G220 - List Manual

Edition 08/2023
LIST MANUAL
SINAMICS
G220
Converter
www.siemens.com/drives
Introduction 1
Fundamental safety
instructions 2
Parameter 3
SINAMICS
Function diagrams 4
G220
SINAMICS G220 converters
Faults and alarms 5
List Manual
Valid for firmware version 6.2
08/2023, FW V6.2
A5E51781505B AA
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
indicates that minor personal injury can result if proper precautions are not taken.
NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Qualified personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended or
approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance
are required to ensure that the products operate safely and without any problems. The permissible ambient
conditions must be complied with. The information in the relevant documentation must be observed.
Trademarks
All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication
may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.
Siemens AG A5E51781505B AA Copyright © Siemens AG 2023.

Commercial Vehicles Ⓟ 10/2023 Subject to change All rights reserved
Postfach 48 48
90026 NÜRNBERG
GERMANY
Table of contents
1 Introduction ........................................................................................................................................... 5
1.1 About SINAMICS .................................................................................................................. 5
1.2 About this manual ............................................................................................................... 6
1.2.1 Content ............................................................................................................................... 6
1.2.2 Target group ........................................................................................................................ 6
1.2.3 Standard scope .................................................................................................................... 6
1.2.4 Websites of third-party companies........................................................................................ 7
1.3 SINAMICS documentation ................................................................................................... 8
1.4 Service and Support............................................................................................................. 9
1.4.1 Siemens Industry Online Support on the Web....................................................................... 9
1.4.2 Spare parts services ............................................................................................................. 9
1.5 Important product information .......................................................................................... 10
1.5.1 Firmware updates and constraints...................................................................................... 10
1.5.2 Open-source software (OSS) .............................................................................................. 10
1.5.3 Compliance with the General Data Protection Regulation.................................................... 10
2 Fundamental safety instructions......................................................................................................... 13
2.1 General safety instructions................................................................................................. 13
2.2 Warranty and liability for application examples ................................................................... 14
2.3 Cybersecurity information .................................................................................................. 15
3 Parameter ............................................................................................................................................ 17
3.1 Explanation of the parameter list........................................................................................ 17
3.2 List of parameters .............................................................................................................. 24
4 Function diagrams ............................................................................................................................. 711
4.1 Explanations about the function diagrams........................................................................ 711
4.2 Input/output terminals ..................................................................................................... 715
4.3 PROFIenergy .................................................................................................................... 724
4.4 PROFIdrive ....................................................................................................................... 727
4.5 Internal control/status words............................................................................................ 747
4.6 Brake control ................................................................................................................... 766
4.7 Safety Integrated ............................................................................................................. 768
4.8 Setpoint channel.............................................................................................................. 776
4.9 Encoder evaluation .......................................................................................................... 788
4.10 Vector control .................................................................................................................. 794
4.11 U/f control ....................................................................................................................... 821

List Manual, 08/2023, FW V6.2, A5E51781505B AA 3
Table of contents
4.12 Dynamic Drive Control ..................................................................................................... 828

4.13 Standard Drive Control ..................................................................................................... 847
4.14 Technology functions....................................................................................................... 852
4.15 Technology controller ...................................................................................................... 858
4.16 Signals and monitoring functions ..................................................................................... 865
4.17 Diagnostics ...................................................................................................................... 882
4.18 Data sets.......................................................................................................................... 887
4.19 Clean Power infeed .......................................................................................................... 892
5 Faults and alarms............................................................................................................................... 905
5.1 Overview of faults and alarms .......................................................................................... 905
5.1.1 Display of faults/alarms (messages) .................................................................................. 905
5.1.2 Differences between faults and alarms ............................................................................. 905
5.1.3 Message buffer ................................................................................................................ 906
5.1.3.1 Fault buffer ...................................................................................................................... 906
5.1.3.2 Clear fault buffer .............................................................................................................. 909
5.1.3.3 Safety message buffer ...................................................................................................... 910
5.1.3.4 Deleting a safety message buffer ...................................................................................... 912
5.1.3.5 Alarm buffer .................................................................................................................... 914
5.1.4 Explanation of the list of faults and alarms ....................................................................... 917
5.2 List of faults and alarms ................................................................................................... 924

4 List Manual, 08/2023, FW V6.2, A5E51781505B AA
Introduction 1
1.1 About SINAMICS
Description
With the SINAMICS converter series you can solve drive tasks in the low, medium and DC voltage
range. All Siemens drive components, such as converters, motors, and controls, are matched to
each other and can be integrated into your existing automation systems.
You can find more information via the SINAMICS YouTube playlist (https://www.youtube.com/
playlist?list=PLw7lLwXw4H53rtHeTeifKtVMr2aXTYt0X).

Introduction
1.2 About this manual
1.2.1 Content
Overview
The List Manual describes the meaning, setting options and dependencies of the converter
parameters.
The List Manual contains information about all parameters, function diagrams, faults and
alarms required to commission and service the system.
1.2.2 Target group
Overview
The List Manual addresses the following target groups:
• Project engineers
• Programmers
• Commissioning engineers
• Service and maintenance personnel
1.2.3 Standard scope
Description
This documentation describes the functionality of the standard scope. This scope may differ
from the scope of the functionality of the system that is actually supplied. Please refer to the
ordering documentation only for the functionality of the supplied drive system.
Further functions may be executable in the system, which are not explained in this
documentation. However, there is no entitlement to these functions in the case of a new
delivery or service.
This documentation does not contain all detailed information on all types of the product.
Furthermore, this documentation cannot take into consideration every conceivable type of
installation, operation and service/maintenance.
The machine manufacturer must document any additions or modifications they make to the
product themselves.

Introduction
1.2.4 Websites of third-party companies
Description
This document may contain hyperlinks to third-party websites. Siemens is not responsible for
and shall not be liable for these websites and their content. Siemens has no control over the
information which appears on these websites and is not responsible for the content and
information provided there. The user bears the risk for their use.

Introduction
1.3 SINAMICS documentation
1.3 SINAMICS documentation
Description
The documentation on the SINAMICS family of converters is available under Siemens Industry
Online Support (https://support.industry.siemens.com/cs/ww/en/view/109807358).
You can display documents or download them in PDF and HTML5 format.
The converter documentation essentially comprises the following manuals:
Table 1-1 SINAMICS documentation
Information Documentation class Content

Device information Operating Instructions Information for installing, commissioning and
operating the converter
List Manual Meaning, setting options and dependencies of
the parameters and messages of the converter
General information Industrial Cybersecurity Information on the Industrial Cybersecurity
Configuration Manual functions and on the safe operation of the con‐
verter

Introduction
1.4 Service and Support
1.4 Service and Support
1.4.1 Siemens Industry Online Support on the Web

Important product information is available through Siemens Industry Online Support using the
following options:
• Website: SIOS (https://support.industry.siemens.com/cs/ww/en/)
• App Industry Online Support (for Apple iOS and Android)
Content of Siemens Online Support

• Product support
• Global forum for information and best practice sharing between users and specialists
• Local contact persons via the contact person database (→ Contact)
• Product information
• FAQs (frequently asked questions)
• Application examples
• Manuals
• Downloads
• Compatibility tool
• Newsletter with product selection
• Catalogs/brochures
• Certificates
For products with QR code, the manual and certificate can be directly called.
1.4.2 Spare parts services
Description
The online spare part service "Spares on Web" offers certain spare parts for the product:
• Website: SOW address (https://www.sow.siemens.com).

Introduction
1.5 Important product information
1.5.1 Firmware updates and constraints
Description
Firmware updates and constraints for the converters with the current firmware are available in
SIOS:
Updates and constraints, SINAMICS G220 (https://support.industry.siemens.com/cs/ww/en/
view/109807094)
1.5.2 Open-source software (OSS)
Description
The license conditions and copyright information of the open-source software components
used by the device are saved on the device itself. You can download license and copyright
information onto your PC via the support page of the integrated web server.
1.5.3 Compliance with the General Data Protection Regulation
Description
Siemens complies with the principles of the General Data Protection Regulation (EU), in
particular the principle of data minimization ("privacy by design"). For this SINAMICS product,
this means:
• User management and access control (UMAC)
The product processes or stores the following personal data:
– Login data for user management and access control:
User name, group, password, role, rights.
The data for user management and access control is stored in the converter and optionally
on a memory card.
• Support data (optional)
For optimal support in service cases, the end user or machine manufacturer (OEM) can
optionally store contact data (header, email address, telephone number, homepage) in the
converter.
If this data is created, the author must give thought to data protection consent for this
optional data. Siemens takes no responsibility for this data.
This support contact data can be read and is freely accessible in, for example, the user
interface as well as in the diagnostics report. This data is not encrypted.

Introduction
This data is used for user management and access control (UMAC) and for the support
function. The storage of this data is appropriate and limited to what is necessary, as it is
essential to identify the authorized operators and service contact.
The personal data is also available as part of the backup system to ensure fast recovery of use
cases.
The above-mentioned personal data cannot be stored anonymously or pseudonymized,
as it serves the purpose of identifying the operating personnel. The anonymization or
pseudonymization, e.g. of the login data, must be performed using suitable login names
and contact data by the plant/machine operator.
Our product does not provide any functions for automatically deleting personal data.
Individual UMAC data can be deleted manually by authorized personnel as soon as this is
deemed recommended/required.

Introduction

Fundamental safety instructions 2
2.1 General safety instructions
WARNING
Danger to life if the safety instructions and residual risks are not observed
If the safety instructions and residual risks in the associated hardware documentation are not
observed, accidents involving severe injuries or death can occur.
• Observe the safety instructions given in the hardware documentation.
• Consider the residual risks for the risk evaluation.
WARNING
Malfunctions of the machine as a result of incorrect or changed parameter settings
As a result of incorrect or changed parameterization, machines can malfunction, which in turn
can lead to injuries or death.
• Protect the parameterization against unauthorized access.
• Handle possible malfunctions by taking suitable measures, e.g. emergency stop or
emergency off.

Fundamental safety instructions
2.2 Warranty and liability for application examples
2.2 Warranty and liability for application examples

Application examples are not binding and do not claim to be complete regarding configuration,
equipment or any eventuality which may arise. Application examples do not represent specific
customer solutions, but are only intended to provide support for typical tasks.
As the user you yourself are responsible for ensuring that the products described are
operated correctly. Application examples do not relieve you of your responsibility for safe
handling when using, installing, operating and maintaining the equipment.

2.3 Cybersecurity information

Siemens provides products and solutions with industrial cybersecurity functions that support
the secure operation of plants, systems, machines and networks.
In order to protect plants, systems, machines and networks against cyber threats, it is
necessary to implement – and continuously maintain – a holistic, state-of-the-art industrial
cybersecurity concept. Siemens’ products and solutions constitute one element of such a
concept.
Customers are responsible for preventing unauthorized access to their plants, systems,
machines and networks. Such systems, machines and components should only be connected
to an enterprise network or the internet if and to the extent such a connection is necessary
and only when appropriate security measures (e.g. firewalls and/or network segmentation)
are in place.
For additional information on industrial cybersecurity measures that may be implemented,
please visit
https://www.siemens.com/global/en/products/automation/topic-areas/industrial-
cybersecurity.html.
Siemens’ products and solutions undergo continuous development to make them more
secure. Siemens strongly recommends that product updates are applied as soon as they are
available and that the latest product versions are used. Use of product versions that are no
longer supported, and failure to apply the latest updates may increase customer’s exposure
to cyber threats.
To stay informed about product updates, subscribe to the Siemens Industrial Cybersecurity
RSS Feed under
https://new.siemens.com/global/en/products/services/cert.html.
Further information is provided on the Internet:
Industrial Cybersecurity Configuration Manual (https://
support.industry.siemens.com/cs/ww/en/view/109810578)
WARNING
Unsafe operating states resulting from software manipulation
Software manipulations, e.g. viruses, Trojans, or worms, can cause unsafe operating states in
your system that may lead to death, serious injury, and property damage.
• Keep the software up to date.
• Incorporate the automation and drive components into a state-of-the-art, integrated
industrial cybersecurity concept for the installation or machine.
• Make sure that you include all installed products in the integrated industrial cybersecurity
concept.
• Protect files stored on exchangeable storage media from malicious software by with suitable
protection measures, e.g. virus scanners.
• Carefully check all cybersecurity-related settings once commissioning has been completed.


Parameter 3
3.1 Explanation of the parameter list
Description
The parameters are displayed according to the following pattern.
SYYYY 1BSBNFUFSOBNFTIPSUQBSBNFUFSOBNF
7BSJBOU %BUBUZQF*OUFHFS 7JTJCMFJO4UBOEBSEEJTQMBZ
3FBEQFSNJTTJPO 3FBEESJWFEBUBPSBDLOPXMFEHFNFTTBHFT
8SJUFQFSNJTTJPO &EJUEFWJDFDPO꫼HVSBUJPOPSESJWFBQQMJDBUJPOT
$BOCFDIBOHFEJOUIFPQFSBUJOHTUBUF 3FBEZGPSPQFSBUJPO
1BSBNFUFSHSPVQ /BNFPGUIFHSPVQ T
/PUSFMFWBOUGPSNPUPSUZQF
%ZOJOEFY<ܵO> $BMDVMBUFE
6OJU 6OJUHSPVQ 6OJUTFMFDUJPO
.JO .BY 'BDUPSZTFUUJOH

5ZQFPGTJHOBMJOUFSDPOOFDUJPO #JOBSZTJOL 4DBMJOH
'BDUPSZJOUFSDPOOFDUJPO 'JYFEWBMVF
%FTDSJQUJPO 5FYU
7BMVF /BNFPGWBMVF
/BNFPGWBMVF
3FDPNNFOEBUJPO 5FYU
*OEFY <>/BNFBOENFBOJOHPGJOEFY
<>/BNFBOENFBOJOHPGJOEFY
#JUBSSBZ #JU 4JHOBMOBNF TJHOBM TJHOBM '%
/BNFPGCJU :FT /P
/BNFPGCJU :FT /P
%FQFOEFODZ 5FYU
4FFBMTP QYYY SYYY
4FFBMTP 'YYYYY "YYYYY $YYYYY
%BOHFS$BVUJPO
8BSOJOH/PUJDF 4BGFUZSFMBUFEOPUFDPSSFTQPOEJOHUPUIFXBSOJOHOPUFDPODFQU
/PUF 5FYU

Parameter
The representation of a parameter includes as a maximum the information listed below.

Depending on the specific parameter, some of the listed information is not applicable.
• Parameter number (rxxxx)
The parameter number is made up of a "p", "r" or "c", followed by several numbers and
optionally an index and bit array.
The parameter number has the following syntax: pxxxx[0...n], rxxxx[0...n], cxxxx[0...n],
pxxxx.0...15 or rxxxx.0...15, cxxxx.0...15, pxxxx[0...n].0...15 or rxxxx[0...n].0...15,
cxxxx[0...n].0...15.
Examples of representation in the parameter list:
• p... Adjustable parameters (read and write)

• r... Display parameters (read-only)
• c... Interconnection parameter (signal sink)
• p0972 Adjustable parameter 972
• p0089[0...2] Adjustable parameter 89, indices 0 to 2
• p1001[0...n] Adjustable parameter 1001, indices 0 to n (n = configurable)
• r0945 Display parameter 945
• r0196[0...255]. Display parameter with index 0 to 255 and bit array, bit 0 to bit 15
4...15
• r2139.0...15 Display parameter 2139 with bit array from bit 0 to bit 15
• c8997[0...2] Signal sink 8997 index 0 to 2
Other examples of the notation in the documentation:
• p1213[1] Adjustable parameter 1213, index 1
• p1151[1].2 Adjustable parameter 1151, index 1 bit 2
• r0945[2] Display parameter 945, index 2
• p0795.4 Adjustable parameter 795, bit 4
• c10022 Signal sink
• Parameter name / short parameter name

Shows the parameter name in the long form and separated by a slash in the short form.
• Variant
Specifies the product variant for which the parameter is valid. This information is not
applicable if a parameter is the same for all product variants used in the parameter list.
• Data type
Each parameter is assigned one of the following data types:
• Integer8 I8 8-bit integer

• Unsigned8 U8 8-bit without sign
• FloatingPoint32 Float 32-bit floating-point number

Parameter
• Visible in
You change the number of parameters displayed in the commissioning tool via:
– Standard display
Only the basic parameters are displayed.
– Extended display
The full scope of parameters is displayed.
• Rights
The user and rights management (UMAC) controls access to the parameters.
You require runtime function rights to read and set parameters.
The following read rights are available:
– Read drive data or acknowledge messages
The following write permissions are available:
– Control drive in manual mode
– Perform drive diagnostics
– Perform firmware update
– Create backup or load drive data to Startdrive
– Edit device configuration or drive applications
– Edit Safety Integrated application
– Edit web server configuration
– Manage users and roles
Runtime function rights depend on user roles, which are assigned in the commissioning tool
being used (Startdrive, web server). As a consequence, adjustable parameters can be write-
protected.
The commissioning tool provides additional support.
• Can be changed in the operating state
A parameter can only be changed in this operating state. The change only becomes active
after exiting the state.
The following states exist:
– Operation
Current flows through the motor.
– Ready for operation
The motor is de-energized and commissioning is not performed. Parameters marked with
"Operation" can also be changed in this state.
– Commissioning
The motor is de-energized. Commissioning is performed.
Parameters marked "Operation" or "Ready for operation" are possibly automatically
changed, and can be adapted after commissioning has been completed.
– Commissioning (Safety Integrated)
Safety Integrated is commissioned.
The motor is de-energized. Commissioning is performed.
Parameters marked "Operation" or "Ready for operation" are possibly automatically
changed, and can be adapted after commissioning has been completed.

Parameter
• Parameter group
A parameter group contains parameters that are functionally associated with one another.
• Not for motor type
This parameter has no significance for the specified motor types.
• Dynamic index
The following information is specified for parameters with a dynamic index [0...n]:
– Data set
– Parameter specifying the number of indices (n = number - 1).
Example: Dyn. index [0…n]: MDS n defined by: p0130
Data set types:
– CDS (Command Data Set)
– DDS (Drive Data Set)
– EDS (Encoder Data Set)
– MDS (Motor Data Set)
– PDS (Power unit Data Set)
You create and delete data sets in the commissioning tool.
• Calculated
Parameters, which are influenced by automatic calculations, are marked "automatic".
• Unit
Shows the default unit of the parameter. For adjustable parameters, the unit is additionally
specified according to the values (Min, Max, Factory setting) in square brackets.

Parameter
• Unit group and unit selection

Depending on the selection of the standard, a different unit is shown for the performance
data of the converter and motor. Therefore, for some parameters the unit is switched over.
The "Unit selection" shows for which parameter the unit is changed.
The units for the different standards are stored in unit groups.
Example:
Unit group: 14_6, unit selection: p0100
The parameter belongs to the unit group 14_6 and the unit is switched over via p0100.
All available unit groups and possible unit selections are listed below.
Unit group Unit selection for p0100 = Reference value for %

0, 2 1
7_4 Nm lbf ft -
8_4 N lbf -
14_2 W W -
14_6 kW HP -
14_13 W/A HP/A -
14_14 W min/1000 HP min/1000 -
14_15 W/A2 HP/A2 -
14_16 W min /1000
2 2
HP min /1000
2 2
-
25_1 kgm 2
lb ft 2
-
27_1 kg lb -
28_1 Nm/A lbf ft/A -
29_1 N/Arms lbf/Arms -
30_1 m ft -
47_1 kW s/K HP s/K -
48_1 W/K HP/K -
48_2 W min/1000 K HP min/1000 K -
48_3 W min2/10002 K HP min2/10002 K -
50_1 K/W K/HP -
• Min, Max, Factory setting

The parameter value when delivered from the factory is specified under "Factory setting" with
the relevant unit in square parentheses.
The value can be adjusted within the range defined by "Min" and "Max".
This information is not applicable for display parameters.
Min Minimum value of the parameter [unit]

Max Maximum value of the parameter [unit]
Factory setting Value when delivered [unit]

Parameter
• Signal interconnection
Interconnectable parameter types:
– Source numeric
– Source binary
– Source binary/numeric
– Sink numeric
– Binary sink
For parameters, type Signal sink, the factory interconnection is also specified.
Interconnection options for signal sinks:
– Fixed value
– Parameter
When commissioned for the first time or when restoring factory settings, it is possible that a
value other than the factory interconnection is visible.
Only certain combinations are permitted when creating signal interconnections:
Signal source parameter Signal sink parameter

Sink numeric Binary sink
Integer16 Integer32 Floating‐ Binary
Point32
Numeric: Unsigned8 x x - -
Numeric: Integer16 x x r2050 -
Numeric: Integer32 x x r2060 -
Numeric: FloatingPoint32 x x x -
Binary: Unsigned8 . . - x
Binary: Integer16 . . - x
Binary: Integer32 . . - x
x: Signal interconnection permitted

–: Signal interconnection not permitted
rxxxx: Signal interconnection only permitted for the specified source parameters
• Scaling
Specifies the reference variable, with which a signal value is automatically converted for a
signal interconnection.
The following reference variables are available:
– p2000 … p2007: Reference speed, reference voltage, etc.
– PERCENT: 1.0 = 100 %
– 4000H: 4000 hex = 100 % (word) or 4000 0000 hex = 100 % (double word)
• Description
Explanation of the function of a parameter.

Parameter
• Values
List of the possible values of a parameter.
• Recommendation
Information about recommended settings.
• Index
Indexed parameters represent the name and its significance for each individual index.
The following applies to the values (Min, Max, Factory setting) of indexed adjustable
parameters:
– Min, Max:
The adjustment range and unit apply to all indices.
– Factory setting:
When all indices have the same factory setting, index 0 is specified with the unit to
represent all indices.
When the indices have different factory settings, they are all listed individually together
with the unit.
• Bit array
For parameters with bit arrays, the following information is provided for each bit:
– Bit number and signal name
– Meaning for signal states 0 and 1
– Function diagram (optional)
The signal is shown in this function diagram.
• Dependency
Specification of interactions that this parameter can potentially have:
– Effect on other parameters
– Dependent on the parameter settings (dependent on the selected functions)
– List of other parameters to be considered
– List of faults and alarms to be considered
• Danger / Caution / Warning / Notice
The safety-relevant notes correspond to the warning notice concept and contain the
following information:
– Important information that must be observed to avoid the risk of physical injury or
material damage.
– Information that must be observed to avoid any problems.
– Information that the user may find useful.
• Note
Additional explanations about parameters

Parameter
3.2 List of parameters
Parameters
The following list contains parameters of product G220.
Product: SINAMICS G220, Version: 602015000, Language: eng
Objects: G220, G220 Clean Power
r0002 Drive operating display / Drv op_display

Data type: Integer16 Visible in: Standard display
Read permission: Read drive data or acknowledge messages
Write permission: Edit device configuration or drive applications
Parameter group: Status parameters, Diagnostics general, Drive enable signals
Not relevant for motor type: -
Dyn. index [0…n]: - Calculated: -
Unit: - Unit group: - Unit selection: -
Description: Operating display for the drive.
Value: 0: Operation - Everything enabled
10: Operation - Set "Enable setpoint" = "1"
11: Operation - Set "Enable speed controller" = "1"
12: Operation - RFG frozen, set "RFG start" = "1"
13: Operation - Set "Enable ramp-function generator" = "1"
14: Operation - MotID, excitation running or brake opens, SS2
15: Operation - Open brake (p1215)
16: Operation - Withdraw braking with OFF1 using "ON/OFF1" = "1"
17: Operation - Braking with OFF3 can only be interrupted with OFF2
18: Operation - Brake on fault, remove fault, acknowledge
19: Operation - DC braking/armature short-cct active (c1230, p1231)
21: Ready for operation - Set "Enable operation" = "1" (c0852)
22: Ready for operation - De-magnetizing running (p0347)
23: Ready for operation - Set "Infeed operation" = "1" (c0864)
31: Ready for switching on - Set "ON/OFF1" = "0/1" (c0840)
35: Switching on inhibited - Carry out first commissioning
41: Switching on inhibited - Set "ON/OFF1" = "0"
42: Switching on inhibited - Set "Operating condition/OFF2" = "1"
43: Switching on inhibited - Set "Operating condition/OFF3" = "1"
44: Switching on inhibited - Supply STO terminal w/ 24 V (hardware)
45: Switching on inhibited - Rectify fault, acknowledge fault, STO
46: Switching on inhibited - Exit commissioning mode
60: Drive deactivated/not operational
70: Initialization
200: Wait for booting/partial booting
250: Device signals a topology error
Dependency: See also: r0046
NOTICE
For several missing enable signals, the corresponding value with the highest number is displayed.

Parameter
Note
OC: Operating condition
EP: Enable Pulses (pulse enable)
RFG: Ramp-function generator
COM: Commissioning
MotID: Motor data identification
r0020 Speed setpoint smoothed / Speed setpoint

Data type: FloatingPoint32 Visible in: Standard display
Parameter group: Mode signals / displays
Unit: rpm Unit group: - Unit selection: -
Description: Displays the currently smoothed speed setpoint at the input of the speed controller or U/f characteristic (after the
interpolator).
Note
Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The speed setpoint is available smoothed (r0020) and unsmoothed (r1438 for experts).
r0021 Speed actual value smoothed / Speed actual value

Parameter group: Diagnostics, Mode signals / displays
Type of signal interconnection: Source numeric Scaling: p2000
Description: Display and numerical signal source for the smoothed actual value of the motor speed. The speed is calculated for
motors without a speed encoder.
Frequency components from the slip compensation (for induction motors) are not included.
Note
The speed actual value is available smoothed (r0021, r0022) and unsmoothed (r0063).
r0022 Speed actual value rpm smoothed / Actual speed rpm

Data type: FloatingPoint32 Visible in: Extended display

Parameter
Description: Displays the smoothed actual value of the motor speed. The speed is calculated for motors without a speed encoder.
Frequency components from the slip compensation (for induction motors) are not included.
r0022 is identical to r0021, however, it always has units of rpm and contrary to r0021 cannot be changed over.
Dependency: See also: r0021, r0063
Note
The speed actual value is available smoothed (r0021, r0022) and unsmoothed (r0063).
r0024 Output frequency smoothed / Output frequency

Parameter group: U/f control, Mode signals / displays, Power unit
Unit: Hz Unit group: - Unit selection: -
Description: Displays the smoothed output frequency.
Frequency components from the slip compensation (for induction motors) are included.
Note
The output frequency is available smoothed (r0024) and unsmoothed (r0066).
r0025 Output voltage smoothed / Output voltage

Unit: Vrms Unit group: - Unit selection: -
Description: Displays the smoothed output voltage of the power unit.
Note
The output voltage is available smoothed (r0025) and unsmoothed (r0072).

Parameter
r0026 DC link voltage smoothed / DC link voltage

Parameter group: Brake control, Mode signals / displays
Unit: V Unit group: - Unit selection: -
Description: Displays the smoothed actual value of the DC link voltage.
Note
The DC link voltage is available smoothed (r0026) and unsmoothed (r0070).
r0027 Absolute actual current smoothed / I_act AbsV smth

G220 Data type: FloatingPoint32 Visible in: Standard display
Parameter group: Mode signals / displays, Power unit
Unit: Arms Unit group: - Unit selection: -
Description: Displays the smoothed absolute current actual value.
NOTICE
This smoothed signal is not suitable for diagnostics or evaluation of dynamic operations. In this case, the unsmoothed
value should be used.
Note
The absolute current actual value is available smoothed (r0027) and unsmoothed (r0068).
r0027 Absolute actual current smoothed / I_act AbsV smth

G220 Clean Power Data type: FloatingPoint32 Visible in: Standard display

Parameter
NOTICE
Note
r0028 Modulation depth smoothed / mod_depth smth

Unit: % Unit group: - Unit selection: -
Description: Displays the smoothed actual value of the modulation depth.
Note
The modulation depth is available smoothed (r0028) and unsmoothed (r0074).
r0029 Current actual value field-generating smoothed / Id_act smth

Parameter group: Current controller, Mode signals / displays, Power unit
Description: Displays the smoothed field-generating actual current.
Note
The field-generating current actual value is available smoothed (r0029) and unsmoothed (r0076).
r0030 Current actual value torque-generating smoothed / Iq_act smth

Parameter group: Current controller, Mode signals / displays, Power unit
Description: Displays the smoothed torque-generating actual current.

Parameter
Note
The torque-generating current actual value is available smoothed (r0030) and unsmoothed (r0078).
r0031 Actual torque smoothed / Torq actual value

Unit: Nm Unit group: - Unit selection: -
Description: Displays the smoothed torque actual value.
Note
The torque actual value is available smoothed (r0031) and unsmoothed (r0080).
r0032 Active power actual value smoothed / Active power ActV

Unit: kW Unit group: - Unit selection: -
Type of signal interconnection: Source numeric Scaling: r2004
Description: Display and numerical signal source for the smoothed actual value of the active power.
NOTICE
Note
Power delivered at the motor shaft.
The active power is available smoothed (r0032 with 100 ms) and unsmoothed (r0082).
r0033 Torque utilization smoothed / M_util smooth

Description: Displays the smoothed torque utilization as a percentage.
The torque utilization is obtained from the required smoothed torque in reference to the torque limit, scaled using
p2196.

Parameter
Dependency: This parameter is only available for vector control. For U/f control r0033 = 0 %.
Note
The torque utilization is available smoothed (r0033) and unsmoothed (r0081).
For M_set total (r0079) > 0, the following applies:
- Required torque = M_set total
- Actual torque limit = M_max upper effective (r1538)
For M_set total (r0079) <= 0, the following applies:
- Required torque = - M_set total
- Actual torque limit = - M_max lower effective (r1539)
For the actual torque limit = 0, the following applies: r0033 = 100 %
For the actual torque limit < 0, the following applies: r0033 = 0 %
r0034 Motor utilization thermal / Mot_util therm

Parameter group: Motor temperature, Mode signals / displays
Not relevant for motor type: Induction motor, Synchronous or reluctance motor with starting cage
Type of signal interconnection: Source numeric Scaling: PERCENT
Description: Display and numerical signal source for the motor utilization from motor temperature model 1 (I2t) or 3.
For motor temperature model 1 (I2t) (p0612.0 = 1), the following applies:
- r0034 = (motor model temperature - p0613) / p0627 * 100 %
For motor temperature model 3 (p0612.2 = 1), the following applies:
- r0034 = (motor model temperature - p0613 / (p5390 - p0613) * 100 %
Dependency: See also: p0605, p0611, p0612, p0613, p0627, r0632
See also: F07011, A07012
NOTICE
After the drive is switched on, the system starts to determine the motor temperature with an assumed model value. This
means that the value for the motor utilization is only valid after a stabilization time.
Note
For r0034 = -200.0 %, the following applies:
The value is invalid (e.g. the motor temperature model is not activated or has been incorrectly parameterized).
r0035 Motor temperature / Mot temp

Parameter group: Motor temperature, Mode signals / displays
Unit: °C Unit group: - Unit selection: -
Description: Display and numerical signal source for the actual temperature in the motor.

Parameter
Note
For r0035 not equal to -200.0 °C, the following applies:
- This temperature display is valid.
- A KTY/Pt1000 temperature sensor is connected.
- The thermal model for the induction motor is activated (p0612 bit 1 = 1 and temperature sensor deactivated: p0600
= 0 or p0601 = 0).
For r0035 equal to -200.0 °C, the following applies:
- This temperature display is not valid (temperature sensor error).
- A PTC sensor or bimetallic NC contact is connected.
- The temperature sensor of the synchronous motor is deactivated (p0600 = 0 or p0601 = 0).
r0036[0...2] Power unit overload / PU overload

Description: Display when the power unit is overloaded.
A reference value is defined for the monitoring functions.
An overload (0 %) is not displayed if the reference value is not exceeded.
The display value increases if the reference value is exceeded.
An alarm is output if an overload is active over a certain time period; a fault is output when 100% is reached.
Index: [0] = I2t (AC)
[1] = Active power
[2] = I2t (DC)
Dependency: See also: p0290
See also: F30005, A30256, A30257, F30258, A30267, F30268
Note
For index [0]:
This index shows the actual state of the I2t monitoring on the AC side.
The reference value represents the AC current that the power unit can permanently provide, without the influence of
switching losses (e.g. the continuously permissible current of capacitors, inductances, busbars, etc.).
For index [1]:

This index shows the actual state of the active power monitoring.
The reference value represents the active power that the power unit can continuously provide.
For index [2]:

This index shows the actual state of the I2t monitoring on the DC side.
The reference value represents the DC current that can continuously flow in the DC link.
r0037[0...10] Power unit temperatures / PU temperatures

G220 Data type: FloatingPoint32 Visible in: Extended display

Parameter

Description: Display and numerical signal source for temperatures in the power unit.
Index: [0] = Inverter maximum value
[1] = Depletion layer maximum value
[2] = Rectifier maximum value
[3] = Air intake
[4] = Interior of power unit
[5] = Cooling unit liquid intake
[6] = Capacitor air discharge
[7] = Depletion layer maximum value 1
Note
The value of -200 indicates that there is no measuring signal.
r0037[0]: Maximum value of the inverter temperatures
r0037[1]: Maximum value of the depletion layer temperatures
r0037[2]: Maximum value of the rectifier temperatures
The maximum value is the temperature of the hottest inverter, depletion layer, or rectifier.
In the case of a fault, the particular shutdown threshold depends on the power unit, and cannot be read out.

G220 Clean Power Data type: FloatingPoint32 Visible in: Extended display
Index: [0] = Inverter maximum value
[2] = Reserved
[3] = Air intake
Note
r0037[0]: Maximum value of the inverter temperatures
r0037[1]: Maximum value of the depletion layer temperatures
The maximum value is the temperature of the hottest inverter, depletion layer, or rectifier.

Parameter
r0038 Power factor smoothed / Cos phi smooth

Description: Displays the smoothed actual power factor. This refers to the electrical power of the basic fundamental signals at the
converter output terminals.
Note
r0039[0...2] Energy display / Energy display

Parameter group: Mode signals / displays, Power loss optimization
Unit: kWh Unit group: - Unit selection: -
Type of signal interconnection: Source numeric Scaling: -
Description: Display and numerical signal source for the energy values at the output terminals of the power unit.
Recommendation: r0042 should be used as process energy display.
Index: [0] = Energy balance (sum)
[1] = Energy drawn
[2] = Energy dissipated
Note
For a signal interconnection, signal source r0039 supplies the floating-point value in Ws.
For index [0]:
Difference between the energy drawn and energy that is returned.
For index [2]:
Energy fed back into the braking resistor or the line supply. For converters without energy recovery and without braking
resistor, the electrical losses of the motor and power unit are displayed.
r0042[0...2] Process energy display / Proc energy disp

Data type: Integer32 Visible in: Extended display
Unit: Wh Unit group: - Unit selection: -
Description: Display and numerical signal source for the energy values at the output terminals of the power unit.
Index: [0] = Energy balance (sum)
[1] = Energy drawn
[2] = Energy fed back

Parameter
Dependency: See also: c0043
Note
The signal can be displayed as process variable (scaling: 1 = 1 Wh).
The enable is realized using c0043. The counter value remains constant when the enable is withdrawn. The display starts
at zero when enable is set.
If an enable signal is active in c0043 when the converter runs up, then the value from r0039 is transferred into r0042.
As r0039 serves as a reference signal for r0042, due to format reasons, the process energy display can only process values
of r0039 up to 2147483 kWh. r0039 should also be reset using this value.
c0043 Enable process energy usage measurement / Enable energy meas

Data type: Unsigned8 Visible in: Extended display
Type of signal interconnection: Sink binary
Factory interconnection: Fixed value: 0
Description: Signal to enable/reset process energy management in r0042.
for a 1 signal, the following applies:
The process energy measurement is enabled in r0042 and started with 0 Wh.
for a 0 signal, the following applies:
The process energy measurement in r0042 is stopped.
r0044 Thermal converter utilization / Conv_util therm

Description: Displays the thermal converter utilization as a percentage.
With this value, various thermal monitoring functions are taken into account.
Note
The thermal motor utilization is displayed in parameter r0034.
p0045 Display values smoothing time constant / Disp_val Tc_smth

Can be changed in the operating Operation
state:

Parameter
Unit: ms Unit group: - Unit selection: -

Min: Max: Factory setting:
0.00 [ms] 10000.00 [ms] 4.00 [ms]
Description: Sets the smoothing time constant for the following display values:
r0063[1], r0068[1], r0076[1], r0078], r0080[1], r0082[1], r1732[1], r1733[1].
r0046.0...31 Missing enable signal / Missing enable sig

Data type: Unsigned32 Visible in: Standard display
Parameter group: Control/status words, Drive enable signals
Type of signal interconnection: Source binary/numeric Scaling: -
Description: Display and signal source for missing enable signals that are preventing the closed-loop drive control from being
commissioned.
Bit array: Bit Signal name 1 signal 0 signal
00 OFF1 enable missing Yes No
03 Operation enable missing Yes No
04 Armature short-circuit / DC braking enable missing Yes No
05 STOP2 enable missing Yes No
08 Safety enable missing Yes No
09 Infeed enable missing Yes No
10 Ramp-function generator enable missing Yes No
11 Ramp-function generator start missing Yes No
12 Speed setpoint enable missing Yes No
15 QuickStop enable missing Yes No
16 OFF1 enable internal missing Yes No
19 Pulse enable internal missing Yes No
20 Armature short-circuit/DC braking internal enable missing Yes No
21 STOP2 enable internal missing Yes No
25 Function bypass active Yes No
26 Drive inactive or not operational Yes No
27 De-magnetizing not completed Yes No
28 Brake open missing Yes No
30 Speed controller enable missing Yes No
31 Jog setpoint active Yes No

Parameter
Note
Value = 0 indicates that all enable signals for this drive are present.
Bit 00 = 1 (enable signal missing), if:

- Signal sink c0840 has a 0 signal.
- Switching on inhibited is active.

- Signal sink c0844 or c0845 has a 0 signal.


Bit 04 =1 (armature short-circuit active), if:

Bit 05, Bit 06: Being prepared

- Safety functions have been enabled and STO (Safe Torque Off) is active.
- STO is selected via onboard terminals or PROFIsafe.
- A safety-relevant signal is active with STO (Safe Torque Off) response.
- Additional details relating to the reason that STO was selected, see parameter r10352.


Bit 11 = 1 (enable signal missing) if the speed setpoint is frozen, because:

- The speed setpoint from jogging is specified and the two signal sinks for jog bit 0 (c1055) and bit 1 (c1056) have a 1
signal.


- There is an OFF1 fault response. The system is only enabled if the fault is removed and was acknowledged and the
"switching on inhibited" withdrawn with OFF1 = 0.

- The commissioning mode is selected.
- There is an OFF2 fault response.
- OFF3 has still not been completed or an OFF3 fault response is present.
Bit 19 = 1 (internal pulse enable missing), if:

- Synchronization is running between the basic clock cycle, DRIVE-CLiQ clock cycle and application clock cycle.
Bit 20 =1 (internal armature short-circuit active), if:

- The drive is not in the state "S4: Operation" or "S5x" (refer to function diagram 2610).
- The internal pulse enable is missing (r0046.19 = 0).

Parameter

The pulses have been enabled and the speed setpoint has still not been enabled, because:
- The holding brake opening time (p1216) has still not expired.
- The motor has still not been magnetized (induction motor).
- The encoder has not been calibrated (U/f vector and synchronous motor).
Bit 22: Being prepared

- The drive is inactive or not capable of operation.
- The drive device is in the "PROFIenergy energy-saving mode" (r5600).

- de-magnetization not completed.

- The holding brake is closed or has still not been opened.
Bit 30 = 1 (speed controller inhibited), if one of the following applies:

- A 0 signal is present via binary signal sink c0856.
- The function generator with current input is active.
- The measuring function "current controller reference frequency characteristic" is active.
- The pole position identification is active.
- Motor data identification is active (only certain steps).

- The speed setpoint from jog 1 or 2 is entered.
r0047 Motor data identification and speed controller optimization / MotID and n_opt
Parameter group: Motor data identification routine, Rotating measurement/speed controller
optimization
Description: Displays the actual status for the motor data identification (stationary measurement) and the speed controller
optimization with determination of the rated magnetizing current and saturation characteristic (rotating
measurement).
Value: 0: No measurement
115: Measurement q leakage inductance (part 2)
120: Speed controller optimization (vibration test)
140: Calculate speed controller setting
150: Measurement moment of inertia
170: Measurement magnetizing current and saturation characteristic
190: Speed encoder test
195: Measurement q leakage inductance (part 1)
200: Rotating measurement selected
210: Pole position identification selected
220: identification leakage inductance
230: Identification rotor time constant

Parameter
240: Identification stator inductance

250: Identification stator inductance LQLD
251: Identification saturation pole Id
260: Identification circuit
262: Identification saturation characteristic 5/5
280: Identification stator resistance
290: Identification valve lockout time
295: Calibration output voltage measurement
300: Stationary measurement selected
Note
For r0047 = 300:
This value is also displayed if encoder calibration p1990 is selected.
r0049[0...3] Motor data set/encoder data set effective / MDS/EDS effective

Parameter group: Mode signals / displays, Data sets
Description: Displays the effective Motor Data Set (MDS) and the effective Encoder Data Sets (EDS).
Index: [0] = Motor Data Set MDS effective
[1] = Motor encoder encoder data set EDS effective
[2] = Encoder 2 Encoder Data Set EDS effective
[3] = Reserved
Dependency: See also: p0186, p0187, p0188
Note
Value 99 means the following: No encoder assigned (not configured).
r0050.0...1 Command Data Set CDS effective / CDS effective

Parameter group: Mode signals / displays, Command data sets CDS, Configuration
Description: Displays the effective Command Data Set (CDS).
00 CDS effective bit 0 On Off
01 CDS effective bit 1 On Off
Dependency: See also: c0810, c0811, r0836

Parameter
Note
The combination of bits indicates which data set is active.
The command data set, selected using binary signal sinks c0810 and c0811, is indicated using r0836.
r0051.0...3 Drive Data Set DDS effective / DDS effective

Parameter group: Mode signals / displays, Drive data sets DDS
Description: Displays the effective Drive Data Set (DDS).
00 DDS effective bit 0 On Off
Dependency: See also: c0820, c0821, c0822, c0823, r0837
Note
The drive data set changeover is suppressed when selecting the motor identification, during the rotating measurement,
the encoder calibration and the friction characteristic record.
r0052.0...15 Status word 1 / ZSW 1

Parameter group: Control/status words, Mode signals / displays
Description: Display and signal source for status word 1.
00 Ready for switching on Yes No
01 Ready Yes No
02 Operation enabled Yes No
03 Fault present Yes No
04 Coast down active (OFF2) No Yes
05 Quick Stop active (OFF3) No Yes
06 Switching on inhibited active Yes No
07 Alarm present Yes No
08 Deviation setpoint/actual speed No Yes
09 Control request Yes No
10 Maximum speed exceeded Yes No
11 I, M or P limit not reached Yes No
12 Motor holding brake open Yes No
13 Alarm motor overtemperature No Yes

Parameter
14 Motor rotates forwards Yes No

15 Alarm drive converter overload No Yes
Note
For r0052:
The status bits have the following sources:
Bit 00: r0899 Bit 0
Bit 01: r0899 Bit 1
Bit 02: r0899 Bit 2
Bit 03: r2139 Bit 3 (or r1214.10 for p1210 > 0)
Bit 04: r0899 Bit 4
Bit 05: r0899 Bit 5
Bit 06: r0899 Bit 6
Bit 07: r2139 Bit 7
Bit 08: r2197 Bit 7
Bit 09: r0899 Bit 7
Bit 10: r2197 bit 12
Bit 11: r0056 Bit 13 (negated)
Bit 12: r0899 Bit 12
Bit 14: r2197 Bit 3
r0053.0...11 Status word 2 / ZSW 2

Description: Display and signal source for status word 2.
00 DC braking active Yes No
01 |n_act| > p1226 (n_standstill) Yes No
02 |n_act| > p1080 (n_min) Yes No
03 I_act >= p2170 Yes No
04 |n_act| > p2155 Yes No
05 |n_act| <= p2155 Yes No
06 |n_act| >= r1119 (n_set) Yes No
07 Vdc <= p2172 Yes No
08 Vdc > p2172 Yes No
09 Ramp-up/ramp-down completed Yes No
10 Technology controller output at the lower limit Yes No
11 Technology controller output at the upper limit Yes No

Parameter
Note
The following status bits are displayed in r0053:
Bit 00: r1239 Bit 8
Bit 03: r2197 Bit 8
Bit 04: r2197 Bit 2
Bit 05: r2197 Bit 1
Bit 06: r2197 Bit 4
Bit 07: r2197 Bit 9
Bit 08: r2197 Bit 10
Bit 10: r2349 Bit 10
Bit 11: r2349 Bit 11
r0054.0...15 Control word 1 / STW 1

Description: Displays control word 1.
00 ON/OFF1 Yes No
01 Operating condition / OFF2 Yes No
03 Enable operation Yes No
04 Enable ramp-function generator Yes No
05 Continue ramp-function generator Yes No
06 Enable speed setpoint Yes No
07 Acknowledge fault Yes No
08 Jog bit 0 Yes No
09 Jog bit 1 Yes No
10 Master control by PLC Yes No
11 Direction reversal (setpoint) Yes No
12 Enable speed controller Yes No
13 Motorized potentiometer raise Yes No
14 Motorized potentiometer lower Yes No
15 CDS bit 0 Yes No

Parameter
Note
The following control bits are displayed in r0054:
Bit 00: r0898 Bit 0
Bit 01: r0898 Bit 1
Bit 02: r0898 Bit 2
Bit 03: r0898 Bit 3
Bit 04: r0898 Bit 4
Bit 05: r0898 Bit 5
Bit 06: r0898 Bit 6
Bit 08: r0898 Bit 8
Bit 09: r0898 Bit 9
Bit 10: r0898 Bit 10
Bit 11: r1198 Bit 11
Bit 13: r1198 Bit 13
Bit 14: r1198 Bit 14
Bit 15: r0836 Bit 0
r0055.0...15 Supplementary control word / Suppl STW

Description: Display and signal source for the supplementary control word.
00 Fixed setpoint bit 0 Yes No
04 DDS selection bit 0 Yes No
05 DDS selection bit 1 Yes No
08 Technology controller enable Yes No
09 DC braking enable Yes No
11 Droop enable Yes No
12 Torque control active Yes No
13 External fault 1 (F07860) No Yes
15 CDS bit 1 Yes No

Parameter
Note
CDS: Command Data Set
DDS: Drive Data Set
The following control bits are displayed in r0055:
Bit 00: r1198.0
Bit 01: r1198.1
Bit 02: r1198.2
Bit 03: r1198.3
Bit 04: r0837.0
Bit 05: r0837.1
Bit 08: r2349.0 (negated)
Bit 09: r1239.11
Bit 11: r1406.11
Bit 12: r1406.12
Bit 15: r0836.1
r0056.0...15 Status word, closed-loop control / ZSW cl-lp ctrl

Description: Display and signal source for the status word of the closed-loop control.
00 Initialization completed Yes No
01 De-magnetizing completed Yes No
02 Pulse enable available Yes No
03 Soft starting present Yes No
04 Magnetizing completed Yes No
05 Voltage boost when starting Active Inactive
06 Acceleration voltage Active Inactive
07 Frequency negative Yes No
08 Field weakening active Yes No
09 Voltage limit active Yes No
10 Slip limit active Yes No
11 Frequency limit active Yes No
12 Current limiting controller voltage output active Yes No
13 Current/torque limiting Active Inactive
14 Vdc_max controller active Yes No
15 Vdc_min controller active Yes No

Parameter
r0060 Speed setpoint before the setpoint filter / n_set before filt
Parameter group: Mode signals / displays, Speed setpoint filter
Description: Displays the currently unsmoothed speed setpoint at the input of the speed controller or U/f characteristic (after the
interpolator).
r0061[0...2] Speed actual value from the encoder / n_act from encoder
Parameter group: Motor encoder, Mode signals / displays
Description: Displays the speed actual values sensed by the encoders.
Index: [0] = Motor encoder
[1] = Encoder 2
[2] = Reserved
Note
With a parameterized filter time constant p1441, the speed signal from encoder 1 is displayed corrected by the following
error.
r0062 Speed setpoint after the filter / n_set after filter

Parameter group: U/f control, Speed controller, Mode signals / displays, Speed setpoint filter
Description: Display and numerical signal source for the speed setpoint after the setpoint filters.
r0063[0...2] Speed actual value / Speed actual value

Parameter group: U/f control, Speed messages, Speed controller, Speed actual value filter, Mode
signals / displays

Parameter

Description: Display and numerical signal source for the speed actual value.
Index: [0] = Unsmoothed
[1] = Smoothed with p0045
[2] = Calculated from f_set - f_slip (unsmoothed)
Note
Frequency components from the slip compensation (for induction motors) are not included. The speed actual value is
calculated in encoderless operation and for U/f control.
The speed actual value r0063[0] – smoothed with p0045 – is additionally displayed in r0063[1]. r0063[1] can be used
as process variable for the appropriate smoothing time constant p0045.
The speed (r0063[2]) calculated from the output frequency and slip frequency can only be compared with the speed
actual value (r0063[0]) in the steady-state.
The speed actual value (r0063[0]) is available as a display quantity with additional smoothing in r0021.
Only for U/f control:

When slip compensation is deactivated (see p1335) the synchronous speed for the output frequency is indicated in
r0063[0] and a mechanical speed, calculated from the output frequency and the slip, is indicated in r0063[2].
Only for vector control:
The speed actual value r0063[0] is the input signal of the smoothing (p1442, p1452) upstream of the speed controller.
For vector control or Dynamic Drive Control (p0504 = 2) with encoder, r0063[0] is retrieved at the output of speed actual
value filter 5.
r0064 Speed controller system deviation / n_ctrl SysDev

Parameter group: Speed controller, Mode signals / displays
Description: Displays the actual system deviation of the speed controller.
Dependency: Not visible in operating mode: "Standard Drive Control" (SDC, p0504 = 1)
r0065 Slip frequency / f_slip

Parameter group: U/f control, Mode signals / displays
Description: Displays the slip frequency for induction motors (ASM).

Parameter
r0066 Output frequency / f_outp

Description: Display and numerical signal source for the unsmoothed output frequency of the power unit.
Frequency components from the slip compensation (induction motor) are included.
Note
The output frequency is available smoothed (r0024) and unsmoothed (r0066).
r0067 Output current maximum / Current max

Parameter group: U/f control, Torque limiting, Current controller, Mode signals / displays, Power unit
Description: Display and numerical signal source for the maximum output current of the power unit.
Dependency: The maximum output current is determined by the parameterized current limit and the motor and converter thermal
protection.
See also: p0290, p0640
r0068[0...1] Absolute current actual value / I_act AbsV

Description: Displays actual absolute current.
NOTICE
The value is updated with the current controller sampling time.
Note
Absolute current value = sqrt(Iq^2 + Id^2)
The absolute value of the current actual value is available smoothed (r0027 with 300 ms, r0068[1] with p0045) and
unsmoothed (r0068[0]).

Parameter
r0069[0...8] Phase current actual value / I_phase ActV

Unit: A Unit group: - Unit selection: -
Description: Display and numerical signal source for the measured actual phase currents as peak value.
Index: [0] = phase U
[1] = Phase V
[2] = Phase W
[3] = Phase U offset
[4] = Phase V offset
[5] = Phase W offset
[6] = Total U, V, W
[7] = Alpha component
[8] = Beta component
Note
In indices 3 ... 5, the offset currents of the 3 phases, which are added to correct the phase currents, are displayed.
The sum of the 3 corrected phase currents is displayed in index 6.
r0070 Actual DC link voltage / Vdc act val

Parameter group: Dynamic braking, Vdc-min/max controller, Flux setpoint, Mode signals / displays,
Power unit
Description: Display and numerical signal source for the measured actual value of the DC link voltage.
Note
The DC link voltage is available smoothed (r0026) and unsmoothed (r0070).
r0071 Maximum output voltage / Voltage max

Parameter group: U/f control, Torque limiting, Flux setpoint, Mode signals / displays, Power unit
Description: Displays the maximum output voltage.
Dependency: The maximum output voltage depends on the actual DC link voltage (r0070) and the maximum modulation depth
(p1803).

Parameter
Note
As the (driven) motor load increases, the maximum output voltage drops as a result of the reduction in DC link voltage.
r0072 Output voltage / U_output

Parameter group: U/f control, Current controller, Flux setpoint, Mode signals / displays, Power unit
Description: Display and numerical signal source for the actual output voltage of the power unit.
Note
The output voltage is available smoothed (r0025) and unsmoothed (r0072).
r0073 Maximum modulation depth / mod_depth max

Parameter group: Flux setpoint, Mode signals / displays, Power unit
Description: Displays the maximum modulation depth.
r0074 Modulation depth / mod_depth

Description: Display and numerical signal source for the actual modulation depth.
Note
For space vector modulation, 100% corresponds to the maximum output voltage without overcontrol.
Values above 100% indicate an overcontrol condition - values below 100% indicate no overcontrol.
The phase voltage (phase-to-phase, rms) is calculated as follows:(r0074 x r0070) / (sqrt(2) x 100 %).
The modulation depth is available smoothed (r0028) and unsmoothed (r0074).

Parameter
r0075 Current setpoint field-generating / Id_set

Parameter group: Torque limiting, Current controller, Mode signals / displays
Not relevant for motor type: Synchronous or reluctance motor with starting cage
Description: Display and numerical signal source for the field-generating current setpoint (Id_set).
Note
This value is irrelevant for the U/f control mode.
r0076[0...1] Current actual value field-generating / Id_act

Parameter group: U/f control, Current controller, Mode signals / displays
Description: Display and numerical signal source for the field-generating current setpoint (Id_act).
Note
The field-generating current actual value is available smoothed (r0029) and unsmoothed (r0076).
r0077 Current setpoint torque-generating / Iq_set

Parameter group: Current controller, Mode signals / displays
Description: Display and numerical signal source for the torque-generating current setpoint.
Note

Parameter
r0078[0...1] Current actual value torque-generating / Iq_act

Parameter group: U/f control, Current controller, Mode signals / displays
Description: Display and numerical signal source for the torque-generating current actual value (Iq_act).
Note
The torque-generating current actual value is available smoothed (r0030 with 300 ms) and unsmoothed (r0078).
r0079 Torque setpoint / M_set

Parameter group: Torque limiting, Mode signals / displays
Description: Display and numerical signal source for the torque setpoint at the output of the speed controller.
r0080[0...1] Torque actual value / Torq actual value

Parameter group: Motor model, Mode signals / displays
Description: Display and numerical signal source for the torque actual value.
Dependency: See also: r0031, p0045
Note
The value is available smoothed (r0031 with 100 ms, r0080[1] with p0045) and unsmoothed (r0080[0]).

Parameter
r0081 Torque utilization / M_utilization

Parameter group: Torque limiting, Mode signals / displays
Description: Displays the torque utilization as a percentage.
The torque utilization is obtained from the required smoothed torque referred to the torque limit.
See also: r0033
Note
The torque utilization is available smoothed (r0033) and unsmoothed (r0081).
The torque utilization is obtained from the required torque referred to the torque limit as follows:
- Positive torque: r0081 = (r0079 / r1538) * 100 %
- Negative torque: r0081 = (-r0079 / -r1539) * 100 %
r0082[0...2] Active power actual value (motor) / P_act (motor)

Description: Displays the instantaneous active power.
[2] = Electric power
Note
The mechanical active power is available smoothed (r0032 with 100 ms, r0082[1] with p0045) and unsmoothed
(r0082[0]).
r0083 Flux setpoint / Flux set

Parameter group: Flux setpoint, Mode signals / displays
Description: Displays the flux setpoint.

Parameter
r0084[0...1] Flux actual value / Flux actual value

Description: Displays the flux actual value.
[1] = Smoothed
r0087 Actual power factor / Cos phi act

Description: Displays the actual active power factor.
This value refers to the electrical power of the basic fundamental signals at the output terminals of the converter.
r0089[0...2] Actual phase voltage (motor) / U_phase (motor)

Description: Displays the actual phase voltage.
[1] = Phase V
[2] = Phase W
r0093 Pole position angle electrically scaled / Pole pos el scale

Unit: ° Unit group: - Unit selection: -

Parameter
Description: Displays the scaled electrical pole position angle.

Dependency: See also: r0094, p0431, r1778
r0094 Transformation angle / Transformat_angle

Description: Displays the transformation angle.
Note
The transformation angle corresponds to the electrical commutation angle.
If no pole position identification is carried out (p1982), and the encoder is adjusted, the following applies:
The encoder supplies the value and indicates the electrical angle of the flux position (d axis).
p0100 IEC/NEMA Standards / IEC/NEMA Standards

Can be changed in the operating Commissioning
state:
Parameter group: Motor data, Units, Quick commissioning
0 2 0
Description: Defines whether the motor and drive converter power settings (e.g. rated motor power, p0307) are expressed in [kW]
or [hp].
Depending on the selection, the rated motor frequency (p0310) is either set to 50 Hz or 60 Hz.
For p0100 = 0, 2, the following applies: The power factor (p0308) should be parameterized.
For p0100 = 1, the following applies: The efficiency (p0309) should be parameterized.
Value: 0: IEC (50 Hz line, SI units)
1: NEMA (60 Hz line, US units)
2: NEMA (60 Hz line, SI units)
Dependency: When changing the standard, all motor rated parameters are reset. Only then are possible unit changeovers made.
The units of all motor parameters are changed that are involved in the selection of IEC or NEMA (e.g. r0206, p0307,
r0333, r0334, p0341, p0344).
See also: r0206, p0210, p0300, p0304, p0305, p0307, p0308, p0309, p0310, p0311, p0314, p0320, p0322, p0323,
p0335, r0337, p1800

Parameter
p0112 Sampling times pre-setting p0115 / t_samp for p0115

state:
Parameter group: Universal settings
3 5 3
Description: Pre-assignment of the sampling times in p0115.
The clock cycles for the current controller / speed controller / flux controller / setpoint channel / position controller /
positioning / technology controller are pre-assigned as follows:
p0112 = 3: 250 / 1000 / 1000 / 1000 / 2000 / 4000 / 4000 µs (for rated pulse frequency = 2.0, 4.0 kHz)
p0112 = 5: 250 / 250 / 1000 / 500 / 2000 / 2000 / 2000 µs
Value: 3: Fixed values 4 kHz (standard)
5: Fixed values 4 kHz (speed controller)
Recommendation: When changing the sampling times of the speed controller (see also p0115), after exiting commissioning, it is
recommended that the speed controller is optimized again (see also p1900 = 3).
p0115[0...6] Sampling times for internal control loops / t_samp int ctrl
state:
Parameter group: Universal settings
Unit: µs Unit group: - Unit selection: -
0.00 [µs] 16000.00 [µs] [0] 250.00 [µs]
[1] 1000.00 [µs]
[2] 1000.00 [µs]
[3] 1000.00 [µs]
[4] 2000.00 [µs]
[5] 4000.00 [µs]
[6] 4000.00 [µs]
Description: Displays the sampling times for the control loops. The setting is realized using p0112.
Index: [0] = Current controller
[1] = Speed controller
[2] = Flux controller
[3] = Setpoint channel
[4] = Position controller
[5] = Positioning
[6] = Technology controller

Parameter
Note
For functions that can be activated (e.g. technology controller), the parameters values are pre-assigned.
p0120 Number of Power unit Data Sets (PDS) / PDS count

state:
Parameter group: Data sets
1 1 1
Description: Sets the number of Power unit Data Sets (PDS).
The value corresponds to the number of power units connected together for a parallel circuit configuration.
Note
This parameter is only assigned for drives with parallel connection with values > 1.
p0130 Number of Motor Data Sets (MDS) / MDS count

state:
1 16 1
Description: Sets the number of Motor Data Sets (MDS).
p0133[0...n].0...15 Motor configuration / Motor config

state:
Parameter group: Motor data, Quick commissioning
Not relevant for motor type: Permanent-magnet synchronous motor, Synchronous or reluctance motor with
starting cage
Dyn. index [0…n]: MDS n defined by: p0130 Calculated: -
- - 0000 0000 0000 0000 bin
Description: Configuration of the motor when commissioning the motor.

Parameter
00 Motor connection type Delta Star

01 Motor 87/104 Hz operation Yes No
15 Motor parameter write protection Canceled Set
Dependency: For standard induction motors (p0301 > 10000), bit 0 is automatically pre-assigned the connection type of the selected
data set. Bit 0 should be appropriately changed if the motor is operated with a different connection type. For third-party
motors, setting the connection type is of no significance. It is only used to enable the 87/104 Hz selection.
See also: p0304, p0305, p1082
Note
For bit 00:
When changing the bits, the rated motor voltage p0304 and the rated motor current p0305 are automatically converted
to the selected connection type (star/delta).
For motors with rating plate input, selecting the connection type has no impact on the commissioning results. Only the
nameplate entries are relevant in this case.
For bit 01:
87 Hz operation is only possible in the delta connection type. When selected, the maximum speed p1082 is
automatically pre-assigned for a maximum output frequency of 87 Hz (for p0100 = IEC) or 104 Hz (for p0100 = NEMA).
For 2KJ3 and 2KJ8 motors, bit01 should not be used.
For bit 15:
Motor parameter write protection can be withdrawn for motors listed in the motor database. This is realized
automatically when performing the motor data identification.
p0140 Number of Encoder Data Sets (EDS) / EDS count

state:
1 16 1
Description: Sets the number of Encoder Data Sets (EDS).
Note
When parameterizing the drive with "no encoder" there must be at least one encoder data set (p0140 >= 1).
p0170 Number of Command Data Sets (CDS) / CDS count

state:
Parameter group: Command data sets CDS
2 4 2
Description: Sets the number of Command Data Sets (CDS).

Parameter
Note
Using this data set switchover, a switch can be made between interconnectable command parameters.
p0180 Number of Drive Data Sets (DDS) / DDS count

state:
Parameter group: Drive data sets DDS
1 16 1
Description: Sets the number of Drive Data Sets (DDS).
p0186[0...n] Motor Data Sets (MDS) number / MDS number

state:
Dyn. index [0…n]: DDS n defined by: p0180 Calculated: -
0 15 0
Description: Using the parameter, each Drive Data Set (= index) is assigned the associated Motor Data Set (MDS).
The parameter value therefore corresponds to the number of the assigned motor data set.
p0187[0...n] Motor encoder encoder data set number / Mot enc EDS number
state:
0 99 99
Description: Assigns a drive data set (= index) the associated encoder data set (EDS) for the motor encoder.
The value corresponds to the number of the assigned encoder data set.
Example:
Motor encoder in drive data set 2 should be assigned encoder data set 0.
--> p0187[2] = 0

Parameter
Note
A value of 99 means that no encoder has been assigned to this drive data set (not configured).
p0188[0...n] Encoder 2 encoder data set number / Enc 2 EDS number

state:
0 99 99
Description: Assign a drive data set (= index) the corresponding encoder data set (EDS) for encoder 2.
The value corresponds to the number of the assigned encoder data set.
Example:
Encoder 2 in drive data set 2 should be assigned to encoder data set 1.
--> p0188[2] = 1
Note
A value of 99 means that no encoder has been assigned to this drive data set (not configured).
r0192.0...26 Power unit firmware properties 1 / PU FW properties 1

Parameter group: System identification
Description: Displays the properties supported by the power unit firmware.
00 Support of optimized pulse patterns Yes No
01 Support of asynchronous pulse frequencies for vector/infeed Yes No
08 Support of the simulation mode Yes No
09 Support of internal armature short-circuit Yes No
10 Support of autonomous armature short-circuit Yes No
16 Reserved Yes No
18 Reserved Yes No
19 Support of closed-loop current limiting control Yes No
20 Support of component status Yes No
22 Support of lower device supply voltage Yes No
23 Support of test pulse operation Yes No
26 Support of phase mode Yes No

Parameter
NOTICE
This information represents the characteristics/features of the power unit firmware. It does not provide information/
data about the characteristics/features of the hardware (e.g. bit 06 = 1 means that although the firmware supports
"liquid cooling", a power unit with liquid cooling does not have to be used).
Note
For bit 09:
The converter supports the internal armature short-circuit. The function is internally required for voltage protection
(p1231 = 3).
For bit 10:
The converter supports the autonomous internal voltage protection.
If the "internal voltage protection" function is activated (p1231 = 3) the converter decides autonomously - using the DC
link voltage - as to whether the short-circuit is activated.
For bit 23:
The component supports connecting (injecting) additive voltage pulses as well as sensing current actual values
averaged over a short time.
r0193.1...15 Power unit firmware properties 2 / PU FW properties 2

Description: Displays the properties supported by the power unit firmware.
01 Reserved Yes No
05 SW supports tolerant response to overvoltages Yes No
08 SW supports reduced undervoltage threshold while precharging Yes No
12 SW supports DC link forming Yes No
15 Motor holding brake with variable brake voltage Yes No
r0196[0...255].0...15 Topology component status / Top comp stat

Parameter group: Diagnostics general
Description: Displays the status of the components.
r0196[0]: Group status of all components
r0196[1]: Status of component with component number 1
...
r0196[255]: Status of component with component number 255
00 Component status bit 0 High Low

Parameter

04 Component state Active Inactive/parking
06 Topology problem active Yes No
07 Part of the target topology Yes No only act topo
09 Safety message present Yes No
11 Alarm class bit 0 High Low
13 Maintenance required Yes No
14 Maintenance urgently required Yes No
15 Fault gone/can be acknowledged Yes No
Note
For bit 03 ... 00:
Bit 3, 2, 1, 0 = 0, 0, 0, 0 --> component not available.
Bit 3, 2, 1, 0 = 0, 0, 0, 1 --> power up, non-cyclic DRIVE-CLiQ communication (LED = orange).
Bit 3, 2, 1, 0 = 0, 0, 1, 0 --> operating mode, cyclic DRIVE-CLiQ communication (LED = green).
Bit 3, 2, 1, 0 = 0, 0, 1, 1 --> alarm (LED = green).
Bit 3, 2, 1, 0 = 0, 1, 0, 0 --> fault (LED = red).
Bit 3, 2, 1, 0 = 0, 1, 0, 1 --> detection via LED and operating mode (LED = green/orange).
Bit 3, 2, 1, 0 = 0, 1, 1, 0 --> detection via LED and alarm (LED = green/orange).
Bit 3, 2, 1, 0 = 0, 1, 1, 1 --> detection via LED and fault (LED = red/orange).
Bit 3, 2, 1, 0 = 1, 0, 0, 0 --> firmware being downloaded (LED = green/red with 0.5 Hz).
Bit 3, 2, 1, 0 = 1, 0, 0, 1 --> firmware download completed, wait for POWER ON (LED = green/red with 2.0 Hz).
For bits 12 ... 11:
These status bits are used for the classification of internal alarm classes and are intended for diagnostic purposes only
on certain automation systems with integrated SINAMICS functionality.
r0200[0...n] Power unit code number actual / PU code no act

Parameter group: System identification, Power unit
Dyn. index [0…n]: PDS n defined by: p0120 Calculated: -
Description: Displays the unique code number of the power unit.
Note
r0200 = 0: No power unit data found
p0201[0...n] Power unit code number / PU code no

state:
Parameter group: Power unit

Parameter

0 65535 0
Description: Code number of the power unit. This value is automatically entered when the drive is commissioned for the first time.
r0203[0...n] Actual power unit type / PU actual type

Description: Displays the type of power unit found.
Value: 100: SINAMICS S
114: PM240 (SINAMICS G2xx)
Note
For parallel circuit configurations, the parameter index is assigned to a power unit.
r0204[0...n].0...21 Power unit hardware properties / PU HW properties

Description: Displays the properties supported by the power unit hardware.
00 Device type DC/AC device AC/AC device
01 RFI filter available Yes No
08 Internal Braking Module Yes No
12 Safe Brake Control (SBC) supported No Yes
13 Safety Integrated supported Yes No
19 Heat sink fan Yes No
20 Auxiliary fan 1 Yes No
r0206[0...2] Rated power unit power / PU P_rated

Unit: kW Unit group: 14_6 Unit selection: p0100
Description: Displays the rated power of the power unit (rating plate).

Parameter
Index: [0] = Rated value

[1] = Rated value in the second voltage range
[2] = Rated value dependent on the motor type
Dependency: IEC drives (p0100 = 0): Units kW
NEMA drives (p0100 = 1): Units hp
See also: p0100, r0214
r0207[0...2] Rated power unit current / PU PI_rated

Description: Displays the rated current of the power unit (rating plate).
Index: [0] = Rated value
r0208 Rated power unit line supply voltage / PU U_rated

Description: Displays the rated line supply voltage of the power unit.
r0208 = 400: 380 - 480 V +/-10 %
r0208 = 500: 500 - 600 V +/-10 %
r0208 = 690: 660 - 690 V +/-10 %
r0209[0...2] Power unit maximum current / PU I_max

Description: Displays the maximum output current of the power unit.
Index: [0] = Catalog

Parameter
p0210 Device supply voltage / U_connect

G220 Data type: Unsigned16 Visible in: Standard display
Can be changed in the operating Ready for operation
state:
Parameter group: Power unit, Quick commissioning
70 [V] 690 [V] 400 [V]
Description: Sets the device supply voltage (rms value of the phase-to-phase line supply voltage).
Dependency: For p1254, p1294 (automatic detection of the Vdc switch-on levels) = 0, the intervention thresholds of the Vdc_max
controller (r1242, r1282) are directly determined from p0210.
NOTICE
If, in the switched-off state (pulse inhibit), the supply voltage is higher than the entered value, the Vdc controller may
be automatically deactivated in some cases to prevent the motor from accelerating the next time the system is switched
on. In this case, an appropriate alarm A07401 is output.
Note
Setting ranges for p0210 as a function of the rated power unit voltage:
U_rated = 230 V:
- p0210 = 200 ... 240 V
U_rated = 400 V:
- p0210 = 380 ... 500 V
U_rated = 690 V:
- p0210 = 525 ... 690 V
p0210 Device supply voltage / U_connect

state:
Parameter group: Power unit, Quick commissioning, Line data
70 [Vrms] 1000 [Vrms] 400 [Vrms]
Description: Sets the device supply voltage (3-ph. AC).
The value corresponds to the rms value of the phase-to-phase rated line supply voltage.
Dependency: The following applies for preassigning the setpoint of the DC link voltage: p3510 = 1.5 x p0210.
For p1254, p1294 (automatic detection of the Vdc switch-on levels) = 0, the intervention thresholds of the Vdc_max
controller (r1242, r1282) are directly determined from p0210.
WARNING
All connected motors must be suitable for pulsed operation at the selected device supply voltage (p0210) and the
associated DC link voltage (p3510). Otherwise motors could be damaged.

Parameter
NOTICE
If the device supply voltage is more than 10% higher than the value in p0210, then in some instances the Vdc_max
controller is automatically deactivated to prevent the motor from accelerating the next time the system is switched on.
In this case, an appropriate alarm A07401 is output.
Note
The voltage range for the supply voltage depends on the type and the voltage class of the power unit.
The following applies for the normal range of the supply voltage:
400/500 V devices: 380 V <= p0210 <= 500 V
500/690 V devices: 500 V <= p0210 <= 690 V
p0211 Rated line frequency / Rated line freq

state:
Parameter group: Line data, Line supply PLL
10 [Hz] 100 [Hz] 50 [Hz]
Description: Sets the rated line frequency for the infeed.
NOTICE
For p3409 = 1, the following applies:
After operation has been enabled, the rated line frequency (p0211) is automatically set to a value of 50 Hz or 60 Hz
corresponding to the currently measured frequency. This means that the parameter value of p0211 is, under certain
circumstances, changed.
The system does not change parameter p0211.
p0212.8...9 Power unit configuration / PU config

G220 Clean Power Data type: Unsigned16 Visible in: Extended display
state:
- - 0000 0011 0000 0000 bin
Description: Sets the power unit configuration.
08 Reduction of the activation threshold of the braking chopper Yes No
09 Infeed reduces output current Yes No

Parameter
Note
For bit 08 = 1: The activation threshold of the braking chopper (referred to the DC link voltage) is reduced as a function
of p0210. The shutdown threshold is also reduced as a result of a DC link overvoltage (r0297).
For bit 09 = 1: For an overload condition, the infeed can reduce the maximum power unit output current. The reduced
current can be read out of r0289. The reduction is not active for p0290 = 1, 3, 13.
r0214 Power unit active rated values / Power unit Idx

Parameter group: System identification, Control/status words, Power unit
Description: Displays the active power unit rated values. The parameter contains the index of parameters r0206, r0207, r0209.
p0215 Braking resistor selection / Brk resistor sel

G220 Data type: Integer16 Visible in: Standard display
state:
Parameter group: Dynamic braking, Quick commissioning
0 3 0
Description: Sets the external braking resistor.
Value: 0: No braking resistor
1: External braking resistor (without monitoring)
2: Siemens braking resistor (with monitoring)
3: Third-party braking resistor (with monitoring)
Note
p0215 = 0:
An externally connected braking resistor is not controlled.
p0215 = 1:
An externally connected braking resistor is controlled (without any additional thermal software monitoring).
p0215 >= 2:
An externally connected braking resistor is controlled and also thermally monitored per software.

Parameter
p0215 Braking resistor selection / Brk resistor sel

G220 Clean Power Data type: Integer16 Visible in: Standard display
state:
0 3 0
Description: Sets the external braking resistor.
Value: 0: No braking resistor
2: Siemens braking resistor (with monitoring)
3: Third-party braking resistor (with monitoring)
Note
p0215 = 0:
An externally connected braking resistor is not controlled.
p0215 = 2:
p0215 = 3:
Parameters p0216, p0218 and p0219[0] and p0219[1] must be set in order that the monitoring functions.
Chopper operation is not possible if the values are not set.
p0216 Braking resistance value / Resistance value

state:
Unit: ohm Unit group: - Unit selection: -
0.0 [ohm] 1000.0 [ohm] 0.0 [ohm]
Description: Resistance value of the connected external braking resistor.
Dependency: The parameter is only relevant for p0215 = 2, 3.

Parameter
p0218 Braking resistor maximum power duration / Brk res dT Pmax

state:
Unit: s Unit group: - Unit selection: -
0.00 [s] 2000.00 [s] 0.00 [s]
Description: Maximum duration when operating the braking resistor at its maximum power.
Dependency: The parameter is only relevant for p0215 = 2, 3.
p0219[0...1] Braking resistor braking power / R_brake P_brake

state:
0.00 [kW] 20000.00 [kW] 0.00 [kW]
Description: Sets the braking power of the connected braking resistor.
Index: [0] = Maximum power
[1] = Rated power
Dependency: Outside of commissioning, the braking power can only be changed by selecting p0215 = 1.
See also: p1127, p1240, p1280, p1531
Note
When setting a value for the maximum braking power, the following calculations are made:
- p1240, p1280: Vdc_max control is deactivated.
- p1531 = - p0219[0]: the power limit when generating is set (limited to - p1530).
- The minimum ramp-down time is calculated (p1127) as a function of p0341, p0342 and p1082 (not for vector control
with speed encoder).
If the parameter is reset again to zero, then the Vdc_max controller is reactivated and the power limit as well as the ramp-
down time are recalculated.
The rated power p0219[1] can be displayed. Otherwise, the value has no influence.

Parameter
p0219[0...1] Braking resistor braking power / R_brake P_brake

state:
0.00 [kW] 20000.00 [kW] 0.00 [kW]
Description: Sets the braking power of the connected braking resistor.
Index: [0] = Maximum power
[1] = Rated power
Dependency: See also: p1127, p1240, p1280, p1531
Note
When setting a value for the maximum braking power, the following calculations are made:
- p1240, p1280: Vdc_max control is deactivated.
- p1531 = - p0219[0]: the power limit when generating is set (limited to - p1530).
- The minimum ramp-down time is calculated (p1127) as a function of p0341, p0342 and p1082 (not for vector control
with speed encoder).
If the parameter is reset again to zero, then the Vdc_max controller is reactivated and the power limit as well as the ramp-
down time are recalculated.
The rated power p0219[1] can be displayed. Otherwise, the value has no influence.
r0220[0...1] Infeed line filter type / INF line filt type

G220 Clean Power Data type: Integer16 Visible in: Extended display
Parameter group: Line filter
Description: Displays the line filter type.
Value: -1: Internal line filter
0: Configured line filter
Index: [0] = Line filter
[1] = Reserved
r0221[0...1] Infeed filter capacitance / INF C_filter

Parameter group: Line filter
Unit: µF Unit group: - Unit selection: -
Description: Displays the filter capacitance of the line filter (connected in a delta configuration).

Parameter
Index: [0] = Line filter

[1] = Reserved
r0223 Infeed inductance between filter and power unit / INF L filter/PU
Parameter group: Current controller
Unit: mH Unit group: - Unit selection: -
Description: Displays the inductance of the line reactor.
p0225 Infeed inductance between line supply and filter / INF L line/filter
state:
Parameter group: Line data
0.000 [mH] 1000.000 [mH] 0.000 [mH]
Description: Sets the inductance between line supply and filter.
Recommendation: It is recommended that the default value is kept if the effective line inductance at the converter connecting point is not
known.
Typical line impedance values are assumed when automatically setting a rugged controller response (r3421, r3424).
Note
For instance, this value includes the overall effective inductance - comprising line transformer, line reactor and additional
line components connected in parallel.
r0228 Infeed filter inductance line side / INF L_filt L side

Description: Displays the inductance of a line reactor in the filter.

Parameter
p0230 Drive filter type motor side / Drv filt type mot
state:
0 4 0
Description: Sets the type of the filter at the motor side.
Value: 0: No filter
1: Motor reactor
2: dv/dt filter
4: Sine-wave filter third-party
Dependency: The following parameters are influenced using p0230:
p0230 = 1:
--> p0233 (power unit, motor reactor) = filter inductance
p0230 = 4:
--> p0290 (power unit overload response) = inhibit pulse frequency reduction
--> p1802 (modulator modes) = space vector modulation without overcontrol
The user must set the following parameters according to the data sheet of the sine-wave filter and also the user must
check whether they are permitted.
--> p0233 (power unit, motor reactor) = filter inductance
--> p0234 (power unit sine-wave filter capacitance) = filter capacitance
--> p1082 (maximum speed) = Fmax filter / pole pair number
--> p1800 (pulse frequency) >= nominal pulse frequency of the filter
See also: p0233, p0234, p0290, p1082, p1800, p1802
Note
The parameter cannot be changed if the power unit has an internal sine-wave filter.
For sine-wave filters, the test pulse evaluation to detect short-circuits is always deactivated.
If a filter type cannot be selected, then this filter type is not permitted for the power unit.
p0230 = 1:
Power units with motor reactor are limited to output frequencies of 150 Hz.
p0233 Power unit motor reactor / PU mot reactor

state:
0.000 [mH] 1000.000 [mH] 0.000 [mH]
Description: Enter the inductance of a filter connected at the power unit output.

Parameter
Dependency: This parameter is automatically pre-set when you select a filter via p0230 if a SIEMENS filter is defined for the power unit.
See also: p0230
Note
For the automatic calculation, the value is not overwritten when commissioning is exited.
p0234 Power unit sine-wave filter capacitance / PU sine filter C

state:
Unit: µF Unit group: - Unit selection: -
0.000 [µF] 2000.000 [µF] 0.000 [µF]
Description: Enters the capacitance of a sine-wave filter connected at the power unit output.
Dependency: This parameter is automatically pre-set when you select a filter via p0230 if a SIEMENS filter is defined for the power unit.
See also: p0230
Note
The parameter value includes the sum of all of the capacitances of a phase connected in series (phase - Ground).
For the automatic calculation, the value is not overwritten when commissioning is exited.
p0235 Motor reactor in series number / L_mot in SeriesQty

state:
1 3 1
Description: Sets the number of reactors connected in series at the power unit output.
NOTICE
The reactor inductances should be the same.
If the number of motor reactors connected in series does not correspond to this parameter value, then this can result
in an unfavorable control behavior.

