Fh 0h not send not send
Start Movement
Command:
Reset Start
36 Answer Telegram (RX) Referenced hex 0h 0h 0h 0h 0h 0Fh 0h 2Bh 0Dh 0h 0h 0h 60h 41h 0h 0h 0h 0h 2h 27h 16h not send not send
175/195
D1_EN – V3.0.1
Byte
Profile Position Mode
Write Value:
1 (Profile Position)
Modes of OP 6060h dec 0 0 0 0 0 14 0 43 13 1 0 0 96 96 0 0 0 0 1 1 not send not send not send
Modes Display 6061h dec 0 0 0 0 0 13 0 43 13 0 0 0 96 97 0 0 0 0 1 not send not send not send not send
bin 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1110 0000 0000 0010 1011 0000 1101 0000 0001 0000 0000 0000 0000 0110 0000 0110 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0001 0000 0001 not send not send not send
Mode:
40 Answer Telegram (RX) hex 0h 0h 0h 0h 0h 0Eh 0h 2Bh 0Dh 1h 0h 0h 60h 60h 0h 0h 0h 0h 1h 1h not send not send not send
1 (Profile Position)
dec 0 0 0 0 0 14 0 43 13 1 0 0 96 97 0 0 0 0 1 1 not send not send not send
Write Value:
6000
Profile VEL 6081h dec 0 0 0 0 0 18 0 43 13 1 0 0 96 129 0 0 0 0 4 112 23 0 0
Write Value:
43 Write hex 0h 0h 0h 0h 0h 12h 0h 2Bh 0Dh 1h 0h 0h 60h 83h 0h 0h 0h 0h 2h 50h C3h 0h 0h
50000
Profile ACC 6083h dec 0 0 0 0 0 18 0 43 13 1 0 0 96 131 0 0 0 0 2 80 195 0 0
Write Value:
45 Write hex 0h 0h 0h 0h 0h 12h 0h 2Bh 0Dh 1h 0h 0h 60h 7Ah 0h 0h 0h 0h 2h 70h 17h 0h 0h
6000
Target Position 607Ah dec 0 0 0 0 0 18 0 43 13 1 0 0 96 122 0 0 0 0 2 112 23 0 0
Command:
Start Movement
Movement will be executed
176/195
D1_EN – V3.0.1
Byte
Command:
Reset Start
Target Position reached and movement stopped
Setpoint bin 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 1111 0000 0000 0010 1011 0000 1101 0000 0000 0000 0000 0000 0000 0110 0000 0100 0001 0000 0000 0000 0000 0000 0000 0000 0000 0000 0010 0010 0111 0001 0110 not send not send
52 Answer Telegram (RX) Acknowledged, hex 0h 0h 0h 0h 0h 0Fh 0h 2Bh 0Dh 0h 0h 0h 60h 41h 0h 0h 0h 0h 2h 27h 16h not send not send
Target Reached dec 0 0 0 0 0 15 0 43 13 0 0 0 96 65 0 0 0 0 2 39 22 not send not send
Write Value:
53 Write hex 0h 0h 0h 0h 0h 11h 0h 2Bh 0Dh 1h 0h 0h 60h 7Ah 0h 0h 0h 0h 2h 0h 0h 0h 0h
0
Target Position 607Ah dec 0 0 0 0 0 17 0 43 13 1 0 0 96 122 0 0 0 0 2 0 0 0 0
Command:
Start Movement
Movement will be executed
Command:
Movement Halt
Movement will be stopped
Command:
Reset Start
Loop moovement: Jump back to command # 45 and repeat the steps till # 60
Changing movements: Adjust telegrams starting at command # 41 and execute with command # 47
177/195
D1_EN – V3.0.1
6.6.7 Error Output Modbus TCP Gateway

When using Modbus TCP as a gateway, the following two upper categories can be defined
6.6.7.1 Motion Control Error

The movement-specific error output is explained in detail in the CANopen chapter CANopen Error Output and Reset (p. 105).
6.6.7.2 Data Telegram Error

In the case of an telegram/protocol error the value 80h will be always added to Byte 7.
Example Value Byte 7: 2Bh + 80h = ABh (43 + 128 = 171)
The value of Byte 7 resend by the dryve D1 is therefore ABh (171).
The error information is sent in Byte 8. The significance is available in the following table:
Exception Code Code Name Description