Parameter
p0240 Infeed total DC link capacitance / INF C total

state:
Unit: mF Unit group: - Unit selection: -
0.20 [mF] 1000.00 [mF] 1.00 [mF]
Description: Sets the total DC link capacitance.
Dependency: See also: F07950
Note
The setting value for the total DC link capacitance should be adapted if components with internal DC link capacitors are
connected to the DC link.
The controller setting (r3422) is updated according to p0240.
p0247.0...9 Voltage measurement configuring / U_mes config

state:
Parameter group: Flying restart, Power unit
- - 0000 0001 0110 0001 bin
Description: Sets the configuration for the output voltage measurement of the power unit.
Bit06: The voltage is calibrated once when the pulses are enabled.
Bit07: The voltage is calibrated each time the pulses are enabled.
Bit08: The voltage plausibility is performed once when the pulses are enabled.
Bit09: The voltage plausibility is performed each time the pulses are enabled.
00 Voltage measurement active Yes No
05 Use voltage measured values for flying restart Yes No
06 Voltage calibration active Yes No
07 Voltage calibration always active Yes No
08 Voltage plausibility check active Yes No
09 Voltage monitoring always active Yes No

Parameter

Index: [0] = Power unit 1
[1] = Power unit 2
[2] = Power unit 3
[3] = Power unit 4
[4] = Power unit 5
[5] = Power unit 6
[6] = Depletion layer 1
NOTICE
Only for internal Siemens troubleshooting.
Note

Parameter
r0277[0...n] Power unit heat sink fan wear counter / PU fan wear_count
Description: Displays the wear counter of the heat sink fan in the power unit.
After a fan has been replaced, using an appropriate button, the value can be reset in the commissioning tool to 0.
Dependency: See also: A30042
p0280 DC link voltage maximum steady-state / Vdc_max stat

state:
Parameter group: DC link voltage controller, Messages / Monitoring
50 [V] 1500 [V] 640 [V]
Description: Sets the maximum steady-state DC link voltage. When the DC link voltage setpoint reaches the threshold, alarm A06800
is output.
The setpoint for the DC link voltage in p3510 is limited to the value in p0280.
The voltage can be increased (boosted) using the modulation depth reserve controller. The modulation depth reserve
(p3480) can be too low if p0210 (device supply voltage) was incorrectly parameterized or a line overvoltage condition
exists.
See also: A06800
WARNING
Setting value p0280 must be less than the activation level of the Vdc_max controller (r1242, r1282) minus a safety
margin of 3 percent so that the Vdc_max controller does not become active for a line overvoltage that would then cause
the motor to accelerate.
To allow a higher setting value p0280, if necessary, the activation level of the Vdc_max controller can be increased using
p1241 and p1244 taking into careful consideration the warning notes.
Before increasing p0280, it should be checked whether the motors connected to the DC link are specified for the higher
motor voltages.
The warning notes associated with p0210 should be carefully observed.
CAUTION
All motors connected to the DC link must be rated for the maximum DC link voltage set in this parameter.
Note
A brief dynamic increase of the DC link voltage does not result in an alarm.
Pre-setting values:
380 ... 500 V AC/AC devices: 1.6 * p0210
Maximum values:
380 ... 500 V AC/AC devices: 792 V

Parameter
p0281 Line supply overvoltage alarm threshold / U_l_over A thr

state:
Parameter group: Line data, Messages / Monitoring
100 [%] 200 [%] 110 [%]
Description: Sets the alarm threshold for a line supply overvoltage condition.
The setting is made as a percentage of the device supply voltage (p0210).
p0282 Line supply undervoltage alarm threshold / U_l_under A thr

state:
10 [%] 100 [%] 80 [%]
Description: Sets the alarm threshold for a line undervoltage condition.
Dependency: See also: p0210, p0283
See also: A06105
p0283 Line supply undervoltage shutdown (trip) threshold / U_l_under tr_thr

state:
10 [%] 100 [%] 75 [%]
Description: Sets the shutdown threshold for the line supply undervoltage.
See also: F06100

Parameter
p0284 Line supply frequency exceeded alarm threshold / f_l_exc A thr

state:
100.0 [%] 300.0 [%] 110.0 [%]
Description: Sets the alarm threshold for an excessively high line frequency.
Dependency: Set as a percentage of the rated line frequency.
See also: p0211
p0285 Line supply frequency undershot alarm threshold / f_l_under A thr

state:
0.0 [%] 100.0 [%] 90.0 [%]
Description: Sets the alarm threshold for an excessively low line frequency.
Dependency: Set as a percentage of the rated line frequency.
See also: p0211
p0287[0...1] Ground fault monitoring shutdown threshold / Gnd flt threshold

state:
Parameter group: Power unit, Messages / Monitoring
0.0 [%] 100.0 [%] [0] 6.0 [%]
[1] 16.0 [%]
Description: Sets the shutdown thresholds for the ground fault monitoring.
The setting is made as a percentage of the maximum current of the power unit (r0209).
Index: [0] = During precharging
[1] = Regular

Parameter
Note
The parameter only applies to booksize and chassis power units.
Sets the thresholds:
- The prerequisite is at least firmware version 2.2 of the power unit.
Deactivate ground fault monitoring:
- Sequence: --> p0287[1] = 0 --> p0287[0] = 0
- Irrespective of the firmware version of the power unit.
r0289 Maximum power unit output current / PU I_outp max

Parameter group: U/f control, Torque limiting, Power unit
Description: Display and numerical signal source for the actual maximum output current of the power unit.
Derating factors must be taken into account for this value.
p0290 Power unit overload response / PU overl response

state:
0 13 2
Description: Sets the response to a thermal overload condition of the power unit.
The following quantities can result in a response to thermal overload:
- Heat sink temperature (r0037[0]).
- Chip temperature (r0037[1]).
- Power unit overload I2t (r0036).
Possible measures to avoid thermal overload:
- Reduce the output current limit r0289 and r0067 (for closed-loop speed or torque control) or the output frequency (for
U/f control indirectly via the output current limit and the intervention of the current limiting controller).
- Reduce the pulse frequency.
A reduction, if parameterized, is always realized after an appropriate alarm is output.
Value: 0: Reduce output current
1: No reduction shutdown when overload threshold is reached
2: Reduce the pulse frequency and output current
3: Reduce the pulse frequency
12: Automatic pulse frequency and output current reduction
13: Automatic pulse frequency reduction

Parameter
Dependency: The overload response is preset depending on the power unit type.
If a sine-wave filter is parameterized as output filter (p0230 = 3, 4), then only responses can be selected without
reducing the pulse frequency (p0290 = 0, 1).
For a thermal power unit overload, an appropriate alarm or fault is output and r2135.15 or r2135.13 set.
See also: r0036, r0037, p0230, r2135
NOTICE
If the thermal overload of the power unit is not sufficiently reduced by the actions taken, the drive is always shut down.
This means that the power unit is always protected irrespective of the setting of this parameter.
Note
Under overload conditions, the current and torque limit are reduced, and therefore the motor is braked and forbidden
speed ranges (e.g. minimum speed p1080 and suppression [skip] speeds p1091 ... p1094) can be passed through.
When the motor data identification routine is selected, parameter p0290 cannot be changed.
For p0290 = 0, 2, 12:
This is setting is only practical if the load decreases with decreasing speed (e.g. for applications with variable torque such
as for pumps and fans).
For p0290 = 2, 3, 12, 13:
The I2t overload detection of the power unit does not influence the response "Reduce pulse frequency".
For p0290 = 10, 12, 13:
The possible load duty cycles, calculated based on the previous model (p0290 = 0, 1, 2, 3) for booksize power units
cannot be transferred in every case. This is the reason that we recommend that you contact our application support
department if you are uncertain about dimensioning the device.
For short-circuit/ground fault detection, when the test pulse evaluation is active via p1901 "Test pulse evaluation
configuration", the pulse frequency at the instant of switch-on is briefly reduced.
p0292[0...1] Power unit temperature alarm threshold / PU T_alarm thr

state:
0 [°C] 25 [°C] [0] 5 [°C]
[1] 5 [°C]
Description: Sets the alarm threshold for power unit overtemperatures. The value is set as a difference to the tripping (shutdown)
temperature.
Drive:
If this threshold is exceeded, an overload alarm is generated and the system responds as parameterized in p0290.
Infeed:
When the threshold value is exceeded, only an overload alarm is output.
Index: [0] = Overtemperature heat sink
[1] = Temperature rise power semiconductor (chip)

Parameter
p0295 Fan run-on time / Fan run-on time

state:
0 [s] 600 [s] 0 [s]
Description: Sets the fan run-on time after the pulses for the power unit have been canceled.
Note
- Under certain circumstances, the fan can continue to run for longer than was set (e.g. as a result of the excessively high
heat sink temperature).
- For values less than 1 s, a 1 s run on time for the fan is active.
r0296 DC link voltage undervoltage threshold / Vdc U_under_thr

Description: Threshold to detect a DC link undervoltage.
If the DC link voltage falls below this threshold, the drive unit is tripped due to a DC link undervoltage condition.
Note
The actual threshold value depends on the device type and the selected device supply voltage (p0210).
r0297 DC link voltage overvoltage threshold / Vdc U_over_thr

Description: Threshold to detect a DC link overvoltage.
If the DC link voltage exceeds the threshold specified here, the drive device is tripped due to DC link overvoltage.

Parameter
p0300[0...n] Motor type selection / Mot type sel

state:
0 10001 0
Description: Selects the motor type or starts to read in the motor parameters for a motor with DRIVE-CLiQ (p0300 = 10000 or 10001,
if there is a second data set).
For p0300 < 10000 the following applies:
The first digit of the parameter value always defines the general motor type and corresponds to the third-party motor
belonging to a motor list:
1 = induction motor, also: 1LE1/5/6 motors without code number
2 = synchronous motor
6 = reluctance motor
8 = synchronous or reluctance motor with starting cage (e.g. 1FUx)
xxx = motor with code number (for 5-digit code numbers)
xxxx = motor with code number (for 8-digit code numbers)
The type information must be entered to filter motor-specific parameters and to optimize the operating characteristics
and behavior. For example, for synchronous motors, power factor (p0308) is neither used nor displayed.
The following applies for values < 100:
Motor data must be manually entered.
The following applies for values >= 100:
Motor data are automatically loaded from an internal list.
Value: 0: No motor
1: Induction motor
2: Synchronous motor
6: Reluctance motor
8: Synchronous or reluctance motor with starting cage
100: 1LE1 induction motor
101: 1PC1 induction motor
108: 1PH8 induction motor
133: 2KJ3 induction motor
600: 1FP1 synchronous reluctance motor
603: 1FP3 synchronous reluctance motor OEM
608: 1PH8 synchronous reluctance motor
1001: 1PC1 induction motor
1022: 1PH8 induction motor
1040: 2KJ3 induction motor
2100: 1FZ1 synchronous motor
2101: 1FZ3 synchronous motor
6000: 1FP1 synchronous reluctance motor

Parameter
6001: 1FP3 synchronous reluctance motor OEM

6002: 1PH8 synchronous reluctance motor
10000: Motor with DRIVE-CLiQ
10001: Motor with DRIVE-CLiQ 2nd data set
Dependency: For p0504 = 1 (Standard Drive Control), synchronous motor types cannot be selected.
Synchronous or reluctance motors with starting cage can only be operated with U/f control (see p1300).
NOTICE
If a catalog motor is selected (p0300 >= 100) and an associated motor code number (p0301), then the parameters that
are associated with this list cannot be changed (write protection). The write protection is canceled if the motor type
p0300 is set to a non-Siemens motor that matches p0301 (e.g. p0300 = 1 for p0301 = 1xxxx) - or configuration bit 15
in p0133 is set. Write protection is automatically canceled (p0133 bit 15 = 1) when the results of motor data
identification are copied to the motor parameters.
The motor type of a catalog motor corresponds to the upper four digits of an 8-digit motor code number.
For 5-digit motor code numbers, the following still applies:
The motor type of a catalog motor corresponds to the upper three digits of the code number or the following
assignment (examples):
Type / code number ranges
100 / 100xx, 110xx, ..., 190xx
108 / 108xx, 118xx, ..., 158xx
600 / 600xx, 610xx, 620xx
Note
Motor without DRIVE-CLiQ: After the converter has run-up for the first time or for the factory settings, the motor type is
automatically preassigned as induction motor (p0300 = 1).
With p0300 = 10000, for a motor with DRIVE-CLiQ, the motor parameters are automatically downloaded, with p0300
= 10001, the motor parameters of a second data set (if available). Motors with DRIVE-CLiQ, whose type is not entered
in p0300, also cannot be operated.
If a motor type has not been selected (p0300 = 0), then the drive commissioning routine cannot be exited.
A motor type with a value above p0300 >= 100 describes motors for which a motor parameter list exists.
Motor types with a value below p0300 < 100 correspond to the selection of a third-party motor. When appropriately
selected, this means that the motor parameters are pre-assigned the settings for a third-party motor.
This also applies for parameters for a motor with DRIVE-CLiQ. In this case p0300 can only be set to p0300 = 10000 or
10001 (read motor parameters) or to the corresponding non-Siemens motor (first digit of the motor code number) in
order to be able to cancel the write protection.
p0301[0...n] Motor code number selection / Mot code no sel

state:
0 99999999 0

Parameter
Description: The parameter is used to select a motor from a motor parameter list.
When changing the code number (with the exception to the value 0), all of the motor parameters are pre-assigned from
the internally available parameter lists.
1PH8 induction motors must be commissioned using the motor ID.

The motor ID can be determined using the following links:
Internal Siemens: https://pridanet.siemens.com/PridaWeb/SIS/ConverterData.aspx
Industry Online Support (Internet): https://support.industry.siemens.com/cs/ww/en/view/109808686
Dependency: Only code numbers (5-digit or 8-digit) can be selected for motor types that correspond to the motor type selected in
p0300.
See also: p0300
Note
The motor code number can only be changed if the matching catalog motor was first selected in p0300.
If a change is made to a non-catalog motor, then the motor code number should also be reset (p0301 = 0).
For a motor with DRIVE-CLiQ, p0301 cannot be changed. In this case, p0301 is automatically written to the code number
of the motor parameter read in (r0302) if p0300 is set to 10000.
When selecting a catalog motor (p0300 >= 100), drive commissioning can only be exited if a code number is selected.
1LE1, 1LE5 and 1LE6 motors are available with and without code numbers. Motors without code numbers should be
commissioned with p0300 = 1 (induction motor) and parameterization of the rating plate.
r0302[0...n] Motor code number of motor with DRIVE-CLiQ / Mot code mot w/ DQ
Description: Displays the motor code number from the saved motor data from a motor with DRIVE-CLiQ.
Note
Drive commissioning can only be exited if the code number that was downloaded (r0302) matches the stored code
number (p0301). If the numbers differ, then the motor data set should be re-loaded using p0300 = 10000.
The motor data are always expected from the first encoder that is assigned to the drive data sets (refer to p0187 =
encoder 1) data set number.
The value is not updated cyclically but only on specific events (e.g. update DRIVE-CLiQ device).
r0302 = 0: No motor with DRIVE-CLiQ found
r0303[0...n].0...7 Motor with DRIVE-CLiQ status word / Motor w DQ ZSW

Parameter group: Motor data
Description: Displays the status word of the automatic motor parameter sensing of a motor with DRIVE-CLiQ.
Motor parameter sensing is performed for the following events if the SMI is connected to the converter and the encoder
is activated:
- Restart.
- Downloading projects.
- Where p0300 = 10000, 10001.

Parameter

00 Motor data set selected MDS1 MDS0
01 Motor connection type Delta Star
02 Windings can be changed Yes No
03 Windings can be changed number 2 0
07 Load gearbox torque protection Off On
Note
SMI: SINAMICS Sensor Module Integrated
p0304[0...n] Rated motor voltage / Mot U_rated

state:
Parameter group: Motor data, U/f control, Quick commissioning
Not relevant for motor type: Permanent-magnet synchronous motor
0 [Vrms] 20000 [Vrms] 0 [Vrms]
Description: Sets the rated motor voltage (rating plate).
NOTICE
When selecting a catalog motor (p0301), this parameter is automatically pre-assigned and is write protected.
Information in p0300 should be carefully observed when removing write protection.
Note
When the parameter value is entered the connection type of the motor (star-delta) must be taken into account.
When commissioned for the first time or after the factory settings have been restored, the parameter is pre-assigned a
value that matches the power unit; this value also depends on the set standard (IEC/NEMA, p0100).
p0305[0...n] Rated motor current / Mot I_rated

state:
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
Description: Sets the rated motor current (rating plate).

Parameter
NOTICE
If p0305 is changed, then the maximum current p0640 is pre-assigned accordingly.
If the rated motor current exceeds twice the maximum drive converter current (r0209), then the maximum current is
reduced due to the current harmonics that increase overproportionally (r0067).
Note
When the parameter value is entered the connection type of the motor (star-delta) must be taken into account.
p0306[0...n] Number of motors connected in parallel / Motor qty

state:
Not relevant for motor type: Permanent-magnet synchronous motor, Synchronous reluctance motor
1 50 1
Description: Number of motors that can be operated in parallel using one motor data set.
Depending on the motor number entered, internally an equivalent motor is calculated.
The following should be carefully observed for motors connected in series:
The following rating plate data should only be entered for one motor:
- Resistances and inductances: p0350 ... p0360
- Currents: p0305, p0320
- Power ratings: p0307
- Masses/moments of inertia: p0341, p0344
All other parameters take into account the replacement/equivalent motor (e.g. r0331, r0333).
Recommendation: For motors connected in parallel, external thermal protection should be provided for each individual motor.
CAUTION
The motors to be connected up in parallel must be of the same type and the same size (power rating) (identical Article
No. [MLFB]).
The mounting regulations when connecting motors in parallel must be carefully maintained!
The number of motors set must correspond to the number of motors that are actually connected in parallel.
For induction motors that are connected in parallel, but which are not mechanically coupled with one another, then the
following applies:
- An individual motor must not be loaded beyond its stall point.
NOTICE
If p0306 is changed during quick commissioning, then the maximum current p0640 is preassigned accordingly.
Note
Only operation with U/f characteristic makes sense if more than 10 identical motors are connected in parallel.

Parameter
p0307[0...n] Rated motor power / Mot P_rated

state:
0.00 [kW] 100000.00 [kW] 0.00 [kW]
Description: Sets the rated motor power (rating plate).
NEMA drives (p0100 = 2): Unit kW
See also: p0100
NOTICE
Note
p0308[0...n] Rated motor power factor / Mot cos phi rated

state:
starting cage
-0.990 1.000 0.000
Description: Sets the rated motor power factor (cos phi, rating plate).
For a parameter value of 0.000, the power factor is internally calculated and displayed in r0332.
Dependency: The parameter is only visible for p0100 = 0, 2.
See also: p0100, p0309, r0332
NOTICE
Note
The parameter is not used for synchronous motors (p0300 = 2xx).

Parameter
p0309[0...n] Rated motor efficiency / Mot eta_rated

state:
starting cage
0.0 [%] 99.9 [%] 0.0 [%]
Description: Sets the rated motor efficiency (rating plate).
For a parameter value of 0.0, the power factor is internally calculated and displayed in r0332.
Dependency: The parameter is only visible for p0100 = 1.
See also: p0100, p0308, r0332
NOTICE
Note
p0310[0...n] Rated motor frequency / Mot f_rated

state:
Parameter group: Motor data, U/f control, Quick commissioning
0.000 [Hz] 3000.000 [Hz] 0.000 [Hz]
Description: Sets the rated motor frequency (rating plate).
Dependency: The number of pole pairs (r0313) is automatically re-calculated when the parameter is changed (together with p0311),
if p0314 = 0.
The rated frequency is restricted to values between 1.00 Hz and 650.00 Hz.
See also: p0311, r0313, p0314
NOTICE
If p0310 is changed, then the maximum speed p1082 is preassigned accordingly.
Note

Parameter
p0311[0...n] Rated motor speed / Mot n_rated

state:
0.00 [rpm] 210000.00 [rpm] 0.00 [rpm]
Description: Sets the rated motor speed (rating plate).
For p0311 = 0, the rated motor slip of induction motors is internally calculated and displayed in r0330.
It is especially important to correctly enter the rated motor speed for vector control and slip compensation for U/f
control.
Dependency: If p0311 is changed and for p0314 = 0, the pole pair (r0313) is re-calculated automatically.
See also: p0310, r0313, p0314
NOTICE
Note
r0313[0...n] Motor pole pair number, actual (or calculated) / MotPolePair no act
Description: Displays the number of motor pole pairs. The value is used for internal calculations.
r0313 = 1: 2-pole motor
r0313 = 2: 4-pole motor, etc.
Dependency: For p0314 > 0, the entered value is displayed in r0313.
For p0314 = 0, the pole pair number (r0313) is automatically calculated from the rated power (p0307), rated frequency
(p0310) and rated speed (p0311).
See also: p0307, p0310, p0311, p0314
Note
For the automatic calculation, the pole pair number is set to the value of 2 if the rated speed or the rated frequency is
zero.

Parameter
p0314[0...n] Motor pole pair number / Mot PolePair no

state:
Not relevant for motor type: Induction motor, Permanent-magnet synchronous motor, Synchronous or
reluctance motor with starting cage, Synchronous reluctance motor
0 255 0
Description: Sets the motor pole pair number.
p0314 = 1: 2-pole motor
p0314 = 2: 4-pole motor, etc.
Dependency: For p0314 = 0, the pole pair number is automatically calculated from the rated frequency (p0310) and the rated speed
(p0311) and displayed in r0313.
NOTICE
For induction motors, the value need only be input if the rated data of a generator is entered therefore resulting in a
negative rated slip. In this case, the number of pole pairs in r0313 is too low by 1 and must be manually corrected.
p0316[0...n] Motor torque constant / Mot kT

state:
Not relevant for motor type: Induction motor, Synchronous or reluctance motor with starting cage,
Synchronous reluctance motor
Unit: Nm/A Unit group: 28_1 Unit selection: p0100
0.000 [Nm/A] 400.000 [Nm/A] 0.000 [Nm/A]
Description: Sets the torque constant of the synchronous motor.
p0316 = 0:
The torque constant is calculated from the motor data.
p0316 > 0:
The selected value is used as torque constant.
NOTICE
Note
This parameter is not used for induction motors (p0300 = 1xx).

Parameter
p0317[0...n] Motor voltage constant / Mot kE

state:
0.0 [Vrms] 24000.0 [Vrms] 0.0 [Vrms]
Description: Sets the voltage constant for synchronous motors.
Units for rotating synchronous motors: Vrms/(1000 rpm), phase-to-phase
NOTICE
Note
The parameter is not used for induction motors (p0300 = 1xxx) and reluctance motors (p0300 = 6xxx).
p0318[0...n] Motor stall current / Mot I_standstill

state:
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
Description: Sets the stall current for synchronous motors (p0300 = 2xx).
NOTICE
Note
The parameter is used for the I2t monitoring of the motor (refer to p0611).

Parameter
p0320[0...n] Motor rated magnetizing current/short-circuit current / Mot I_mag_rated

state:
Parameter group: Motor data, Motor data identification routine, Rotating measurement/speed
controller optimization
0.000 [Arms] 5000.000 [Arms] 0.000 [Arms]
Description: Induction motors:
Sets the rated motor magnetizing current.
For p0320 = 0.000 the magnetizing current is internally calculated and displayed in r0331.
Synchronous motors:
Sets the rated motor short-circuit current.
NOTICE
Note
The magnetizing current p0320 for induction motors is reset when quick commissioning is exited with automatic
calculation.
If, for induction motors, the magnetizing current p0320 is changed outside the commissioning phase, then the
magnetizing inductance p0360 is changed so that EMF r0337 remains constant.
p0322[0...n] Maximum motor speed / Mot n_max

state:
0.0 [rpm] 210000.0 [rpm] 0.0 [rpm]
Description: Sets the maximum motor speed.
NOTICE
Note
The parameter has no significance for a value of p0322 = 0.

Parameter
p0323[0...n] Maximum motor current / Mot I_max

state:
Parameter group: Motor data, Torque limiting, Current controller, Quick commissioning
0.00 [Arms] 20000.00 [Arms] 0.00 [Arms]
Description: Sets the maximum permissible motor current (e.g. de-magnetizing current for synchronous motors).
NOTICE
If p0323 is changed, then the maximum current p0640 is preassigned accordingly.
Note
The parameter has no effect for induction motors.
The parameter has not effect for synchronous motors if a value of 0.0 is entered. The user-selectable current limit is
entered into p0640.
p0324[0...n] Winding maximum speed / Winding n_max

state:
starting cage, Synchronous reluctance motor
0.0 [rpm] 210000.0 [rpm] 0.0 [rpm]
Description: Sets the maximum speed for the winding.
The following applies when calculating the maximum speed (p1082):
- For p0324 = 0 or p0532 = 0, p0322 is used.
- For p0324 > 0 and p0532 > 0, the minimum value from the two parameters is used.
NOTICE

Parameter
p0325[0...n] Motor pole position identification current 1st phase / Mot PolID I 1st ph
state:
Parameter group: Motor data, Pole position identification/encoder calibration
0.000 [Arms] 10000.000 [Arms] 0.000 [Arms]
Description: Sets the current for the 1st phase of the two-stage technique for pole position identification routine.
The current of the 2nd phase is set in p0329.
The two-stage technique is selected with p1980 = 4.
Dependency: See also: p0329, p1980, r1985, r1987
See also: F07969
p0327[0...n] Optimum motor load angle / Mot phi_load opt

state:
0.0 [°] 135.0 [°] 90.0 [°]
Description: Sets the optimum load angle for synchronous motors with reluctance torque.
The load angle is measured at the rated motor current.
NOTICE
Note
This parameter has no significance for induction motors.
For synchronous motors without reluctance torque, a angle of 90 degrees must be set.
After changing the motor parameter, when quick commissioning is exited, then the parameter is reset if a catalog motor
has not been selected (p0300).

Parameter
p0328[0...n] Motor reluctance torque constant / Mot kT_reluctance

state:
-1000.00 [mH] 1000.00 [mH] 0.00 [mH]
Description: Sets the reluctance torque constant for synchronous motors with reluctance torque (e.g. 1FE ... motors).
This parameter has no significance for induction motors.
NOTICE
Note
For synchronous motors without reluctance torque, the value 0 must be set. The parameter is calculated as follows for
motors without current-dependent inductances:
p0328 = 3/2 * pole pair number * (stator leakage inductance - stator leakage inductance, d axis)
Pole pair number = r0313

Stator leakage inductance = p0356
Stator leakage inductance d axis = p0357
p0329[0...n] Motor pole position identification current / Mot PolID current

state:
Parameter group: Motor data, Pole position identification/encoder calibration
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
Description: Sets the current for the pole position identification routine (p1980 = 1, 8).
For a two-stage technique (p1980 = 4), the current is set for the 2nd phase.
The current for the 1st phase is set in p0325.
Dependency: If a maximum current (p0323) was not parameterized, then p0329 is limited to the rated motor current.
The following applies to permanent-magnet synchronous motors:
If p0329 is too small in order to determine the pole position (for p1980 = 1), then p0323 must be first parameterized and
significantly greater than p0329.
See also: p0325, p1980, r1985, r1987
See also: F07969

Parameter
NOTICE
r0330[0...n] Rated motor slip / Mot slip_rated

Parameter group: Motor data, U/f control
Description: Displays the rated motor slip.
Dependency: The rated slip is calculated from the rated frequency, rated speed and number of pole pairs.
See also: p0310, p0311, r0313
Note
r0331[0...n] Actual motor magnetizing current/short-circuit current / Mot I_mag_rtd act

Parameter group: Motor data, Flying restart, Flux setpoint
Description: Induction motor:
Displays the rated magnetizing current from p0320.
For p0320 = 0, the internally calculated magnetizing current is displayed.
Synchronous motor:
Displays the rated short-circuit current from p0320.
Dependency: If p0320 was not entered, then the parameter is calculated from the rating plate parameters.
Note
In the case of multi-motor operation r0331 is increased by the factor p0306 compared to p0320.
r0332[0...n] Rated motor power factor / Mot cos phi rated

starting cage

Parameter
Description: Displays the rated power factor for induction motors.

For p0100 = 0.2, the following applies:
For p0308 = 0, the internally calculated power factor is displayed.
For p0308 > 0, this value is displayed.
For p0309 = 0, the internally calculated power factor is displayed.
For p0309 > 0, this value is converted into the power factor and displayed.
Dependency: If p0308 is not entered, the parameter is calculated from the rating plate parameters.
Note
r0333[0...n] Rated motor torque / Mot M_rated

Unit: Nm Unit group: 7_4 Unit selection: p0100
Description: Displays the rated motor torque.
Dependency: IEC drives (p0100 = 0): unit Nm
NEMA drives (p0100 = 1): unit lbf ft
Note
For induction and reluctance motors, r0333 is calculated from p0307 and p0311.
For synchronous motors, r0333 is calculated from p0305, p0316, p0327 and p0328.
For synchronous motors, r0333 is calculated from p0307 and p0311. If p0307 is not known, then r0333 is calculated
from p0305, p0316, p0327 and p0328.
In the case of multi-motor operation, r0333 is increased by the factor p0306 compared to the rated torque of an
individual motor.
r0334[0...n] Actual motor-torque constant / Mot kT act

Parameter group: Motor data, Extended torque control
Unit: Nm/A Unit group: 28_1 Unit selection: p0100
Description: Displays the torque constant of the synchronous motor used.
Dependency: IEC drives (p0100 = 0): unit Nm / A
NEMA drives (p0100 = 1): unit lbf ft / A
See also: p0316
Note
For synchronous motors, parameter r0334 = p0316 is displayed. For p0316 = 0, r0334 is calculated from p0305 or from
p0305, p0307 and p0311.

Parameter
p0335[0...n] Motor cooling type / Mot cool type

state:
starting cage
0 128 0
Description: Sets the motor cooling system used.
Value: 0: Natural ventilation
1: Forced cooling
2: Liquid cooling
4: Natural ventilation and internal fan
5: Forced cooling and internal fan
6: Liquid cooling and internal fan
128: No fan
Dependency: For 1LA5 and 1LA7 motors (p0300), the parameter is pre-set as a function of p0307 and p0311.
NOTICE
When selecting a catalog motor (motor code number > 0), this parameter is automatically pre-assigned and is write
protected. Information about the motor type must be considered when removing write protection.
Note
The parameter influences the thermal 3-mass motor model.
1LA1 and 1LA8 motors are characterized by the fact that they have an internal rotor fan. This "internal cooling" lies within
the motor frame and is not visible. Air is not directly exchanged with the motor ambient air.
For 1PQ8 motors, p0335 should be set to 5 as these motors are force-ventilated motors.
The setting p0335 = 128 applies for 1LA7 motors, frame size 56 (these are operated without a fan).
r0337[0...n] Rated motor EMF / Mot EMF_rated

Not relevant for motor type: Synchronous or reluctance motor with starting cage, Synchronous reluctance
motor
Description: Displays the rated EMF of the motor.
Note
EMF: Electromotive force

Parameter
r0339[0...n] Rated motor voltage / Mot U_rated

Description: Displays the rated motor voltage.
Note
For induction motors (p0300 = 1xx) the parameter is set to p0304.
For synchronous motors, parameter r0339 = p0304 is displayed. If p0304 = 0, then r0339 is calculated from p0305 and
p0316.
p0341[0...n] Motor moment of inertia / Mot m_inert

state:
Parameter group: Motor data, Acceleration model, Rotating measurement/speed controller
optimization
Dyn. index [0…n]: MDS n defined by: p0130 Calculated: automatic
Unit: kgm² Unit group: 25_1 Unit selection: p0100
0.000000 [kgm²] 100000.000000 [kgm²] 0.000000 [kgm²]
Description: Sets the motor moment of inertia (without load).
Dependency: IEC drives: unit kg m^2
NEMA drives: unit lb ft^2
The parameter value is included, together with p0342, in the rated starting time of the motor.
NOTICE
Note
The product p0341 * p0342 is taken into account when automatically calculating the speed controller.
p0342[0...n] Ratio between the total and motor moment of inertia / Mot m_inert ratio
state:
Parameter group: Motor data, Acceleration model, Rotating measurement/speed controller
optimization

Parameter

1.000 10000.000 1.000
Description: Sets the ratio between the total moment of inertia (load + motor) and the intrinsic motor moment of inertia (no load).
Dependency: This means that together with p0341, the rated starting time of the motor is calculated.
See also: p0341, r0345, p1498
Note
The product p0341 * p0342 is taken into account when automatically calculating the speed controller.
p0344[0...n] Motor weight (for the thermal motor model) / Mot weightThermMod
state:
Unit: kg Unit group: 27_1 Unit selection: p0100
0.0 [kg] 50000.0 [kg] 0.0 [kg]
Description: Sets the motor weight.
Dependency: IEC drives: unit kg
NEMA drives: unit lb
NOTICE
Note
The parameter influences the thermal 3 mass model of the induction motor.
The parameter is not used for synchronous motors (permanent magnet motors).
r0345[0...n] Nominal motor starting time / Mot t_start_rated

Parameter group: Motor data, Rotating measurement/speed controller optimization
Description: Displays the rated motor starting time.
This time corresponds to the time from standstill up to reaching the rated motor speed and the acceleration with motor
rated torque (r0333).
Dependency: See also: r0313, r0333, p0341, p0342

Parameter
p0346[0...n] Motor excitation build-up time / Mot t_excitation

state:
Parameter group: U/f control, Motor holding brake, Flying restart, Drive enable signals, Flux setpoint
-20.000 [s] 20.000 [s] 0.000 [s]
Description: Sets the excitation build-up time of the motor.
This involves the wait time between enabling the pulses and enabling the ramp-function generator. The induction
motor is magnetized during this time.
CAUTION
If there is insufficient magnetization under load or if the acceleration rate is too high, then an induction motor can stall
(refer to the note). This is especially true for sensorless vector control or U/f control.
Note
The parameter is preassigned for the automatic calculation.
For induction motors, the result depends on the rotor time constant (r0384). If this time is excessively reduced, this can
result in an inadequate magnetizing of the induction motor. This is the case if the current limit is reached while building
up magnetizing. For induction motors, the parameter cannot be set to 0 s (internal limit: 0.1 * r0384).
For permanent-magnet synchronous motors and vector control, the value depends on the stator time constant (r0386).
Here, it defines the time to establish the current for encoderless operation immediately after the pulses have been
enabled.
The current to excite the induction motor can be limited in p0644.
p0347[0...n] Motor de-excitation time / Mot t_de-excitat

state:
Parameter group: U/f control, DC braking, Flying restart, Drive enable signals, Flux setpoint
0.000 [s] 20.000 [s] 0.000 [s]
Description: Sets the de-magnetizing time (for induction motors) after the inverter pulses have been canceled.
The inverter pulses cannot be switched in (enabled) within this wait time.
Note
The parameter is calculated using the automatic calculation (also after the motor data identification).
For induction motors, the result depends on the rotor time constant (r0384).
If this time is shortened too much, then this can result in an inadequate de-magnetizing of the induction motor and in
an overcurrent condition when the pulses are subsequently enabled (only when the flying restart function is activated
and the motor is rotating).

Parameter
p0350[0...n] Motor stator resistance cold / Mot R_stator cold

state:
Parameter group: Motor data, Motor data identification routine
0.00000 [ohm] 2000.00000 [ohm] 0.00000 [ohm]
Description: Sets the stator resistance of the motor at ambient temperature p0625 (phase value).
Note
The motor identification determines the stator resistance from the total stator resistance minus the cable resistance
(p0352).
p0351[0...n] Motor stator resistance 20 °C / Mot R_stator 20°C

state:
0.00000 [ohm] 20000.00000 [ohm] 2000.00000 [ohm]
Description: Sets the stator resistance of the motor at ambient temperature 20 °C (phase value).
See also: F07011, A07012
NOTICE
p0352[0...n] Cable resistance / R_cable

state:

Parameter

0.00000 [ohm] 120.00000 [ohm] 0.00000 [ohm]
Description: Resistance of the power cable between the power unit and motor.
CAUTION
The cable resistance should be entered prior to motor data identification. If it is used subsequently, the difference by
which p0352 was changed must be subtracted from the stator resistance p0350 or motor data identification must be
repeated.
Note
The parameter influences the temperature adaptation of the stator resistance.
The motor identification sets the cable resistance to 20% of the measured total resistance if p0352 is zero at the time that
the measurement is made. If p0352 is not zero, then the value is subtracted from the measured total stator resistance
to calculate stator resistance p0350. In this case, p0350 is a minimum of 10% of the measured value.
Exception:
The cable resistance is reset when quick commissioning is exited with automatic calculation.
If the stator resistance is available in a motor list, and if p0352 is still zero, then the cable resistance is generated from the
difference between the measured value and list value.
p0353[0...n] Motor series inductance / Mot L_series

state:
0.000 [mH] 1000000.000 [mH] 0.000 [mH]
Description: Sets the series inductance.
Note
For the automatic calculation, the calculation of p1715 is influenced by p0353.
The series inductance is reset when quick commissioning is exited after entering the motor parameters.
p0354[0...n] Motor rotor resistance cold / damping resistance d axis / Mot R_r cold/R_D d
state:
0.00000 [ohm] 300.00000 [ohm] 0.00000 [ohm]
Description: Sets the rotor/secondary section resistance of the motor at the ambient temperature p0625.

Parameter
NOTICE
Note
The parameter is not used for synchronous motors.
The parameter value is automatically calculated using the motor model or using the motor data identification (p1910).
p0356[0...n] Motor stator leakage inductance / Mot L_stator leak

state:
0.00000 [mH] 1000.00000 [mH] 0.00000 [mH]
Description: Induction motor:
Sets the stator leakage inductance of the motor.
Synchronous motor:
Sets the stator quadrature inductance of the motor.
NOTICE
Note
The parameter value is automatically calculated using the motor model or using the motor identification (p1910). For
permanent-magnet synchronous motors, the value of the quotient of stator quadrature flux and stator quadrature
current at the rated operating point (saturated value). If the stator leakage inductance (p0356) for induction motors is
changed outside the commissioning phase, then the magnetizing inductance (p0360) is automatically adapted to the
new EMF (r0337). You are then advised to repeat the measurement for the saturation characteristic (p1960).
p0357[0...n] Motor stator inductance d axis / Mot L_stator d

state:
0.00000 [mH] 1000.00000 [mH] 0.00000 [mH]
Description: Sets the stator direct-axis inductance of the synchronous motor.
The parameter value is automatically calculated using the motor model or using the motor identification (p1910).
Note
For permanent-magnet synchronous motors, the value of the quotient of stator direct-axis flux and stator direct-axis
current at the rated operating point (saturated value).

Parameter
p0358[0...n] Motor rotor leakage inductance / damping inductance d axis / Mot L_r leak / LDd
state:
0.00000 [mH] 1000.00000 [mH] 0.00000 [mH]
Description: Sets the rotor/secondary section leakage inductance of the motor.
NOTICE
Note
The value is automatically calculated using the motor model or using the motor identification (p1910).
If the rotor leakage inductance (p0358) for induction motors is changed outside the commissioning phase, then the
magnetizing inductance (p0360) is automatically adapted to the new EMF (r0337). You are then advised to repeat the
measurement for the saturation characteristic (p1960).
p0360[0...n] Motor magnetizing inductance/magn. inductance d axis saturated / Mot Lh/Lh d sat
state:
0.00000 [mH] 10000.00000 [mH] 0.00000 [mH]
Description: Sets the magnetizing inductance of the motor.
NOTICE
protected. Information in p0300 should be carefully observed when removing write protection.
Note
The parameter value is automatically calculated using the motor model or using the motor identification (p1910).

Parameter
p0362[0...n] Motor saturation characteristic flux 1 / Mot sat flux 1

state:
motor
10.0 [%] 800.0 [%] 60.0 [%]
Description: The saturation characteristics (flux as a function of the magnetizing current) is defined using 4 points. This parameter
specifies the y coordinate (flux) for the 1st value pair of the characteristic.
The flux value in [%] is referred to the rated motor flux (100 %).
Dependency: The following applies for the flux values:
p0362 < p0363 < p0364 < p0365
For permanent magnet synchronous motors (PMSM), the following also applies:
The value 100 % is an immanent point of the characteristic, and therefore not part of the parameter entry.
If the parameters are not set in an ascending order, or contain a value of 100 %, then the quadrature flux is calculated
with constant quadrature inductance (p0356).
Not visible in operating mode: "Standard Drive Control" (SDC, p0504 = 1)
See also: p0366
Note
For induction motors, p0362 = 100 % corresponds to the rated motor flux.
For permanent-magnet synchronous motors, p0362 = 100 % corresponds to the product of the saturated quadrature
inductance (p0356) and the rated motor quadrature current.
For the automatic calculation, if a catalog motor is not set, then the parameters are reset when exiting quick
commissioning.

state:
motor
10.0 [%] 800.0 [%] 85.0 [%]
specifies the y coordinate (flux) for the 2nd value pair of the characteristic. The flux value in [%] is referred to the rated
motor flux (100 %).

Parameter

p0362 < p0363 < p0364 < p0365
See also: p0367
Note
For permanent magnet synchronous motors, p0363 = 100 % corresponds to the product of saturated quadrature
inductance (p0356) and rated motor quadrature current.
commissioning.

state:
motor
10.0 [%] 800.0 [%] 115.0 [%]
specifies the y coordinate (flux) for the 3rd value pair of the characteristic. The flux value in [%] is referred to the rated
motor flux (100 %).
p0362 < p0363 < p0364 < p0365
See also: p0368
Note
commissioning.

Parameter

state:
motor
10.0 [%] 800.0 [%] 125.0 [%]
specifies the y coordinate (flux) for the 4th value pair of the characteristic. The flux value in [%] is referred to the rated
motor flux (100 %).
p0362 < p0363 < p0364 < p0365
See also: p0369
Note
commissioning.
p0366[0...n] Motor saturation characteristic I_mag 1 / Mot sat I_mag 1

state:
motor
5.0 [%] 800.0 [%] 50.0 [%]
specifies the x coordinate (magnetizing current) for the 1st value pair of the characteristic.
Induction motors (ASM):
The magnetizing current in [%] is referred to the rated magnetizing current r0331.
Permanent magnet synchronous motors (PMSM):
The stator quadrature current in [%] is referred to the rated motor quadrature current.

Parameter
Dependency: The following applies for the magnetizing currents:

p0366 < p0367 < p0368 < p0369
See also: p0362
Note
commissioning.

state:
motor
5.0 [%] 800.0 [%] 75.0 [%]
specifies the x coordinate (magnetizing current) for the 2nd value pair of the characteristic.
p0366 < p0367 < p0368 < p0369
See also: p0363
Note
commissioning.

Parameter

state:
motor
5.0 [%] 800.0 [%] 150.0 [%]
specifies the x coordinate (magnetizing current) for the 3rd value pair of the characteristic.
p0366 < p0367 < p0368 < p0369
See also: p0364
Note
commissioning.

state:
motor
5.0 [%] 800.0 [%] 210.0 [%]
specifies the x coordinate (magnetizing current) for the 4th value pair of the characteristic.

Parameter

p0366 < p0367 < p0368 < p0369
See also: p0365
Note
commissioning.
r0374[0...n] Motor rotor resistance cold / damping resistance d axis / Mot R_r cold/R_D d
Description: Displays the rotor/secondary section resistance of the motor for the ambient temperature p0625.
Note
The parameter is not used for synchronous motors (motor type = 2xx).
r0376[0...n] Rated motor rotor resistance / Mot rated R_rotor

Description: Displays the nominal rotor / secondary section resistance of the motor at the rated temperature.
The rated temperature is the sum of p0625 and p0628.
Note
r0377[0...n] Motor leakage inductance total / Mot L_leak total


Parameter
Description: Displays the total stray inductance of the motor.

Induction motor:
Displays the stator leakage inductance of the motor, including the series inductance (p0353) and the motor reactor
(p0233).
Synchronous motor:
Displays the stator quadrature inductance of the motor including the series inductance (p0353) and the motor reactor
(p0233).
r0378[0...n] Motor stator inductance d axis / Mot L_stator d

Description: Displays the stator direct-axis inductance of the synchronous motor including the series inductance (p0353) and the
motor reactor (p0233).
r0380[0...n] Motor inductance d axis / Mot L_d

Description: Displays the unsaturated inductance of the permanent-magnet synchronous motor used (d axis), including the series
inductance (p0353).
r0381[0...n] Motor inductance q axis / Mot L_q

Description: Displays the unsaturated quadrature inductance of the permanent-magnet synchronous motor, including the series
inductance (p0353) and the motor reactor (p0233).

Parameter
r0382[0...n] Motor magnetizing inductance transformed / Lh d axis saturated / Mot L_m tr/Lhd sat
Description: Displays the magnetizing inductance of the motor.
Note
The parameter is not used for synchronous motors (motor type = 2xx).
r0384[0...n] Motor rotor time constant / damping time constant d axis / Mot Tc_rotor/T_Dd
Description: Displays the rotor time constant.
Note
The value is calculated from the total of the inductances on the rotor side (p0358, p0360) divided by the rotor/damping
resistance (p0354). The temperature adaptation of the rotor resistance for induction motors is not taken into account.
r0386[0...n] Motor stator leakage time constant / Mot Tc_stator leak

Description: Displays the stator leakage time constant.
Note
The value is calculated from the total of all leakage inductances (p0233, p0356, p0358) divided by the total of all motor
resistances (p0350, p0352, p0354). The temperature adaptation of the resistances is not taken into account.

Parameter
p0391[0...n] Current controller adaptation starting point Kp / I_adapt point Kp

state:
Parameter group: Motor data, Current controller, Rotating measurement/speed controller
optimization
0.00 [Arms] 6000.00 [Arms] 0.00 [Arms]
Description: Sets the starting point of the current-dependent current controller adaptation where the current controller gain p1715
is effective.
Dependency: Not visible in operating mode: "Standard Drive Control" (SDC, p0504 = 1), "Dynamic Drive Control" (DDC, p0504 = 2)
See also: p0392, p0393, p1402, p1715
NOTICE
Note
With the automatic calculation, if a catalog motor is not set, then the parameters are reset when exiting quick
commissioning.
p0392[0...n] Current controller adaptation starting point Kp adapted / I_adapt pt Kp adpt

state:
optimization
0.00 [Arms] 6000.00 [Arms] 0.00 [Arms]
Description: Sets the starting point of the current-dependent current controller adaptation where the adapted current controller
gain p1715 x p0393 is effective.
See also: p0391, p0393, p1402, p1715
NOTICE
Note
commissioning.

Parameter
p0393[0...n] Current controller adaptation P gain scaling / I_adapt Kp scal

state:
optimization
0.00 [%] 1000.00 [%] 100.00 [%]
Description: Sets the factor for the current controller P gain in the adaptation range (e.g. r0078 > p0392, if p0392 > p0391).
The value is referred to the P gain of the current controller p1715.
See also: p0391, p0392, p1402, p1715
NOTICE
Note
For p0393 = 100 % or p1402.2 = 0, the current controller adaptation is disabled and p1715 is effective over the entire
range.
commissioning.
r0395[0...n] Actual stator resistance / R_stator act

Parameter group: Motor data, U/f control, Motor temperature
Description: Displays the actual stator resistance (phase value).
The parameter value also contains the temperature-independent cable resistance.
Dependency: In the case of induction motors the parameter is also affected by the motor temperature model.
See also: p0350, p0352, p0620
Note
In each case, only the stator resistance of the active Motor Data Set is included with the stator temperature of the thermal
motor model.

Parameter
r0396[0...n] Actual rotor resistance / R_rotor act

Parameter group: Motor data, U/f control, Motor temperature
Description: Displays the actual rotor/secondary section resistance (phase value).
The parameter is affected by the motor temperature model.
Note
In each case, only the rotor resistance of the active Motor Data Set is included with the rotor temperature of the thermal
motor model.
p0400[0...n] Encoder type selection / Enc_type sel

state:
Parameter group: Motor encoder, Quick commissioning
Dyn. index [0…n]: EDS n defined by: p0140 Calculated: -
0 10100 0
Description: Selects the encoder from the list of encoder types supported.
Value: 0: No encoder
202: DRIVE-CLiQ encoder AS20, singleturn
204: DRIVE-CLiQ encoder AM20, multiturn 4096
1001: Resolver 1 speed
2001: 2048, 1 Vpp, A/B C/D R
2002: 2048, 1 Vpp, A/B R
2003: 256, 1 Vpp, A/B R
2004: 400, 1 Vpp, A/B R
2005: 512, 1 Vpp, A/B R
2006: 192, 1 Vpp, A/B R
2007: 480, 1 Vpp, A/B R

Parameter
2008: 800, 1 Vpp, A/B R

2010: 18000, 1 Vpp, A/B R distance-coded
2012: 420, 1 Vpp, A/B R
2013: 675, 1 Vpp, A/B R
2020: 1024, 1 Vpp, A/B
2051: 2048, 1 Vpp, A/B, EnDat, multiturn 4096
2055: 2048, 1 Vpp, A/B, EnDat, singleturn
2081: 2048, 1 Vpp, A/B, SSI, singleturn
2082: 2048, 1 Vpp, A/B, SSI, multiturn 4096
2083: 2048, 1 Vpp, A/B, SSI, singleturn, error bit
2084: 2048, 1 Vpp, A/B, SSI, multiturn 4096, error bit
2086: 2048, 1 Vpp, A/B, SSI, multiturn 4096, single transfer
3001: 1024 HTL A/B R
3002: 1024 TTL A/B R
3003: 2048 HTL A/B R
3005: 1024 HTL A/B
3006: 1024 TTL A/B
3007: 2048 HTL A/B
3008: 2048 TTL A/B
3009: 1024 HTL A/B unipolar
3011: 2048 HTL A/B unipolar
3020: 2048 TTL A/B R, with sense
3081: SSI, singleturn, 24 V
3082: SSI, multiturn 4096, 24 V
3088: 1024, HTL, A/B, SSI, singleturn
3090: 4096, HTL, A/B, SSI, singleturn
9010: Simulated motor encoder
9999: User defined
10100: Identify encoder (waiting)
NOTICE
An encoder type with p0400 < 9999 defines an encoder for which there is an encoder parameter list.
When selecting a catalog encoder (p0400 < 9999) the parameters from the encoder parameter list cannot be changed
(write protection). To remove write protection, the encoder type should be set to a third-party encoder (p0400 = 9999).

Parameter
Note
The connected encoder can be identified using p0400 = 10100. This means that the encoder must support this, and is
possible in the following cases:
- Motor with DRIVE-CLiQ
- Encoder with EnDat interface
- DRIVE-CLiQ encoder
- Encoder with SSI interface
The encoder data (e.g. pulse number p0408) can only be changed when p0400 = 9999.
When using an encoder with track A/B and zero pulse, as standard, fine synchronization is not set using a zero mark. If,
for a synchronous motor, fine synchronization is to be realized using a zero mark, then the following must be executed:
- Set p0400 to 9999
- Set p0404.15 to 1
Prerequisite:
Coarse synchronization must be selected (e.g. pole position identification) and the zero pulse of the encoder must be
either mechanically or electronically (p0431) adjusted to the pole position.
For p0400 = 10100 the following applies:
The connected encoder is identified. If identification is not possible, then p0400 remains set = 10100, and the system
waits until identification is possible.
p0402[0...n] Gearbox type selection / Gearbox type sel

state:
Parameter group: Motor encoder
1 10100 9999
Description: Selects the gearbox type to pre-set the inversion and the gearbox factor.
Measuring gearbox factor = motor or load revolutions / encoder revolutions.
Value: 1: Gearbox 1:1 not inverted
2: Gearbox 2:7 inverted
9999: Gearbox user-defined
10100: Identify gearbox

Parameter
Note
For p0402 = 1:
Automatic setting of p0410 = 0000 bin, p0432 = 1, p0433 = 1.
For p0402 = 2:
For p0402 = 3:
For p0402 = 4:
For p0402 = 9999:
No automatic setting of p0410, p0432, p0433. The parameters should be manually set.
For p0402 = 10100:
It is only possible to identify the gearbox type for a motor with DRIVE-CLiQ. Parameters p0410, p0432 and p0433 are set
corresponding to the identified gearbox. If an identification is not possible, then p0402 is set to 9999.
p0404[0...n].0...23 Encoder configuration effective / Enc_config eff

state:
- - 0000 0000 0000 0000 0000 0000 0000
0000 bin
Description: Settings for the basic encoder properties.
00 Linear encoder Yes No
01 Absolute encoder Yes No
02 Multiturn encoder Yes No
03 Track A/B square-wave Yes No
04 Track A/B sine Yes No
05 Track C/D Yes No
06 Hall sensor Yes No
08 EnDat encoder Yes No
09 SSI encoder Yes No
10 DRIVE-CLiQ encoder Yes No
11 Digital encoder Yes No
12 Equidistant zero mark Yes No
13 Irregular zero mark Yes No
14 Distance-coded zero mark Yes No
16 Acceleration Yes No
17 Track A/B analog Yes No
20 Voltage level 5 V Yes No
22 Remote sense (only SMC30) Yes No
23 Resolver excitation Yes No

Parameter
NOTICE
This parameter is automatically pre-assigned for encoders from the encoder list and for identify encoder (p0400).
When selecting a catalog encoder, this parameter cannot be changed (write protection). Information in p0400 should
be carefully observed when removing write protection.
If an SSI encoder (bit 9 = 1) is used as motor encoder for permanent-magnet synchronous motors, then this is only
permissible in conjunction with an additional A/B track (bit 3 = 1 or bit 4 = 1).
Note
If a technique to determine the commutation information/data has not been selected (e.g. track C/D, Hall sensor), and
the encoder pulse number is an integer multiple of the pole number, then the following applies:
The track A/B is adjusted to match the magnetic position of the motor.
For bit 01, 02 (absolute encoder, multiturn encoder):
These bits can only be selected for EnDat encoders, SSI encoders or DRIVE-CLiQ encoders.
For bit 10 (DRIVE-CLiQ encoder):
This bit is only used for the large-scale integrated DRIVE-CLiQ encoders that provide their encoder data directly in DRIVE-
CLiQ format without converting this data. Therefore, this bit is not set for first generation DRIVE-CLiQ encoders.
For bit 12 (equidistant zero mark):
The zero marks occur at regular intervals (e.g. rotary encoder with 1 zero mark per revolution or linear encoder with
constant zero mark distance).
The bit activates monitoring of the zero mark distance (p0424/p0425, linear/rotary) or in the case of the linear encoder
with 1 zero mark and p0424 = 0 zero mark monitoring is activated.
For bit 13 (irregular zero mark):
The zero marks occur at irregular intervals (e.g. a linear scale with only 1 zero mark in the traversing range). The zero
mark distance is not monitored.
For bit 14 (distance-coded zero mark):
The distance (clearance) between two or several consecutive zero marks allows the absolute position to be calculated.
ZM: Zero mark
SMC: Sensor Module Cabinet
p0405[0...n].0...6 Square-wave encoder track A/B / Sq-wave enc A/B

state:
- - 0000 1111 bin
Description: Settings for the track A/B in a square-wave encoder.
For square-wave encoders, p0404.3 must also be 1.
00 Signal Bipolar Unipolar
01 Level TTL HTL
02 Track monitoring A/B <> -A/B None
03 Zero pulse Same as A/B track 24 V unipolar
04 Switching threshold High Low
05 Pulse/direction Active Inactive
06 Clockwise/counterclockwise Active Inactive

Parameter
NOTICE
Note
For bit 02:
When the function is activated, track monitoring can be deactivated by setting p0437.26.
For bit 05:
When the function is activated, a frequency setpoint and a direction for traveling can be entered via an encoder interface.
For bit 06:
When the function is activated, a clockwise and counterclockwise signal (CW/CCW) for traveling can be entered via an
encoder interface.
p0408[0...n] Rotary encoder pulse number / Rot enc pulse no

state:
0 16777215 2048
Description: Sets the number of pulses for a rotary encoder.
In conjunction with the fine resolution, the pulse number defines the transfer format for position actual values
Gn_XIST1 (r0482) and Gn_XIST2 (r0483).
NOTICE
Note
The smallest permissible value is 1 pulse.
The number of pole pairs for a resolver is entered here.
This value does not always correspond to the pulse number of the measuring device. For a DRIVE-CLiQ encoder, a value
is entered here that facilitates optimum transfer of the resolution (p0423).
p0410[0...n].0...1 Encoder inversion actual value / Enc inv ActV

state:
- - 0000 bin

Parameter
Description: Setting to invert actual values.

00 Invert speed actual value Yes No
01 Invert position actual value Yes No
Note
The inversion influences the following parameters:
Bit 00: r0061, r0063 (exception: encoderless control), r0094
Bit 01: r0482, r0483
p0411[0...n].0...3 Measuring gearbox configuration / Meas gear config

state:
- - 0000 bin
Description: Sets the configuration for position tracking of a measuring gearbox.
00 Measuring gearbox activate position tracking Yes No
01 Axis type Linear axis Rotary axis
02 Measuring gearbox reset position Yes No
03 Meas. gearbox, activate pos. tracking for incremental encoders Yes No
NOTICE
For p0411.3 = 1 the following applies:
If position tracking is activated for incremental encoders, only the position actual value is stored. Axis or encoder motion
is not detected when deactivated! Any tolerance window entered in p0413 has no effect.
Note
For the following events, the non-volatile, saved position values are automatically reset:
- When an encoder replacement has been identified.
- When changing the configuration of the Encoder Data Set (EDS).
p0412[0...n] Measuring gearbox absolute encoder rotary revolutions virtual / Abs rot rev
state:
0 4194303 0
Description: Sets the number of rotations that can be resolved for a rotary encoder with activated position tracking of the measuring
gearbox.

Parameter
Dependency: This parameter is only of significance for an absolute encoder (p0404.1 = 1) with activated position tracking (p0411.0
= 1) and for an incremental encoder with activated position tracking (p0411.3 = 1).
Note
The resolution that is set must be able to be represented using r0483.
For rotary axes/modulo axes, the following applies:
p0411.0 = 1:
This parameter is pre-set with p0421 and can be changed.
p0411.3 = 1:
The parameter value is pre-set to the highest possible value. The highest possible value depends on the pulse number
(p0408) and the fine resolution (p0419).
For linear axes, the following applies:
p0411.0 = 1:
This parameter is pre-assigned with p0421, expanded by 6 bits for multiturn information (maximum number of
overflows) and cannot be changed.
p0411.3 = 1:
The parameter value is pre-set to the highest possible value. The highest possible value depends on the pulse number
(p0408) and the fine resolution (p0419).
p0413[0...n] Measuring gearbox position tracking tolerance window / Pos track window
state:
0.00 4294967300.00 0.00
Description: Sets a tolerance window for position tracking.
After the system is switched on, the difference between the saved position and the actual position is determined, and
depending on this, the following is initiated:
Difference within the tolerance window --> The position is reproduced as a result of the encoder actual value.
Difference outside the tolerance window --> An appropriate message is output.
Dependency: See also: F31501, F32501
CAUTION
Rotation, for example through a complete encoder range is not detected.
Note
The value is entered in integer (complete) encoder pulses.
For p0411.0 = 1, the value is automatically pre-assigned quarter of the encoder range.
Example:
Quarter of the encoder range = (p0408 * p0421) / 4
It is possible that the tolerance window may not be able to be precisely set due to the data type (floating point number
with 23 bit mantissa).

Parameter
p0419[0...n] Fine resolution absolute value Gx_XIST2 (in bits) / Enc fine Gx_XIST2
state:
0 18 0
Description: Sets the fine resolution in bits of the absolute position actual values.
Note
This parameter applies to process data Gx_XIST2 when reading the absolute value.
p0421[0...n] Absolute encoder rotary multiturn resolution / Enc abs multiturn

state:
0 4294967295 4096
Description: Sets the number of revolutions that can be resolved for a rotary absolute encoder.
NOTICE
p0423[0...n] Absolute encoder rotary singleturn resolution / Enc abs singleturn

state:
0 1073741823 8192
Description: Sets the number of measuring steps per revolution for a rotary absolute encoder.
The resolution refers to the absolute position.

Parameter
NOTICE
p0425[0...n] Encoder rotary zero mark distance / Enc rot dist ZM

state:
0 16777215 2048
Description: Sets the distance in pulses between two zero marks for a rotary encoder.
This information is used for zero mark monitoring.
NOTICE
Note
For distance-coded zero marks this parameter signifies the basic distance.
p0426[0...n] Encoder zero mark differential distance / Enc ZM Dif_dist

state:
1 65535 1
Description: Sets the differential pitch for distance-coded zero marks (signal periods).
The value corresponds to jump displacement of "zero mark with interference".
Dependency: This function can only be used when a Sensor Module property is available (r0459.9 = 1).
NOTICE

Parameter
p0427[0...n] Encoder SSI baud rate / Enc SSI baud rate

state:
Unit: kHz Unit group: - Unit selection: -
0 [kHz] 65535 [kHz] 100 [kHz]
Description: Sets the baud rate for an SSI encoder.
NOTICE
Note
SSI: Synchronous Serial Interface
p0428[0...n] Encoder SSI monoflop time / Enc SSI t_monoflop

state:
0 [µs] 65535 [µs] 30 [µs]
Description: Sets the minimum wait time between two data transfers of the absolute value for an SSI encoder.
NOTICE
p0429[0...n].0...6 Encoder SSI configuration / Enc SSI config

state:

Parameter

- - 0000 0000 bin
Description: Sets the configuration for an SSI encoder.
00 Transfer code Binary code Gray code
02 Transfer absolute value twice Yes No
06 Data line during the monoflop time High level Low level
NOTICE
Note
For bit 06:
The quiescent signal level of the data line corresponds to the inverted, set level.
p0430[0...n].19...27 Sensor Module configuration / SM config

state:
- - 1110 0000 0000 1000 0000 0000 0000
0000 bin
Description: Sets the configuration of the Sensor Module.
19 Safety position actual value sensing Yes No
20 Speed calculation mode (only SMC30) Incremental diff Edge time meas
21 Zero mark tolerance Yes No
22 Rotor position adaptation Yes No
23 Deselect commutation with zero mark Yes No
24 Commutation with selected zero mark Yes No
25 Switch off encoder voltage supply during parking Yes No
27 Extrapolate position values Yes No
NOTICE
A bit-wise configuration is only possible if the corresponding property is also present in r0458.

Parameter
Note
For bit 19 (Safety position actual value sensing):
- If bit = 1, the Safety position actual value is transferred in the cyclic telegram.
For bit 20 (speed calculation mode):
- If bit = 1, the speed is calculated via incremental difference without extrapolation.
- If bit = 0, the speed is calculated via edge time measurement with extrapolation. p0453 is effective in this mode.
For bit 21 (zero mark tolerance):
- If bit = 1, a one-off zero mark distance error is tolerated. In the event of a defect, the fault F3x100/F3x101 does not
appear, but alarm A3x400/A3x401 does.
For bit 22 (rotor position adaptation):
- If bit = 1, the rotor position is corrected automatically. The correction speed is +/-1/4 encoder pulse per zero mark
distance.
For bit 23 (deselect commutation with zero mark):
- The bit should only be set for encoders that have not been adjusted.
For bit 24 (commutation with selected zero mark):
- If bit = 1, the commutation position is corrected via a selected zero mark.
For bit 25 (disconnect the encoder power supply on parking):
- If bit = 1, the encoder power supply is switched off on parking (0 V).
- If bit = 0, the encoder power supply is not switched off on parking, it is reduced from 24 V to 5 V.
For bit 27 (extrapolate position values):
- If bit = 1, the extrapolation of the position values is activated.
p0431[0...n] Angular commutation offset / Ang_com offset

state:
Parameter group: Motor encoder, Pole position identification/encoder calibration
-180.00 [°] 180.00 [°] 0.00 [°]
Description: Sets the angular commutation offset.
Dependency: The value is taken into account in r0094.
See also: r0094, r1778
NOTICE
When the firmware is upgraded from V2.3 to V2.4 or higher, the value must be reduced by 60° if all the following
conditions are fulfilled:
- The motor is a synchronous motor (p0300 = 2, 2xx, 4, 4xx).
- The encoder is a resolver (p0404.23 = 1).
- The speed actual value is inverted (p0410.0 = 1).
The angular commutation offset cannot be generally taken from other drive systems. As a minimum - The sign of the
offset determined for SIMODRIVE 611 digital and SIMODRIVE 611 universal must be reversed for SINAMICS (p0431
(SINAMICS) = -p1016 (SIMODRIVE)).
Note
Angular commutation offset, angular difference between electrical position of encoder and flux position.
For p0404.5 = 1 (track C/D) the following applies:
The angular offset in p0431 acts on track A/B, the zero mark on track C/D.
For p0404.6 = 1 (Hall sensor) the following applies:
The angular offset in p0431 acts on track A/B and the zero mark.

Parameter
p0432[0...n] Gearbox factor encoder revolutions / Grbx_fact enc_rev

state:
1 1048576 1
Description: Sets the encoder revolutions for the gearbox factor of the encoder evaluation.
The gearbox factor specifies the ratio between the encoder shaft and motor shaft (for motor encoders) or between the
encoder shaft and the load.
Dependency: This parameter can only be set for p0402 = 9999.
See also: p0402, p0410, p0433
Note
Negative gearbox factors should be implemented with p0410.
For synchronous motors, the quotient of the pole pair number divided by the ratio of the measuring gearbox must be
an integer number: (p0314 * p0433) / p0432
p0433[0...n] Gearbox factor motor/load revolutions / Grbx_fact mot/load

state:
1 1048576 1
Description: Sets the motor and load revolutions for the gearbox factor of the encoder evaluation.
The gearbox factor specifies the ratio between the encoder shaft and motor shaft (for motor encoders) or between the
encoder shaft and the load.
Dependency: This parameter can only be set for p0402 = 9999.
See also: p0402, p0410, p0432
Note
Negative gearbox factors should be implemented with p0410.
For synchronous motors, the quotient of the pole pair number divided by the ratio of the measuring gearbox must be
an integer number:
(p0314 * p0433) / p0432

Parameter
p0434[0...n] Encoder SSI error bit / Enc SSI error bit

state:
0 65535 0
Description: Sets the position and level of the error bit in the SSI protocol.
NOTICE
The bit may only be positioned before (p0446) or after (p0448) the absolute value in the SSI protocol.
Note
Value = dcba
ba: Position of the error bit in the protocol (0 ... 63).
c: Level (0: Low level, 1: High level).
d: Status of the evaluation (0: Off, 1: On with 1 error bit, 2: On with 2 error bits ... 9: On with 9 error bits).
For several error bits, the following applies:
- The position specified under ba and the additional bits are assigned increasing consecutively.
- The level set under c applies to all error bits.
Example:
p0434 = 1013
--> The evaluation is switched in and the error bit is at position 13 with a low level.
p0434 = 1113
--> The evaluation is switched in and the error bit is at position 13 with a high level.
p0435[0...n] Encoder SSI alarm bit / Enc SSI alarm bit

state:
0 65535 0
Description: Sets the position and level of the alarm bit in the SSI protocol.
NOTICE

Parameter
Note
Value = dcba
ba: Position of the alarm bit in protocol (0 ... 63).
c: Level (0: Low level, 1: High level).
d: Status of the evaluation (0: Off, 1: On with 1 alarm bit, 2: On with 2 alarm bits ... 9: On with 9 alarm bits).
The following applies for several alarm bits:
- The position specified under ba and the additional bits are assigned increasing consecutively.
- The level set under c applies to all error bits.
Example:
p0435 = 1014
--> The evaluation is switched in and the alarm bit is at position 14 with a low level.
p0435 = 1114
--> The evaluation is switched in and the alarm bit is at position 14 with a high level.
p0436[0...n] Encoder SSI parity bit / Enc SSI parity bit

state:
0 65535 0
Description: Sets the position and parity of the parity bit in the SSI protocol.
NOTICE
Note
Value = dcba
ba: Position of the parity bit in the protocol (0 ... 63).
c: Parity (0: even, 1: uneven).
d: State of the evaluation (0: Off, 1: On).
Example:
p0436 = 1015
--> The evaluation is switched in and the parity bit is at position 15 with even parity.
p0436 = 1115
--> The evaluation is switched in and the parity bit is at position 15 with uneven parity.
p0437[0...n].1...26 Sensor Module configuration extended / SM config ext

state:

Parameter

- - 0011 0000 0000 0000 0000 1000 0000
0000 bin
Description: Sets the extended configuration of the Sensor Module.
01 Zero mark edge detection Yes No
02 Correction position actual value XIST1 Yes No
04 Edge evaluation bit 0 Yes No
06 Freeze the speed actual value for dn/dt errors Yes No
07 Do not accumulate the number of incorrect pulses Yes No
12 Activate additional messages Yes No
13 Support absolute position for incremental encoder Yes No
22 Resolution absolute position as factor Yes No
25 Deselect monitoring multiturn representation in Gx_XIST2 Yes No
26 Deselect track monitoring Yes No
Dependency: See also: p0430, r0459
Note
A value of zero is displayed if an encoder is not present.
For bit 01:
If bit = 0, the zero mark is evaluated by ANDing tracks A and B and the zero mark.
For bit = 1, the zero mark is evaluated depending on the direction of rotation detected. For a positive direction of rotation,
the positive edge of the zero mark is considered and for a negative direction of rotation, the negative edge of the zero
mark.
For bit 02:
When the bit is set, for a deviation less than the tolerance window for the zero mark (p4681, p4682), the pulse number
is corrected. If the bit is not set, encoder fault F3x131 is triggered.
For bits 05, 04:
The actual hardware only supports 1x or 4x signal evaluation.
Bit 5/4 = 0/0: Signal evaluation per period, 4x.
Bit 5/4 = 1/0: signal evaluation per period, 4x with speed calculation over the complete pulse.
Bit 5/4 = 0/1: Signal evaluation per period, 1x.
Bit 5/4 = 1/1: Illegal setting.
For bit 06:
If the function is active, when dn/dt monitoring responds, the speed actual value is internally frozen for a time equivalent
to two current controller sampling times. The rotor position continues to be integrated. The actual value is then re-
enabled after this time has expired.
For bit 07:
When the bit is not set, the incorrect pulses that have occurred up until now are accumulated in p4688.
When the bit is not set, p4688 indicates the incorrect pulses that have still not been corrected.
For bit 12:
Additional fault messages can be activated for extended fault diagnostics.
For bit 13:
When the bit is set, for an incremental encoder with zero mark, the absolute value in Gn_XIST2 can be requested via
Gn_STW.13. The absolute value is only valid after passing the zero mark.
For bit 22:
When the bit is set, the resolution of the absolute position in the serial protocol is set using distribution factor in p4630.
The resolution for the absolute position is then calculated using p0407/p4630.
For bit 26:
Track monitoring is deactivated for the square-wave encoders when the bit is set, even if the monitoring function is
selected in p0405.2.

Parameter
p0438[0...n] Square-wave encoder filter time / Enc t_filt

state:
0.00 [µs] 100.00 [µs] 0.64 [µs]
Description: Sets the filter time for a square-wave encoder.
The hardware of the square-wave encoder only supports the following values:
0: No filtering
0.04 µs
0.64 µs
2.56 µs
10.24 µs
20.48 µs
NOTICE
If the filter time is too long, the track signals A/B/R may be suppressed and the appropriate messages output.
Note
The most suitable filter time depends on the number of pulses and maximum speed of the square-wave encoder.
The filter time is automatically corrected to the next value when entering a non-specified value. In this case, no message
is output.
The effective filter time is displayed in r0452.
p0439[0...n] Encoder ramp-up time / Enc ramp-up time

state:
0 [ms] 65535 [ms] 0 [ms]
Description: Sets the ramp-up time for the encoder.
The encoder supplies stable track signals once this time has elapsed.
Dependency: This function can only be used when a Sensor Module property is available (r0459.9 = 1).
NOTICE
This parameter is automatically preset for encoders from the encoder list (p0400).

Parameter
p0441[0...n] Encoder commissioning serial number / Enc com ser_no

state:
Dyn. index [0…n]: EDS n defined by: p0140 Calculated: automatic
0000 hex FFFF FFFF hex 0000 hex
Description: Serial number of the encoder for commissioning.
Note
p0446[0...n] Encoder SSI number of bits before the absolute value / Enc SSI bit before
state:
0 65535 0
Description: Sets the number of bits before the absolute value in the SSI protocol.
NOTICE
Note
For example, error bit, alarm bit or parity bit can be positioned at these bits.
p0447[0...n] Encoder SSI number of bits absolute value / Enc SSI bit val
state:
0 65535 25

Parameter
Description: Sets the number of bits for the absolute value in the SSI protocol.
NOTICE
p0448[0...n] Encoder SSI number of bits after the absolute value / Enc SSI bit after
state:
0 65535 0
Description: Sets the number of bits after the absolute value in the SSI protocol.
NOTICE
Note
For example, error bit, alarm bit or parity bit can be positioned at these bits.
p0449[0...n] Encoder SSI number of bits filler bits / Enc SSI fill bits
state:
0 65535 1
Description: Sets the number of filler bits for double absolute value transfer in the SSI protocol.
NOTICE
Note
This parameter is only of significance for p0429.2 = 1.

Parameter
r0452[0...2] Square-wave encoder filter time display / Enc t_filt disp

Description: Displays the effective filter time for a square-wave encoder.
The filter time is set using p0438.
[1] = Encoder 2
[2] = Reserved
Note
p0453[0...n] Pulse encoder evaluation zero speed measuring time / Enc_ev n_0 t_meas
state:
0.10 [ms] 10000.00 [ms] 1000.00 [ms]
Description: Sets the measuring time for evaluating zero speed.
If no pulses are detected from track A/B during this time, a speed actual value of zero is output.
Note
This function is required for slow-running motors so that actual speeds close to zero can be output correctly.
p0454[0...n].4 Sensor Module configuration extended Part 2 / SM config ext 2

state:
- - 0000 0000 bin
Description: Sets the extended configuration Part 2 of the Sensor Module.

Parameter
04 Extended cyclic DRIVE-CLiQ telegram Yes No

Note
For bit 04:
The extended cyclic DRIVE-CLiQ telegram of the encoder should be used.
A power on is required after changing this setting.
r0455[0...2].0...23 Encoder configuration recognized / Enc_config recog

Description: Displays the detected encoder configuration.
In this case, the encoder must automatically support the function (e.g. encoder with EnDat interface).
[1] = Encoder 2
[2] = Reserved
05 Track C/D Yes No
Note
ZM: Zero mark
This parameter is only used for diagnostics.
For bit 20, 21 (voltage level 5 V, voltage level 24 V):
The voltage level cannot be detected. Therefore, these bits are always set to 0.

Parameter
r0456[0...2].0...23 Encoder configuration supported / Enc_config sup

Description: Displays the encoder configuration supported by the Sensor Module.
[1] = Encoder 2
[2] = Reserved
05 Track C/D Yes No
Note
ZM: Zero mark
This parameter is only used for diagnostics.
r0457[0...2].0...4 Sensor Module properties extended Part 2 / SM prop ext 2

Description: Displays the extended properties part 2, supported by the Sensor Module.

Parameter

[1] = Encoder 2
[2] = Reserved
00 Safety Integrity Level SIL 3 supported Yes No
02 Shift factor XIST2 supported Yes No
03 Acceleration sensors supported Yes No
04 Extended cyclic DRIVE-CLiQ telegram supported Yes No
Note
r0458[0...2].0...27 Sensor Module properties / SM properties

Description: Sets the Sensor Module configuration.
[1] = Encoder 2
[2] = Reserved
00 Encoder data available Yes No
01 Motor data available Yes No
02 Temperature sensor connection available Yes No
03 Connection for PTC for motor with DRIVE-CLiQ also available Yes No
04 Module temperature available Yes No
07 Hall sensor can be combined with actual value inversion Yes No
08 Evaluation through several temperature channels possible Yes No
10 Speed diagnostics in the Sensor Module Yes No
15 Evaluation function reserve Yes No
16 Pole position identification Yes No
19 Safety position actual value sensing Yes No
20 Extended speed calculation being used (only SMC30) Yes No
21 Zero mark tolerance Yes No
22 Rotor position adaptation Yes No
23 Commutation with zero mark can be deselected Yes No
24 Commutation with selected zero mark Yes No
25 Disconnection of encoder power supply on parking supported Yes No
26 Parking with temperature evaluation Yes No
27 SSI position value extrapolation Yes No

Parameter
Note
For bit 23:
When the property is set, commutation with zero mark can be deselected using p0430.23.
For bit 24:
If the property is set, commutation to the selected zero mark can be carried out.
r0459[0...2].1...26 Sensor Module properties extended / SM prop ext

Description: Displays the extended properties supported by the Sensor Module.
[1] = Encoder 2
[2] = Reserved
01 Zero mark edge detection Yes No
02 Correction position actual value XIST1 Yes No
06 Freeze the speed actual value for dn/dt errors Yes No
07 Accumulate uncorrected encoder pulses Yes No
12 Activate additional messages Yes No
13 Absolute position for incremental encoder supported Yes No
14 Spindle functionality Yes No
15 Additional temperature sensor available Yes No
16 Internal encoder temperature available Yes No
18 Pt1000 temperature sensor evaluation Yes No
22 Resolution absolute position as factor Yes No
24 Multiturn via battery Yes No
25 Deselect monitoring multiturn representation in Gx_XIST2 Yes No
26 Track monitoring deselection Yes No
Note
r0460[0...2] Encoder serial number / Enc ser_no

Description: Displays the actual serial number of the corresponding encoder.

Parameter

[1] = Encoder 2
[2] = Reserved
r0477[0...2] Measuring gearbox position difference / Meas gear pos diff

Description: Displays the position difference before the measuring gearbox between switching off and switching on.
[1] = Encoder 2
[2] = Reserved
Note
The increments are displayed in the format the same as r0483. The position difference should be read in encoder
increments.
r0479[0...2] Diagnostics encoder position actual value Gn_XIST1 / Diag Gn_XIST1

Description: Display and numerical signal source for the encoder position actual value Gn_XIST1 according to PROFIdrive for
diagnostics.
In contrast to r0482, the value is updated in each DRIVE-CLiQ basic clock cycle and displayed with sign.
[1] = Encoder 2
[2] = Reserved
CAUTION
After running up or after a data set switchover, the new value is present at the numerical signal sinks, which are
interconnected to numerical signal sources r0479 - and under certain circumstances are only available after several 100
ms.
Reason:
These interconnections are updated in the background, contrary to interconnections to other numerical signal sources
(e.g. r0482).
The value is immediately available when non-cyclically reading r0479.

Parameter
c0480[0...2] Encoder control word Gn_STW / Enc Gn_STW

Type of signal interconnection: Sink numeric Scaling: -
Description: Signal for the encoder control word Gn_STW according to PROFIdrive.
[1] = Encoder 2
[2] = Reserved
r0481[0...2].0...15 Encoder status word Gn_ZSW / Enc Gn_ZSW

Description: Displays the encoder status word Gn_ZSW according to PROFIdrive.
[1] = Encoder 2
[2] = Reserved
00 Function 1 active Yes No
04 Value 1 Displayed in Not present
r0483
r0483
r0483
r0483
08 Measuring probe 1 deflected Yes No
09 Measuring probe 2 deflected Yes No
11 Encoder fault acknowledge active Yes No
13 Absolute value cyclically Displayed in No
r0483
14 Parking encoder active Yes No
15 Encoder fault Displayed in None
r0483

Parameter
Note
More information about Gn_STW/Gn_ZSW is provided in the product documentation via parameter r0481.
For bit 14:

Displays the acknowledgment for "activate parking encoder" (Gn_STW.14 = 1) or encoder position actual value
(Gn_XIST1) invalid.
For bit 14, 15:
r0481.14 = 1 and r0481.15 = 0 can have one of the following causes:
- The encoder is parked.
- The encoder is deactivated.
- The encoder is being commissioned.
- No parameterized encoder available.
- Encoder data set is being changed over.
r0481.14 = 1 and r0481.15 = 1 has the following significance:
An encoder error has occurred and the encoder position actual value (Gn_XIST1) is invalid.
r0482[0...2] Encoder position actual value Gn_XIST1 / Enc Gn_XIST1

Description: Display and numerical signal source for the encoder position actual value Gn_XIST1 according to PROFIdrive.
[1] = Encoder 2
[2] = Reserved
Note
- This value is reset if necessary when the "parking encoder" (r0481.14) function is deselected.
- In this value, the measuring gearbox (p0432, p0433) is only taken into account when the position tracking is activated
(p0411.0 = 1).
- The update time in isochronous operation corresponds to the bus cycle time.
- The update time in non-isochronous operation is approximately 1 ms.
r0483[0...2] Encoder position actual value Gn_XIST2 / Enc Gn_XIST2

Description: Displays the encoder position actual value Gn_XIST2 according to PROFIdrive.
[1] = Encoder 2
[2] = Reserved
NOTICE
The encoder position actual value must be requested using the encoder control word Gn_STW.13.

Parameter
Note
- In this value, the measuring gearbox (p0432, p0433) is only taken into account when the position tracking is activated
(p0411.0 = 1).
- If GxZSW.15 = 1 (r0481), then an error code with the following significance is located in Gx_XIST2 (r0483):
1: Encoder fault.
2: Possible position shift in Gx_XIST1.
3: Encoder parking not possible.
4: Cancellation, homing mark search (e.g. zero mark not available or input terminal for external zero mark not set). Zero
mark is requested, however according to p0404.12/13/14 there is no zero mark (alarm A07565).
5: Cancellation, fetch reference value (e.g. illegal change from homing mark search to flying measurement).
6: cancellation, flying measurement (e.g. input terminal for probe not set).
7: Cancellation, fetch measured value (e.g. illegal change from flying measurement to homing mark search).
8: Abort, absolute value transfer.
3841: Function not supported.
4097: Abort, homing mark search due to an initialization error. Possible cause: defective converter.
4098: Abort, flying measurement due to an initialization error. Possible cause: defective converter.
4099: Abort, homing mark search due to a measuring error. Possible cause: too many measuring pulses have occurred.
4100: Abort, flying measurement due to a measuring error. Possible cause: too many measuring pulses have occurred.
r0485[0...2] Measuring gearbox encoder raw value incremental / Enc raw val incr
Description: Displays the raw value of the incremental encoder actual value before the measuring gearbox.
[1] = Encoder 2
[2] = Reserved
r0486[0...2] Measuring gearbox encoder raw value absolute / Enc raw val abs
Description: Displays the raw value of the absolute encoder actual value before the measuring gearbox.
[1] = Encoder 2
[2] = Reserved

Parameter
r0487[0...2].0...15 Diagnostic encoder control word Gn_STW / Enc Gn_STW

Description: Displays the encoder control word Gn_STW according to PROFIdrive for diagnostics.
[1] = Encoder 2
[2] = Reserved
00 Request function 1 Yes No
04 Request command bit 0 Yes No
07 Flying measurement mode/homing mark search Flying Homing marks
measurement
13 Request absolute value cyclic Yes No
14 Request parking encoder Yes No
15 Request acknowledge encoder fault Yes No
Note
More information is available from the corresponding product documentation in Section "Encoder control and status
words".
The encoder control word is interconnected via numerical signal sink c0480.
p0488[0...2] Measuring probe 1 input terminal / Meas probe 1 inp

state:
Parameter group: Measuring probe, Traversing blocks
0 215 0
Description: Sets the input terminal to connect probe 1.
Value: 0: No measuring probe
215: DI 5 (X131.9)
[1] = Encoder 2
[2] = Reserved

Parameter
CAUTION
In order to prevent incorrect measurement values, these parameters may not be written during an active measurement.
Note
DI: Digital Input
Refer to the encoder interface for PROFIdrive.
If the parameterization is rejected, check whether the terminal is already being used in p0580.
p0489[0...2] Measuring probe 2 input terminal / Meas probe 2 input

state:
Parameter group: Measuring probe, Traversing blocks
0 215 0
Description: Sets the input terminal to connect probe 2.
215: DI 5 (X131.9)
[1] = Encoder 2
[2] = Reserved
CAUTION
Note
DI: Digital Input
Refer to the encoder interface for PROFIdrive.
If the parameterization is rejected, check whether the terminal is already being used in p0580.
p0490.5 Invert measuring probe or equivalent zero mark / MT or ZM_equiv inv

state:
Parameter group: Measuring probe
- - 0000 0000 bin
Description: Setting to invert the digital input signals to connect a measuring probe or an equivalent zero mark.
05 DI 5 (X131.9) Inverted Not inverted

Parameter
Note
When the measuring probe or the equivalent zero mark is inverted, this has no effect on the status displays of the digital
inputs (r0722, r0723).
DI: Digital Input
p0491 Motor encoder fault response ENCODER / Fault resp ENCODER

state:
Parameter group: Motor encoder, DC braking
0 6 0
Description: Sets the behavior for the ENCODER fault response (motor encoder).
This means, for example, if an encoder fault occurs, encoderless operation can be automatically selected with a
shutdown behavior that can be selected.
Value: 0: Encoder fault results in OFF2
1: Enc fault results in encoderless oper. and oper. continues
2: Encoder fault results in encoderless operation and OFF1
3: Encoder fault results in encoderless operation and OFF3
4: Encoder fault results in DC braking/armature short-cct internal
5: Enc fault results in encoderless op, operation continues, alarm
6: An encoder fault results in encoderless operation, alarm
Dependency: The following parameters are relevant for encoderless operation.
See also: p0341, p0342, p1470, p1472, p1517, p1755
See also: F07575
CAUTION
For a value = 1, 2, 3, 5, 6 the following applies:
- Encoderless operation must have been started.
For a value = 1, 5, 6, the following applies:
- The motor continues to operate in spite of the incorrect motor encoder function.

Parameter
Note
For a value = 1, 2, 3, 5, 6 the following applies:
- See status signal "Encoderless operation due to a fault" (r1407.13).
- If, with r1407.13 = 1, a different drive data set is selected (e.g. interconnection from c0820), then the open-loop/closed-
loop control operating mode p1300 of this data set must match that of the original data set (e.g. p1300 = 21).
Encoderless closed-loop controlled operation is kept when changing over.
For a value = 4, the following applies:
- The value can only be set for all motor data sets when p1231 = 3, 4.
- For permanent magnet synchronous motors, an armature short circuit is initiated when an encoder develops a fault.
- For induction motors, DC braking is initiated on an encoder fault. DC braking must be commissioned (p1232, p1233,
p1234).
Same function as for value = 1.
However, in operation, encoder malfunctions that occur are only output as alarm and the message bit "Fault active"
(r2139.3) is not set. Fault F7575 is set after the drive axis has been shut down.
The active malfunction of the encoder must be acknowledged via the encoder interface before the system can be
switched on again.
Same function as for value = 1.
Encoder malfunctions that occur are only output as alarm and the message bit "Fault active" (r2139.3) is not set. After
shutting down the drive axis, in spite of an active encoder malfunction, the drive can restart without switching over to
encoderless operation (except if an active topology error is involved).
The active encoder malfunction must be acknowledged via the encoder interface before operation can be resumed for
operation with the encoder.
p0492 Maximum speed difference per sampling cycle / n_dif max/samp_cyc

state:
Parameter group: Motor encoder, Messages / Monitoring
Dyn. index [0…n]: - Calculated: automatic
0.00 [rpm] 210000.00 [rpm] 0.00 [rpm]
Description: Sets the maximum permissible speed difference within the current controller sampling time.
See also: F07902, F31118, A31418, F32118, A32418
Note
For a value of 0.0, the speed change monitoring is disabled.
The following applies for square-wave encoders:
If the speed difference exceeds the threshold value p0492, depending on p0491, either encoderless closed-loop speed/
torque control is selected or the drive is switched off with fault F3x118.
The following applies for other speed encoders:
If the speed difference exceeds threshold value p0492, in order to avoid subsequent faults, the old speed actual value
is kept and after time p2178 shut down with fault F07902 (motor stalled).

Parameter
p0496[0...2] Encoder diagnostic signal selection / Enc diag select

state:
0 86 0
Description: Selects the trace signal to be output in r0497, r0498 and r0499 for encoder diagnostics.
Value: 0: Inactive
1: r0497: Mechanical revolution
7: r0498: oversampling channel A with fault trigger
8: r0498: oversampling channel A with fault trigger
9: r0497: sum of the squares AB in 0.1 mV
10: r0498: Raw value track A, r0499: Raw value track B
11: r0498: Fine position X (-A/2), r0499: Fine position Y (-B/2)
12: r0498: Fine position Phi, r0499: -
13: r0498: Offset correction X, r0499: Offset correction Y
14: r0498: Phase correction X, r0499: Amplitude correction Y
15: r0498: Cubic correction X, r0499: Fine position X
16: r0498: oversampling channel A, r0499: oversampling channel B
17: r0498: fan-out amount, r0499: fan-out number
18: r0498: Oversampling angle, r0499: Oversampling amount
19: r0498: Fault counter AB, r0499: raw value track A
20: r0498: Raw value track C, r0499: Raw value track D
21: r0498: CD position X (-D/2), r0499: CD position Y (C/2)
22: r0498: CD position Phi, r0499: CD pos. Phi - Mech. revolution
23: r0497: Zero mark status
24: r0498: Raw value track R, r0499: Zero mark status
25: r0498: Raw value track A, r0499: Raw value track R
26: r0498: Sum of squares AB, r0499: sector number
30: r0497: Absolute position serial
31: r0497: Absolute position incremental
32: r0497: Zero mark position
33: r0497: Correction absolute position difference
40: r0498: Raw temperature, r0499: Temperature in 0.1 °C
41: r0498: Resistance in 0.1 Ohm, r0499: Temperature in 0.1 °C
42: r0497: Resistance 2500 Ohm
51: r0497: Absolute speed difference (dn/dt)
52: r0497: Xact1 corrected quadrants
60: Analog sensor: r0498: raw val chann. A, r0499: raw val chann. B
61: Analog sensor: r0498: fine pos chann. A,r0499: fine pos chann. B
62: Analog sensor: r0498: Fine pos before characteristic, r0499: -
70: Resolver: r0498: Transformation ratio, r0499: phase
80: Spindle: r0498: Sensor S1 (raw), r0499: Sensor S4 (raw)

Parameter
81: Spindle: r0498: Sensor S5 (raw), r0499: -

85: Spindle: r0498: Sensor S1 (cal), r0499: Sensor S4 (cal)
86: Spindle: r0498: Sensor S5 (cal), r0499: -
[1] = Encoder 2
[2] = Reserved
Dependency: See also: r0497, r0498, r0499
NOTICE
The setting option depends on the following properties:
Sensor Module type, hardware version, firmware version (Sensor Module and converter), Article number (last digit).
Not all combinations are supported.
Note
For p0496 = 1: 360 ° <--> 2^32
For p0496 = 7, 8: input voltage in mV
For p0496 = 10 (resolver): 2900 mV <--> 26214 dec
For p0496 = 10, 20 (sin/cos 1 Vpp, EnDat): 500 mV <--> 21299 dec
For p0496 = 11 (resolver): 2900 mV <--> 13107 dec, internal processor offset is corrected
For p0496 = 11, 21 (sin/cos 1 Vpp, EnDat): 500 mV <--> 10650 dec, internal processor offset is corrected
For p0496 = 12: 180 ° fine position <--> 32768 dec
For p0496 = 13 (resolver): 2900 mV <--> 13107 dec
For p0496 = 13 (sin/cos 1 Vpp, EnDat): 500 mV <--> 10650 dec
For p0496 = 14: 1 ° <--> 286 dec, 100 % <--> 16384 dec
For p0496 = 15: 100 % <--> 16384 dec
For p0496 = 16 (resolver): channel A: 2900 mV <--> 26214 dec, channel B: 2900 mV <--> 26214 dec, channel A and
channel B can be shifted by one sample (in time)
For p0496 = 16: (sin/cos 1 Vpp, EnDat) channel A: 500 mV <--> 21299 dec, channel B: 500 mV <--> 21299 dec, channel
A and channel B can be shifted by one sample (in time)
For p0496 = 17 (resolver): absolute value: 2900 mV <--> 13107 dec, number: 1 ... 8
For p0496 = 17 (sin/cos 1 Vpp, EnDat): absolute value 500 mV <--> 10650 dec, number: 1 ... 8
For p0496 = 18 (resolver): angle: signal period <--> 2^16, absolute value: 2900 mV <--> 13107 dec
For p0496 = 18 (sin/cos 1 Vpp, EnDat): angle: signal period <--> 2^16, absolute value: 500 mV <--> 10650 dec
For p0496 = 19 (resolver): counter: dec, channel A: 2900 mV <--> 26214 dec
For p0496 = 19 (sin/cos 1 Vpp, EnDat): counter: dec, channel A: 500 mV <--> 21299 dec
For p0496 = 22: 180 ° <--> 32768 dec
For p0496 = 23, 24: r0497.31 (r0499.15) set for at least 1 current controller sampling time when encoder zero mark
detected
For p0496 = 24, 25: 500 mV <--> 21299 dec
For p0496 = 30: Rotary: 1 singleturn measuring step <--> 1 dec, linear: 1 measuring step <--> 1 dec
For p0496 = 31: Absolute position, incremental in 1/4 encoder pulses
For p0496 = 32: Zero mark position in 1/4 encoder pulses
For p0496 = 33: counter offset absolute value in 1/4 encoder pulses
For p0496 = 40: r0498 <--> (R_KTY/1 kOhm - 0.9) * 32768
For p0496 = 42: 2500 Ohm <--> 2^32
For p0496 = 51: 1 rpm <--> 1000 dec
For p0496 = 52: In 1/4 encoder pulses
For p0496 = 60: voltage, channel A in mV, voltage, channel B in mV
For p0496 = 61: Channel A: encoder periods <--> 2^16, channel B: encoder periods <--> 2^16
For p0496 = 62: encoder periods <--> 2^16
For p0496 = 70: r: 100% <--> 10000 dec, phase: 180 ° <--> 18000 dec
For p0496 = 80, 81, 85, 86: 1V <--> 1000 inc

Parameter
r0497[0...2] Encoder diagnostic signal double word / Enc diag DW

Description: Displays the trace signal for encoder diagnostics (double word).
The signal to be output is selected in p0496.
[1] = Encoder 2
[2] = Reserved
Dependency: See also: p0496, r0498, r0499
r0498[0...2] Encoder diagnostic signal low word / Enc diag low word
Description: Displays the trace signal for encoder diagnostics (low component).
[1] = Encoder 2
[2] = Reserved
r0499[0...2] Encoder diagnostic signal high word / Enc diag high word
Description: Displays the trace signal for encoder diagnostics (high component).
[1] = Encoder 2
[2] = Reserved

Parameter
p0500[0...n] Technology application / Tec application

state:
Parameter group: Quick commissioning
0 6 0
Description: Sets the technology application.
The parameter influences the calculation of open-loop and closed-loop control parameters.
Value: 0: Standard drive
1: Pumps and fans
2: Sensorless closed-loop control down to f = 0 (passive loads)
3: Pumps and fans, efficiency optimization
5: Starting with a high break loose torque
6: High load moment of inertia
Dependency: For p0504 = 1, 2 (Standard, Dynamic Drive Control), p0500 cannot be changed.
Not visible in operating mode: "Standard Drive Control" (SDC, p0504 = 1), "Dynamic Drive Control" (DDC, p0504 = 2)
NOTICE
For p0500 = 5:
If the current increase in p1310 and p1610 is not adequate for heavy-duty starting, then the parameters should be
manually increased. It must be carefully ensured that the motor does not continually operate in the low speed range
to avoid thermal overload.

Parameter
Note
The calculation of parameters dependent on the technology application can be called up as follows:
- When exiting quick commissioning, if r3925 bit 0 = 0
For p0500 = 0 and when the calculation is initiated, the following parameters are set:
- p1401.14 = 0
- p1574 = 10 V
- p1750.2 = 0
- p1802 = 0 (SVM/FTM with overcontrol)
- p1803 = 106 %
- p1401.14 = 0
- p1574 = 2 V
- p1750.2 = 0
- p1803 = 106 %
- p1401.14 = 0
- p1574 = 2 V
- p1750.2 = 1
- p1803 = 106 %
- p1401.14 = 1 (efficiency optimization for induction motors)
- p1574 = 2 V
- p1750.2 = 1
- p1803 = 106 %
- p1574, p1750.2, p1802, p1803 the same as for p0500 = 0
- p1610 = 80 %, p1611 = 80 % (average up to higher starting torque)
- p1310 = 80 %, p1311 = 30 %
For p0500 = 6: (for high moments of inertia with/without gearbox coupling)
- p1574, p1750.2, p1802, p1803, p1610, p1611, p1310, p1311 the same as for p0500 = 0
After changing motor data and exiting commissioning, the following settings are again reset.
- p0342 = 10 (motor moment of inertia factor, if previously p0342 = 1)
The real factor can be entered in the commissioning tool.
- p1400.20 = 1 (acceleration model)
- p1441, p1442, p1452 calculated
- p1496 = 100 %
- p1959.12 = 1 (shorter rotating measurement)
- p1959.14 = 1 (speed actual value smoothing is calculated)
- p1967 = 80 %
The following settings are only reset again using the factory setting.
- p1115 = 1
- p1130, p1131 ramp-function generator rounding calculated from p1120, p1121 and r0345.
The moment of inertia estimator (p1400.18, p5310) can be activated, depending on the specific application, to
adaptively determine the load moment of inertia in operation.
For p1750:
The setting of p1750 is only relevant for induction motors.
p1750.2 = 1: Encoderless control of the induction motor is effective down to zero frequency.
This operating mode is possible for passive loads. These include applications where the load does not generate
regenerative torque when breaking away and the motor comes to a standstill (zero speed) itself when the pulses are
inhibited.
For p1802/p1803:
p1802 and p1803 are only changed, in all cases, if a sine-wave output filter (p0230 = 3, 4) has not been selected.

Parameter
p0501[0...n] Technological application (Standard Drive Control) / Tec appl SDC

state:
0 1 0
Description: Sets the technology application.
Value: 0: Constant load (linear characteristic)
1: Speed-dependent load (parabolic characteristic)
Dependency: Not visible in operating mode: "Dynamic Drive Control" (DDC, p0504 = 2)
Note
For p0501 = 0, 1 and when the calculation is initiated, the following parameters are set:
- p1401.30 = 0, 1
- p1802 = 0
- p1803 = 106 %
- p3855.0 = 1 (DC quantity control on)
For p1802/p1803:
These parameters are only changed, in all cases, if a sine-wave output filter (p0230 = 3, 4) has not been selected.
p0502[0...n] Technological application (Dynamic Drive Control) / Techn appl DDC

state:
0 6 1
Description: Sets the technology application for dynamic applications (p0504 = 2).
Value: 0: Standard drive (e.g. pumps, fans)
1: Dynamic starting or reversing
2: Sensorless closed-loop control down to f = 0 (passive loads)
5: Starting with a high break loose torque
6: High load moment of inertia

Parameter
Dependency: For induction motors, the parameter is pre-assigned with p0502 = 1; for all other motors, with p0502 = 0.
DANGER
For p0502 = 1:
For loads that block the motor, i.e. that can brake the motor down to a standstill at the torque limit and then reverse it,
p0502 should be set = 0, and p1610 should be increased so that the maximum load can be held in the open-loop speed
controlled speed range (see p1755, p1756).
Note
When entering p0502 and initiating the calculation, the following parameters are set:
p0502 = 0:
- p1750.0/1/7 = 1 (start and reverse in open-loop control with rugged switchover limits)
- p1750.6 = 1 (closed-loop speed controlled when blocked)
- p1610 = 50 %, p1611 = 30 % (low up to average starting torque)
p0502 = 1:
- p1750.0/1/7 = 0 (start and reverse in closed-loop control with shorter acceleration times)
- p1610 = 50 %, p1611 = 30 % (only effective, if the drive is switched-on with a speed setpoint of zero)
p0502 = 2:
- p1750.2 = 1 (always closed-loop speed controlled (for passive loads))
p0502 = 5:
- p1750.0/1/7 = 1 (start and reverse in open-loop control with rugged switchover limits)
- p1610 = 80 %, p1611 = 80 % (average up to higher starting torque)
p1574 "voltage reserve, dynamic" is preassigned.
For p0502 = 6: (for high moments of inertia with/without gearbox coupling)
- p1574, p1750.2, p1802, p1803, p1610, p1611 the same as for p0502 = 0
They are only reset again using the automatic calculation.
- p0342 = 10 (motor moment of inertia factor, if previously p0342 = 1)
The real factor can be entered in the commissioning tool.
- p1400.20 = 1 (acceleration model)
- p1441, p1442, p1452 calculated
- p1496 = 100 %
- p1959.12 = 1 (shorter rotating measurement)
- p1959.14 = 1 (speed actual value smoothing is calculated)
- p1967 = 80 %
The following settings are only reset again using the factory setting.
- p1115 = 1
- p1130, p1131 ramp-function generator rounding calculated from p1120, p1121 and r0345.
The moment of inertia estimator (p1400.18, p5310) can be activated, depending on the specific application, to
adaptively determine the load moment of inertia in operation.
p0504[0...n] Operating mode / Operating mode

state:

Parameter

0 2 1
Description: Sets the operating mode.
Standard Drive Control: closed-loop control/open-loop control without speed controller
Dynamic Drive Control: closed-loop control with speed controller
When "Other control mode" is selected, all open-loop and closed-loop control modes are separately available for all data
sets in p1300.
Value: 0: Selecting other closed-loop control modes
1: Standard Drive Control (SDC)
2: Dynamic Drive Control (DDC)
Dependency: For synchronous/reluctance motors with starting cage, it is only possible to select p0504 = 0.
Depending on the setting, the ability to see control parameters is restricted.
For p0504 > 0, the following applies: The motor data identification is preset (p1900 = 2).
The following vector control functions are only available for p0504 = 0:
- Closed-loop torque control
- Droop feedback
- Reference model
- Integrator controls of the speed controller
- Additional Kp-/Tn adaptation of the speed controller
See also: p1300
Note
For Dynamic Drive Control and if a speed encoder is being used (p0400 > 0), the closed-loop control mode can be
switched over to encoderless operation in p1300 (e.g. for encoder diagnostics).
For Dynamic Drive Control and induction motors without speed encoder, p1750.6 should be taken into consideration
(restricted operation for pulling loads for p1750.6 = 1).
Depending on the setting, after quick commissioning and/or automatic parameterization, the following is adapted.
- Procedure for the motor data identification
- Parameterizing the closed-loop control
After first commissioning has been completed:
When changing from p0504 = 1, 2 to p0504 = 0, automatic parameterization is performed when commissioning is
exited. This can be prevented if, before changing p0504, the diagnostic mode is activated in p1400.30.
p0530[0...n] Bearing version selection / Bearing vers sel

state:
Parameter group: Motor bearing data, Quick commissioning
motor
0 104 0

Parameter
Description: Sets the bearing version.

Corresponding to the bearing version entered, its code number (p0531) is automatically set.
0 = No data
1 = Manual entry
101 = STANDARD
102 = PERFORMANCE
103 = HIGH PERFORMANCE
104 = ADVANCED LIFETIME
NOTICE
For p0530 = 101, 102, 103, 104, the maximum bearing speed (p0532) is write protected. Write protection is withdrawn
with p0530 = 1.
If p0530 is changed during quick commissioning, then the maximum speed p1082, which is also associated with quick
commissioning, is preassigned appropriately. The maximum speed of the bearing is factored into the limit for the
maximum speed p1082.
Note
For a motor with DRIVE-CLiQ, p0530 can only be set to 1.
p0531[0...n] Bearing code number selection / Bearing codeNo sel

state:
Parameter group: Motor bearing data
motor
0 65535 0
Description: Display and setting the code number of the bearing.
When setting p0301 and p0530 the code number is automatically pre-assigned and is write protected. The information
in p0530 should be observed when removing write protection.
NOTICE
commissioning, is preassigned appropriately. The maximum speed of the bearing is factored into the limit for the
maximum speed p1082.
Note
p0531 cannot be changed on a motor with DRIVE-CLiQ.

Parameter
p0532[0...n] Bearing maximum speed / Bearing n_max

state:
Parameter group: Motor bearing data, Quick commissioning
motor
0.0 [rpm] 210000.0 [rpm] 0.0 [rpm]
Description: Sets the maximum speed of the bearing.
The following applies when calculating the maximum speed (p1082):
- For p0324 = 0 or p0532 = 0, p0322 is used.
- For p0324 > 0 and p0532 > 0, the minimum value from the two parameters is used.
Dependency: See also: p0301, p0322, p0324, p0530, p1082
NOTICE
This parameter is pre-assigned in the case of motors from the motor list (p0301) if a bearing version (p0530) is selected.
When selecting a catalog motor, this parameter cannot be changed (write protection). The information in p0530 should
be observed when removing write protection.
commissioning, is preassigned appropriately.
p0541[0...n] Load gearbox code number / Load grbx code no

state:
Parameter group: Motor gearbox, Quick commissioning
0 4294967295 1
Description: Display and setting the code number for the load gearbox.
0 = No data
1 = Manual entry
> 1 = valid code number
For value = 0:
- Parameters listed under Dependent are set to a value of zero and are write protected.
For value = 1:
- Write protection for the parameters listed under Dependent is withdrawn.
For value > 1:
- Parameters listed under Dependent are automatically pre-assigned and are write protected.
Dependency: See also: p0542, p0543, p0544, p0545, p0546, p0547
Note
A code number that does not exist cannot be set.

Parameter
p0542[0...n] Load gearbox maximum speed / Load grbx n_max

state:
0.0 [rpm] 210000.0 [rpm] 0.0 [rpm]
Description: Sets the maximum permissible input speed at the load gearbox.
When calculating the maximum speed (p1082) in quick commissioning, the following applies:
- For p0542 = 0, this parameter has no effect. The maximum speed from p0322 is used.
- For p0542 > 0, the maximum speed (p0322) is limited by p0542.
NOTICE
After entering a corresponding code number (p0541), this parameter is automatically pre-assigned and write
protected. The information in p0541 should be observed when removing write protection.
p0543[0...n] Load gearbox maximum torque / Load grbx M_max

state:
0.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
Description: Sets the maximum permissible input torque at the load gearbox.
When calculating the torque limit upper/motoring (p1520) and the torque limit lower/regenerative (p1521) in quick
commissioning, then the following applies:
- For p0543 = 0, the values in p1520/p1521 remain unchanged.
- For p0543 > 0, the torque limits (r1538, r1539) are limited by p0543.
NOTICE
p0544[0...n] Load gearbox overall ratio numerator / Load grbx ratio N

state:

Parameter

0 2147483647 0
Description: Sets the numerator for the overall ratio (absolute value) of the load gearbox.
NOTICE
p0545[0...n] Load gearbox overall ratio denominator / Load grbx ratio D

state:
0 2147483647 0
Description: Sets the denominator for the overall ratio (absolute value) of the load gearbox.
NOTICE
p0546[0...n] Load gearbox direction of rotation inversion / Load grbx dir inv
state:
0 2147483647 0
Description: Setting to invert the direction of rotation of the load gearbox.
Value = 0: no inversion
Value = 1: inversion
NOTICE

Parameter
p0547[0...n] Load gearbox moment of inertia / Load grbx m_inert

state:
0.000000 [kgm²] 100000.000000 [kgm²] 0.000000 [kgm²]
Description: Sets the load gearbox moment of inertia.
NOTICE
Note
For a manual input (p0541 = 1), the value to be set is rejected if this entry were to lead to a ratio between the total
moment of inertia and the motor of less than 1 (p0342 < 1). In this case, the gearbox data should be reset using p0541
= 0, and re-entered (p0541 = 0 results in p0342 = 1).
p0550[0...n] Brake version / Brake version

state:
Parameter group: Motor holding brake, Quick commissioning
0 1 0
Description: Sets the brake version.
Value: 0: No data
1: Holding brake
NOTICE
p0551[0...n] Brake code number / Brake code no

state:

Parameter

0 4294967295 1
Description: Display and setting the code number for the brake.
0 = No data
1 = Manual entry
> 1 = valid code number
For value = 0:
- Parameters listed under Dependent are set to a value of zero and are write protected.
- Parameters p1216, p1217 are set to a value of zero.
For value = 1:
- Write protection for the parameters listed under Dependent is withdrawn.
For value > 1:
- Parameters listed under Dependent are automatically pre-assigned and are write protected.
- Parameters p1216, p1217 are automatically appropriately pre-assigned.
Note
Only code numbers can be set that are permitted for the selected motor code (p0301).
p0552[0...n] Maximum brake speed / Brake n_max

state:
0.0 [rpm] 210000.0 [rpm] 0.0 [rpm]
Description: Sets the maximum permissible brake speed.
When calculating the maximum speed (p1082) in quick commissioning, the following applies:
- For p0552 = 0, this parameter has no effect. The maximum speed from p0322 is used.
- For p0552 > 0, the maximum speed (p0322) is limited by p0552.
NOTICE
p0553[0...n] Brake holding torque / Brake M_hold

state:

Parameter

0.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
Description: Sets the brake holding torque.
NOTICE
p0554[0...n] Brake moment of inertia / Brake m_inert

state:
0.000000 [kgm²] 100000.000000 [kgm²] 0.000000 [kgm²]
Description: Sets the brake moment of inertia.
NOTICE
Note
For a manual input (p0551 = 1), the value to be set is rejected if this entry were to lead to a ratio between the total
moment of inertia and the motor of less than 1 (p0342 < 1). In this case, the brake data should be reset using p0551 =
0, and re-entered (p0551 = 0 results in p0342 = 1).
p0580 Measuring probe input terminal / MT input terminal

state:
0 215 0
Description: Sets the input terminal for the measuring probe for speed actual value measurement.
215: DI 5 (X131.9)
CAUTION

Parameter
Note
If a parameter change is rejected, then it should be checked whether the input terminal is not already being used in
p0488 or p0489.
DI: Digital Input
p0581 Measuring probe edge / MT edge

state:
0 1 0
Description: Sets the edge to evaluate the measuring probe signal for speed actual value measurement.
0: 0/1 edge
1: 1/0 edge
p0582 Measuring probe pulses per revolution / MT pulses per rev

state:
1 12 1
Description: Sets the number of pulses per revolution (e.g. for perforated disks).
p0583 Measuring probe maximum measuring time / MT t_meas max

state:
0.040 [s] 10.000 [s] 10.000 [s]

Parameter
Description: Sets the maximum measuring time for the measuring probe.
If a new pulse is not received before the maximum measuring time has expired, then the speed actual value in r0586
is set to zero. This timer is re-started with the next pulse.
r0586 Measuring probe speed actual value / MT n_act

Description: Displays the speed actual value measured using the BERO.
Note
For p0580 = 0 (no measuring probe), a value of zero is displayed here.
r0587 Measuring probe measuring time measured / MT t_meas measured

Description: Displays the time between the last two BERO pulses.
The measuring time is specified as 32-bit value with a resolution of 1/48 µs.
If a new pulse is not received before the maximum measured time in p0583 expires, then r0587 is set to the maximum
measuring time.
Note
r0588 Measuring probe pulse counter / MT pulse counter

Description: Displays the number of measuring pulses that have occurred (been received) up until now.
Note
After reaching 4294967295 (2^32 - 1), the counter starts again at 0.

Parameter
r0589 Measuring probe wait time / MT t_delay

Description: Displays the time since the last measuring pulse was detected.
The wait time is specified as 32-bit value with a resolution of 1/48 µs.
When a measuring pulse occurs (is received) the wait time is reset and is limited to the maximum measuring time in
p0583.
Note
p0600[0...n] Motor temperature sensor for monitoring / Mot temp_sensor

state:
Parameter group: Motor temperature
0 11 11
Description: Sets the sensor to monitor the motor temperature.
The sensor type used is set in p0601.
Value: 0: No sensor
1: Temperature sensor via motor encoder
2: Temperature sensor via encoder 2
10: Temperature sensor via signal interconnection
11: Temperature sensor via terminals
Dependency: See also: r0458, p0601, c0603
CAUTION
If, for a selected temperature sensor (p0600 > 0), the motor temperature sensor is not connected but another sensor,
then the temperature adaptation of the motor resistances must be switched out. Otherwise, in controlled-loop
operation, torque errors will occur that will mean that the drive will not be able to be stopped.
NOTICE
The parameter is calculated using the automatic calculation in the drive.
Note
For value = 0:
For induction motors, the motor temperature is calculated using the motor temperature model (see also p0612.1).
For value = 1, 2:
Bimetallic switch (p0601 = 4) and Pt100 temperature sensor (p0601 = 5) are not supported.
For value = 10:
The signal interconnection should be realized via the numerical signal sink c0603.

Parameter
p0601[0...n] Motor temperature sensor type / Mot_temp_sens type

state:
0 10 0
Description: Sets the sensor type for the motor temperature monitoring.
Value: 0: No sensor
1: PTC alarm & timer
2: KTY84
3: KTY84 and PTC (only for motors with DRIVE-CLiQ):
4: Bimetallic NC contact alarm & timer
5: Pt100
6: Pt1000
7: Pt1000 and PTC (only for motors with DRIVE-CLiQ)
10: Evaluation via several temperature channels
Dependency: A thermal motor model is calculated corresponding to p0612.
CAUTION
For p0601 = 2, 6:
If the motor temperature sensor is not connected but another encoder, then the temperature adaptation of the motor
resistances must be switched out (p0620 = 0). Otherwise, in controlled-loop operation, torque errors will occur that will
mean that the motor will not be able to be stopped.
Note
For p0601 = 1:
Tripping resistance = 1650 Ohm. Wire breakage and short-circuit monitoring.
c0603[0...3] Motor temperature / Mot temp

Type of signal interconnection: Sink numeric Scaling: p2006
Factory interconnection: Fixed value: -200.00 [°C]
Description: Signal to evaluate the motor temperature.
Index: [0] = Motor temperature channel 1
[1] = Motor temperature channel 2

Parameter
Note
Temperature sensor KTY/Pt1000: Valid temperature range -48 °C ... 248 °C.
Temperature sensor PTC/bimetallic switch with NC contact:
For a value of -50 °C, the following applies: Motor temperature < nominal response temperature of the PTC/bimetal
contact closed.
For a value of 250 °C, the following applies: Motor temperature >= nominal response temperature of the PTC/bimetal
contact open.
p0604[0...n] Mot_temp_mod 2/sensor: alarm threshold / Mod 2: sens A_thr

state:
0.0 [°C] 240.0 [°C] 130.0 [°C]
Description: Sets the alarm threshold for monitoring the motor temperature for motor temperature model 2 or KTY/Pt1000.
After the alarm threshold is exceeded, alarm A07910 is output and timer (p0606) is started.
If the delay time has expired and the alarm threshold has, in the meantime, not been fallen below, then fault F07011
is output.
See also: F07011, A07910
NOTICE
Note
The hysteresis is 2 K.
After entering the motor parameters, when quick commissioning is exited, then the parameter is reset if a catalog motor
p0605[0...n] Mot_temp_mod 1/2 sensor threshold and temperature value / Mod 1/2 sens thr_T
state:
0.0 [°C] 240.0 [°C] 145.0 [°C]

Parameter
Description: Sets the threshold and temperature value to monitor the motor temperature.
Temperature model 1 (I2t, p0612.0 = 1):
- p5390: when commissioning a catalog motor for the first time, p0605 is copied to p5390.
- p5390: p5390 is of significance when evaluating the alarm threshold.
- p5390: the stator winding temperature (r0632) is used to initiate the signal.
- p0627: when a catalog motor is commissioned for the first time, p0605 - 40 °C is copied to p0627.
- p0627: p0627 is of significance for the rated temperature.
Motor temperature model 2 (p0612.1 = 1) or measurement:
- Sets the fault threshold. If the temperature (r0035) exceeds the fault threshold, then fault F07011 is output.
Dependency: See also: r0034, p0606, p0611, p0612
See also: F07011, A07012
NOTICE
Note
p0606[0...n] Mot_temp_mod 2: sensor timer / Mod 2:sens timer

state:
0.000 [s] 600.000 [s] 0.000 [s]
Description: Sets the timer for monitoring the motor temperature for motor temperature model 2 or KTY/Pt1000.
This timer is started when the temperature alarm threshold (p0604) is exceeded.
If the timer has expired and the alarm threshold has, in the meantime, not been fallen below, then fault F07011 is
output.
If the temperature fault threshold (p0605) is prematurely exceeded before the timer has expired, then fault F07011 is
immediately output.
See also: F07011, A07910
Note
With p0606 = 0 s, the timer is deactivated and only the fault threshold is effective.
KTY/Pt1000: When setting the minimum value, the timer is disabled and a fault is not output until p0605 is exceeded.
PTC, bimetallic NC contact: The timer minimum value has no special significance.

Parameter
p0607[0...n] Temperature sensor fault timer / Sensor fault time

state:
0.000 [s] 600.000 [s] 0.100 [s]
Description: Sets the timer between the output of alarm and fault for a temperature sensor fault.
If there is a sensor fault, this timer is started.
If the sensor fault is still present after the timer has expired, a corresponding fault is output.
NOTICE
The parameterized time is internally rounded-off to an integer multiple of 48 ms.
Note
If the motor is an induction motor, the timer is switched off when setting the minimum value and no alarm is output.
Temperature monitoring is then based on the thermal model.
p0610[0...n] Motor overtemperature response / Mot temp response

state:
0 12 12
Description: Sets the system response when the motor temperature reaches the alarm threshold.
Value: 0: No response only alarm no reduction of I_max
1: Messages, reduction of I_max
2: Messages, no reduction of I_max
12: Messages, no reduction of I_max, temperature storage
Dependency: See also: p0601, p0604, p0605, p0614, p5390, p5391
See also: F07011, A07012, A07910

Parameter
Note
The relevant alarm threshold (p0604, p0605, p5390) depends on the setting in p0600, p0601 and p0612. If the
temperature measurement and temperature model are simultaneously active, then the temperature provided by the
temperature model is used.
For value = 0:
An alarm is output and I_max is not reduced.
For value = 1:
An alarm is output and a timer is started. A fault is output if the alarm is still active after this timer has expired.
The I_max reduction can result in a lower output frequency.
- For KTY/Pt1000/Pt100 the following applies: reduction of I_max.
- For PTC (p0601 = 1) or bimetallic NC contact (p0601 = 4) the following applies: I_max is not reduced.
For value = 2:
An alarm is output and a timer is started. A fault is output if the alarm is still active after this timer has expired.
For value = 12:
Behavior is always the same as for value 2.
For motor temperature monitoring without temperature sensor, when switching off, the model temperature is saved in
a non-volatile fashion. When switching on, the same value (reduced by p0614) is taken into account in the model
calculation. As a consequence, the UL508C specification is fulfilled.
p0611[0...n] I2t motor model thermal time constant / I2t MotMod Tc

state:
Parameter group: Motor data, Motor temperature
0 [s] 20000 [s] 0 [s]
Description: Sets the winding time constant.
The time constant specifies the warm-up time of the cold stator winding when loaded with the motor standstill current
(rated motor current, if the motor standstill current is not parameterized) up until a temperature rise of 63 % of the
continuously permissible winding temperature has been reached.
Dependency: The parameter is only used for synchronous motors (p0300 = 2xx, 4) and synchronous reluctance motors (p0300 = 6xx).
See also: r0034, p0612, p5390, p5391
See also: F07011, A07012, A07910
NOTICE
This parameter is automatically pre-set from the motor database for motors from the motor list (p0301).
When selecting a catalog motor, this parameter cannot be changed (write protection). Information in p0300 should be
carefully observed when removing write protection.
When exiting commissioning, p0612 is checked, and where relevant, is pre-assigned to a value that matches the motor
size, if a temperature sensor was not parameterized (see p0601).
Note
When parameter p0611 is reset to 0, then this switches out the thermal I2t motor model (refer to p0612).
If no temperature sensor is parameterized, then the ambient temperature for the thermal motor model is referred to
p0613.

Parameter
p0612[0...n].0...2 Mot_temp_mod activation / Mot_temp_mod act

state:
- - 0010 bin
Description: Setting to activate the motor temperature model.
00 Activate mot_temp_mod 1 (I2t) Yes No
01 Activate mot_temp_mod 2 Yes No
02 Activate mot_temp_mod 3 Yes No
Dependency: For synchronous motors and synchronous reluctance motors, when exiting commissioning, temperature model 1 is
automatically activated if a time constant has been entered in p0611.
See also: r0034, p0604, p0605, p0606, p0611, p0613, p0617, p0618, p0619, p0625, p0626, p0627, p0628, r0630,
r0631, r0632, r0633, p5385, r5386, r5389, p5390, p5391, r5392, r5393, r5395
See also: F07011, A07012, F07013, A07014, A07910
NOTICE
For bit 00:
It is only possible to activate this motor temperature model (I2t) for a time constant greater than zero (p0611 > 0).
Note
Mot_temp_mod: motor temperature model
Only one motor temperature model can be activated simultaneously.
For bit 00:
This bit is used to activate/deactivate the motor temperature model for permanent-magnet synchronous motors and
synchronous reluctance motors.
For bit 01:
This bit is used to activate/deactivate the motor temperature model for induction motors.
For bit 02:
This bit is used to activate/deactivate the motor temperature model for 1FK7/1FG1 motors without encoder.
p0613[0...n] Mot_temp_mod 1/3 ambient temperature / Mod 1/3 amb_temp

state:
-40 [°C] 100 [°C] 20 [°C]
Description: If the thermal motor model is activated for permanent-magnet synchronous motors, then the parameter is
incorporated in the model calculation if a temperature sensor is not being used.

Parameter

See also: F07011, A07012
Note
If the thermal motor model is activated for permanent-magnet synchronous motors, then the parameter is incorporated
in the model calculation if a temperature sensor is not being used.
p0614[0...n] Thermal resistance adaptation reduction factor / Therm R_adapt red

state:
0 [%] 100 [%] 30 [%]
Description: Sets the reduction factor for the overtemperature of the thermal adaptation of the stator/rotor resistance.
The value is a starting value when switching on. Internally, after switch-on, the reduction factor has no effect
corresponding to the thermal time constant.
Note
The reduction factor is only effective for p0610 = 12, and refers to the overtemperature.
p0616[0...n] Motor temperature alarm threshold 1 / Mot temp alarm 1

state:
0.0 [°C] 200.0 [°C] 130.0 [°C]
Description: Sets the alarm threshold 1 for monitoring the motor temperature.
Note
The alarm threshold is not, as for p0604, coupled to the timer p0606. The hysteresis for canceling the fault is 2 K.

Parameter
p0617[0...n] Stator thermally relevant iron component / Stator therm iron

state:
0.0 [%] 100.0 [%] 40.0 [%]
Description: Thermally relevant iron component of the stator as a percentage of p0344.
Note
The sum of p0617, p0618 and p0619 can be more or less than 100 %.
p0618[0...n] Stator thermally relevant copper component / Stat therm copper

state:
0.0 [%] 100.0 [%] 15.0 [%]
Description: Thermally relevant copper component of the stator as a percentage of p0344.
Note
p0619[0...n] Rotor thermally relevant weight / Rotor therm weight

state:
0.0 [%] 100.0 [%] 20.0 [%]
Description: Thermally relevant weight of the rotor as a percentage of p0344.

Parameter
Note
p0620[0...n] Thermal adaptation, stator and rotor resistance / Mot therm_adapt R

state:
0 2 1
Description: Sets the thermal adaptation of the stator/primary section resistance and rotor/secondary section resistance according
to r0395 and r0396.
Value: 0: No thermal adaptation of stator and rotor resistances
1: Resistances adapted to the temperatures of the thermal model
2: Resistances adapted to the measured stator winding temperature
Note
The stator resistance is adapted using the temperature in r0035 and the rotor resistance together with the model
temperature in r0633.
The stator resistance is adapted using the temperature in r0035. If applicable, the rotor temperature for adapting the
rotor resistance is calculated from the stator temperature (r0035) as follows:
theta_R = (p0628 + p0625) / (p0627 + p0625) * r0035
p0621[0...n] Identification stator resistance after restart / ID rst restart

state:
Parameter group: Motor data identification routine
motor
0 3 0

Parameter
Description: Selects the identification of the stator resistance after the converter runs up (not for U/f control modes).
The identification (p0621 = 1, 2) is used to measure the actual stator resistance and from the ratio of the result of motor
data identification (p0350) to the matching ambient temperature (p0625) the actual mean temperature of the stator
winding is calculated. The result is used to initialize the thermal motor model.
p0621 = 1:
Identification of the stator resistance only when the drive is switched on for the first time (pulse enable) after the
converter runs up.
p0621 = 2:
Identification of the stator resistance every time the drive is switched on (pulse enable).
p0621 = 3:
One-time identification of the cable resistance p0352 without any change in the thermal motor model.
Value: 0: No Rs identification
1: Rs identification after switching-on again
2: Rs identification after switching-on each time
3: Rcable identification once only
Dependency: Prerequisites for the measurement are:
- Motor is connected.
p0621 = 1, 2 (only for induction motors):
- Motor data identification (see p1910) was performed with the motor cold after feeder cable resistance p0352 was
parameterized.
- Ambient temperature at the time of motor data identification is entered in p0625.
p0621 = 3: (induction and synchronous motors)
- Stator resistance was entered in p0350. This is automatically the case for motor data from a list (p0301 > 0).
- Switch-on with the motor cold.
NOTICE
For p0621 = 1, 2:
The determined stator temperature of the induction motor can only be conditionally compared with the measured
value of a temperature sensor (KTY/Pt1000), as the sensor is usually the warmest point of the stator winding, whereas
the measured value of the identification reflects the average value of the stator winding.
Furthermore, this is a short-time measurement with limited accuracy that is performed during the magnetizing phase
of the induction motor.
Note
For p0621 = 1, 2:
The measurement is performed in the following cases:
- An induction motor is being used.
- Vector control is active (see p1300).
- Temperature sensor (KTY/Pt1000) is not connected.
- When switching on, the motor remains at standstill.
When a flying restart is performed on a rotating motor, the temperatures of the thermal motor model are set to a third
of the overtemperatures. However, this only occurs once after the converter runs up (e.g. after a power failure).
If identification is activated, the magnetizing time is determined via p0622 and not via p0346. Quick magnetizing
(p1401.6) is de-energized internally and alarm A07416 is displayed. The speed is enabled after completion of the
measurement.
For p0621 = 3:
The measurement is performed in the following cases:
- Induction motor or synchronous motor (permanent magnet) is being used.
- Vector control (see p1300) or standard drive control (see p0504) is active.
- When switching on, the motor remains at standstill.
When identification is activated, the ramp-up time of the current setpoint is defined by p0622 (limited to p0346). The
speed is enabled after the measurement has been completed. After the measurement, p0621 is reset and the result is
saved in p0352.

Parameter
p0622[0...n] Motor excitation time for Rs_ident after switching on again / t_excit Rs_id
state:
0.000 [s] 20.000 [s] 0.000 [s]
Description: Sets the excitation time of the motor for the stator resistance identification after switching on again (restart).
Note
For p0622 < p0346 the following applies:
If identification is activated, the magnetizing time is influenced by p0622. The speed is enabled after measurement is
complete, but not before the time in p0346 has elapsed (see r0056 bit 4). The time taken for measurement also depends
on the settling time of the measured current.
For p0622 >= p0346 the following applies:
Parameter p0622 is internally limited to the magnetizing time p0346, so that p0346 represents the maximum possible
magnetizing time during identification. The entire measurement period (magnetizing plus measurement settling time
plus measuring time) will always be greater than p0346.
r0623 Rs identification stator resistance after switch on again / Rs-id Rs aft sw-on
Description: Displays the stator resistance determined using the Rs identification after switching on again.
p0624[0...n] Motor temperature offset Pt100 / Mot T_offset Pt100

state:
Unit: K Unit group: - Unit selection: -
-100.0 [K] 100.0 [K] 0.0 [K]

Parameter
Description: Sets the temperature offset for the Pt100 measured value.
If there is a difference between the motor temperature displayed in r0035 and the actual motor temperature, then this
offset can be entered into this parameter. thereby compensating for the difference.
Note
The parameter only has an influence with the following settings:
- Temperature sensor signal is sensed via terminal (p0600 = 11).
- Sensor type Pt100 selected (p0601 = 5).
If the resistance in series with the Pt100 (e.g. the cable resistance of the feeder cable) is known, the following conversion
formula must be used:
Offset in p0624 = Measured resistance in ohms x 2.5 K/Ohm
Example:
Measured cable resistance = 2 Ohm
--> 2 Ohm x 2.5 K / Ohm = 5.0 K
p0625[0...n] Motor ambient temperature during commissioning / Mot amb_temp com

state:
-40 [°C] 80 [°C] 20 [°C]
Description: Defines the ambient temperature of the motor for calculating the motor temperature model.
Note
The parameters for stator and rotor resistance (p0350, p0354) refer to this temperature.
p0626[0...n] Motor overtemperature, stator core / Mot T_over core

state:
10 [K] 200 [K] 50 [K]
Description: Sets the temperature difference between the temperature of the stator iron at the rated operating point and the
ambient temperature for the motor temperature model 2 (p0612.1 = 1).
Dependency: For 1LA7 motors (p0300), the parameter is pre-set as a function of p0307 and p0311.
See also: p0625

Parameter
NOTICE
When selecting a standard induction motor listed in the catalog (p0300 > 100, p0301 > 10000), this parameter is
automatically pre-assigned and is write protected. Information in p0300 should be carefully observed when removing
write protection.
Note
p0627[0...n] Motor overtemperature, stator winding / Mot T_over StWind

state:
15 [K] 200 [K] 80 [K]
Description: Sets the temperature difference between the temperature of the stator winding at the rated operating point and the
ambient temperature.
See also: p0625
NOTICE
write protection.
Note
p0628[0...n] Motor overtemperature rotor / Mot T_over rotor

state:
20 [K] 200 [K] 100 [K]
Description: Sets the temperature difference between the temperature of the rotor at the rated operating point and the ambient
temperature for the motor temperature model 2 (p0612.1 = 1).
See also: p0625

Parameter
NOTICE
write protection.
Note
r0630[0...n] Mot_temp_mod ambient temperature / Mod T_ambient

Description: Displays the ambient temperature of the motor temperature model.
r0631[0...n] Mot_temp_mod stator iron temperature / Mod T_stator

Description: Displays the stator iron temperature of the motor temperature model (models 2 and 3).
Note
For motor temperature model 1 (p0612.0 = 1), this parameter is not valid:
r0632[0...n] Mot_temp_mod stator winding temperature / Mod T_winding

Description: Displays the stator winding temperature of the motor temperature model.
Dependency: See also: F07011, A07012, A07910

Parameter
r0633[0...n] Mot_temp_mod rotor temperature / Mod rotor temp

Description: Displays the rotor temperature of the motor temperature model (models 2 and 3).
Note
For motor temperature model 1 (p0612.0 = 1), this parameter is not valid:
p0640[0...n] Motor current limit / Motor current lim

state:
Parameter group: U/f control, Torque limiting, Quick commissioning
Dyn. index [0…n]: DDS n defined by: p0180 Calculated: automatic
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
Description: Sets the current limit.
Note
p0640 is preassigned when the converter runs up for the first time and when restoring the factory settings.
As the parameter is part of the quick commissioning, it is adapted when changing the rated motor current.
Current limit p0640 is limited to the power unit current limit (r0209).
The resulting current limit is displayed in r0067 and if required, r0067 is reduced by the thermal model of the power unit.
p0640 is set during commissioning, which is why p0640 is not calculated using the automatic parameterization when
exiting quick commissioning.
When exiting the quick commissioning, the torque and power limits (p1520, p1521, p1530, p1531) matching the
current limit are calculated using the automatic parameterization.
c0641[0...n] Current limit scaling / I_limit scal

Parameter group: U/f control, Torque limiting
Dyn. index [0…n]: CDS n defined by: p0170 Calculated: -
Type of signal interconnection: Sink numeric Scaling: PERCENT
Factory interconnection: Fixed value: 100.00 [%]
Description: Signal for scaling the current limit (p0640).

Parameter
p0644[0...n] Current limit excitation induction motor / Imax excit ASM

state:
Parameter group: Flux setpoint
50.0 [%] 300.0 [%] 300.0 [%]
Description: Maximum excitation current of the induction motor referred to the permissible rated current of the power unit
(r0207[0]).
Dependency: Only effective for vector control.
Note
The parameter is pre-assigned in the automatic calculation for chassis power units.
p0650[0...n] Actual motor operating hours / Motor op hours

state:
Parameter group: Motor
Unit: h Unit group: - Unit selection: -
0 [h] 4294967295 [h] 0 [h]
Description: Displays the operating hours for the corresponding motor.
The motor operating time counter continues to run when the pulses are enabled. When the pulse enable is withdrawn,
the counter is held and the value saved.
See also: A01590
Note
For p0651 = 0, the operating hours counter is disabled.
The operating hours counter in p0650 can only be reset to 0.
The operating hours counter only runs with drive data set 0 and 1 (DDS).

Parameter
p0651[0...n] Motor operating hours maintenance interval / Mot t_op maint

state:
Parameter group: Motor
Unit: h Unit group: - Unit selection: -
0 [h] 150000 [h] 0 [h]
Description: Sets the service/maintenance intervals in hours for the appropriate motor.
An appropriate message is output when the operating hours set here are reached.
See also: A01590
Note
For p0651 = 0, the operating hours counter is disabled.
When setting p0651 to 0, then p0650 is automatically set to 0.
The operating hours counter only runs with drive data set 0 and 1 (DDS).
r0722.0...22 Digital inputs status / DI status

Parameter group: Digital inputs
Description: Display and signal source for the status of the digital inputs.
00 DI 0 (X131.1) High Low
11 DI 11 (X132.1/2) AI0 High Low
12 DI 12 (X132.5/6) AI1 High Low
21 DI 21 (X130.2/3) High Low
22 DI 22 (X130.6/7) High Low
Note
AI: Analog Input
DI: Digital Input

Parameter
r0723.0...22 Digital inputs status inverted / DI status inv

Description: Display and signal source for the inverted status of the digital inputs.
11 DI 11 (X132.1/2) AI0 High Low
12 DI 12 (X132.5/6) AI1 High Low
21 DI 21 (X130.2/3) High Low
22 DI 22 (X130.6/7) High Low
Note
AI: Analog Input
DI: Digital Input
p0724 Digital inputs debounce time / DI t_debounce

state:
0.000 [ms] 20.000 [ms] 4.000 [ms]
Description: Sets the debounce time for digital inputs.
Note
The digital inputs are read in cyclically every 2 ms (DI 11, DI 12 every 4 ms).
To debounce the signals, the set debounce time is converted into integer multiple debounce clock cycles Tp (Tp = p0724 /
2 ms).
DI: Digital Input

Parameter
r0729.0...2 Digital outputs access authority / DO acc_authority

Parameter group: Digital inputs, Relay outputs
Description: Displays the access authority at the digital outputs.
Bit = 1:
The control has access authority to the digital output via PROFIBUS or direct access.
Bit = 0:
The drive has access authority to the digital output or the digital input/output is not set as digital output or is not
available.
00 DO 0 (X133.1) High Low
01 DO 1 (NO: X133.4 / NC: X133.3) High Low
c0730 Signal for terminal DO 0 / Signal DO 0

Parameter group: Relay outputs, Digital outputs
Factory interconnection: Parameter: 52.3
Description: Signal for terminal DO 0.
NOTICE
It is possible that the interconnection is locked as a result of a set PROFIdrive telegram.
Note
DO: Digital Output


Parameter
NOTICE
Note
DO: Digital Output

Parameter group: Relay outputs
NOTICE
Note
DO: Digital Output
r0747.0...2 Digital outputs status / DO status

Description: Displays the status of digital outputs.
00 DO 0 (X133.1) High Low
Note
Inversion using p0748 has been taken into account.
p0748.0...2 Invert digital outputs / DO inv

state:

Parameter

- - 0000 bin
Description: Setting to invert the signals at the digital outputs.
00 DO 0 (X133.1) Inverted Not inverted
01 DO 1 (NO: X133.4 / NC: X133.3) Inverted Not inverted
02 DO 2 (NO: T. 24 / NC: T. 23) Inverted Not inverted
r0751.0...9 Analog inputs status word / AI status word

Parameter group: Analog inputs
Type of signal interconnection: Source binary Scaling: -
Description: Display and binary signal source for the status of the analog inputs.
00 Analog input AI0 wire breakage Yes No
01 Analog input AI1 wire breakage Yes No
08 Analog input AI0 no wire breakage Yes No
09 Analog input AI1 no wire breakage Yes No
Note
AI: Analog Input
r0752[0...1] Analog inputs actual input voltage/current / Analog inputs

Description: Displays the actual input voltage in V when set as voltage input.
Displays the actual input current in mA when set as current input and with the load resistor switched in.
Index: [0] = AI0 (X132.1 / 2)
[1] = AI1 (X132.5 / 6)
Dependency: The type of analog input AIx (voltage or current input) is set using p0756.
See also: p0756
Note
AI: Analog Input

Parameter
p0753[0...1] Analog inputs smoothing time constant / AI T_smoothing

state:
0.0 [ms] 1000.0 [ms] 0.0 [ms]
Description: Sets the smoothing time constant of the 1st order lowpass filter for the analog inputs.
Index: [0] = AI0 (X132.1 / 2)
[1] = AI1 (X132.5 / 6)
Note
AI: Analog Input
r0755[0...1] Analog inputs, actual value in percent / Analog inputs %

Description: Displays the currently referred input value of the analog inputs.
When interconnected, the signals are referred to the reference quantities p200x and p205x.
Index: [0] = AI0 (X132.1 / 2)
[1] = AI1 (X132.5 / 6)
Note
AI: Analog Input
p0756[0...1] Analog inputs type / AI type

state:
0 4 [0] 4
[1] 4

Parameter
Description: Sets the type of analog inputs.

p0756[0...1] = 0, 1, 4 corresponds to a voltage input (r0752, p0757, p0759 are displayed in V).
p0756[0...1] = 2, 3 corresponds to a current input (r0752, p0757, p0759 are displayed in mA).
Value: 0: Unipolar voltage input (0 V ... +10 V)
1: Unipolar voltage input monitored (+2 V ... +10 V)
2: Unipolar current input (0 mA ... +20 mA)
3: Unipolar current input monitored (+4 mA to +20 mA)
4: Bipolar voltage input (-10 V ... +10 V)
Index: [0] = AI0 (X132.1 / 2)
[1] = AI1 (X132.5 / 6)
WARNING
The maximum voltage difference between analog input terminals AI+, AI-, and the ground must not exceed 35 V.
For current measurement (p0756[0...1] = 2, 3), the voltage between differential inputs AI+ and AI- must not exceed 10
V or the impressed current must not exceed 80 mA, as otherwise the input will be damaged.
Note
When changing p0756, the parameters of the scaling characteristic (p0757, p0758, p0759, p0760) are overwritten with
the following default values:
For p0756 = 0, 4, p0757 is set to 0.0 V, p0758 = 0.0 %, p0759 = 10.0 V and p0760 = 100.0 %.
For p0756 = 2, p0757 is set to 0.0 mA, p0758 = 0.0 %, p0759 = 20.0 mA and p0760 = 100.0 %.
For p0756 = 3, p0757 is set to 4.0 mA, p0758 = 0.0 %, p0759 = 20.0 mA and p0760 = 100.0 %.
p0757[0...1] Analog inputs characteristic value x1 / AI char x1

state:
-50.000 160.000 0.000
Description: Sets the scaling characteristic for the analog inputs.
The scaling characteristic for the analog inputs is defined using 2 points.
This parameter specifies the x coordinate (input voltage in V, mA) of the 1st value pair of the characteristic.
Index: [0] = AI0 (X132.1 / 2)
[1] = AI1 (X132.5 / 6)
Note
The parameters for the characteristic do not have a limiting effect.
p0758[0...1] Analog inputs characteristic value y1 / AI char y1

state:

Parameter

-1000.00 [%] 1000.00 [%] 0.00 [%]
This parameter specifies the y coordinate (percentage) of the 1st value pair of the characteristic.
Index: [0] = AI0 (X132.1 / 2)
[1] = AI1 (X132.5 / 6)
Note
p0759[0...1] Analog inputs characteristic value x2 / AI char x2

state:
-50.000 160.000 10.000
This parameter specifies the x coordinate (input voltage in V, mA) of the 2nd value pair of the characteristic.
Index: [0] = AI0 (X132.1 / 2)
[1] = AI1 (X132.5 / 6)
Note
p0760[0...1] Analog inputs characteristic value y2 / AI char y2

state:
-1000.00 [%] 1000.00 [%] 100.00 [%]
This parameter specifies the y coordinate (percentage) of the 2nd value pair of the characteristic.
Index: [0] = AI0 (X132.1 / 2)
[1] = AI1 (X132.5 / 6)

Parameter
Note
p0761[0...1] Analog inputs wire break monitoring, response threshold / Wire brk thr
state:
0.00 20.00 2.00
Description: Sets the response threshold for the wire breakage monitoring of the analog inputs.
The unit for the parameter value depends on the set analog input type.
Index: [0] = AI0 (X132.1 / 2)
[1] = AI1 (X132.5 / 6)
Dependency: For the following analog input type, the wire breakage monitoring is active:
p0756[0...1] = 1 (unipolar voltage input monitored (+2 V ... +10 V)), unit [V]
p0756[0...1] = 3 (unipolar current input monitored (+4 mA ... +20 mA)), unit [mA]
See also: p0756
Note
AI: Analog Input
p0762[0...1] Analog inputs wire-break monitoring delay time / Wire brk t_del
state:
0 [ms] 1000 [ms] 100 [ms]
Description: Sets the delay time for the wire breakage monitoring of the analog inputs.
Index: [0] = AI0 (X132.1 / 2)
[1] = AI1 (X132.5 / 6)
Note
AI: Analog Input

Parameter
p0763[0...1] Analog inputs offset / AI offset

state:
Parameter group: Analog outputs
-20.000 20.000 0.000
Description: Sets the offset for the analog inputs.
The offset is added to the input signal before the scaling characteristic.
Index: [0] = AI0 (X132.1 / 2)
[1] = AI1 (X132.5 / 6)
Note
AI: Analog Input
p0764[0...1] Analog inputs dead zone / AI dead zone

state:
0.000 20.000 0.000
Description: Determines the width of the dead zone at the analog input.
Analog input type unipolar (e.g. 0 ... +10 V):
The dead zone starts with the characteristic value x1/y1 (p0757/p0758).
Analog input type bipolar (e.g. -10 V ... +10 V):
The dead zone is located at the symmetrical center between characteristic value x1/y1 (p0757/p0758) and x2/y2
(p0759/p0760). The set value doubles the dead zone.
Index: [0] = AI0 (X132.1 / 2)
[1] = AI1 (X132.5 / 6)
Note
AI: Analog Input

Parameter
p0766[0...1] Analog inputs activate absolute value generation / AI AbsV act

state:
0 1 0
Description: Activates the absolute value generation of the analog input signals.
Value: 0: No absolute value generation
1: Absolute value generation switched in
Index: [0] = AI0 (X132.1 / 2)
[1] = AI1 (X132.5 / 6)
Note
AI: Analog Input
c0767[0...1] Analog inputs inversion / AI inv

Description: Signal to invert the analog input signals.
Index: [0] = AI0 (X132.1 / 2)
[1] = AI1 (X132.5 / 6)
Note
AI: Analog Input
p0768[0...1] Analog inputs noise suppression window / AI window

state:
0.00 [%] 20.00 [%] 0.00 [%]

Parameter
Description: Sets the window for noise suppression of the analog inputs.
Changes less than the window are suppressed.
Index: [0] = AI0 (X132.1 / 2)
[1] = AI1 (X132.5 / 6)
Note
AI: Analog Input
c0769[0...1] Analog inputs enable / AI enable

Description: Signal to enable the analog inputs.
Index: [0] = AI0 (X132.1 / 2)
[1] = AI1 (X132.5 / 6)
Note
AI: Analog Input
c0771[0] Analog output signal / AO signal

Factory interconnection: Parameter: 21
Description: Signal for the analog output.
Index: [0] = AO0 (X132.10/11)
Note
AO: Analog Output
r0772[0] Analog output actual output value referred / AO outp act ref
Description: Displays the actual referred output value of the analog output.
Index: [0] = AO0 (X132.10/11)

Parameter
Note
AO: Analog Output
p0773[0] Analog output smoothing time constant / AO T_smoothing

state:
0.0 [ms] 1000.0 [ms] 0.0 [ms]
Description: Sets the smoothing time constant of the 1st order lowpass filter for the analog output.
Index: [0] = AO0 (X132.10/11)
Note
AO: Analog Output
r0774[0] Analog output actual output voltage/current / AO U/I_outp

Description: Displays the actual output voltage or output current at the analog output.
Index: [0] = AO0 (X132.10/11)
Note
AO: Analog Output
p0775[0] Analog output, activate absolute value generation / AO AbsV act

state:
0 1 0
Description: Activates the absolute value generation for the analog output.
Value: 0: No absolute value generation

Parameter
1: Absolute value generation switched in

Index: [0] = AO0 (X132.10/11)
Note
AO: Analog Output
p0776[0] Analog output type / AO type

state:
0 2 0
Description: Sets the analog output type.
p0776[x] = 1 corresponds to a voltage output (r0774, p0778, p0780 are displayed in V).
p0776[x] = 0, 2 corresponds to a current output (r0774, p0778, p0780 are displayed in mA).
Value: 0: Current output (0 mA ... +20 mA)
1: Voltage output (0 V ... +10 V)
2: Current output (+4 mA ... +20 mA)
Index: [0] = AO0 (X132.10/11)
Note
When changing p0776, the parameters of the scaling characteristic (p0777, p0778, p0779, p0780) are overwritten with
the following default values:
For p0776 = 0, p0777 is set to 0.0 %, p0778 = 0.0 mA, p0779 = 100.0 % and p0780 to 20.0 mA.
For p0776 = 1, p0777 is set to 0.0 %, p0778 = 0.0 V, p0779 = 100.0 % and p0780 to 10.0 V.
For p0776 = 2, p0777 is set to 0.0 %, p0778 = 4.0 mA, p0779 = 100.0 % and p0780 to 20.0 mA.
AO: Analog Output
p0777[0] Analog output characteristic value x1 / AO char x1

state:
-1000.00 [%] 1000.00 [%] 0.00 [%]
Description: Sets the scaling characteristic for the analog output.
The scaling characteristic for the analog output is defined using 2 points.
This parameter specifies the x coordinate (percentage) of the 1st value pair of the characteristic.
Index: [0] = AO0 (X132.10/11)

Parameter
NOTICE
This parameter is automatically overwritten when changing p0776 (analog output type).
Note
p0778[0] Analog output characteristic value y1 / AO char y1

state:
0.000 20.000 0.000
This parameter specifies the y coordinate (output voltage in V or output current in mA) of the 1st value pair of the
characteristic.
Index: [0] = AO0 (X132.10/11)
Dependency: The unit of this parameter (V or mA) depends on the analog output type.
See also: p0776
NOTICE
Note
p0779[0] Analog output characteristic value x2 / AO char x2

state:
-1000.00 [%] 1000.00 [%] 100.00 [%]
This parameter specifies the x coordinate (percentage) of the 2nd value pair of the characteristic.
Index: [0] = AO0 (X132.10/11)
NOTICE

Parameter
Note
p0780[0] Analog output characteristic value y2 / AO char y2

state:
0.000 20.000 20.000
This parameter specifies the y coordinate (output voltage in V or output current in mA) of the 2nd value pair of the
characteristic.
Index: [0] = AO0 (X132.10/11)
Dependency: The unit of this parameter (V or mA) depends on the analog output type.
See also: p0776
NOTICE
Note
c0782[0] Analog output inversion / AO inversion

Description: Signal to invert the analog output signal.
Index: [0] = AO0 (X132.10/11)
Note
AO: Analog Output

Parameter
p0783[0] Analog output offset / AO offset

state:
-20.000 20.000 0.000
Description: Sets the offset for the analog output.
The offset is added to the output signal after the scaling characteristic.
Index: [0] = AO0 (X132.10/11)
Dependency: The unit of this parameter (V or mA) depends on the analog input type.
See also: p0776
Note
This means, for example, the offset of a downstream isolating amplifier can be compensated.
p0795.0...22 Digital inputs simulation mode / DI simulation

state:
- - 0000 0000 0000 0000 0000 0000 0000
0000 bin
Description: Sets the simulation mode for digital inputs.
00 DI 0 (X131.1) Simulation Terminal eval
11 DI 11 (X132.1/2) AI0 Simulation Terminal eval
12 DI 12 (X132.5/6) AI1 Simulation Terminal eval
21 DI 21 (X130.5/6) Simulation Terminal eval
22 DI 22 (X130.7/8) Simulation Terminal eval
Dependency: The setpoint for the input signals is specified using p0796.
See also: p0796

Parameter
NOTICE
As soon as the F-DIs are enabled (p10000), the corresponding digital input cannot be switched into the simulation
mode.
Note
This parameter is not saved when backing up data (p0977).
AI: Analog Input
DI: Digital Input
p0796.0...22 Digital inputs simulation mode setpoint / DI sim setpoint

state:
- - 0000 0000 0000 0000 0000 0000 0000
0000 bin
Description: Sets the setpoint for the input signals in the digital input simulation mode.
11 DI 11 (X132.1/2) AI0 High Low
12 DI 12 (X132.5/6) AI1 High Low
21 DI 21 (X130.2/3) High Low
22 DI 22 (X130.6/7) High Low
Dependency: The simulation of a digital input is selected using p0795.
See also: p0795
Note
AI: Analog Input
DI: Digital Input
p0797[0...1] Analog inputs simulation mode / AI simulation mode

state:

Parameter

0 1 0
Description: Sets the simulation mode for the analog inputs.
Value: 0: Terminal evaluation for analog input x
1: Simulation for analog input x
Index: [0] = AI0 (X132.1 / 2)
[1] = AI1 (X132.5 / 6)
Dependency: The setpoint for the input voltage is specified via p0798.
See also: p0798
Note
AI: Analog Input
p0798[0...1] Analog inputs simulation mode setpoint / AI sim setpoint

state:
-20.000 20.000 0.000
Description: Sets the setpoint for the input value in the simulation mode of the analog inputs.
Index: [0] = AI0 (X132.1 / 2)
[1] = AI1 (X132.5 / 6)
Dependency: The simulation of an analog input is selected using p0797.
If AI x is parameterized as a voltage input (p0756), the setpoint is a voltage in V.
If AI x is parameterized as a current input (p0756), the setpoint is a current in mA.
Note
AI: Analog Input
p0799[0...2] Inputs/outputs sampling time / I/O t_samp

state:
Parameter group:

Parameter

0.00 [µs] 5000.00 [µs] [0] 2000.00 [µs]
[1] 4000.00 [µs]
[2] 4000.00 [µs]
Description: Sets the sampling time for the inputs and outputs of the converter
Index: [0] = Digital inputs/outputs (DI/DO)
[1] = Analog inputs (AI)
[2] = Analog outputs (AO)
Dependency: The parameter can only be changed during commissioning.
Note
The changed sampling time is effective after commissioning has been completed.
r0807.0 Master control active / PcCtrl active

Parameter group: Commissioning interface
Description: Displays what has the master control.
The drive can be controlled via the signal interconnection or from external (e.g. using the commissioning tool).
00 Master control active Yes No
NOTICE
The master control only influences control word 1 and speed setpoint 1. Other control word/setpoints can be
transferred from another automation device.
Note
Bit 0 = 0: signal interconnection active
Bit 0 = 1: The operating unit has master control
The commissioning tool (drive control panel) uses the master control, for example.
c0810 Command data set selection CDS bit 0 / CDS sel, bit 0
Description: Signal to select the Command Data Set bit 0 (CDS bit 0).
Dependency: See also: r0050, c0811, r0836
NOTICE

Parameter
Note
The command data set selected using the binary signal sinks is displayed in r0836.
The currently effective command data set is displayed in r0050.
c0811 Command data set selection CDS bit 1 / CDS sel, bit 1
Description: Signal to select command data set bit 1 (CDS bit 1).
Dependency: See also: r0050, c0810, r0836
Note
The command data set selected using the binary signal sinks is displayed in r0836.
c0820[0...n] Drive Data Set selection DDS bit 0 / DDS sel, bit 0
Description: Signal to select drive data set, bit 0 (DDS, bit 0).
NOTICE

Parameter
NOTICE
NOTICE
NOTICE
p0826[0...n] Motor changeover motor number / Mot_chgov mot no

state:
0 15 0
Description: Sets the freely assignable motor number for the motor changeover.

Parameter
NOTICE
When changing over motor data sets with the same motor number (e.g. star-delta changeover) and for a motor with
brake, the motor brake remains open during the changeover.
Note
When the motor data sets are changed over, the following applies:
The same motor number signifies the same thermal model.
For the same motor number, the correction values of the Rs, Lh or kT adaptation are applied for the data set changeover
(refer to r1787, r1797).
c0828[0...n] Motor changeover feedback signal / Mot_chgov fdbk sig

Description: Signal for the feedback signal when switching over the motor.
NOTICE
r0835.0...10 Data set changeover status word / Data set sw ZSW

Parameter group: Control/status words, Data sets
Description: Display and signal source for the status word of the data set switchover.
00 Motor changeover active Yes No
01 Encoder changeover active Yes No
02 Internal parameter calculation active Yes No
04 Armature short circuit active Yes No
05 Identification running Yes No
06 Friction characteristic plot running Yes No
07 Rotating measurement running Yes No
08 Motor data identification running Yes No
10 Wait for pulse cancellation Yes No

Parameter
Note
This parameter is only supplied with up-to-date values if data set changeover has been selected or is running.
For bit 00:
The signal is only influenced when a motor changeover is set via p0826.
For bit 01:
The signal is only influenced when an encoder changeover is set via p0187 or p0188.
For bit 02:
A data set changeover is delayed by the time required for the internal parameter calculation.
For bit 04:
A data set changeover is only carried out when the armature short circuit is not activated.
For bit 05:
A data set changeover is only carried out when pole position identification is not running.
For bit 06:
A data set switchover is only carried out when the friction characteristic is not being plotted.
For bit 07:
A data set changeover is only carried out when rotating measurement is not running.
For bit 08:
A data set changeover is only carried out when motor data identification is not running.
For bit 10:
A motor switchover can only be carried out when the application cancels the pulses.
r0836.0...3 Command Data Set CDS selected / CDS selected

Description: Displays the command data set (CDS) selected via the binary signal sink.
00 CDS selection bit 0 On Off
Dependency: See also: r0050, c0810, c0811
Note
Command data sets are selected via binary signal sink c0810 and the following.
r0837.0...4 Drive Data Set DDS selected / DDS selected

Description: Displays the drive data set (DDS) selected via the binary signal sink.

Parameter

00 DDS selection bit 0 On Off
Dependency: See also: r0051, c0820, c0821, c0822, c0823
Note
Drive data sets are selected via binary signal sink c0820 and the following.
The currently effective drive data set is displayed in r0051.
If there is only one data set, then a value of 0 is displayed in this parameter and not the selection via the binary signal
sink.
c0840[0...n] ON / OFF (OFF1) / ON / OFF (OFF1)

Parameter group: Shutdown functions, Drive enable signals
Description: Signal for command "ON/OFF (OFF1)".
For the PROFIdrive profile, this command corresponds to control word 1 bit 0 (STW1.0).
Dependency: See also: c1055, c1056
CAUTION
When "master control from PC" is activated, then this binary signal sink is ineffective.
NOTICE
The drive goes into the switching on inhibited state when the OFF1 source is interconnected with a signal that is 1. The
OFF1 enable can only be issued if the signal changes from 0 to 1 after the interconnection.
for value = 0 signal:
- The motor can be moved by jogging via the binary signal sink c1055 or c1056.
- The switching on inhibited is acknowledged.
The command "ON/OFF (OFF1)" can be issued via the binary signal sinks c0840 or c1055/c1056.
Only the signal source that originally switched on can also switch off again.
Note
For drives with closed-loop speed control (p1300 = 20, 21), the following applies:
- For 0 signal: OFF1 (braking with the ramp-function generator, then pulse cancellation)
For drives with closed-loop torque control (p1300 = 22, 23), the following applies:
- For 0 signal: immediate pulse cancellation
For drives with closed-loop torque control (activated using c1501), the following applies:
- For 0 signal: No dedicated braking response, but pulse cancellation when standstill is detected (p1226, p1227)
For drives with closed-loop speed/torque control, the following applies:
- For 0/1 signal edge: ON (pulses can be enabled)
r0863.1 of a drive can also be selected as signal source.

Parameter
c0844[0...n] No coast-down / coast-down (OFF2) signal 1 / OFF2 signal 1

Description: First signal for command "No coast-down / coast-down (OFF2)"
The following signals are AND'ed:
- c0844 "No coast-down / coast-down (OFF2) signal source 1"
For the PROFIdrive profile, the result of the AND logic operation corresponds to control word 1 bit 1 (STW1.1).
c0844 = 0 signal or c0845 = 0 signal
- OFF2 (immediate pulse cancellation and switching on inhibited)
- No OFF2 (enable is possible)
CAUTION
NOTICE
c0845[0...n] No coast-down / coast-down (OFF2) signal 2 / OFF2 signal 2

Description: Second signal for command "No coast-down / coast-down (OFF2)"
CAUTION
When "master control from PC" is activated, then this binary signal sink is effective.

Parameter
c0848[0...n] No Quick Stop / Quick Stop (OFF3) signal 1 / OFF3 signal 1

Description: First signal for command "No Quick Stop / Quick Stop (OFF3)"
- c0848 "No Quick Stop / Quick Stop (OFF3) signal 1"
- OFF3 (braking along the OFF3 ramp (p1135), then pulse cancellation and switching on inhibited)
CAUTION
NOTICE
Note
0 signal:
- No dedicated braking response, but pulse cancellation when standstill is detected (p1226, p1227).
c0849[0...n] No Quick Stop / Quick Stop (OFF3) signal 2 / OFF3 signal 2

Description: Second signal for command "No Quick Stop / Quick Stop (OFF3)"
- OFF3 (braking along the OFF3 ramp (p1135), then pulse cancellation and switching on inhibited)
CAUTION

Parameter
Note
0 signal:
- No dedicated braking response, but pulse cancellation when standstill is detected (p1226, p1227).
c0852[0...n] Enable operation/inhibit operation / Enable operation

Description: Signal for command "Enable operation/inhibit operation".
0 signal: Inhibits operation (cancel pulses).
1 signal: Enables operation (pulses can be enabled).
CAUTION
NOTICE
c0854[0...n] Control by PLC/no control by PLC / Master ctrl by PLC

Parameter group: Shutdown functions, Drive enable signals, Configuration
Description: Signal for command "Control by PLC/no control by PLC".
0 signal: No control by PLC.
1 signal: Control by PLC.
CAUTION
NOTICE
Note
This bit is used to initiate a response for the drives when the control fails (F07220). If there is no control system available,
then binary signal sink c0854 should be set = 1.
If a control is available, then STW1.10 must be set to 1 (PZD1) so that the received data is updated. This applies regardless
of the setting in c0854 and also in the case of free telegram configuration (r0922 = 999).

Parameter
c0855[0...n] Unconditionally release holding brake / Uncond open brake

Parameter group: Motor holding brake
Description: Signal for command "Unconditionally release holding brake".
NOTICE
Note
The signal via binary sink c0858 "Unconditionally close holding brake" has a higher priority than via binary sink c0855
"Unconditionally release holding brake".
c0856[0...n] Enable speed controller / n_ctrl enable

Parameter group: Motor holding brake, Drive enable signals
Description: Signal for command "Enable speed controller" (r0898.12).
0 signal: Set the I component and speed controller output to zero.
1 signal: Enable speed controller.
See also: r0898
Note
If "enable speed controller" is withdrawn, then an existing brake will be closed.
If "enable speed controller" is withdrawn, the pulses are not canceled.
p0857 Power unit monitoring time / PU t_mon

state:
Parameter group: Drive enable signals

Parameter

100.0 [ms] 60000.0 [ms] 10000.0 [ms]
Description: Sets the monitoring time for the power unit.
The monitoring time is started after an 0/1 edge of the ON/OFF1 command. If the power unit does not return a READY
signal within the monitoring time, fault F07802 is output.
Dependency: See also: F06000, F07802, F30027
NOTICE
The maximum time to precharge the DC link is monitored in the power unit and cannot be changed.
The monitoring time for the precharging is started after the ON command (c0840 = 0/1 signal). Fault F30027 is output
when the maximum precharging duration is exceeded.
Note
The factory setting for p0857 depends on the power unit.
The monitoring time for the ready signal of the power unit includes the time to precharge the DC link and, if relevant,
the de-bounce time of the contactors.
If an excessively low value is entered into p0857, then after enable, this results in the corresponding fault.
c0858[0...n] Unconditionally close holding brake / Uncond close brake

Description: Signal for command "Unconditionally close holding brake".
Note
The signal via binary sink c0858 "Unconditionally close holding brake" has a higher priority than via binary sink c0855
"Unconditionally release holding brake".
1 signal:
Command "Unconditionally close holding brake" is executed and internally a zero setpoint is entered.
c0860 Line contactor feedback signal / Line contact fdbk

G220 Data type: Unsigned8 Visible in: Extended display
Parameter group: Line contactor control
Description: Signal for the feedback signal from the line contactor.
Recommendation: When the monitoring is activated (c0860 not equal to r0863.1), to control the line contactor, signal r0863.1 of its own
drive object should be used.
See also: F07300

Parameter
NOTICE
The line contactor monitoring is deactivated if the control signal of the particular drive object is set as the signal source
for the feedback signal of the line contactor (c0860 = r0863.1).
Note
The state of the line contactor is monitored depending on signal r0863.1.
When monitoring is activated (c0860 not equal to r0863.1), fault F07300 is also output if the contactor is closed before
it is controlled by r0863.1.
c0860 Line contactor feedback signal / Line contact fdbk

G220 Clean Power Data type: Unsigned8 Visible in: Standard display
Parameter group: Line contactor control, Line contactor control
Description: Signal for the feedback signal from the line contactor.
Recommendation: When monitoring is activated (c0860 not equal to r13863.1), then signal r13863.1 should be used to control the line
contactor.
See also: F07300
NOTICE
The line contactor monitoring is deactivated if the control signal is set as signal source for the line contactor feedback
signal (c0860 = r13863.1).
Note
The status of the line contactor is monitored depending on signal r13863.1.
When monitoring is activated (c0860 not equal to r13863.1), fault F07300 is also output if the contactor is closed before
it is controlled by r13863.1.
p0861 Line contactor monitoring time / Line cont t_mon

state:
0 [ms] 5000 [ms] 100 [ms]
Description: Sets the monitoring time of the line contactor.
This time starts each time that the line contactor switches (r0863.1). If a feedback signal is not received from the line
contactor within the time, then a message is output (F07300).
Dependency: See also: c0860, r0863
See also: F07300

Parameter
Note
The monitoring function is deactivated for the factory setting of c0860.
p0861 Line contactor monitoring time / Line cont t_mon

state:
0 [ms] 5000 [ms] 100 [ms]
Description: Sets the monitoring time of the line contactor.
The time starts each time the line contactor switches (r13863.1). If a feedback signal is not received from the line
contactor within the time, then a message is output (F07300).
Dependency: See also: c0860, r13863
See also: F07300
Note
The monitoring function is deactivated for the factory setting of c0860.
r0863.0...1 Drive coupling status word/control word / CoupleZSW/STW

Description: Display and signal source for the status word and control word of the drive coupling.
00 Precharging completed Yes No
01 Energize contactor Yes No
Note
For bit 00:
Bit 0 signals that precharging has been completed.
When the operating signal is transferred via the binary signal source r0863.0, then this allows several drives to start (run-
up) staggered over time when they are simultaneously switched on.
To realize this, the following connections/interconnections are required:
Drive 1: Interconnect binary signal sink c0864 with binary signal source r0863.0 of the infeed unit
Drive 2: Interconnect binary signal sink c0864 with binary signal source r0863.0 of drive 1
Drive 3: Interconnect binary signal sink c0864 with binary signal source r0863.0 of drive 2, etc.
The first drive only transfers the operating signal to the next drive after it has reached its ready condition.
For bit 01:
Bit 1 is used to control an external line contactor.

Parameter
c0864 Infeed operation / INF operation

Description: Signal for the operating message of the infeed (e.g. r13863.0).
Note
The sequence control of a vector drive requires this signal.
p0867 Power unit main contactor holding time after OFF1 / PU t_MC after OFF1
state:
Parameter group:
0.0 [ms] 5000.0 [ms] 50.0 [ms]
Description: Sets the main contactor holding time after OFF1
After withdrawing the OFF1 enable (signal sink c0840), the main contactor is only opened after the main contactor
holding time has elapsed.
Recommendation: When operating a drive connected to SINUMERIK, which only closes the main contactor with the OFF1 command
(blocksize, chassis), p0867 should be set as a minimum to 50 ms.
c0870 Close main contactor / Close main cont

Parameter group:
Description: Signal to close the main contactor.
Note
The main contactor is also closed when the converter is switched on after issuing the necessary enable signals.
1 signal:
This signal prevents the main contactor from being opened again when enable signals are withdrawn.

Parameter
r0898.0...14 Control word sequence control / STW seq_ctrl

Parameter group: Control/status words
Description: Display and numerical signal source for the control word of the sequence control.
00 ON/OFF1 Yes No
04 Enable ramp-function generator Yes No
05 Continue ramp-function generator Yes No
06 Enable speed setpoint Yes No
07 Command open brake Yes No
08 Jog 1 Yes No
09 Jog 2 Yes No
12 Enable speed controller Yes No
14 Command close brake Yes No
Note
r0899.0...13 Status word sequence control / ZSW seq_ctrl

Description: Display and signal source for the status word of the sequence control.
01 Ready Yes No
03 Jog active Yes No
04 No coasting active OFF2 inactive OFF2 active
05 No Quick Stop active OFF3 inactive OFF3 active
06 Switching on inhibited active Yes No
07 Drive ready Yes No
08 Controller enable Yes No

Parameter
11 Pulses enabled Yes No

12 Open holding brake Yes No
13 Command close holding brake Yes No
Note
For bits 00, 01, 02, 04, 05, 06, 09:
For PROFIdrive, these signals are used for status word 1.
For bit 13:
When function "SBC (Safe Brake Control)" is activated and selected, the brake is no longer controlled using this signal.
r0922 PROFIdrive PZD telegram / PZD telegr

Parameter group: Quick commissioning, Configuration
Description: Displays the PROFIdrive telegram.
Value: 1: Standard telegram 1, PZD-2/2
2: Standard telegram 2, PZD-4/4
102: SIEMENS telegram 102, PZD-6/10
999: Free telegram configuration via signal interconnection
32766: No telegram
Note
The telegram is set in the commissioning tool or by the control.
If a value is not equal to 999 or 32766, then a telegram is set and interconnections set in the telegram are inhibited.
If a value = 32766 "No telegram" is set, all telegram interconnections are deleted and inhibited.
When reading the parameter via PROFIdrive, value 65534 is applicable for "No telegram".
r0924[0...1] ZSW bit pulses enabled / ZSW pulse enab

Parameter group: Configuration
Description: Displays the position of the "Pulses enabled" status signal in the PROFIdrive telegram.
Index: [0] = Signal number
[1] = Bit position

Parameter
p0925 PROFIdrive clock synchronous sign-of-life tolerance / PD SoL_tol

state:
0 65535 1
Description: Sets the number of tolerated consecutive sign-of-life errors of the isochronous controller.
The sign-of-life signal is normally received in PZD4 (control word 2) from the controller.
See also: F01912
Note
The sign-of-life monitoring is disabled for p0925 = 65535.
r0930 PROFIdrive operating mode / PD operating mode

Description: Displays the operating mode.
1: Closed-loop speed controlled operation with ramp-function generator
2: Closed-loop position controlled operation
3: Closed-loop speed controlled operation without ramp-function generator
r0944 Counter for fault buffer changes / Fault buff change

Parameter group: Faults / alarms
Description: Display and numerical signal source for the counter for changes of the fault buffer.
This counter is incremented every time the fault buffer changes.
Recommendation: Used to check whether the fault buffer has been read out consistently.
Dependency: See also: r0945, r0947, r0948, r0949, r2109

Parameter
r0945[0...63] Fault code / Fault code

Description: Displays the codes of faults that have occurred.
Dependency: See also: r0947, r0948, r0949, r2109, r2130, r2133, r2136, r3120, r3122
NOTICE
The properties of the fault buffer should be taken from the corresponding product documentation.
Note
The buffer parameters are cyclically updated (states are indicated in r2139).
Fault buffer structure (general principle):
r0945[0], r0949[0] or r2133[0], r2130[0], r0948[0], r2136[0], r2109[0] --> fault 1 (oldest active fault) of the active
incident
...
r0945[7], r0949[7] or r2133[7], r2130[7], r0948[7], r2136[7], r2109[7] --> fault 8 (latest active fault) of the active
incident
For more than 8 active faults, only the entries are overwritten at the eighth position (index 7).
History of acknowledged faults:

If a fault incident is acknowledged, then all alarms of the 1st fault incident are transferred into the 2nd fault incident,
this becomes the 1st acknowledged fault incident.
The 2nd incident is transferred into the 3rd, the 3rd into the 4th etc. The last incident is rejected.
r0945[8], r0949[8] or r2133[8], r2130[0], r0948[8], r2136[8], r2109[8] --> fault 1 of the 1st acknowledged incident
...
r0945[16], r0949[16] or r2133[16], r2130[16], r0948[16], r2136[16], r2109[16] --> fault 1 of the 2nd acknowledged
incident
...
r0945[56], r0949[56] or r2133[56], r2130[56], r0948[56], r2136[56], r2109[56] --> fault 1 of the 7th acknowledged
incident
...
r0945[63], r0949[63] or r2133[63], r2130[63], r0948[63], r2136[63], r2109[63] --> fault 8 (oldest fault that has gone)
of the 7th acknowledged incident
r0947[0...63] Fault number / Fault number

Description: Displays the numbers of faults that have occurred.
NOTICE
The properties of the fault buffer should be taken from the corresponding product documentation.

Parameter
Note
The buffer parameters are cyclically updated (states are indicated in r2139).
Fault buffer structure (general principle):
r0945[0], r0949[0] or r2133[0], r2130[0], r0948[0], r2136[0], r2109[0] --> fault 1 (oldest active fault) of the active
incident
...
r0945[7], r0949[7] or r2133[7], r2130[7], r0948[7], r2136[7], r2109[7] --> fault 8 (latest active fault) of the active
incident
For more than 8 active faults, only the entries are overwritten at the eighth position (index 7).
History of acknowledged faults:

If a fault incident is acknowledged, then all alarms of the 1st fault incident are transferred into the 2nd fault incident,
this becomes the 1st acknowledged fault incident.
The 2nd incident is transferred into the 3rd, the 3rd into the 4th etc. The last incident is rejected.
r0945[8], r0949[8] or r2133[8], r2130[0], r0948[8], r2136[8], r2109[8] --> fault 1 of the 1st acknowledged incident
...
r0945[16], r0949[16] or r2133[16], r2130[16], r0948[16], r2136[16], r2109[16] --> fault 1 of the 2nd acknowledged
incident
...
r0945[56], r0949[56] or r2133[56], r2130[56], r0948[56], r2136[56], r2109[56] --> fault 1 of the 7th acknowledged
incident
...
r0945[63], r0949[63] or r2133[63], r2130[63], r0948[63], r2136[63], r2109[63] --> fault 8 (oldest fault that has gone)
of the 7th acknowledged incident
r0948[0...63] Fault time received in milliseconds / t_fault recv ms

Description: Displays the system runtime in milliseconds when the fault occurred.
Dependency: See also: r0945, r0947, r0949, r2109, r2114, r2130, r2133, r2136, r3120, r3122
NOTICE
The time comprises r2130 (days) and r0948 (milliseconds).
Note
The buffer parameters are cyclically updated in the background (refer to status signal in r2139).
The structure of the fault buffer and the assignment of the indices is shown in r0945.
When the parameter is read via PROFIdrive, the TimeDifference data type applies.
r0949[0...63] Fault value / Fault value

Description: Displays additional information about the fault that occurred (as integer number).