01h Illegal Function Code The used device does not permit the send function code.
02h Illegal Data Address The used device does not permit the send data address.
The used register address is faulty.
03h Illegal Data Value The used data values are not allowable. This may indicate
an error in Byte 5.
04h Device Failure An unrecoverable error occurred while the device was
attempting to perform the requested action.
05h Acknowledge The device has accepted the request and is currently
processing it, but a long processing time is required to
execute the request. This response is sent, to prevent a
network timeout error.
06h Server Busy The receiving device is engaged in processing a long-
duration program command. The sending device should
resend the telegram if the receiving device is available
again.
NOTE
178/195
D1_EN – V3.0.1
Alerts and Errors
7 Alerts and Errors

Alerts
No. Description
A10 Temperature too high
Alert 10
The temperature of the power unit has risen above 85 °C.

In the event of a further temperature rise, please increase the cooling air flow, lower the ambient temperature,
reduce the acceleration or velocity or insert pauses between the movements.
A11 Following Error

Alert 11
50% of the allowed Following Error reached

If value falls under 50% again the alert will be reset automatically after 1 minute.
Please check the mechanical construction if executed correctly, decrease the acceleration, increase the “Motor
Current”, the “Boost Current” or reduce the load
A18 Position window
Alert 18
The position window has been left before the Positioning Time has been lapsed.
Please check the load, the forces applied to the motor or adopt the positioning window
Errors
No. Description
E01 Configuration
Error 1
Please check the configuration. Incorrect parameter combination
E02 Motor Over-current

Possible short circuit of the motor phases or incorrect current control parameter
Error 2
If EC/BLDC with Brake Resistor is being used:

Resistance value attached to X5.4 and X5.5 too low
E03 Encoder Over-current
Error 3
Electric load at terminals X6:1 is too high

Please check all electrical connections
E04 10 V Output Over-current

Error 4
Electric load at terminal X4:1 is too high

Please check all electrical connections
E05 I/O Supply

Error 5
There is no or too little voltage at terminal X2:11-12

Please check if a permissible voltage from 5 to 24 V is applied to the terminal
E06 Logic Supply Low

Error 6
Voltage at terminal X1:3-2 is too low

E07 Logic Supply High

Error 7
Voltage at terminal X1:3-2 too high

179/195
D1_EN – V3.0.1
Alerts and Errors
No. Description
E08 Load Supply Low

Error 8
No or too little voltage at terminal X1:1-2

The error evaluation is activated 250 ms after the logic voltage is switched on.
E09 Load Supply High

Error 9
Voltage at terminal X1:1-2 too high

E10 Temperature
Error 10
Power unit is overheated – Temperature above 100°C

Please increase the flow of cooling air, lower the ambient temperature and
reduce speed or insert pauses between the movements.
See E10 Temperature Error (p. 181)
E11 Following Error

Error 11
Movement outside the target parameters (comparison of target position and actual position)
If possible, increase the supply voltage or the Motor Current, lower the following error limit, reduce the load, lower
acceleration or speed, or adapt the Controller Data
See E11 Following Error (p. 181)
E12 Limit Switch

Error 12
A limit switch has been tripped

Please check the available stroke, the home position and the positions of the limit switches
E13 Hall-Sensor
Error 13
Incorrect Hal sensor data

Please check the Hall Sensor, the wiring and the signal sequence
E14 Encoder
Error 14
Incorrect encoder data

Please check the encoder, the wiring and the signal sequence
E15 Encoder Error Channel A

Error 15
No or unplausible signal at encoder channel A

Please check the connecting cable for wire breaks or a correct pin assignment of the terminal.
E16 Encoder Error Channel B

Error 16
No or unplausible signal at encoder channel B

E17 Encoder Error Channel I

Error 17
No or unplausible signal at encoder channel I

Error 21
E 21 Braking Resistor Overload

Permanent Braking Resistor trigger. Please check the parameter Braking Voltage as well as the value of the
Braking Resistor itself.
180/195
D1_EN – V3.0.1
Troubleshooting
8 Troubleshooting
No IP address displayed
Description Possible Cause Possible Countermeasures