Parameter
Note
p0952 Fault cases counter / Fault cases qty

state:
0 65535 0
Description: Number of fault situations that have occurred since the last reset.
Dependency: The fault buffer is deleted (cleared) by setting p0952 to 0.
In order that faults with "POWER ON" acknowledgment can also be cleared from the fault buffer, POWER ON must first
be carried out.
See also: r0945, r0947, r0948, r0949, r2109, r2130, r2133, r2136
r0964[0...6] Device identification / Device ID

Description: Displays the device identification.
Index: [0] = Company (Siemens = 42)
[1] = Device type
[2] = Firmware version
[3] = Firmware date (year)
[4] = Firmware date (day/month)
[5] = Reserved
[6] = Firmware patch/hot fix
Note
Example:
r0964[0] = 42 --> SIEMENS
r0964[1] = device type, see below
r0964[2] = 602 --> first part firmware version V06.02 (second part, refer to index 6)
r0964[3] = 2023 --> year 2023
r0964[4] = 1706 --> June 17
r0964[5] = 1 --> 1 (fixed value)
r0964[6] = 0 --> second part firmware version (complete version: V06.02.00.00)
Device type:
r0964[1] = 10000 --> SINAMICS G220
r0964[1] = 10010 --> SINAMICS G220 Clean Power

Parameter
r0965 PROFIdrive profile number profile version / PD profile nr vers

Description: Displays the PROFIdrive profile number and profile version.
Constant value = 032A hex.
Byte 1: Profile number = 03 hex = PROFIdrive profile
Byte 2: profile version = 2A hex = 42 dec = version 4.2
Note
When the parameter is read via PROFIdrive, the Octet String 2 data type applies.
p0972 Drive unit reset / Drv_unit reset

state:
Parameter group: Save & reset
0 3 0
Description: Sets the required procedure to execute a hardware reset for the drive unit.
Value: 0: Inactive
1: Hardware-Reset immediate
2: Hardware reset preparation
3: Hardware reset after cyclic communication has failed
DANGER
It must be absolutely ensured that the system is in a safe condition.
The memory card/device memory of the converter must not be accessed.

Parameter
Note
For value = 1:
Reset is immediately executed and communications interrupted.
After communications have been established, check the reset operation (refer below).
This value cannot be set in operation.
For value = 2:
Help to check the reset operation.
Firstly, set p0972 = 2 and then read back. Secondly, set p0972 = 1 (it is possible that this request is possibly no longer
acknowledged). The communication is then interrupted.
For value = 3:
The reset is executed after interrupting cyclic communication. This setting is used to implement a synchronized reset by
a control for several drive units.
If cyclic communication is not active, then the reset is immediately executed.
To check the reset operation:
After the drive unit has been restarted and communications have been established, read p0972 and check the following:
p0972 = 0 --> the reset was successfully executed.
p0972 > 0 --> the reset was not executed.
r0975[0...10] Converter identification / Converter ident

Description: Displays the identification of the converter. The drive internally comprises components, device and converter. Both
components require their own identification parameters according to PROFIdrive.
Index: [0] = Company (Siemens = 42)
[1] = Converter type
[2] = Firmware version
[3] = Firmware date (year)
[4] = Firmware date (day/month)
[5] = PROFIdrive converter type class
[6] = PROFIdrive converter subtype class
[7] = Converter number
[8] = Reserved
[9] = Reserved
[10] = Firmware patch/hot fix

Parameter
Note
Example:
r0975[0] = 42 --> SIEMENS
r0975[1] = 312 --> VECTOR converter type
r0975[2] = 602 --> first part firmware version V06.02 (second part refer to index 10)
r0975[3] = 2023 --> year 2023
r0975[4] = 1706 --> 17th of June
r0975[5] = 1 --> PROFIdrive type class = 1 (axis)
r0975[6] = 9 --> PROFIdrive subtype class = 1 and 4 (application classes)
r0975[7] = 1 --> 1 (fixed value)
r0975[8] = 0 (reserved)
r0975[9] = 0 (reserved)
r0975[10] = 0 --> second part firmware version (complete version: V06.02.00.00)
p0976 Reset all parameters / Reset all par

state:
0 1 0
Description: Resets all parameters of the drive system.
Value: 0: Inactive
1: Start to reset all parameters
NOTICE
Writing to parameters is inhibited during the reset operation.
p0977 Save all parameters / Save all par

state:
0 1 0
Description: Retentively saves all parameters of the drive system to the non-volatile memory.
When saving, only the adjustable parameters intended to be saved are taken into account.
Value: 0: Inactive
1: Save in non-volatile memory - Loaded at POWER ON

Parameter
NOTICE
The converter power supply may only be switched off after saving has been completed (i.e. after saving has started, wait
until the parameter again has a value of 0).
Writing to parameters is inhibited while saving.
r0979[0...30] PROFIdrive encoder format / PD encoder format

Parameter group: System identification, Configuration
Description: Displays the actual position encoder used according to PROFIdrive.
Index: [0] = Header
[1] = Motor encoder type
[2] = Motor encoder resolution
[3] = Shift factor G1_XIST1
[5] = Distinguishable revolutions motor encoder
[6...10] = Reserved
[11] = Type encoder 2
[12] = Resolution encoder 2
[15] = Distinguishable revolutions encoder 2
[16...30] = Reserved
Note
Information about the individual indices can be taken from the following literature:
PROFIdrive Profile Drive Technology
r0980[0...299] List of existing parameters 1 / List avail par 1

Description: Displays the parameters that exist for this drive.
Note
Modified parameters are displayed in indices 0 to 298. If an index contains the value 0, then the list ends here. In a long
list, index 299 contains the parameter number at which position the list continues.
This list consists solely of the following parameters:
r0980[0...299], r0981[0...299] ... r0989[0...299]
The parameters in this list are not displayed in the parameter lists of the commissioning tool. However, they can be read
from a higher-level control system (e.g. PROFIBUS master).

Parameter

Note
Modified parameters are displayed in indices 0 to 298. If an index contains the value 0, then the list ends here. In a long
list, index 299 contains the parameter number at which position the list continues.
r0980[0...299], r0981[0...299] ... r0989[0...299]
The parameters in this list are not displayed in the expert list of the commissioning tool. However, they can be read from
a higher-level control system.

Note
Modified parameters are displayed in indices 0 to 298. If an index contains the value 0, then the list ends here.
r0980[0...299], r0981[0...299] ... r0989[0...299]
The parameters in this list are not displayed in the parameter lists of the commissioning tool. However, they can be read
from a higher-level control system.
p1001[0...n] Fixed speed setpoint 1 / n_set_fix 1

state:
Parameter group: Fixed setpoints
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Setting and numerical signal source for fixed speed setpoint 1.
Dependency: See also: c1020, c1021, c1022, c1023, r1024, r1197

Parameter
NOTICE
A signal interconnection to a parameter, which belongs to a drive data set, always acts on the active data set.

state:
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
NOTICE

state:
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
NOTICE

state:

Parameter

-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
NOTICE

state:
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
NOTICE

state:
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
NOTICE

Parameter

state:
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
NOTICE

state:
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
NOTICE

state:
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]

Parameter
NOTICE

state:
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
NOTICE

state:
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
NOTICE

Parameter

state:
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
NOTICE

state:
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
NOTICE

state:
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]

Parameter
NOTICE

state:
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
NOTICE
p1016 Fixed speed setpoint select mode / n_set_fix select

state:
1 2 1
Description: Sets the mode to select the fixed speed setpoint.
Value: 1: Direct
2: Binary
Note
For p1016 = 1:
In this mode, the setpoint is entered via the fixed speed setpoints p1001 ... p1004.
Up to 16 different setpoints are obtained by adding the individual fixed speed setpoints.
For p1016 = 2:
In this mode, the setpoint is entered via the fixed speed setpoints p1001 ... p1015.

Parameter
c1020[0...n] Fixed speed setpoint selection bit 0 / n_set_fixed bit 0

Description: Signal to select the fixed speed setpoint.
Dependency: Selects the required fixed speed setpoint using c1020 ... c1023.
Displays the number of the actual fixed speed setpoint in r1197.
Sets the values for the fixed speed setpoints 1 ... 15 using p1001 ... p1015.
See also: c1021, c1022, c1023, r1197
Note
If a fixed speed setpoint has not been selected (c1020 ... c1023 = 0, r1197 = 0), then r1024 = 0 (setpoint = 0).

See also: c1020, c1022, c1023, r1197
Note


Parameter
See also: c1020, c1021, c1023, r1197
Note

See also: c1020, c1021, c1022, r1197
Note
r1024 Fixed speed setpoint effective / Fixed speed setp

Description: Display and numerical signal source for the selected and active fixed speed setpoint.
This setpoint is the output value for the fixed speed setpoints and must be appropriately interconnected (e.g. with the
main setpoint).
Recommendation: Interconnect the signal with the main setpoint (c1070).
See also: c1070, r1197
Note

Parameter
r1025.0 Fixed speed setpoint status / n_setp_fix status

Description: Display and binary signal source for the status when selecting the fixed speed setpoints.
00 Fixed speed setpoint selected Yes No
Note
For bit 00:
When the fixed speed setpoints are directly selected (p1016 = 1), this bit is set if at least 1 fixed speed setpoint is selected.
p1030[0...n].0...4 Motorized potentiometer configuration / MoP configuration

state:
Parameter group: Motorized potentiometer
- - 0000 0110 bin
Description: Sets the configuration for the motorized potentiometer.
00 Data save active Yes No
01 Automatic mode ramp-function generator active Yes No
02 Initial rounding-off active Yes No
03 Non-volatile saving active Yes No
04 Ramp-function generator always active Yes No

Parameter
Note
For bit 00:
0: The setpoint for the motorized potentiometer is not saved and after ON is entered using p1040.
1: The setpoint for the motorized potentiometer is saved after OFF and after ON set to the saved value. In order to save
in a non-volatile fashion, bit 03 should be set to 1.
For bit 01:
0: Without ramp-function generator in the automatic mode (ramp-up/ramp-down time = 0).
1: With ramp-function generator in the automatic mode.
The ramp-function generator is always active in manual operation (0 signal via c1041).
For bit 02:
0: Without initial rounding-off
1: With initial rounding-off. The selected ramp-up/down time is correspondingly exceeded. The initial rounding-off is a
sensitive way of specifying small changes (progressive reaction when keys are pressed).
The jerk for the initial rounding-off is independent of the ramp-up time and only depends on the selected maximum
speed (p1082). It is calculated as follows:
r = 0.01 % * p1082 [1/s] / 0.13^2 [s^2]
The jerk acts up until the maximum acceleration is reached (a_max = p1082 [1/s] / p1047 [s]), and then the drive
continues to run linearly with a constant rate of acceleration. The higher the maximum acceleration (the lower that
p1047 is), the longer the ramp-up time increases with respect to the set ramp-up time.
For bit 03:
0: Non-volatile data save deactivated.
1: The setpoint for the motorized potentiometer is saved in a non-volatile fashion (for bit 00 = 1).
For bit 04:
When the bit is set, the ramp-function generator is computed independent of the pulse enable. The actual output value
of the motorized potentiometer is always in r1050.
c1035[0...n] Motorized potentiometer setpoint raise / MoP raise

Description: Signal to continually increase the setpoint for the motorized potentiometer.
The setpoint change (r1050) depends on the set ramp-up time (p1047) and the duration of the signal that is present
(c1035).
NOTICE
c1036[0...n] Motorized potentiometer lower setpoint / MoP lower


Parameter

Description: Signal to continuously reduce the setpoint for the motorized potentiometer.
The setpoint change (r1050) depends on the set ramp-down time (p1048) and the duration of the signal that is present
(c1036).
NOTICE
p1037[0...n] Motorized potentiometer maximum speed / MoP n_max

state:
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets the maximum speed/velocity for the motorized potentiometer.
Note
This parameter is automatically pre-assigned in the commissioning phase.
The setpoint output from the motorized potentiometer is limited to this value.
p1038[0...n] Motorized potentiometer minimum speed / MoP n_min

state:
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets the minimum speed/velocity for the motorized potentiometer.
Note
This parameter is automatically pre-assigned in the commissioning phase.
The setpoint output from the motorized potentiometer is limited to this value.

Parameter
c1039[0...n] Motorized potentiometer inversion / MoP inv

Description: Signal to invert the minimum speed/velocity or the maximum speed/velocity for the motorized potentiometer.
Note
The inversion is only active during "motorized potentiometer raise" or "motorized potentiometer lower".
p1040[0...n] Motorized potentiometer starting value / MoP start value

state:
-210000.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets the starting value for the motorized potentiometer. This starting value becomes effective after the drive has been
switched on.
Dependency: Only effective if p1030.0 = 0.
See also: p1030
c1041[0...n] Motorized potentiometer manual/automatic / MoP manual/auto

Description: Signal to switch over from manual to automatic when using a motorized potentiometer.
The setpoint is manually raised and lowered using two signals. In the automatic mode, the setpoint must be
interconnected via a numerical signal sink.
Dependency: See also: p1030, c1035, c1036, c1042
Note
The effectiveness of the internal ramp-function generator can be set in automatic mode.

Parameter
c1042[0...n] Motorized potentiometer automatic setpoint / MoP auto setpoint

Factory interconnection: Fixed value: 0.00 [rpm]
Description: Signal for the setpoint of the motorized potentiometer in the automatic mode.
c1043[0...n] Motorized potentiometer accept setting value / MoP acc set val
Description: Signal to accept the setting value for the motorized potentiometer.
Note
The setting value (c1044) becomes active for a 0/1 edge of the setting command (c1043).
c1044[0...n] Motorized potentiometer setting value / MoP set val

Description: Signal for the setting value for the motorized potentiometer.
Note
The setting value becomes active for a 0/1 edge of the setting command (c1043).

Parameter
r1045 Mot potentiometer speed setpoint in front of ramp-function gen / MoP n_set bef RFG
Description: Displays the effective setpoint in front of the internal motorized potentiometer ramp-function generator.
p1047[0...n] Motorized potentiometer ramp-up time / MoP ramp-up time

state:
0.000 [s] 1000.000 [s] 10.000 [s]
Description: Sets the ramp-up time for the internal ramp-function generator for the motorized potentiometer.
The setpoint is changed from zero up to the speed/velocity limit (p1082) within this time (if no initial rounding-off has
been activated).
Note
When the initial rounding-off is activated (p1030.2) the ramp-up time is correspondingly extended.
p1048[0...n] Motorized potentiometer ramp-down time / MoP ramp-down time

state:
0.000 [s] 1000.000 [s] 10.000 [s]
Description: Sets the ramp-down time for the internal ramp-function generator for the motorized potentiometer.
The setpoint is changed from the speed/velocity limit (p1082) to zero within this time (if no initial rounding-off has been
activated).
Note
The deceleration time is extended corresponding to the activated initial rounding-off (p1030.2).

Parameter
r1050 Motorized potentiometer setpoint after ramp-function generator / Motor pot setpoint
Description: Displays the effective setpoint after the internal motorized potentiometer ramp-function generator.
This setpoint is the output value of the motorized potentiometer and must be appropriately interconnected onwards
(e.g. with the main setpoint).
Recommendation: Interconnect the signal with the main setpoint (c1070).
Note
For operation "With ramp-function generator", after an OFF1, OFF2, OFF3 or for a 0 signal via c0852 (inhibit operation,
cancel pulses) the ramp-function generator output (r1050) is set to the starting value (configured using p1030.0).
c1051[0...n] Speed limit RFG positive direction of rotation / n_limit RFG pos
Parameter group: Speed limiting
Factory interconnection: Parameter: 1083[0]
Description: Signal for the speed limit of the positive direction at the ramp-function generator input.
Note
The OFF3 ramp-down time (p1135) is effective when the limit is reduced.
c1052[0...n] Speed limit RFG negative direction of rotation / n_limit RFG neg
Description: Signal for the speed limit of the negative direction at the ramp-function generator input.
Note
The OFF3 ramp-down time (p1135) is effective when the limit is reduced.

Parameter
c1055[0...n] Jog bit 0 / Jog bit 0

Parameter group: Speed setpoint, Jog
Factory interconnection: [0] Fixed value: 0[1] Parameter:
722.0[2] Fixed value: 0[3] Fixed value:
0
Description: Signal for jogging 1.
Recommendation: Switching-on is only realized using an appropriate signal change of the source, and not by changing the setting of the
binary sink.
Dependency: See also: c0840, p1058
NOTICE
The drive is enabled for jogging using c1055 or c1056.
Command "ON/OFF1" can be issued via c0840 or via c1055/c1056.
Only the signal source that was used to switch on can also be used to switch off again.
c1056[0...n] Jog bit 1 / Jog bit 1

0
Description: Signal for jogging 2.
Recommendation: Switching-on is only realized using an appropriate signal change of the source, and not by changing the setting of the
binary sink.
NOTICE
The drive is enabled for jogging using c1055 or c1056.
Command "ON/OFF1" can be issued via c0840 or via c1055/c1056.
Only the signal source that was used to switch on can also be used to switch off again.

Parameter
p1058[0...n] Jog 1 speed setpoint / Jog 1 n_set

state:
-210000.000 [rpm] 210000.000 [rpm] 150.000 [rpm]
Description: Sets the speed for jog 1.
Jogging (JOG) is level-triggered, and allows the motor to be incrementally traversed.
p1059[0...n] Jog 2 speed setpoint / Jog 2 n_set

state:
-210000.000 [rpm] 210000.000 [rpm] -150.000 [rpm]
Description: Sets the speed for jog 2.
Jogging (JOG) is level-triggered, and allows the motor to be incrementally traversed.
c1060[0...n] Universal setpoint / n_set

Parameter group: Speed setpoint, Setpoint addition
Description: Signal to select a universal setpoint.
NOTICE

Parameter
r1061 Universal setpoint output / Universal setpoint

Parameter group: Speed setpoint
Description: Display and signal source of the universal setpoint.
p1063[0...n] Setpoint channel speed limit / Set_chan n_lim

state:
0.000 [rpm] 210000.000 [rpm] 40000.000 [rpm]
Description: Sets the speed limit effective in the setpoint channel.
Dependency: See also: p1082, p1083, c1085, p1086, c1088
c1070[0...n] Main setpoint / Main setpoint

Description: Signal for the main setpoint.
Examples:
r1024: Fixed speed setpoint effective
r1050: Motorized potentiometer setpoint after ramp-function generator
Dependency: See also: c1071, r1073, r1078

Parameter
c1071[0...n] Main setpoint scaling / Main set scal

Description: Signal for scaling the main setpoint.
r1073 Main setpoint effective / Main setpoint eff

Description: Displays the effective main setpoint.
The value shown is the main setpoint after scaling.
c1075[0...n] Supplementary setp / Suppl set

Description: Signal for the supplementary setpoint.
c1076[0...n] Supplementary setpoint scaling / Suppl set scal

Description: Signal for scaling the supplementary setpoint.

Parameter
r1077 Supplementary setpoint effective / Suppl setpoint eff

Description: Displays the effective supplementary setpoint. The value shown is the supplementary setpoint after scaling.
r1078 Total setpoint effective / Total setpoint eff

Description: Displays the total effective setpoint.
The value indicates the sum of the effective main setpoint and supplementary setpoint.
p1079 Interpolator clock cycle for speed setpoints / Interp_cyc n_set

state:
0.00 [ms] 127.00 [ms] 0.00 [ms]
Description: Sets the time with which new speed setpoints are interpolated.
With interpolation, the higher-level control adapts the speed setpoint steps to the time grid of the setpoint channel.
Recommendation: For non-synchronous operation, a setting to the maximum time difference between two setpoints is recommended.
For sensorless vector control, interpolation should always be activated if the ramp-up and ramp-down times of the
ramp-function generator are very short. The drive must be able to follow the external speed setpoint (the drive does
not ramp up at the torque limit).

Parameter
Note
For acceleration precontrol of the speed controller, interpolation prevents torque peaks from occurring if the ramp-up
or ramp-down times in the setpoint channel are zero.
When exiting commissioning, the parameter is preset using the automatic calculation if, as setpoint source for the main
or supplementary setpoint, a PZD receive word is already set and the ramp-up time is zero.
Interpolation is limited to 127 cycles of the setpoint channel.
p1079 = 0 ms:
Interpolation is deactivated.
p1079 = 0.01 ms:
The interpolation time is automatically determined the first time that the speed setpoint is changed. After this, no other
changes are made if the send times of the external control increase. Writing to p1079 again initiates the automatic
adaptation of the interpolation time.
p1079 > 0.01 ms:
Interpolation is performed corresponding to the ratio to the computation clock cycle.
For a value of 0, for synchronized setpoint input, the currently valid application clock cycle is loaded.
p1080[0...n] Minimum speed / n_min

state:
Parameter group: Speed limiting, Motor holding brake, Quick commissioning
0.000 [rpm] 19500.000 [rpm] 0.000 [rpm]
Description: Sets the lowest possible motor speed.
This value is not undershot in operation.
NOTICE
The active minimum speed is formed from p1080 and c1106.
Note
The parameter value applies for both motor directions.
In exceptional cases, the motor can operate below this value (e.g. when reversing).
In order that a stationary motor – after all of the enable signals have been switched on, can operate at the minimum
speed/minimum velocity once all of the enable signals are available, the direction must be entered using one of the
following options:
- Direction input via small setpoint.
- Direction input by inhibiting the negative or positive direction (c1110, c1111).
p1081 Maximum speed scaling / n_max scal

state:

Parameter

100.00 [%] 105.00 [%] 100.00 [%]
Description: Sets the scaling for the maximum speed (p1082).
For a higher-level speed control, this scaling allows the maximum speed to be briefly exceeded.
NOTICE
Continuous operation above a scaling of 100 % is not permitted.
p1082[0...n] Maximum speed / n_max

state:
Parameter group: Motorized potentiometer, Speed limiting, Speed setpoint filter, Quick
commissioning
0.000 [rpm] 210000.000 [rpm] 1500.000 [rpm]
Description: Sets the highest possible speed.
Dependency: For vector control (p1300 = 20 ... 23), the maximum speed is limited to 60.0 * 480 Hz. This can be identified by a
reduction in r1084. p1082 is not changed in this process due to the fact that the operating mode p1300 can be changed
over.
If a sine-wave filter (p0230 = 3) is parameterized as output filter, then the maximum speed is limited corresponding to
the maximum permissible filter output frequency (refer to the filter data sheet). When using sine-wave filters (p0230
= 3, 4), the maximum speed r1084 is limited to 70% of the resonant frequency of the filter capacitance and the motor
leakage inductance.
For reactors and dU/dt filters, it is limited to 150 Hz * 60 / r0313 (for chassis power units) or 120 Hz x 60 / r0313 (for
booksize power units).
See also: p0230, r0313, p0322, p0324, p0532
Note
The parameter applies for both motor directions.
The parameter has a limiting effect and is the reference quantity for all ramp-up and ramp-down times (e.g. down ramps,
ramp-function generator, motor potentiometer).
Since the parameter is part of quick commissioning, it is preassigned appropriately when p0310, p0311, p0322, p0324,
p0530, p0531 and p0532 are changed.
p1082 <= min(p0324, p0532) if p0324 > 0 and p0532 > 0
p1082 <= p0322, if p0324 = 0 or p0532 = 0 and p0322 > 0
p1082 <= 60 x minimum (15 x p0310, 650 Hz) / r0313
p1082 <= 60 x Maximum power unit pulse frequency / (k x r0313)
k = 12 for vector control, k = 6.5 for U/f control
For the automatic calculation, the value of the parameter is pre-assigned the maximum motor speed (p0322). If p0322
= 0, the rated motor speed (p0311) is used as default (pre-assignment) value. For induction motors that are not catalog
motors (p0301 = 0), the synchronous no-load speed is used as default (pre-assignment) value (p0310 x 60 / r0313).
For synchronous motors, the following additionally applies:
The maximum speed p1082 is restricted to speeds (r1084) where the EMF does not exceed the DC link voltage.
The effective assignment of the motor data set parameter (e.g. p0311) to the drive data set parameter p1082 when pre-
assigning should be taken from p0186.
p1082 is also available in quick commissioning; this means that when exiting and for automatic calculation, the value
is not changed.

Parameter
p1083[0...n] Speed limit in positive direction of rotation / n_limit pos

state:
Parameter group: Speed limiting, Speed setpoint filter, Quick commissioning
0.000 [rpm] 210000.000 [rpm] 40000.000 [rpm]
Description: Sets the maximum speed for the positive direction.
NOTICE
r1084 Positive speed limit effective / n_limit pos eff

Parameter group: Speed limiting, Speed messages, Speed setpoint filter
Description: Display and numerical signal source for the active positive speed limit.
Dependency: See also: p1082, p1083, c1085
Note
The following applies for vector control as well as standard and Dynamic Drive Control:
r1084 <= 480 Hz
For permanent magnet synchronous motors, the speed limit can be restricted if there is no overvoltage protection.
c1085[0...n] Speed limit in positive direction of rotation / n_limit pos

Parameter group: Speed limiting, Speed setpoint filter
Description: Signal for the speed limit of the positive direction.

Parameter
p1086[0...n] Speed limit in negative direction of rotation / n_limit neg

state:
Parameter group: Speed limiting, Speed setpoint filter, Quick commissioning
-210000.000 [rpm] 0.000 [rpm] -40000.000 [rpm]
Description: Sets the speed limit for the negative direction.
NOTICE
r1087 Negative speed limit effective / n_limit neg eff

Parameter group: Speed limiting, Speed messages, Speed setpoint filter
Description: Display and numerical signal source for the active negative speed limit.
Dependency: See also: p1082, p1086, c1088
c1088[0...n] Speed limit in negative direction of rotation / n_limit neg

Parameter group: Speed limiting, Speed setpoint filter
Description: Signal for the speed/velocity limit of the negative direction.

Parameter
p1091[0...n] Skip speed 1 / n_skip 1

state:
0.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets skip speed 1.
NOTICE
Skip bandwidths can also become ineffective as a result of the downstream limits in the setpoint channel.
Note
The skip (suppression) speeds can be used to prevent the effects of mechanical resonance.

state:
0.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
NOTICE

state:
0.000 [rpm] 210000.000 [rpm] 0.000 [rpm]

Parameter

NOTICE

state:
0.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
NOTICE
c1098[0...n] Skip speed scaling / n_skip scal

Description: Signal for scaling the skip speeds.
r1099.0 Skip band status word / Skip band ZSW

Description: Display and signal source for the skip bands.
00 r1170 within the skip band Yes No

Parameter
Note
For bit 00:
With the bit set, the setpoint speed is within the skip band after the ramp-function generator (r1170).
The signal can be used to switch over the drive data set (DDS).
p1101[0...n] Skip speed bandwidth / n_skip bandwidth

state:
0.000 [rpm] 210000.000 [rpm] 0.000 [rpm]
Description: Sets the bandwidth for the skip speeds/velocities 1 to 4.
Note
The setpoint (reference) speeds are skipped (suppressed) in the range of the skip speed +/-p1101.
Steady-state operation is not possible in the skipped (suppressed) speed range. The skip (suppression) range is skipped.
Example:
p1091 = 600 and p1101 = 20
--> setpoint speeds between 580 and 620 [rpm] are skipped.
For the skip bandwidths, the following hysteresis behavior applies:
For a setpoint speed coming from below, the following applies:
r1170 < 580 [rpm] and 580 [rpm] <= r1114 <= 620 [rpm] --> r1119 = 580 [rpm]
For a setpoint speed coming from above, the following applies:
r1170 > 620 [rpm] and 580 [rpm] <= r1114 <= 620 [rpm] --> r1119 = 620 [rpm]
c1106[0...n] Minimum speed / n_min

Description: Signal for the lowest possible motor speed.
NOTICE
The active minimum speed is formed from p1080 and c1106.

Parameter
c1110[0...n] Inhibit negative direction / Inhib neg dir

Description: Signal to inhibit the negative direction.
c1111[0...n] Inhibit positive direction / Inhib pos dir

Description: Signal to inhibit the positive direction.
r1112 Speed setpoint after minimum limiting / n_set aft min_lim

Description: Displays the speed setpoint after the minimum limiting.
c1113[0...n] Setpoint inversion / Set inv


Parameter
Description: Signal to invert the setpoint.

CAUTION
If the technology controller is used as the speed main setpoint (p2251 = 0), do not invert the setpoint using c1113 when
the technology controller is enabled because this can cause the speed to change suddenly and lead to positive coupling
effects in the control loop.
NOTICE
r1114 Setpoint after the direction limiting / Set after limit

Parameter group: Speed setpoint, Speed limiting
Description: Displays the speed/velocity setpoint after the changeover and limiting the direction.
p1115 Ramp-function generator selection / RFG selection

state:
Parameter group: Ramp-function generator
0 1 1
Description: Sets the ramp-function generator type.
Value: 0: Basic ramp-function generator
1: Extended ramp-function generator
Note
Another ramp-function generator type can only be selected when the motor is at a standstill.
r1119 Ramp-function generator setpoint at the input / RFG set at inp

Description: Displays the setpoint at the input of the ramp-function generator.

Parameter
NOTICE
Note
The setpoint is influenced by other functions, e.g. skip (suppressed) speeds, minimum and maximum limits.
p1120[0...n] Ramp-function generator ramp-up time / RFG ramp-up time

state:
Parameter group: Ramp-function generator, Quick commissioning
0.000 [s] 999999.000 [s] 10.000 [s]
Description: The ramp-function generator ramps-up the speed setpoint from standstill (setpoint = 0) up to the maximum speed
(p1082) in this time.
Dependency: See also: p1082, c1138
Note
The ramp-up time can be scaled via the numerical signal sink c1138.
The parameter is adapted during the rotating measurement (p1960 > 0). This is the reason that during the rotating
measurement, the motor can accelerate faster than was originally parameterized.
For U/f control and sensorless vector control (see p1300), a ramp-up time of 0 s does not make sense. The setting should
be based on the startup times (r0345) of the motor.
p1121[0...n] Ramp-function generator ramp-down time / RFG ramp-down time

state:
Parameter group: Ramp-function generator, Quick commissioning
0.000 [s] 999999.000 [s] 10.000 [s]
Description: Sets the ramp-down time for the ramp-function generator.
The ramp-function generator ramps-down the speed setpoint from the maximum speed (p1082) down to standstill
(setpoint = 0) in this time.
Further, the ramp-down time is always effective for OFF1.
Dependency: See also: p1082, c1139
Note
For U/f control and sensorless vector control (see p1300), a ramp-down time of 0 s does not make sense. The setting
should be based on the startup times (r0345) of the motor.

Parameter
p1123[0...n] Ramp-function generator minimum ramp-up time / RFG t_RU min

state:
0.000 [s] 999999.000 [s] 0.000 [s]
Description: Sets the minimum ramp-up time.
The ramp-up time (p1120) is limited internally to this minimum value.
Note
The setting should be based on the startup times (r0345) of the motor.
If the maximum speed p1082 changes, p1123 is re-calculated.
p1127[0...n] Ramp-function generator minimum ramp-down time / RFG t_RD min

state:
0.000 [s] 999999.000 [s] 0.000 [s]
Description: Sets the minimum ramp-down time.
The ramp-down time (p1121) is limited internally to this minimum value.
The parameter cannot be set shorter than the minimum ramp-up time p1123.
Note
For U/f control and sensorless vector control (see p1300), a ramp-down time of 0 s does not make sense. The setting
should be based on the startup times (r0345) of the motor.
If the maximum speed p1082 changes, p1127 is re-calculated.
If a braking resistor is connected to the DC link (p0219 > 0), then the minimum ramp-down time is automatically adapted
using p1127.

Parameter
p1130[0...n] Ramp-function generator initial rounding-off time / RFG t_start_round

state:
0.000 [s] 30.000 [s] 0.000 [s]
Description: Sets the initial rounding-off time for the extended ramp-function generator.
The value applies to ramp-up and ramp-down.
Note
Rounding-off times avoid an abrupt response and prevent damage to the mechanical system.
p1131[0...n] Ramp-function generator final rounding-off time / RFG t_end_delay

state:
0.000 [s] 30.000 [s] 0.000 [s]
Description: Sets the final rounding-off time for the extended ramp generator.
The value applies to ramp-up and ramp-down.
Note
Rounding-off times avoid an abrupt response and prevent damage to the mechanical system.
p1135[0...n] OFF3 ramp-down time / OFF3 t_RD

state:
Parameter group: Ramp-function generator, Shutdown functions, Quick commissioning
0.000 [s] 5400.000 [s] 1.000 [s]
Description: Sets the ramp-down time from the maximum speed down to zero speed for the OFF3 command.
Note
This time can be exceeded if the DC link voltage reaches its maximum value.

Parameter
p1136[0...n] OFF3 initial rounding-off time / RFGOFF3 t_strt_rnd

state:
0.000 [s] 30.000 [s] 0.010 [s]
Description: Sets the initial rounding-off time for OFF3 for the extended ramp generator.
p1137[0...n] OFF3 final rounding-off time / RFG OFF3 t_end_del

state:
0.000 [s] 30.000 [s] 0.000 [s]
Description: Sets the final rounding-off time for OFF3 for the extended ramp-function generator.
c1138[0...n] Ramp-function generator ramp-up time scaling / RFG t_RU scal

Description: Signal to scale the ramp-up time of the ramp-function generator.
Note
The ramp-up time is set in p1120.

Parameter
c1139[0...n] Ramp-function generator ramp-down time scaling / RFG t_RD scal

Description: Signal to scale the ramp-down time of the ramp-function generator.
Note
The ramp-down time is set in p1121.
c1140[0...n] Enable ramp-function generator/inhibit ramp-function generator / Enable RFG

Description: Signal for command "Enable ramp-function generator/inhibit ramp-function generator".
0 signal: Inhibits the ramp-function generator (the ramp-function generator output is set to zero).
1 signal: Enables the ramp-function generator.
CAUTION
NOTICE
c1141[0...n] Continue ramp-function generator/freeze ramp-function generator / Continue RFG


Parameter
Description: Signal for command "Continue ramp-function generator/freeze ramp-function generator".

0 signal: Freezes the ramp-function generator.
1 signal: Continues the ramp-function generator.
CAUTION
NOTICE
The ramp-function generator is, independent of the state of the signal source, active in the following cases:
- OFF1/OFF3.
- Ramp-function generator output within the suppression bandwidth.
- Ramp-function generator output below the minimum speed.
c1142[0...n] Enable setpoint/inhibit setpoint / Setpoint enable

Description: Signal for command "Enable setpoint/inhibit setpoint".
0 signal: Inhibits the setpoint (the ramp-function generator output is set to zero)
1 signal: Enables the setpoint
CAUTION
NOTICE
Note
When function "Position control" is activated, as default setting the binary signal sink is interconnected as follows:
c1142 = 0 signal
c1143[0...n] Ramp-function generator, accept setting value / RFG accept set val
Description: Signal to accept the setting value of the ramp-function generator.

Parameter
Dependency: The signal source for the ramp-function generator setting value is set using parameters.
See also: c1144
Note
0/1 signal:
The ramp-function generator output is immediately (without delay) set to the setting value of the ramp-function
generator.
1 signal:
The setting value of the ramp-function generator is effective.
1/0 signal:
The input value of the ramp-function generator is effective. The ramp-function generator output is adapted to the input
value using the ramp-up time or the ramp-down time.
0 signal:
The input value of the ramp-function generator is effective.
c1144[0...n] Ramp-function generator setting value / RFG setting value

Description: Signal for the setting value for the ramp-function generator.
Dependency: The signal source for accepting the setting value is set using parameters.
See also: c1143
p1145[0...n] Ramp-function generator tracking intensity / RFG track intens

state:
0.0 50.0 0.0
Description: Sets the ramp-function generator tracking.
The output value of the ramp-function generator is tracked (corrected) corresponding to the maximum possible drive
acceleration.
The reference value is the deviation at the speed controller input that is necessary to ensure that the motor accelerates
at the torque limit.

Parameter
Recommendation: If at least one speed setpoint filter is activated (p1416), then the ramp-function generator tracking should be
deactivated (p1145 = 0.0). When the speed setpoint filter is activated, the output value of the ramp-function generator
can no longer be tracked (corrected) corresponding to the maximum possible drive acceleration.
For p1145 = 0.0:
This value deactivates the ramp-function generator tracking.
For p1145 = 0.0 ... 1.0:
Generally, these values are not practical. They cause the motor to accelerate below its torque limit. The lower the
selected value, the greater the margin between the controller and torque limit when accelerating.
For p1145 > 1.0:
The greater the value, the higher the permissible deviation between the speed setpoint and speed actual value.
NOTICE
If ramp-function generator tracking is activated and the ramp time is set too short, this can cause unsteady acceleration.
Remedy:
- Deactivate ramp-function generator tracking (p1145 = 0).
- Increase the ramp-up/ramp-down time (p1120, p1121).
Note
In the U/f mode, ramp-function generator tracking is not active.
The speed difference is reduced if the integral component of the speed controller is not maintained when the torque limit
is reached (p1400.16 = 1).
p1148[0...n] Ramp-function gen. tolerance for ramp-up and ramp-down active / RFG tol HL/RL act
state:
0.000 [rpm] 1000.000 [rpm] 19.800 [rpm]
Description: Sets the tolerance value for the status of the ramp-function generator (ramp-up active, ramp-down active).
If the input of the ramp-function generator does not change in comparison to the output by more than the entered
tolerance time, then the status bits "ramp-up active" and "ramp-down active" are not influenced.
r1149 Ramp-function generator acceleration / RFG acceleration

Unit: rev/s² Unit group: - Unit selection: -
Description: Displays the acceleration of the ramp-function generator.

Parameter
r1150 Ramp-function generator speed setpoint at the output / RFG n_set at outp
Parameter group: Ramp-function generator, Setpoint addition
Description: Displays the setpoint at the output of the ramp-function generator.
p1151[0...n].0...2 Ramp-function generator configuration / RFG config

state:
- - 0000 bin
Description: Sets the configuration for the extended ramp-function generator.
00 Deactivate rounding-off at the zero cross-over Yes No
01 Ramp-function generator tracking without polarity change Yes No
02 Ramp-function generator tracking with polarity change Yes No
Dependency: For bit 01, 02 = 1:
These bits are only effective when ramp-function generator tracking is activated (p1145 > 0).
When both bits are activated, ramp-function generator tracking with polarity change is active.
For bit 01 = 0, bit 02 = 0:
When ramp-function generator tracking is active, the setpoint can only change in the direction of the target setpoint
– or be frozen.
NOTICE
For bit 00 = 1:
If the ramp-up time is longer than the ramp-down time (p1120 > p1121), then there is an acceleration step at the zero
crossover. This can have a negative impact on the mechanical system.
Note
For bit 00 = 1:
When the direction change is changed there is no rounding-off before and after the zero crossover.
For bit 01 = 1:
For load surges, the ramp-function generator output tracks the actual value. The tracking (correction) ends at a setpoint
of zero.
For bit 02 = 1:
For load surges, the ramp-function generator output tracks the actual value. For a polarity change, the tracking
(correction) is continued.

Parameter
c1155[0...n] Speed controller speed setpoint 1 / n_ctrl n_set 1

Parameter group: Speed setpoint, Ramp-function generator, Setpoint addition
Description: Signal for speed setpoint 1 of the speed controller.
Dependency: The effectiveness of this setpoint depends on, e.g. STW1.4 and STW1.6.
See also: r0002, c0840, c0844, c0848, c0852, c0854, r0898, c1140, c1142, c1160, r1170, p1189
NOTICE
c1160[0...n] Speed controller speed setpoint 2 / n_ctrl n_set 2

Parameter group: Speed setpoint, Ramp-function generator, Setpoint addition
Description: Signal for speed setpoint 2 of the speed controller.
Dependency: When the technology controller enable is parameterized (c2200 > 0), signal interconnection c1160 is automatically
preassigned depending on the technology controller mode (p2251):
- p2251 = 0, 2: The actual signal interconnection or a possibly parameterized fixed value is reset to 0.
- p2251 = 1: The signal is interconnected with the output of the technology controller (r2294).
See also: c1155, r1170
NOTICE
If the technology controller is activated, then it is not permissible to withdraw the parameter interconnection.
Note
For OFF1/OFF3, the ramp-function generator ramp is effective. The ramp-function generator is set and the drive is
brought to a standstill according to the ramp-down time (p1121 or p1135). While stopping via the ramp-function
generator, STW1.4 is effective (enable ramp-function generator).
r1169 Speed controller speed setpoints 1 and 2 / n_ctrl n_set 1/2

Parameter group: Ramp-function generator, Setpoint addition

Parameter
Description: Displays the speed setpoint after adding speed setpoint 1 (c1155) and speed setpoint 2 (c1160).
Note
The value is only correctly displayed at r0899.2 = 1 (operation enabled).
r1170 Speed controller setpoint sum / Speed setpoint sum

Parameter group: Setpoint addition
Description: Display and numerical signal source for the speed setpoint after selecting the ramp-function generator.
The value is the sum of speed setpoint 1 (c1155) and speed setpoint 2 (c1160).
p1189[0...n].0...1 Speed setpoint configuration / n_ctrl config

state:
Parameter group: Speed setpoint, Setpoint addition
- - 0011 bin
Description: Sets the configuration for the speed setpoint.
00 Reserved
01 Interpol. op-loop ctrl /speed controller active Yes No
Note
For bit 01:
The interpolator is only effective in following cases:
- isochronous PROFIBUS operation with a sign-of-life received from the master (STW2.12 ... STW2.15).
r1197 Fixed speed setpoint number actual / n_set_fixed no act

Description: Displays the number of the selected fixed speed/velocity setpoint.
Dependency: See also: c1020, c1021, c1022, c1023

Parameter
Note
r1198.0...15 Control word setpoint channel / STW set chan

Parameter group: Speed setpoint, Ramp-function generator, Control/status words
Description: Display and signal source for the control word of the setpoint channel.
05 Inhibit negative direction Yes No
06 Inhibit positive direction Yes No
11 Setpoint inversion Yes No
13 Motorized potentiometer raise Yes No
14 Motorized potentiometer lower Yes No
15 Bypass ramp-function generator Yes No
r1199.0...8 Ramp-function generator status word / RFG ZSW

Parameter group: Ramp-function generator, Control/status words
Description: Displays the status word for the ramp-function generator (RFG).
00 Ramp-up active Yes No
01 Ramp-down active Yes No
02 Ramp-function generator active Yes No
03 Ramp-function generator set Yes No
04 Ramp-function generator held Yes No
05 Ramp-function generator tracking active Yes No
06 Maximum limit active Yes No
07 Ramp-function generator acceleration positive Yes No
08 Ramp-function generator acceleration negative Yes No
Note
For bit 02:
The bit is the result of the OR logic operation - bit 00 and bit 01.

Parameter
p1200[0...n] Flying restart operating mode / FlyRest op_mode

state:
Parameter group: Flying restart
0 4 0
Description: Sets the operating mode for flying restart.
The flying restart allows the drive converter to be switched on while the motor is still rotating. After the speed has been
determined, the motor then accelerates up to the setpoint with the ramp-function generator setting.
Value: 0: Flying restart inactive
1: Flying restart always active (start in setpoint direction)
4: Flying restart always active (start only in setpoint direction)
Dependency: The ground fault test is only possible when the motor is stationary, and is therefore only realized when flying restart is
deactivated (p1200 = 0).
For induction motors, the following applies:
A differentiation is made between flying restart for U/f control and for vector control (p1300).
Flying restart, U/f control: p1202, p1203, r1204
Flying restart, vector control: p1202, p1203, r1205
See also: c1201
See also: F07330
NOTICE
The "flying restart" function must be used in cases where the motor may still be running (e.g. after a brief line supply
interruption) or is being driven by the load. The system might otherwise shut down as a result of overcurrent.
Note
Flying restart is active after faults, OFF1, OFF2, OFF3.
When a search is activated (p1270.2) this is realized in both directions of rotation.
For induction motors, the following applies:
Flying restart is active after faults, OFF1, OFF2, OFF3.
When fast flying restart (p1270.0) is deactivated and search is activated (p1270.2), then this is only realized in the
setpoint direction.
Otherwise, the setting is not possible.
For synchronous-reluctance motor/permanent magnet synchronous motor the following applies:
This setting is not possible.
Below approximately 10% of the rated motor speed it is possible that the speed cannot be determined. For motors with
a rated power below 75 kW, the speed is determined by briefly impressing current ( p1270.3).
If problems occur when connecting to the motor in this range, then a supportive search technique can be activated using
p1270.2.
Setting p1270.3 = 0 prevents current from being impressed. It is then assumed that the motor is stationary.
If p1200 is changed during the commissioning phase, then it is possible that the old value will no longer be able to be
set. The reason for this is that the dynamic limits of p1200 have been changed by parameters, which were set when
commissioning (e.g. p0300).
The following applies for a synchronous reluctance motor:
A motor identification must be carried out at standstill (see r3925 bit 18).

Parameter
c1201[0...n] Flying restart enable / Fly restart enab

Description: Signal to enable function "flying restart".
Note
Withdrawing the enable signal has the same effect as setting p1200 = 0.
p1202[0...n] Flying restart search current / FlyRest I_srch

state:
starting cage
10 [%] 400 [%] 100 [%]
Description: Sets the search current for the "flying restart" function.
The value is referred to the motor magnetizing current.
For U/f control, it may be necessary to increase the search current (e.g. 120 %) to ensure reliable flying restart.
Fast flying restart for induction motors with voltage model (see p1780.11):
Sets the initial setpoint for the field-generating current component.
CAUTION
An unfavorable parameter value can result in the motor behaving in an uncontrollable fashion.
Note
In U/f control mode, the parameter serves as a threshold value for establishing the current at the beginning of the flying
restart function. When the threshold value is reached, the actual search current is set as a function of the frequency
based on the voltage setpoints.
Reducing the search current can also improve flying restart performance (if the system moment of inertia is not very
high, for example).
- A parameter change only becomes effective after carrying out the motor data identification.
- The minimum search current is limited (p1202 >= 50 %).
- The search algorithm is optimized for 100%, and the current reached is internally limited. It is possible that a set value
(p1202 != 100%) may not be able to be reached.
- If the ratio between motor power and converter power is greater than 1, then it may be advantageous to increase the
search current.

Parameter
p1203[0...n] Flying restart search rate factor / FlyRes v_srch fact

state:
starting cage
10 [%] 4000 [%] 100 [%]
Description: Sets the factor for the search speed for flying restart.
The value influences the flying restart search speed. A higher value results in a longer search time.
Recommendation: For sensorless vector control and motor cables longer than 200 m - As well as for du/dt filters (p0230) - The following
applies:
p1203 >= 300 %
CAUTION
An unfavorable parameter value can result in the motor behaving in an uncontrollable fashion.
For vector control, a value that is too low or too high can cause flying restart to become unstable.
Note
The parameter factory setting is selected so that standard induction motors that are rotating can be found and restarted
as quickly as possible (fast flying restart).
With this pre-setting, if the motor is not found (e.g. for motors that are accelerated as a result of active loads or with
U/f control and low speeds), we recommend that the search rate is reduced (by increasing p1203).
For a fast flying restart with voltage model in the U/f control mode (p1300 < 20) the search duration can be modified
using this parameter.
- The minimum search speed is limited (p1203 >= 50 %).
r1204.0...15 Flying restart U/f control status / FlyRest Uf st

starting cage
Description: Displays the status for checking and monitoring flying restart states in the U/f control mode.
00 Current impressed Yes No
01 No current flow Yes No
02 Voltage input Yes No
03 Voltage reduced Yes No
04 Start ramp-function generator Yes No
05 Wait for execution Yes No
06 Slope filter active Yes No

Parameter
07 Positive gradient Yes No

08 Current < threshold Yes No
09 Current minimum Yes No
10 Search in the positive direction Yes No
11 Stop after positive direction Yes No
12 Stop after negative direction Yes No
13 No result Yes No
14 Fast flying restart w/ voltage model for induction motor activ. Yes No
15 Flying restart with VSM active Yes No
r1205.0...25 Flying restart vector control status / FlyRest vector st

starting cage
Description: Display and signal source for the status for checking and monitoring flying restart states with vector control.
00 Speed adaptation circuit record angle Yes No
01 Speed adaptation circuit set gain to 0 Yes No
02 Isd channel enable Yes No
03 Speed control switched out Yes No
04 Quadrature arm switched in Yes No
05 Special transformation active Yes No
06 Speed adaptation circuit set I component to 0 Yes No
07 Current control on Yes No
08 Isd_set = 0 A Yes No
09 Frequency held Yes No
10 Search in the positive direction Yes No
11 Search Started Yes No
12 Current impressed Yes No
13 Search interrupted Yes No
14 Speed adaptation circuit deviation = 0 Yes No
15 Speed control activated Yes No
16 Fast flying restart w/ voltage model for induction motor activ. Yes No
17 Fast flying restart w/ voltage model for induction motor exited Yes No
18 Apply VSM voltage to the monitor Yes No
19 Preassign flux ramp Yes No
20 Adaptation current controller and speed adapt. controller gain Yes No
21 Voltage pulse active Yes No
22 Voltage PLL active Yes No
23 Voltage PLL stopped, start with 0 Hz Yes No
24 Current impression for voltage PLL active Yes No
25 Flying restart with PLL completed Yes No

Parameter
Note
For bit 00 ... 09:
Used to control internal sequences during the flying restart.
Depending on the motor type (p0300), the number of active bits differs.
For bits 10 ... 24:
Used to monitor the flying restart sequence.
p1206[0...9] Automatic restart faults not active / AR fault not act

state:
Parameter group: Automatic restart
0 65535 0
Description: Sets faults for which automatic restart should not be active.
Dependency: The setting is only active for p1210 = 1, 6, 16, 26.
See also: p1210
Note
After a power failure and the converter has run up, generally faults are no longer active so that the system is
automatically switched-on.
p1210 Automatic restart mode / AR mode

state:
0 26 0
Description: Sets the automatic restart mode (AR).
The parameters must be saved in the non-volatile memory in order that the setting becomes effective.
Value: 0: Inhibit automatic restart
1: Acknowledge all faults without restarting
4: Restart after line supply failure w/o additional start attempts
6: Restart after fault with additional start attempts
14: Restart after line supply failure following man. acknowledgment
16: Restart after fault following manual acknowledgment
26: Acknowledge all faults and reclose for an ON command
Recommendation: For brief line supply failures, the motor shaft may still be rotating when restarting. The "flying restart" function (p1200)
might need to be activated to restart while the motor shaft is still rotating.

Parameter
Dependency: The automatic restart requires an active ON command (e.g., via a digital input). If, for p1210 > 1, there is no active ON
command, then the automatic restart is interrupted.
When using an Operator Panel in the LOCAL mode, then there is no automatic start.
For p1210 = 14, 16, a manual acknowledgment is required for an automatic restart.
See also: c0840, p0857, p1267
See also: F30003
DANGER
If the automatic restart is activated (p1210 > 1), if there is an ON command (refer to c0840), the drive is switched on
and accelerated as soon as any fault messages that are active can be acknowledged. This also occurs after the line
supply returns or the converter runs up if the DC link voltage is again present. This automatic switching-on operation
can only be interrupted by withdrawing the ON command.
NOTICE
A change is only accepted and made in the state "initialization" (r1214.0) and "wait for alarm" (r1214.1). When faults
are present, therefore, the parameter cannot be changed.
For p1210 > 1, the motor is automatically started.
Note
For p1210 = 1:
Faults that are present are automatically acknowledged. If new faults occur after a successful fault acknowledgment,
then these are also automatically acknowledged again. p1211 has no influence on the number of acknowledgment
attempts.
For p1210 = 4:
An automatic restart is only performed if fault F30003 has occurred on the power unit. If additional faults are present,
then these faults are also acknowledged and when successful, starting continues. If, for external 24 V power supplies
of the converter, additional faults subsequently occur, these are no longer interpreted as line faults and are therefore also
not acknowledged.
For p1210 = 6:
An automatic restart is carried out if any fault has occurred.
For p1210 = 14:
as for p1210 = 4. However, active faults must be manually acknowledged. After a power failure and the converter has
run up, generally faults are no longer active so that acknowledgment is not necessary.
For p1210 = 16:
as for p1210 = 6. However, active faults must be manually acknowledged.
For p1210 = 26:
as for p1210 = 6. For this mode, the switch-on command can be entered with a delay. The restart is interrupted with
either OFF2 or OFF3. Alarm A07321 is only displayed if the cause of the fault has been removed and the drive is restarted
by setting the switch-on command.
p1211 Automatic restart start attempts / AR start attempts

state:
0 10 3
Description: Sets the start attempts of the automatic restart function for p1210 = 4, 6, 14, 16, 26.
Dependency: A change is only accepted and made in the state "initialization" (r1214.0) and "wait for alarm" (r1214.1).
See also: F07320

Parameter
NOTICE
After fault F07320 occurs, the switch-on command must be withdrawn and all of the faults acknowledged so that the
automatic restart function is re-activated.
After a complete power failure, the start counter always starts with the counter value that applied before the power
failure, and immediately decrements this value by 1 when a start attempt is made. If a further attempt to acknowledge
is started by the automatic restart function briefly prior to power failure, e.g. when the converter remains active on
power failure longer than the time p1212 / 2, then the start counter will already have been decremented once. In this
case, the start counter is thus decreased by the value 2.
Note
A start attempt starts immediately when a fault occurs. The start attempt is considered to been completed if the motor
was magnetized (r0056.4 = 1) and an additional wait time of 1 s has expired.
As long as a fault is present, an acknowledge command is generated in the time intervals of p1212 / 2. When successfully
acknowledged, the start counter is decremented. If, after this, a fault re-occurs before a restart has been completed, then
acknowledgment starts again from the beginning.
Fault F07320 is output if, after several faults occur, the number of parameterized start attempts has been reached. After
a successful start attempt, i.e. a fault/error has no longer occurred up to the end of the magnetizing phase, the start
counter is again reset to the parameter value after 1 s. If a fault re-occurs - The parameterized number of start attempts
is again available.
At least one start attempt is always carried out.
After a line supply failure, acknowledgment is immediate and when the line supply returns, the system is switched on.
If, between successfully acknowledging the line fault and the line supply returning, another fault occurs, then its
acknowledgment also causes the start counter to be decremented.
For p1210 = 26:
The start counter is decremented if after a successful fault acknowledgment, the on command is present.
p1212 Automatic restart wait time, acknowledgment and start attempt / AR t_wait start
state:
0.1 [s] 1000.0 [s] 1.0 [s]
Description: Sets the wait time up to restart.
Dependency: This parameter setting is active for p1210 = 4, 6, 26.
Faults are only automatically acknowledged in half of the waiting time, no restart.
NOTICE
A change is only accepted and made in the state "initialization" (r1214.0) and "wait for alarm" (r1214.1).
Note
The faults are automatically acknowledged after half of the delay time has expired and the full wait time.
If the cause of a fault is not removed in the first half of the wait time, then it is no longer possible to acknowledge in the
wait time.

Parameter
p1213[0...1] Automatic restart monitoring time / AR t_mon

state:
0.0 [s] 10000.0 [s] [0] 60.0 [s]
[1] 0.0 [s]
Description: Sets the monitoring time of the automatic restart (AR).
Index: [0] = Restart
[1] = Reset start counter
NOTICE
A change is only accepted and made in the state "initialization" (r1214.0) and "wait for alarm" (r1214.1).
After fault F07320 occurs, the switch-on command must be withdrawn and all of the faults acknowledged so that the
automatic restart function is re-activated.
Note
For index [0]:
The monitoring time starts when the faults are detected. If the automatic acknowledgments are not successful, the
monitoring time runs again. If, after the monitoring time has expired, the drive has still not successfully started again
(flying restart and magnetizing of the motor must have been completed: r0056.4 = 1), then fault F07320 is output.
The monitoring is deactivated with p1213 = 0. If p1213 is set lower than the sum of p1212, the magnetizing time p0346
and the additional wait time due to the flying restart, then fault F07320 is generated at each restart. If, for p1210 = 1,
the time in p1213 is set lower than in p1212, then fault F07320 is also generated at each restart.
The monitoring time must be extended if the faults that occur cannot be immediately and successfully acknowledged
(e.g. for faults that are permanently present).
In the case of p1210 = 14, 16, the faults which are present must be acknowledged manually within the time in p1213[0].
Otherwise, fault F07320 is generated after the set time.
For index [1]:
The start counter (refer to r1214) is only set back to the starting value p1211 if, after successful restart, the time in
p1213[1] has expired. The wait time is not effective for fault acknowledgment without automatic restart (p1210 = 1).
After a power failure, the wait time only starts after the line supply returns and the converter runs up. The start counter
is set to p1211, if F07320 occurred, the switch-on command is withdrawn and the fault is acknowledged.
The start counter is immediately updated if the starting value p1211 or the mode p1210 is changed.
For p1210 = 26, the monitoring time p1213[0] only elapses if there is an active switch-on command.
r1214.0...15 Automatic restart status / AR status

Description: Displays the status of the automatic restart (AR).

Parameter
00 Initialization Yes No
01 Wait for alarm Yes No
02 Automatic restart active Yes No
03 Setting the acknowledgment command Yes No
04 Acknowledge alarms Yes No
05 Restart Yes No
06 Wait time running after automatic switch-on Yes No
07 Fault Yes No
10 Effective fault Yes No
12 Start counter bit 0 On Off
Note
For bit 00:
State to display the single initialization after POWER ON.
For bit 01:
State in which the automatic restart function waits for faults (initial state).
For bit 02:
General display that a fault has been identified and that the restart or acknowledgment has been initiated.
For bit 03:
Displays the acknowledge command within the "acknowledge alarms" state (bit 4 = 1). For bit 5 = 1 or bit 6 = 1, the
acknowledge command is continually displayed.
For bit 04:
State in which the faults that are present are acknowledged. The state is exited again after successful acknowledgment.
A change is only made into the next state if it is signaled that a fault is no longer present after an acknowledgment
command (bit 3 = 1).
For bit 05:
State in which the drive is automatically switched on (only for p1210 = 4, 6).
For bit 06:
State in which the system waits after having been switched on, to the end of the start attempt (to the end of the
magnetizing process).
For p1210 = 1, this signal is directly set after the faults have been successfully acknowledged.
For bit 07:
State which is assumed after a fault occurs within the automatic restart function. This is only reset after acknowledging
the fault and withdrawing the switch-on command.
For bit 10:
When the automatic restart function is active, r1214.7 is displayed, otherwise the active fault r2139.3.
The bit is set if the automatic restart can no longer acknowledge a fault, and cancels with fault F07320.
For bits 12 ... 15:
Actual state of the start counter (binary coded).
For bit 04 in addition:
For p1210 = 26, the system waits in this state until the switch-on command is available.
p1215[0...n] Motor holding brake configuration / Brake config

state:

Parameter

0 3 0
Description: Sets the holding brake configuration.
Value: 0: No motor holding brake available
3: Motor holding brake like seq control, conn via interconnection
CAUTION
For the setting p1215 = 0, if a brake is used, it remains closed. If the motor moves, this will destroy the brake.
NOTICE
If p1215 was set to 3, then when the pulses are canceled, the brake is closed even if the motor is still rotating. Pulse
cancellation can either be caused by a 0 signal at c0844, c0845 or c0852 or as a result of a fault with an OFF2 response.
If this is not desirable (e.g. for a flying restart), then the brake can be kept open using a 1 signal at c0855.
Note
If the configuration is set to "no holding brake present" when booting, then the motor holding brake will be automatically
identified. If a motor holding brake is detected, the configuration is set to "motor holding brake as for sequence control".
If a motor holding brake is used via the brake connection of the Motor Module integrated in the drive, then it is not
permissible that p1215 is set to 3.
if an external motor holding brake is being used, then p1215 should be set to 3 and r0899.12 should be interconnected
as control signal.
The parameter can only be set to zero when the pulses are inhibited.
p1216[0...n] Motor holding brake opening time / Brake t_open

state:
0 [ms] 10000 [ms] 100 [ms]
Description: Sets the time to open the motor holding brake.
After controlling the holding brake (opens), the speed/velocity setpoint remains at zero for this time. After this, the
speed/velocity setpoint is enabled.
Recommendation: This time should be set longer than the actual opening time of the brake. This ensures that the drive cannot accelerate
when the brake is applied.
Note
For a motor with DRIVE-CLiQ and integrated brake, for p0300 = 10000, this time is pre-assigned the value saved in the
motor.
For p1216 = 0 ms, the monitoring and the message A07931 "Brake does not open" are deactivated.

Parameter
p1217[0...n] Motor holding brake closing time / Brake t_close

state:
0 [ms] 10000 [ms] 100 [ms]
Description: Sets the time to apply the motor holding brake.
After OFF1 or OFF3 and the holding brake is controlled (the brake closes), then the drive remains closed-loop controlled
for this time stationary with a speed setpoint/velocity setpoint of zero. The pulses are canceled when the time expires.
Recommendation: This time should be set longer than the actual closing time of the brake. This ensures that the pulses are only canceled
after the brake has closed.
NOTICE
If the selected closing time is too short with respect to the actual closing time of the brake, then the load can sag.
If the closing time is selected to be too long with respect to the actual closing time of the brake, the control works
against the brake and therefore reduces its lifetime.
Note
For a motor with DRIVE-CLiQ and integrated brake, for p0300 = 10000, this time is pre-assigned the value saved in the
motor.
For p1217 = 0 ms, the monitoring and the message A07932 "Brake does not close" are deactivated.
p1226[0...n] Threshold for zero speed detection / n_standst n_thr

state:
Parameter group: Motor holding brake, Shutdown functions
0.00 [rpm] 210000.00 [rpm] 20.00 [rpm]
Description: Sets the speed threshold for the standstill identification.
Acts on the actual value and setpoint monitoring.
When braking with OFF1 or OFF3, when the threshold is undershot, standstill is identified.
The following applies when the brake control is activated:
When the threshold is undershot, the brake control is started and the system waits for the brake closing time in p1217.
The pulses are then canceled.
if the brake control is not activated, the following applies:
When the threshold is undershot, the pulses are canceled and the drive coasts down.

Parameter
CAUTION
For closed-loop speed and torque control without encoder, the following applies:
If p1226 is set to values under approx. 1 % of the rated motor speed, then the model switchover limits of the vector
control must be increased in order to guarantee reliable shutdown (see p1755, p1750.7).
NOTICE
For reasons relating to the compatibility to earlier firmware versions, a parameter value of 0 in indices 1 to 31 is
overwritten with the parameter value in index 0 when the converter runs-up.
Note
Standstill is identified in the following cases:
- The speed actual value falls below the speed threshold in p1226 and the time started after this in p1228 has expired.
- The speed setpoint falls below the speed threshold in p1226 and the time started after this in p1227 has expired.
The actual value sensing is subject to measuring noise. For this reason, standstill cannot be detected if the speed
threshold is too low.
p1227[0...n] Zero speed detection monitoring time / n_standst t_mon

state:
0.000 [s] 300.000 [s] 4.000 [s]
Description: Sets the monitoring time for the standstill identification.
When braking with OFF1 or OFF3, standstill is identified after the time set here has expired, after the setpoint speed has
fallen below p1226.
After this, the brake control is started, the system waits for the closing time in p1217 and then the pulses are canceled.
Dependency: The parameter is pre-assigned depending on the size of the power unit.
See also: p1215, p1216, p1217, p1226
NOTICE
For p1145 > 0.0 (ramp-function generator tracking) the setpoint is not equal to zero dependent on the selected value.
This can therefore cause the monitoring time in p1227 to be exceeded. In this case, for a driven motor, the pulses are
not canceled.
Note
Standstill is identified in the following cases:
- The speed actual value falls below the speed threshold in p1226 and the time started after this in p1228 has expired.
- The speed setpoint falls below the speed threshold in p1226 and the time started after this in p1227 has expired.
For value = 300.000 s, the following applies:
Monitoring is deactivated.
For value = 0.000 s, the following applies:
With OFF1 or OFF3 and a ramp-down time = 0, the pulses are immediately canceled and the motor "coasts" down.
The parameter is preassigned according to the power unit after the converter has run-up for the first time or when it is
reset to the factory setting.

Parameter
p1228[0...n] Pulse cancellation delay time / Pulse suppr t_del

state:
0.000 [s] 299.000 [s] 0.000 [s]
Description: Sets the delay time for pulse cancellation.
After OFF1 or OFF3, the pulses are canceled, if at least one of the following conditions is fulfilled:
- The speed actual value falls below the threshold in p1226 and the time started after this in p1228 has expired.
- The speed setpoint falls below the threshold in p1226 and the time started after this in p1227 has expired.
NOTICE
When the motor holding brake is activated, pulse cancellation is additionally delayed by the brake closing time (p1217).
c1230[0...n] DC braking/armature short circuit activation / DCBRK/ASC act

Parameter group: DC braking
Not relevant for motor type: Synchronous reluctance motor
Description: Signal to activate DC braking (for induction motors) or armature short-circuit braking (for permanent-magnet
synchronous motors).
Dependency: See also: p1231, p1232, p1233, p1234, c1235, p1236, p1237, r1238, r1239, p1345, p1346
Note
1 signal: DC braking/armature short-circuit activated.
0 signal: DC braking/armature short-circuit deactivated.
p1231[0...n] DC braking/armature short circuit configuration / DCBRK/ASC config

state:
0 14 0

Parameter
Description: Setting to activate the various DC braking types (for induction motors) or armature short-circuit braking (for permanent-
magnet synchronous motors).
Value: 0: No function
1: External armature short-circuit with contactor feedback signal
2: Ext. armature short-circuit without contactor feedback signal
3: Internal voltage protection
4: DC braking/armature short-circuit internal
5: DC braking for OFF1/OFF3
14: DC braking below starting speed
Dependency: See also: p0300, c1230, p1232, p1233, p1234, c1235, p1236, p1237, r1238, r1239, p1345, p1346
DANGER
For p1231 = 1, 2:
- Only short-circuit-proof motors may be used, or suitable resistors must be used to short-circuit the motor
For p1231 = 3:
- When the internal voltage protection is active, after pulse cancellation, all of the motor terminals are at half of the DC
link voltage (without an internal voltage protection, the motor terminals are at zero potential)!
- It is only permissible to use motors that are short-circuit proof (p0320 < p0323).
- The converter must be able to conduct 180% short-circuit current (p0320) of the motor (r0209).
- The internal voltage protection cannot be interrupted due to a fault response. If an overcurrent condition occurs during
the active, internal voltage protection, then this can destroy the converter and/or the motor.
- If the converter does not support the autonomous, internal voltage protection (r0192.10 = 0), in order to ensure safe,
reliable functioning when the line supply fails, an external 24 V power supply (UPS) must be used for the components.
- If the converter does support the autonomous, internal voltage protection (r0192.10 = 1), in order to ensure safe,
reliable functioning when the line supply fails, then a power supply must be used for the 24 V power supply for the
components.
- If the internal voltage protection is active, it is not permissible that the motor is driven by the load for a longer period
of time (e.g. as a result of loads that move the motor or another coupled motor).
For p1231 = 4 and synchronous motor:
- When armature short-circuit is active, all of the motor terminals are at half of the DC link potential.
- It is only permissible to use motors that are short-circuit proof (p0320 < p0323).
- The converter must be able to conduct 180% short-circuit current (p0320) of the motor (r0209).
- For pulling loads, it is not permissible that an armature short circuit is used by itself. The reason for this is that until
this becomes effective, the motor can continue to rotate. In the case of a fault, it is only permissible to use an armature
short circuit as support in conjunction with a mechanical brake.
For p1231 = 4 and induction motor:
- It is not permissible that DC braking is used for pulling loads; this is because during the demagnetization time (p0347)
the motor rotates and a mechanical brake is then only closed while the motor is still rotating.

Parameter
Note
For p1231 = 1, 2:
The external armature short circuit can only be set for synchronous motors (p0300 = 2xxx). In this case, control bit
r1239.0 must be interconnected (e.g. to a digital input) to control the external contactor.
The external armature short circuit cannot be set as a fault response. It can be initiated via the binary signal sink c1230.
It is also always activated in the case of pulse cancellation.
When the external armature short circuit is activated, the system waits for the de-excitation time (p0347) before the
short-circuit contactor is controlled. For vector control, for the de-excitation time, a value greater than zero may be
required in order to avoid the overcurrent monitoring from responding.
For p1231 = 3:
The internal voltage protection (using internal armature short circuit) can only be set for synchronous motors (p0300
= 2xxx).
The internal voltage protection prevents the DC link capacitance from being charged if there is no possibility of
regenerating the induced motor voltage (EMF) of a motor operated in the field-weakening mode.
The converter must support this function (r0192.9 = 1).
a) If the converter does not support the autonomous, internal armature short-circuit (r0192.10 = 0), the armature short-
circuit is activated as soon as the activation criterion is fulfilled (refer below):
b) If the converter supports the autonomous internal voltage protection (r0192.10 = 1), then it decides - based on the
DC link voltage - as to whether the short-circuit should be activated. The short circuit is activated if the DC link voltage
exceeds 800 V. If the DC link voltage falls below 450 V, then the short-circuit is withdrawn. This therefore ensures that
the required input voltage is maintained for the power supply.
For p1231 = 4:
The function is activated as soon as the activation criterion is fulfilled.
- The function can be replaced by OFF2
a) The internal amateur short-circuit is initiated for synchronous motors with (p0300 = 2xxx).
- The converter must support this function (r0192.9 = 1).
b) For induction motors (p0300 = 1xxx), DC braking is initiated.
Activation criterion (one of the following criteria is fulfilled):
- Binary signal sink c1230 = 1 signal (activates DC braking).
- The drive is not in the state "S4: Operation" or in "S5x" (refer to function diagram 2610).
For p1231 = 5:
DC braking can only be set for induction motors.
DC braking is activated if the OFF1 or OFF3 command is present. Binary signal sink c1230 is not active. If the drive speed
still lies above the speed threshold p1234, then initially, the drive is ramped-down to this threshold, demagnetized (see
p0347) and is then switched into DC braking for the time set in p1233. After this, the drive is switched-off. If, at OFF1/
OFF3, the drive speed is below p1234, then it is immediately demagnetized and switched into DC braking. A change is
made into normal operation if the OFF1 command is withdrawn prematurely.
DC braking via fault response continues to be possible.
For p1231 = 14:

DC braking can only be set for induction motors.
DC braking is initiated if there is a 1 signal at binary signal sink c1230 in operation, and the actual speed is below the
starting speed p1234 (before this, the drive must have operated above p1234 plus the hysteresis). Then, following
upstream de-magnetization (see p0347), the braking current p1232 is injected for the time set in p1233. The drive then
changes into normal operation. During braking the command for DC braking can be withdrawn. If the time p1233 is
exceeded, then DC braking is inhibited and the drive changes into normal operation.
For OFF1 and OFF3, DC braking is only executed if the binary signal sink c1230 has a 1 signal.
DC braking via fault response continues to be possible.
For operation with an encoder, the encoder signal may not exceed a ripple of 15 rpm in the range of p1234.
For p1231 = 3, 4, 5, 14:

The value can only be changed to values not equal to 3, 4, 5 or 14 if p0491 is not equal to 4 and if DC braking is not
selected as fault response.
Note:

Parameter
ASC: Armature Short Circuit

DCBRK: DC Braking
p1232[0...n] DC braking braking current / DCBRK I_brake

state:
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
Description: Sets the braking current for DC braking.
Dependency: See also: c1230, p1231, p1233, p1234, r1239, p1345, p1346
Note
A change to the braking current becomes effective the next time that DC braking is switched on.
The value for p1232 is specified as an rms value in the 3-phase system. The magnitude of the braking current is the same
as that of an identical output current at frequency zero (see r0067, r0068, p0640). The braking current is internally
limited to r0067.
For the current controller, the settings of parameters p1345 and p1346 (I_max limiting controller) are used.
p1233[0...n] DC braking time / DCBRK time

state:
0.0 [s] 3600.0 [s] 1.0 [s]
Description: Sets the DC braking time (as fault response).
Dependency: See also: c1230, p1231, p1232, p1234, r1239
Note
The time that has been set is also effective when parameterizing DC braking as fault response.
If a speed encoder is being used, DC braking is ended as soon as the speed falls below the standstill threshold (p1226).

Parameter
p1234[0...n] Speed at the start of DC braking / DCBRK n_start

state:
0.00 [rpm] 210000.00 [rpm] 40000.00 [rpm]
Description: Sets the starting speed for DC braking.
If the actual speed falls below this threshold, then DC braking is activated.
NOTICE
If an encoder fault occurs during closed-loop operation with an encoder, controlled deceleration of the drive down to
the start speed p1234 is no longer possible. In this case, DC braking is activated immediately and injects the braking
current p1232 for the braking time p1233 after de-magnetizing. The braking current and braking duration must,
therefore, be dimensioned accordingly for this situation so that the drive can be decelerated to standstill.
In the case of operation with an encoder, this speed may not be set too low so as to ensure that the oscillation movement
induced by the residual flux/remanence of the motor does not cause DC braking to be deactivated again.
Note
Function p1231 = 14 or 1231 = 5 is activated at 15 rpm higher than the value set in p1234. This hysteresis is required
to prevent DC braking from being deactivated for speed encoder signals with ripple.
c1235[0...n] External armature short-circuit contactor feedback signal / ASC ext feedback
Not relevant for motor type: Induction motor, Synchronous reluctance motor
Description: Signal for the contactor feedback signal for external armature short-circuit.
NOTICE
In order that the pulses are not enabled when the contactor is closed, the contactor feedback signal must lag by a
sufficiently long time when opening the contactor.
Note
1 signal: The contactor is closed.
0 signal: The contactor is open.

Parameter
p1236[0...n] Ext armature short-cct contactor feedback signal monit time / ASC ext t_mon
state:
0 [ms] 1000 [ms] 200 [ms]
Description: Sets the monitoring time of the contactor feedback signal for the external armature short-circuit configuration.
If the contactor feedback signal (c1235) is parameterized, then the appropriate feedback signal (r1239.1) is expected
within this monitoring time after either opening or closing the contactor.
Dependency: See also: c1230, p1231, c1235, p1237, r1239
See also: F07904, F07905
p1237[0...n] External armature short-circuit wait time when opening / ASC ext t_wait
state:
0 [ms] 1000 [ms] 200 [ms]
Description: Sets the wait time when opening the contactor of the external armature short-circuit.
If a contactor feedback signal has not been set (c1235), then the system waits for this time before the pulses are
switched in.
Dependency: See also: c1230, p1231, c1235, p1236, r1239
NOTICE
This wait time must be at least long enough so that the contactor contacts reliably open before the pulses are switched
in. The wait time must be longer than the contactor response time. The converter can be damaged if the wait time is
too short.
r1238 Armature short-circuit external state / EASC state

Description: Displays the state for the external armature short-circuit.
Value: 0: Switched off

Parameter
1: Ready
2: Active
3: Active - Feedback signal "Closed" OK
4: Active - Feedback signal "Closed" missing
5: Prompt to remove the armature short-circuit
6: Active - Feedback signal "Open" missing
Dependency: See also: c1230, p1231, c1235, p1236, p1237, r1239
See also: F07904, F07905
Note
- The signal at c1230 (armature short-circuit activation) is 0.
- The drive is not in the state "S4: Operation" or in S5x (see function diagram 2610).
For state "switched out" (r1238 = 0):
- The external armature short-circuit can be selected with p1231 = 1.
For state "ready" (r1238 = 1):
- As soon as the activation criterion is fulfilled, then a transition is made into the state "active" (r1238 = 2).
Regarding the state "active" (r1238 = 2), "active - Feedback signal "Closed" OK" (r1238 = 3)", "active - Feedback signal
"Closed" missing" (r1238 = 4)":
- The control signal to close contactor r1239.0 is set to "1" (closed) and the pulses are canceled.
- If a contactor feedback signal is not connected (c1235 = 0 signal), then a transition is immediately made into state 3.
- If a contactor feedback signal is connected, then a transition is made into state 3 if the feedback signal at c1235 goes
to "1" (closed) within the monitoring time (p1236).
- Otherwise, a transition is made into state 4.
For state "prompt to remove the armature short-circuit" (r1238 = 5):
- The activation criterion is no longer fulfilled. An attempt is made to again remove the armature short circuit.
- The control signal to close the contactor r1239.0 is set to "0" (open) and the pulses remain canceled.
- If a contactor feedback signal is not connected (c1235 = 0 signal), the system waits for the wait time (p1237) to expire
until a transition is made into state 1.
- If a contactor feedback signal is connected, the system waits until the feedback signal at c1235 goes to "0" (open) until
a transition is made into state 1. If this does not occur within the monitoring time (p1236), then a transition is made into
state 6.
For state "active - Feedback signal "Open" missing" (r1238 = 6):
- This error state can be exited by deselecting the external armature short-circuit (p1231 = 0).
r1239.0...13 DC braking/armature short circuit status word / DCBRK/ASC ZSW

Parameter group: DC braking, Control/status words
Description: Displays the status word for DC braking (for induction motors) or armature short-circuit braking (for permanent-magnet
synchronous motors).
00 External armature short-circuit Active Inactive
01 External armature short-circuit contactor feedback signal Closed Open
02 External armature short-circuit ready Yes No
03 External armature short-circuit with contactor feedback signal Yes No
04 Internal armature short-circuit Active Inactive
05 Internal armature short circuit feedback signal from power unit Active Inactive

Parameter
06 Internal armature short-circuit ready Yes No

08 DC braking active Yes No
09 DC current injection active Yes No
10 DC braking ready Yes No
11 DC braking/armature short-circuit selected Yes No
12 DC braking selection internally inhibited Yes No
13 DC braking for OFF1/OFF3 Yes No
Dependency: See also: c1230, p1231, p1232, p1233, p1234, c1235, p1236, p1237
Note
External armature short-circuit (bits 0 ... 3):
For bit 00:
Using this signal, the motor is short-circuited through an external contactor circuit. To do this, r1239.0 must be
interconnected with a digital output, for example.
For bit 01:
This signal indicates the state of the contactor to establish the armature short-circuit. To do this, c1235 must be
interconnected with a digital input.
For bit 02:
The external armature short-circuit configuration is ready and is activated as soon as the activation criterion is fulfilled.
For bit 03:
1: A feedback signal from an external contactor was parameterized in c1235.
Internal voltage protection / internal armature short-circuit (bits 4 ... 6):
For bit 04:
a) Internal voltage protection (p1231 = 3) was selected and the converter does not support the autonomous internal
voltage protection (r0192.10 = 0).
The converter issues the command to short-circuit the motor through the power semiconductors.
b) Internal voltage protection (p1231 = 3) was selected and the converter does not support the autonomous internal
The converter independently decides whether the armature short-circuit is activated. In this case, the following applies:
r1239.4 = r1239.5.
c) Internal armature short-circuit (p1231 = 4) was selected.
The converter issues the command to short-circuit the motor through the power semiconductors.
For bit 05:
The converter signals that the motor is short-circuited through the power semiconductors.
For bit 06:
a) Internal voltage protection (p1231 = 3) was selected and the converter does not support the autonomous internal
The internal voltage protection is ready and is activated as soon as the activation criterion is fulfilled.
b) Internal voltage protection (p1231 = 3) was selected and the converter does not support the autonomous internal
The internal voltage protection is ready and the converter decides autonomously - based on the DC link voltage - whether
the short-circuit is activated. The short-circuit is activated if the DC link voltage exceeds 800 V. If the DC link voltage falls
below 450 V, then the short-circuit is withdrawn.
c) Internal armature short-circuit (p1231 = 4) was selected.
The internal armature short-circuit is ready and is activated as soon as the activation criterion is fulfilled.
- The signal at c1230 (armature short-circuit activation) is 1.
- The drive is not in the state "S4: Operation" or in S5x (see function diagram 2610).
For bits 12, 13:
Only effective for p1231 = 14.

Parameter
p1240[0...n] Vdc controller or Vdc monitoring configuration / Vdc ctrl config

state:
Parameter group: Vdc-min/max controller
0 6 1
Description: Sets the controller configuration of the DC link voltage (Vdc controller) in the closed-loop control mode.
Value: 0: Inhibit Vdc ctrl
1: Enable Vdc_max controller
2: Enable Vdc_min controller (kinetic buffering)
3: Enable Vdc_min controller and Vdc_max controller
4: Activate Vdc_max monitoring
5: Activate Vdc_min monitoring
6: Activate Vdc_min monitoring and Vdc_max monitoring
See also: A07400, A07401, A07402, F07403, F07404, F07405, F07406
WARNING
When the Vdc_max controller is active, the motor can be accelerated (e.g. by driving loads or as a result of high DC link
voltages). This can be caused by other drives that are operating on a common DC link busbar.
CAUTION
If several drives are operated from the same DC link busbar, then it is recommended that the Udc control is only
activated for the drives with high moments of inertia. If the Udc controls for various drives are simultaneously active,
then they can mutually influence one another. In this case, the controller dynamic performance should be reduced or
the Udc control of individual drives should be deactivated.
Drives with Udc control must be able to brake and accelerate independently of one another.
NOTICE
An excessively high value in p1245 can possibly negatively influence the normal operation of the drive.
Note
p1240 = 1, 3:
When the DC link voltage limit specified for the converter is reached, the following applies:
- The Vdc_max controller limits the regenerative energy in order that the DC link voltage is kept below the maximum DC
link voltage when braking.
- The ramp-down times are automatically increased.
p1240 = 2, 3:
When the switch-in threshold of the Vdc_min controller is reached (p1245), the following applies:
- The Vdc_min controller limits the energy taken from the DC link in order to keep the DC link voltage above the minimum
DC link voltage when accelerating.
- The motor is braked in order to use its kinetic energy to buffer the DC link.
p1240 = 4, 5, 6:
When the threshold in r1242 or r1246 is reached, the DC link voltage monitoring initiates a fault (F07403 or F07404)
with a response and therefore reduces additional negative effects on the DC link voltage.
If a braking resistor is connected to the DC link, then the Vdc_max control should be disabled (also see p1531).

Parameter
p1241[0...n] Vdc_max controller factor switch-on level / Vdc_max on_factor

state:
108 [%] 140 [%] 115 [%]
Description: Sets the switch-on level for the Vdc_max controller.
r1242 = p1241 * sqrt(2) * V_line = 1.15 * sqrt(2) * p0210 (supply voltage)
Dependency: The parameter only has influence for 1254 = 0 (automatic sensing of the switch-on level = off).
WARNING
The higher the factor for the switch-on level of the Vdc_max controller, the higher the stress on the motor winding
insulation.
The controller can no longer switch off if the switch-on level is set too low. The DC link voltage must return to values
below 95 % of the switch-on level (hysteresis 5 %).
If the parameter is changed in operation, then this is rejected if the actual DC link voltage (r0026) is higher than 95 %
of the switch-on level.
p1241[0...n] Vdc_max controller factor switch-on level / Vdc_max on_factor

state:
108 [%] 140 [%] 115 [%]
r1242 = p1241 * 1.5 * V_line = 1.15 * 1.5 * p0210 (supply voltage)
WARNING
insulation.

Parameter
r1242 Vdc_max controller switch-in level / Vdc_max on_level

Description: Displays the switch-in level for the Vdc_max controller.
If p1254 = 0 (automatic sensing of the switch-in level = off), then the following applies:
r1242 = p1241 * 1.5 * p0210
If p1254 = 1 (automatic sensing of the switch-in level = on), then the following applies:
r1242 = Vdc_max - 50.0 V (Vdc_max: Overvoltage threshold of the power unit)
r1242 = Vdc_max - 25.0 V (for 230 V power units)
NOTICE
If the activation level of the Vdc_max controller is already exceeded in the deactivated state (pulse inhibit) by the DC
link voltage, then the controller can be automatically deactivated (see A07401), so that the drive is not accelerated the
next time that it is activated.
Note
The Vdc_max controller is not switched back off until the DC link voltage falls below the threshold 0.95 * r1242 and the
controller output is zero.
r1242 Vdc_max controller switch-in level / Vdc_max on_level

r1242 = p1241 * sqrt(2) * p0210
NOTICE
Note

Parameter
p1243[0...n] Vdc_max controller dynamic factor / Vdc_max dyn_factor

state:
1 [%] 10000 [%] 100 [%]
Description: Sets the dynamic factor for the DC link voltage controller (Vdc_max controller).
100% means that p1250, p1251, and p1252 (gain, integral time, and rate time) are used corresponding to their basic
settings and based on a theoretical controller optimization.
If subsequent optimization is required, this can be carried out using the dynamic factor. In this case p1250, p1251,
p1252 are weighted with the dynamic factor p1243.
p1244[0...n] Vdc_max controller factor switch-on level (U/f) / Vdc_max on_factor

state:
108 [%] 140 [%] 115 [%]
r1282 = p1244 * sqrt(2) * V_line = 1.15 * sqrt(2) * p0210 (supply voltage)
WARNING
insulation.

Parameter
p1244[0...n] Vdc_max controller factor switch-on level (U/f) / Vdc_max on_factor

state:
108 [%] 140 [%] 115 [%]
r1282 = p1244 *1,5 * V_line = 1.15 * 1.5 * p0210 (supply voltage)
WARNING
insulation.
p1245[0...n] Vdc_min controller switch-in level (kinetic buffering) / Vdc_min on_level

state:
65 [%] 150 [%] 72 [%]
Description: Sets the switch-in level for the Vdc-min controller (kinetic buffering).
The value is obtained as follows:
r1246[V] = p1245[%] * sqrt(2) * p0210
WARNING
It is possible that an excessively high value can negatively impact normal converter operation, and can mean that after
the line supply returns, the Vdc_min control can no longer be exited.

Parameter
r1246 Vdc_min controller switch-in level (kinetic buffering) / Vdc_min on_level

Description: Displays the switch-in level for the Vdc_min controller (kinetic buffering).
Note
The Vdc_min controller is not deactivated again until the DC link voltage rises above the threshold 1.05 * r1246 and the
p1247[0...n] Vdc_min controller dynamic factor (kinetic buffering) / Vdc_min dyn_factor

state:
1 [%] 10000 [%] 100 [%]
Description: Sets the dynamic factor for the Vdc_min controller (kinetic buffering).
If subsequent optimization is required, this can be carried out using the dynamic factor. In this case p1250, p1251,
p1250[0...n] Vdc_max controller proportional gain / Vdc_max_ctrl Kp

state:
0.00 100.00 1.00
Description: Sets the proportional gain for the controller of the maximum DC link voltage (Vdc_max controller).
Dependency: The effective proportional gain is obtained taking into account p1243 (Vdc_max controller dynamic factor).
Note
The gain factor is proportional to the capacitance of the DC link. The parameter is preset to a value that is optimally
adapted to the capacitance of the converter. The capacitances of the other power units, which are connected to the DC
link, can be taken into account using the dynamic factor (p1247 or p1243).

Parameter
p1251[0...n] Vdc_max controller integral time / Vdc_max_ctrl Tn

state:
0 [ms] 10000 [ms] 0 [ms]
Description: Sets the integral time for the controller of the maximum DC link voltage (Vdc_max controller).
Dependency: The effective integral time is obtained taking into account p1243 (Vdc_max controller dynamic factor).
Note
p1251 = 0: The integral component is deactivated.
p1252[0...n] Vdc_max ctrl rate time / Vdc_max_ctr t_rate

state:
0 [ms] 1000 [ms] 0 [ms]
Description: Sets the rate time constant for the controller of the maximum DC link voltage (Vdc_max controller).
Dependency: The effective rate time is obtained taking into account p1243 (Vdc_max controller dynamic factor).
p1254 Vdc_max controller automatic ON level detection / Vdc_max SenseOnLev

state:
0 1 0
Description: Activates/deactivates the automatic sensing of the switch-in level for the Vdc_max controller.
Value: 0: Automatic detection inhibited
1: Automatic detection enabled

Parameter
p1255[0...n] Vdc_min controller time threshold / Vdc_min t_thr

state:
0.000 [s] 1800.000 [s] 0.000 [s]
Description: Sets the time threshold for the Vdc_min controller (kinetic buffering).
If this value is exceeded a fault is output; the required response can be parameterized.
Prerequisite: p1256 = 1
NOTICE
If a time threshold has been parameterized, the Vdc_max controller should also be activated (p1240 = 3) so that the
drive does not shut down with overvoltage when Vdc_min control is exited (due to the time violation) and in the event
of fault response OFF3. It is also possible to increase the OFF3 ramp-down time p1135.
p1256[0...n] Vdc_min controller response (kinetic buffering) / Vdc_min response

state:
0 1 0
Description: Sets the response for the Vdc_min controller (kinetic buffering).
Value: 0: Buffer Vdc until undervoltage, n<p1257 -> F07405
1: Buff. Vdc until undervolt., n<p1257 -> F07405, t>p1255 -> F07406
p1257[0...n] Vdc_min controller speed threshold / Vdc_min n_thr

state:

Parameter

0.00 [rpm] 210000.00 [rpm] 50.00 [rpm]
Description: Sets the speed threshold for the Vdc-min controller (kinetic buffering).
If this value is exceeded a fault is output; the required response can be parameterized .
Kinetic buffering is not started below the speed threshold.
Note
Exiting the Vdc_min control before reaching motor standstill prevents the regenerative braking current from increasing
significantly at low speeds, and after a pulse inhibit, means that the motor coasts down.
However, the maximum braking torque can be set via the appropriate torque limiting.
r1258 Vdc controller output / Vdc_ctrl output

Description: Displays the actual output of the Vdc controller (DC link voltage controller)
Note
The regenerative power limit p1531 is used for vector control to precontrol the Vdc_max controller. The lower the power
limit is set, the lower the correction signals of the controller when the voltage limit is reached.
p1260 Bypass configuration / Bypass config

state:
Parameter group: Bypass
0 3 0
Description: Sets the configuration for the bypass function.
Value: 0: Bypass deactivated
3: Bypass without synchronization
Note
If the bypass function is selected (p1260 > 0), then when the power unit restarts after POWER OFF, the state of the bypass
switch is evaluated. This means that after the run-up, it is possible to directly change into the standby mode. This is only
possible for p1267 = 1 (bypass using the control signal) and if the control command after the system has run-up is still
available (c1266). This function has a higher priority than the automatic restart function (p1210).
The "bypass" function can only be switched off again (p1260 = 0) if the bypass is not active or the bypass function has
a fault.

Parameter
r1261.0...14 Bypass control/status word / Bypass STW / ZSW

Description: Display and signal source for the control/status word of the bypass switch.
00 Command switch motor - Power unit Close Open
01 Command switch motor - Line supply Close Open
05 Feedback signal switch motor - Power unit Closed Opened
06 Feedback signal switch motor - Line supply Closed Opened
07 Bypass command (from p1266) Yes No
10 Bypass in process sequence Yes No
11 Bypass enabled Yes No
13 Bypass control is ready Yes No
14 Debypass without flying restart selected Yes No
Dependency: The "Bypass" function is only available for induction motors.
See also: p1200
Note
Control bits 0 and 1 should be interconnected to the signal outputs via which the switches in the motor feeder cables
should be controlled. These should be selected/dimensioned for switching under load.
p1262[0...n] Bypass dead time / Bypass t_dead

state:
0.000 [s] 20.000 [s] 1.000 [s]
Description: Sets the dead time for non-synchronized bypass.
Note
This parameter is used to define the changeover time of the contactors. It should not be shorter than the de-magnetizing
time of the motor (p0347).
The total time for switching over to line operation or returning back to converter operation is obtained from the
monitoring time of the relevant switch (p1274[x]).

Parameter
p1263 Debypass delay time / Debypass t_del

state:
0.000 [s] 300.000 [s] 1.000 [s]
Description: Sets the delay time for switching back to converter operation for a non-synchronized bypass (time between reset of the
bypass command and "Command switch motor - Line supply" r1261.1).
p1264 Bypass delay time / Bypass t_del

state:
0.000 [s] 300.000 [s] 1.000 [s]
Description: Sets the delay time for switching over to line operation for a non-synchronized bypass (time between setting the bypass
command and "Command switch motor - Power unit" r1261.0).
p1265 Bypass speed threshold / Bypass n_thr

state:
0.00 [rpm] 210000.00 [rpm] 1480.00 [rpm]
Description: Sets the speed threshold to activate the bypass.
The configuration bit p1030.4 should be set if the drive speed setpoint is entered via a motorized potentiometer. This
ensures function "Bypass via speed threshold"

Parameter
Note
When selecting p1260 = 3 and p1267.1 = 1, the bypass is automatically activated when this speed is reached.
The bypass speed threshold is only effective for positive directions of rotation. If the drive connected to the line supply
requires negative speeds, then this can be achieved using p1820 (direction of rotation reversal).
c1266 Bypass control command / Bypass command

Description: Signal for the control command to the bypass.
p1267.0...1 Bypass changeover source configuration / Chgov_src config

state:
- - 0000 bin
Description: Sets the cause that should initiate the bypass.
00 Bypass via signal (r1266) Yes No
01 Bypass via reaching the speed threshold Yes No
Note
The parameter only has an effect for a non-synchronized bypass.
p1267.0 = 1:
The bypass is initiated by setting a binary signal. When the command is reset, after the debypass delay time (p1263) has
expired, operation at the power unit is re-selected.
p1267.1 = 1:
When the speed threshold entered in p1265 is reached, the bypass is switched in. The system only switches back when
the speed setpoint again falls below the threshold value.

Parameter
c1269[0...1] Bypass switch feedback signal / Bypass FS

motor
Factory interconnection: [0] Parameter: 1261.0[1] Parameter:
1261.1
Description: Signal for the feedback signal of the bypass switch.
Index: [0] = Switch motor/drive
[1] = Switch motor/line supply
Note
In the case of switches without a feedback signal, interconnect the corresponding control bit as the signal source:
r1269[0] according to r1261.0
r1269[1] according to r1261.1
When entering c1269 = 0, this interconnection is automatically set for switches without feedback signal.
p1270[0...n].0...3 Flying restart configuration / FlyRest config

state:
- - 1001 bin
Description: Sets the configuration for the "flying restart function" function.
00 Fast flying restart with voltage model for induction motor Yes No
01 PLL expansion for fast flying restart w/ voltage model for ASM Yes No
02 Activate search with model Yes No
03 Activate current impression for low speeds Yes No
CAUTION
For bit 00 = 1:
When using a dv/dt filter, it is not permissible that a flying restart with voltage model is activated.
NOTICE
For bit 00:
When selecting - also for U/f characteristic operation - A standstill measurement to identify the motor data must have
been performed to set the necessary current controller for a fast flying restart.

Parameter
Note
ASM: Induction motor
PMSM: permanent-magnet synchronous motor
For bit 00:
This bit is equivalent to p1780 bit 11.
For bit 01:
This bit should only be set when required for large drives.
For bit 02:
This bit should be set if problems are encountered with a flying restart at low speeds. The bit is preassigned when
commissioning an induction motor with U/f control.
p1271[0...n] Flying restart maximum frequency for the inhibited direction / FlyRest f_max dir
state:
0 [Hz] 650 [Hz] 0 [Hz]
Description: Sets the maximum search frequency for a flying restart in an inhibited setpoint direction (c1110, c1111).
Note
The parameter has no effect for an operating mode, which only searches in the setpoint direction (p1200 > 3).
p1274[0...1] Bypass switch monitoring time / Switch t_mon

state:
0 [ms] 5000 [ms] 1000 [ms]
Description: Sets the monitoring time for the bypass switch.
Index: [0] = Switch motor/drive
[1] = Switch motor/line supply
See also: p1260
See also: F07311, F07312
Note
The monitoring is deactivated with p1274 = 0 ms.
For non-synchronized bypass (p1260 = 3), the following applies:
The changeover time for the bypass (p1262) is extended by the value in this parameter.

Parameter
p1280[0...n] Vdc controller or Vdc monitoring configuration (U/f) / Vdc_ctr config U/f
state:
0 6 1
Description: Sets the configuration of the controller for the DC link voltage (Vdc controller) in the U/f operating mode.
Value: 0: Inhibit Vdc ctrl
1: Enable Vdc_max controller
2: Enable Vdc_min controller (kinetic buffering)
3: Enable Vdc_min controller and Vdc_max controller
4: Activate Vdc_max monitoring
5: Activate Vdc_min monitoring
6: Activate Vdc_min monitoring and Vdc_max monitoring
WARNING
When the Vdc_max controller is active, the motor can be accelerated (e.g. by driving loads or as a result of high DC link
voltages). This can be caused by other drives that are operating on a common DC link busbar.
CAUTION
If several drives are operated from the same DC link busbar, then it is recommended that the Udc control is only
activated for the drives with relatively high moments of inertia.
If the Udc controls for various drives are simultaneously active, then they can mutually influence one another. In this
case, the controller dynamic performance should be reduced or the Udc control of individual drives should be
deactivated.
Drives with Udc control must be able to brake and accelerate independently of one another.
Note
For p1280 = 4, 5, 6:
When the threshold in r1282 or r1286 is reached, the DC link voltage monitoring initiates a fault (F07403 or F07404)
with a response and therefore reduces additional negative effects on the DC link voltage.
If a braking resistor is connected to the DC link, then the Vdc_max control should be disabled.
For p1280 = 1, 3:
Only U/f control: When the Vdc max controller is active, fault F07404 is initiated if the speed setpoint ramp is stopped
(held) longer than the time set in p1284.
For high input voltages (p0210), the following settings can improve the degree of ruggedness of the Vdc_max controller:
- Set the input voltage as low as possible, and in so doing, avoid A07401 (p0210).
- Set the rounding times (p1130, p1136).
- Increase the ramp-down times (p1121).
- Reduce the integral time of the controller (p1291), factor 0.5.
- Activate the Vdc correction in the current controller (p1810.1 = 1) or reduce the derivative action time of the controller
(p1292, factor 0.5).
In this case, we generally recommend to use vector control (p1300 = 20) (Vdc controller, see p1240).
The following measures are suitable to improve the Vdc_min controller:
- Optimize the Vdc_min controller (see p1287).
- Activate the Vdc correction in the current controller (p1810.1 = 1).
If a braking resistor is connected to the DC link (p0219 > 0), then the Vdc_max control is automatically deactivated.

Parameter
p1281[0...n].0...2 Vdc controller configuration / Vdc ctrl config

state:
- - 0000 bin
Description: Sets the configuration for the DC link voltage controller.
00 Vdc min control (U/f) without up ramp Yes No
02 Vdc min shorter wait time when the line returns Yes No
Note
ASM: Induction motor (induction motor)
For bit 00:
This bit is equivalent to p1780 bit 1.
For bit 01:
This bit should only be set when required for large drives.
r1282 Vdc_max controller switch-in level (U/f) / Vdc_max on_level

r1282 = p1244 * sqrt(2) * p0210
r1282 = Vdc_max - 25.0 V (for 230 V power units)
NOTICE
Note

Parameter
r1282 Vdc_max controller switch-in level (U/f) / Vdc_max on_level

r1282 = p1244 * 1.5 * p0210
NOTICE
Note
p1283[0...n] Vdc_max controller dynamic factor (U/f) / Vdc_max dyn_factor

state:
1 [%] 10000 [%] 100 [%]
Description: Sets the dynamic factor for the DC link voltage controller (Vdc_max controller).
100% means that p1290, p1291, and p1292 (gain, integral time, and rate time) are used in accordance with their basic
settings and on the basis of a theoretical controller optimization.
If subsequent optimization is required, this can be carried out using the dynamic factor. In this case, p1290, p1291, and
p1284[0...n] Vdc_max controller time threshold (U/f) / Vdc_max t_thr

state:

Parameter

0.000 [s] 300.000 [s] 4.000 [s]
Description: Sets the monitoring time for the Vdc_max controller.
If the down ramp of the speed setpoint is held for longer than the time set in p1284, then fault F07404 is output.
p1285[0...n] Vdc_min controller switch-in level (kinetic buffering) (U/f) / Vdc_min on_level
state:
65 [%] 150 [%] 72 [%]
Description: Sets the switch-in level for the Vdc-min controller (kinetic buffering).
The value is obtained as follows:
r1286[V] = p1285[%] * sqrt(2) * p0210
WARNING
An excessively high value may adversely affect normal drive operation.
r1286 Vdc_min controller switch-in level (kinetic buffering) (U/f) / Vdc_min on_level
Description: Displays the switch-in level for the Vdc_min controller (kinetic buffering).
Note
The Vdc_min controller is not switched back off until the DC link voltage rises above the threshold 1.05 * r1286 and the
p1287[0...n] Vdc_min controller dynamic factor (kinetic buffering) (U/f) / Vdc_min dyn_factor
state:

Parameter

1 [%] 10000 [%] 100 [%]
Description: Sets the dynamic factor for the Vdc_min controller (kinetic buffering).
If subsequent optimization is required, this can be carried out using the dynamic factor. In this case, p1290, p1291, and
p1290[0...n] Vdc_max controller proportional gain (U/f) / Vdc_max_ctrl Kp

state:
0.00 100.00 1.00
Description: Sets the proportional gain for the Vdc_max controller (controller for the maximum DC link voltage).
Note
The gain factor is proportional to the capacitance of the DC link. The parameter is preset to a value, which optimally fits
the capacitance of the individual inverter. The capacitances of the remaining inverters, which are connected to the DC
p1291[0...n] Vdc_max controller integral time (U/f) / Vdc_max_ctrl Tn

state:
0 [ms] 10000 [ms] 40 [ms]
Description: Sets the integral time for the Vdc_max controller (controller for the maximum DC link voltage).

Parameter
p1292[0...n] Vdc_max controller rate time (U/f) / Vdc_max_ctr t_rate

state:
0 [ms] 1000 [ms] 10 [ms]
Description: Sets the rate time constant for the Vdc_max controller (controller for the maximum DC link voltage).
p1294 Vdc_max controller automatic detection ON signal level (U/f) / Vdc_max SenseOnLev
state:
0 1 0
Description: Activates/deactivates the automatic sensing of the switch-in level for the Vdc_max controller. When the sensing
function is deactivated, the activation threshold r1282 for the Vdc_max controller is determined from the
parameterized connection voltage p0210.
Value: 0: Automatic detection inhibited
1: Automatic detection enabled
p1295[0...n] Vdc_min controller time threshold (U/f) / Vdc_min t_thr

state:
0.000 [s] 10000.000 [s] 0.000 [s]
Description: Sets the time threshold for the Vdc_min controller (kinetic buffering).
If this value is exceeded a fault is output; the required response can be parameterized.
Prerequisite: p1296 = 1

Parameter
NOTICE
If a time threshold has been parameterized, the Vdc_max controller should also be activated (p1280 = 3) so that the
drive does not shut down with overvoltage when Vdc_min control is exited (due to the time violation) and in the event
of fault response OFF3. It is also possible to increase the OFF3 ramp-down time p1135.
p1296[0...n] Vdc_min controller response (kinetic buffering) (U/f) / Vdc_min response

state:
0 1 0
Description: Sets the response for the Vdc_min controller (kinetic buffering).
Value: 0: Buffer Vdc until undervoltage, n<p1297 -> F07405
1: Buff. Vdc until undervolt., n<p1297 -> F07405, t>p1295 -> F07406
Note
For p1296 = 1:
The quick stop ramp entered in p1135 must not be equal to zero, to prevent overcurrent shutdown if F07406 is triggered.
p1297[0...n] Vdc_min controller speed threshold (U/f) / Vdc_min n_thr

state:
0.00 [rpm] 210000.00 [rpm] 50.00 [rpm]
Description: Sets the speed threshold for the Vdc-min controller (kinetic buffering).
If this value is exceeded a fault is output; the required response can be parameterized .
Note
Exiting the Vdc_min control before reaching motor standstill prevents the regenerative braking current from increasing
significantly at low speeds, and after a pulse inhibit, means that the motor coasts down.

Parameter
r1298 Vdc controller output (U/f) / Vdc_ctrl output

Parameter group: U/f control, Vdc-min/max controller
Description: Displays the actual output of the Vdc controller (DC link voltage controller)
p1300[0...n] Open-loop/closed-loop control type / Op/cl-lp ctrl type

state:
Parameter group: U/f control, Speed controller, Quick commissioning
0 23 20
Description: Sets the open and closed-loop control mode of a drive for operating mode p0504 = 0 (all closed-loop control modes),
2 (Dynamic Drive Control).
Closed-loop speed and torque control always includes vector control.
Value: 0: U/f control with linear characteristic
1: U/f control with linear characteristic and FCC
2: U/f control with parabolic characteristic
3: U/f control with parameterizable characteristic
4: U/f control with linear characteristic and ECO
5: U/f control for drives requiring a precise freq. (e.g. textiles)
6: U/f control for drives requiring a precise frequency and FCC
7: U/f control for a parabolic characteristic and ECO
19: U/f control with independent voltage setpoint
20: Speed control (encoderless)
21: Speed control (with encoder)
22: Torque control (encoderless)
23: Torque control (with encoder)
Recommendation: For synchronous motors, it is recommended that vector control modes are used.
Dependency: p1300 is not available for Standard Drive Control (p0504 = 1).
Closed-loop speed or torque control (with encoder) cannot be selected if the encoder type is not entered (p0400).
Closed-loop torque control is not available for Dynamic Drive Control (p0504 = 1).
Only operation with U/f characteristic is possible (for p0504 = 0) if the rated motor speed is not entered (p0311).
A synchronous/reluctance motor (p0300 = 8) can only be operated in U/f control modes p1300 = 3, 5 and 6, a
synchronous reluctance motor (p0300 = 6, 6xx, 6xxx) only in closed-loop speed/torque control.
See also: p0212, p0300, p0311, p0400, c1501

Parameter
NOTICE
Active slip compensation is required in the U/f control types with Eco mode (p1300 = 4, 7). Slip compensation scaling
(p1335) must be set so that the slip is completely compensated (or generally, 100 %). The speed accuracy is improved
if the complete motor data identification is executed (p1909 bit 15 = 0).
The Eco mode is only effective in steady-state operation and when the ramp-function generator is not bypassed. In the
case of analog setpoints, if required the tolerance for ramp-up and ramp-down should be actively increased for the
ramp-function generator using p1148 in order to reliably signal a steady-state condition.
Note
Closed-loop torque control can only be switched over in operation (p1300 = 20, 21) by selecting closed-loop speed
control (c1501). At the changeover, the setting of p1300 does not change. In this case, the actual state is displayed in
r1407, bit 2 and bit 3.
For the open-loop control modes p1300 = 5 and 6 (textile sector), slip compensation p1335, resonance damping p1338,
and the Imax frequency controller are switched off internally so that the output frequency can be set precisely. The Imax
voltage controller remains active.
For the open-loop control modes p1300 = 4 and 7 (Eco mode), the efficiency can be optimized by varying the voltage
(when the operating point is constant).
During operation (pulses enabled) the open-loop/closed-loop control operating mode cannot be changed by changing
over drive data sets.
p1300 is preassigned depending on p0187.
p1302[0...n].0...9 U/f control configuration / U/f config

state:
Parameter group: U/f control
- - 0000 0000 0000 0000 bin
Description: Sets the configuration for the U/f control.
00 Output voltage starting angle zero Yes No
01 Take into account the setpoint voltage sign Yes No
02 Output voltage angle setpoint input Yes No
03 Motor holding brake with constant stop frequency Yes No
04 Field orientation Yes No
05 Starting current when accelerating without flux boost Yes No
06 Immediate setpoint transfer for pulse inhibit Yes No
07 Inhibit Iq_max controller I component Yes No
08 Saturation characteristic for the starting current Yes No
09 Current boost for fast magnetization Yes No
NOTICE
For bit 05 (only for field orientation p1302.4 = 1):
This setting is only selected for very fast acceleration.

Parameter
Note
For bit 00:
If the bit is set the device will always start up with setpoint angle zero on pulse enable. This also affects the setpoint angle
for DC braking (p1231).
For bit 01:
If the bit is set, in the case of U/f control with independent voltage setpoint (p1300 = 19) and negative setpoint voltages
at the input of c1330, the setpoint angle is rotated through 180 degrees, thereby achieving a negative output voltage.
The voltage boost is in this case not active (p1310, p1311).
For bit 02:
When the bit is set, for U/f control with independent voltage setpoint (p1300 = 19), the setpoint angle should be directly
entered at numerical signal sink c1356.
For bit 03:
When the bit is set, when the drive stops, the starting frequency of the motor holding brake is also not fallen below when
the actual slip frequency is less than the starting frequency.
For bit 04:
U/f control with field orientation (only for experts).
The following bits 05 ... 09 are only relevant for p1302 bit 04 = 1:
For bit 05:
The starting current when accelerating (p1311) generally results in an increase in the absolute current and flux. With
p1302.5 = 1 the current is only increased in the direction of the load. p1302.5 - In conjunction with p1310 and p1311
- are decisive when it comes to defining the quality of the starting response.
For bit 06:
For field orientation, the starting current when the motor accelerates (p1311, p1312) is normally only added in the
direction of the load-dependent voltage component. When selecting the bit, p1311 and p1312 also lead to an increase
in the field-generating voltage components.
For bit 07:
For field orientation, an Iq_max controller supports the current limiting controller (see p1341). Inhibiting the integral
component can prevent the drive from stalling under overload conditions.
For bit 08:
Taking into account the saturation characteristic can be activated to improve faster starting operations for high-rating
motors.
For bit 09:
For field orientation, while the induction motor is being magnetized, the current is automatically increased if the
magnetization time p0346 is shortened.
p1310[0...n] Starting current (voltage boost) permanent / I_start (Ua) perm

state:
0.0 [%] 250.0 [%] 50.0 [%]

Parameter
Description: Defines the voltage boost as a [%] referred to the rated motor current (p0305).
The magnitude of the permanent voltage boost is reduced with increasing frequency so that at the rated motor
frequency, the rated motor voltage is present.
The magnitude of the boost in Volt at a frequency of zero is defined as follows:
Voltage boost [V] = 1.732 x p0305 (rated motor current [A]) x r0395 (stator/primary section resistance [ohm]) x p1310
(permanent voltage boost [%]) / 100 %
At low output frequencies, there is only a low output voltage in order to maintain the motor flux. However, the output
voltage can be too low in order to achieve the following:
- Magnetize the induction motor.
- Hold the load.
- Compensate for losses in the system.
This is the reason that the output voltage can be increased using p1310.
The voltage boost can be used for both linear as well as square-law U/f characteristics.
Dependency: The starting current (voltage boost) is limited by the current limit p0640.
The accuracy of the starting current depends on the setting of the stator and feeder cable resistance (p0350, p0352).
See also: p1300, p1311, p1312
NOTICE
The starting current (voltage boost) increases the motor temperature (particularly at zero speed).
Note
The starting current as a result of the voltage boost is only effective for U/f control (p1300).
The boost values are combined with one another if the permanent voltage boost (p1310) is used in conjunction with
other boost parameters (acceleration boost (p1311), voltage boost for starting (p1312)).
However, these parameters are assigned the following priorities: p1310 > p1311, p1312
p1311[0...n] Starting current (voltage boost) when accelerating / I_start accel

state:
0.0 [%] 250.0 [%] 0.0 [%]
Description: p1311 only results in a voltage boost when accelerating and generates a supplementary torque to accelerate the load.
The voltage boost becomes effective for a positive setpoint increase, and is withdrawn once the setpoint has been
reached.
The build-up and withdrawal of the voltage boost are smoothed.
The magnitude of the boost in Volt at a frequency of zero is defined as follows:
Voltage boost [V] = 1.732 * p0305 (rated motor current [A]) x r0395 (stator/primary section resistance [ohm]) x p1311
(voltage boost when accelerating [%]) / 100 %
Dependency: The current limit p0640 limits the boost.
See also: p1300, p1310, p1312
NOTICE
The voltage boost results in a higher motor temperature increase.

Parameter
Note
The voltage boost when accelerating can improve the response to small, positive setpoint changes.
Assigning priorities for the voltage boosts: refer to p1310
p1312[0...n] Starting current (voltage boost) when starting / I_start start

state:
0.0 [%] 250.0 [%] 0.0 [%]
Description: Setting for an additional voltage boost when powering-up (only for the first acceleration phase).
The voltage boost becomes effective for a positive setpoint increase, and is withdrawn once the setpoint has been
reached.
The build-up and withdrawal of the voltage boost are smoothed.
Dependency: The current limit p0640 limits the boost.
See also: p1300, p1310, p1311
NOTICE
The voltage boost results in a higher motor temperature increase.
Note
The voltage boost when accelerating can improve the response to small, positive setpoint changes.
Assigning priorities for the voltage boosts: refer to p1310
p1320[0...n] U/f control programmable characteristic frequency 1 / Uf char f1

state:
0.00 [Hz] 3000.00 [Hz] 0.00 [Hz]
Description: The programmable characteristic for the U/f control is defined using 4 points and 0 Hz/p1310.
This parameter specifies the voltage of the first point along the characteristic.
Dependency: Selects the freely programmable characteristic using p1300 = 3.
The following applies to the frequency values: p1320 <= p1322 <= p1324 <= p1326. Otherwise, a standard
characteristic is used that contains the rated motor operating point.
See also: p1300, p1310, p1311, p1321, p1322, p1323, p1324, p1325, p1326, p1327

Parameter
Note
Linear interpolation is carried out between the points 0 Hz/p1310, p1320/p1321 ... p1326/p1327.
The voltage boost when accelerating (p1311) is also applied to the freely programmable U/f characteristic.
p1321[0...n] U/f control programmable characteristic voltage 1 / Uf char U1

state:
0.0 [Vrms] 10000.0 [Vrms] 0.0 [Vrms]
This parameter specifies the voltage of the first point along the characteristic.
See also: p1310, p1311, p1320, p1322, p1323, p1324, p1325, p1326, p1327
Note

state:
0.00 [Hz] 3000.00 [Hz] 0.00 [Hz]
This parameter specifies the voltage of the second point along the characteristic.
Dependency: The following applies to the frequency values: p1320 <= p1322 <= p1324 <= p1326. Otherwise, a standard

Parameter

state:
0.0 [Vrms] 10000.0 [Vrms] 0.0 [Vrms]
This parameter specifies the voltage of the second point along the characteristic.

state:
0.00 [Hz] 3000.00 [Hz] 0.00 [Hz]
This parameter specifies the voltage of the third point along the characteristic.
Dependency: The following applies to the frequency values: p1320 <= p1322 <= p1324 <= p1326. Otherwise, a standard

state:
0.0 [Vrms] 10000.0 [Vrms] 0.0 [Vrms]
This parameter specifies the voltage of the third point along the characteristic.

Parameter

state:
0.00 [Hz] 10000.00 [Hz] 0.00 [Hz]
This parameter specifies the frequency of the fourth point along the characteristic.
The following applies for the frequency values:
p1320 <= p1322 <= p1324 <= p1326
Otherwise, a standard characteristic is used that contains the rated motor operating point.
Note
Linear interpolation is carried out between the points 0 Hz/p1310, p1320/p1321 ... p1326/p1327. For output
frequencies above p1326, the characteristic is extrapolated with the gradient between the characteristic points p1324/
p1325 and p1326/p1327.

state:
0.0 [Vrms] 10000.0 [Vrms] 0.0 [Vrms]
This parameter specifies the voltage of the fourth point along the characteristic.
Note

Parameter
c1330[0...n] U/f control independent voltage setpoint / Uf U_set independ

Factory interconnection: Fixed value: 0.00 [Vrms]
Description: Signal for the voltage setpoint for U/f control with an independent voltage setpoint (p1300 = 19).
Dependency: Selects the U/f control with independent voltage setpoint via p1300 = 19.
See also: p1300
p1331[0...n] Voltage limiting / U_lim

state:
50.00 [Vrms] 2000.00 [Vrms] 1000.00 [Vrms]
Description: Limiting the voltage setpoint.
This means that the output voltage can be reduced with respect to the calculated maximum voltage r0071 and the start
of field weakening.
Note
The output voltage is only limited if, as a result of p1331, the maximum output voltage (r0071) is fallen below.
p1333[0...n] U/f control FCC starting frequency / U/f FCC f_start

state:
0.00 [Hz] 3000.00 [Hz] 0.00 [Hz]
Description: Sets the starting frequency at which FCC (Flux Current Control) is activated.
Dependency: The correct operating mode must be set (p1300 = 1, 6).

Parameter
WARNING
An excessively low value can result in instability.
Note
For p1333 = 0 Hz, the FCC starting frequency is automatically set to 6 % of the rated motor frequency.
p1334[0...n] U/f control slip compensation starting frequency / Slip comp start
state:
0.00 [Hz] 3000.00 [Hz] 0.00 [Hz]
Description: Sets the starting frequency of the slip compensation.
Note
For p1334 = 0, the starting frequency of the slip compensation is automatically set to 6 % of the rated motor frequency.
p1335[0...n] Slip compensation scaling / Slip comp scal

state:
0.0 [%] 600.0 [%] 0.0 [%]
Description: Sets the setpoint for slip compensation in [%] referred to r0330 (rated motor slip).
p1335 = 0.0 %: Slip compensation deactivated.
p1335 = 100.0 %: The slip is completely compensated.
Dependency: Prerequisite for a precise slip compensation for p1335 = 100 % are the precise motor parameters (p0350 ... p0360).
If the parameters are not precisely known, a precise compensation can be achieved by varying p1335.
For U/f control modes with ECO optimization (p1300 = 4, 7), slip compensation must be activated in order to guarantee
correct operation.

Parameter
Note
The purpose of slip compensation is to maintain a constant motor speed regardless of the applied load. The fact that the
motor speed decreases with increasing load is a typical characteristic of induction motors.
For synchronous motors, this effect does not occur and the parameter has no effect in this case.
For U/f control modes, for textile applications (p1300 = 5, 6), slip compensation is internally deactivated, allowing the
output frequency to be precisely adjusted.
set. The reason for this is that the dynamic limits of p1335 have been changed by a parameter that was set when the drive
was commissioned (e.g. p0300).
p1336[0...n] Slip compensation limit value / Slip comp lim val

state:
0.00 [%] 600.00 [%] 250.00 [%]
Description: Sets the limit value for slip compensation in [%] referred to r0330 (rated motor slip).
r1337 Actual slip compensation / Slip comp act val

Description: Displays the actual compensated slip [%] referred to r0330 (rated motor slip).
Dependency: p1335 > 0 %: Slip compensation active.
See also: p1335
p1338[0...n] U/f mode resonance damping gain / Uf Res_damp gain

state:

Parameter

0.00 100.00 0.00
Description: Sets the gain for resonance damping for U/f control.
See also: p1300, p1339, p1349
Note
The resonance damping function dampens active current oscillations that frequency occur under no-load conditions.
The resonance damping is active in a range from approximately 6 % of the rated motor frequency (p0310). The shutoff
frequency is determined by p1349.
For the open-loop control modes p1300 = 5 and 6 (textile sectors), the resonance damping is internally disabled in order
that the output frequency can be precisely set.
p1339[0...n] U/f mode resonance damping filter time constant / Uf Res_damp Tc

state:
1.00 [ms] 1000.00 [ms] 20.00 [ms]
Description: Sets the filter time constant for resonance damping for U/f control.
See also: p1300, p1338, p1349
p1340[0...n] I_max frequency controller proportional gain / I_max_ctrl Kp

state:
0.000 0.500 0.000
Description: Sets the proportional gain of the I_max frequency controller.
The I_max controller reduces the drive converter output current if the maximum current (r0067) is exceeded.
In the U/f operating modes (p1300) for the I_max control, one controller is used that acts on the output frequency and
one controller that acts on the output voltage. The frequency controller reduces the current by decreasing the converter
output frequency. The frequency is reduced down to a minimum value (equaling twice rated slip). If the overcurrent
condition cannot be successfully resolved using this measure, then the drive converter output voltage is reduced using
the I_max voltage controller. Once the overcurrent condition has been resolved, the drive is accelerated along the ramp
set in p1120 (ramp-up time).
Dependency: In the U/f modes (p1300) for textile applications and for external voltage setpoints, only the I_max voltage controller
is used.

Parameter
NOTICE
When deactivating the I_max controller, the following must be carefully observed:
When the maximum current (r0067) is exceeded, the output current is no longer reduced. The drive is switched off
when the overcurrent limits are exceeded.
Note
p1341 = 0:
I_max frequency controller deactivated and I_max voltage controller activated over the complete speed range.
p1341[0...n] I_max frequency controller integral time / I_max_ctrl Tn

state:
0.000 [s] 50.000 [s] 0.300 [s]
Description: Sets the integral time for the I_max frequency controller.
See also: p1340
Note
When p1341 = 0, the current limiting controller influencing the frequency is deactivated and only the current limiting
controller influencing the output voltage remains active (p1345, p1346).
r1343 I_max controller frequency output / I_max_ctrl f_outp

Description: Displays the effective frequency limit.
See also: p1340
r1344 I_max controller voltage output / I_max_ctrl U_outp

Description: Displays the amount by which the converter output voltage is reduced.

Parameter
See also: p1340
p1345[0...n] I_max voltage controller proportional gain / I_max_U_ctrl Kp

state:
0.000 100000.000 0.000
Description: Sets the proportional gain for the I_max voltage controller.
See also: p1340
Note
The controller settings are also used in the current controller of the DC braking (refer to p1232).
p1346[0...n] I_max voltage controller integral time / I_max_U_ctrl Tn

state:
0.000 [s] 50.000 [s] 0.030 [s]
Description: Sets the integral time for the I_max voltage controller.
See also: p1340
Note
The controller settings are also used in the current controller of the DC braking (refer to p1232).
The integral time of the I_max voltage controller is deactivated.
r1348 U/f control Eco factor actual value / Uf Eco fac ActV

Parameter

Description: Displays the economic factor determined for optimizing motor consumption.
See also: p1335
Note
The value is only determined for operating modes with Economic (p1300 = 4, 7).
p1349[0...n] U/f mode resonance damping maximum frequency / Uf res_damp f_max

state:
0.00 [Hz] 3000.00 [Hz] 0.00 [Hz]
Description: Sets the maximum output frequency for resonance damping for U/f control.
Resonance damping is inactive above this output frequency.
Note
For p1349 = 0, the changeover limit is automatically set to 95 % of the rated motor frequency - however, to a maximum
of 45 Hz.
p1350[0...n] U/f control soft start / U/f soft start

state:
0 1 0
Description: Sets whether the voltage is continuously increased during the magnetizing phase (p1350 = 1, On) or whether it jumps
directly to the voltage boost (p1350 = 0, Off).
Value: 0: Off
1: On

Parameter
Note
The settings for this parameter have the following advantages and disadvantages:
0 = off (jump directly to voltage boost)
Advantage: Flux is established quickly -> torque is quickly available
Disadvantage: The motor can move while it is being magnetized
1 = on (voltage is continually established)
Advantage: The motor is unlikely to rotate
Disadvantage: The flux is established slower -> torque is available later
p1351[0...n] Motor holding brake starting frequency / Brake f_start

state:
Parameter group: U/f control, Motor holding brake
-300.00 [%] 300.00 [%] 0.00 [%]
Description: Sets the frequency setting value at the slip compensation output for starting up with motor holding brake.
Dependency: When setting p1351 > 0, then slip compensation is automatically activated (p1335 = 100 %).
NOTICE
Note
A value of 100% corresponds to the rated motor slip (r0330).
c1356[0...n] U/f control angular setpoint / Uf ang setpoint

Factory interconnection: Fixed value: 0.00 [°]
Description: Signal for the angular difference generation for U/f control.

Parameter
p1358[0...n] Angular difference symmetrizing actual angle / Sym act angle

state:
0 1 0
Description: Sets the dead time for the symmetrizing of the actual angle value for the differential angular generation.
The multiplier set refers to the current controller clock cycle.
r1359 Angular difference / Angular difference

Description: Displays the output of the differential angular generation.
Note
The difference between the setpoint angle, read-in in c1356 and the actual value of the U/f control delayed with p1358
is displayed.
r1369[0] Phase current actual value filtered / I_ph ActV filt

Parameter group:
Description: Displays the measured actual phase currents as peak value.
This value is averaged for display in the speed controller sampling time.
Dependency: The signal is only displayed in operating mode p1300 = 19 (U/f control with independent voltage setpoint) and is used
to control DC currents (e.g. for excitation (field) controllers).

Parameter
p1390[0...n] Vdc_min controller proportional gain (U/f) / Vdc_min_ctrl Kp

state:
0.00 100.00 0.00
Description: Sets the proportional gain for the Vdc_min controller (controller for the minimum DC link voltage).
Note
p1391[0...n] Vdc_min controller integral time (U/f) / Vdc_min_ctrl Tn

state:
0 [ms] 10000 [ms] 0 [ms]
Description: Sets the integral time for the Vdc_min controller (controller for the minimum DC link voltage).
p1392[0...n] Vdc_min controller rate time (U/f) / Vdc_min_ctr t_rate

state:
0 [ms] 1000 [ms] 0 [ms]
Description: Sets the rate time constant for the Vdc_min controller (controller for the minimum DC link voltage).

Parameter
p1393[0...n] Vdc_min controller proportional gain / Vdc_min_ctrl Kp

state:
0.00 100.00 1.00
Description: Sets the proportional gain for the controller of the minimum DC link voltage (Vdc_min controller).
Dependency: The effective proportional gain is obtained taking into account p1243 (Vdc_max controller dynamic factor).
Note
p1394[0...n] Vdc_min controller integral time / Vdc_min_ctrl Tn

state:
0 [ms] 10000 [ms] 0 [ms]
Description: Sets the integral time for the controller of the minimum DC link voltage (Vdc_min controller).
Dependency: The effective integral time can be determined using p1243 (Vdc controller dynamic factor).
Note
An integral time is normally not required for single axis drives. For multi-axis drives on the other hand, it may be possible
to compensate for interference from other axes using the integral time (integral component) .
p1251 = 0: The integral component is deactivated.
p1395[0...n] Vdc_min controller rate time / Vdc_min_ctr t_rate

state:
0 [ms] 1000 [ms] 0 [ms]

Parameter
Description: Sets the rate time constant for the controller of the minimum DC link voltage (Vdc_min controller).
Dependency: The active derivative-action time can be determined using p1243 (Vdc controller dynamic factor).
p1400[0...n].0...31 Speed control configuration / n_ctrl config

state:
Parameter group: Torque setpoints, Torque limiting, Speed actual value filter, Acceleration model,
Speed setpoint filter
- - 0000 0000 0000 0000 1000 0000 0010
0001 bin
Description: Sets the configuration for the closed-loop speed control.
00 Automatic Kp/Tn adaptation active Yes No
01 Sensorless vector control freeze I comp Yes No
02 Acceleration precontrol signal source External (p1495) Internal (n_set)
03 Reference model speed setpoint I component On Off
05 Kp/Tn adaptation active Yes No
06 Free Tn adaptation active Yes No
07 Interpolation speed precontrol Yes No
10 Speed precontrol Yes No
14 Torque precontrol Always active For n_ctrl enab
15 Sensorless vector control speed precontrol Yes No
16 I component for limiting Enable Hold
18 Moment of inertia estimator active Yes No
20 Acceleration model On Off
22 Obtain moment of inertia estimator value for pulse inhibit Yes No
23 Acceleration model (with speed encoder) Yes No
24 Moment of inertia estimator fast estimation active Yes No
25 Accelerating torque instantaneous in the I/f mode Yes No
27 Load gearbox, take into account torque limit No Yes
30 Diagnostic mode SDC/DDC Yes No
31 Standard Drive Control Yes No

Parameter
Note
For bit 01:
When the bit is set, the I component of the speed controller is kept when changing into the open-loop controlled mode.
For bit 10:
The change to the bit is only accepted when switched off (non-operational).
For bit 16:
When the bit is set, the integral component of the speed controller is only held if it reaches the torque limit.
For bits 20, 23:
The acceleration model for the speed setpoint is only active if p1496 is not zero. When the acceleration model and the
ramp-function generator (p1145) are simultaneously activated, it is recommended that p1400 bit 16 is set (this allows
the I component to run freely up to the torque limit).
For bit 24:
When the bit is set, assuming that the motor accelerates smoothly, the moment of inertia can be determined faster.
For bit 25:
When the bit is set, for high dynamic starting in the I/f mode, the acceleration precontrol torque smoothing only has a
short minimum time (4 ms).
For bit 27:
When the bit is set, the torque limit of an existing load gearbox is not taken into account in the resulting torque limiting.
For bit 30 (only for induction motors):
When p0504 is set = 0, the Standard Drive Control or Dynamic Drive Control operating mode is kept if commissioning
has already been completed with one of these operating modes (r3925.0 = 1).
The Standard Drive Control operating mode is activated (p0504 = 1).
p1401[0...n].0...30 Flux control configuration / Flux ctrl config

state:
Parameter group: Flux setpoint, Power loss optimization
- - 0000 0000 0000 0000 0000 0000 0000
1110 bin
Description: Sets the configuration for flux setpoint control
00 Flux setpoint soft starting active Yes No
01 Flux setpoint differentiation active Yes No
02 Flux build-up control active Yes No
03 Flux characteristic load-dependent Yes No
06 Quick magnetizing Yes No
07 Precontrol speed limitation Yes No
08 Speed limiting controller With M_limits With I_limits
09 Dynamic load-dependent flux boost Yes No
10 Flux boost low speed Yes No
13 Precontrol characteristic (PESM) Yes No
14 Efficiency optimization active Yes No
15 Flux monitoring controlled operation (stall detection) inactive Yes No
16 Loss braking for OFF1/3 active (ASM) Yes No

Parameter
30 Speed-dependent flux (parabolic characteristic) Yes No
Note
Initially, the flux is only established with a low rate of rise when magnetizing the induction motor. The flux setpoint
p1570 is reached again at the end of the magnetizing time p0346.
The flux differentiation can be switched out if a significant ripple occurs in the field-generating current setpoint (r0075)
when entering the field weakening range. However, this is not suitable for fast acceleration operations because then, the
flux decays more slowly and the voltage limiting responds.
The flux build-up control operates during the magnetizing phase p0346 of the induction motor. If it is switched out, a
constant current setpoint is injected and the flux is built up corresponding to the rotor time constant. When quick
magnetizing (p1401.6 = 1) is selected and when flux build-up control is de-energized alarm A07416 is displayed.
For bit 03:
Synchronous-reluctance motor (RESM): activation of the load-dependent optimum flux characteristic.
For bit 06 (not for induction motors):
Magnetizing is carried out with the maximum current (0.9 * r0067 <= p0644 * r0207). Magnetization has been
completed if the flux threshold value p1573 or the magnetizing time p0346 has been reached. With active
identification of the stator resistance (see p0621) quick magnetizing is internally deactivated and alarm A07416 is
displayed. During a flying restart of a rotating motor (see p1200) no quick magnetizing takes place.
For bit 07:
If the speed of the drive exceeds the effective speed limit of the speed limiting controller, the torque limit is reduced
linearly to zero as the deviation becomes greater. This reduces the integral component of the speed controller and, in
turn, the overshoot during load shedding (see also F07901 and p2162).
For bit 08:
The speed limiting controller sets the maximum speed by opening the torque limits as far as the current limits (bit 8 =
0) or taking the torque limits into account (bit 8 = 1).
For bit 09:
Synchronous reluctance motor (RESM):
Dynamic increase in the flux setpoint when torque is quickly established.
For bit 10:
For load-dependent optimum flux characteristic (p1401.3 = 1) the flux setpoint is increased at low speeds.
Flux boost at low speeds is not effective when using an encoder - or for encoderless operation with HF signal injection
(p1750.5).
For bit 13:
PESM: Activation of the load-dependent precontrol characteristic
When the function is activated, the following applies:
- The optimum flux is calculated and the power loss is entered for optimization purposes
It only makes sense to activate this function if the dynamic response requirements of the speed controller are low.
In order to avoid oscillations, if required, the speed controller parameters should be adapted (increase Tn, reduce Kp).
Further, the smoothing time of the flux setpoint filter (p1582) should be increased.
When the function is activated, in the case of OFF1 or OFF3, the motor losses are increased (see p1559) to speed up
braking.
p1402[0...n].0...30 Closed-loop current control and motor model configuration / I_ctrl config
state:
Parameter group: Current controller, Motor model

Parameter

- - 0000 0000 0000 0000 0100 0000 0000
0001 bin
Description: Sets the configuration for the closed-loop control and the motor model.
00 Speed-following error correction active Yes No
02 Current controller adaptation active Yes No
09 d current controller adaptation active Yes No
10 d-current controller adaptation model-based Yes No
11 Ldiq/dt precontrol model at the voltage limit Yes No
12 q-current controller adaptation model-based Yes No
13 Current controller decoupling filter Yes No
14 Torque display without friction characteristic Yes No
15 Current controller precontrol active for Vdc controller oper. Yes No
30 After the overload, ramp-up/ramp-down at the current limit Yes No
Note
For bit 00:
When the bit is set, the speed following error is compensated that is obtained as a result of the smoothing time constant
in p1441.
For bit 02:
The current controller adaptation (p0391 ... p0393) is only calculated when the bit is set.
For bit 11:
Model for the dynamic voltage precontrol Ldi/dt of the q current controller when reaching the voltage limit with the I
component held (see p0500 = 4).
For bit 12:
The model-based d-current controller adaptation is only active if the complete flux model is available. (r1751.22)
For bit 13 (only permanent-magnet synchronous motor):
Operation in the field weakening range is stabilized when the bit is set.
For bit 14:
When the friction characteristic is activated, the friction is subtracted from the torque display r0080, and then
corresponds to the indication of the setpoint torque r0079.
For bit 15:
For DC link voltage control (see function diagram 7960) the dynamic current controller precontrol is activated (scalable
using p1702, p1703).
For bit 30: only active for Standard Drive Control.
r1406.4...15 Control word speed controller / STW n_ctrl

Parameter group: Torque setpoints, Speed controller, Torque limiting, Speed actual value filter,
Control/status words, Setpoint addition, Speed setpoint filter
Description: Display and signal source for the control word of the speed controller.
04 Hold speed controller I component Yes No
05 Set speed controller I component Yes No
08 Travel to fixed stop active Yes No

Parameter
11 Droop enable Yes No

15 Set speed adaptation controller I component Yes No
Note
For bit 12:
The signal from c1501 is displayed.
r1407.0...31 Status word speed controller / ZSW n_ctrl

Parameter group: Torque setpoints, U/f control, Torque limiting, Speed actual value filter, Control/
status words, Acceleration model, Setpoint addition, Speed setpoint filter
Description: Display and signal source for the status word of the speed controller.
00 U/f control active Yes No
01 Encoderless operation active Yes No
03 Speed control active Yes No
05 Speed controller I component frozen Yes No
06 Speed controller I component set Yes No
07 Torque limit reached Yes No
08 Upper torque limit active Yes No
09 Lower torque limit active Yes No
10 Droop enabled Yes No
11 Speed setpoint limited Yes No
12 Ramp-function generator set Yes No
13 Encoderless operation due to a fault Yes No
14 I/f control active Yes No
15 Torque limit reached (without precontrol) Yes No
16 Encoderless open-loop controlled operation not active Yes No
17 Speed limiting control active Yes No
23 Acceleration model activated Yes No
24 Moment of inertia estimator active Yes No
25 Load estimate active Yes No
26 Moment of inertia estimator stabilized Yes No
27 Moment of inertia estimator fast estimation active Yes No
31 Standard Drive Control active Yes No

Parameter
r1408.0...31 Status word current controller / ZSW I_ctrl

Parameter group: Current controller, Motor model, Control/status words, Messages / Monitoring
Description: Display and signal source for the status word of the current controller.
00 Current controller active Yes No
01 Id control I component limiting active Yes No
03 Voltage limiting active Yes No
08 iq limiting active Yes No
10 Speed adaptation limiting active Yes No
11 Speed adaptation speed deviation Out tolerance In tolerance
12 Motor stalled Yes No
16 Current limit active Yes No
17 Torque limit active Yes No
18 Power limit active Yes No
19 Stall limit active Yes No
31 Standard Drive Control active Yes No
p1416[0...n] Speed setpoint filter 1 time constant / n_set_filt 1 Tc

state:
Parameter group: Speed setpoint filter
0.00 [ms] 5000.00 [ms] 0.00 [ms]
Description: Sets the time constant for the speed setpoint filter 1 (PT1).
p1428[0...n] Speed precontrol symmetrizing dead time / n_prectrSym t_dead

state:
Parameter group: Acceleration model, Speed setpoint filter

Parameter

0.0 3.0 0.0
Description: Sets the dead time to symmetrize the speed setpoint for active torque precontrol.
The set multiplier refers to the sampling time of the speed controller.
Dependency: In conjunction with p1429, this parameter can emulate the characteristics of how the torque is established (dynamic
response of closed current control loop).
The parameter is only effective if the acceleration model is supplied using external acceleration signals (p1400.2 = 1).
For p1400.2 = 0, a fixed dead time is used.
See also: p1429, c1511
p1429[0...n] Speed precontrol symmetrizing time constant / n_prectrl sym Tc

state:
Parameter group: Acceleration model, Speed setpoint filter
0.00 [ms] 10000.00 [ms] 0.00 [ms]
Description: Sets the time constant (PT1) for symmetrizing the speed setpoint for active torque precontrol.
Dependency: In conjunction with p1428, this parameter can emulate the characteristics of how torque is established (dynamic
response of the closed current control loop).
The parameter is only effective if the acceleration model is supplied using external acceleration signals (p1400.2 = 1).
For p1400.2 = 0, time constant p1442 (or p1452 for sensorless vector control) is used.
See also: p1428, c1511
c1430[0...n] Speed precontrol / n_prectrl

Description: Signal for the speed precontrol channel (speed precontrol or torque precontrol).
NOTICE
Note
The precontrol signal via this numerical signal sink is only active for p1400.10 = 1.

Parameter
r1432[0...1] Speed precontrol / n_prectrl

Description: Display and numerical signal source for the speed precontrol.
For index [0]:
Displays the speed precontrol value after symmetrizing to establish the torque.
For index [1]:
Displays the speed precontrol value of the signal source c1430 after the interpolator (p1400.7).
Index: [0] = After symmetrization
[1] = After interpolator
Dependency: Symmetrizing can be parameterized with p1428 and/or p1429.
p1433[0...n] Speed controller reference model natural frequency / n_ctrl RefMod fn

state:
Parameter group: Speed controller
0.00 [Hz] 8000.00 [Hz] 0.00 [Hz]
Description: Sets the natural frequency of a PT2 element for the reference model of the speed controller.
Recommendation: The reference model is correctly set when the characteristics of r1439 (reference model output) and r1445 (speed
actual value) are almost identical when the I component of the speed controller is deactivated.
Dependency: Together with p1434 and p1435, the characteristics (in the time domain) of the closed-loop speed control (P) can be
emulated.
The reference model is activated with p1400.3 = 1. For sensorless vector control (p1300 = 20) the reference model is
disabled in open-loop speed controlled operation (refer to p1755).
p1434[0...n] Speed controller reference model damping / n_ctrl RefMod D

state:

Parameter

0.000 5.000 1.000
Description: Sets the damping of a PT2 element for the reference model of the speed controller.
Dependency: In conjunction with p1433 and p1435, the characteristics (in time) of the P-controlled speed control loop can be
emulated.
The reference model is activated with p1400.3 = 1.
p1435[0...n] Speed controller reference model dead time / n_ctrRefMod t_dead

state:
0.00 3.00 0.00
Description: Sets the "fractional" dead time for the reference model of the speed controller.
This parameter emulates the computing dead time of the proportionally controlled speed control loop.
The multiplier that has been set refers to the speed controller sampling time.
Dependency: In conjunction with p1433 and p1434, the characteristics (in time) of the P-controlled speed control loop can be
emulated.
The reference model is activated with p1400.3 = 1.
r1436 Speed controller reference model speed setpoint output / RefMod n_set outp
Description: Display and numerical signal source for the speed setpoint at the output of the reference model.
Dependency: The reference model is activated with p1400.3 = 1.

Parameter
c1437[0...n] Speed controller reference model I component input / n_ctrRefMod I_comp

Description: Signal for the speed setpoint for the integral component of the speed controller.
Dependency: The reference model is activated with p1400.3 = 1.
See also: p1400
NOTICE
In should be ensured that a speed setpoint is selected as signal source that corresponds to the setpoint for the P
component of the speed controller.
r1438 Speed controller speed setpoint / n_ctrl n_set

Parameter group: Speed controller, Speed setpoint filter
Description: Display and numerical signal source of the speed setpoint after setpoint limiting for the P component of the speed
controller.
For U/f operation, the value that is displayed is of no relevance.
See also: r0020, r1439
Note
In the standard state (the reference model is deactivated), r1438 = r1439.
The speed setpoint is available smoothed (r0020) and unsmoothed (r1438).
r1439 Speed setpoint I component / n_set I_comp

Description: Displays the speed setpoint for the I component of the speed controller (output of the reference model after the
setpoint limiting).
See also: r1438

Parameter
Note
In the standard state (the reference model is deactivated), r1438 = r1439.
c1440[0...n] Speed controller speed actual value input / n_ctrl n_act

Parameter group: Speed controller, Speed actual value filter
Description: Signal for the speed actual value of the speed controller.
See also: r1443
DANGER
When using external speed actual values for the speed controller, for a direction of rotation change via p1821 = 1, then
its polarity must also be changed (e.g. for an encoder DO via p0410). Otherwise, a positive coupling can occur in the
speed control loop and the drive would then be accelerated up to the speed limit.
CAUTION
Speed control with encoder (p1300 = 21):
For the speed or position signal of the motor model there must always be a motor encoder available (evaluation via SMC/
SMI, see p0400). The actual motor speed (r0061) and the position data for synchronous motors continue to come from
this motor encoder, and are not affected by the setting in c1440.
Interconnecting c1440:
If this numerical signal source is interconnected with an external speed actual value, it should be observed that the
speed is scaled precisely the same (p2000).
NOTICE
If the speed signal is made available via blocks which can be interconnected freely, its sampling time should not exceed
that of the closed-loop speed controller and the calculation "BEFORE speed controller" should be performed. in order
that for a motor speed encoder fault, a changeover can be made to encoderless operation (see p0491), the speed
signal, if it is derived from its own motor speed encoder, must be used from r0063 and not from r0061.
Speed control without encoder (p1300 = 20):
Dependent upon the transmission path of the external speed signal there will be dead times which have to be taken into
account when setting the speed controller parameters (p1470, p1472) and can lead to dynamic losses accordingly. It
is for this reason that signal transmission times have to be kept as low as possible.
So that the speed controller can also work at standstill, set p1750.2 = 1 (closed-loop operation from zero speed for
passive loads). If you do not make this setting, operation will switch to open-loop speed control in the low speed range,
switching the closed-loop speed controller off and rendering the measured actual speed ineffective.
Note
Speed control with encoder (p1300 = 21):
An external speed signal should, on the average, correspond to the speed of the motor encoder (r0061).

Parameter
p1441[0...n] Actual speed smoothing time / n_act t_smth

state:
0.00 [ms] 1000.00 [ms] 0.00 [ms]
Description: Sets the smoothing time constant (PT1) for the speed actual value.
See also: r0063
NOTICE
Smoothing times above 20 ms are only possible if the drive is accelerated or braked with the appropriately long ramp-
up/ramp-down times. Otherwise, significant torque errors can occur and there is the danger that the drive is switched
off (tripped) with F07902 (motor stalled).
Note
The speed actual value should be smoothed for encoders with a low pulse number or for resolvers.
After this parameter has been changed, we recommend that the speed controller is adapted and/or the speed controller
settings checked Kp (p1460) and Tn (p1462).
p1442[0...n] Speed controller speed actual value smoothing time / n_ctr n_act t_smth
state:
Parameter group: Speed controller, Speed actual value filter, Rotating measurement/speed controller
optimization
0.00 [ms] 32000.00 [ms] 4.00 [ms]
Description: Sets the smoothing time for the speed actual value of the speed controller for closed-loop control with encoder.
Note
The smoothing must be increased if there is gear backlash. For longer smoothing times, the integral time of the speed
controller must also be increased.

Parameter
r1443 Speed controller speed actual value at actual value input / n_ctrl n_act inp
Description: Displays the speed actual value at the actual value input c1440 of the speed controller that can be freely wired.
See also: c1440
Note
This speed signal is only used by the speed controller and not by the motor model.
r1444 Speed controller speed setpoint steady-state (static) / n_ctrl n_set stat
Description: Displays the sum of all speed setpoints that are present.
The following sources are available for the displayed setpoint:
- Setpoint at the ramp-function generator input (r1119).
- Speed setpoint 1 (c1155).
- Speed setpoint 2 (c1160).
- Speed setpoint for speed precontrol (c1430).
- Setpoint via PC (for master control active).
See also: r1119, c1155, c1160, c1430
r1445 Speed controller actual speed smoothed / n_act smth

Description: Display and numerical signal source for the actual smoothed speed actual value of the speed control.

Parameter
p1452[0...n] Speed controller speed actual value smoothing time (sensorless) / n_C n_ActV t_s sl
state:
Parameter group: Speed controller, Speed actual value filter, Rotating measurement/speed controller
optimization
0.00 [ms] 32000.00 [ms] 10.00 [ms]
Description: Sets the smoothing time for the speed actual value of the speed controller for encoderless closed-loop speed control.
Note
The smoothing must be increased if there is gear backlash. For longer smoothing times, the integral time of the speed
controller must also be increased.
r1454 Speed controller system deviation I component / n_ctrl SysDev Tn

Description: Display and numerical signal source for the system deviation of the I component of the speed controller.
When the reference model is inactive (p1433 = 0 Hz), this parameter corresponds to the system deviation of the
complete PI controller (r1454 = r0064).
c1455[0...n] Speed controller P gain adaptation signal / n_ctrl adpt_sig Kp

Description: Signal for the additional adaptation of the P gain of the speed controller.
See also: p1456, p1457, p1458, p1459

Parameter
p1456[0...n] Speed controller P gain adaptation lower starting point / n_ctrl adpt Kp low
state:
0.00 [%] 400.00 [%] 0.00 [%]
Description: Sets the lower starting point of the adaptation range for the additional adaptation of the P gain of the speed controller.
The values are in % and refer to the set source of the adaptation signal.
See also: c1455, p1457, p1458, p1459
Note
If the upper transition point p1457 of the speed controller adaptation is set to lower values than the lower transition
p1456, then the controller gain below p1457 is adapted with p1459 and above p1456, with p1458.
p1457[0...n] Speed controller P gain adaptation upper starting point / n_ctrl adpt Kp up
state:
0.00 [%] 400.00 [%] 0.00 [%]
Description: Sets the upper starting point of the adaptation range for the additional adaptation of the P gain of the speed controller.
The values are in % and refer to the set source of the adaptation signal.
See also: c1455, p1456, p1458, p1459
Note
p1458[0...n] Adaptation factor lower / Adapt_factor lower

state:

Parameter

0.0 [%] 200000.0 [%] 100.0 [%]
Description: Sets the adaptation factor before the adaptation range (0 % ... p1456) to additionally adapt the P gain of the speed/
velocity controller.
See also: c1455, p1456, p1457, p1459
Note
p1459[0...n] Adaptation factor upper / Adapt_factor upper

state:
0.0 [%] 200000.0 [%] 100.0 [%]
Description: Sets the adaptation factor after the adaptation range (> p1457) to additionally adapt the P gain of the speed/velocity
controller.
See also: c1455, p1456, p1457, p1458
Note
p1460[0...n] Speed controller P gain / n_ctrl Kp

state:
Parameter group: Speed controller, Rotating measurement/speed controller optimization
0.00 999999.00 0.30
Description: Sets the P gain of the speed controller before the adaptation speed range (0 ... p1464).
This value corresponds to the basic setting of the P gain of the speed controller without adaptation (p1461 = 100 %).
See also: p1461, p1464, p1465

Parameter
Note
The value is scaled to the ratio between 60 x r0333 and p0311 [Nms].
With a Kp value of 1.0, for a system deviation that corresponds to the rated motor speed (p0311), a P component
corresponding to the rated motor torque (r0333) is generated.
p1461[0...n] Speed controller Kp adaptation speed upper scaling / n_ctr Kp n up scal

state:
0.0 [%] 200000.0 [%] 100.0 [%]
Description: Sets the P gain of the speed controller for the upper adaptation speed range (> p1465).
The entry is made referred to the P gain for the lower adaptation speed range of the speed controller (% referred to
p1460, p1470).
See also: p1460, p1464, p1465
Note
p1464, then the controller gain below p1465 is adapted with p1461. This means that an adaptation can be implemented
for low speeds without having to change the controller parameters.
p1462[0...n] Speed controller integral time / n_ctrl Tn

state:
0.00 [ms] 100000.00 [ms] 20.00 [ms]
Description: Sets the integration time of the speed controller before the adaptation speed range (0 ... p1464).
This value corresponds to the basic setting of the integral time of the speed controller without adaptation (p1461 = 100
%).
See also: p1463, p1464, p1465
Note
The integral component is stopped if the complete controller output or the sum of controller output and torque
precontrol reach the torque limit.

Parameter
p1463[0...n] Speed controller Tn adaptation speed upper scaling / n_ctr Tn n up scal

state:
0.0 [%] 200000.0 [%] 100.0 [%]
Description: Sets the integral time of the speed controller after the adaptation speed range (> p1465).
The entry is made referred to the integral time for the lower adaptation speed range of the speed controller (% referred
to p1462, p1472).
See also: p1462, p1464, p1465
Note
point p1464, then the controller integral time below p1465 is adapted with p1463. This means that an adaptation can
be implemented for low speeds without having to change the controller parameters.
p1464[0...n] Speed controller adaptation speed lower / n_ctrl n lower

state:
0.00 [rpm] 210000.00 [rpm] 0.00 [rpm]
Description: Sets the lower adaptation speed of the speed controller.
No adaptation is effective below this speed.
Dependency: The parameter is set by the speed controller optimization. Adaptation to the application should then be subsequently
made.
See also: p1460, p1461, p1462, p1463, p1465
Note
point p1464, then the controller below p1465 is adapted with p1461 or p1463. This means that an adaptation can be
implemented for low speeds without having to change the controller parameters.

Parameter
p1465[0...n] Speed controller adaptation speed upper / n_ctrl n upper

state:
0.00 [rpm] 210000.00 [rpm] 210000.00 [rpm]
Description: Sets the upper adaptation speed of the speed controller.
No adaptation is effective above this speed.
For the proportional gain, p1460 (p1470) x p1461 is effective.
For the integral time, p1462 (p1472) x p1463 is effective.
Dependency: The parameter is set by the speed controller optimization. Adaptation to the application should then be subsequently
made.
See also: p1460, p1461, p1462, p1463, p1464
Note
point p1464, then the controller below p1465 is adapted with p1461 or p1463. This means that an adaptation can be
implemented for low speeds without having to change the controller parameters.
c1466[0...n] Speed controller P gain scaling / n_ctrl Kp scal

Description: Signal to scale the P gain of the speed controller.
This also makes the effective P gain (including adaptations) scalable.
r1468 Speed controller P gain effective / n_ctrl Kp eff

Description: Displays the effective P gain of the speed controller.

Parameter
Dependency: The value of this numerical signal source is increased to improve the resolution by a factor of 100.
r1469 Speed controller integral time effective / n_ctrl Tn eff

Description: Displays the effective integral time of the speed controller.
p1470[0...n] Speed controller encoderless operation P gain / n_ctrl SL Kp

state:
0.00 999999.00 0.30
Description: Sets the P gain for encoderless operation for the speed controller.
Note
Product p0341 x p0342 is taken into account when automatically calculating the speed controller.
The value is scaled to the ratio between 60 x r0333 and p0311 [Nms].
With a Kp value of 1.0, for a system deviation that corresponds to the rated motor speed (p0311), a P component
corresponding to the rated motor torque (r0333) is generated.
p1472[0...n] Speed controller encoderless operation integral time / n_ctrl SL Tn

state:
0.0 [ms] 100000.0 [ms] 20.0 [ms]
Description: Set the integral time for encoderless operation for the speed controller.

Parameter
Note
The integral component is stopped if the complete controller output or the sum of controller output and torque
precontrol reach the torque limit.
c1475[0...n] Speed controller torque setting value for motor holding brake / n_ctrl M_sv MHB
Parameter group: Speed controller, Motor holding brake
Factory interconnection: Fixed value: 0.00 [Nm]
Description: Signal for the torque setting value when starting with motor holding brake.
Recommendation: The offset for the torque limiting p1532 can be used as torque setting value.
Sensorless vector control:
To hold the actual torque when stopping the motor, you are advised to set p1400.1 = 1. As a result, the integral
component of the speed controller is frozen when changing to the open-loop controlled operating range.
Dependency: Switching in the torque setting value for the motor holding brake has a higher priority than setting the integrator value
using c1477 and c1478.
Note
The setting of the integral output of the speed controller begins after magnetizing (see p0346, r0056.4) and ends at the
end of the brake control opening time p1216.
A setting value of zero means that no setting procedure will take place.
c1476[0...n] Speed controller hold integrator / n_ctrl integ stop

Description: Signal to hold the integrator for the speed controller.
c1477[0...n] Speed controller set integrator value / n_ctrl integ set


Parameter

Description: Signal to set the integrator setting value (c1478).
See also: c1478, c1479
NOTICE
c1478[0...n] Speed controller integrator setting value / n_ctr integ_setVal

Description: Signal for the integrator setting value for the speed controller.
The signal to set this integrator setting value is interconnected via c1477.
Dependency: The setting value of the speed controller integrator is weighted with the scaling factor of the signal source c1479.
If c1478 is interconnected to the integral output of the speed controller (r1482), the integral component of the
controller is set to the last value before the pulse inhibit after the magnetizing time (p0346) and when the speed
controller is enabled. This value is set if no setting command (c1477) is interconnected or, at the instant that the pulses
were inhibited, a setting command is active, and is not deactivated up to the next time that the pulses are enabled. For
sensorless vector control, in addition p1400.1 should be set to 1 so that when the drive is stopped, the integral
component of the speed controller is not controlled down to zero.
In order that when setting the integrator output, only the static torque is detected, we recommend that the accelerating
torque is completely precontrolled (e.g. p1496).
If c1478 is interconnected to an output other than r1482, then after magnetizing and speed controller enable, the
integral output is also set once if the setting command is not interconnected (c1477 = 0).
NOTICE
c1479[0...n] Speed controller integrator setting value scaling / n_ctrl I_val scal
Description: Signal for scaling the integrator setting value (c1478) of the speed controller.

Parameter
r1480 Speed controller PI torque output / n_ctrl PI-M_outp

Parameter group: Torque setpoints, Speed controller
Description: Display and numerical signal source for the torque setpoint at the output of the PI speed controller.
Note
For encoderless vector control, the speed controller already operates in the open-loop speed controlled operating range.
r1481 Speed controller P torque output / n_ctrl P-M_outp

Description: Display and numerical signal source for the torque setpoint at the output of the P speed controller.
r1482 Speed controller I torque output / n_ctrl I-M_outp

Description: Display and numerical signal source for the torque setpoint at the output of the I speed controller.
c1486[0...n] Droop compensation torque / Droop M_comp


Parameter
Description: Signal for the compensation torque within the droop calculation.
This parameter should be interconnected with the torque setpoint of the drive (corresponding to the selection p1488),
with which load equalization should be performed.
p1487[0...n] Droop compensation torque scaling / Droop M_comp scal

state:
-2000.0 [%] 2000.0 [%] 100.0 [%]
Description: Sets the scaling for the compensation torque within the droop calculation.
p1488[0...n] Droop input selection / Droop input

state:
0 3 0
Description: Selection of the input signal of the droop feedback.
With increasing torque, the speed setpoint is reduced (enabled using c1492), so that for mechanically coupled drives
a load equalization (load compensation) is set.
Load difference compensation is also possible if c1486 is interconnected with the torque setpoint of the other drive.
Value: 0: Droop feedback not connected
1: Droop from torque setpoint
2: Droop from speed controller output
3: Droop from integral output speed controller
See also: c1486, p1487, p1489, r1490, c1492
CAUTION
For active acceleration precontrol of the speed controller (refer to p1496), it is not recommended that p1488 is set to
1, as this could result in positive coupling effects. Instead of this, the output signal of the speed controller should be
used as input signal for the droop feedback, which generally sets the load torque.

Parameter
p1489[0...n] Droop feedback scaling / Droop scal

state:
0.000 0.500 0.050
Description: Sets the scaling for the droop feedback
See also: c1486, p1487, p1488, r1490, c1492
Note
Example:
A value of 0.05 means that for a torque equal to the rated motor torque, the rated motor speed is reduced by 5 %.
r1490 Droop feedback speed reduction / Droop n_reduction

Description: Displays the output signal of the droop calculation. When activated (c1492), the droop feedback result is subtracted
from the speed setpoint.
See also: c1486, p1487, p1488, p1489, c1492
c1492[0...n] Droop feedback enable / Droop enable

Description: Signal to enable the droop to be applied to the speed/velocity setpoint.
See also: c1486, p1487, p1488, p1489, r1490
Note
Even when not enabled, the droop speed is calculated but not subtracted from the setpoint speed. This makes it possible
to subtract the result of this calculation from the speed of another drive.

Parameter
r1493 Moment of inertia total, scaled / M_inert tot scal

Parameter group: Acceleration model
Description: Display and numerical signal source for the parameterized total moment of inertia.
The value is calculated as follows: (p0341 * p0342) * p1496 * p0306.
The scaling using c1497 is not taken into account.
c1495[0...n] Acceleration precontrol / a_prectrl

Factory interconnection: Fixed value: 0.00 [rev/s²]
Description: Signal for the acceleration precontrol.
Dependency: The signal source for the acceleration is activated with p1400.2 = 1.
For p1400.2 = 0, the acceleration precontrol is calculated from the speed setpoint change from r0062.
For p1400.2 = 0 and activate reference model (p1400.3 = 1) the acceleration precontrol is switched out.
Note
If the acceleration is entered as external signal, then the accelerating torque is calculated as follows (r1518):
r1518 = acceleration (% of p2007) / 100 % * (p2007 * 60 s) / p0311 * r0345 / 1 s * r0333
or
r1518 = acceleration (1/s*s) * 2 * Pi * r1493
p1496[0...n] Acceleration precontrol scaling / a_prectrl scal

state:
Parameter group: Acceleration model, Rotating measurement/speed controller optimization
0.0 [%] 10000.0 [%] 0.0 [%]
Description: Sets the scaling for the acceleration precontrol of the speed/velocity controller.

Parameter
Dependency: When the reference model is activated (p1400.3 = 1) and for an internal acceleration precontrol (p1400.2 = 0), the
acceleration precontrol is switched out (disabled). The reference model (p1400.3 = 1) and external acceleration
precontrol (p1400.2 = 1) can be operated together.
WARNING
The acceleration precontrol r1518 is kept at the old value if the ramp-function generator tracking (r1199.5) is active or
the ramp-function generator output is set (r1199.3). This is used to avoid torque peaks. Depending on the application,
it may therefore be necessary to disable the ramp-function generator tracking (p1145 = 0) or the acceleration
precontrol (p1496 = 0).
The acceleration precontrol is set to zero, if the Vdc control is active (r0056.14/15).
Note
The parameter is set to 100% by the rotating measurement (refer to p1960).
The acceleration precontrol may not be used if the speed setpoint manifests significant ripple (e.g. analog setpoint) and
the rounding-off in the speed ramp-function generator is disabled.
We also recommend that the precontrol mode is not used if there is gearbox backlash.
c1497[0...n] Moment of inertia scaling / M_mom inert scal

Description: Signal to scale the motor moment of inertia.
p1498[0...n] Load moment of inertia / Load m_inert

state:
0.00000 [kgm²] 100000.00000 [kgm²] 0.00000 [kgm²]
Description: Sets the load moment of inertia.
Note
(p0341 * p0342) + p1498 influence the speed/torque precontrol (active in encoderless operation or for p1402.4 = 1).

Parameter
p1499[0...n] Accelerating for torque control scaling / a for M_ctrl scal

state:
0.0 [%] 400.0 [%] 100.0 [%]
Description: Sets the scaling for the acceleration integrator at low speeds (only for encoderless torque control).
c1501[0...n] Change over between closed-loop speed/torque control / Chgov n/M_ctrl

Parameter group: Torque setpoints
Description: Signal to toggle between speed and torque control.
0 signal: Closed-loop speed control
1 signal: Closed-loop torque control
Dependency: The numerical signal sources to enter the torque are c1511, c1512 and c1513.
See also: p1300
NOTICE
If closed-loop torque control is not activated (p1300), and a switch is made to closed-loop torque control (c1501), OFF1
(c0840) does not have its own braking response; however, pulse cancellation when standstill is detected (p1226,
p1227).
Note
c1502[0...n] Freeze moment of inertia estimator / J_estimator freeze


Parameter
Description: Signal to freeze the estimated moment of inertia.

0 signal:
Moment of inertia estimator active
1 signal:
Determined moment of inertia frozen.
See also: p1300
Note
Only active when function "Moment of inertia estimator" is active and p1400.18 =1.
For operation with encoder, p1400.23 must also be set to 1.
c1503[0...n] Torque setpoint / M_set

Description: Signal for the torque setpoint of the torque control.
Note
A change is made to closed-loop torque control if, in p1300, closed-loop torque control was selected or if the selection
was made using switchover c1501.
It is also possible to switch over using c1501 in operation.
r1508 Torque setpoint before supplementary torque / M_set bef M_suppl

Description: Displays the torque setpoint before entering the supplementary torque.
For closed-loop speed control, r1508 corresponds to the speed controller output; for closed-loop torque control, r1508
corresponds to the torque setpoint of the signal source assigned in c1503.

Parameter
c1511[0...n] Supplementary torque 1 / M_suppl 1

Description: Signal for supplementary torque 1.
c1512[0...n] Supplementary torque 1 scaling / M_suppl 1 scal

Description: Signal to scale supplementary torque 1.

p1514[0...n] Supplementary torque 2 scaling / M_suppl 2 scal

state:

Parameter

-2000.0 [%] 2000.0 [%] 100.0 [%]
Description: Sets the scaling for supplementary torque 2.
r1515 Supplementary torque total / M_suppl total

Description: Displays the total supplementary torque.
The displayed value is the total of supplementary torque values 1 and 2 (c1511, c1512, c1513, p1514).
p1517[0...n] Accelerating torque smoothing time constant / M_a Tc_smth

state:
0.00 [ms] 100.00 [ms] 4.00 [ms]
Description: Sets the smoothing time constant of the accelerating torque.
Note
The acceleration precontrol is inhibited if the smoothing is set to the maximum value.
r1518[0...1] Accelerating torque / M_accel

Description: Displays the accelerating torque for precontrol of the speed controller.
[1] = Smoothed

Parameter
p1520[0...n] Torque limit upper / M_max upper

state:
Parameter group: Torque limiting
-1000000.00 [Nm] 20000000.00 [Nm] 0.00 [Nm]
Description: Sets the fixed, upper torque limit.
Dependency: See also: p1521, c1522, c1523, r1538, r1539
DANGER
Negative values when setting the upper torque limit (p1520 < 0) can result in the motor accelerating in an
uncontrollable fashion.
NOTICE
Note
The torque limit is limited to 400% of the rated motor torque. When automatically calculating the motor/closed-loop
control parameters, the torque limit is set to match the current limit (p0640).
p1521[0...n] Torque limit lower / M_max lower

state:
-20000000.00 [Nm] 1000000.00 [Nm] 0.00 [Nm]
Description: Sets the fixed, lower torque limit.
Dependency: See also: p1520, c1522, c1523, p1532
DANGER
Positive values when setting the lower torque limit (p1521 > 0) can result in the motor accelerating in an uncontrollable
fashion.
NOTICE
Note
The torque limit is limited to 400% of the rated motor torque. When automatically calculating the motor/closed-loop
control parameters, the torque limit is set to match the current limit (p0640).

Parameter
c1522[0...n] Torque limit upper / M_max upper

Description: Signal for the upper torque limit.
See also: p1520, p1521, c1523
DANGER
Negative values resulting from the signal source and scaling can cause the motor to accelerate in an uncontrolled
manner.
c1523[0...n] Torque limit lower / M_max lower

Description: Signal for the lower torque limit.
See also: p1520, p1521, c1522
DANGER
Positive values resulting from the signal source and scaling can cause the motor to accelerate in an uncontrolled
manner.
p1524[0...n] Torque limit upper scaling / M_max upper scal

state:
-2000.0 [%] 2000.0 [%] 100.0 [%]
Description: Sets the scaling for the upper torque limit.

Parameter
NOTICE
Note
This parameter can be freely interconnected.
The value has the meaning stated above if it is interconnected from numerical signal source c1528.
p1525[0...n] Torque limit lower scaling / M_max lower scal

state:
-2000.0 [%] 2000.0 [%] 100.0 [%]
Description: Sets the scaling for the lower torque limit.
NOTICE
Note
This parameter can be freely interconnected.
The value has the meaning stated above if it is interconnected from numerical signal source c1528.
r1526 Total upper torque limit / M_max upper total

Description: Display and numerical signal source for the upper torque limit of all torque limits.
See also: p1520, p1521, c1522, c1523, c1528, c1529
r1527 Total lower torque limit / M_max lower total


Parameter

Description: Display and numerical signal source for the lower torque limit of all torque limits.
See also: p1520, p1521, c1522, c1523, c1528, c1529
c1528[0...n] Torque limit upper scaling / M_max upper scal

Description: Signal for scaling the upper torque limit in c1522.
DANGER
For p1400.4 = 0 (torque limiting, upper/lower) the following applies:
Negative values resulting from the signal source and scaling can cause the motor to accelerate in an uncontrolled
manner.
NOTICE
c1529[0...n] Torque limit lower scaling / M_max lower scal

Description: Signal for scaling the lower torque limit in c1523.
DANGER
For p1400.4 = 0 (torque limiting, upper/lower) the following applies:
Positive values resulting from the signal source and scaling can cause the motor to accelerate in an uncontrolled
manner.
NOTICE

Parameter
p1530[0...n] Power limit motoring / P_max mot

state:
0.00 [kW] 100000.00 [kW] 0.00 [kW]
Description: Sets the power limit when motoring.
Note
The power limit is limited to 300% of the rated motor power.
p1531[0...n] Power limit regenerative / P_max reg

state:
-100000.00 [kW] -0.01 [kW] -0.01 [kW]
Description: Sets the regenerative power limit.
Note
The power limit is limited to 300% of the rated motor power.
For power units without regenerative feedback into the line supply, the regenerative power limit is pre-set to 30% of the
motoring power limit p1530 and in the ratio rated drive converter power to rated motor power. If a braking resistor is
connected to the DC link, then the power limit can be correspondingly increased.
p1532[0...n] Torque limit offset / M_max offset

state:

Parameter

-100000.00 [Nm] 100000.00 [Nm] 0.00 [Nm]
Description: Sets the torque offset for the torque limit.
The setting allows electronic weight equalization to be used for vertical axes.
Recommendation: The torque offset can also be used for torque precontrol or as integrator setting value for the speed controller.
See also: p1520, p1521, c1522, c1523, c1528, c1529
DANGER
If the offset is set higher/lower than the lower/upper torque limit, then the unloaded drive can accelerate up to the
maximum speed.
NOTICE
r1533 Current limit torque-generating total / Iq_max total

Description: Displays the maximum torque/force generating current as a result if all current limits.
r1534 Total upper torque limit / M_max upper total

Description: Display and numerical signal source for the upper torque limit of all torque limits.
Dependency: See also: p1520, p1521, c1522, c1523, c1528, c1529, p1532
r1535 Total lower torque limit / M_max lower total

Description: Display and numerical signal source for the lower torque limit of all torque limits.
Dependency: See also: p1520, p1521, c1522, c1523, c1528, c1529, p1532

Parameter
r1536[0...1] Torque-generating current maximum limit / Isq_max

Description: Displays the maximum limit for the torque-generating current component.
For index [0]:
The signal limited by the Vdc controller is displayed here.
Index: [0] = Limited
[1] = Unlimited
r1537[0...1] Torque-generating current minimum limit / Isq_min

Description: Displays the minimum limit for the torque-generating current component.
For index [0]:
The signal limited by the Vdc controller is displayed here.
Index: [0] = Limited
[1] = Unlimited
r1538 Upper effective torque limit / M_max upper eff

Description: Display and numerical signal source for the actual effective upper torque limit. This results from the minimum of the
converted current and power limit r1536, as well as the upper torque limit r1534.
Note
The effective upper torque limit is reduced with respect to the selected upper torque limit p1520, if the current limit
p0640 is reduced or the rated magnetizing current of the induction motor p0320 is increased.
This may be the case for rotating measurements (see p1960).