No IP address is shown on the The assignment of the IP address • Close all open programmes on your PC
display of the motor controller. is prevented by special Ethernet • Reset the Ethernet settings to the factory
The connection between the motor settings, installed software or other
standard
controller and the PC is established connected devices.
• Establish the connection via an Ethernet
directly via an Ethernet cable, no
switch
switch or router is used.
• Test a separate PC without too restrictive
The green and orange LEDs on plug
firewall or virus scanner settings.
contact X8 (RJ45 socket) light up.
The orange LED may flash
occasionally.
E03 Encoder Over Current – Not possible to reset error

The error message "E03 Encoder The previous error condition (e.g. • Purchase of a replacement dryve D1
Over Current" cannot be reset via external voltage applied to X6 motor controller
the "Reset" button on the user connector) has destroyed the
interface or by setting the digital dryve D1 motor control.
input DI 10 "Stop/Reset" after
eliminating the cause of the error or
deactivating the encoder function
and removing connector X6.
E10 Temperature Error

After a certain operating time, the The power electronic is thermally • Load reduction
dryve D1 enters the "Stop" state and overloaded due to excessively
• Motor Current reduction
emits the error "E10 Temperature" high Motor Current without any
regeneration time. • Increase of the pause times
Inadequate temperature • Use of a motor with a higher torque at the
management at the installation same Motor Current
location. • Improve heat dissipation
E11 Following Error

In the case of a periodic movement The Boost Current (p. 42) used for • Boost Current reduction
with acceleration and deceleration the acceleration and deceleration
• Same acceleration and deceleration at a
phases longer that the movement at phases is applied without sufficient
lower Boost Current level
uniform velocity, the dryve D1 enters regeneration time (current
the "Stop" state after a certain decreased to values below the • Shortened acceleration and deceleration
reproducible operating time and phases with same Boost Current
outputs the error "E11 Following • Increase of pause times between the
Error". movements
• Use of a motor with a higher torque at the
same Motor Current
• Load Reduction
During acceleration or deceleration The motor rotor can no longer • Motor Current increase
phases or passages with an follow the rotating field of the
• Boost Current increase
increasing load, the dryve D1 enters stator. The difference between the
the "Stop" state and outputs the setpoint position and the actual • Load reduction
error "E11 Following Error " position (slip) cannot be • Acceleration reduction
compensated within the specified
parameters. • Velocity reduction
As soon as a movement is The rotation directions of the • Check for correct wiring of motor and
executed, the following error motor and encoder do not match. encoder
displayed in the oscilloscope
• Check encoder for correct function
increases continuously in proportion
to the velocity until the error Incorrect or missing signals from
"Following error E11" is emitted. the encoder.
181/195
D1_EN – V3.0.1
Troubleshooting
E12 Limit Switch

During the reference run, the The motor rotates in the wrong • Check if the wiring of the motor has been
motor/linear axis triggers the limit direction. done correctly
switch and error E12 is output. The limit switch is connected to the • Check that the switched output of the limit
wrong digital input. switch is connected to the correct Digital
The limit switch is configured Input
incorrectly • Check that the digital input for the
connected limit switch has been
configured correctly - normally closed/
normally open, PNP/NPN
Motor movement in random directions

A stepper motor is changing There is a broken wire in one of • Shorten or replace the damaged wire up
randomly the movement direction at the 4 motor wires. to the broken section
the movement start although a One wire has no electrical contact.
constant direction is set. This
direction will be kept till the
movement is stopped.
The motor noise is “rougher” as
usual.
Only manual movements possible

The motor can be moved via the The Available Stroke (p. 54) of the • Set the Available Stroke to the value
rotation direction buttons of the axis has not been set correctly. corresponding to the application
Position Adoption (p. 74)but not via
the configured drive profiles.
Motor noises while using Closed Loop

Above a certain motor rpm/velocity The motor speed is above the • 24 V load voltage
while using the closed loop, a maximum possible speed when Reduce the motor speed/velocity or
"howling" noise can be heard and using the Closed Loop increase the load voltage supply to 48 V.
the following error fluctuates
periodically. If the properties of the Closed-Loop (p.
47) are not required, the Open Loop
could be used.
• 48 V load voltage
Decrease the motor speed/velocity. If the
properties of the
If the properties of the closed loop are not
required, the open loop could be used.
182/195
D1_EN – V3.0.1
FAQs
9 FAQs
If you have difficulties in commissioning your D1, we stated the most frequently asked questions here.
Please always use the latest firmware of the D1. It is available at www.igus.eu/dryve .
How do I determine the rotation direction of the motor?