Parameter
r1539 Lower effective torque limit / M_max lower eff

Description: Display and numerical signal source for the currently effective lower torque limit. This results from the maximum of the
converted current and power limit r1537, as well as the upper torque limit r1535.
Note
The effective lower torque limit is reduced with respect to the selected lower torque limit p1521, if the current limit
p0640 is reduced or the rated magnetizing current of the induction motor p0320 is increased.
This may be the case for rotating measurements (see p1960).
c1542[0...n] Travel to fixed stop torque reduction / TfS M_red

Description: Signal for reducing torque when traversing to a fixed stop.
This value is converted into a factor and is interconnected to the scaling of the torque limits.
See also: c1528, c1529, r1543, p1544, c1545
NOTICE
The parameter may be protected as a result of a standard telegram and cannot be changed.
r1543 Travel to fixed stop torque scaling / TfS M scal

Description: Displays the internally converted factor to interconnect to the scaling of the torque/force limits.
See also: c1528, c1529, c1542, p1544, c1545

Parameter
p1544 Travel to fixed stop evaluation torque reduction / TfS M_red eval
state:
0 [%] 65535 [%] 100 [%]
Description: Sets the evaluation for the torque/force reduction when traversing to a fixed stop.
See also: c1528, c1529, c1542, r1543, c1545
Note
4000 hex (16384 dec) in the MOMRED control word corresponds to a reduction by the percentage specified in this
parameter.
c1545[0...n] Activates travel to a fixed stop / TfS activation

Description: Signal to activate/deactivate function "travel to fixed stop".
1: Travel to fixed stop is active
0: Travel to fixed stop is inactive
NOTICE
Note
When traveling to fixed stop, the fault F07900 "motor blocked" is suppressed.
r1547[0...1] Torque limit for speed controller output / M_max outp n_ctrl
Parameter group: Torque setpoints, Torque limiting
Description: Displays the torque limit to limit the speed controller output.

Parameter
Index: [0] = Upper limit

[1] = Lower limit
r1548[0...1] Stall current limit torque-generating maximum / Isq_max stall

Description: Displays the limit for the torque-generating current component using the stall calculation, the current limit of the power
unit as well as the parameterization in p0640.
Index: [0] = Upper limit
[1] = Lower limit
c1551[0...n] Torque limit variable/fixed / M_limit var/fixed

Description: Signal to change over the torque limits between variable and fixed torque limit.
c1551 = 1 signal:
The variable torque limit applies (fixed torque limit + scaling).
c1551 = 0 signal:
The fixed torque limit applies.
Example:
In order that for a quick stop (OFF3) the fixed torque limit is effective, the binary signal source must be interconnected
from r0899.5 to c1551.
c1552[0...n] Torque limit upper scaling without offset / M_max up w/o offs

Parameter
Description: Signal to scale the upper torque limit to limit the speed controller output, without taking into account the current and
power limits.
p1553[0...n] Stall limit scaling / Stall limit scal

state:
80.0 [%] 130.0 [%] 100.0 [%]
Description: Sets the scaling of the stall limit for the start of field weakening.
DANGER
If the stall current limit is increased, then the q current setpoint can exceed the stall limit; as a consequence, a hysteresis
effect can occur when loading and unloading.
c1554[0...n] Torque limit lower scaling without offset / M_max low w/o offs
Description: Signal to scale the lower torque limit to limit the speed controller output without taking into account the current and
power limits.
c1555[0...n] Power limit / P_max

Type of signal interconnection: Sink numeric Scaling: r2004
Description: Signal for the motoring and negative generating power limit.

Parameter
Note
The resulting motoring power limit is the minimum from p1530 and the signal which is read in.
The resulting regenerative power limit is the maximum from p1531 and the negative signal which is read in.
p1556[0...n] Power limit scaling / P_max scal

state:
0.00 340.28235E36 0.00
Description: Sets the scaling for the motoring and negative regenerative power limit.
A value of 0 means no power limiting.
p1559[0...n] Loss braking, braking current / Loss braking Id

state:
Parameter group: Compound braking, Flux setpoint, Power loss optimization
0 [%] 100 [%] 50 [%]
Description: Sets the modulation amplitude of the current component for loss braking for OFF1 or OFF3.
For loss braking, an additional power loss is generated in the motor so that it can brake faster.
See also: p1401
p1560[0...n] Moment of inertia estimator accelerating torque threshold value / J_est M thr
state:
0.10 [%] 100.00 [%] 10.00 [%]

Parameter
Description: Sets the threshold for the accelerating torque for the moment of inertia estimator.
The moment of inertia estimator is active above this threshold.
The value is referred to the rated motor torque (r0333).
See also: p1400, p1561, p1562
Note
The moment of inertia estimation is inaccurate at very low accelerating torques. As a consequence, below this threshold,
the estimator does not provide any new values.
p1561[0...n] Moment of inertia estimator change time moment of inertia / J_est t_chg J
state:
10.00 [ms] 5000.00 [ms] 500.00 [ms]
Description: Sets the change time for the moment of inertia for the moment of inertia estimator.
Lower values mean that faster changes are possible.
For a higher value, this estimated value is smoothed more significantly.
See also: p1400, p1560, p1562
p1562[0...n] Moment of inertia estimator change time load / J_est t load

state:
5.00 [ms] 5000.00 [ms] 10.00 [ms]
Description: Sets the change time for the load torque for the moment of inertia estimator.
See also: p1400, p1560, p1561

Parameter
p1565 Moment of inertia estimator reset moment of inertia / J_est reset J

state:
-1 1 0
Description: Setting to reset the moment of inertia estimator for the currently selected drive data set (DDS).
Value: -1: Reset moment of inertia and load
0: Inactive
1: Reset moment of inertia
See also: p1400, p1560, p1561, p1562
Note
The parameter is automatically reset to 0 after the reset.
r1568[0...5] Synchronous reluctance motor flux channel / RESM flux channel

reluctance motor with starting cage
Description: Display and numerical signal source for signals of the flux channel for a synchronous reluctance motor (RESM).
The values are referred to the rated motor flux of the direct axis (p0357 * r0331).
Index: [0] = Setpoint before filter
[1] = Optimum flux characteristic output
[2] = Minimum value at low speed
[3] = Dynamic load-dependent boost
[4] = Field weakening value total
[5] = Field weakening value precontrol
Note
RESM: reluctance synchronous motor (synchronous reluctance motor)

Parameter

Parameter group: Torque setpoints, Friction characteristic, Current setpoint filter
See also: p3842
NOTICE
The signal input is after the torque limit (r1538, r1539). For vector drives, the signals that are entered are only limited
by the current and power limits.
Note
The signal input is preferably used to enter the friction characteristic. The friction compensation is also effective if the
speed controller output reaches its torque limits, but the current limits have still not been reached (this only applies to
vector drives).
p1570[0...n] Flux setpoint / Flux set

state:
starting cage
50.0 [%] 200.0 [%] 100.0 [%]
Description: Sets the flux setpoint referred to rated motor flux.
Scaling the flux setpoint.
NOTICE
Note
The scaling allows the flux setpoint to be adapted when operating with load-dependent optimum flux characteristic or
with constant flux setpoint.

Parameter
p1573[0...n] Flux threshold value magnetizing / Flux thr magnet

state:
10.0 [%] 200.0 [%] 100.0 [%]
Description: Sets the flux threshold value for enabling the speed setpoint and the end of magnetizing (r0056.4).
Note
The parameter only has an influence if the flux actual value reaches the threshold value p1573 more quickly during
magnetizing than the time set in p0346. This is generally the case when selecting fast magnetization (p1401.6).
The parameter has no influence for flying restart (see p1200) and after DC braking (see p1231).
p1574[0...n] Voltage reserve dynamic / U_reserve dyn

state:
0.0 [Vrms] 150.0 [Vrms] 10.0 [Vrms]
Description: Sets a dynamic voltage reserve.
See also: p0500, p0501, p0502
Note
In the field weakening range, it must be expected that the control dynamic performance is somewhat restricted due to
the limited possibilities of controlling/adjusting the voltage. This can be improved by increasing the voltage reserve.
Increasing the reserve reduces the steady-state maximum output voltage (r0071).
p1575[0...n] Voltage target value limit / U_tgt val lim

state:

Parameter

50.00 [%] 300.00 [%] 200.00 [%]
Description: Sets the limit of the voltage target value.
In steady-state field weakening operation this corresponds to the required output voltage.
The value of 100% refers to p0304.
Note
The output voltage is only limited if the maximum output voltage (r0071) minus the voltage reserve (p1574)
corresponds to a value higher than p1575.
Limiting via p1575 allows the influence of the voltage ripple of the line supply voltage to be eliminated at the operating
point.
p1578[0...n] Flux reduction flux decrease smoothing time / Flux red dec t_sm
state:
20 [ms] 5000 [ms] 200 [ms]
Description: Sets the smoothing time for the flux setpoint when decreasing the flux due to flux reduction (p1581 < 100 %).
See also: p1579
p1579[0...n] Flux reduction flux build-up smoothing time / Flux red up t_smth
state:
0 [ms] 5000 [ms] 4 [ms]
Description: Sets the smoothing time for the flux setpoint for the flux build-up due to flux reduction (p1581 < 100 %).
See also: p1578
Note
An excessively long smoothing time extends the time until the maximum torque is reached from the no-load phase.

Parameter
p1581[0...n] Flux reduction factor / Flux red factor

state:
0 [%] 100 [%] 100 [%]
Description: Sets the lower limit of the flux setpoint to evaluate the optimum flux characteristic for a synchronous reluctance motor.
The value is referred to the rated motor flux (p0357 * r0331).
p1582[0...n] Flux setpoint smoothing time / Flux set t_smth

state:
4 [ms] 5000 [ms] 15 [ms]
Description: Sets the smoothing time for the flux setpoint.
p1586[0...n] Field weakening characteristic scaling / Field weak scal

state:
80.0 [%] 120.0 [%] 100.0 [%]
Description: Sets the scaling of the precontrol characteristic for the start of field weakening.
For values above 100 % and for partial load situations, the field weakening starts at higher speeds.

Parameter
Note
If the start of field weakening is shifted to lower speeds, then the voltage reserve is increased for partial load situations.
If the start of field weakening is shifted to higher speeds, the voltage reserve is appropriately reduced so that for fast load
changes, it can be expected that this will have a negative impact on the dynamic performance.
r1593[0...1] Field weakening controller / flux controller output / Field/Fl_ctrl outp

motor
Description: Display and numerical signal source for the output of the field weakening controller (synchronous motor) or the flux
controller (induction motor).
Index: [0] = PI output
[1] = I output
p1595[0...n] Field weakening controller additional setpoint / Field_ctrl add_set

state:
-80.00 [%] 50.00 [%] 0.00 [%]
Description: Sets an additional setpoint for the field weakening controller.
The value refers to the dynamic voltage reserve (p1574).
Note
For a value equal to zero, the field weakening controller is activated when the maximum voltage, calculated with the
average value of the DC link voltage - and limited using p1575 - Is reached.
Positive values mean that the field weakening controller intervenes later.
Negative values cause the field weakening controller to intervene earlier, so that the voltage can move away from the
modulation depth limit.

Parameter
p1596[0...n] Field weakening controller integral-action time / Field_ctrl Tn

state:
10 [ms] 10000 [ms] 50 [ms]
Description: Sets the integral-action time of the field-weakening controller.
r1597 Field weakening controller output / Field_ctrl outp

starting cage
Description: Displays the output of the field weakening controller.
The value is referred to the rated motor flux.
p1601[0...n] Current injection ramp time / I_inject t_ramp

state:
1 [ms] 10000 [ms] 20 [ms]
Description: Synchronous-reluctance motor:
Sets the ramp-up time of the current setpoint (p1610, p1611) when switching over from closed-loop controlled to
open-loop controlled operation.
Synchronous motor:
Sets the ramp-down time of the current setpoint when switching over from open-loop controlled to closed-loop
controlled operation.

Parameter
p1610[0...n] Starting torque static (without encoder) / M_start static

state:
-200.0 [%] 200.0 [%] 50.0 [%]
Description: Sets the static starting torque setpoint for sensorless vector control in the low speed range.
This parameter is entered as a percentage referred to the rated motor torque (r0333).
For sensorless vector control, in the speed-controlled operating range (open loop), an absolute current is impressed.
p1610 represents the maximum load that occurs at a constant setpoint speed.
NOTICE
p1610 should always be set to at least 10 % higher than the maximum steady-state load that can occur.
For Standard Drive Control (p0504 = 1), lower values can also be sufficient to facilitate starting.
Note
For p1610 = 0%, a current setpoint is calculated that corresponds to the no-load case (ASM: rated magnetizing current,
RESM: no-load magnetizing current).
For p1610 = 100 %, a current setpoint is calculated that corresponds to the rated motor torque.
Negative values are converted into positive setpoints in the case of induction and permanent-magnet synchronous
motors as well as closed-loop controlled reluctance motors.
p1611[0...n] Acceleration starting torque (encoderless) / M_start_accel

state:
0.0 [%] 200.0 [%] 30.0 [%]
Description: Sets the dynamic starting torque setpoint with encoderless vector control for the low speed range.
This parameter is entered as a percentage referred to the rated motor torque (r0333).
Note
When accelerating and braking p1611 is added to p1610 and the resulting total torque is converted into an appropriate
current setpoint and controlled.
For pure accelerating torques, it is always favorable to use the torque precontrol of the speed controller (p1496).

Parameter
p1616[0...n] Current setpoint smoothing time / I_set t_smth

state:
4 [ms] 10000 [ms] 40 [ms]
Description: Sets the smoothing time for the current/torque setpoint in the open-loop-controlled operating range in the case of
sensorless vector control.
Note
This parameter is only effective in the range where current is injected for sensorless vector control.
For induction motors, the current setpoint is calculated from p1610 and p1611.
r1624 Field-generating current setpoint total / Id_set total

Description: Displays the limited field-generating current setpoint (Id_set).
This value comprises the steady-state field-generating current setpoint and a dynamic component that is only set when
changes are made to the flux setpoint.
r1650 Current setpoint torque-generating before filter / Iq_set before filt

Parameter group: Current setpoint filter
Description: Displays the torque generating current setpoint Iqset after the torque limits and the clock cycle interpolation is ahead
of the current setpoint filters.

Parameter
r1651 Torque setpoint function generator / M_set FG

Description: Displays the torque setpoint of the function generator.
c1655[0...4] Current setpoint/Speed actual value filter nat. frequency tuning / I/n_set_filt f_n
Parameter group: Speed actual value filter, Current setpoint filter
Description: Signal for tuning the natural frequency of the current setpoint filter 1, 2 and speed actual value filter 5.
Index: [0] = Filter 1
[1] = Filter 2
[2] = Reserved
[3] = Reserved
[4] = Filter 5
p1656[0...n].0...4 Current setpoint/Speed actual value filter activation / I_set_filt act

state:
- - 0000 0001 bin
Description: Setting for activating/deactivating the current setpoint filter 1, 2 and speed actual value filter 5.
00 Filter 1 Active Inactive
Dependency: The individual current setpoint/speed actual value filters are parameterized starting at p1657.

Parameter
Note
If not all of the filters are required, then the filters should be used consecutively starting from filter 1.
p1657[0...n] Current setpoint filter 1 type / I_set_filt 1 type

state:
1 2 1
Description: Sets the current setpoint filter 1 as low pass (PT2) or general 2nd-order filter.
Value: 1: PT2 low pass
2: General 2nd order filter
Dependency: The current setpoint filter 1 is activated via p1656.0 and parameterized via p1657 ... p1661.
Note
For a general 2nd order filter, by inserting the same natural frequency in both the numerator and in the denominator,
i.e. bandstop frequency, a bandstop filter is implemented. If the numerator damping of zero is selected, the bandstop
frequency is completely suppressed.
The denominator damping can be determined from the equation for the 3 dB bandwidth:
f_3dB bandwidth = 2 * D_denominator * f_bandstop frequency
p1658[0...n] Current setpoint filter 1 denominator natural frequency / I_set_filt1 fn_den

state:
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
Description: Sets the denominator natural frequency for current setpoint filter 1 (PT2, general filter).

Parameter
p1659[0...n] Current setpoint filter 1 denominator damping / I_set_filt 1 D_den

state:
0.001 10.000 0.700
Description: Sets the denominator damping for current setpoint filter 1.
p1660[0...n] Current setpoint filter 1 numerator natural frequency / I_set_filt1 fn_num

state:
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
Description: Sets the numerator natural frequency for current setpoint filter 1 (general filter).
p1661[0...n] Current setpoint filter 1 numerator damping / I_set_filt 1 D_num

state:
0.000 10.000 0.700
Description: Sets the numerator damping for current setpoint filter 1.

Parameter
p1662[0...n] Current setpoint filter 2 type / I_set_filt 2 type

state:
1 2 1
Description: Sets current setpoint filter 2 as lowpass filter (PT2) or general 2nd order filter.
Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1662 ... p1666.
Note
p1663[0...n] Current setpoint filter 2 denominator natural frequency / I_set_filt2 fn_den

state:
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
Description: Sets the denominator natural frequency for current setpoint filter 2 (PT2, general filter).
p1664[0...n] Current setpoint filter 2 denominator damping / I_set_filt 2 D_den

state:

Parameter

0.001 10.000 0.700
Description: Sets the denominator damping for current setpoint filter 2.
p1665[0...n] Current setpoint filter 2 numerator natural frequency / I_set_filt2 fn_num

state:
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
Description: Sets the numerator natural frequency for current setpoint filter 2 (general filter).
p1666[0...n] Current setpoint filter 2 numerator damping / I_set_filt 2 D_num

state:
0.000 10.000 0.700
Description: Sets the numerator damping for current setpoint filter 2.
p1677[0...n] Speed actual value filter 5 type / n_act_filt 5 type

state:
Parameter group: Speed actual value filter
1 2 2

Parameter
Description: Sets the speed actual value filter 5 as low pass (PT2) or general 2nd-order filter.
Dependency: The speed actual value filter is activated via p1656.4 and parameterized via p1677 ... p1681.
Note
p1678[0...n] Speed actual value filter 5 denominator natural frequency / n_act_filt5 fn_den
state:
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
Description: Sets the denominator natural frequency for speed actual value filter 5 (PT2, general filter).
p1679[0...n] Speed actual value filter 5 denominator damping / n_act_filt 5 D_den

state:
0.001 10.000 0.700
Description: Sets the denominator damping for speed actual value filter 5.

Parameter
p1680[0...n] Speed actual value filter 5 numerator natural frequency / n_act_filt5 fn_num
state:
0.5 [Hz] 16000.0 [Hz] 1999.0 [Hz]
Description: Sets the numerator natural frequency for speed actual value filter 5 (general filter).
p1681[0...n] Speed actual value filter 5 numerator damping / n_act_filt 5 D_num

state:
0.000 10.000 0.700
Description: Sets the numerator damping for speed actual value filter 5.
p1699 Filter data acceptance / Filt data accept

state:
0 1 0
Description: Activates data acceptance for parameter changes for the filter.
p1699 = 0:
The new filter data are immediately accepted.
p1699 = 1:
The new filter data are only accepted when this parameter is reset.

Parameter
Dependency: Current setpoint filter 1 ... 2 (p1656 and following)

Speed actual value filter (p1677 and following)
See also: p1656
p1702[0...n] Isd current controller precontrol scaling / Isd_ctr_prectrScal

state:
0.0 [%] 200.0 [%] 70.0 [%]
Description: Sets the scaling of the dynamic current controller precontrol for the flux-generating current component Isd.
Note
The parameter is effective for permanent-magnet synchronous motors.
p1703[0...n] Isq current controller precontrol scaling / Isq_ctr_prectrScal

state:
0.0 [%] 200.0 [%] 70.0 [%]
Description: Sets the scaling of the dynamic current controller precontrol for the torque/force-generating current component Isq.
c1707[0...1] Current setpoints Id Iq diagnostics / I_set Id Iq diag

Factory interconnection: Fixed value: 0.00 [Arms]
Description: Signal for the current setpoints for diagnostics and for evaluation purposes.

Parameter
Index: [0] = D component

[1] = Q component
p1710[0...n] Current controller adaptation direct axis starting point Kp / Id_adapt pt Kp

state:
0.00 [Arms] 6000.00 [Arms] 0.00 [Arms]
Description: Sets the starting point of the current-dependent current controller adaptation where the current controller gain p1720
is effective.
See also: p1720
NOTICE
Note
range.
p1711[0...n] Current ctrl adaptation direct axis starting point Kp adapted / Id_adpt pt Kp adpt
state:
0.00 [Arms] 6000.00 [Arms] 0.00 [Arms]
Description: Sets the starting point of the current-dependent current controller adaptation where the adapted current controller
gain p1720 x p1712 is effective.
See also: p1710, p1712, p1720
NOTICE
Note
range.

Parameter
p1712[0...n] Current controller adaptation direct axis P gain adaptation / Id_adapt Kp adapt
state:
0.00 [%] 1000.00 [%] 100.00 [%]
Description: Sets the factor for the current controller P gain in the adaptation range (d-current > p1711).
The value is referred to p1720.
See also: p1710, p1711, p1720
NOTICE
Note
range.
p1715[0...n] Current controller P gain / I_ctrl Kp

state:
0.000 100000.000 0.000
Description: Sets the proportional gain of the current controller for the lower adaptation current range.
This value is preset when commissioning has been completed.
Note
For p0393 = 100 %, the current controller adaptation is disabled and p1715 is effective over the entire range.
The value is scaled to the ratio between p0304 and p0305 [V/A]. For synchronous motors, the rated voltage (p0304) is
determined internally.
With a Kp value of 1.0, for a system deviation that corresponds to the rated motor current (p0305), a P component
corresponding to the rated motor voltage (p0304) is generated.

Parameter
p1717[0...n] Current controller integral-action time / I_ctrl Tn

state:
0.00 [ms] 1000.00 [ms] 2.00 [ms]
Description: Sets the integral-action time of the current controller.
See also: p1715
r1718 Isq controller output / Isq_ctrl outp

Description: Displays the actual output of the Isq current controller (torque/force generating current, PI controller).
The value contains the proportional and integral components of the PI controller.
r1719 Isq controller integral component / Isq_ctrl I_comp

Description: Displays the integral component of the Isq current controller (torque/force-generating current, PI controller).
p1720[0...n] Current controller d axis P gain / Id_ctrl Kp

state:

Parameter

0.000 100000.000 0.000
Description: Sets the proportional gain of the d-current controller for the lower adaptation current range.
This value is preset when commissioning has been completed.
Note
The value is scaled to the ratio between p0304 and p0305 [V/A]. For synchronous motors, the rated voltage (p0304) is
determined internally.
With a Kp value of 1.0, for a system deviation that corresponds to the rated motor current (p0305), a P component
corresponding to the rated motor voltage (p0304) is generated.
p1722[0...n] Current controller d axis integral time / I_ctrl d-axis Tn

state:
0.00 [ms] 1000.00 [ms] 2.00 [ms]
Description: Sets the integral time of the d-current controller.
r1723 Isd controller output / Isd_ctrl outp

Description: Displays the actual output of the Isd current controller (flux-generating current, PI controller).
The value contains the proportional and integral components of the PI controller.
r1724 Isd controller integral component / Isd_ctrl I_comp

Description: Displays the integral component of the Isd current controller (flux-generating current, PI controller).

Parameter
r1725 Isd controller integral component limit / Isd_ctrl I_limit

Description: Displays the limit value for the integral component of the Isd current controller.
p1730[0...n] Isd controller integral component shutdown threshold / Isd ctrl Tn shutd
state:
starting cage
30 [%] 150 [%] 30 [%]
Description: Sets the speed threshold for deactivating the integral component of the Isd controller.
The d current controller is only effective as P controller for speeds greater than the threshold value. Instead of the
integral component, the quadrature arm decoupling is effective.
WARNING
For settings above 80%, the d current controller is active up to the field weakening limit. When operated at the voltage
limit, this can result in an unstable behavior. In order to avoid this, the dynamic voltage reserve p1574 should be
increased.
Note
The parameter value is referred to the synchronous rated motor speed.
p1731[0...n] Isd controller combination current time component / Isd ctr I_combi T1
state:
0.00 [ms] 10000.00 [ms] 0.00 [ms]

Parameter
Description: Sets the time constant to calculate the d current DC component difference (combination current) to add to the d current
controller actual value.
Note
It is not added for p1731 = 0.
r1732[0...1] Direct-axis voltage setpoint / Direct U set

Description: Display and numerical signal source for the direct-axis voltage setpoint Ud.
r1733[0...1] Quadrature-axis voltage setpoint / Quad U set

Description: Display and numerical signal source for the quadrature-axis setpoint Uq.
p1740[0...n] Gain resonance damping for encoderless closed-loop control / Gain res_damp
state:
Parameter group: Motor model
0.000 10.000 0.025
Description: Defines the gain of the controller for resonance damping for operation with sensorless vector control in the range that
current is injected.

Parameter
p1743[0...n] Motor model fault threshold neg phase-seq system stall detection / MotMod thr 2 stall
state:
Parameter group: Motor model, Messages / Monitoring
0.0 [%] 2000.0 [%] 5.0 [%]
Description: Sets the threshold value for the negative phase-sequence system to detect a stalled synchronous-reluctance motor.
If the error signal (r1746[1]) exceeds the parameterized error threshold (r1746[4]), then status signal r1408.12 is set
to 1.
Dependency: If a stalled drive is detected (r1408.12 = 1), fault F07902 is output after the delay time set in p2178.
See also: r1746, p2178
Note
Monitoring is only active in the range below 20% of the rated motor frequency p0310.
p1743 = 0 % deactivates the error signal check r1746[1].
p1744[0...n] Motor model speed threshold stall detection / MotMod n_thr stall
state:
0.00 [rpm] 210000.00 [rpm] 100.00 [rpm]
Description: Sets the speed threshold value to detect a stalled motor.
If the adaptation controller output exceeds the parameterized speed difference, then in status word r1408.11 is set =
1.
See also: p2178
Note
Speed monitoring is only effective in operation with a speed encoder (refer to p1300).
Stalling is also identified if steps/jumps occur in the speed signal, which exceed the value in p0492.

Parameter
p1745[0...n] Motor model error threshold stall detection / MotMod ThrStall

state:
motor
0.0 [%] 2000.0 [%] 5.0 [%]
Description: Sets the fault threshold in order to detect a motor that has stalled.
If the error signal (r1746[0]) exceeds the parameterized error threshold, then status signal r1408.12 is set to 1.
See also: p2178
Note
Monitoring is only effective in the low-speed range (below p1755 * (100 % - p1756)).
It is deactivated if the threshold is set to 0 %.
For induction motors (ASM), when operated with speed encoder, the following applies:
For p1745 = 2000 %, checking the fault signal r1746 is deactivated, and the stall monitoring is realized solely by
evaluating the flux difference.
r1746[0...5] Motor model error signal/threshold value stall detection / MotMod sig stall
Description: Signals and threshold values to initiate fault detection.
Index: [0] = Signal variance
[1] = Negative phase-sequence system
[2] = Flux difference
[3] = Signal limit variance
[4] = Signal limit negative phase-sequence system
[5] = Signal limit flux difference
Note
Signal 0 is not calculated during the motor excitation phase and only in the low speed range (below p1755 * (100 % -
p1756)).
Signal 1 is only calculated for synchronous-reluctance motors.
Signal 2 is only calculated for synchronous-reluctance motors and induction motors.

Parameter
p1747[0...n] Motor model pulse technique transition speed / MotMod puls tech n
state:
0.00 [rpm] 210000.00 [rpm] 0.00 [rpm]
Description: Sets the transition (corner) speed for the transition into the small signal motor model for encoderless operation of the
synchronous-reluctance motor (RESM).
Note
RESM: reluctance synchronous motor (synchronous reluctance motor)
p1749[0...n] Motor model upper changeover speed / increase changeover speed / Up/incr n_chgov
state:
starting cage
0.00 [%] 99.00 [%] 50.00 [%]
Description: Speed threshold to switch over the motor model.
See also: p1752, p1755, p1756
Note
Induction motor without speed encoder:
Depending on the motor data, the drive has calculated a minimum value of the operating frequency for rugged
operation.
If the minimum value is greater than the lower changeover limit parameterized with p1755 * (1 - 2 * p1756), then the
difference is displayed using p1749 * p1755. The parameter value cannot be changed.
Sets the hysteresis to define the upper transition (corner) speed to exit the low signal motor model for encoderless
operation.
This value is entered as a percentage referred to p1747.

Parameter
p1750[0...n].0...9 Motor model configuration / MotMod config

state:
- - 0000 0000 0000 0000 bin
Description: Sets the configuration for the motor model. For the automatic calculation, the bits are preassigned depending on the
motor type (p0300) and the technological application (p0500 ... p0502).
Bit 0 = 1: Forces open-loop speed-controlled starting (ASM).
Bit 1 = 1: Forces the system to pass through frequency zero, open-loop-controlled (ASM).
Bit 2 = 1: Drive remains in full closed-loop control mode, even at zero frequency (ASM).
Bit 3 = 1: Motor model evaluates the saturation characteristic (ASM).
Bit 5 = 1: Test signal technique (pulse technique) to estimate how the rotor position changes (RESM).
Bit 6 = 1: If the motor is blocked, sensorless vector control remains speed-controlled (ASM).
For a stalled (blocked) synchronous motor (PMSM), the sensorless vector control remains open-loop speed controlled.
Bit 7 = 1: Use rugged switchover limits to switchover the model between open-loop and closed-loop controlled
operation (ASM).
Bit 8 = 1: Open-loop speed controlled operation independent of the speed setpoint (except for OFF3) (ASM).
Bit 9 = 1: Phase precontrol of the (percentage) absolute current specified using p1610+p1611 for starting with open-
loop speed control (PMSM).
00 Controlled start Yes No
01 Controlled through 0 Hz Yes No
02 Closed-loop ctrl oper. down to zero freq. for passive loads Yes No
03 Motor model Lh_pre = f(PsiEst) Yes No
05 Encoderless closed-loop control down to f = 0 (pulse technique) Yes No
06 Closed-/open-loop controlled when motor is blocked Yes No
07 Use rugged changeover limits Yes No
08 Closed-loop controlled until wait time p1758 has expired Yes No
09 Precontrol current phase angle when starting Yes No
CAUTION
Do not use bit 6 = 1 if the motor can be slowly reversed by the load at the torque limit. Long delay times due to blocking
(p2177 > p1758) can cause the motor to stall. In this case you should deactivate the function or use closed-loop control
over the complete speed range (note the information re bit 2 = 1).
Bit 6 is preassigned for induction motors if commissioning the Dynamic Drive Control (p0504) was selected.

Parameter
Note
Bit 0 ... 3 only have influence for sensorless vector control, bit 4 only for vector control with encoder. Bit 2 is pre-assigned
depending on p0500.
For bit 02 = 1:
The sensorless vector control is effective down to zero frequency. A change is not made into the open-loop speed
controlled mode.
This operating mode is possible for passive loads. These include applications where the load itself does not generate any
active torque and therefore only acts reactively to the drive torque of the induction motor.
If bit 2 = 1, then bit 3 is automatically set to 1. Manual deselection is possible and may be sensible if the saturation
characteristic (p1960) was not measured for third-party motors. Generally, for standard SIEMENS motors, the already
pre-assigned (default value) saturation characteristic is adequate.
When the bit is set, the selection of bits 0 and 1 is ignored.
For bit 02 = 0:
If the model feedback is deactivated (p1784 = 0), with bit 2 = 0, then bit 3 is also automatically set to 0.
For bit 05:
This test signal technique (pulse technique) is only supported for synchronous-reluctance motors (RESM).
It is only possible to change bit 5 when the pulses are inhibited.
For bit 06 = 1:
The following applies for sensorless vector control of induction motors:
For a blocked motor (see p2175, p2177) the time condition in p1758 is bypassed and a change is not made into open-
loop controlled operation.
The following applies for sensorless vector control of synchronous motors:
For a blocked motor (see p2175, p2177), the speed ramp-function generator is held in open-loop speed controlled
operation, and a switchover is not made into closed-loop controlled operation.
For bit 07 = 1:
If the changeover limits are parameterized too low (p1755, p1756), then they are automatically increased to rugged
values by the absolute amount p1749 * p1755.
The effective time condition for changing over into open-controlled operation is obtained from the minimum of p1758
and 0.5 * r0384.
Activation can make sense for applications that demand a high torque at low frequencies and therefore low speed
gradients.
Adequate parameterization must be ensured (p1610, p1611).
For bit 08 = 1: no influence on the functionality of bits 0, 1, 2
Changeover into open-loop speed controlled operation is no longer dependent on the speed setpoint (except for OFF3),
but instead is essentially dependent on time condition p1758. As a consequence, a drive can be started or reversed in
closed-loop speed controlled operation with setpoints from an external control system, if these briefly lie in the open-
loop speed control range.
For bit 09 = 1:
The precontrol is always realized motoring, and is only active when the setting values p1610+p1611 are > 50%.
The function should be deactivated when starting in the generating mode.
r1751.0...22 Motor model status / MotMod status

Description: Displays the status of the motor model.
00 Controlled operation Active Inactive
01 Set ramp-function generator Active Inactive

Parameter
02 Stop RsLh adaptation Yes No

03 Feedback Active Inactive
04 Encoder operation Active Inactive
05 Holding angle Yes No
06 Acceleration criterion Active Inactive
07 Set angle integrator PMSM, RESM Yes No
08 Stop Kt adaptation PMSM Yes No
09 PolID active encoderless PMSM, RESM Yes No
10 I injection PMSM, RESM Yes No
11 Speed controller output cannot be set to zero Yes No
12 Rs adapt waits Yes No
13 Motor operation Yes No
14 Stator frequency sign Positive Negative
15 Torque sign Motoring Generating
16 Pulse technique injection active PMSM, RESM Yes No
17 Operation with rugged model feedback Enabled Inhibited
18 Operation of the current model with current feedback Enabled Inhibited
19 Current feedback in the current model Active Inactive
20 Rugged increase of the changeover limits Active Inactive
21 Motor blocked (ramp-function generator stop) PMSM No Yes
22 Complete flux models available Yes No
Note
For bit 17:
Displays the enabled status of the rugged model feedback (p1784).
The feedback is used to increase the parameter ruggedness of the motor model and is effective in the operating range
of the two-component closed loop current control.
For bit 18:
Displays the status when enabling the differential current feedback in the current model for operation with encoder.
The function is automatically enabled with p1784 > 0 or p1731 > 0.
The feedback is used for a rugged change between the current model and complete machine model with active rugged
model feedback and combination current.
For bit 19:
Displays the currently active stator circuit feedback in current model operation.
For bit 20:
Displays the currently effective increase of the changeover limits by the value p1749 * p1755.
For bit 21:
For a blocked synchronous motor, the speed ramp-function generator is held in the open-loop speed controlled
operating range if the torque setpoint reaches the torque limit and the speed is less than the threshold value in p2175.
For bit 22:
The complete flux models of the motor are a precondition for model-based current controller adaptation (p1402).
p1752[0...n] Motor model changeover speed operation with encoder / MotMod n_chgov enc
state:

Parameter

0.00 [rpm] 210000.00 [rpm] 210000.00 [rpm]
Description: Sets the speed to change over the motor model for operation with encoder.
Dependency: In U/f characteristic mode the parameter is of no significance.
Using the friction characteristic for operation with encoder:
When changing the motor model changeover speed p1752, the points along the friction characteristic should be
recalculated and the friction characteristic recorded again (p3845). For slight changes, only the associated friction
characteristic points must be recorded (see p3844).
See also: p1753
p1753[0...n] Motor model changeover speed hysteresis operation with encoder / MotMod
n_chgovHysE
state:
0.0 [%] 90.0 [%] 0.0 [%]
Description: Sets the hysteresis for the changeover speed of the motor model for operation with speed encoder.
See also: p1752
Note
The value refers to p1752.
p1755[0...n] Motor model changeover speed encoderless operation / MotMod n_chgSnsorl

state:
0.00 [rpm] 210000.00 [rpm] 210000.00 [rpm]
Description: Sets the speed to change over the motor model to encoderless operation.
Dependency: In U/f characteristic mode the parameter is of no significance.

Parameter
NOTICE
The changeover speed represents the steady-state minimum speed up to which the motor model can be used in
sensorless steady-state operation.
If the stability is not adequate close to the changeover speed, it may make sense to increase the parameter value.
Note
The changeover speed applies for the changeover between open-loop and closed-loop control mode.
p1756[0...n] Motor model changeover speed hysteresis encoderless operation / MotMod n_chgov hys
state:
0.0 [%] 95.0 [%] 50.0 [%]
Description: Sets the hysteresis for the changeover speed of the motor model for encoderless operation.
See also: p1755
NOTICE
Extremely small hystereses can have a negative impact on the stability in the changeover speed range, and very high
hystereses in the standstill range.
Note
The parameter value refers to p1755.
The lower hysteresis value is calculated with p1755 * (1 - p1756 / 100 %).
p1758[0...n] Motor model changeover delay time closed/open-loop control / MotMod t cl_op
state:
100 [ms] 10000 [ms] 500 [ms]
Description: Sets the minimum time for falling below the changeover speed when changing from closed-loop controlled operation
to open-loop controlled operation.
Dependency: The wait time has no significance if the setpoint speed before the ramp-function generator lies in the open-loop speed
controlled operating range. In this case, the change is made without any delay.

Parameter
Note
If p1758 is changed, commissioning must be selected in order to validate the value for the blocking monitoring.
p1759[0...n] Motor model changeover delay time open/closed-loop control / MotMod t op_cl
state:
0 [ms] 2000 [ms] 0 [ms]
Description: Sets the minimum time for a transition from open-loop controlled to closed-loop controlled operation after the lower
changeover speed p1755 * (1 - p1756 / 100 %) has been exceeded.
Note
With p1759 = 2000 ms, the wait time becomes ineffective and the model changeover is determined by the output
frequency only (changeover for p1755).
p1760[0...n] Motor model with encoder speed adaptation Kp / MotMod wE n_ada Kp

state:
0.000 100000.000 1000.000
Description: Sets the proportional gain Kp of the controller for speed adaptation with encoder
p1761[0...n] Motor model with encoder speed adaptation Tn / MotMod wE n_ada Tn

state:

Parameter

0 [ms] 1000 [ms] 4 [ms]
Description: Sets the integral-action time Tn of the controller for speed adaptation with encoder
p1764[0...n] Motor model without encoder speed adaptation Kp / MotMod woE n_adaKp
state:
0.000 100000.000 1000.000
Description: Sets the proportional gain of the controller for speed adaptation without encoder.
p1767[0...n] Motor model without encoder speed adaptation Tn / MotMod woE n_adaTn
state:
1 [ms] 200 [ms] 4 [ms]
Description: Sets the integral time of the controller for speed adaptation without encoder
p1769[0...n] Motor model changeover delay time closed-loop control / MotMod t cl_ctrl
state:
0 [ms] 10000 [ms] 0 [ms]
Description: Sets the wait time for a transition from open-loop controlled to closed-loop controlled operation after twice the lower
changeover speed p1755 * (1 - p1756 / 100 %) has been exceeded - and below the upper switchover speed p1755.

Parameter
Note
With p1759 = 0 ms and above p1755, the wait time becomes ineffective and the model changeover is determined by the
output frequency only (changeover for p1755).
r1770[0...3] Motor model speed adaptation proportional component / MotMod n_adpt Kp

Description: Displays the P component of the controller for speed adaptation.
Index: [0] = Summed signal
[1] = Model_1
[2] = Model_2
[3] = Standard deviation
r1771 Motor model speed adaptation I component / MotMod n_adpt Tn

Description: Displays the I component of the controller for speed adaptation.
r1776[0...6] Motor model status signals / MotMod status sig

Description: Displays the internal status signals of the motor model.
For index [0]:
Changeover ramp between current and voltage models.
For index [1]:
Changeover ramp for model feedback (only encoderless induction motors).
For index [2]:
Changeover ramp for frequency in the zero range (only encoderless induction motors).
For index [6]:
Transition ramp for EMF deviation at PLL input (PMSM without encoder)

Parameter
Index: [0] = Changeover ramp motor model

[1] = Changeover ramp model tracking
[2] = Changeover ramp zero frequency induction motor without encoder
[3] = Reserved
[4] = Reserved
[5] = Reserved
[6] = Changeover ramp motor model PMSM without encoder
r1778 Motor model flux angle difference / MotMod ang diff

Parameter group: Motor model, Motor
Description: Induction motor (ASM):
Displays the difference between the motor model flux angle and the transformation angle.
Permanent-magnet synchronous motor (PMSM):
Displays the angular difference between motor model and encoder.
p1780[0...n].2...15 Motor model adaptation configuration / MotMod adpt config

state:
Parameter group: Motor model, Motor
- - 0000 1000 0111 1100 bin
Description: Sets the configuration for the adaptation circuit of the motor model.
02 Select motor model ASM Lh adaptation Yes No
03 Select motor model PMSM kT adaptation Yes No
04 Select motor model offset adaptation Yes No
05 Select ASM Rr adaptation (only with encoder) Yes No
06 Select pole position identification PMSM/RESM encoderless Yes No
07 Select T(valve) with Rs adaptation Yes No
08 Deselect prelim. meas. of inductance for pole position ident. Yes No
10 Filter time combination current like current ctrl integral time Yes No
11 Fast flying restart with voltage model for induction motor Yes No
12 Start encoderless with last angle Yes No
13 Fast pulsed pole position identification Yes No
14 Delay of the precontrol speed to the motor model Yes No

Parameter
15 RESM Q flux model linear Yes No

Dependency: In U/f characteristic operating mode, only bit 7 and bit 11 are relevant.
For active motor model feedback (see p1784), the Lh adaptation is internally deactivated automatically.
For induction motors (ASM), bit 11 is not changed when calculating the closed-loop control parameters, bit 2 is always
1.
CAUTION
For bit 11:
The selection is not enabled for dv/dt filters (see p0230).
NOTICE
It is only permissible to change bit 11 if the drive is switched off.
When selecting bit 11, also for U/f characteristic operation, a standstill measurement must have been performed to set
the current controller required for a fast flying restart.
Note
The following bits are preassigned when calculating the closed-loop control parameters:
Induction motor (ASM): bit 2, 4, 5, 12
Permanent magnet synchronous motor (PMSM): bit 3, 6
Synchronous reluctance motor (RESM): bits 6, 13, 14
For bits 2, 3:
In order that the correction values of the Lh and kT adaptation are correctly accepted when changing over the drive data
set, a dedicated motor number must be entered into p0826 for each different motor.
For bit 7:
When selecting the compensation of the valve interlocking via Rs, the compensation in the gating unit is deactivated and
is instead taken into account in the motor model.
For bit 11:
This bit has no influence on flying restart with speed encoder. Depending on the motor, the fast flying restart is suitable
for speeds of maximum 1.5x to 4x the rated motor speed.
For bit 12 (for synchronous motors and bit 6 = 1):
The pole position identification is only carried out after power on and after the motor has coasted down. The switch-off
speed p1226 should be as low as possible. If the power unit is switched off when the motor is stationary, then the next
time that the power unit is switched on, the old angle is used as starting value. The precondition applies that while the
power unit is switched off the motor does not rotate.
For bit 12: (for induction motors)
When switching on, the system starts with the last operating angle. With p1228 (pulse cancellation delay time), for OFF1
it can be achieved that the angle corresponds to that of the stationary motor.
For bit 13:
When the bit is set, the duration of the pole position identification is shortened. As a consequence, the pole wheel angle
error can be slightly greater.
p1784[0...n] Motor model feedback scaling / MotMod fdbk scal

state:
0.0 [%] 1000.0 [%] 0.0 [%]
Description: Sets the scaling for model fault feedback.

Parameter
Note
Feeding back the measured model fault to the model states increases the control stability and makes the motor model
rugged against parameter errors.
When feedback is selected (p1784 > 0), Lh adaptation is not effective.
r1787[0...n] Motor model Lh adaptation corrective value / MotMod Lh corr

Description: Displays the corrective value for the Lh adaptation of the motor model for an induction motor (ASM).
Note
The adaptation result is reset if the magnetizing inductance of the induction motor is changed (p0360, r0382). This also
happens when changing over the data set if a different motor is not being used (p0826).
The display of the inactive data sets is only updated when changing over the data set.
p1793[0...n] Slip compensation scaling (SDC) / Slip comp scal

state:
0.0 [%] 600.0 [%] 100.0 [%]
Description: Sets the setpoint for slip compensation in [%] referred to r0330 (rated motor slip) in the Standard Drive Control
operating mode.
p1793 = 0.0 %: slip compensation deactivated.
p1793 = 100.0 %: The slip is completely compensated.
Dependency: Prerequisite for a precise slip compensation for p1793 = 100 % is having the precise motor parameters (p0350 ...
p0360).
If the parameters are not precisely known, a precise compensation can be achieved by varying p1793.
Not visible in operating mode: "Dynamic Drive Control" (DDC, p0504 = 2)
Note
The purpose of slip compensation is to maintain a constant motor speed regardless of the applied load. The fact that the
motor speed decreases with increasing load is a typical characteristic of induction motors.
For synchronous motors, this effect does not occur and the parameter has no effect in this case.

Parameter
r1797[0...n] Motor model kT adaptation corrective value / MotMod kT corr

Parameter group: Motor model, Extended torque control
Unit: Nm/A Unit group: - Unit selection: -
Description: Displays the corrective value of the kT adaptation of the motor model for a permanent-magnet synchronous motor
(PMSM).
Note
The display of the inactive data sets is only updated when changing over the data set.
p1798[0...n] Motor model pulse technique speed adaptation Kp / MotMod pulsTech Kp

state:
0.000 1000.000 1.000
Description: Sets the proportional gain of the controller for speed adaptation with active pulse technique to estimate the continuous
rotor position.
p1799[0...n] Motor model pulse technique speed adaptation Tn / MotMod pulsTech Tn

state:
0 [ms] 1000 [ms] 10 [ms]
Description: Sets the integral time of the controller for speed adaptation with active pulse technique to estimate the continuous
rotor position.

Parameter
p1800[0...n] Pulse frequency setpoint / Pulse freq set

state:
1.000 [kHz] 16.000 [kHz] 4.000 [kHz]
Description: Sets the pulse frequency for the converter.
This parameter is pre-set to the rated converter value when the drive is first commissioned.
Dependency: Minimum pulse frequency: 1000 * p1800 >= 10 * p1082 * r0313 / 60
Values that can be set are: 2 kHz, 4 kHz, 8kHz, 12 kHz, 16 kHz.
See also: p0230
Note
The maximum and minimum possible pulse frequency is also determined by the power unit being used (minimum pulse
frequency: 2 kHz or 4 kHz).
When the pulse frequency is increased, depending on the particular power unit, the maximum output current can be
reduced (derating, refer to r0067).
If a sine-wave filter is parameterized as output filter (p0230 = 3), then the pulse frequency cannot be set below the
minimum value required for the filter.
For operation with motor reactors, the pulse frequency is limited to 4 kHz (see p0230).
set. The reason for this is that the dynamic limits of p1800 have been changed by a parameter that was set when the drive
was commissioned (e.g. p1082).
The pulse frequency cannot be changed when the motor data identification is activated.
r1801[0...2] Pulse frequency / Pulse frequency

Description: Display and numerical signal source for the actual converter switching frequency.
Index: [0] = Actual
[1] = Modulator minimum value
[2] = Modulator maximum value
Note
The selected pulse frequency (p1800) may be reduced if the drive converter has an overload condition (p0290).

Parameter
p1802[0...n] Modulator mode / Modulator mode

state:
0 6 0
Description: Sets the modulator mode.
Value: 0: Asynchronous modulation (SVM/FTM)x
1: Flat top modulation (FTM)
2: Space vector modulation (SVM)
3: SVM without overcontrol
4: SVM/FTM without overcontrol
5: SVM with pulse frequency reduction
6: SVM/FTM with pulse frequency reduction
Dependency: If a sine-wave filter is parameterized as output filter (p0230 = 4), then only space vector modulation without overcontrol
can be selected as modulation type (p1802 = 3).
See also: r0192, p0230
Note
When modulation modes are enabled that could lead to overmodulation (p1802 = 0, 1, 2, 5, 6), the modulation depth
must be limited using p1803 (default p1803 < 100 %). The higher the overmodulation, the greater the current ripple and
torque ripple.
When changing p1802[x], the values for all of the other existing indices are also changed.
SVM: Space Vector Modulation
FTM: Flat Top Modulation
p1803[0...n] Maximum modulation depth / Mod_depth max

state:
20.0 [%] 150.0 [%] 106.0 [%]
Description: Sets the maximum modulation depth.
Note
p1803 = 100% is the overcontrol limit for space vector modulation (for an ideal drive converter without any switching
delay).

Parameter
p1803[0...n] Maximum modulation depth / Mod_depth max

state:
20.0 [%] 150.0 [%] 100.0 [%]
Description: Sets the maximum modulation depth.
Note
p1803 = 100% is the overcontrol limit for space vector modulation (for an ideal drive converter without any switching
delay).
p1806[0...n] Filter time constant Vdc correction / Tc_filt Vdc_corr

state:
0.0 [ms] 10000.0 [ms] 0.0 [ms]
Description: Sets the filter time constant for the DC link voltage.
This time constant is used to calculate the modulation depth.
r1807 Actual DC link voltage to calculate the modulation depth / VdcActValMod_depth

Description: Displays the DC link voltage that is used to convert the setpoint voltage into an equivalent modulation depth.

Parameter
r1809 Modulator mode actual / Modulator mode act

Description: Displays the effective modulator mode.
Value: 1: Flat top modulation (FTM)
2: Space vector modulation (SVM)
p1810.0...15 Modulator configuration / Modulator config

state:
- - 0000 0000 0000 0000 bin
Description: Sets the configuration for the modulator.
00 Avg value filter for V_lim (only for Vdc_comp in modulator) Yes No
01 DC link voltage compensation in the current control Yes No
08 Pulse frequency reduction (speed dependent) stage 1 Yes No
09 Pulse frequency reduction (speed dependent) stage 2 Yes No
15 Increase overmodulation range Yes No
NOTICE
Bit 1 = 0 can only be set when the pulses are inhibited.
For fast current changes, bit 15 = 1 together with p1802 = 0, 2 and p1803 > 106 % result in a significant increase in the
torque ripple. As a consequence, increasing the modulation limit must be checked on an application for application
basis.

Parameter
Note
For bit 00 = 0:
Voltage limiting is realized from the minimum of the DC link voltage; this results in lower ripple in the output current and
a reduced output voltage.
For bit 00 = 1:
Voltage limiting from the averaged DC link voltage (higher output voltage with increased ripple in the output current).
The selection is only valid if the DC link voltage is not compensated in the current controller (if p1810.01 = 0).
For bit 01 = 0:
DC link voltage compensation in the modulator.
For bit 01 = 1:
DC link voltage compensation in the current control.
For bit 08 = 1:
Above the frequency threshold r1836[0], the pulse frequency is switched to the value in p1800. Below r1836[0] (minus
the hysteresis), the pulse frequency is reduced to the next possible pulse frequency.
For bit 09 = 1:
Above the frequency threshold r1836[1], the pulse frequency is increased to the next possible value.
Below r1836[1] (minus the hysteresis), the pulse frequency is reduced to the next possible pulse frequency.
Setting p1810.08 = 0 means that p1810.09 is automatically reset.
For bit 15 = 1:
For p1802 = 0, 2 and p1803 > 106 %, dynamically, a modulation depth of more than 106 % is permitted.
When p1803 is increased, the dynamic modulation depth reserve p1574 should be increased so that the maximum
output voltage r0071 approximately remains the same.
c1812[0...1] Offset calibration output actual value sensing / Offs_cal_act_outp

Description: Signal to activate/deactivate offset calibration of the output current/output voltage measurement.
Index: [0] = Offset calibration output current measurement
[1] = Offset calibration output current sensing
CAUTION
The absence of offset calibration can have a negative effect on control properties. Offset calibration must be performed
before switching on the power unit for the first time after POWER ON.
Note
Offset calibration is only performed with pulses suppressed and can take up to one second.
p1820[0...n] Reverse the output phase sequence / Outp_ph_seq rev

state:

Parameter

0 1 0
Description: Sets the phase sequence reversal for the motor.
If the motor does not rotate in the required direction, then the output phase sequence can be reversed using this
parameter.
For operation with a speed encoder, under certain circumstances, the encoder actual value must also be inverted
(p0410).
Value: 0: Off
1: On
CAUTION
Changing the direction using p1820 or p1821 is not recognized by the "Safe Direction without encoder". As a
consequence, the limit provided by SDI (Safe Direction) from r9733 no longer functions.
Note
This setting can only be changed when the pulses are inhibited.
p1821 can be used to reverse the phase sequence and encoder actual value.
p1821[0...n] Direction of rotation / Dir of rotation

state:
0 1 0
Description: Setting to change the direction of rotation.
If the parameter is changed, it reverses the direction of rotation of the motor and the encoder actual value without
changing the setpoint.
Value: 0: Clockwise
1: Counterclockwise
DANGER
When using external speed actual values for the speed controller (see c1440), then its polarity must also be changed
when the direction of rotation changes (p1821 = 1). Otherwise, a positive coupling can occur in the speed control loop
and the drive would then be accelerated up to the speed limit.
NOTICE
For a drive data set changeover with differently set direction of rotation and pulse enable, an appropriate fault is output.
After changing parameter p1821, the direction of rotation is not automatically adapted in the safety area. The following
parameters can be used to set the direction of rotation for safety monitoring:
- p9516.1 "Position actual value sign change" (only for operation with encoder)
- p9539 "SI gearbox direction of rotation reversal" (also in encoderless operation)

Parameter
Note
For operation with the phase sequence U/V/W, the direction of rotation is defined when viewing the face side of the
motor output shaft.
When changing the direction of rotation, the rotating field direction of the current controller is reversed. The speed
actual value (e.g. r0063) is also reversed so that the control sense is kept and internally causing the direction of rotation
to be reversed with the same setpoint. Further, the position actual values of the actual encoder are reversed (e.g.
r0482[0...2]).
p1820 can be used to reverse the direction of the motor without reversing the encoder actual value. Without speed
encoder, p1821 has the same effect as p1820.
p1825 Converter valve threshold voltage / Threshold voltage

state:
Parameter group: Power unit, Motor data identification routine
0.0 [Vrms] 100.0 [Vrms] 0.6 [Vrms]
Description: Sets the threshold voltage drop of the valves (power semiconductor devices) to be compensated.
Note
The value is automatically calculated in the motor data identification routine.
p1828 Valve lockout time compensation / Comp t_lockout

state:
Parameter group: Power unit, Motor data identification routine
0.00 [µs] 8.00 [µs] 0.00 [µs]
Description: Sets the valve lockout time to be compensated for all three output phases.
Note
The value is automatically calculated in the motor data identification routine.

Parameter
p1832 Dead time compensation current level / t_dead_comp I_lev

state:
0.0 [Arms] 10000.0 [Arms] 0.0 [Arms]
Description: Sets the current level for the dead time compensation.
Above the current level, the dead time - Resulting from the converter switching delays - Is compensated by a previously
calculated constant value. If the relevant phase current setpoint falls below the absolute value defined by p1832, the
corrective value for this phase is continuously reduced.
Dependency: The factory setting of p1832 is automatically set to 0.02 * rated current (r0207).
p1835[0...1] Pulse frequency reduction switchover frequency shift / f_puls_red f_swov

state:
0.00 [Hz] 800.00 [Hz] 0.00 [Hz]
Description: Frequency to shift the switchover frequency r1836 for pulse frequency reduction.
The parameter value reduces the switchover frequency threshold with the same parameter index.
Index: [0] = Frequency limit 1
[1] = Frequency limit 2
r1836[0...1] Pulse frequency reduction, switchover frequency / f_puls_red f_swov

Description: Displays the frequency limits, under which the pulse frequency is automatically reduced.
Starting from the parameterized pulse frequency p1800, the pulse frequency is reduced to the next possible one, if the
frequency limits and an additional hysteresis are fallen below.
Index: [0] = Frequency limit 1
[1] = Frequency limit 2

Parameter
Note
The pulse frequency reduction is not active for U/f control.
A minimum clearance of 10 Hz is kept between the frequency thresholds, which cannot be fallen below when changing
p1835.
For index [0]:
Frequency limit for the first pulse frequence reduction (active for p1810.8 = 1).
For index [1]:
Frequency limit for the second pulse frequence reduction (active for p1810.9 = 1).
r1837.0...25 Gating unit configuration / Gating unit config

Description: Display for the configuration of the gating unit driver.
00 Modulation depth for a flying restart Limited Not limited
01 Modulation depth for Vdc closed-loop control Limited Not limited
02 Vdc_min controller Active Not active
03 Motor data identification routine Active Not active
04 Current offset calculation Active Not active
05 Simulation mode Active Not active
06 Reverse the output phase sequence Active Not active
07 Counterclockwise direction of rotation Active Not active
08 Synchronization (bypass) Active Not active
09 F07801 monitor by application Active Not active
10 Chassis Drive active Yes No
11 Short-circuit test active No Yes
12 FL modulation prohibited Yes No
13 F3E present Yes No
14 Angle prerotation active in the software Yes No
15 Power unit with PS interface Yes No
17 Actual value averaging temporarily suppressed Yes No
18 Modulation depth limiting Yes No
19 Reduced DC link capacitance (without F3E) Yes No
20 The setpoint is not reset Yes No
22 Vdc correction deactivated in the gating unit Yes No
23 Fast current and DC link monitoring activated in bypass Yes No
25 Synchronous reluctance motor type (adapted I2t calculation) Yes No

Parameter
r1837.0...26 Gating unit configuration / Gating unit config

Description: Display for the configuration of the gating unit driver.
00 Modulation depth for a flying restart Limited Not limited
01 Modulation depth for Vdc closed-loop control Limited Not limited
02 Vdc_min controller Active Not active
03 Motor data identification routine Active Not active
04 Current offset calculation Active Not active
05 Simulation mode Active Not active
06 Reverse the output phase sequence Active Not active
07 Counterclockwise direction of rotation Active Not active
08 Synchronization (bypass) Active Not active
09 F07801 monitor by application Active Not active
10 Chassis Drive active Yes No
11 Short-circuit test active No Yes
12 FL modulation prohibited Yes No
13 F3E present Yes No
14 Angle prerotation active in the software Yes No
15 Power unit with PS interface Yes No
17 Actual value averaging temporarily suppressed Yes No
18 Modulation depth limiting Yes No
19 Reduced DC link capacitance (without F3E) Yes No
20 The setpoint is not reset Yes No
22 Vdc correction deactivated in the gating unit Yes No
23 Fast current and DC link monitoring activated in bypass Yes No
25 Synchronous reluctance motor type (adapted I2t calculation) Yes No
26 Output current reduction by infeed activated Yes No
r1838.0...22 Gating unit status words 1 and 2 / Gating unit ZSW1

Parameter group: Control/status words, Power unit
Description: Display and signal source for status word 1 of the power unit.

Parameter
00 Fault time-critical On Off

01 Measured value ready No Yes
02 Pulse enable On Off
03 Upper switch-off signal path Inactive Active
04 Lower switch-off signal path Inactive Active
05 Test pulse operation active Active Not active
06 Test pulse measured values valid Yes No
07 Brake state On Off
08 Brake diagnostics On Off
09 Armature short-circuit braking Active Not active
10 Gating unit state bit 0 On Off
13 Alarm status bit 0 On Off
15 Diagnostics 24 V On Off
16 Actual pulse frequency asynchronous (SVM) Yes No
17 Wobbulation active Active Not active
18 Even samples active Active Not active
19 Moving average active Active Not active
20 TLCC bit0 On Off
21 TLCC bit1 On Off
22 TLCC bit2 On Off
Note
The bits that are not written to are used for internal diagnostics.
r1839.0...21 Gating unit control words 1 and 2 / Gating unit STW1/2

Parameter group: Control/status words, Power unit
Description: Displays control word 1 and control word 2 of the power unit.
Bits 00..15: control word 1, bits 16..31: control word 2
00 Fault On Off
01 Activate current offset correction Yes No
03 Sign-of-life bit 0 On Off
05 Activate voltage offset correction Yes No
06 Activate test pulses On Off
07 Brake Active Not active
08 Main contactor control On Off
10 Acknowledge fault On Off

Parameter
11 Synchronization bit 0 On Off

13 Zero system selection bit 0 1 0
20 Activate Even Samples measuring configuration Active Not active
21 Activate compound brake Active Not active
p1900 Motor data identification and rotating measurement / MotID and rot meas
state:
Parameter group: Quick commissioning, Motor data identification routine, Rotating measurement/
speed controller optimization
0 99 0
Description: Sets the motor data identification and speed controller optimization.
The motor identification should first be performed with the motor stationary (p1900 = 1, 2; also refer to p1910). Based
on this, additional motor and control parameters can be determined using the motor data identification with the motor
rotating (p1900 = 1, 3; also refer to p1960; not for p1300 < 20).
p1900 = 0:
Function deactivated.
p1900 = 1:
Sets p1910 = 1 and p1960 = 0, 1 depending on p1300
When the drive enable signals are present, a motor data identification routine is carried out at standstill with the next
switch-on command. Current flows through the motor which means that it can align itself by up to a quarter of a
revolution.
With the following switch-on command, a rotating motor data identification routine is carried out - and in addition, a
speed controller optimization by making measurements at different motor speeds.
p1900 = 2:
Sets p1910 = 1 and p1960 = 0
When the drive enable signals are present, a motor data identification routine is carried out at standstill with the next
switch-on command. Current flows through the motor which means that it can align itself by up to a quarter of a
revolution.
p1900 = 3:
Sets p1960 = 0, 1 depending on p1300
This setting should only be selected if the motor data identification was already carried out at standstill.
When the drive enable signals are present, with the next switch-on command, a rotating motor data identification
routine is carried out - and in addition, speed controller optimization by taking measurements at different motor speeds.
p1900 = 11 (only induction motor), 12:
The same as p1900 = 1, 2 with the difference, that after the measurement, the system immediately goes into operation.
For this purpose, p1909.18 is set = p1959.13 is set = 1 .
p1900 = 99:
In the current drive data set, all results of the identifications are undone, and the state after first commissioning is
restored.
Value: 0: No optimization
1: Identify motor data, optimize speed controller
2: Identifying motor data (at standstill)

Parameter
3: Optimize speed controller (rotating)

11: Identify motor data, optimize (rotating), operation
12: Identify motor data, operation
99: Reset motor/control parameters
See also: A07980, A07981, F07983, F07984, F07985, F07986, F07988, F07990, A07991
NOTICE
p1900 = 3:
This setting should only be selected if the motor data identification was already carried out at standstill.
If there is a motor holding brake, it must be open (p1215 = 2).
To permanently accept the determined settings they must be saved in a non-volatile fashion.
It is not possible to save the parameters during the rotating measurement.
Note
The motor and control parameters of the vector control are only optimally set when both measurements are carried out
(initially at standstill, and then with the motor rotating). The measurement with rotating motor is not performed for
p1300 < 20 (U/f controls).
An appropriate alarm is output when the parameter is set.
The switch-on command must remain set during a measurement and after the measurement has been completed, the
drive automatically resets it.
The duration of the measurements can lie between 0.3 s and several minutes. This time is, for example, influenced by
the motor size and the mechanical conditions.
p1900 is automatically set to 0 after the motor data identification routine has been completed.
For a reluctance motor, a pole position identification is carried out during the stationary measurement. As a
consequence, faults that occur can also be assigned to the pole position identification.
For U/f control (p1300), identification with speed controller optimization does not make sense (e.g. p1900 = 1).
For p1900 = 99, write protection is withdrawn from an offline commissioning.
p1901.0...3 Test pulse evaluation configuration / Test puls config

state:
- - 0000 bin
Description: Sets the configuration for the test pulse evaluation.
Bit 00: Check for conductor-to-conductor short circuit once/always when the pulses are enabled.
Bit 01: Check for ground fault once/always when the pulses are enabled.
Bit 02: Activation of the tests selected using bit 00 and/or bit 01 each time the pulses are enabled
Recommendation: If the ground fault test is incorrectly initiated because the motor is not at a complete standstill, then the pulse
cancellation delay time (p1228) should be increased.
00 Phase short-circuit test pulse active Yes No
01 Ground fault detection test pulse active Yes No
02 Test pulse at each pulse enable Yes No
03 Motor cable breakage detection active Yes No

Parameter
Dependency: The ground fault test is only possible when the motor is stationary, and is therefore only realized when flying restart is
deactivated (p1200 = 0).
When a sine-wave filter is connected, the short-circuit and the ground fault test are deactivated, as the filter could be
excited by the test pulse.
See also: p0287
Note
If a conductor-to-conductor short-circuit is detected during the test, this is displayed in r1902.1.
If a ground fault is detected during the test, this is indicated in r1902.3.
For bit 02 = 0:
If the test was successful once after POWER ON (see r1902.0), it is not repeated.
For bit 02 = 1:
The test is not only performed after POWER ON, but also each time the pulses are enabled.
r1902.0...8 Test pulse evaluation status / Test puls ev stat

Description: Displays the status of the test pulse evaluation.
00 Short-circuit test successfully performed Yes No
01 Phase short-circuit detected Yes No
02 Ground fault test successfully performed Yes No
03 Ground fault detected Yes No
04 Identification pulse width greater than the minimum pulse width Yes No
05 Pulse frequency for short-circuit test requested Yes No
06 Short-circuit test activated in the power stack driver Yes No
07 Short-circuit test pulse suppression active Yes No
08 Motor phase interrupted Yes No
Note
If the ground fault test was selected, but not successfully performed, then sufficient current was not be able to be
established during the test pulses.
For bit 04:
A test pulse longer than one sampling time has occurred
p1905 Parameter tuning selection / Par tuning select

state:
Parameter group: Pole position identification/encoder calibration

Parameter

0 90 0
Description: The fine encoder calibration should be started during the first commissioning or after the encoder is replaced.
The fine calibration starts when the pulses are enabled and performs a rotating measurement (approximately 1
minute). In this case, a setpoint speed of at least 40 % of the rated motor speed must be entered, and the torque must
be less than half of the rated motor torque.
The phases of the fine calibration of displayed using alarm A07976.
The fine calibration ends with the calculation of p0431 for the following pulse inhibit.
p1905 is automatically set to 0 at the end of the fine calibration.
Value: 0: Inactive
90: Fine encoder calibration
Dependency: If the motor encoder adjustment has not been performed (r3925.4 = 0) or the encoder calibration is activated (p1990 !
= 0), then encoder fine calibration is prevented.
See also: p1910, p1960, p1990
See also: A07976
NOTICE
During encoder fine calibration, the motor must be operated without a load - and if a motor holding brake is being used,
this must be opened.
Note
For p1905 = 90 and with the pulses not enabled, the function is only executed the next time that the pulses are enabled.
When selecting the encoder fine calibration, the changeover of the motor data sets is suppressed.
p1906[0...n].0 Encoder adjustment configuration / Encod adjust conf

state:
- - 0000 bin
Description: Sets the configuration for encoder adjustment.
00 Encoder adjustment in operation Yes No
See also: A07975
Note
Bit 0 = 0:
The motor shaft must be able to be freely rotated, and it is not permissible that any load torque is applied.
The runtime can be scaled for drives with high moment of inertia (p1999).
Bit 0 = 1:
For encoders without zero mark, or already detected zero mark, the adjustment is completed once the PolID has been
executed.
For zero mark information that is still not known, after the PolID has been executed, the drive pulses remain enabled and
the drive waits for a speed setpoint to be entered.
The operating state is signaled using A07975. The drive pulses are inhibited after approach and zero mark detection.
For permanent-magnet synchronous motors, to increase the quality of the result, a fine adjustment can be made
(p1905).

Parameter
p1909[0...n].0...28 Motor data identification control word / MotID STW

state:
- - 0000 0000 0000 0000 0000 0000 0000
0000 bin
Description: Sets the configuration for the motor data identification.
00 Stator inductance estimate no measurement Yes No
02 Rotor time constant estimate no measurement Yes No
03 Leakage inductance estimate no measurement Yes No
05 Determine Tr and Lsig evaluation in the time range Yes No
06 Activate vibration damping Yes No
07 Deactivate vibration detection Yes No
11 Deactivate saturation measurement pole Id Yes No
12 Deactivate rotor resistance Rr measurement Yes No
14 Deactivate valve interlocking time measurement Yes No
15 Basis meas (stator resistance, valve voltage, valve dead time) Yes No
16 Motor identification shortened Yes No
17 Measurement without control parameter calculation Yes No
18 After motID direct transition into operation Yes No
19 After MotID automatically save results Yes No
20 Estimate cable resistance Yes No
21 Calibrate output voltage measurement Yes No
22 Only identify circle Yes No
23 Deactivate circle identification Yes No
26 Measure with long cable Yes No
27 Deactivate saturation characteristic identification Yes No
28 Pulse inhibit for current 0A Yes No

Parameter
Note
For bit 20 = 1 (only for p0352 = 0 Ohm):
For motors with code number (with the exception of 1LE1, 1PE5, 1PC1), the cable resistance p0352 is calculated from
the difference between the measurement results of the overall stator resistance and the stator resistance listed in the
motor data sheet.
For all other motors, the stator resistance from the automatic calculation is used instead of that from the motor data
sheet.
The following applies to permanent-magnet synchronous motors:

Bit 11 = 0 and "Closed-loop control" operating mode:
The direct inductance Ld and the quadrature inductance Lq are measured at a low current.
Bit 11 = 1 or "U/f" operating mode:
The stator inductance is measured with half the rated motor current.
If the stator is inductance is not measured but is to be estimated, then bit 0 should be set and bit 11 should be deselected.
For bit 15 = 1:
When selected, a basis measurement is performed comprising stator resistance, valve voltage fault and valve interlock
time. Rotor resistance and inductance are not determined, so that for induction motors, the speed accuracy will be lower.
With sine output filter (see p0230), only this basis measurement is possible.
For bit 22 = 1 (only for reluctance motors):
The circle identification is required for the flying restart function (p1200). It is executed in the motor data identification,
and can be separately selected using this bit.
p1910 Motor data identification selection / MotID selection

state:
0 2 0
Description: Sets the motor data identification routine.
The motor data identification routine is carried out after the next switch-on command.
p1910 = 1:
All motor data and the converter characteristics are identified and then transferred to the following parameters
corresponding to the motor type:
p0320, p0350, p0354, p0356, p0357, p0358, p0360, p1825, p1828
The control parameters are then automatically calculated.
Value: 0: Inhibited
1: Complete identification (ID) and acceptance of motor data
2: Complete identification (ID) of motor data without acceptance
Dependency: "Quick commissioning" must have been carried out (see r3925 bit 0) before executing the motor data identification
routine.
When selecting the motor data identification routine, the drive data set changeover is suppressed.
When the sine-wave filter is connected, p1909 bit 15 must be activated as only the stator resistance can be measured.
See also: p1900
See also: F07990, A07991

Parameter
NOTICE
After the motor data identification (p1910 > 0) has been selected, alarm A07991 is output and a motor data
identification routine is carried out as follows at the next switch-on command:
- Current flows through the motor and a voltage is present at the drive converter output terminals.
- during the identification routine, the motor shaft can rotate through a maximum of half a revolution.
- However, no torque is generated.
Note
If there is a motor holding brake, it must be open (interconnect c0855 with a 1 signal).
When setting p1910, the following should be observed:
1. "With acceptance" means:
The parameters specified in the description are overwritten with the identified values and therefore have an influence
on the controller setting.
2. "Without acceptance" means:
The controller settings remain unchanged.
The switch-on command must remain set during a measurement and after the measurement has been completed, the
drive automatically resets it. The duration of the measurements can lie between 0.3 s and several minutes. This time is
mainly influenced by the motor size. p1910 is automatically set = 0 after the motor data identification routine has been
completed. If only the stationary measurement is selected, then p1900 is also reset to 0. Otherwise, the rotating
measurement is activated (p1960).
r1934[0...9] q inductance identified / Lq ident

Parameter group: Rotating measurement/speed controller optimization
Description: Displays the identified (differential) q inductance from the rotating measurement when p1959 bit 5 is activated.
See also: r1935, p1959, p1960
Note
The Lq characteristic consists of the value pairs from r1934 and r1935 with the same index.
This value corresponds to the value of the total leakage inductance (r0377).
r1935[0...9] q inductance identification current / Lq I_ID

Description: Displays the identification current to identify the q inductance ([0...9]).
See also: r1934, p1959, p1960
Note
The Lq characteristic consists of the value pairs from r1934 and r1935 with the same index.

Parameter
p1959[0...n].0...14 Rotating measurement configuration / Rot meas config

state:
- - 0000 0000 0001 1111 bin
Description: Sets the configuration of the rotating measurement.
00 Encoder test active Yes No
01 Saturation characteristic identification Yes No
02 Moment of inertia identification Yes No
03 Re-calculates the speed controller parameters Yes No
04 Speed controller optimization (vibration test) Yes No
05 q leakage inductance ident. (for current controller adaptation) Yes No
11 Do not change the controller parameters during the Yes No
measurement
12 Measurement shortened Yes No
13 After measurement direct transition into operation Yes No
14 Calculate actual speed smoothing time Yes No
Note
The encoder is only tested if the rotating measurement with encoder is selected (p1960 = 2).
The following parameters are influenced for the individual optimization steps:
Bit 00: None
Bit 01: p0320, p0360, p0362 ... p0369
Bit 02: p0341, p0342
Bit 03: p1400.0, p1458, p1459, p1460, p1462, p1463, p1470, p1472, p1496
Bit 04: Dependent on p1960
Bit 05: p0391, p0392, p0393, p1402.2 only for induction motors
p1960 = 1, 3: p1458, p1459, p1470, p1472, p1496, p1400.0
p1960 = 2, 4: p1458, p1459, p1460, p1462, p1496, p1461, p1463
The identification of the q leakage inductance can only be carried out for unloaded motors or motors with a low load
(load approx. 30% below the rated motor torque). Only then is a current controller adaptation (p0391 ... p0393)
parameterized if the q-leakage inductance under no-load conditions is at least 30 % higher than the total leakage
inductance (p0356, p0358).
For bit 11 = 1:
Bits 02, 03, 04 no longer have any effect. It makes sense to set bit 11 if the speed controller and its adaptation were
already set before the measurement.
For bit 12 = 1:
The selection only has an effect on the measurement p1960 = 1, 2. For the shortened measurement, the magnetizing
current and moment of inertia are determined with a somewhat lower accuracy.
For bit 13 = 1:
After the measurement has been completed, the system immediately goes into closed-loop speed controlled operation.
For bit 14 = 1:
The filter time constant p1452 (or p1442 for operation with speed encoder) is set corresponding to the moment of
inertia that was determined.

Parameter
p1960 Rotating measurement selection / Rot meas sel

state:
-1 4 0
Description: Sets the rotating measurement.
The rotating measurement is carried out after the next switch-on command.
The setting possibilities of the parameter depend on the open-loop/closed-loop control operating mode (p1300).
p1300 < 20 (U/f open-loop control):
It is not possible to select rotating measurement or speed controller optimization.
p1300 = 20, 22 (encoderless operation):
Only rotating measurement or speed controller optimization can be selected in the encoderless mode.
p1300 = 21, 23 (operation with encoder):
Both versions (encoderless and with encoder) of the rotating measurement and speed controller optimization can be
selected.
Value: -1: Reset parameter
0: Inhibited
1: Rotating measurement in encoderless operation
2: Rotating measurement with encoder
3: Speed controller optimization in encoderless operation
4: Speed controller optimization with encoder
Dependency: Before the rotating measurement is carried out, the motor data identification routine (p1900, p1910, r3925) should
have already been done.
When selecting the rotating measurement, the drive data set changeover is suppressed.
See also: p1300, p1900, p1959, p1967, r1968
See also: A07987
DANGER
For drives with a mechanical system that limits the distance moved, it must be ensured that this is not reached during
the rotating measurement. If this is not the case, then it is not permissible that the measurement is carried out.
NOTICE
If there is a motor holding brake, it must be open (interconnect c0855 with a 1 signal).
It is not possible to save the parameters during the rotating measurement.

Parameter
Note
Parameter changes are automatically made for the rotating measurement (e.g. p1120); this is the reason that up to the
end of the measurement, and if no faults are present, no manual changes should be made.
The ramp-up and ramp-down times (p1120, p1121) are limited, for the rotating measurement, to 900 s.
For speed controller optimization with encoder (p1960 = 2, 4), the speed controller for encoderless operation is also pre-
assigned (p1470, p1472).
Depending on whether the speed controller optimization is carried out with or without encoder, different Kp/Tn
adaptations of the speed controller are set (p1464, p1465). If the drive should be controlled with as well as without
speed encoder, then we recommend the use of two drive data sets (p0180). These can then be executed with different
speed controller adaptations.
For p1960 = -1:
If the results of the last successful measurement are to be rejected, and the old parameters restored, then this can be
realized by selecting p1960 = -1. This is only possible if the converter was not switched off in the meantime (see also
r3925 bit 19).
p1961 Saturation characteristic speed to determine / Sat_char n determ

state:
motor
26 [%] 75 [%] 40 [%]
Description: Sets the speed to determine the saturation characteristic and the encoder test.
The percentage value is referred to p0310 (rated motor frequency).
See also: F07983
Note
The saturation characteristics should be determined at an operating point with the lowest possible load.
p1965 Speed_ctrl_opt speed / n_opt speed

state:
10 [%] 75 [%] 40 [%]
Description: Sets the speed for the identification of the moment of inertia and the vibration test.
Induction motor:
The percentage value is referred to p0310 (rated motor frequency).
Synchronous motor:
The percentage value is referred to the minimum from p0310 (rated motor frequency) and p1082 (maximum speed).

Parameter

See also: F07984, F07985
Note
In order to calculate the inertia, sudden speed changes are carried out - The specified value corresponds to the lower
speed setpoint. This value is increased by 20 % for the upper speed value.
The q leakage inductance for induction motors (see p1959.5) is determined at zero speed and at 50 % of p1965 -
however, with a maximum output frequency of 15 Hz and at a minimum of 10% of the rated motor speed.
p1967[0...n] Speed_ctrl_opt dynamic factor / n_opt dyn_factor

state:
1 [%] 400 [%] 67 [%]
Description: Sets the dynamic response factor for speed controller optimization.
After optimization, the dynamic response achieved is displayed in r1968.
See also: F07985
Note
For a rotating measurement, this parameter can be used to optimize the speed controller.
p1967 = 100 % --> speed controller optimization according to a symmetric optimum.
p1967 > 100 % --> optimization with a higher dynamic response (Kp higher, Tn lower).
If the actual dynamic response (see r1968) is significantly reduced with respect to the required dynamic response
(p1967), then this can be as a result of mechanical load oscillations. If, in spite of this load behavior, a higher dynamic
response is required, then the oscillation test (p1959.4 = 0) should be deactivated and the measurement repeated.
r1968 Speed_ctrl_opt dynamic factor actual / n_opt dyn_fact act

Description: Displays the dynamic factor which is actually achieved for the vibration test
See also: F07985
Note
This dynamic factor only refers to the control mode of the speed controller set in p1960.

Parameter
r1970[0...1] Speed_ctrl_opt vibration test vibration frequency determined / n_opt f_vib det
Description: Displays the vibration frequencies determined by the vibration test.
Index: [0] = Frequency low
[1] = Frequency high
See also: F07985
r1973 Rotating measurement encoder test pulse number determined / n_opt puls no det
Description: Displays the number of pulses determined during the vibration test.
Note
A negative signal indicates an incorrect polarity of the encoder signal.
p1974[0...n] Speed_ctrl_opt saturation characteristic rotor flux maximum / n_opt rot_fl max
state:
104 [%] 120 [%] 120 [%]
Description: Sets the maximum flux setpoint to measure the saturation characteristic.

Parameter
p1980[0...n] PolID technique / PolID technique

state:
1 10 1
Description: Sets the pole position identification technique. For encoderless synchronous and reluctance motors, the pole position
identification is performed each time operation is enabled. The motor must be stationary for this to be performed.
Value: 1: Voltage pulsing 1st harmonics
4: Voltage pulsing 2-stage
6: Voltage pulsing 2-stage inverse
8: Voltage pulsing 2nd harmonic inverse (RESM)
10: DC current injection
Dependency: When commissioning, the technique is automatically preselected depending on the motor type being used.
p1980 = 8: only suitable for reluctance motors (p0300 = 6xxx)
p1980 = 1, 4, 6: only suitable for synchronous motors (p0300 = 2xxx)
p1980 = 4, 6: only suitable for synchronous motors with adequate asymmetry (not to be used for 1FK7 motors).
The function is enabled using p1780 bit 6.
If it can be absolutely ensured that the motor is stationary when the pulses are inhibited - and that the inverter is
switched off with the motor stationary, then by using p1780 bit 12, it can be set as to whether the last position angle
(with the pulses enabled) can be approached without pole position identification.
Pole position identification is not performed during a flying restart of a rotating motor.
See also: p0325, p0329, p1780
See also: F07969
Note
The current magnitudes are limited to the rated power unit values.
p1980 = 1, 8:
The current magnitude is set using p0329.
p1980 = 4, 6:
The current magnitude of the first measurement section is set using p0325, the second using p0329.
p1980 = 10:
The rated motor current is impressed to align.
p1982[0...n] PolID selection / PolID selection

state:
0 2 0

Parameter
Description: Activates the pole position identification routine to determine the commutation angle and to carry out a plausibility
check.
Value: 0: Pole position identification off
1: Pole position identification for commutation
2: Pole position identification for plausibility check
Recommendation: For p1982 = 1:
This is used for synchronous motors with motor encoder without absolute data.
The information/data regarding the absolute commutation angle is supplied via a track C/D, Hall sensors, an absolute
encoder or from the pole position identification routine.
For p1982 = 2:
This is used for synchronous motor with motor encoder with absolute data to check this data.
With p1982 = 2, each time the pulses are enabled it is checked whether the absolute position supplied from the encoder
does not exceed a deviation of 45 degrees to the identified pole wheel position.
Dependency: See also: p0325, p0329, p1980, p1990, r1992
Note
For encoderless operation, the pole position identification routine is selected with p1780.6
r1985 PolID saturation curve / PolID sat_char

Description: Displays the saturation curve of the pole position identification (saturation technique).
Displays the current characteristic of the pole position identification routine (elasticity technique).
Note
PolID: Pole position identification
Regarding the saturation technique:
The values for the characteristic of the last saturation-based pole position identification routine are output every 1 ms
in order to record signals (e.g. trace).
r1987 PolID trigger characteristic / PolID trig_char

Description: Displays the trigger characteristic of the pole position identification routine.
The values for the characteristic of the last pole position identification routine are output every 1 ms in order to record
signals (e.g. trace).
The values for trigger characteristic and saturation characteristic are always output in synchronism from a time
perspective.

Parameter
Note
PolID: Pole position identification
The following information and data can be taken from the trigger characteristic.
- the value -100% marks the angle at the start of the measurement.
- The value +100 % marks the commutation angle determined from the pole position identification routine.
p1990 Encoder adjustment determine angular commutation offset / Enc_adj det ang
state:
0 2 0
Description: This function is only required for synchronous motors and can be started when commissioning for the first time or after
replacing an encoder.
The function acts on the active motor data set.
Alarm A07971 is output while the angular commutation offset is being determined.
p1990 is automatically set to 0 after the angular commutation offset has been determined.
For p1990 = 1 (encoder adjustment with transfer), the following applies:
The angular commutation offset is determined and transferred into p0431.
For p1990 = 2 (encoder adjustment for checking), the following applies:
The angular commutation offset is determined and is not transferred into p0431. For a deviation of more than 6 °
electrical, fault F07413 is output.
Value: 0: Deactivated
1: Activated with transfer
2: Activated for checking
Dependency: When selecting the encoder adjustment, the changeover of the drive data sets is suppressed.
Encoder adjustment is only carried out if function "Closed-loop speed/torque control" is activated.
See also: p0325, p0329, p0431, p1900
CAUTION
When the encoder is being adjusted, the motor must be operated without a load - and if a motor holding brake is being
used, this must be opened.
Note
Encoder adjustment can be configured in p1906.
p1991[0...n] Motor changeover angular commutation correction / Ang_com corr

state:

Parameter

-180 [°] 180 [°] 0 [°]
Description: Sets the angle that is added to the commutating angle.
CAUTION
If the angular correction is not correctly set, when changing over and with closed-loop torque control, the motor can
accelerate to high speeds in spite of the fact that a setpoint of zero has been entered.
r1992.0...15 PolID diagnostics / PolID diag

Description: Display and signal source for the diagnostics information of the pole position identification (polID).
00 Critical encoder fault occurred Yes No
02 Encoder parking active Yes No
05 Encoder fault Class 1 Yes No
06 Encoder fault Class 2 Yes No
07 Pole position identification for encoder carried out Yes No
08 Fine synchronization carried out Yes No
09 Coarse synchronization carried out Yes No
10 Commutation information available Yes No
11 Speed information available Yes No
12 Position information available Yes No
15 Zero mark passed Yes No
Note
The data of r1992 are updated in a 4 ms cycle.
p1999[0...n] Angular commutation offset calibration and PollD scaling / Com_ang_offs scal
state:
10 [%] 5000 [%] 100 [%]
Description: Sets the scaling for the runtime of the automatic encoder calibration and of the pole position identification technique
in which the current is injected.

Parameter
CAUTION
For p1999 > 100 % (setting large moments of inertia) the following applies:
There is no locked rotor monitoring (F07970 fault value 2).
The plausibility check of the encoder signal (F07970 fault value 4) only checks the sign.
Note
For high moments of inertia, it is practical to scale the runtime of the calibration higher.
p2000 Reference speed reference frequency / n_ref f_ref

state:
Parameter group: Reference variables
6.00 [rpm] 210000.00 [rpm] 1500.00 [rpm]
Description: Sets the reference quantity for speed and frequency.
All speeds or frequencies specified as relative value are referred to this reference quantity.
The reference quantity corresponds to 100% or 4000 hex (word) or 4000 0000 hex (double word).
The following applies: Reference frequency (in Hz) = reference speed (in ((rpm) / 60) x pole pair number)
Dependency: See also: p2001, p2002, p2003, r2004
Note
If a signal interconnection is established between different physical quantities, then the particular reference quantities
are used as internal conversion factor.
Example 1:
The signal of an analog input is interconnected to a speed setpoint (e.g. c1070[0]). The actual percentage input value
is cyclically converted into the absolute speed setpoint using the reference speed (p2000).
Example 2:
The setpoint from PROFIBUS (r2050[1]) is interconnected to a speed setpoint (e.g. c1070[0]). The actual input value is
cyclically converted into a percentage value via the pre-specified scaling 4000 hex. This percentage value is converted
to the absolute speed setpoint via reference speed (p2000).
p2001 Reference voltage / Reference voltage

state:
10 [Vrms] 100000 [Vrms] 1000 [Vrms]

Parameter
Description: Sets the reference quantity for voltages.

All voltages specified as relative value are referred to this reference quantity. This also applies for direct voltage values
(= rms value) like the DC link voltage.
Note:
This reference quantity also applies to direct voltage values. It is not interpreted as rms value, but as DC voltage value.
Note
p2002 Reference current / I_ref

state:
0.10 [Arms] 100000.00 [Arms] 100.00 [Arms]
Description: Sets the reference quantity for currents.
All currents specified as relative value are referred to this reference quantity.
NOTICE
If various DDS are used with different motor data, then the reference quantities remain the same as these are not
changed over with the DDS. The resulting conversion factor should be taken into account (e.g. for trace records).
Example:
p2002 = 100 A
Reference quantity 100 A corresponds to 100 %
p0305[0] = 100 A
Rated motor current 100 A for MDS0 in DDS0 --> 100 % corresponds to 100 % of the rated motor current
p0305[1] = 50 A
Rated motor current 50 A for MDS1 in DDS1 --> 100 % corresponds to 200 % of the rated motor current
Note
Pre-assigned value is p0640.
p2003 Reference torque / M_ref

state:

Parameter

0.01 [Nm] 20000000.00 [Nm] 1.00 [Nm]
Description: Sets the reference quantity for torque.
All torques specified as relative value are referred to this reference quantity.
Note
Pre-assigned value is 2 * r0333.
Example:
The actual value of the total torque (r0079) is interconnected with a measuring socket (e.g. c0771[0]). The actual torque
is cyclically converted into a percentage of the reference torque (p2003) and output according to the parameterized
scaling.
r2004 Reference power / P_ref

Description: Displays the reference quantity for power.
All power ratings specified as relative value are referred to this reference quantity.
Dependency: This value is calculated as follows:
Calculated from torque times speed.
Note
The reference power is calculated as follows:
- 2 * Pi * reference speed / 60 * reference torque (motor)
p2005 Reference angle / Reference angle

state:
90.00 [°] 180.00 [°] 90.00 [°]
Description: Sets the reference quantity for angle.
All angles specified as relative value are referred to this reference quantity.

Parameter
Note
p2006 Reference temperature / Ref temp

state:
50.00 [°C] 300.00 [°C] 100.00 [°C]
Description: Sets the reference quantity for temperature.
All temperatures specified as relative value are referred to this reference quantity.
Note
0 % (0000 hex) corresponds to 0 degree Celsius in the SI system of units
0 % (0000 hex) corresponds to 32 degrees Fahrenheit in the US system of units
p2007 Reference acceleration / a_ref

state:
0.01 [rev/s²] 500000.00 [rev/s²] 0.01 [rev/s²]
Description: Sets the reference quantity for acceleration rates.
All acceleration rates specified as relative value are referred to this reference quantity.
Note
The reference acceleration is calculated as follows:
Reference speed (p2000) converted from 1/min to 1/s divided by 1 s
--> p2007 = p2000 [rpm] / (60 [s/min] * 1 [s])

Parameter
p2008 Infeed reference frequency / Infeed f_reference

state:
0.10 [Hz] 1000.00 [Hz] 50.00 [Hz]
Description: Sets the reference quantity for the line frequency.
All of the quantities specified relative to the line frequency refer to this quantity.
The following applies: Infeed reference frequency (in Hz)
r2043.0...2 PROFIdrive PZD state / PD PZD state

Description: Displays the PROFIdrive PZD state.
00 Setpoint failure Yes No
01 Isochronous operation active Yes No
02 Fieldbus running Yes No
Note
When using the "setpoint failure" signal, the bus can be monitored and an application-specific response triggered when
the setpoint fails.
c2045 PB/PN clock synchronous controller sign-of-life / PB/PN ctr SoL

Description: Signal for the sign-of-life of the clock synchronous PROFIBUS/PROFINET controller.
The sign-of-life is expected at bits 12 to 15. Bits 0 to 11 are not evaluated.
The sign-of-life signal is normally received in PZD4 (control word 2) from the controller.

Parameter
NOTICE
r2050[0...31].0...15 PROFIdrive PZD receive word / PZD receive word

Parameter group: Receive direction
Type of signal interconnection: Source binary/numeric Scaling: 4000H
Description: Display and numerical signal source to interconnect PZD (setpoints) in the word format received from the fieldbus
controller.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
[30] = PZD 31
[31] = PZD 32
00 Bit 0 On Off
01 Bit 1 On Off
02 Bit 2 On Off
03 Bit 3 On Off

Parameter
04 Bit 4 On Off
05 Bit 5 On Off
06 Bit 6 On Off
07 Bit 7 On Off
08 Bit 8 On Off
09 Bit 9 On Off
10 Bit 10 On Off
11 Bit 11 On Off
12 Bit 12 On Off
13 Bit 13 On Off
14 Bit 14 On Off
15 Bit 15 On Off
NOTICE
When interconnecting a numerical signal source several times, all numerical signal sinks must either have the integer or
floating point data type.
A signal interconnection of a single PZD can only take place either on r2050 or r2060.
c2053[0...31] PROFIdrive PZD send word / PZD send word

Parameter group: Send direction
Type of signal interconnection: Sink numeric Scaling: 4000H
Description: Signal of the PZD (actual values) in the word format, which is sent to the fieldbus controller.

Parameter
Index: [0] = PZD 1

[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
[9] = PZD 10
[10] = PZD 11
[11] = PZD 12
[12] = PZD 13
[13] = PZD 14
[14] = PZD 15
[15] = PZD 16
[16] = PZD 17
[17] = PZD 18
[18] = PZD 19
[19] = PZD 20
[20] = PZD 21
[21] = PZD 22
[22] = PZD 23
[23] = PZD 24
[24] = PZD 25
[25] = PZD 26
[26] = PZD 27
[27] = PZD 28
[28] = PZD 29
[29] = PZD 30
[30] = PZD 31
[31] = PZD 32
NOTICE
A signal interconnection of an individual PZD is only possible either with c2053 or c2063.
r2060[0...30] PROFIdrive PZD receive double word / PZD recv DW

Parameter group: Receive direction
Type of signal interconnection: Source numeric Scaling: 4000H
Description: Display and numerical signal source to interconnect PZD (setpoints) with double word format received from the
fieldbus controller.

Parameter
Index: [0] = PZD 1 + 2

[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 + 10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
[15] = PZD 16 + 17
[16] = PZD 17 + 18
[17] = PZD 18 + 19
[18] = PZD 19 + 20
[19] = PZD 20 + 21
[20] = PZD 21 + 22
[21] = PZD 22 + 23
[22] = PZD 23 + 24
[23] = PZD 24 + 25
[24] = PZD 25 + 26
[25] = PZD 26 + 27
[26] = PZD 27 + 28
[27] = PZD 28 + 29
[28] = PZD 29 + 30
[29] = PZD 30 + 31
[30] = PZD 31 + 32
NOTICE
When interconnecting a numerical signal source several times, all numerical signal sinks must either have the integer or
floating point data type.
A signal interconnection of a single PZD can only take place either on r2050 or r2060.
A maximum of 4 indices of the "trace" function can be used.
c2063[0...30] PROFIdrive PZD send double word / PZD send DW

Parameter group: Send direction
Type of signal interconnection: Sink numeric Scaling: 4000H
Description: Signal of the PZD (actual values) in the double word format, which is sent to the fieldbus controller.

Parameter
Index: [0] = PZD 1 + 2

[1] = PZD 2 + 3
[2] = PZD 3 + 4
[3] = PZD 4 + 5
[4] = PZD 5 + 6
[5] = PZD 6 + 7
[6] = PZD 7 + 8
[7] = PZD 8 + 9
[8] = PZD 9 + 10
[9] = PZD 10 + 11
[10] = PZD 11 + 12
[11] = PZD 12 + 13
[12] = PZD 13 + 14
[13] = PZD 14 + 15
[14] = PZD 15 + 16
[15] = PZD 16 + 17
[16] = PZD 17 + 18
[17] = PZD 18 + 19
[18] = PZD 19 + 20
[19] = PZD 20 + 21
[20] = PZD 21 + 22
[21] = PZD 22 + 23
[22] = PZD 23 + 24
[23] = PZD 24 + 25
[24] = PZD 25 + 26
[25] = PZD 26 + 27
[26] = PZD 27 + 28
[27] = PZD 28 + 29
[28] = PZD 29 + 30
[29] = PZD 30 + 31
[30] = PZD 31 + 32
NOTICE
A signal interconnection of an individual PZD is only possible either with c2053 or c2063.
A maximum of 4 indices of the "trace" function can be used.
p2100[0...19] Change fault response fault number / Chg resp flt_no

state:
0 65535 0
Description: Selects the faults for which the fault response should be changed
Dependency: The fault is selected and the required response is set under the same index.
See also: p2101

Parameter
Note
Re-parameterization is also possible if a fault is present. The change only becomes effective after the fault has been
resolved.
p2101[0...19] Change fault response response / Chg resp resp

state:
0 7 0
Description: Sets the fault response for the selected fault.
Value: 0: NONE
1: OFF1
2: OFF2
3: OFF3
5: STOP2
6: Internal armature short-circuit / DC braking
7: ENCODER (p0491)
Dependency: The fault is selected and the required response is set under the same index.
See also: p2100
NOTICE
For the following cases, it is not possible to re-parameterize the fault response to a fault:
- Fault number does not exist (exception value = 0).
- Message type is not "fault" (F).
- Fault response is not permissible for the set fault number.

Parameter
Note
Re-parameterization is also possible if a fault is present. The change only becomes effective after the fault has been
resolved.
The fault response can only be changed for faults with the appropriate identification (see the List Manual, chapter "Faults
and alarms").
Example:
F12345 and fault response = OFF3 (OFF1, OFF2, NONE)
--> The default fault response OFF3 can be changed to OFF1, OFF2 or NONE.
For value = 1 (OFF1):
Braking along the ramp-function generator down ramp followed by a pulse inhibit.
Internal/external pulse inhibit.
Braking along the OFF3 down ramp followed by a pulse inhibit.
For value = 5 (STOP2):
n_set = 0
For value = 6 (armature short-circuit, internal/DC braking):
The value can only be set for all motor data sets when p1231 = 3, 4.
a) For synchronous motors (p0300 = 2xx, 4xx), an internal armature short-circuit is executed.
b) For induction motors (p0300 = 1xx), a DC braking is initiated.
For value = 7 (ENCODER (p0491)):
The fault response set in p0491 is executed if applicable.
Note:
IASC: Internal Armature Short Circuit
DCBRK: DC braking
c2103[0...n] 1st acknowledge faults / 1st acknowledgment

0
Description: Signal 1 to acknowledge faults.
NOTICE
Note
A fault acknowledgment is triggered with a 0/1 signal.
c2104[0...n] 2nd acknowledge faults / 2nd acknowledgment


Parameter

Factory interconnection: [0] Parameter: 722.2[1] Fixed value:
0[2] Fixed value: 0[3] Fixed value: 0
Description: Signal 2 to acknowledge faults.
Note
A fault acknowledgment is triggered with a 0/1 signal.
c2106[0...n] External fault 1 / External fault 1

Description: Signal for external fault 1.
Note
An external fault is initiated with a 1->0 edge.
If this fault is initiated at the Control Unit, then it is transferred to all of the drive objects available.

G220 Data type: Unsigned8 Visible in: Standard display
Note
Function "Temperature monitoring braking resistor" is activated if this signal is interconnected with r0722,
and an active external fault 2 also inhibits braking resistor operation.


Parameter

Note
r2109[0...63] Fault time removed in milliseconds / t_flt removed ms

Description: Displays the system runtime in milliseconds when the fault was removed.
NOTICE
Note
r2111 Alarm counter / Alarm counter

Description: Number of alarms that have occurred.
Dependency: See also: r2122, r2123, r2124, r2125
Note
The parameter is reset to 0 at POWER ON.
r2114[0...1] System runtime total / Sys runtime tot

Description: Displays the total system runtime of the converter.
The time comprises r2114[0] (milliseconds) and r2114[1] (days).
After r2114[0] has reached a value of 86.400.000 ms (24 hours) this value is reset and r2114[1] is incremented.

Parameter
Index: [0] = Milliseconds

[1] = Days
Note
The counter values are saved when the power supply is switched off.
After the converter is switched on, the counter continues to run with the last value that was saved.
p2118[0...19] Change message type message number / Chg type msg_no

state:
0 65535 0
Description: Selects faults or alarms for which the message type should be changed.
Dependency: Selects the fault or alarm selection and sets the required type of message realized under the same index.
See also: p2119
Note
Re-parameterization is also possible if a message is present. The change only becomes effective after the message has
gone.
p2119[0...19] Change message type type / Change type type

state:
1 3 1
Description: Sets the message type for the selected fault or alarm.
Value: 1: Fault (F)
2: Alarm (A)
3: No message (N)
Dependency: Selects the fault or alarm selection and sets the required type of message realized under the same index.
See also: p2118
Note
Re-parameterization is also possible if a message is present. The change only becomes effective after the message has
gone.
The message type can only be changed for messages with the appropriate identification (exception, value = 0).
Example:
F12345(A) --> Fault F12345 can be changed to alarm A12345.

Parameter
r2121 Counter alarm buffer changes / A buff changed

Description: This counter is incremented every time the alarm buffer changes.
r2122[0...63] Alarm code / Alarm code

Description: Displays the codes of alarms that have occurred.
Dependency: See also: r2123, r2124, r2125, r2134, r2145, r2146, r3121, r3123
NOTICE
The properties of the alarm buffer should be taken from the corresponding product documentation.
Note
The parameters of the alarm buffer are cyclically updated (states are indicated in r2139).
Alarm buffer structure (general principle):
Currently active alarms:
r2122[0], r2124[0], r2123[0], r2125[0], r3121[0], r3123[0] --> oldest active alarm
...
r2122[7], r2124[7], r2123[7], r2125[7], r3121[7], r3123[7] --> latest active alarm
For more than 8 active alarms, only the entries are overwritten at the eighth position (index 7).
History of alarms that have gone (problem no longer active):

r2122[8], r2124[8], r2123[8], r2125[8], r3121[8], r3123[8] --> latest alarm that has gone
...
r2122[63], r2124[63], r2123[63], r2125[63], r3121[63], r3123[63] --> oldest alarm that has gone
r2123[0...63] Alarm time received in milliseconds / t_alarm recv ms

Description: Displays the system runtime in milliseconds when the alarm occurred.

Parameter
NOTICE
Note
The structure of the alarm buffer and the assignment of the indices is shown in r2122.
r2124[0...63] Alarm value / Alarm value

Description: Displays additional information about the active alarm (as integer number).
Note
r2125[0...63] Alarm time removed in milliseconds / t_alarm removed ms

Description: Displays the system runtime in milliseconds when the alarm was removed.
NOTICE
Note
r2130[0...63] Fault time received in days / t_fault recv days

Description: Displays the system runtime in days when the fault occurred.

Parameter
NOTICE
Note
r2131 Actual fault code / Act fault code

Description: Displays the code of the oldest active fault.
Note
0: No fault present.
r2132 Actual alarm code / Alarm code act

Description: Displays the code of the last alarm that occurred.
Note
0: No alarm present.
r2133[0...63] Fault value for float values / Fault val float

Description: Displays additional information about the fault that occurred for float values.
Dependency: See also: r0945, r0947, r0948, r0949, r2109, r2130, r2136
Note

Parameter
r2134[0...63] Alarm value for float values / Alarm value float

Description: Displays additional information about the active alarm for float values.
Note
r2135.6...15 Status word faults/alarms 2 / ZSW fault/alarm 2

Description: Display and signal source for the second status word of faults and alarms.
06 No alarm motor overtemperature Yes No
07 No alarm thermal power unit overload Yes No
12 Fault motor overtemperature Yes No
13 Fault power unit thermal overload Yes No
14 Alarm motor overtemperature Yes No
15 Alarm power unit thermal overload Yes No
r2136[0...63] Fault time removed in days / t_flt rem days

Description: Displays the system runtime in days when the fault was removed.
NOTICE
Note

Parameter
r2139.0...15 Status word faults/alarms 1 / ZSW fault/alarm 1

Description: Display and signal source for status word 1 of faults and alarms.
00 Being acknowledged Yes No
01 Acknowledgment required Yes No
15 Fault gone/can be acknowledged Yes No
Note
For bit 03, 05, 07:
These bits are set if at least one fault/alarm or safety message occurs. The entry in the fault/alarm buffer or safety
message buffer is delayed. This is the reason that the fault/alarm buffer or safety message buffer should only be read if,
after "Fault active", "Alarm active" or "Safety message active" occurs, a change is also identified in the buffer (r0944,
r2121, r60044).
For bits 11, 12:
p2140[0...n] Hysteresis speed 2 / n_hysteresis 2

state:
Parameter group: Speed messages
0.00 [rpm] 300.00 [rpm] 90.00 [rpm]
Description: Sets the hysteresis speed (bandwidth) for the following signals:
"|n_act| <= speed threshold 2" (r2197.1)
"|n_act| > speed threshold 2" (r2197.2)

Parameter
p2141[0...n] Speed threshold 1 / n_thr val 1

state:
0.00 [rpm] 210000.00 [rpm] 5.00 [rpm]
Description: Sets the speed threshold value for signal "f or n comparison value reached or exceeded" (r2199.1).

state:
0.00 [rpm] 300.00 [rpm] 2.00 [rpm]
Description: Sets the hysteresis speed (bandwidth) for signal "f or n / v comparison value reached or exceeded" (r2199.1).
c2144[0...n] Motor stall monitoring enable (negated) / Mot stall enab neg
Description: Signal for the negated enable (0 = enable) of the motor stall monitoring.
Dependency: See also: p2163, p2164, p2166, r2197, r2198
See also: F07900
Note
When interconnecting the enable signal with r2197.7 then the stall signal is suppressed if there is no speed setpoint -
actual value deviation.

Parameter
r2145[0...63] Alarm time received in days / t_alarm recv days

Description: Displays the system runtime in days when the alarm occurred.
NOTICE
Note
r2146[0...63] Alarm time removed in days / t_alarm rem days

Description: Displays the system runtime in days when the alarm was removed.
NOTICE
Note
c2148[0...n] Ramp-function generator active / RFG active

Dyn. index [0…n]: CDS n defined by: p0170 Calculated: automatic
Description: Signal for command "Ramp-function generator active" for the following messages.
"Speed setpoint - actual value deviation within tolerance t_on" (r2199.4)
"Ramp-up/ramp-down completed" (r2199.5)
NOTICE
Note
The binary signal sink is automatically preassigned with r1199.2.

Parameter
p2149[0...n].0...5 Monitoring configuration / Mon config

state:
Parameter group: Speed messages, Load torque monitoring
- - 0000 1001 bin
Description: Sets the configuration for messages and monitoring functions.
00 Enable alarm A07903 Yes No
01 Load monitoring only in the 1st quadrant Yes No
03 n_act > p2155 own hysteresis Yes No
05 Stall monitoring for encoderless speed control Yes No
See also: A07903
Note
For bit 00:
Alarm A07903 is output when the bit is set with r2197.7 = 0 (n_set <> n_act).
For bit 01:
When the bit is set, the load monitoring is only executed in the 1st quadrant as a result of the positive characteristic
parameters (p2182 ... p2190).
For bit 03:
When the bit is set, r2197.1 and r2197.2 are determined using separate hysteresis functions.
For bit 05:
When this bit is set, a change to open-loop speed controlled operation is only possible when the motor is stationary.

state:
0.00 [rpm] 300.00 [rpm] 2.00 [rpm]
Description: Sets the hysteresis speed (bandwidth) for the following signals:
"|n_act| < speed threshold 3" (r2199.0)
"n_set >= 0" (r2198.5)
"n_act >= 0" (r2197.3)

Parameter
c2151[0...n] Speed setpoint for messages/signals / n_set for msg

Description: Signal for the speed setpoint for the following messages:
"Speed setpoint - actual value deviation within tolerance t_off" (r2197.7)
"|n_set| < p2161" (r2198.4)
"n_set > 0" (r2198.5)
p2152[0...n] Delay for comparison n > n_max / Del n > n_max

state:
0 [ms] 10000 [ms] 200 [ms]
Description: Sets the delay time for comparing the speed with the maximum speed.
Dependency: See also: p1082, r1084, r1087, p2162
p2153[0...n] Speed actual value filter time constant / n_ActV filt Tc

state:
0 [ms] 1000000 [ms] 0 [ms]
Description: Sets the time constant of the PT1 element to smooth the speed / velocity actual value.
The smoothed actual speed/velocity is compared with the threshold values and is only used for messages and signals.

Parameter
c2154[0...n] Speed setpoint 2 for messages / n_set 2 message

Description: Signal for speed setpoint 2.
The sum of c2151 and c2154 is used for the following messages/signals:
"Speed setpoint - actual value deviation within tolerance t_off" (r2197.7)
"Speed setpoint - actual value deviation within tolerance t_on" (r2199.4)

state:
0.00 [rpm] 210000.00 [rpm] 900.00 [rpm]
Description: Sets the speed threshold value for the following messages:
"|n_act| <= speed threshold 2" (r2197.1)
"|n_act| > speed threshold 2" (r2197.2)
CAUTION
The filter monitoring function is deactivated with p2155 = 0.0.
Note
The parameter is used as alarm threshold for underspeed monitoring.
p2156[0...n] On-delay comparison value reached / t_on cmpr val rchd

state:

Parameter

0.0 [ms] 10000.0 [ms] 0.0 [ms]
Description: Sets the switch-on delay time for the signal "Comparison value reached" (r2199.1).
Dependency: See also: p2141, p2142, r2199
p2157[0...n] Speed threshold 5 / n_thresh val 5

state:
0.00 [rpm] 210000.00 [rpm] 900.00 [rpm]
"|n_act| <= speed threshold value 5" (r2198.0)
"|n_act| > speed threshold value 5" (r2198.1)
p2158[0...n] Delay for n_act comparison with speed threshold value 5 / Del compar n_5
state:
0 [ms] 10000 [ms] 10 [ms]
Description: Sets the delay time for the comparison of the speed with the speed threshold value 5 (p2157).
p2159[0...n] Speed threshold 6 / n_thresh val 6

state:
0.00 [rpm] 210000.00 [rpm] 900.00 [rpm]

Parameter
"|n_act| <= speed threshold value 6" (r2198.2)
"|n_act| > speed threshold value 6" (r2198.3)
p2160[0...n] Delay for n_act comparison with speed threshold value 6 / Del compar n_6
state:
0 [ms] 10000 [ms] 10 [ms]
Description: Sets the delay time for the comparison of the speed with the speed threshold value 6 (p2159).

state:
0.00 [rpm] 210000.00 [rpm] 5.00 [rpm]
Description: Sets the speed threshold value for signal "|n_act| < speed threshold 3" (r2199.0).
CAUTION
The threshold monitoring function is deactivated with p2161 = 0.0.
Note
The parameter is used as fault threshold for underspeed monitoring
p2162[0...n] Hysteresis speed n_act > n_max / Hyst n_act>n_max

state:

Parameter

0.00 [rpm] 60000.00 [rpm] 0.00 [rpm]
Description: Sets the hysteresis speed (bandwidth) for signal "n_act > n_max" (r2197.6).
NOTICE
For p0322 = 0, the following applies: p2162 <= 0.1 * p0311
For p0322 > 0, the following applies: p2162 <= 1.02 * p0322 - p1082
If one of the conditions is violated, p2162 is appropriately and automatically reduced when exiting the commissioning
mode.
Note
For a negative speed limit, the hysteresis is effective below the limit value and for a positive speed limit, above the limit
value.
If significant overshoot occurs in the maximum speed range (e.g. due to load shedding), you are advised to increase the
dynamic response of the speed controller (if possible). If this is insufficient, the hysteresis p2162 can only be increased
by more than 10% of the rated speed when the maximum speed (p0322) of the motor is sufficiently greater than the
speed limit p1082.

state:
0.00 [rpm] 210000.00 [rpm] 90.00 [rpm]
Description: Sets the speed threshold value for signal "Speed setpoint - actual value deviation in tolerance t_off" (r2197.7).

state:
0.00 [rpm] 200.00 [rpm] 2.00 [rpm]
Description: Sets the hysteresis speed (bandwidth) for signal "Speed setpoint - actual value deviation in tolerance t_off" (r2197.7).

Parameter
p2165[0...n] Load monitoring stall monitoring upper threshold / Stall_mon up thr

state:
Parameter group: Load torque monitoring
0.00 [rpm] 210000.00 [rpm] 0.00 [rpm]
Description: Sets the upper speed threshold of the stall monitoring of the pump or fan.
The lower limit is formed by the speed threshold 1 of the load monitoring (p2182).
The stall monitoring is active between p2182 and p2165.
Dependency: The following applies: p2182 < p2165
See also: p2181, p2182, p2193
See also: A07891, F07894, A07926
Note
For p2165 = 0 or p2165 < p2182, the following applies:
There is no special stall monitoring for the pump/fan, but only the remaining load monitoring functions (e.g. leakage
monitoring for a pump) for the pump or fan are active.
p2166[0...n] Off-delay n_act = n_set / t_del_off n_i=n_so

state:
Parameter group: Speed messages, Shutdown functions
0.0 [ms] 10000.0 [ms] 200.0 [ms]
Description: Sets the switch-off delay time for signal "Speed setpoint - actual value deviation in tolerance t_off" (r2197.7).
p2167[0...n] Switch-on delay n_act = n_set / t_on n_act=n_set

state:
Parameter group: Speed messages, Shutdown functions
0.0 [ms] 10000.0 [ms] 200.0 [ms]

Parameter
Description: Sets the switch-on delay time for signal "Speed setpoint - actual value deviation in tolerance t_on" (r2199.4).
p2168[0...n] Load monitoring stall monitoring torque threshold / Stall_mon M_thr

state:
0.00 [Nm] 20000000.00 [Nm] 10000000.00 [Nm]
Description: Sets the torque threshold of the stall monitoring of the pump or fan.
If, in the monitored speed range from p2182 to p2165, the torque exceeds this threshold, then this is evaluated as
either the motor having stalled or heavy-duty starting.
Dependency: For pumps, the following applies (p2193 = 4):
- The leakage characteristic must lie below the torque threshold for the stall monitoring
- The torque threshold for dry running operation must lie below the torque threshold for stall monitoring
For fans, the following applies (p2193 = 5):
- The torque threshold for the stall monitoring must lie above the torque threshold to identify belt breakage (p2191).
See also: p2165, p2181, p2191, p2193
See also: A07891, F07894, A07926
Note
The following applies for p2168 = 0:
The special stall monitoring for pump/fan is deactivated.
Then, only the remaining load monitoring functions (e.g. the leakage monitoring for a pump) for pump or fan are
realized.
r2169 Actual speed smoothed signals / n_act smth message

Parameter group: Speed messages, Load torque monitoring
Description: Display and numerical signal source of the smoothed speed actual value for messages.

Parameter
p2170[0...n] Current threshold value / I_thres

state:
Parameter group: Messages / Monitoring
0.00 [Arms] 10000.00 [Arms] 0.00 [Arms]
Description: Sets the absolute current threshold for the messages.
"I_act >= I_threshold p2170" (r2197.8)
"I_act < I_threshold p2170" (r2198.8)
p2171[0...n] Current threshold value reached delay time / I_thresh rch t_del
state:
0 [ms] 10000 [ms] 10 [ms]
Description: Sets the delay time for the comparison of the current actual value (r0068) with the current threshold value (p2170).
p2172[0...n] DC link voltage threshold value / Vdc thresh val

state:
0 [V] 2000 [V] 800 [V]
Description: Sets the DC link voltage threshold value for the following messages:
"Vdc_act <= Vdc_threshold p2172" (r2197.9)
"Vdc_act > Vdc_threshold p2172" (r2197.10)

Parameter
p2173[0...n] DC link voltage comparison delay time / t_del Vdc

state:
0 [ms] 10000 [ms] 10 [ms]
Description: Sets the delay time for the comparison of the DC link voltage r0070 with the threshold value p2172.
p2174[0...n] Torque threshold value 1 / M_thr val 1

state:
0.00 [Nm] 20000000.00 [Nm] 5.13 [Nm]
Description: Sets the torque threshold value for the messages:
"Torque actual value > Torque threshold value 1 and n_set reached" (r2198.9)
"Torque setpoint < Torque threshold value 1" (r2198.10)
"Torque actual value > Torque threshold value 1" (r2198.13)
p2175[0...n] Motor blocked speed threshold / Mot blk n_thr

state:
0.00 [rpm] 210000.00 [rpm] 120.00 [rpm]
Description: Sets the speed threshold for signal "Motor blocked" (r2198.6).
See also: F07900

Parameter
Note
The following applies for sensorless vector control for induction motors:
At low speeds in open-loop speed controlled operation (see p1755, p1756), a blocked motor cannot be detected.
The following applies for sensorless vector control for permanent magnet synchronous motors:
At low speeds in open-loop speed controlled operation (see p1755, p1756), a blocked motor can only be detected if
p2175 = p1755, and p1750.6 is set to 1.
p2176[0...n] Torque threshold value comparison delay time / M_thrsh comp T_del
state:
0 [ms] 10000 [ms] 200 [ms]
Description: Sets the delay time for the comparison of the torque actual value (r0080) with torque threshold value 1 (p2174).
p2177[0...n] Motor blocked delay time / Mot blk t_del

state:
0.000 [s] 65.000 [s] 3.000 [s]
Description: Sets the delay time for signal "Motor blocked " (r2198.6).
See also: F07900
Note
The following applies for sensorless vector control:
At low speeds a locked motor can only be detected if no change is made to open-loop speed controlled operation. If this
is the case, the value in p2177 must be reduced accordingly (p2177 < p1758) before time p2177 has elapsed in order
to detect the locked state reliably.
As countermeasure, it is generally also possible to set p1750.6. This is only not permitted if the drive is slowly reversed
by the load at the torque limit (speed below p1755 for longer than p1758).

Parameter
p2178[0...n] Motor stalled delay time / Mot stall t_del

state:
0.000 [s] 10.000 [s] 0.010 [s]
Description: Sets the delay time for the message "Motor stalled" (r2198.7).
Note
In the open-loop speed controlled operating range (see p1755, p1756), vector control stall monitoring depends on
threshold p1745.
At higher speeds, the difference between flux setpoint r0083 and flux actual value r0084 is monitored.
p2179[0...n] Output load identification current limit / Outp_ld iden I_lim

state:
0.00 [Arms] 1000.00 [Arms] 0.00 [Arms]
Description: Sets the current limit for output load identification.
A missing output load is displayed using the "Output load not available" message (r2197.11 = 1).
This message is output with a delay time (p2180).
NOTICE
For synchronous motors the output current can be almost zero under no load conditions.
Note
Missing output load is signaled in the following cases:
- The motor is not connected.
- A phase failure has occurred.

Parameter
p2180[0...n] Output load detection delay time / Out_load det t_del

state:
0 [ms] 10000 [ms] 2000 [ms]
Description: Sets the delay time for the message "output load not available" (r2197.11 = 1).
p2181[0...n] Load monitoring response / Load mon resp

state:
0 8 0
Description: Sets the response when evaluating the load monitoring.
Value: 0: Load monitoring disabled
1: A07920 for torque/speed too low
2: A07921 for torque/speed too high
3: A07922 for torque/speed out of tolerance
4: F07923 for torque/speed too low
5: F07924 for torque/speed too high
6: F07925 for torque/speed out of tolerance
7: Pump/fan load monitoring as alarm
8: Pump/fan load monitoring as fault
Dependency: See also: p2182, p2183, p2184, p2185, p2186, p2187, p2188, p2189, p2190, p2192, p2193, r2198, c3230, p3231
See also: A07891, A07892, A07893, F07894, F07895, F07896, A07920, A07921, A07922, F07923, F07924, F07925
Note
This parameter setting has no effect on the generation of fault F07936.
The following load monitoring responses p2181 are possible for the various load monitoring configurations p2193:
p2193 = 1, 2, 3 --> p2181 = 0, 1, 2, 3
p2193 = 4, 5 --> p2181 = 0, 4, 5

Parameter
p2182[0...n] Load monitoring speed threshold value 1 / n_thr 1

state:
0.00 [rpm] 210000.00 [rpm] 150.00 [rpm]
Description: Sets the speed/torque envelope curve for load monitoring.
The envelope curve (upper and lower envelope curve) is defined as follows based on 3 speed thresholds:
p2182 (n_threshold 1) --> p2185 (M_threshold 1, upper), p2186 (M_threshold 1, lower)
Dependency: The following applies: p2182 < p2183 < p2184
See also: p2183, p2184, p2185, p2186
See also: A07926
Note
In order that the load monitoring can reliably respond, the speed threshold p2182 should always be set lower than the
minimum motor speed to be monitored.

state:
0.00 [rpm] 210000.00 [rpm] 900.00 [rpm]
See also: p2182, p2184, p2187, p2188
See also: A07926

Parameter

state:
0.00 [rpm] 210000.00 [rpm] 1500.00 [rpm]
See also: p2182, p2183, p2189, p2190
See also: A07926
Note
In order that the load monitoring can reliably respond, the speed threshold p2184 should always be set higher than the
maximum motor speed to be monitored.
p2185[0...n] Load monitoring torque threshold 1 upper / M_thr 1 upper

state:
0.00 [Nm] 20000000.00 [Nm] 10000000.00 [Nm]
Dependency: The following applies: p2185 > p2186
See also: A07926
Note
The upper envelope curve is defined by p2185, p2187 and p2189.

Parameter
p2186[0...n] Load monitoring torque threshold 1 lower / M_thr 1 lower

state:
0.00 [Nm] 20000000.00 [Nm] 0.00 [Nm]
See also: A07926
Note
The lower envelope curve is defined by p2186, p2188 and p2190.

state:
0.00 [Nm] 20000000.00 [Nm] 10000000.00 [Nm]
See also: A07926
Note

state:

Parameter

0.00 [Nm] 20000000.00 [Nm] 0.00 [Nm]
See also: A07926
Note

state:
0.00 [Nm] 20000000.00 [Nm] 10000000.00 [Nm]
See also: A07926
Note

state:
0.00 [Nm] 20000000.00 [Nm] 0.00 [Nm]
See also: A07926
Note

Parameter
p2191[0...n] Load monitoring torque threshold no load / M_thr no load

state:
0.00 [Nm] 20000000.00 [Nm] 0.00 [Nm]
Description: Setting of the torque threshold to identify dry running operation for pumps or belt breakage for fans.
Dependency: The following applies: p2191< p2168 if p2168 <> 0
See also: p2181, p2182, p2184, p2193
See also: A07892, F07895, A07926
Note
For the setting p2191 = 0, the monitoring for dry running operation or belt breakage is deactivated.
Pre-assignment: p2191 = 5 % of the rated motor torque (r0333).
p2192[0...n] Load monitoring delay time / Load mon t_del

state:
0.00 [s] 65.00 [s] 10.00 [s]
Description: Sets the delay time to evaluate the load monitoring.
p2193[0...n] Load monitoring configuration / Load mon config

state:
0 5 0
Description: Sets the load monitoring configuration.
Value: 0: Monitoring switched out
1: Monitoring torque and load drop

Parameter
2: Monitoring speed and load drop

3: Monitoring load drop
4: Monitoring pump and load failure
5: Monitoring fan and load failure
Dependency: See also: p2182, p2183, p2184, p2185, p2186, p2187, p2188, p2189, p2190, p2192, r2198, c3230, p3231, c3232
See also: A07891, A07892, A07893, F07894, F07895, F07896, A07920, A07921, A07922, F07923, F07924, F07925,
F07936
Note
For the load monitoring, depending on the set configuration (p2193) the following response (p2181) is possible:
p2193 = 1, 2, 3 --> p2181 = 0, 1, 2, 3
p2193 = 4, 5 --> p2181 = 0, 4, 5
p2194[0...n] Torque threshold value 2 / M_thr val 2

state:
0.00 [%] 100.00 [%] 90.00 [%]
Description: Sets the torque threshold value for the message "Torque utilization < torque threshold value 2" (BO: r2199.11).
The message "torque setpoint < p2174" (r2198.10) and "torque utilization < p2194" (r2199.11) are only evaluated after
the run-up and the delay time has expired.
p2195[0...n] Torque utilization switch-off delay / M_util t_off

state:
0.0 [ms] 1000.0 [ms] 800.0 [ms]
Description: Sets the switch-off delay time for the negated signal "run-up completed".
The message "torque setpoint < p2174" (r2198.10) and "torque utilization < p2194" (r2199.11) are only evaluated after
the run-up and the delay time has expired.

Parameter
p2196[0...n] Torque utilization scaling / M_util scal

state:
0.00 [%] 1000.00 [%] 100.00 [%]
Description: Sets the scaling factor for torque utilization (r0033).
r2197.0...13 Status word monitoring 1 / ZSW mon 1

Parameter group: Speed messages, Control/status words
Description: Display and signal source for the first status word of the monitoring functions.
00 |n_act| <= n_min p1080 Yes No
01 |n_act| <= speed threshold 2 p2155 Yes No
02 |n_act| > speed threshold 2 p2155 Yes No
03 n_act >= 0 Yes No
04 |n_act| >= n_set Yes No
05 |n_act| <= n_standstill p1226 Yes No
06 |n_act| > n_max Yes No
07 Speed setpoint - actual value deviation in tolerance t_off Yes No
08 I_act >= I_threshold value p2170 Yes No
09 Vdc_act <= Vdc_threshold value p2172 Yes No
10 Vdc_act > Vdc_threshold value p2172 Yes No
11 Output load is not present Yes No
12 |n_act| > n_max (delayed) Yes No
13 |n_act| > n_max (F07901) Yes No
NOTICE
For bit 06:
When the overspeed is reached, this bit is set and F07901 output immediately following this. The bit is canceled again
as soon as the next pulse inhibit is present.

Parameter
Note
For bit 00:
The threshold value is set in p1080 and the hysteresis in p2150.
For bit 01, 02:
The threshold value is set in p2155 and the hysteresis in p2140.
For bit 03:
1 signal direction of rotation positive.
0 signal: direction of rotation negative.
The hysteresis is set in p2150.
For bit 04:
The threshold value is set in r1119 and the hysteresis in p2150.
For bit 05:
The threshold value is set in p1226 and the delay time in p1228.
For bit 06:
The hysteresis is set in p2162.
For bit 07:
The threshold value is set in p2163 and the hysteresis is set in p2164.
For bit 08:
For bit 09, 10:
For bit 11:
For bit 12:
The threshold value is set in p2182, the hysteresis in p2162, and the delay time (for canceling the signal) in p2152.
For bit 13:
Only for internal Siemens use.
r2198.0...13 Status word monitoring 2 / ZSW monitor 2

Parameter group: Speed messages, Load torque monitoring, Control/status words
Description: Display and signal source for the second status word of the monitoring functions.
00 |n_act| <= speed threshold value 5 Yes No
01 |n_act| > speed threshold value 5 Yes No
02 |n_act| <= speed threshold value 6 Yes No
03 |n_act| > speed threshold value 6 Yes No
04 |n_set| < p2161 Yes No
05 n_set > 0 Yes No
06 Motor blocked Yes No
07 Motor stalled Yes No
08 |I_act| < I_threshold value p2170 Yes No
09 |M_act| > torque threshold value 1 and n_set reached Yes No
10 |M_set| < torque threshold value 1 Yes No
11 Load in the alarm range Yes No
12 Load in the fault range Yes No

Parameter
13 |M_act| > torque threshold value 1 Yes No
Note
For bit 10:
The torque threshold value 1 is set in p2174.
For bit 12:
This bit is reset after the fault cause disappears, even if the fault itself is still present.
r2199.0...11 Status word monitoring 3 / ZSW monitor 3

Parameter group: Speed messages, Control/status words
Description: Display and signal source for the third status word of the monitoring functions.
00 |n_act| < speed threshold 3 Yes No
01 f or n comparison value reached or exceeded Yes No
04 Speed setpoint - actual value deviation in tolerance t_on Yes No
05 Ramp-up/ramp-down completed Yes No
06 Current below the zero current threshold Yes No
07 Speed deviation model/external in tolerance Yes No
11 Torque utilization < torque threshold value 2 Yes No
Note
For bit 00:
The speed threshold 3 is set in p2161.
For bit 01:
The comparison value is set in p2141. We recommend setting the hysteresis (p2142) for canceling the bit to a value
lower than that in p2141. Otherwise, the bit is not reset.
For bit 11:
The torque threshold value 2 is set in p2194.
c2200[0...n] Technology controller enable / Tec_ctrl enable

Parameter group: Technology PID controller
Description: Signal to activate/deactivate the technology controller.
The technology controller is switched in with a 1 signal.

Parameter
p2201[0...n] Technology controller fixed value 1 / Tec_ctrl FixVal 1

state:
-200.00 [%] 200.00 [%] 10.00 [%]
Description: Sets the value for fixed value 1 of the technology controller.
NOTICE

state:
-200.00 [%] 200.00 [%] 20.00 [%]
NOTICE

state:
-200.00 [%] 200.00 [%] 30.00 [%]

Parameter
NOTICE

state:
-200.00 [%] 200.00 [%] 40.00 [%]
NOTICE

state:
-200.00 [%] 200.00 [%] 50.00 [%]
NOTICE

Parameter

state:
-200.00 [%] 200.00 [%] 60.00 [%]
NOTICE

state:
-200.00 [%] 200.00 [%] 70.00 [%]
NOTICE

state:
-200.00 [%] 200.00 [%] 80.00 [%]

Parameter
NOTICE

state:
-200.00 [%] 200.00 [%] 90.00 [%]
NOTICE

state:
-200.00 [%] 200.00 [%] 100.00 [%]
NOTICE

Parameter

state:
-200.00 [%] 200.00 [%] 110.00 [%]
NOTICE

state:
-200.00 [%] 200.00 [%] 120.00 [%]
NOTICE

state:
-200.00 [%] 200.00 [%] 130.00 [%]

Parameter
NOTICE

state:
-200.00 [%] 200.00 [%] 140.00 [%]
NOTICE

state:
-200.00 [%] 200.00 [%] 150.00 [%]
NOTICE

Parameter
p2216[0...n] Technology controller fixed value selection method / Tec_ctr FixVal sel
state:
1 2 1
Description: Sets the method to select the fixed setpoints.
Value: 1: Direct selection
2: Binary selection
c2220[0...n] Technology controller fixed value selection bit 0 / Tec_ctrl sel bit 0
Description: Signal to select a fixed value of the technology controller.
Dependency: See also: c2221, c2222, c2223

Parameter
r2224 Technology controller fixed value effective / Tec_ctr FixVal eff

Description: Display and numerical signal source for the selected and active fixed speed of the technology controller.
r2225.0 Technology controller fixed value selection status word / Tec_ctr FixVal ZSW
Description: Display and signal source for the status word of the fixed value selection of the technology controller.

Parameter

00 Technology controller fixed value selected Yes No
r2229 Technology controller number actual / Tec_ctrl no act

Description: Displays the number of the selected fixed setpoint of the technology controller.
p2230[0...n].0...4 Technology controller motorized potentiometer configuration / Tec_ctr moP config

state:
- - 0000 0100 bin
Description: Sets the configuration for the motorized potentiometer of the technology controller.
00 Data save active Yes No
02 Initial rounding-off active Yes No
03 Non-volatile data save active for p2230.0 = 1 Yes No
04 Ramp-function generator always active Yes No

Parameter
Note
For bit 00:
0: The setpoint for the motorized potentiometer is not saved and after ON is entered using p2240.
1: The setpoint for the motorized potentiometer is saved and after ON is entered using r2231. In order to save in a non-
volatile fashion, bit 03 should be set to 1.
For bit 02:
0: Without initial rounding-off
1: With initial rounding-off.
The selected ramp-up/down time is correspondingly exceeded. The initial rounding-off is a sensitive way of specifying
small changes (progressive reaction when keys are pressed). The jerk for initial rounding is independent of the ramp-up
time and only depends on the selected maximum value (p2237).
It is calculated as follows:
r = 0.0001 x max(p2237, |p2238|) [%] / 0.13^2 [s^2]
The jerk is active until maximum acceleration is reached (a_max = p2237 [%] / p2247 [s] or a_max = p2238 [%] / p2248
[s]); after this, the drive continues to operate with constant, linear acceleration.
The higher the maximum acceleration (the lower that p2247 is), the longer the ramp-up time increases with respect to
the set ramp-up time.
For bit 03:
0: Non-volatile data save deactivated.
1. The setpoint for the motorized potentiometer is saved in a non-volatile fashion (for p2230.0 = 1).
For bit 04:
When the bit is set, the ramp-function generator is computed independent of the pulse enable. The actual output value
of the motorized potentiometer is always in r2250.
r2231 Technology controller motorized potentiometer setpoint memory / Tec_ctrl moP mem
Description: Displays the setpoint memory for the motorized potentiometer of the technology controller.
For p2230.0 = 1, the last setpoint that was saved is entered after ON.
c2235[0...n] Technology controller motorized potentiometer raise setpoint / Tec_ctrl moP raise
Description: Signal to continually increase the setpoint for the motorized potentiometer of the technology controller.
The setpoint change (r2250) depends on the set ramp-up time (p2247) and the duration of the signal that is present
(c2235).

Parameter
c2236[0...n] Technology controller motorized potentiometer lower setpoint / Tec_ctrl moP lower
Description: Signal to continuously reduce the setpoint for the motorized potentiometer of the technology controller.
The setpoint change (r2250) depends on the set ramp-down time (p2248) and the duration of the signal that is present
(c2236).
p2237[0...n] Technology controller motorized potentiometer maximum value / Tec_ctrl moP max
state:
-200.00 [%] 200.00 [%] 100.00 [%]
Description: Sets the maximum value for the motorized potentiometer of the technology controller.
p2238[0...n] Technology controller motorized potentiometer minimum value / Tec_ctrl moP min
state:
-200.00 [%] 200.00 [%] -100.00 [%]
Description: Sets the minimum value for the motorized potentiometer of the technology controller.

Parameter
p2240[0...n] Technology controller motorized potentiometer starting value / Tec_ctrl moP start
state:
-200.00 [%] 200.00 [%] 0.00 [%]
Description: Sets the starting value for the motorized potentiometer of the technology controller.
For p2230.0 = 0, this setpoint is entered after ON.
r2245 Technology controller mot. potentiometer setpoint before RFG / Tec_ctr mop befRFG
Description: Displays the effective setpoint in front of the internal motorized potentiometer ramp-function generator of the
technology controller.
p2247[0...n] Technology controller motorized potentiometer ramp-up time / Tec_ctr moP t_r-up
state:
0.0 [s] 1000.0 [s] 10.0 [s]
Description: Sets the ramp-up time for the internal ramp-function generator for the motorized potentiometer of the technology
controller.
Note
The time is referred to 100 %.
When the initial rounding-off is activated (p2230.2 = 1) the ramp-up is correspondingly extended.

Parameter
p2248[0...n] Technology controller motorized potentiometer ramp-down time / Tec_ctrMoP t_rdown

state:
0.0 [s] 1000.0 [s] 10.0 [s]
Description: Sets the ramp-down time for the internal ramp-function generator for the motorized potentiometer of the technology
controller.
Note
The time is referred to 100 %.
When the initial rounding-off is activated (p2230.2 = 1) the ramp-down is correspondingly extended.
r2250 Technology controller motorized potentiometer setpoint after RFG / Tec_ctr moP aftRFG
Description: Displays the effective setpoint after the internal ramp-function generator for the motorized potentiometer of the
technology controller.
p2251 Technology controller mode / Tec_ctrl mode

state:
0 2 0
Description: Sets the mode for using the technology controller output.
Value: 0: Technology controller as speed main setpoint
1: Technology controller as supplementary speed setpoint
2: Technology controller can be freely interconnected
Dependency: p2251 = 0, 1 is only effective if the enable signal of the technology controller is interconnected (c2200 > 0).

Parameter
p2252.0...8 Technology controller configuration / Tec_ctrl config

state:
- - 0000 0000 0011 0000 bin
Description: Sets the configuration of the technology controller.
00 Ramp-up/down time independent of setpoint sign Yes No
01 Integrator independent of Kp Yes No
02 Shutdown output signal without ramp Yes No
03 Actual value limit Yes No
04 Ramp-up/ramp-down function generator bypass Deactivated Activated
05 Integrator active for skip speeds Yes No
06 Internal controller limit not displayed Yes No
07 Activate Kp adaptation Yes No
08 Activate Tn adaptation Yes No
Dependency: For bit 04 = 0:
The setting is only effective when the PID controller is deactivated.
CAUTION
For bit 04 = 1 (p2251 = 0):
The PID controller can oscillate if the ramp-up and ramp-down times of the speed setpoint channel are not taken into
account when setting controller parameters p2280 and p2285.

Parameter
Note
For bit 00 = 0:
The ramp-down time (p2258) switches to the ramp-up time (p2257) when the sign for the output signal r2260 changes.
When the sign changes, the output signal is kept at zero for one arithmetic cycle.
For bit 00 = 1:
When r2260 exhibits a positive gradient, the ramp-up time (p2257) is active; when it exhibits a negative gradient, the
ramp-down time (p2258) is active. The sign for r2260 does not have any effect on the ramp time.
For bit 01 = 0:
The integration time of the PID controller is evaluated with the gain factor Kp (p2280) (p2285 = integral time).
For bit 01 = 1:
The integration time of the PID controller is independent of the gain factor (p2285 = integration time) if p2280 > 0.
For bit 02 = 0 (only for p2251 = 1.2):
When the PID controller is deactivated via c2200, the output signal r2294 is reduced to zero along the down ramp p2293.
For bit 02 = 1 (only for p2251 = 1.2):
When the PID controller is deactivated via c2200, the output signal r2294 is set directly to zero.
For bit 03 = 0:
The actual values are not limited by p2267 and p2268.
For bit 03 = 1:
The actual values are limited by p2267 and p2268.
For bit 04 = 0 (only for p2251 = 0):
The ramp-function generator in the speed setpoint channel is bypassed when the technology controller is operational.
As a consequence, ramp times p1120, p1121 are not taken into consideration when configuring the controller.
For bit 04 = 1 (only for p2251 = 0):
The ramp-function generator in the speed setpoint channel is not bypassed when the technology controller is
operational.
As a consequence, the ramp-up and ramp-down times (p1120, p1121) remain effective, and must be taken into account
as controlled system variables when setting the PID controller parameters (p2280, p2285).
The enable ramps of the PID controller are ensured in this setting by p1120, p1121 as well as rounding functions p1130
and p1131. The ramp-up/ramp-down time of the PID controller limiting p2293 must be set appropriately shorter, as
otherwise this has an impact on the speed setpoint channel.
For bit 05 = 0 (only for p2251 = 0):
The integral component of the PID controller is held if a skip band or the minimum speed range is passed through in the
speed set point channel.
This prevents the speed from oscillating between the edges of the skip band.
For bit 05 = 1 (only for p2251 = 0):
The setting is only effective if a skip band is no longer active.
The integral component of the PID controller is not held in the range of the skip speeds.
The skip band is passed through even for small system deviations and low controller gain factors. In so doing, the
controller integral time must be selected large enough so that no undesirable speed oscillations occur between the skip
band edges.
The influence of a minimum speed p1080 on the integration behavior can be reduced by raising the lower PID controller
limit to p1080 / p2000 * 100%.
For bit 06 = 1:
In r2349, bit 10 and bit 11 are not displayed when reaching internal limits (e.g. for OFF1/OFF3).
c2253[0...n] Technology controller setpoint 1 / Tec_ctrl set 1


Parameter
Description: Signal for setpoint 1 of the technology controller.

c2254[0...n] Technology controller setpoint 2 / Tec_ctrl set 2

Description: Signal for setpoint 2 of the technology controller.
p2255 Technology controller setpoint 1 scaling / Tec_ctrl set1 scal

state:
0.00 [%] 100.00 [%] 100.00 [%]
Description: Sets the scaling for the setpoint 1 of the technology controller.
p2256 Technology controller setpoint 2 scaling / Tec_ctrl set2 scal

state:
0.00 [%] 100.00 [%] 100.00 [%]
Description: Sets the scaling for the setpoint 2 of the technology controller.

Parameter
p2257 Technology controller ramp-up time / Tec_ctrl t_ramp-up

state:
0.00 [s] 650.00 [s] 1.00 [s]
Description: Sets the ramp-up time of the technology controller.
Note
The ramp-up time is referred to 100 %.
p2258 Technology controller ramp-down time / Tec_ctrl t_ramp-dn

state:
0.00 [s] 650.00 [s] 1.00 [s]
Description: Sets the ramp-down time of the technology controller.
Note
The ramp-down time is referred to 100 %.
r2259 Technology controller total setpoint / Tec_ctr total setp

Description: Displays the total setpoint of the technology controller before the ramp-function generator.

Parameter
r2260 Technology controller setpoint after ramp-function generator / Tec_ctr set aftRFG
Description: Displays the setpoint after the ramp-function generator of the technology controller.
p2261 Technology controller setpoint filter time constant / Tec_ctrl set Tc

state:
0.000 [s] 60.000 [s] 0.000 [s]
Description: Sets the time constant for the setpoint filter (PT1) of the technology controller.
r2262 Technology controller setpoint after filter / Tec_ctr set aftFil

Description: Display and numerical signal source for the smoothed setpoint after the setpoint filter (PT1) of the technology controller.
p2263 Technology controller type / Tec_ctrl type

state:
0 1 0
Description: Sets the type of technology controller.

Parameter
Value: 0: D component in the actual value signal

1: D component in system deviation
c2264[0...n] Technology controller actual value / Tec_ctrl ActV

Description: Signal for the actual value of the technology controller.
p2265 Technology controller actual value filter time constant / Tec_ctrl act Tc
state:
0.000 [s] 60.000 [s] 0.000 [s]
Description: Sets the time constant for the actual value filter (PT1) of the technology controller.
r2266 Technology controller actual value after filter / Tec_ctr act aftFil
Description: Display and numerical signal source for the smoothed actual value after the filter (PT1) of the technology controller.
p2267 Technology controller upper limit actual value / Tec_ctrl u_lim act
state:

Parameter

-10000.00 [%] 10000.00 [%] 200.00 [%]
Description: Sets the upper limit for the actual value signal of the technology controller.
Dependency: See also: p2252, c2264, p2265, p2271
See also: F07426
NOTICE
If the actual value exceeds this upper limit, this results in fault F07426.
Note
Limiting only active for p2252.3 = 1.
p2268 Technology controller lower limit actual value / Tec_ctrl l_lim act
state:
-10000.00 [%] 10000.00 [%] -200.00 [%]
Description: Sets the lower limit for the actual value signal of the technology controller.
Dependency: See also: p2252, c2264, p2265, p2271
See also: F07426
NOTICE
If the actual value falls below this lower limit, this results in fault F07426.
Note
Limiting only active for p2252.3 = 1.
p2269 Technology controller gain actual value / Tec_ctrl gain ActV

state:
0.00 [%] 500.00 [%] 100.00 [%]
Description: Sets the scaling factor for the actual value of the technology controller.
Dependency: See also: c2264, p2265, p2267, p2268, p2271
Note
For 100%, the actual value is not changed.

Parameter
p2270 Technology controller actual value function / Tec_ctr ActV fct

state:
0 3 0
Description: Setting to use an arithmetic function for the actual value signal of the technology controller.
Value: 0: Output (y) = input (x)
1: Root function (root from x)
2: Square function (x * x)
3: Cube function (x * x * x)
Dependency: See also: c2264, p2265, p2267, p2268, p2269, p2271
p2271 Technology controller actual value inversion (sensor type) / Tec_ctrl ActV inv
state:
0 1 0
Description: Setting to invert the actual value signal of the technology controller.
The inversion depends on the sensor type for the actual value signal.
Value: 0: No inversion
1: Inversion
CAUTION
If the actual value inversion is incorrectly selected, then the closed-loop control with the technology controller can
become unstable and can oscillate!
Note
The correct setting can be determined as follows:
- Inhibit technology controller (c2200 = 0).
- Increase the motor speed and in so doing, measure the actual value signal of the technology controller.
--> If the actual value increases as the motor speed increases, then p2271 should be set to 0 (no inversion).
--> If the actual value decreases as the motor speed increases, then p2271 should be set to 1 (the actual value signal is
inverted).

Parameter
r2272 Technology controller actual value scaled / Tec_ctrl ActV scal

Description: Display and numerical signal source for the scaled actual value signal of the technology controller.
Dependency: See also: c2264, p2265, r2266, p2267, p2268, p2269, p2270, p2271
r2273 Technology controller system deviation / Tec_ctrl SysDev

Description: Displays the system deviation between the setpoint and actual value of the technology controller.
p2274 Technology controller differentiation time constant / Tec_ctrl D comp Tc

state:
0.000 [s] 60.000 [s] 0.000 [s]
Description: Sets the time constant for the differentiation (D component) of the technology controller.
Note
p2274 = 0: Differentiation is deactivated.
p2280 Technology controller proportional gain / Tec_ctrl Kp

state:

Parameter

0.000 1000.000 1.000
Description: Sets the proportional gain (P component) of the technology controller.
Note
p2280 = 0: The proportional gain is disabled.
p2285 Technology controller integral time / Tec_ctrl Tn

state:
0.000 [s] 10000.000 [s] 30.000 [s]
Description: Sets the integral time (I component, integrating time constant) of the technology controller.
NOTICE
The following applies for p2251 = 0:
If the output of the technology controller lies within the range of a suppression (skip) bandwidth (p1091 ... p1094,
p1101) or below the minimum speed (p1080), the integral component of the controller is held so that the controller
temporarily works as a P controller. This is necessary in order to prevent the controller from behaving in an unstable
manner, as the ramp-function generator switches to the parameterized up and down ramps (p1120, p1121) at the
same time in order to avoid setpoint steps. This state can be exited or avoided by changing the controller setpoint or
by using the start speed (= minimum speed).
Note
When the controller output reaches the limit, the I component of the controller is held.
p2285 = 0:
The integral time is disabled and the I component of the controller is reset.
c2286[0...n] Hold technology controller integrator / Tec_ctr integ hold

Description: Signal to hold the integrator for the technology controller.

Parameter
c2289[0...n] Technology controller precontrol signal / Tec_ctr prectr_sig

Description: Precontrol signal of the technology controller.
c2290[0...n] Technology controller limiting enable / Tec_ctrl lim enab

Description: Signal to enable the technology controller output.
The technology controller output is enabled with a 1 signal.
p2291 Technology controller maximum limiting / Tec_ctrl max_lim

state:
-200.00 [%] 200.00 [%] 100.00 [%]
Description: Sets the maximum limit of the technology controller.
CAUTION
The maximum limit must always be greater than the minimum limit (p2291 > p2292).

Parameter
p2292 Technology controller minimum limiting / Tec_ctrl min_lim

state:
-200.00 [%] 200.00 [%] 0.00 [%]
Description: Sets the minimum limit of the technology controller.
CAUTION
The maximum limit must always be greater than the minimum limit (p2291 > p2292).
p2293 Technology controller ramp-up/ramp-down time / Tec_ctr t_RU/RD

state:
0.00 [s] 100.00 [s] 1.00 [s]
Description: Sets the ramping time for the output signal of the technology controller.
Note
The time refers to the set maximum and minimum limits (p2291, p2292).
r2294 Technology controller output signal / Tec_ctrl outp_sig

Description: Display and numerical signal source for output signal of the technology controller.

Parameter
p2295 Technology controller output scaling / Tec_ctrl outp scal

state:
-100.00 [%] 100.00 [%] 100.00 [%]
Description: Sets the scaling for the output signal of the technology controller.
c2296[0...n] Technology controller output scaling / Tec_ctrl outp scal

Description: Signal for the scaling value of the technology controller.
c2297[0...n] Technology controller maximum limiting / Tec_ctrl max_lim

Description: Signal for the maximum limiting of the technology controller.
Note
In order that the output of the technology controller does not exceed the maximum speed limit, its upper limit c2297
should be interconnected to the actual maximum speed r1084.

Parameter
c2298[0...n] Technology controller minimum limiting / Tec_ctrl min_lim

Description: Signal for the minimum limiting of the technology controller.
Note
If the technology controller is operated in the negative direction of rotation in mode p2251 = 0, its lower limit c2298
should be interconnected to the actual minimum speed r1087.
c2299[0...n] Technology controller limit offset / Tec_ctrl lim offs

Description: Signal for the offset of the output limiting of the technology controller.
p2302 Technology controller output signal starting value / Tec_ctr start val
state:
0.00 [%] 200.00 [%] 0.00 [%]
Description: Sets the start value for the output of the technology controller.
If the drive is switched on and the technology controller is already enabled (see c2200, r0056.3), then its output signal
r2294 first goes to the start value p2302, before the controller starts to operate.
Dependency: The starting value is only effective in the mode "technology controller as speed main setpoint" (p2251 = 0).
If the technology controller is first enabled when the drive is switched on, a start speed remains ineffective, and the
controller output starts with the actual setpoint speed of the ramp-function generator.

Parameter
Note
If the technology controller operates on the speed/setpoint channel (p2251 = 0), then the starting value is interpreted
as the starting speed and when operation is enabled, it is connected to the output of the technology controller (r2294).
If fault F07426 "Technology controller actual value limited" occurs while ramping up to the start value, the start value
is kept as the speed setpoint instead of switching to closed-loop control operation.
p2306 Technology controller system deviation inversion / Tec_ctr SysDev inv

state:
0 1 0
Description: Setting to invert the system deviation of the technology controller.
The setting depends on the type of control loop.
Value: 0: No inversion
1: Inversion
CAUTION
If the actual value inversion is incorrectly selected, then the closed-loop control with the technology controller can
become unstable and can oscillate!
Note
The correct setting can be determined as follows:
- Inhibit technology controller (c2200 = 0).
- Increase the motor speed and in so doing, measure the actual value signal (of the technology controller).
- If the actual value increases with increasing motor speed, then the inversion should be switched out.
- If the actual value decreases with increasing motor speed, then the inversion should be set.
For value = 0:
The drive reduces the output speed when the actual value rises (e.g. for heating fans, intake pump, compressor).
For value = 1:
The drive increases the output speed when the actual value increases (e.g. for cooling fans, discharge pumps).
c2310 Technology controller Kp adaptation input value / Kp adapt input

Description: Signal for the input value of the adaptation of proportional gain Kp for the technology controller.
Dependency: See also: p2252, p2311, p2312, p2313, p2314, c2315, r2316

Parameter
p2311 Technology controller Kp adaptation lower value / Kp adapt lower val

state:
0.000 1000.000 1.000
Description: Sets the lower value for the adaptation of proportional gain Kp for the technology controller.
Dependency: See also: c2310, p2312, p2313, p2314, c2315, r2316
CAUTION
The upper value must be set higher than the lower value (p2312 > p2311).
Note
Kp adaptation is activated with p2252.7 = 1.
p2312 Technology controller Kp adaptation upper value / Kp adapt upper val

state:
0.000 1000.000 10.000
Description: Sets the upper value for the adaptation of proportional gain Kp for the technology controller.
CAUTION
The upper value must be set higher than the lower value (p2312 > p2311).
Note
p2313 Technology controller Kp adaptation lower starting point / Kp adapt lower pt

state:

Parameter

0.00 [%] 400.00 [%] 0.00 [%]
Description: Sets the lower starting point for the adaptation of proportional gain Kp for the technology controller.
CAUTION
The upper starting point must be set higher than the lower starting point (p2314 > p2313).
Note
p2314 Technology controller Kp adaptation upper starting point / Kp adapt upper pt

state:
0.00 [%] 400.00 [%] 100.00 [%]
Description: Sets the upper activation point for the adaptation of proportional gain Kp for the technology controller.
CAUTION
Note
c2315 Technology controller Kp adaptation scaling / Kp adapt scal

Description: Signal to scale the results of the adaptation of the proportional gain Kp for the technology controller.
Dependency: See also: c2310, p2311, p2312, p2313, p2314, r2316
Note

Parameter
r2316 Technology controller, Kp adaptation output / Kp adapt output

Description: Display and numerical signal source for the output signal of the adaptation of proportional gain Kp for the technology
controller.
Dependency: See also: p2252, c2310, p2311, p2312, p2313, p2314, c2315
c2317 Technology controller Tn adaptation input value / Tn adapt input

Description: Signal for the input value of the adaptation of integral time Tn for the technology controller.
Note
Tn adaptation is activated with p2252.8 = 1.
p2318 Technology controller Tn adaptation upper value / Tn adapt upper val

state:
0.000 [s] 60.000 [s] 3.000 [s]
Description: Sets the upper value for the adaptation of integral time Tn for the technology controller.
Note

Parameter
p2319 Technology controller Tn adaptation lower value / Tn adapt lower val

state:
0.000 [s] 60.000 [s] 10.000 [s]
Description: Sets the lower value for the adaptation of integral time Tn for the technology controller.
Note
p2320 Technology controller Tn adaptation lower starting point / Tn adapt lower pt

state:
0.00 [%] 400.00 [%] 0.00 [%]
Description: Sets the lower activation point for the adaptation of integral time Tn for the technology controller.
CAUTION
Note
p2321 Technology controller Tn adaptation upper starting point / Tn adapt upper pt

state:
0.00 [%] 400.00 [%] 100.00 [%]

Parameter
Description: Sets the upper activation point for the adaptation of integral time Tn for the technology controller.
CAUTION
Note
r2322 Technology controller Tn adaptation output / Tn adapt outp

Description: Display and numerical signal source for the output signal of the adaptation of integral time Tn for the technology
controller.
Dependency: See also: p2252, c2317, p2318, p2319, p2320, p2321
Note
p2339 Hold techn. controller I component for n_skip threshold value / Hold I comp thr
state:
0.00 [%] 200.00 [%] 2.00 [%]
Description: Sets the threshold value for the system deviation of the technology controller, which controls holding the controller
integral component in the range of the skip speeds of the ramp-function generator.
Recommendation: To avoid speed setpoint steps in the range of the skip speeds, we recommend setting p2252.4 = 1 (ramp-function
generator bypass deactivated).
Dependency: The parameter has no effect for p2252.5 = 1 (integrator hold deactivated).
See also: r2273
Note
Only p2251 = 0:
If the output signal of the technology controller reaches a skip band in the speed setpoint channel, then the integral
component of the controller is held, if at the same time, the system deviation is lower than the threshold value set here.
By holding the integral component, it can be avoided that the controller oscillates in the range of the skip bands.

Parameter
r2344 Technology controller last speed setpoint (smoothed) / Tec_ctrl n_set_sm

Description: Displays the smoothed speed setpoint of the technology controller prior to switching to operation with fault response
(see p2345).
Dependency: The parameter is only active if the technology controller mode is set to p2251 = 0 (technology controller as main
setpoint).
See also: p2345
Note
Smoothing time = 10 s
p2345 Technology controller fault response / Tec_ctrl flt resp

state:
0 2 0
Description: Sets the response of the technology controller to the occurrence of fault F07426 (technology controller actual value
limited).
The fault response is executed if status bit 8 or 9 in the technology controller status word r2349 is set. If both status bits
are zero, a switch back to technology controller operation will follow.
Value: 0: Function inhibited
1: On fault: Changeover to r2344 (or p2302)
2: On fault: Changeover to p2215
Dependency: The parameterized fault response is only effective if the technology controller mode is set to p2251 = 0 (technology
controller as main setpoint).
See also: p2267, p2268, r2344
See also: F07426
NOTICE
Dependent upon the application, the changing over of the setpoint when fault F07426 occurs can lead to the fault
condition disappearing and the re-activation of the technology controller. This can repeat itself and cause limit
oscillations. In this case, a different fault response or a different fixed setpoint 15 for the fault response p2345 = 2 should
be selected.
Note
If the fault occurs during ramping up to the starting setpoint p2302, this starting setpoint is retained as the final value
(there is no changeover to the fault response setpoint).

Parameter
r2349.0...13 Technology controller status word / Tec_ctrl ZSW

Description: Display and signal source for the status word of the technology controller.
00 Technology controller deactivated Yes No
01 Technology controller limited Yes No
02 Technology controller motorized potentiometer limited max Yes No
03 Technology controller motorized potentiometer limited min Yes No
04 Technology controller speed setpoint total in setpoint channel Yes No
05 Technology controller RFG bypassed in the setpoint channel Yes No
06 Technology controller starting value at the current limit No Yes
07 Technology controller output negative Yes No
08 Technology controller actual value at the minimum Yes No
09 Technology controller actual value at the maximum Yes No
10 Technology controller output at the minimum Yes No
11 Technology controller output at the maximum Yes No
12 Fault response active Yes No
13 Technology controller limiting enable Yes No
Dependency: Bit 12 is only active in the mode "technology controller as speed main setpoint" (p2251 = 0).
p2940[0...n].0...2 Saturation measurement configuration / Sat meas config

state:
- - 0000 bin
Description: Sets the configuration for measuring the saturation characteristic.
00 Deactivate extrapolation measured values Yes No
01 Deactivate omit boundary regions Yes No
02 Deactivate compensation of the ohmic resistance Yes No

Parameter
p2941[0...n] Saturation measurement measuring range direct axis positive / Sat meas range D+
state:
50 [%] 500 [%] 150 [%]
Description: Positive end of measuring range of the magnetic direct axis for measuring the saturation characteristic.
Dependency: The value is referred to the rated motor current p0305.
p2942[0...n] Saturation measurement measuring range direct axis negative / Sat meas range D-
state:
reluctance motor with starting cage, Synchronous reluctance motor
-500 [%] 0 [%] -150 [%]
Description: Negative end of measuring range of the magnetic direct axis for measuring the saturation characteristic.
p2943[0...n] Saturation measurement measuring range quadrature axis / Sat meas range Q
state:
50 [%] 500 [%] 150 [%]
Description: End of measuring range of the magnetic quadrature axis for measuring the saturation characteristic.

Parameter
p2944[0...n] Saturation measurement quiescent current / Sat meas I_quies

state:
50 [%] 300 [%] 100 [%]
Description: Impressed current between the measuring points of the saturation characteristic measurement.
p2945[0...n] Saturation measurement duration scaling / Sat meas duration

state:
50 [%] 1000 [%] 100 [%]
Description: Scaling of the duration of the measurement of the saturation characteristic.
Note
The required duration depends on the number of measuring points (measuring range p2941, p2943) as well as the
selected scaling (time).
p2946[0...n] Saturation measurement extrapolation direct axis / Sat extr range D

state:
0 [%] 100 [%] 20 [%]
Description: Extrapolation range of the magnetic in-line axis to extend the measured saturation characteristic.

Parameter
p2947[0...n] Saturation measurement extrapolation quadrature axis / Sat extr range Q

state:
0 [%] 100 [%] 20 [%]
Description: Extrapolation range of the magnetic quadrature axis to extend the measured saturation characteristic.
r2948[0...3] Saturation measurement parameter fit RMSE / Sat meas Fit RMSE
Description: Average effective error of the calculated flux model for the measuring points.
Index: [0] = Measurement direct axis
[1] = Measurement quadrature axis
[2] = Extrapolation direct axis
[3] = Extrapolation quadrature axis
r3113.0...15 NAMUR message bit bar / NAMUR bit bar

Parameter group: Control/status words, Faults / alarms
Description: Display and signal source for the status of the NAMUR message bit bar.
The faults and alarms are assigned to the appropriate signaling/message classes and influence a specific message bit.
00 Fault converter information electronics/software error Yes No
01 Network fault Yes No
02 DC link overvoltage Yes No
03 Fault drive converter power electronics Yes No
04 Drive converter overtemperature Yes No
05 Ground fault Yes No
06 Motor overload Yes No
07 Bus error Yes No

Parameter
08 External safety-relevant shutdown Yes No

09 Motor encoder fault Yes No
10 Error communication internal Yes No
11 Fault infeed Yes No
15 Other faults Yes No
Note
For bit 00:
Hardware or software malfunction was identified. Carry out a POWER ON of the component involved. If it occurs again,
contact Technical Support.
For bit 01:
A line supply fault has occurred (phase failure, voltage level, ...). Check the line supply / fuses. Check the supply voltage.
Check the wiring.
For bit 02:
The DC link voltage has assumed an inadmissibly high value. Check the dimensioning of the system (line supply, reactor,
voltages). Check the infeed settings.
For bit 03:
An inadmissible operating state of the power electronics was identified (overcurrent, overtemperature, IGBT failure, ...).
Check that the permissible load cycles are maintained. Check the ambient temperatures (fan).
For bit 04:
The temperature in the component has exceeded the highest permissible limit. Check the ambient temperature / control
cabinet cooling.
For bit 05:
A ground fault / inter-phase short-circuit was detected in the power cables or in the motor windings. Check the power
cables (connection). Check the motor.
For bit 06:
The motor was operated outside the permissible limits (temperature, current, torque, ...). Check the load cycles and
limits that have been set. Check the ambient temperature / motor cooling.
For bit 07:
The communication to the higher-level control system (internal coupling, PROFIBUS, PROFINET, ...) is either faulted or
interrupted. Check the state of the higher-level control system. Check the communication connection/wiring. Check the
bus configuration / clock cycles.
For bit 08:
A safety operation monitoring function (Safety) has detected an error.
For bit 09:
When evaluating the encoder signals (track signals, zero marks, absolute values, ...) an illegal signal state was detected.
Check the encoder / state of the encoder signals. Observe the maximum frequencies.
For bit 10:
The internal communication between the SINAMICS components is faulted or interrupted. Check the DRIVE-CLiQ wiring.
Ensure an EMC-compliant design. Observe the maximum permissible quantity structure / clock cycles.
For bit 11:
The infeed is faulted or has failed. Check the infeed and the surroundings (line supply, filter, reactors, fuses, ...). Check
the closed-loop infeed control.
For bit 15:
Group fault. Determine the precise cause of the fault using the commissioning tool.
p3117 Change safety message type / Chg SI msg type

Can be changed in the operating Commissioning (Safety Integrated)
state:
Parameter group: Safety Integrated, Faults / alarms

Parameter

0 1 0
Description: Sets the re-parameterization of all safety messages for faults and alarms.
The relevant message type during changeover is selected by the firmware.
0: Safety messages are not reparameterized (safety message buffer)
1: Safety messages are reparameterized (no safety message buffer)
Note
When online safety commissioning has been completed, a change results in an automatic restart.
r3120[0...63] Component fault / Comp fault

Description: Displays the component of the fault which has occurred.
Note
Value = 0: Assignment to a component not possible.
r3121[0...63] Component alarm / Comp alarm

Description: Displays the component of the alarm which has occurred.
Note
r3122[0...63].0...20 Diagnostic attribute fault / Diag_attr fault

Description: Displays the diagnostic attribute of the fault which has occurred.

Parameter
00 Hardware replacement recommended Yes No

15 Message has gone Yes No
16 PROFIdrive fault class bit 0 High Low
Note
For bits 20 ... 16:
Bits 20, 19, 18, 17, 16 = 0, 0, 0, 0, 0 --> PROFIdrive message class 0: not assigned
Bits 20, 19, 18, 17, 16 = 0, 0, 0, 0, 1 --> PROFIdrive message class 1: hardware fault/software error
Bits 20, 19, 18, 17, 16 = 0, 0, 0, 1, 0 --> PROFIdrive message class 2: line fault
Bits 20, 19, 18, 17, 16 = 0, 0, 0, 1, 1 --> PROFIdrive message class 3: supply voltage fault
Bits 20, 19, 18, 17, 16 = 0, 0, 1, 0, 0 --> PROFIdrive message class 4: DC link fault
Bits 20, 19, 18, 17, 16 = 0, 0, 1, 0, 1 --> PROFIdrive message class 5: power electronics faulted
Bits 20, 19, 18, 17, 16 = 0, 0, 1, 1, 0 --> PROFIdrive message class 6: overtemperature electronic components
Bits 20, 19, 18, 17, 16 = 0, 0, 1, 1, 1 --> PROFIdrive message class 7: ground fault/phase fault detected
Bits 20, 19, 18, 17, 16 = 0, 1, 0, 0, 0 --> PROFIdrive message class 8: motor overload
Bits 20, 19, 18, 17, 16 = 0, 1, 0, 0, 1 --> PROFIdrive message class 9: communication error to the higher-level control
Bits 20, 19, 18, 17, 16 = 0, 1, 0, 1, 0 --> PROFIdrive message class 10: safe monitoring channel has identified an error
Bits 20, 19, 18, 17, 16 = 0, 1, 0, 1, 1 --> PROFIdrive message class 11: incorrect position actual value/speed actual value
or not available
Bits 20, 19, 18, 17, 16 = 0, 1, 1, 0, 0 --> PROFIdrive message class 12: internal (DRIVE-CLiQ) communication error
Bits 20, 19, 18, 17, 16 = 0, 1, 1, 0, 1 --> PROFIdrive message class 13: infeed unit faulted
Bits 20, 19, 18, 17, 16 = 0, 1, 1, 1, 0 --> PROFIdrive message class 14: braking controller/Braking Module faulted
Bits 20, 19, 18, 17, 16 = 0, 1, 1, 1, 1 --> PROFIdrive message class 15: line filter faulted
Bits 20, 19, 18, 17, 16 = 1, 0, 0, 0, 0 --> PROFIdrive message class 16: external measured value/signal state outside the
permissible range
Bits 20, 19, 18, 17, 16 = 1, 0, 0, 0, 1 --> PROFIdrive message class 17: application/technology function faulted
Bits 20, 19, 18, 17, 16 = 1, 0, 0, 1, 0 --> PROFIdrive message class 18: error in the parameterization/configuration/
commissioning sequence
Bits 20, 19, 18, 17, 16 = 1, 0, 0, 1, 1 --> PROFIdrive message class 19: general drive fault
Bits 20, 19, 18, 17, 16 = 0, 1, 1, 0, 0 --> PROFIdrive message class 20: auxiliary unit faulted
r3123[0...63].0...20 Diagnostic attribute alarm / Diag_attr alarm

Description: Displays the diagnostic attribute of the alarm which has occurred.

Parameter

Note
For bit 12, 11:
For bits 20 ... 16:
Bits 20, 19, 18, 17, 16 = 0, 0, 0, 0, 1 --> PROFIdrive message class 1: hardware fault/software error
or not available
permissible range
c3230[0...n] Load monitoring speed actual value / Load mon n_act

Description: Signal for the speed actual value of the load monitoring.
Dependency: See also: r2169, p2181, p2192, p2193, p3231
See also: A07920, A07921, A07922, F07923, F07924, F07925

Parameter
Note
The parameter is only effective for p2193 = 2.
p3231[0...n] Load monitoring speed deviation / Load mon n_dev

state:
0.00 [rpm] 210000.00 [rpm] 150.00 [rpm]
Description: Sets the permissible speed deviation during load monitoring (for p2193 = 2).
Dependency: See also: r2169, p2181, p2193, c3230
See also: A07920, A07921, A07922, F07923, F07924, F07925
c3232[0...n] Load monitoring failure detection (external) / Load mon fail_det

Description: Signal for detecting a failure. The signal can also be sourced from external monitoring functions.
See also: F07936
Note
Monitoring is triggered with a 0 signal, as soon as the time in p2192 has expired.
p3233[0...n] Torque actual value filter time constant / M_act_filt Tc

state:
0 [ms] 1000000 [ms] 100 [ms]
Description: Sets the time constant for the PT1 element to smooth the torque actual value.
The smoothed torque actual value is compared with the threshold values and is only used for messages and signals.