How do I connect a limit switch?
How do I determine the position of a limit switch?
How do I connect the motor?
Is there anything special to consider when commissioning a brake?
Is the igus motor encoder an incremental or absolute encoder?
Is there a sample program demonstrating the communication of the D1 with a Siemens PLC?
Is there a sample program demonstrating the communication of the D1 via Modbus TCP/IP as a gateway?
The dryve D1 is controlled by a master via CANopen or Modbus TCP/IP as a gateway. The motor is energized but does not
move after the start bit is set.
Is your request not addressed in this list? Please send us a support request with your current configuration file of the D1 to
de-dryve@igus.net
How do I determine the rotation direction of the motor?

Please read the chapter Limit Switches (p. 56). The determination of the rotation direction is illustrated in a picture.
How do I connect a limit switch?
The following applies to the igus limit switches: The brown wire is connected to 24V and the blue wire to 0V. Depending on the
position, the black wire is connected to terminal X2.8 or X2.9 of the dryve D1. The supply voltage (brown and blue wire of the
limit switch) is not provided by the D1. The cores must be connected to external terminals (e.g. in your switch cabinet).
How do I determine the position of the limit switches?

Please read the chapter Limit Switches (p. 56). There you will find a graphic illustration of the position determination.
How do I connect a motor?

Please refer to the chapter Pin Assignment (p.25). The motor connection is illustrated in a picture.
Is there anything special to consider when commissioning a brake?

During initial commissioning or after a longer standstill period of the brake, a grinding process must be performed. To execute it,
please refer to the relevant motor data sheet and follow the instructions in the sub-section "Holding brake".
Is the igus motor encoder an incremental or absolute encoder?
igus motor encoder are incremental encoder. Please refer to the corresponding data sheet.
Is there a sample program demonstrating the communication of the D1 with a Siemens PLC?
Sample programs demonstrating the communication of the D1 with a Siemens PLC are available in different versions.
Several different sample programs are available on our web page www.igus.eu/sample-program
Is there a sample program demonstrating the communication of the D1 via Modbus TCP/IP as Gateway?
A communication sample program for the D1 with a PC (laptop, Raspberry Pi or similar) via Modbus TCP/IP as Gateway is
available in the form of a Python script.
Several different sample programs are available on our web page www.igus.eu/sample-program
The dryve D1 is controlled by a master via CANopen or Modbus TCP/IP as a gateway. The motor is energized but does
not move after the start bit is set.
Please check first whether you have set all parameters of the user interface according to the chapter Necessary User Interface
Settings (p. 99). These settings are absolutely necessary.
Furthermore, check whether you have set the respective communication mode (CANopen or Modbus TCP/IP) to active and
therefore dominant Drive Mode Selection (p. 72).
If the problems persists, please write a Email to the dryve D1 Support – Service (p. 195)
183/195
D1_EN – V3.0.1
Wiring Schemes Motor, Encoder and Brake
10 Wiring Schemes Motor, Encoder and Brake
10.1 Stepper Motor und Special Stepper Motor
10.1.1 Motor Cable, Connector X5
The following wiring diagrams only apply when using igus cables.
If NEMA 17, NEMA 23 and NEMA23XL motors with brake are used, the corresponding brake cable must be used in addition to
the motor cable – drylin E data sheets
The motor connection cable of the NEMA 34 motor directly contains the necessary wires for connecting a brake.
Artivle Code Motor Type

MOT-AN-S-060-001-028-X-X-XXXX, MOT-ST-28-X-X-X NEMA 11
MOT-AN-S-060-059-086-X-X-XXXX NEMA 34
Motors with the suffix "C-AAAC" also have an encoder. The necessary connection diagrams can be found at
Encoder Cable, Connector X6(p, 186)
Overview Motor Connection
Type
MOT-AN-S-060-001-028-L-A-AAAA
MOT-AN-S-060-001-028-M-A-AAAA
MOT-AN-S-060-001-028-L-C-AAAC
MOT-AN-S-060-005-042-L-B-AAAA
MOT-AN-S-060-005-042-M-C-AAAC
MOT-AN-S-060-005-042-M-C-AAAS
MOT-AD-S-060-017-056-M-A-AAAK
184/195
D1_EN – V3.0.1
Type
MOT-AD-S-060-017-056-M-C-AAAL
MOT-AP-S-060-007-056-L-A-AAAJ
MOT-ST-28-L-A-A
MOT-ST-28-L-A-B
MOT-ST-28-L-C-A
MOT-ST-28-L-C-B
MOT-ST-42-L-A-A
MOT-ST-42-L-A-B
MOT-ST-42-L-C-A
MOT-ST-42-L-C-B
MOT-ST-56-L-A-A
MOT-ST-56-L-A-B
MOT-ST-56-L-C-A
MOT-ST-56-L-C-B
Typ
MOT-AP-S-060-013-056-K-C-AAAM
Type
MOT-AP-S-060-013-056-K-A-AAAI
Type
MOT-AN-S-060-005-042-M-D-AAAD
185/195
D1_EN – V3.0.1
Type
10.1.2 Encoder Cable, Connector X6
Overview Encoder-Connection
Type
MOT-ST-28-L-C-A
MOT-ST-28-L-C-B
MOT-ST-42-L-C-A
MOT-ST-42-L-C-B
MOT-ST-56-L-C-A
MOT-ST-56-L-C-B
Type
MOT-AD-S-060-017-056-M-C-AAAL
186/195
D1_EN – V3.0.1
Type
10.2 DC-Protect Motor

Type
MOT-DC-37-M-A-A
MOT-DC-37-M-A-B
MOT-DC-36-M-A-D
MOT-DC-37-M-A-D
MOT-DC-42-M-A-D
MOT-DC-37-M-A-H
MOT-DC-42-M-A-F
10.3 DC-Motor wit Serration Gear

10.3.1 Motor, Connector X5
Type
MOT-DC-42-J-H-B
MOT-DC-42-J-H-D
MOT-DC-42-J-H-F
MOT-DC-42-J-H-H
187/195
D1_EN – V3.0.1
10.3.2 Hall, Connector X6
Type
MOT-DC-42-J-H-B
MOT-DC-42-J-H-D
MOT-DC-42-J-H-F
MOT-DC-42-J-H-H
10.4 EC/BLDC-Motor
10.4.1 Motor, Connector X5

No igus cables are currently available for EC/BLDC motors.
The wiring diagrams show the wires coming directly from the motor.
Type
MOT-EC-42-C-H-A
MOT-EC-56-C-H-A
MOT-EC-60-C-H-A
MOT-EC-86-C-H-A
MOT-EC-42-C-I-A
MOT-EC-56-C-I-A
MOT-EC-60-C-I-A
MOT-EC-86-C-I-A
Type
MOT-EC-42-C-K-A
MOT-EC-56-C-K-A
MOT-EC-60-C-K-A
MOT-EC-86-C-K-A
188/195
D1_EN – V3.0.1
10.4.2 Hall/Encoder, Connector X6

No igus cables are currently available for EC/BLDC motors.
The wiring diagrams show the wires coming directly from the motor.
Type
MOT-EC-42-C-H-A
MOT-EC-56-C-H-A
MOT-EC-60-C-H-A
MOT-EC-86-C-H-A
Type
MOT-EC-42-C-I-A
MOT-EC-56-C-I-A
MOT-EC-60-C-I-A
MOT-EC-86-C-I-A
MOT-EC-42-C-K-A
MOT-EC-56-C-K-A
MOT-EC-60-C-K-A
MOT-EC-86-C-K-A
189/195
D1_EN – V3.0.1
Explanation of terminology
11 Accessories
Connectors
D1-CONNECTOR-SET Connector replacement set for the dryve D1
Brake Resistor
DLE-BR-50-18R Brake Resistor for Nema 17 BLDC Motors, 50 W, 18 Ω
DLE-BR-75-4R7 Brake Resistor for Nema 23 BLDC Motors, 75 W, 4,7 Ω,
DLE-BR-100-3R3 Brake Resistor for Nema 24 BLDC Motors, 100 W, 3,3 Ω
DLE-BR-100-2R7 Brake Resistor for Nema 34 BLDC Motors, 100 W, 2,7 Ω
Additional accessories as well as motors available at http://www.igus.eu/drylinE
12 Abbreviations
- AI Analogue Input
- ABS Absolute Positioning in relation to the zero point
- ADR Rotational speed with direction set by an external analogue setpoint
- APS Positioning with an external set analogue setpoint
- ARO Rotational velocity with an external set analogue setpoint
- CL Closed-Loop
- I/O Input/Output
- DC-Motor Direct Current Motor
- EC/BLDC-Motor Electronically Commutated DC-Motor
- HOM Homing mode
- OL Open-Loop
- PWM Pulse width modulation
- REL Relative Positioning in relation to actual position
- ROT Rotational Velocity
- ST Stepper Motor
13 Explanation of terminology
Analogue Feedback
A sensor that is fitted to an axis and converts the rotary movement of the axis shaft into a 0 to 10 V or ± 10 V signal. An
absolute position can be determined with this signal
Baud Rate
Uniform designation for transmission speeds
Brake ECO Mode
After completion of a positioning process, the time until the next start is monitored. If a new start command is not given within a
set time, the brake output is deactivated, as a result the holding brake is applied and the motor holding current is set to 0 A. The
controller and the output stage remain active. If a new positioning movement is started, the motor is supplied with current before
the brake output is switched on again after a pre-set time and the brake is therefore released again. The ECO Mode can
considerably reduce the thermal load on the motor.
Boost Current
The Boost Current is the increased Motor Current during phases of acceleration and deceleration. An increase of the Motor
Current to the value of the Boost Current is possible for a maximum of 2 seconds and can Motor type (p.33) be up to 300%.
Activation of the Boost Current depends on the frequency of movement.
Closed Loop
Field-oriented control with sinusoidally commutated current-vector control This effects that a Stepper Motor behaves like a servo
motor and the Motor Current is controlled in relation to the load
DC-Motor
A DC-Motor consists of a stator (fixed part) and the rotor (moving part). Pole reversal of the magnetic field is necessary for
rotary movement and is executed by the commutator on the rotor. Carbon brushes conduct the electric current through the
commutator in a changing flow direction into the motor windings fitted on the rotor. As a result, a magnetic rotating field is
generated that causes the rotor to rotate.
EC/BLDC-Motor
The Brushless Direct-Current Motor, abbreviated EC/BLDC-Motor (Electronically Commutated DC-Motor), can be understood
as a type of Direct-Current Motor whereby the normally used commutator with carbon brushes for pole reversal of the magnetic
field is replaced with an electronic circuit.
190/195
D1_EN – V3.0.1
Explanation of terminology
Encoder as Line Driver

An incremental encoder that is equipped with a difference signal generator as well as a signal amplifier stage. Channels A and
A/, B and B/ as well as installed index channels I and I/ can be evaluated.
This encoder has greater interference resistance due to difference-signal evaluation. This encoder is therefore suitable for long
cables.
Encoder as Single-Ended
An incremental encoder that can transmit signals via the A and B channels as well as the I channel, if the latter has been
installed. The respective channel is measured against earth and is therefore susceptible to interference signals. This cost-
effective encoder can be used if very short cables are used and interference signals are rare.
Limit Switch
Switch for electric feedback indicating that the mechanical limits of a linear or rotational axis have been reached. These
switches can be in the form of mechanical or electrical proximity switches.
Hall-Sensor
An angular feedback based on the Hall effect. The Hall-Sensors are controlled by magnets mounted on the rotor shaft. Every
time a Hall-Sensor is actuated, it outputs a signal that can be evaluated.
Incremental Encoder
An encoder consisting of a rotating disc on which a certain number of increments (impulses, lines) are placed.
With adding and subtracting those increments, the motor position is exactly determinable.
Open Loop
An operating mode in which the motor is controlled. A direct position feedback is not available.
Open-loop with Error Correction
Operating mode in which the motor is controlled. If a difference between the desired value and an actual value is detected
during a movement, this difference is compensated by an additional movement after the deceleration phase.
Oscillating movement
Two movements, one being from a starting point to an intermediate stop and the other one being movement back to the start.
PWM
Pulse width modulation A procedure whereby a DC voltage is converted into a lower voltage. The incoming DC voltage is
converted into a square-wave voltage. This alternates between ground and the supply voltage with a predetermined basic
frequency. The resulting output voltage is determined by the duty factor (average “On to Off” value).
Following Error
Comparison of the actual position to the setpoint position. If a Following Error is greater that the pre-set limit, an error message
is emitted.
Stepper Motor
A Stepper Motor is a synchronous motor whereby the rotor can be turned through a minimum step (angle) by a controlled
electromagnetic field of the stator coils. As the rotor exactly follows each stator step, a Stepper Motor can perform precise
positioning without a feedback.
Step/Direction
In this operating mode, movements are generated from the signals of an incoming pulse frequency at Digital Input DI 1 in
combination with a separate direction signal at Digital Input DI 2.
Teaching
Teaching is a procedure whereby the current position is adopted and stored in Drive Profile as a target point for a movement
that is to be executed.
Jog
Jog enables a manually executed movement via the dryve D1 user interface
Higher-level control system
A higher-level control system can be a PLC (programmable logic controller), a micro-controller or some other kind of control
hardware.
191/195
D1_EN – V3.0.1
Overview of input values
14 Overview of input values

Page Group Subitem 1 Subitem 2 Evaluated input
Start Configuration 40 characters

Password Admin Change Min. 30 characters
Observer Change Min. 30 characters
Motor Motor Motor Current All motors 0 A to 7 A
Boost Current Stepper Motor Min. Motor Current up to 10.5 A
DC-Motor Min. Motor Current up to 14 A
EC/BLDC-Motor Min. Motor Current up to 21 A
Holding Current Stepper Motor 0 A to 6.90 A
Gear Ratio 999.999.999 to 999.999.999
Feedback Impulses All Feedbacks 1 to 4096
Brake ECO Delay 0 ms to 10000 ms
Switching Delay 0 ms to 1000 ms
Brake Resistor Brake Voltage 12 V to 51 V
Axis Axis Available Stroke from 0 to 1,000,000
Feed Rate from 0 to 1,000,000
Motion Limits Max. Velocity from 0 to 100,000
Jog Velocity from 0 to 100,000
Max. Acceleration from 0 to 1.000,000
S-Curve From 0 to 100
Quick Stop from 1000 to 1,000,000
Following Error from 0 to 1,000,000
Positioning Window from 0 to 1,000,000
Positioning Time from 0 to 65.535
Homing Offset from 0 to 1,000,000
192/195
D1_EN – V3.0.1

Axis Absolute Feedback AI 1 Min. Target Value (V) -10 V to 10 V
AI 1 Max. Target Value (V) -10 V to 10 V
AI 1 Dead Band Zero Value From 0 to 1 in 0,001 V steps
AI 1 Dead Band Input Signal From 0 to 1 in 0,001 V steps
AI 1 Filter from 0 to 65.535
AI 2 Min. Absolute Value (V) -10 V to 10 V
AI 2 Max. Absolute Value (V) -10 V to 10 V
Communication Ethernet TCP/IP IP Address from 0.0.0.1 to 254.254.254.254
Subnetwork Mask from 0.0.0.1 to 254.254.254.254
Standard Gateway from 0.0.0.1 to 254.254.254.254
Host Name 40 characters
Bus Systems CANopen Node ID from 1 to 127
Modbus TCP Gateway Port from 0 to 65535
Unit Identifier from 1 to 255
Drive Profile Binary Mode ABS 0 to Motion Limit
REL from 0 to 1,000,000
APS 0 to Motion Limit
Acceleration 0 to Motion Limit
Velocity 0 to Motion Limit
Deceleration 0 to Motion Limit
Pause 0 ms to 100,000.000 ms
Next from 0 to 32
Tipp/Teach Mode ABS 0 to Motion Limit
Acceleration 0 to Motion Limit
Velocity 0 to Motion Limit
Deceleration 0 to Motion Limit
193/195
D1_EN – V3.0.1

Oscilloscope Controller Data Current Amplification (P) from 0 to 10,000
Time constant (I) from 0 to 1,000,000
Speed Amplification (P) from 0 to 10,000
Time constant (I) from 0 to 1,000,000
Position Amplification (P) from 0 to 10,000
Value Entries
Input values are accepted by the dryve D1 with 6 significant places without 0 (zero).
Examples of correct input values
123456 123045 123456000

123.123 123.012 0.123456
0.102345 0.000123456
194/195
D1_EN – V3.0.1
Service
15 Service
Technical Support (After Sales)
DE-dryve@igus.net
+49 (0) 2203-9649-845
Technical support for igus® dryve motor control systems
Documentation/FW
www.igus.eu/D1
Ordering of additional motor controllers, download of manuals,
FW updates, certificates and the CANopen EDS file
Sample Programs
www.igus.eu/sample-program
Download sample programs for connecting the dryve D1 to higher-level controllers.
Examples for the integration of DI/Os, AIs, Step/Direction and bus systems
Videos/Tutorials
www.igus.eu/dryve/tutorial
Videos with tutorials on the range of functions of the dryve D1 and how to set it up for operation
Further videos on igus® products
Website D1 simulation
www.igus.eu/info/dryve-motorsteuerung
Simulation of the dryve D1 user interface
Detailed information on the dryve D1
Website drylin drive technology

www.igus.eu/drivetechnology
Download data sheets of the mechanical drive technology
Ordering of axes, linear robots and accessories
Contact
www.igus.eu
info@igus.eu
+49 (0) 2203-9649-0
Imprint
© 2021
All rights reserved:
igus® GmbH
Spicher Str. 1a
51147 Cologne, Germany
Sebastian Probst
CANopen® and CiA® are registered trademarks of the respective trademark owner
195/195
D1_EN – V3.0.1

Igus® Motion Plastics: Dryve D1, ST-DC - EC/BLDC-Motor Control System

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Igus® Motion Plastics: Dryve D1, ST-DC - EC/BLDC-Motor Control System

Uploaded by

Copyright:

Available Formats

igus® Motion Plastics®

dryve D1, ST- DC- EC/BLDC-Motor Control System

Website shop Videos/Tutorials

5.4.7 Brake ................................................................................................48

6.2.2 Binary Signal Sequence ...................................................................89

10.3.1 Motor, Connector X5 ......................................................................187

1 Safety Instructions, Protective Measures and Guidelines

1.1 Important Instructions

The dryve D1 motor control system must only be used if:

1.2 Qualified Personnel

1.4 Safety Instructions

1.4.1 Information Classification

1.5 Electromagnetic Compatibility

• Risk of injury due to interference with signals and devices

Measures for EMC Effect

1. Voltage supply of 12 to 24 V with cables

2. Motor without feedback or

1. Press the orange spring

2. After removing the insulation, push

3. Release the orange spring

X1 Logic/Load Voltage Connector

2. Connect input X1.2 to 0 V

X2 Digital Inputs Connector

4. You will be forwarded to the user interface.

Help buttons display detailed descriptions of the individual settings.

1. Specify the motor type

1. Activate "DI 7 Enable" to enable the motor.

A first test run can be carried out to

1. In the drop-down menu, select the "Binary" travel profile.

I²T motor protection

3.1 Operating Modes

3.2 Technical Data

D x W x H in millimetres, incl. connectors & mounting elements 124 x 31 x 139

Overview electrical data

Voltage Supply Logic 12 to 24 V, max. 26 V

Digital I/O 5 to 24 V, max. 26 V

Current Drain Logic Min. 75 mA to 225 mA

Current Drain Load 5 mA to 7 A, max 22 A (Boost)

Current Drain Digital I/O 35 mA to 1,1 A

Motor Types ST 2 Phase Stepper Motor, bipolar

EC/BLDC Electronically Commutated Motor

Continuous Motor Current 7A

Boost Current Output Duration Max. 2 s

Load Power Output Max. 340 W

Peak Power Output Max. 1000 W

Dissipation Loss Min. 2,5 W (idle)

Max. 15 W (full load)

Max. Velocity Stepper 25,000 steps/s

EC/BLDC Min.14,000 rpm

Feedback Permissible Feedback Types 5V

Internal Voltage Source 5V ±10%

Feedback Internal Voltage Source Short Circuit Protected

Resolution 1 – 4096 increments

Encoder Input Frequency Min. 300 kHz

Hall Sensor Input Frequency 5 kHz

Holding Brake Voltage output 24 V

Current output Max. 1 A

PWM at 48 V UB at X 1.1 312 kHz

48 V at X1.1 Min. 1,7 Ω

Overload protection shut off After 1 s permanent trigger

Motor and encoder cable lengths < 30m

Digital Inputs 10 Digital Inputs

Galvanically Separated by Optocoupler