Parameter
p3235 Phase failure signal motor monitoring time / Ph_fail t_mon

state:
0 [ms] 2000 [ms] 320 [ms]
Description: Sets the monitoring time for phase failure detection of the motor.
Note
For p3235 = 0 the function is deactivated.
The monitoring is automatically deactivated during a flying restart for a motor that is still rotating.
3-phase phase failures cannot be detected and are indicated by other messages (e.g. F07902).
p3236[0...n] Speed threshold value 7 / n_thr val 7

state:
0.00 [rpm] 3000.00 [rpm] 100.00 [rpm]
Description: Sets the speed threshold value for signal "Speed deviation model/external in tolerance" (r2199.7).
Dependency: See also: r1443, r2169, r2199, p3237

state:
0.00 [rpm] 200.00 [rpm] 2.00 [rpm]
Description: Sets the hysteresis speed for signal "Speed deviation model/external" (r2199.7).

Parameter
p3238[0...n] OFF-delay n_act_motor model = n_act external / t_del n_a = n_ext

state:
0.0 [s] 100.0 [s] 3.0 [s]
Description: Sets the switch-off delay time for signal "Speed deviation model/external in tolerance" (r2199.7).
The smoothed actual speed of the motor model r2169 is compared with the externally measured speed r1443
(threshold value p3236).
p3290.0...5 Variable signaling function start / Var sig start

state:
- - 0000 0010 bin
Description: Settings for start/stop and the comparison type for the variable signaling function.
00 Activate function 1 Active Not active
01 Function 1 comparison with sign With sign Without sign
Dependency: See also: c3291, r3294, p3295, p3296, p3297, p3298, p3299
See also: A02085
NOTICE
The parameters of the variable message function are only checked and become effective when starting. Otherwise, an
alarm is output.
Note
Activation is only possible if the signal source was defined.

Parameter
c3291[0...2] Variable signaling function input signal / Var sig inp signal
Description: Input signal of the variable message function.
Index: [0] = Function 1
[1] = Function 2
[2] = Function 3
NOTICE
This parameter is only checked and becomes effective when restarting the variable message function.
r3294.0...2 Variable signaling function output signal / Var sig outp_sig

Description: Display and binary signal source of the output signal for the variable signaling function.
00 Function 1 output signal High Low
Dependency: See also: p3290, c3291, p3295, p3296, p3297, p3298
p3295[0...2] Variable signaling function threshold value / Var sig thr_val

state:
-340.28235E36 340.28235E36 0.000
Description: Sets the threshold value for the variable signaling function.

Parameter

[1] = Function 2
[2] = Function 3
NOTICE
p3296[0...2] Variable signaling function hysteresis / Var sig hyst

state:
0.000 340.28235E36 0.000
Description: Sets the hysteresis for the variable signaling function.
[1] = Function 2
[2] = Function 3
NOTICE
p3297[0...2] Variable signaling function pickup delay / Var sig t_pickup

state:
0 [ms] 10000 [ms] 0 [ms]
Description: Sets the pickup delay for the variable signaling function.
[1] = Function 2
[2] = Function 3
NOTICE
The following must apply for the value:
Pickup delay (p3297[0...2]) >= sampling time (p3299[0...2])

Parameter
Note
For a value of 0, the pickup delay is disabled.
The output signal is set if the condition for the 1 signal is fulfilled for longer than the selected time.
p3298[0...2] Variable signaling function dropout delay / Var sig t_dropout

state:
0 [ms] 10000 [ms] 0 [ms]
Description: Sets the dropout delay for the variable signaling function.
[1] = Function 2
[2] = Function 3
NOTICE
The following must apply for the value:
Dropout delay (p3298[0...2]) >= sampling time (p3299[0...2])
Note
For a value of 0, the dropout delay is disabled.
The output signal is reset if the condition for the 0 signal is fulfilled for longer than the selected time.
p3299[0...2] Variable signaling function sampling time / Var sig t_samp

state:
1.000 [ms] 4.000 [ms] 4.000 [ms]
Description: Sets the sampling time for the variable signaling function.
[1] = Function 2
[2] = Function 3

Parameter
NOTICE
The following must apply for the setting:
Sampling time (p3299[0...2]) <= pickup delay (p3297[0...2]), dropout delay (p3298[0...2])
Note
Only the following values can be set:
1,000, 2,000, 3,000, 4,000
r3313 Efficiency optimization optimum flux / Optimum flux

Description: Displays the calculated, optimum flux.
See also: p1401, p3315, p3316
Note
The function is activated via p1401.14 = 1.
p3315[0...n] Efficiency optimization minimum flux limit value / Min flux lim val
state:
10.0 [%] 200.0 [%] 70.0 [%]
Description: Sets the minimal limit value for the calculated optimum flux.
See also: p1401, r3313, p3316
NOTICE
If closed-loop control oscillations occur when reaching the minimum limit value (see r3313), then the parameter value
should be increased.
Note

Parameter
p3316[0...n] Efficiency optimization maximum flux limit value / Max flux lim val
state:
10.0 [%] 200.0 [%] 110.0 [%]
Description: Sets the maximum limit value for the calculated optimum flux.
See also: p1401, r3313, p3315
Note
c3330[0...n] 2/3 wire control command 1 / 2/3 wire cmd 1

Description: Signal for command 1 for the two-wire control/three-wire control.
Dependency: See also: c3331, c3332, r3333, p3334


Parameter

r3333.0...3 2/3 wire control control word / 2/3 wire STW

Description: Displays the control word for the two wire control/three wire control.
The control signals are dependent on the signal states at the digital inputs.
00 ON Yes No
01 Reversing Yes No
02 ON inverted Yes No
03 Reversing inverted Yes No
Dependency: See also: c3330, c3331, c3332, p3334
p3334 2/3 wire control selection / 2/3 wire select

state:
0 4 0
Description: Sets the two wire control/three wire control.
Value: 0: No wire control
1: Two wire control clockwise/counterclockwise 1
2: Two wire control clockwise/counterclockwise 2
3: Three wire control enable clockwise/counterclockwise
4: Three wire control enable ON/reversing

Parameter
Dependency: See also: c3330, c3331, c3332, r3333
r3361[0...2] Pulse technique excitation actual / Pulse excit actual

Unit: mVs Unit group: - Unit selection: -
Description: Display and numerical signal source for the currently active excitation amplitude of the pulse technique.
Index 0: actual amplitude of the specified setpoint
Index 1: direct axis component of the measured actual value
Index 2: quadrature axis component of the measured actual value
Index: [0] = Excitation absolute setpoint value
[1] = Excitation actual value d
[2] = Excitation actual value q
r3362[0...5] Pulse technique response / Pulse techniq resp

Description: Display and numerical signal source of the measured response components of the pulse technique.
Indices 0 and 1: response pulse measured in stator coordinates
Indices 2 and 3: response pulse measured in rotor coordinates
Indices 4 and 5: value from index 2 and 3 after smoothing with p0045
Index: [0] = Measured value alpha
[1] = Measured value beta
[2] = Measured value d
[3] = Measured value q
[4] = Measured value smooth d
[5] = Measured value smooth q

Parameter
p3366[0...n] Pulse technique excitation / Puls techniq excit

state:
0.000 [mVs] 20000.000 [mVs] 32.000 [mVs]
Description: Sets the excitation amplitude (voltage-time pulse) of the pulse technique.
See also: p1750
Note
The currently active excitation amplitude is indicated in r3361.
A higher value in p3366 reduces the signal variance of the calculated speed r0063; however, at the same time it
increases the pulse noise.
r3400.2...3 Infeed configuration word / INF config_word

Parameter group: DC link voltage controller, Mode signals / displays
Description: Displays the configuration word of the infeed.
02 CleanPower mode On Off
03 Vdc controller On Off
r3402 Infeed internal state / INF status int

Description: Displays the internal status of the infeed module.
Value: 0: Initialization
1: Fault
2: No ON command
3: Offset measurement running
4: ON-delay active

Parameter
5: Prechrg running
6: Pulse enable missing
7: Synchronization PLL running
8: Voltage ramp-up active
9: Operation
10: Shutdown running
13: Synchronization PLL when precharging
14: Synchronization of PHASES running
r3405.1...3 Infeed status word / Inf ZSW

Description: Display and signal source for the status word of the infeed unit.
01 Vdc controller active Yes No
02 Phase failure detected Yes No
03 Current limit reached Yes No
Note
For bit 02:
The bit is set if alarm A06205 (phase failure), A06206 (current asymmetry) or A06208 (voltage asymmetry) is output.
The bit is reset for the following events:
- The infeed had again reached the normal operating state after a phase failure has been bypassed/buffered (r3402 = 9).
- The pulse enable is withdrawn due to a fault or switching off with OFF1/OFF2.
- Alarm A06206 is reset.
- Alarm A06208 is reset.
For bit 03:
The actual current limit is displayed in r13067.
p3409 Infeed automatic line frequency setting / INF f_line_mode

state:
Parameter group: Line data, Line supply PLL
0 1 1
Description: Sets the mode to detect the line frequency.
Value: 0: Line supply frequency setting 50/60 Hz off
1: Line supply frequency setting 50/60 Hz on

Parameter

See also: A06350, A06351, F06500
Note
After operation has been enabled, the rated line frequency (p0211) is automatically set to a value of 50 Hz or 60 Hz
corresponding to the currently measured frequency. This means that the parameter value of p0211 is, under certain
circumstances, changed.
The system does not change parameter p0211.
r3421 Infeed inductance / INF L

Parameter group: Infeed control
Description: Displays the sum of the line supply inductance and inductance of the line reactor.
The parameter is pre-assigned depending on r0223, p0225 and r0228.
Dependency: See also: r0223, p0225, p3425, p3614
Note
The internal settings of the closed-loop current controller are derived from this value and p3425[0].
For the inductance of the line reactor, the following applies: r3421 - r3424
r3422 Infeed DC link capacitance / INF C_DCL

Unit: mF Unit group: - Unit selection: -
Description: Displays the effective overall capacitance of the DC link.
This value is pre-assigned with p0240.
Note
The internal settings of the closed-loop Vdc control are derived from this value and p3425[1].
r3424 Infeed line supply inductance / INF L_line

Description: Displays the value for the line inductance, which is used to internally set the closed-loop current control and the line PLL.
This parameter is pre-assigned depending on p0225 and r0228.

Parameter
Dependency: See also: r0223, p0225, p3425
Note
Parameter p0225 should only be set differently than the factory setting if the line inductance at the connection point is
definitely known.
p3425[0...6] Infeed control loop parameter scaling / INF par scal

state:
1.00 [%] 1000.00 [%] [0...3] 100.00 [%]
[4] 50.00 [%]
[5] 50.00 [%]
[6] 50.00 [%]
Description: Sets the scaling factors for controller parameters r3421, r3422, r3424, p3562, p3603 and p3617.
Index: [0] = Inductance value for closed-loop control
[1] = Capacitance value for closed-loop control
[2] = Inductance value for decoupling
[3] = Inductance value for line model
[4] = Integral time current control
[5] = Integral time Vdc control
[6] = Precontrol current control
Dependency: See also: r3421, r3422, r3424, p3603, p3614
Note
For index [0]:
The scaled inductance p3425[0] * r3421 is active for the closed-loop control.
As a consequence, the closed-loop current control gain factor is defined by the scaling p3425[0] * p3615.
For index [1]:
The scaled capacitance p3425[1] * r3422 is active for the closed-loop control.
As a consequence, the closed-loop Vdc control gain factor is defined by the scaling p3425[1] * p3560.
For index [2]:
Sets the inductance value, which is used for the calculations in the decoupling block of the closed-loop current control.
A value of 100% corresponds to inductance r3421 * p3425[0].
Setting values between 100 % and 200 % are recommended for fluctuating line fault levels.
For index [3]:
Sets the value for the line inductance, which is used for the calculations in the line (grid) model of the PLL.
A value of 100 % corresponds to inductance r3424.
Setting values of up to 4x of r0223 are recommended for fluctuating line fault levels.
For index [4]:
The dynamic performance of the current control is defined by the scaling p3425[4] * p3617.
For index [5]:
The dynamic performance of the Vdc control is defined by the scaling p3425[5] * p3562.
For index [6]:
The precontrol of the current control is defined by the scaling p3425[6] * p3603.

Parameter
r3452 Infeed PLL status / INF PLL status

Parameter group: Line supply PLL, Mode signals / displays
Description: Displays the status of the line supply PLL.
Value: 0: Initialization running
1: Error when synchronizing
2: Line analysis
3: Calculation line data
5: PLL calculation
6: Final state controlled
7: Reserved
p3458[0...1] Infeed PLL smoothing time / INF PLL t_smth

state:
Parameter group: Line supply PLL
1.0 [ms] 1000.0 [ms] [0] 23.1 [ms]
[1] 9.1 [ms]
Description: Sets the smoothing time for the line supply PLL.
Index: [0] = Filter voltage from the model
[1] = Filter voltage from the measurement
Note
It may be necessary to reduce the smoothing time for weak line supplies with high frequency fluctuations. Otherwise,
there is a risk of brief orientation errors and the infeed could trip (fault trip).
r3460 Infeed PLL system deviation / INF PLL SysDev

Description: Displays the PLL system deviation.

Parameter
r3461 Infeed PLL system deviation after filtering / INF PLL SysDev sm
Description: Displays the PLL system deviation after filtering.
p3462[0...2] Infeed phase failure detection times / INF ph_fail_det t

state:
0.00 [s] 10000.00 [s] [0] 0.00 [s]
[1] 3.00 [s]
[2] 60.00 [s]
Description: Sets the time values for phase failure detection and current symmetry monitoring.
Index: [0] = Line fault maximum duration
[1] = Current symmetry rms value smoothing time
[2] = Current symmetry fault delay time
See also: F06200, A06205, A06206, F06207
Note
For index [0]:
Sets the maximum permissible wait time for the line supply to return after identifying a line fault.
This parameter is used to define how long alarm A06205 may be continuously present. Fault F06200 is output after the
wait time has expired.
For p3462[0] = 0, the following applies:
The time monitoring is deactivated. Fault F06200 is only output, if in addition to A06205, an additional message is
initiated with a stop response.
For index [1]:
Sets the smoothing time to calculate the rms phase current values (r3466) for the current symmetry monitoring (p3465).
The smoothing time is internally limited to 30 s.
For index [2]:
Sets the delay time between the Alarm A06206 being permanently active until Fault F06207 is output for the current
symmetry monitoring (p3465).

Parameter
p3463 Infeed phase failure detection line supply angle change / INF ph_fail phi
state:
-180.0 [°] 180.0 [°] 15.0 [°]
Description: If the line supply angle changes by more than this value, then a phase failure is assumed. The pulses are then inhibited
for 10 ms.
p3465[0...5] Infeed current symmetry monitoring thresholds / INF I_sym thr

state:
0.0 [%] 200.0 [%] [0] 60.0 [%]
[1] 100.0 [%]
[2] 25.0 [%]
[3] 90.0 [%]
[4] 100.0 [%]
[5] 12.5 [%]
Description: Sets scaling values for monitoring the symmetry between the phase currents (r3466).
The monitoring serves to identify continuous line phase failures in regular operation.
The monitoring for the current-controlled mode is deactivated if one of the indices 0, 1, 2 is set to zero.
Index: [0] = Closed-loop control activation minimum current
[1] = Closed-loop control activation maximum current
[2] = Closed-loop control alarm asymmetry
[3] = Reserved
[4] = Reserved
[5] = Reserved
See also: A06205, F06207
NOTICE
The negative phase sequence system control (p3640) controls the current asymmetry - and includes an additional
symmetry monitoring of the output voltage (p3647).

Parameter
Note
The smoothing time constant for the phase current rms values r3466[0, 1, 2] can be set with p3462[1].
For index [0, 1]:
Sets the current thresholds for activating symmetry monitoring in current-controlled operation.
Monitoring is active if at least one rms phase current value (r3466) is greater than p3465[0] * r13207 - and at least one
rms phase current value is less than p3465[1] * r13207.
For index [2]:
Sets the alarm threshold for the symmetry of the phase currents in the current-controlled mode.
The ratio between the lowest and highest rms phase current is monitored (r3466). The thus defined symmetry
relationship decreases with increasing asymmetry – and always lies in the range of 0 ... 100 %.
In operation (r3452 >= 4) the following applies:
If the symmetry relationship is less than threshold p3465[2], then alarm A06206 is output and status bit r3405.2 = 1 is
set.
If the alarm threshold is permanently exceeded for the time p3462[2], then the device is switched off with fault F06207.
r3466[0...2] Infeed phase current rms value smoothed / INF I_ph rms smth
Parameter group: Power unit, Mode signals / displays
Description: Display and numerical signal source for the smoothed rms values of the measured phase currents.
[1] = Phase V
[2] = Phase W
See also: A06206, F06207
Note
The smoothed rms values are used to monitor the symmetry of the phase currents (p3465).
The smoothing time constant is set with p3462[1].
r3467[0...3] Infeed current alpha/beta / INF I a/b

Parameter group: Current controller, Power unit
Description: Display and numerical signal source for the line current in alpha/beta components.
Index: [0] = Line filter alpha
[1] = Line filter beta
[2] = Power unit alpha
[3] = Power unit beta

Parameter
Note
For index [0, 1]:
Displays the line current at the input terminals of the line filter.
For index [2, 3]:
Displays the line current at the input terminals of the power unit.
r3468[0...5] Infeed voltage alpha/beta / INF U a/b

Parameter group: Current controller, Power unit
Description: Display and numerical signal source for the line supply voltage at the input terminals of the line filter in alpha/beta
components.
Index: [0] = Line filter alpha
[1] = Line filter beta
[2] = Power unit alpha
[3] = Power unit beta
[4] = Line model alpha
[5] = Line model beta
Note
For index [0, 1]:
The voltage measured values of the line filter, transformed into the alpha/beta system, are indicated in r3468.
For index [2, 3]:
The basic fundamental amplitudes of the pulsed converter voltages are displayed.
The values are only valid when operation is enabled.
For index [4, 5]:
The basic fundamental amplitudes of the voltage source calculated using a line model are displayed.
The values are only valid when operation is enabled.
r3471 Infeed reactive current filter / INF I_react filt

Parameter group: Line filter, Reactive current controller, Mode signals / displays
Description: Displays the reactive current requirement as a result of the line filter.
Note
With respect to the line supply, the sum of the reactive currents of the power unit (r0076) and line filter (r3471) are
effective.
The reactive current requirement of the line filter is taken into account when calculating the power factor (r0038).
If the line phases are interchanged and the line voltage therefore has a negative orientation (r0066 < 0), it should be
noted that the sign of the reactive current is reversed.

Parameter
p3472[0...4] Infeed PLL line voltage smoothing time / INF PLL U_l t_sm
state:
1.0 [ms] 30000.0 [ms] [0] 200.0 [ms]
[1] 100.0 [ms]
[2] 5000.0 [ms]
[3] 8.0 [ms]
[4] 8.0 [ms]
Description: Sets the smoothing time of the line supply voltage for the line supply PLL.
Index: [0] = Model line voltage smoothing time
[1] = Measurement line supply voltage smoothing time
[2] = Detection line supply undervoltage smoothing time
[3] = Detection line supply overvoltage smoothing time
[4] = Detection line supply voltage step smoothing time
Note
For the precontrol of the line supply voltage, a smoothed value of the line supply voltage is used in the closed-loop
control.
p3472[0]:
Sets the PT1 time constant to smooth the line voltage for operation with filter voltage model.
p3472[1]:
Sets the PT1 time constant to smooth the line voltage for operation with filter voltage measurement.
p3472[2]:
Sets the smoothing time constant to slowly detect a line supply undervoltage (F06100).
p3472[3]:
Sets the smoothing time constant to quickly detect line supply overvoltages for phase failure (A06205).
p3472[4]:
Sets the smoothing time constant to quickly adapt the line supply precontrol for line supply voltage steps.
p3480 Infeed modulation depth limit / INF mod_depth lim

state:
Parameter group: Modulation depth controller
50.0 [%] 110.0 [%] 98.0 [%]

Parameter
Description: Sets the maximum steady-state modulation depth.

When this limit is reached, the DC link voltage is boosted to maintain the control margin. This means that the control
reserve is maintained.
p3481 Infeed standby controller integral time / INF stndby_ctrl Tn

state:
0.0 [ms] 1000.0 [ms] 7.5 [ms]
Description: Sets the integral time of the standby controller for the modulation depth.
As the integral time increases, the response of the DC link voltage tracking becomes slower.
r3485 Infeed standby controller output / INF res_ctrl outp

Description: Displays the reserve controller output for the modulation depth.
The DC link voltage is increased by this voltage value, and the summed setpoint for the DC link voltage is output in
r13088.
The summed setpoint is limited to the maximum steady-state DC link voltage (p0280).
p3490 Infeed delay time OFF1 command / INF t_del OFF1

state:
Parameter group: Control logic, Shutdown functions
0.0 [ms] 1000000.0 [ms] 0.0 [ms]
Description: Sets the delay time for the ON/OFF1 command of the infeed.
After ON/OFF1 = 0 the infeed remains in operation for the specified time

Parameter
NOTICE
The ON/OFF1 command of the infeed can be interrupted.
Note
This parameter is only relevant if a motor-inverter and the line infeed are controlled using the same OFF command. In
this case, the delay time and the stop ramp time of the motor can be coordinated with one another.
p3491 Infeed I-offset measurement monitoring time / INF I_offs t_mon

state:
0 [ms] 65000 [ms] 2000 [ms]
Description: Sets the monitoring time for the current-offset measurement of the power unit.
The time is started with the normal end of the measurement. If the measurement is invalid and if no valid measurement
can be taken within the monitoring period (phase currents too high), an appropriate message is generated.
Note
Set this parameter to 0 to allow variations in the delay when running-up.
p3492 Infeed, line supply undervoltage delay time / INF U_line t_del
state:
0 [s] 300 [s] 0 [s]
Description: Sets the delay time for shutdown due to a line supply undervoltage condition (F06100).
After the line supply undervoltage is detected, the power unit is tripped (shut down) after this delay time has expired.
If, during this delay time, the line supply undervoltage is no longer detected, then the power unit is not shut down.
While the closed-loop control is being synchronized to the line supply (r3402 = 7) the delay time p3492 is not effective.
See also: F06100
Note
The degree of ruggedness of the infeed with respect to fluctuations in the line supply voltage can be increased by
parameterizing this delay value.
However, the following should be noted:
- The infeed power decreases proportionally (linearly) with the line supply voltage.
- when other components are connected, for low line supply voltage, operating faults or damage can occur. In this case,
the specifications of the connected electrical components should always be carefully observed.

Parameter
p3510 Infeed DC link voltage setpoint / INF Vdc set

state:
Parameter group: DC link voltage controller
100.00 [V] 1600.00 [V] 600.00 [V]
Description: Sets the setpoint for the DC link voltage.
Recommendation: The DC voltage setpoint is automatically preassigned the recommended value and should not be changed:
p3510 = 1.5 * p0210.
WARNING
The warning notes for p0210 and p0280 must be carefully observed.
NOTICE
Setting values p3510 > 1.5 * p0210 cause an increased power loss and can therefore result in derating.
Note
The following applies for the permissible setting range of the DC setpoint:
p3510 >= 1.48 * p0210 and
p3510 <= 1.60 * p0210 and
p3510 <= p0280.
c3519[0...3] Infeed power precontrol / INF prectrl P

Parameter group: Current controller, DC link voltage controller
Type of signal interconnection: Sink numeric Scaling: r2004
Factory interconnection: Fixed value: 0.00 [kW]
Description: Signal for power precontrol.
Note
Closed-loop control of the DC link voltage is improved by precontrolling the power required for the other components.

Parameter
p3521[0...3] Infeed precontrol power scaling / INF prectrl P scal

state:
-100000.00000 [%] 100000.00000 [%] 100.00000 [%]
Description: Sets the scaling factor for the power precontrol.
r3522 Infeed precontrol power display / INF prectrl P_disp

Description: Display and numerical signal source for the sum of the precontrol powers.
Note
This display is used to set the correct scaling for the precontrol.
r3554[0...1] Infeed Vdc controller output / INF Vdc_ctrl outp

Description: Display of the Vdc controller output for the infeed.
Index: [0] = I output
[1] = PI output
Note
For index 1:
The value corresponds to a DC current setpoint.

Parameter
p3560 Infeed Vdc controller proportional gain / INF Vdc_ctrl Kp

state:
0.01 [%] 1000.00 [%] 100.00 [%]
Description: Sets the scaled proportional gain for the DC link voltage controller (Vdc controller).
Note
A value of 100 % corresponds to the basic setting derived from loop control parameters (r3421, r3422).
p3562 Infeed Vdc controller dynamic response / INF Vdc_ctrl dyn

state:
0.10 [%] 100000.00 [%] 100.00 [%]
Description: Sets the scaled dynamic response for the DC link voltage controller (Vdc).
Note
The dynamic response factor is proportional to the reciprocal of the integral time.
Example: Doubling p3562 corresponds to halving the integral time.
p3566 Infeed Vdc ramp duration / INF Vdc t_ramp

state:
20 [ms] 1000 [ms] 20 [ms]
Description: Sets the ramp time for the DC link voltage (Vdc) when switching on and switching off.

Parameter
NOTICE
For operating behavior and possible termination of the ramp when switching off:
The line inverter is not capable of energy recovery. As a consequence, a ramp to reduce the DC link voltage is only
possible under the precondition that a motor load is connected to the DC link.
Generally, this load should already be deactivated in the DC link, and the no-load state reached before the infeed is
switched off. In this normal case, when switching off the infeed, the switch-off ramp is canceled and the DC link
passively discharges itself; it does this relatively slowly with the discharge time constant of the inverter system.
Note
Switching on (enable pulses, r13898.3 = 1):
During this time, the DC link voltage is increased from the rectified value after precharging up to the voltage setpoint
(p3510). The voltage setpoint is increased, when necessary, so that the modulation depth reserve (p3481) is
maintained.
Switching off (inhibit pulses, r13898.3 = 0):
During this time, the DC link voltage is reduced to the rectified value (sqrt(2) * line supply voltage).
r3602 Infeed control status / INF ctrl status

Description: Displays the status of the closed-loop infeed control.
Value: 0: Initialization running
2: Ramp-up DC link voltage
3: Reserved
4: Shutdown running
5: Check status
6: Operation
7: Reserved
p3603 Infeed current precontrol factor D component / INF I_ctrl D comp

state:
0.00 [%] 500.00 [%] 100.00 [%]
Description: The D component of the current precontrol is determined from the device data of the filter. p3603 can be used to weigh
the precalculated D component. If no dynamic precontrol is to be used, set the factor to zero.

Parameter
r3606 Infeed active current controller system deviation / INF I_act ctrl dev
Parameter group: Active current controller
Description: Displays the system deviation of the active current controller.
r3608 Infeed reactive current controller system deviation / INF I_reactCtrlDev

Parameter group: Reactive current controller
Description: Displays the system deviation of the reactive current controller.
p3614[0...3] Infeed current actual value filter smoothing time / INF I_ActV t_smth
state:
Parameter group: Digital filters
0.000 [ms] 2.000 [ms] 0.000 [ms]
Description: Sets the time constant for the PT1 filtering of the active current actual value and reactive current actual value.
Index: [0] = Current actual value smoothing with dead time
[1] = Current actual value smoothing without dead time
[2] = System deviation smoothing without dead time
[3] = Reserved
Dependency: When fast closed-loop current control (p1810.11 = 1) is active, this filtering is not effective for the P component of the
current controller.
Note
The current actual value filter is deactivated with p3614[0, 1, 2] = 0.
For index [0]:
The PT1 filter with a clock cycle dead time can be used to stabilize the closed-loop current control for extremely weak line
supplies (with higher relative short-circuit voltage uk)
For index [1]:
The PT1 filter without dead time can be used to optimize the closed-loop current control.
For index [2]:
The PT1 filter without dead time for the system deviation (r3606, r3608) can be used to stabilize the closed-current
control for weak line supplies (with low line fault rating).

Parameter
p3615 Infeed current controller P gain / INF I_ctrl Kp

state:
0.00 [%] 1000.00 [%] 100.00 [%]
Description: Sets the scaled P gain for closed-loop current control of the infeed.
Note
p3617 Infeed current controller dynamic response / INF I_ctrl dyn

state:
0.10 [%] 100000.00 [%] 100.00 [%]
Description: Sets the scaled dynamic response for the infeed current controller.
Note
The dynamic response factor is proportional to the reciprocal of the integral time.
Example: Doubling p3562 corresponds to halving the integral time.
r3618 Infeed active current controller integral component / INF I_act_ctrl Tn

Parameter group: Active current controller
Description: Displays the integral component of the active current controller.

Parameter
r3619 Infeed reactive current controller integral component / INF I_react_ctrlTn

Parameter group: Reactive current controller
Description: Displays the integral action component of the reactive current controller.
r3624[0...1] Infeed harmonics controller order / INF harm_ctr order

Parameter group: Harmonics controller
Description: Displays the order of the line harmonics for the current harmonics controller.
r3624[0]: Order of the line harmonics for the first harmonics controller.
r3624[1]: Order of the line harmonics for the second harmonics controller.
Note
Harmonics in the line supply voltage can cause harmonics in the converter current. These types of current harmonics can
be reduced by activating additional controller modules.
Example:
For a 50 Hz line supply, harmonics at 250 Hz in the phase currents can be reduced by activating a harmonic controller
with an Order of 5 (r3624[0] = 5).
p3625[0...1] Infeed harmonics controller scaling / INF harm_ctrl scal

state:
0.0 [%] 300.0 [%] 100.0 [%]
Description: Sets the gain of the harmonics controller.
p3625[0]: Gain of the first harmonics controller
p3625[1]: Gain of the second harmonics controller
0 %: Controller is deactivated
100 %: Controller is activated with default gain setting
Note
The harmonics controller corrects the power unit voltages so that the line-side current harmonics are reduced.
The order of a current harmonic, which is to be dampened using a harmonics controller, is defined using r3624.

Parameter
r3626[0...1] Infeed harmonics control output / INF harm_ctrl outp

Description: Displays the output voltages of the harmonics controller.
The harmonics controller corrects the power unit voltages so that the line-side current harmonics are reduced.
For r3626[0]:
rms value of the output voltage of the 1st harmonic controller.
For r3626[1]:
Rms value of the output voltage of the 2nd harmonic controller.
r3632 Infeed setpoint voltage Usd (active component) / INF U_set Usd
Description: Displays the voltage Vsd (active component) at the 3-phase line supply input of the power unit.
r3633 Infeed setpoint voltage Usq (reactive component) / INF U_set Usq
Description: Displays the voltage Vsq (reactive component) at the 3-phase line supply input of the power unit.
r3635[0...1] Infeed input voltage angle / INF U_inp angle

Description: Display and numerical signal source for the angle of the input voltage.
Index: [0] = Setpoint voltage angle relative to the line phase angle
[1] = Absolute angle of the setpoint voltage

Parameter
r3638[0...3] Negative phase-sequence system controller current actual value / Neg_seq ctr I_act
Parameter group: Negative phase-sequence system controller
Description: Display and numerical signal source for the current actual values of the negative phase-sequence system controller.
The setpoint for the positive phase-sequence system current is compensated in the displayed negative-phase sequence
system current.
The setpoint for the negative phase-sequence system current is compensated in the displayed positive-phase sequence
system current.
Index: [0] = Negative phase-sequence system component active current
[1] = Negative phase-sequence system component reactive current
[2] = Positive phase-sequence system component active current
[3] = Positive phase-sequence system component reactive current
Note
The total active current actual value in the positive phase-sequence system coordinates is displayed in r0078.
The total reactive current actual value in the positive phase-sequence system coordinates is displayed in r0076.
p3639[0...3] Negative phase-sequence system controller scaling values / Neg_sys_ctrl scal

state:
0.00 [%] 300.00 [%] [0] 100.00 [%]
[1] 0.10 [%]
[2] 200.00 [%]
[3] 1.00 [%]
Description: Sets the scaling values for the negative phase-sequence system controller.
Index: [0] = Integral time
[1] = Integrator feedback coupling
[2] = DC link voltage extrapolation
[3] = DC link voltage filter

Parameter
Note
For index [0]:
The value 100% corresponds to the integral time, which is active for the regular positive phase-sequence system current
controller (p3617).
With p3639[0] = 0, the integral component of the negative phase sequence system controller is deactivated.
For index [1]:
Sets an integrator feedback loop, which, for values greater than 0, results in a PT1 response. In the control, instead of
an integrator, a 1st order delay element is active. This allows the negative phase-sequence system controller stability
range to be extended.
Internally, the setting value is limited to 10 %.
We only recommend that this parameter is changed if stability problems are encountered. Typical setting values are in
the range of 1%.
For index [2]:
Sets the extrapolation width for the actual value of the DC link voltage to compensate for Vdc oscillation. A value of 100%
corresponds to an extrapolation of one current controller sampling time.
The extrapolated value is displayed in r3643[1].
For index [3]:
Sets the scaling factor for the Vdc actual value filter.
At twice the line frequency, this component of the Vdc oscillation can pass through the bandstop and causes the Vdc
controller to respond. As a consequence, the stability of the overall closed-loop control can be improved.
The setting values are internally limited to 100%.
p3640.0...2 Negative phase-sequence system controller configuration / Neg_sys ctr config

state:
- - 0011 bin
Description: Sets the configuration for the negative phase-sequence system current controller.
00 Negative phase-sequence system current controller activated Yes No
01 Asymmetry monitoring activated Yes No
02 Output limiting activated Yes No

Parameter
Note
For bit 00:
The negative phase-sequence system controller controls negative phase-sequence components in the line current.
For asymmetry in the line supply, this means that current harmonics with 2x the line frequency can be compensated.
For bit 01:
Only effective for bit 00 = 1.
For bit 01 = 1, the following applies:
The smoothed amplitude of the controller output is monitored, and when a threshold is exceeded (p3647[1]) an alarm
is output (A06208) - and the signal bit for phase failure is set (r3405.2 = 1).
When compared to passive monitoring, this negative phase-sequence system control represents active phase failure
detection; even under no load conditions, it can be guaranteed that single-phase, high-ohmic line supply faults are
detected.
For bit 02:
Only effective for bit 00 = 1.
In the case of high-ohmic line supply faults (e.g. phase failure), the line asymmetry that occurs can result in a
significant increase in the controller integral components, and as a consequence in a fault shutdown (e.g. fault F06200).
If these types of line supply faults are to be ridden through without shutdown (as far as is possible), then the controller
output voltage limiting must be activated (threshold p3647[0]).
r3642[0...1] Negative phase-sequence system controller manipulated variable / NegSeqCtr ManipVar

Description: Display and numerical signal source for the manipulated variable (output voltage) of the negative phase-sequence
system current controller.
The manipulated variable is displayed in alpha/beta coordinates.
Index: [0] = Alpha
[1] = Beta
r3643[0...1] Neg phase-sequence system controller DC link voltage correction / NegSeqCtr Vdc corr
Description: Displays the correction value for the DC link voltage setpoint.
This value is added to the DC link voltage setpoint, and in the case of a negative phase-sequence system setpoint not
equal to 0, compensates any Vdc oscillation.
Index: [0] = Correction value
[1] = Correction value extrapolated

Parameter
Note
For index [0]:
The corrected DC link voltage setpoint (r13088) is active for the voltage controller.
For index [1]:
For Vdc compensation, the extrapolated correction value (also see p3639[2]) is used to take into account the current
controller dead times – and to avoid current harmonics in the case of a negative phase-sequence system setpoint other
than 0.
p3645 Neg phase-seq system controller Vdc actual value filter damping / NegSysCtr FiltDamp
state:
0.000 10.000 0.300
Description: Sets the denominator damping for the bandstop filter of the Vdc actual value for twice the line frequency.
Note
The bandstop filter is deactivated with p3645 = 0.
r3646[0...1] Negative phase-sequence system controller integral component / neg_sys_ctrl int

Description: Displays the integral components of the negative phase-sequence system controller.
Index: [0] = Active
[1] = Reactive
p3647[0...2] Negative phase-sequence system controller phase asymmetry / Neg_seq ctrl asym
state:
0.00 [%] 300.00 [%] [0] 15.00 [%]
[1] 10.00 [%]
[2] 50.00 [%]

Parameter
Description: Sets the threshold limits and monitoring thresholds for the negative phase-sequence system controller.
Index: [0] = Threshold limit
[1] = Signaling threshold
[2] = Smoothing time
Note
For index [0]:
Sets the limit threshold for the output amplitude of the negative phase-sequence system control.
The value of 100 % corresponds to the smoothed line voltage (r0072[4]).
For p3640.2 = 1, the following applies:
The negative phase-sequence system integral components (p3645) are reduced if the set threshold is exceeded.
For index [1]:
Sets the signaling threshold for the output amplitude of the negative phase-sequence system control.
The negative phase-sequence system output amplitude corresponds to the asymmetry of the line voltage.
The value of 100 % corresponds to the smoothed line voltage (r0072[4]).
The setting value is internally limited to a maximum of 0.9 * p3647[0].
For p3640.1 = 1, the following applies:
A06208 is output and r3405.2 is set = 1 if the set threshold is exceeded. This allows line asymmetry monitoring or phase
failure detection to be implemented.
For index [2]:
Sets the smoothing time for identifying the asymmetry described under index 1.
The 100% value corresponds to 1 second.
p3820[0...n] Friction characteristic value n0 / Friction n0

state:
Parameter group: Friction characteristic
0.00 [rpm] 210000.00 [rpm] 15.00 [rpm]
Description: The friction characteristic is defined by 10 value pairs.
This parameter specifies the n coordinate of the 1st value pair of the friction characteristic.

state:
0.00 [rpm] 210000.00 [rpm] 30.00 [rpm]

Parameter

This parameter specifies the n coordinate of the 2nd value pair of the friction characteristic.

state:
0.00 [rpm] 210000.00 [rpm] 60.00 [rpm]
This parameter specifies the n coordinate of the 3rd value pair of the friction characteristic.

state:
0.00 [rpm] 210000.00 [rpm] 120.00 [rpm]
This parameter specifies the n coordinate of the 4th value pair of the friction characteristic.

state:

Parameter

0.00 [rpm] 210000.00 [rpm] 150.00 [rpm]

state:
0.00 [rpm] 210000.00 [rpm] 300.00 [rpm]

state:
0.00 [rpm] 210000.00 [rpm] 600.00 [rpm]

state:

Parameter

0.00 [rpm] 210000.00 [rpm] 1200.00 [rpm]

state:
0.00 [rpm] 210000.00 [rpm] 1500.00 [rpm]

state:
0.00 [rpm] 210000.00 [rpm] 3000.00 [rpm]

Parameter
p3830[0...n] Friction characteristic value M0 / Friction M0

state:
-1000000.0000 [Nm] 1000000.0000 [Nm] 0.0000 [Nm]
This parameter specifies the M coordinate of the 1st value pair of the friction characteristic.

state:
-1000000.0000 [Nm] 1000000.0000 [Nm] 0.0000 [Nm]
This parameter specifies the M coordinate of the 2nd value pair of the friction characteristic.

state:
-1000000.0000 [Nm] 1000000.0000 [Nm] 0.0000 [Nm]
This parameter specifies the M coordinate of the 3rd value pair of the friction characteristic.

Parameter

state:
-1000000.0000 [Nm] 1000000.0000 [Nm] 0.0000 [Nm]
This parameter specifies the M coordinate of the 4th value pair of the friction characteristic.

state:
-1000000.0000 [Nm] 1000000.0000 [Nm] 0.0000 [Nm]

state:
-1000000.0000 [Nm] 1000000.0000 [Nm] 0.0000 [Nm]

Parameter

state:
-1000000.0000 [Nm] 1000000.0000 [Nm] 0.0000 [Nm]

state:
-1000000.0000 [Nm] 1000000.0000 [Nm] 0.0000 [Nm]

state:
-1000000.0000 [Nm] 1000000.0000 [Nm] 0.0000 [Nm]

Parameter

state:
-1000000.0000 [Nm] 1000000.0000 [Nm] 0.0000 [Nm]
r3840.0...9 Friction characteristic status word / Friction ZSW

Description: Display and signal source for the status word of the friction characteristic.
00 Friction characteristic OK Yes No
01 Record friction characteristic activated Yes No
02 Record friction characteristic completed Yes No
03 Record friction characteristic canceled Yes No
08 Friction characteristic positive direction Yes No
09 Friction torque model controlled status Upper Lower
Note
For bit 09:
For closed-control of an induction motors with encoder, the switchover between the current and observer model is
displayed (see also r1751.19), if p3844 is > 0.
For bit 9 = 0 (observer model active), the following applies:
The frictional torque is calculated from the characteristic values from the characteristic point entered into p3844.
For bit 9 = 1 (current model active), the following applies:
The frictional torque is calculated from the characteristic values below the characteristic point entered into p3844.

Parameter
r3841 Friction characteristic output / Frict outp

Description: Display and numerical signal source for the torque of the friction characteristic dependent on the speed.
See also: c1569, p3842
p3842 Friction characteristic activation / Friction act

state:
0 1 0
Description: Setting to activate and deactivate the friction characteristic.
Value: 0: Friction characteristic deactivated
1: Friction characteristic activated
See also: c1569, r3841, p3845
NOTICE
In order that the friction characteristic can be activated, all friction characteristic values (p3820 ... p3839) of all existing
drive data sets must be plausible.
For speed values the following applies:
0.0 < p3820 < p3821 < ... < p3829 <= p0322 or p1082, if p0322 = 0
For torque values, the following applies:
0 <= p3830, p3831 ... p3839 <= r0333
p3843[0...n] Friction characteristic frictional torque diff. smoothing time / Frict M_diff t_sm
state:

Parameter

0.00 [ms] 10000.00 [ms] 0.00 [ms]
Description: Sets the smoothing time constant (PT1) for the friction torque difference.
Smoothing is activated when switching over from status bit r3840.9.
See also: p3844
p3844[0...n] Friction characteristic number changeover point upper / Frict no chg_pt up

state:
0 4 0
Description: Selects the upper changeover point of the friction characteristic for the frictional torque input controlled by the motor
model of the induction motor.
The speed of this changeover point is preassigned for the automatic calculation and should not be manually changed.
Dependency: p3844 is only activated for closed-loop control (p1300 = 21, 23) of induction motors with encoder. If an operating mode
without encoder was previously set, then the points along the characteristic must be recalculated (p3845 = 9) and the
friction characteristic recorded again.
See also: p3843
NOTICE
If the switchover point is changed, then the model-controlled frictional torque input is automatically deactivated
internally.
Note
For p3844 = 0, the model-controlled frictional torque changeover is deactivated. The frictional torque is then calculated
the same as for the encoderless control by interpolating between the points along the friction characteristic.
p3845 Record friction characteristic activation / Frict record act

state:
0 9 0
Description: Setting for the friction characteristic record.
After the next switch-on command, the friction characteristic is automatically recorded.
Value: 0: Record friction characteristic deactivated

Parameter
1: Record friction characteristic activated all directions

2: Record friction characteristic activated positive direction
3: Record friction characteristic activated negative direction
9: Calculating the friction characteristic speeds
Dependency: If the closed-loop control mode was switched between encoderless operation and operation with encoder, then the
points along the friction characteristic must be recalculated (p3845 = 9) and the measurement performed again.
Calculating the characteristic speeds is only possible if recording is deactivated (p3845 = 0).
When selecting the friction characteristic measurement, the drive data set changeover is suppressed.
DANGER
For drives with a mechanical system that limit the distance moved, it must be ensured that during recording, the friction
characteristic is not reached. If this is not the case, then it is not permissible that the measurement is carried out.
NOTICE
Note
When the friction characteristic recording is activated, it is not possible to save the parameters.
When the friction characteristic recording is active (p3845 > 0), it is not possible to change p3820 ... p3829, p3830 ...
p3839 and p3842.
When recording the friction characteristic, in addition to the friction, the motor losses are also determined (e.g. iron
losses, eddy current losses and re-magnetizing losses). A differentiation is not made between these individual loss
components. We recommend that a motor temperature sensor is used because torque deviations can also be emulated/
mapped on the characteristic due to the thermal influence.
p3845 = 1:
If the measurement is performed in both directions of rotation, then as result, the mean value from both directions is
calculated and parameterized.
p3845 = 3:
If the positive direction of rotation of the drive is inhibited, then just the measurement can be selected in the negative
direction.
p3845 = 9:
The speed-characteristic values are recalculated. This is recommended for example, after changing the maximum speed
p1082 or the switchover speed between various motor models, i.e. also after switching between encoderless closed-
loop control and closed-loop control with encoder. The friction characteristic should then be recorded again.
p3846[0...n] Record friction characteristic ramp-up/ramp-down time / Frict rec t_RU/RD

state:
0.000 [s] 999999.000 [s] 10.000 [s]
Description: Sets the ramp-up/ramp-down time of the ramp-up/ramp-down function generator to automatically Documenting the
friction characteristic.
The drive is accelerated from standstill (setpoint = 0) up to the maximum speed/velocity (p1082) in this time.
See also: p3845

Parameter
p3847[0...n] Record friction characteristic time to warm up / Frict rec t_warm

state:
0.000 [s] 3600.000 [s] 0.000 [s]
Description: Sets the warm-up time.
To start the automatic recording, the highest selected speed (p3829) is approached and this time is held. After this, the
measurement is started with the highest speed.
c3848[0...n] Friction characteristic speed signal input / Friction n_in

Description: Speed input signal of the friction characteristic.
Recommendation: For operation with closed-loop speed control, where the speed actual value can always follow the setpoint, it is
recommended that the setpoint speed (e.g. r0060) is used as input variable of the friction characteristic.
See also: r1443
NOTICE
The interconnected speed signal must be approximately the same as the real motor speed so that when the motor
model is replaced, no significant settling operations occur.
p3849[0...n] Start friction characteristic scaling / Strt FricChar scal

state:
0.01 1000.00 1.00

Parameter
Description: Sets the scaling to establish the friction characteristic when starting from standstill and when reversing the speed
(reversing).
See also: r3841
Note
For a value of 1000, establishing the friction is immediately reversed when the sign of the speed changes.
p3855[0...n].0...3 DC quantity controller configuration / Rect_ctrl config

state:
- - 0111 bin
Description: Sets the configuration for the DC quantity controller in the overmodulation range.
00 DC quantity controller on Yes No
01 Bandwidth increased Yes No
02 7th harmonic reduced Yes No
03 Filter active Yes No
Dependency: The modulator mode p1802 must enable operation in the overmodulation range. In addition, the overmodulation limit
p1803 must be greater than 103 %.
NOTICE
Motor identification must be carried out before activating the DC quantity control in the overmodulation range.
p3855[0...n].0...3 DC quantity controller configuration / Rect_ctrl config

state:
- - 0110 bin
Description: Sets the configuration for the DC quantity controller in the overmodulation range.
00 DC quantity controller on Yes No
01 Bandwidth increased Yes No
02 7th harmonic reduced Yes No
03 Filter active Yes No

Parameter
Dependency: The modulator mode p1802 must enable operation in the overmodulation range. In addition, the overmodulation limit
p1803 must be greater than 103 %.
NOTICE
Motor identification must be carried out before activating the DC quantity control in the overmodulation range.
p3856[0...n] Compound braking current / Compound I_brake

state:
Parameter group: Compound braking
0.00 [%] 250.00 [%] 0.00 [%]
Description: Compound braking current is used to define the amount of DC current that is produced on stopping the motor during
U/f control to further increase the DC braking function.
Compound braking is a superimposition of the DC braking function with regenerative braking (net braking along the
ramp) after OFF1 or OFF3. This permits braking with controlled motor frequency and minimum power input into the
motor.
Effective braking without using additional hardware components is obtained by optimizing the ramp down time and
compound braking.
Dependency: The compound braking current is only activated if the DC link voltage exceeds the threshold value in r1282.
Compound braking does not operate in the following cases:
- DC braking activated (c1230, r1239).
- Motor is still not magnetized (e.g. for flying restart).
- Vector control parameterized (p1300 >= 20).
- Synchronous motor used (p0300 = 2xxx).
NOTICE
Generally, increasing the braking current improves the braking effect when stopping the motor. However, if the value
is set too high, then the drive can be tripped (shut down) as a result of overcurrent or ground fault.
Recommendation: p3856 < 100 % x (r0209 - r0331) / p0305 / 2
Compound braking generates a current in the motor with a ripple manifesting the rotational frequency. The higher the
braking current is set, the higher the resulting ripple, especially when the Vdc_max control is simultaneously active
(refer to p1280).
Note
The parameter value is entered relative to the rated motor current (p0305).
Compound braking is deactivated with p3856 = 0%.
p3857[0...n] DC quantity controller P gain / DC_ctrl Kp

state:

Parameter

0.000 100000.000 0.000
Description: Sets the proportional gain for the DC quantity controller in the overmodulation range.
p3858[0...n] DC quantity controller integral time / DC_ctrl Tn

state:
0.00 [ms] 1000.00 [ms] 2.00 [ms]
Description: Sets the integral time for the DC quantity controller.
r3859.0...1 Compound braking/DC quantity control status word / Comp-br/DC_ctr ZSW

Parameter group: Compound braking, Power unit
Description: Display and numerical signal source for the status word of the compound braking and DC quantity control.
00 Compound braking active Yes No
01 DC quantity control active in the overmodulation range Yes No
r3925[0...n].0...19 Commissioning status / Commission status

Parameter group: Control/status words, Motor data identification routine, Rotating measurement/
speed controller optimization
Description: Displays the commissioning steps that have been carried out.
00 Motor/control parameters calculated Yes No
02 Motor data identification carried out at standstill Yes No
03 Rotating measurement performed Yes No

Parameter
04 Mot encoder adjustment performed Yes No

08 Identified motor data are automatically backed up Yes No
10 Automatic parameterization only for U/f control Yes No
11 Automatic parameterization as Standard Drive Control Yes No
12 Automatic parameterization as Dynamic Drive Control Yes No
13 Automatic parameterization as Standard Drive Control extended Yes No
14 First motor commissioning Yes No
15 Equivalent circuit diagram parameters changed Yes No
16 Cable resistance measured Yes No
17 Saturation measurement performed Yes No
18 Circle identification executed Yes No
19 Results of the rotating measurement can be reset Yes No
Note
The individual bits are only set if the appropriate action has been initiated and successfully completed.
The identification final display is reset when changing the type plate parameters.
r3927[0...n].0...28 Motor data identification control word / MotID STW

Parameter group: Control/status words, Motor data identification routine
Description: Successfully completed component of the last motor data identification carried out.
00 Stator inductance estimate no measurement Yes No
02 Rotor time constant estimate no measurement Yes No
03 Leakage inductance estimate no measurement Yes No
05 Determine Tr and Lsig evaluation in the time range Yes No
06 Activate vibration damping Yes No
07 Deactivate vibration detection Yes No
11 Deactivate saturation measurement pole Id Yes No
12 Deactivate rotor resistance Rr measurement Yes No
14 Deactivate valve interlocking time measurement Yes No
15 Determine only stator resistance, valve voltage fault, dead time Yes No
16 Short motor identification (lower quality) Yes No
17 Measurement without control parameter calculation Yes No
18 After motID direct transition into operation Yes No
19 After MotID automatically save results Yes No
20 Estimate cable resistance Yes No
21 Calibrate output voltage measurement Yes No
22 Only identify circle Yes No
23 Deactivate circle identification Yes No
26 Measure with long cable Yes No
27 Deactivate saturation characteristic identification Yes No
28 Pulse inhibit for current 0A Yes No

Parameter
Note
The parameter is a copy of p1909.
r3928[0...n].0...14 Rotating measurement configuration / Rot meas config

Description: Successfully completed component of the last rotating measurement carried out.
00 Encoder test active Yes No
01 Saturation characteristic identification Yes No
02 Moment of inertia identification Yes No
03 Re-calculates the speed controller parameters Yes No
04 Speed controller optimization (vibration test) Yes No
05 q leakage inductance ident. (for current controller adaptation) Yes No
11 Do not change the controller parameters during the Yes No
measurement
12 Measurement shortened Yes No
13 After measurement direct transition into operation Yes No
14 Calculate actual speed smoothing time Yes No
Note
The parameter is a copy of p1959.
p3941[0...n] Motor code number 2 / Motor code No. 2

state:
0 99999999 0
Description: Second motor code number.

Parameter
r3962[0...1] Actual value sensing time information / ActV time info

Parameter group:
Description: Displays time information of the actual value sensing.
Index: [0] = Measurement duration
[1] = Measurement latency
r3963[0...3] Current actual values pulse technique / Current ActV_TP

Parameter group:
Description: Displays the current actual values for the pulse technique.
Index: [0] = Center value alpha
[1] = Center value beta
[2] = Final value alpha
[3] = Final value beta
r3964[0...1] Voltage-time areas actual values pulse technique / VT_TP_actual value

Parameter group:
Description: Displays the measured modulated voltage-time areas for the pulse technique
Index: [0] = Alpha
[1] = Beta
r3965[0...1] Voltage-time areas setpoints pulse technique / VT_TP_setp

Parameter group:

Parameter
Description: Displays the setpoints of the modulated voltage-time areas for the pulse technique
Index: [0] = Alpha
[1] = Beta
r3987[0...n].0...15 Parameter screen form status display / Par_scr stat_disp

Parameter group: Commissioning, Status parameters
Description: Displays the actual screen form to suppress parameters (separated, according to the Drive Data Sets DDS).
00 NEMA motor NEMA motor No NEMA Motor
01 IEC motor IEC motor No IEC Motor
02 Synchronous motor (SM) Synchr motor No synchr motor
(SM)
03 Induction motor (ASM) ASM No ASM
04 Standard Drive Control (old) Yes No
05 Dynamic drive control Yes No
09 Standard Drive Control Yes No
10 General access Access No access
11 Quick commissioning Quick com No quick com
12 Synchronous/reluctance motor with starting cage Yes No
14 No speed encoder No speed encoder Speed encoder
15 Reluctance motor controlled Rel_motor ctrl No rel_mot ctrl
NOTICE
Only for internal Siemens use and fault diagnostics.
r3988 Final boot state / Boot_state

Description: Displays the final boot states.
001 - Software error
200 - Carry out first commissioning
250 - Topology error (check the connected hardware)
800 - Ready
The following options are available to reach the "Ready" state:
- Check the project and load again.
- Restore factory setting.
- Check the hardware.
- Carry out a POWER ON (switch-off/switch-on).

Parameter
c4441[0...15] IIOT signal sinks / IIOT signal sinks

Parameter group: IIoT
Factory interconnection: [0] Parameter: 37[4][1] Parameter:
35[2] Parameter: 63[0][3] Parameter:
62[4] Parameter: 80[0][5] Parameter:
68[0][6] Parameter: 70[7] Parameter:
66[8] Parameter: 72[9] Parameter:
755[0][10] Parameter: 36[0][11]
Parameter: 64[12] Parameter: 69[6]
[13] Parameter: 78[0][14] Parameter:
1801[0][15] Fixed value: 0.00
Description: The signal sinks defined in the parameter are transferred to the IIOT module via DRIVE-CLiQ.
Index: [0] = IIoT signal 0
[1] = IIoT signal 1
[2] = IIoT signal 2
[3] = IIoT signal 3
[4] = IIoT signal 4
[5] = IIoT signal 5
[6] = IIoT signal 6
[7] = IIoT signal 7
[8] = IIoT signal 8
[9] = IIoT signal 9
[10] = IIoT signal 10
r4446.0...17 IIOT status / IIOT status

Description: The parameter indicates the status of the IIOT module.
00 Cyclic communication to Edge active Yes No
16 SFTP access active Yes No
17 Valid key Yes No

Parameter
p4447.0 IIOT configuration / IIOT config

state:
- - 0001 bin
Description: The parameter is used to configure the IIOT module.
00 Activate cyclic communication to Edge Yes No
p4448 IIOT sampling time cyclic signal transfer / IIOT sampling time
state:
125.00 [µs] 5000.00 [µs] 250.00 [µs]
Description: The sampling time of the IIOT module is entered here, with which data is transferred to the IIOT module via DRIVE-CLIQ.
This is generally the current controller sampling time.
p4610[0...n] Motor temperature sensor 1 sensor type / Temp sens 1 type

state:
0 60 10
Description: Sets the sensor type of the first temperature sensor for monitoring the motor temperature.
Value: 0: No sensor
10: PTC fault
11: PTC alarm
20: KTY84

Parameter
30: Bimetallic NC contact fault

31: Bimetallic NC contact alarm
60: PT1000
Note
This parameter is effective only when p0601 = 10.
PTC thermistor: Tripping resistance = 1650 Ohm
Information on using temperature sensors is provided in the product documentation.
p4611[0...n] Motor temperature sensor 2 sensor type / Temp sens 2 type

state:
0 60 10
Description: Sets the sensor type of the second temperature sensor for the motor temperature monitoring.
Value: 0: No sensor
10: PTC fault
11: PTC alarm
20: KTY84
30: Bimetallic NC contact fault
31: Bimetallic NC contact alarm
60: PT1000
Note
This parameter is effective only when p0601 = 10.
PTC thermistor: Tripping resistance = 1650 Ohm
Information on using temperature sensors is provided in the product documentation.
r4640[0...95] Encoder diagnostics state machine / Enc diag stat_ma

Parameter group: Diagnostics
Description: Displays the encoder diagnostics for the PROFIdrive interface.

Parameter
p4641[0...2] OEM encoder diagnostic signal selection / OEM enc diag sel
state:
0 65535 0
Description: Sets the trace functionality for OEM encoder manufacturers.
[1] = Encoder 2
[2] = Reserved
p4642[0...2] Encoder fault test function / Encoder fault test

state:
0 255 0
Description: Test function to initiate an encoder fault
For p4642 = 1:
When setting, an encoder fault is output once at the currently used motor encoder. Depending on the configuration in
p0491, the drive switches over to encoderless operation This means that encoderless motor stopping can be tested.
For p4642 = 2:
When setting, an encoder fault is output once at the currently used motor encoder. For braking, the drive still uses the
commutation position of the encoder. This means that a faster motor stopping with encoder can be tested (only
functions with SMx modules, otherwise the same response as for p4642 = 1).
The following generally applies:
After acknowledgment, the encoder fault that was issued is cleared and p4642 is set = 0.
[1] = Encoder 2
[2] = Reserved
NOTICE
It is not permissible that a data set is switched over between an encoder fault being issued and its deletion.

Parameter
p4644.0...2 Simulated motor encoder configuration / Sim mot_enc config

state:
- - 0010 bin
Description: Sets the configuration for the simulated motor encoder.
Using these configuration bits, the response of the encoder status bit "Parking encoder active" (r0481.14) can be set for
a pulse inhibit.
For bit 00:
When the bit is set, after a pulse inhibit, encoder status bit "Parking encoder active" (r0481.14) is temporarily set and
then withdrawn. When r0481.14 = 1 is set, the higher-level control system is signaled that the position must be re-
referenced. When r0481.14 = 0 is reset, then the higher-level control system can switch the system on again.
For bit 01:
When the bit is set, a brake is being used (p1215 = 3) and the pulses are canceled for absolute speeds less than the
standstill speed (2 * p1226), then the encoder status bit "Parking encoder active" (r0481.14) is not set. This means that
the position is not re-homed after switching on again.
For bit 02:
This bit can be used for diagnostics.
When the bit is set, encoder status bit "Parking encoder active" (r0481.14) is not set as a result of the pulse inhibit.
00 For a pulse inhibit, temporarily set bit r0481.14 Yes No
01 Bit r0481.14 = 0 for pulse inhibit at standstill with brake Yes No
02 For a pulse inhibit, do not set bit r0481.14 Yes No
DANGER
For bit 02 = 1:
If it cannot be excluded that the motor shaft turns while the pulses are inhibited, then after the pulse enable, the
position calculated by the simulated motor encoder can be offset and not detected using encoder status bit "Parking
encoder active" (r0481.14). Hazardous operating states can subsequently occur.
Note
Function "Simulated motor encoder" is activated using p0400 = 9010.
For bit 00, 01, 02 = 0, the following applies:
For a pulse inhibit, encoder status bit "Parking encoder active" (r0481.14) is set. The system must be referenced after
switching on again.
This bit has priority over the other bits.
r4648.0 Encoder status word / Enc status word


Parameter

Description: Display and signal source for the encoder status word.
For bit 00:
The bit is a group message for all encoders of the axis, and is set for the following alarms:
A3x407: "Function limit reached"
A3x415: "Signal level track A or B out of tolerance (alarm)"
A3x419: "Track A or B out of tolerance"
A3x442: "Battery voltage alarm threshold reached"
x = encoder 1, 2, 3
00 Encoder maintenance required Yes No
NOTICE
Maintenance work may have to be carried out on the encoder.
Note
For bit 00:
For test purposes, the bit can be set using p4642 = 3.
The bit is reset using p4642 = 0.
p4649[0...n] Encoder function reserve amplitude limit incremental signals / Enc fct amp inc
state:
0 500 0
Description: Amplitude threshold of the incremental signals for the function reserve.
If the set amplitude threshold on the incremental signals is fallen below, then alarm A3x407 "Encoder x; function limit
reached " is output.
Note
An amplitude threshold of 230 mV can be used as default value.
p4650 Encoder function reserve data set number / Enc fct_res EDS
state:
0 99 99
Description: Setting the selection.

Parameter
r4651[0...3] Encoder function reserve / Enc fct_reserve

Description: Displays the functional reserve of the encoder selected via p4650.
0 ... 25 %:
The function limit has been reached. A service is recommended.
26 ... 100 %:
The encoder is working in the specified range.
Index: [0] = Function reserve 1
[1] = Function reserve 2
Note
Value = 999 means:
- The component specified in p4650 is not connected
- The encoder does not support the display of the functional reserve
p4652[0...2] XIST1_ERW reset mode / XIST1_ERW res mode

state:
0 3 0
Description: Sets the mode to reset the actual value XIST_ERW via signal source r4653.
Value: 0: Inactive
1: Reset with zero mark
2: Reset with signal interconnection
3: Reset with selected zero mark
[1] = Encoder 2
[2] = Reserved
Dependency: See also: r4653, r4654, c4655

Parameter
Note
The absolute value is only valid after passing the zero mark.
For value = 1:
The value in XIST1_ERW is reset when passing every zero mark.
For value = 2:
The value in XIST1_ERW is reset with a 0/1 edge via the binary signal sink c4655.
For value = 3:
The value in XIST1_ERW is reset after a 0/1 edge via binary signal sink c4655 when passing the next zero mark.
r4653[0...2] XIST1_ERW actual value / XIST1_ERW ActV

Description: Display and numerical signal source for actual value XIST1_ERW.
[1] = Encoder 2
[2] = Reserved
Dependency: See also: p4652, r4654, c4655
r4654.0...8 XIST1_ERW status / XIST1_ERW stat

Description: Display and signal source to reset XIST1_ERW.
00 Motor encoder XIST1_ERW reset High Low
08 Encoder 2 XIST1_ERW reset High Low
Dependency: See also: p4652, r4653, c4655
Note
The reset of XIST1_ERW is initiated via binary signal sink c4655.
For a 0 signal of signal sink c4655, binary signal source r4654 is again reset.

Parameter
c4655[0...2] Reset XIST1_ERW / XIST1_ERW res

Description: Signal to reset XIST1_ERW (r4653).
[1] = Encoder 2
[2] = Reserved
Note
The reset of XIST1_ERW depends on the selected mode (p4652).
p4660[0...n] Sensor Module filter bandwidth / SM Filt_bandw

state:
0.00 [kHz] 20000.00 [kHz] 0.00 [kHz]
Description: Sets the filter bandwidth for Sensor Module SMx10 (resolver) and SMx20 (sin/cos).
The value set on the Sensor Module is displayed in r4661.
Currently, the Sensor Module hardware only supports the following values:
- 0: The Sensor Module default setting is used.
- 50 kHz
- 170 kHz
- 500 kHz
- Unlimited: Only the bandwidth of the operational amplifier is effective.
Note

Parameter
r4661[0...2] Sensor Module filter bandwidth display / SM Filt_bandw disp

Description: Displays the effective filter bandwidth for Sensor Module SMx10 (resolver) and SMx20 (sin/cos).
The bandwidth of the filter is set using p4660.
[1] = Encoder 2
[2] = Reserved
Note
p4680[0...n] Zero mark monitoring tolerance permissible / ZM_mon tol perm

state:
0 1000 4
Description: Sets the permissible tolerance in encoder pulses for the zero mark distance in the context of zero mark monitoring.
Causes fault F3x100 to appear less frequently.
p4681[0...n] Zero mark monitoring tolerance window limit 1 positive / ZM tol lim 1 pos
state:
0 1000 2
Description: Sets the positive tolerance window in encoder pulses for limit 1 for the zero mark monitoring.
The pulse number is corrected if the deviation is less than this limit. If it is higher than this limit, fault F3x131 is triggered.
If fault F3x131 is re-parameterized to an alarm (A) or no message (N), then the encoder pulses that are not corrected
are transferred to the accumulator (p4688). The accumulator can be deactivated using p0437.7.

Parameter

See also: F31131
Note
This monitoring is activated by setting p0437.2 = 1 (position actual value correction).
The positive limit describes additional pulses due to EMC.
p4682[0...n] Zero mark monitoring tolerance window limit 1 negative / ZM tol lim 1 neg
state:
-1001 0 -1001
Description: Sets the negative tolerance window in encoder pulses for limit 1 for the zero mark monitoring.
The pulse number is corrected if the deviation is less than this limit. If it is higher than this limit, fault F3x131 is triggered.
If fault F3x131 is re-parameterized to an alarm (A) or no message (N), then the encoder pulses that are not corrected
are transferred to the accumulator (p4688). The accumulator can be deactivated using p0437.7.
See also: F31131
Note
This monitoring is activated by setting p0437.2 = 1 (position actual value correction).
For a set value = -1001, the negated value of p4681 becomes active.
The negative limit describes the pulses lost due to a covered glass panel in the incremental encoder.
p4683[0...n] Zero mark monitoring tolerance window alarm threshold positive / ZM tol A_thr pos
state:
0 100000 0
Description: Sets the positive tolerance window in encoder pulses for limit 2 for the zero mark monitoring.
Accumulator (p4688) is compared with this parameter, and where relevant, alarm A3x422 is output for 5 seconds.
See also: F31131, A31422
Note
Zero mark monitoring is activated by setting p0437.2 = 1 (position actual value correction).

Parameter
p4684[0...n] Zero mark monitoring tolerance window alarm threshold negative / ZM tol A_thr neg
state:
-100001 0 -100001
Description: Sets the negative tolerance window in encoder pulses for limit 2 for the zero mark monitoring.
Accumulator (p4688) is compared with this parameter, and where relevant, alarm A3x422 is output for 5 seconds.
See also: F31131, A31422
Note
Zero mark monitoring is activated by setting p0437.2 = 1 (position actual value correction).
For a set value = -100001, the negated value of p4683 is effective.
p4685[0...n] Speed actual value average value generation / n_act mean val
state:
0 20 0
Description: Sets the number of current controller sampling times for average value generation of the speed actual value for a
square-wave encoder.
Note
Value = 0, 1: No average value generation.
Higher values also mean higher dead times for the speed actual value.
p4686[0...n] Zero mark minimum length / ZM min length

state:

Parameter

0 10 1
Description: Sets the minimum length for the zero mark in 1/4 encoder pulses.
Note
The minimum length of the zero mark must be less than the zero mark distance (p4686 < p0425).
The parameter is activated using p0437.1 = 1 (zero mark edge detection).
p4688[0...2] Zero mark monitoring differential pulse count / ZM diff_puls qty

state:
-2147483648 2147483647 0
Description: Display and numerical signal source for the identified incorrect pulses in pulses.
Also see p0437.7 (do not accumulate number of incorrect pulses).
[1] = Encoder 2
[2] = Reserved
Note
The display can only be reset to zero.
r4689[0...2] Square-wave encoder diagnostics / Sq wave enc diag

Description: Displays the encoder status according to PROFIdrive for a square-wave encoder.
[1] = Encoder 2
[2] = Reserved
Note
After alarm A3x422 is output, this parameter is set for 100 ms.

Parameter
r4705[0...1] Trace status / Trace status

Parameter group: Trace
Description: Displays the actual status of the trace.
Value: 0: Trace inactive
1: Trace is recording presamples
2: Trace is waiting for trigger event
3: Trace is recording
4: Recording (trace) ended
5: Trace inactive with permissible configuration data
6: Trace inactive with inadmissible configuration data
Index: [0] = Trace 0
[1] = Trace 1
r4818 Function generator output signal / FG outp_sig

Parameter group: Trace
Description: Displays the output signal for the function generator.
Note
The value is displayed independently of the function generator mode.
p5271[0...n].2...6 Online / One Button Tuning configuration / Ot OBT config

state:
Parameter group:
- - 0000 0000 bin
Description: Sets the configuration for online tuning / One Button Tuning.
02 Load adaptation Kp Yes No
06 Do not change Kp Yes No

Parameter
Note
For bit 02:
The estimated load moment of inertia is taken into account for the speed controller gain.
For bit 06:
The speed controller gain set in p1460 is not changed when calculating the controller data.
p5310[0...n].0...1 Moment of inertia precontrol configuration / J_est config

state:
Parameter group:
- - 0000 bin
Description: Configuration of the moment of inertia precontrol when the moment of inertia estimator is active (p1400.18 = 1 signal).
00 Activating calculations Yes No
01 Activating the moment of inertia precontrol Yes No
See also: r5311, p5312, p5313, p5314, p5315
Note
Possible bit combinations:
Bit 1, 0
= 0, 0 --> function not active
= 0, 1 --> cyclic calculation of the coefficients without moment of inertia precontrol (commissioning)
= 1, 0 --> moment of inertia precontrol activated (without cyclic calculation of the coefficients)
= 1, 1 --> moment of inertia precontrol activated (with cyclic calculation of the coefficients)
For bit 00:
Calculation for the constant and linear coefficients of the moment of inertia precontrol is activated. The results are
written to parameters (p5312, p5313, p5314, p5315).
For bit 01:
The moment of inertia precontrol is activated.
The moment of inertia is calculated from the currently measured load torque and the saved coefficients (p5312, p5313,
p5314, p5315).
r5311[0...n].0...5 Moment of inertia precontrol status word / J_prectrl ZSW

Parameter group:
Description: Displays the status word for the moment of inertia precontrol.
00 New measuring points are available Yes No
01 New parameters being calculated Yes No

Parameter
02 Moment of inertia precontrol active Yes No

03 Calculation of positive coefficients completed Yes No
04 Calculation of negative coefficients completed Yes No
05 Results are being written to parameter Yes No
Dependency: The "Moment of inertia estimator" function must be activated for the "Moment of inertia precontrol" function.
See also: p5310, p5312, p5313, p5314, p5315
p5312[0...n] Moment of inertia precontrol linear positive / J_est lin pos

state:
Parameter group:
Unit: s² Unit group: - Unit selection: -
-340.28235E36 [s²] 340.28235E36 [s²] 0.000000 [s²]
Description: Sets the linear coefficients for moment of inertia precontrol in the positive direction when the moment of inertia
estimator is active.
The estimated moment of inertia is obtained according to the following formula:
Moment of inertia (J) = linear coefficient (p5312) * load torque + constant coefficient (p5313)
See also: p5310, r5311, p5313, p5314, p5315
p5313[0...n] Moment of inertia precontrol constant positive / J_est cons pos

state:
Parameter group:
-340.28235E36 [kgm²] 340.28235E36 [kgm²] 0.000000 [kgm²]
Description: Sets of the constant coefficients for moment of inertia precontrol in the positive direction when the moment of inertia
See also: p5310, r5311, p5312, p5314, p5315

Parameter
p5314[0...n] Moment of inertia precontrol linear negative / J_est lin neg

state:
Parameter group:
Unit: s² Unit group: - Unit selection: -
-340.28235E36 [s²] 340.28235E36 [s²] 0.000000 [s²]
Description: Sets the linear coefficients for moment of inertia precontrol in the negative direction when the moment of inertia
See also: p5310, r5311, p5312, p5313, p5315
p5315[0...n] Moment of inertia precontrol constant negative / J_est cons neg

state:
Parameter group:
-340.28235E36 [kgm²] 340.28235E36 [kgm²] 0.000000 [kgm²]
Description: Sets the constant coefficients for moment of inertia precontrol in the negative direction when the moment of inertia
See also: p5310, r5311, p5312, p5313, p5314
p5316[0...n] Moment of inertia precontrol change time moment of inertia / J_prectrl t_chg J
state:
Parameter group:

Parameter

10.00 [ms] 5000.00 [ms] 500.00 [ms]
Description: Sets the change time for the moment of inertia for the moment of inertia precontrol.
See also: p1400, p1560, p1562
p5350[0...n] Mot_temp_mod 1/3 boost factor at standstill / Standst boost_fact

state:
1.0000 2.0000 2.0000
Description: Sets the boost factor for the copper losses at standstill for motor temperature models 1 and 3.
The entered factor is active for speed n = 0 [rpm].
This factor is linearly reduced down to 1 between speeds n = 0 ... 1 [rpm].
The following values are required to calculate the boost factor:
- stall current (I_0, p0318, catalog value)
- thermal stall current (I_th0, catalog value)
The boost factor is calculated as follows:
- p5350 = (I_0 / I_th0)^2
See also: F07011, A07012, F07013, A07014
NOTICE
p5351[0...n] Mot_temp_mod 3 stator power loss offset / Stat P_loss_offs

state:
Unit: W Unit group: 14_2 Unit selection: p0100
0 [W] 100000 [W] 10000 [W]
Description: Sets the constant power loss offset of the stator for motor temperature model 3.
Example:
Power loss of the brake.

Parameter
Dependency: See also: p0612, p1215, p5352, p5353, p5354, p5355, p5390, p5391, r5395
See also: F07011, A07012, F07013, A07014
NOTICE
p5352[0...n] Mot_temp_mod 3 stator power loss linear n-dependent / Stat P_loss lin n
state:
Unit: W min/1000 Unit group: 14_14 Unit selection: p0100
-100000.0000 [W min/1000] 100000.0000 [W min/1000] 10000.0000 [W min/1000]
Description: Sets the linear speed-dependent power loss coefficients of the stator for motor temperature model 3.
Dependency: See also: p0612, p5351, p5353, p5354, p5355, p5390, p5391, r5395
See also: F07011, A07012, F07013, A07014
NOTICE
p5353[0...n] Mot_temp_mod 3 stator power loss square law n-dependent / Stat P_loss sq n
state:
Unit: W min²/1000² Unit group: 14_16 Unit selection: p0100
-100000.0000 [W min²/1000²] 100000.0000 [W min²/1000²] 10000.0000 [W min²/1000²]
Description: Sets the square law speed-dependent power loss coefficients of the stator for motor temperature model 3.
See also: F07011, A07012, F07013, A07014
NOTICE

Parameter
p5354[0...n] Mot_temp_mod 3 stator power loss stator linear n-dependent / Stat P_loss lin l
state:
Unit: W/A Unit group: 14_13 Unit selection: p0100
-100000.0000 [W/A] 100000.0000 [W/A] 10000.0000 [W/A]
Description: Sets the linear current-dependent power loss coefficients of the stator for motor temperature model 3.
See also: F07011, A07012, F07013, A07014
NOTICE
p5355[0...n] Mot_temp_mod 3 stator power loss stator square law I-dependent / Stat P_loss sq l
state:
Unit: W/A² Unit group: 14_15 Unit selection: p0100
-100000.0000 [W/A²] 100000.0000 [W/A²] 10000.0000 [W/A²]
Description: Sets the square law current-dependent power loss coefficients of the stator for motor temperature model 3.
See also: F07011, A07012, F07013, A07014
NOTICE
p5370[0...n] Mot_temp_mod 3 stator thermal capacity / Stat therm cap

state:
Unit: kW sec/K Unit group: 47_1 Unit selection: p0100

Parameter

0.000 [kW sec/K] 10000.000 [kW sec/K] 0.001 [kW sec/K]
Description: Sets the thermal capacity of the stator for motor temperature model 3.
See also: F07011, A07012, F07013, A07014
NOTICE
p5371[0...n] Mot_temp_mod 3 stator winding thermal capacity / Stat_windTherm cap

state:
Description: Sets the thermal capacity of the stator winding for motor temperature model 3.
See also: F07011, A07012, F07013, A07014
NOTICE
p5372[0...n] Mot_temp_mod 3 rotor thermal capacity / Rot therm capacity

state:
Description: Sets the thermal capacity of the rotor for motor temperature model 3.
See also: F07011, A07012, F07013, A07014
NOTICE

Parameter
p5375[0...n].0...1 Additional motor overload protection configuration / AddMotOvProtConf

state:
- - 0000 bin
Description: Sets the configuration for additional motor overload protection.
00 Activation of monitoring Yes No
01 Activation of speed dependency Yes No
Note
To comply with standard UL 61800-5-1 Ed. 2, bit 0 and bit 1 must be set.
These bits activate electronic motor overload protection according to IEC 61800-5-1 Ed. 3 / UL 61800-5-1 Ed. 2, with the
emulation of an electronic overload relay, Class 20 and the speed sensitivity.
For bit 00:
This bit activates electronic motor overload protection with emulation of an electronic overload relay, Class 20.
For bit 01:
This bit activates the speed dependency of the electronic motor overload protection. Not active, if bit 00 is also set.
p5380[0...n] Mot_temp_mod 3 stator/ambient thermal conductivity (standstill) / Stat/amb ThermCond

state:
Unit: W/K Unit group: 48_1 Unit selection: p0100
0.00000 [W/K] 10000.00000 [W/K] 0.00100 [W/K]
Description: Sets the coefficient of thermal conductivity between the stator and the surroundings at standstill for motor temperature
model 3.
See also: F07011, A07012, F07013, A07014
NOTICE

Parameter
p5381[0...n] Mot_temp_mod 3 stator/stator winding therm. conduct. coefficient / StatWind thm cond
state:
0.001 [W/K] 10000.000 [W/K] 1000.000 [W/K]
Description: Sets the coefficient of thermal conductivity between the stator and the stator winding for motor temperature model 3.
See also: F07011, A07012, F07013, A07014
NOTICE
p5382[0...n] Mot_temp_mod 3 stator/rotor coefficient of thermal conductivity / StatRot therm cond

state:
0.001 [W/K] 10000.000 [W/K] 1000.000 [W/K]
Description: Sets the coefficient of thermal conductivity between the stator and the rotor for motor temperature model 3.
Dependency: See also: p0612, p5380, p5381, p5383, p5384, p5390, p5391
See also: F07011, A07012, F07013, A07014
NOTICE
p5383[0...n] Mot_temp_mod 3 stator/surrounding therm. cond. coeff. lin. n-dep / StatSurr lin n
state:
Unit: W min/(1000 K) Unit group: 48_2 Unit selection: p0100

Parameter

-10000.0000 [W min/(1000 K)] 10000.0000 [W min/(1000 K)] 0.0000 [W min/(1000 K)]
Description: Sets the linear, speed-dependent coefficient of thermal conductivity between the stator and the surroundings for motor
temperature model 3.
See also: F07011, A07012, F07013, A07014
NOTICE
p5384[0...n] Mot_temp_mod 3 stator/surrounding therm cond. coeff sq-law n-dep / StatSurr sq n

state:
Unit: W min²/(1000² K) Unit group: 48_3 Unit selection: p0100
-10000.0000 [W min²/(1000² K)] 10000.0000 [W min²/(1000² K)] 0.0000 [W min²/(1000² K)]
Description: Sets the square law, speed-dependent thermal conductivity coefficients between the stator and the surroundings for
motor temperature model 3.
See also: F07011, A07012, F07013, A07014
NOTICE
p5385[0...n] Mot temp mod 1 current limit characteristic gradient / Curr lim gradient
state:
Unit: Arms min Unit group: - Unit selection: -
-10.000000 [Arms min] 10.000000 [Arms min] 0.000000 [Arms min]
Description: Current limit gradient (speed) characteristic for thermal motor model 1.
Note
The gradient is automatically calculated during commissioning: (p0305-p0318)/p0311

Parameter
r5386[0...5] Mot_temp remaining time until fault / t_remain to fault

Description: Display and numerical signal source for the remaining time until a fault is output due to motor overtemperature.
With the motor load remaining the same, the values specify the time remaining until a fault is output.
For index [0]:
The value indicates the active remaining time until a fault is output.
This value is the minimum from indices [1] to [4]; whereby, value -1 is not taken into account.
For index [1]:
The value indicates the calculated time that remains until a fault is output when using the model.
For index [2]:
The value indicates the time that remains until a fault is output after an alarm has occurred when using the model
(p0605, r5387).
For index [3]:
The value indicates the calculated time that remains until a fault is output when measuring.
For index [4]:
The value indicates the time that remains until a fault is output after an alarm has occurred when measuring (p0606).
For index [5]:
The value indicates the calculated remaining time up to initiating the additional motor overload protection (p5375).
Index: [0] = Active time
[1] = Calculated remaining time using the model
[2] = Calculated remaining time after alarm using the model
[3] = Calculated remaining time using measurement
[4] = Calculated remaining time after alarm using measurement
[5] = Calculated remaining time for addit. motor overload protection
Note
Value = 120 s means that there is no thermal restriction.
Value = -1 s means that a prediction is not possible.
r5387[0...n] Mot_temp_mod 3 timer / Mod 3 timer

Description: Displays the timer for monitoring the motor temperature for motor temperature model 3.
This timer is started when the temperature alarm threshold (p5390) is exceeded. If the timer has expired and the alarm
threshold has, in the meantime, not been fallen below, then fault F07011 is output. If the temperature fault threshold
(p5391) is prematurely exceeded before the timer has expired, then fault F07011 is immediately output.

Parameter
c5388 Motor temperature inhibit current reduction / I_red inhibit

Description: Signal to inhibit current reduction for thermal overload (p0610 = 1).
c5388 = 1 signal:
Current reduction is inhibited.
c5388 = 0 signal:
Current reduction is enabled.
Dependency: This parameter is only active for p0610 = 1 (messages, reducing I_max).
See also: p0604, p0605, p0610, p5390
r5389.0...8 Mot_temp status word faults/alarms / Mot_temp ZSW F/A

Parameter group: Status parameters, Motor temperature, Faults / alarms
Description: Display and signal source for faults and alarms of the motor temperature monitoring.
00 Motor temperature measurement fault present Yes No
01 Motor temperature model fault present Yes No
02 Encoder temperature measurement fault present Yes No
03 Motor overload protection fault active Yes No
04 Motor temperature measurement alarm active Yes No
05 Motor temperature model alarm active Yes No
07 Motor overload protection alarm active Yes No
08 Current reduction active Yes No
See also: F07011, A07012, A07910

Parameter
Note
For bit 00, 04:
The motor temperature is measured using a temperature sensor (p0600, p0601). When the bit is set, a high temperature
is identified, and a corresponding signal is additionally output.
For bit 01, 05:
The motor temperature is monitored based on a temperature model (p0612). When the bit is set, a high temperature is
identified, and a corresponding signal is additionally output.
For bit 02:
The encoder temperature is measured using a temperature sensor. When the bit is set, a high temperature is identified,
and a corresponding signal is additionally output.
For bit 03, 07:
The motor load is monitored using the additional motor overload protection (p5375). When the bit is set, an excessive
load has been identified and a corresponding signal is also output.
For bit 08:
When reaching the motor temperature alarm threshold, reduction of the maximum current is set as response (p0610 =
1). When the bit is set, reduction of the maximum current is active.
p5390[0...n] Mot_temp_mod 1/3 alarm threshold / A thr

state:
0.0 [°C] 200.0 [°C] 110.0 [°C]
Description: Sets the alarm threshold for monitoring the motor temperature for motor temperature models 1 and 3.
The stator winding temperature (r0632) is used to initiate the signal.
The following applies for temperature model 1 (I2t):
- Alarm A07012 is output after the alarm threshold is exceeded.
- When commissioning a catalog motor for the first time, the threshold value is copied from p0605 to p5390.
The following applies for temperature model 3:
- After the alarm threshold is exceeded, alarm A07012 is output and a calculated delay time is started.
- If the delay time has expired and the alarm threshold has, in the meantime, not been fallen below, then fault F07011
is output.
Dependency: See also: r0034, p0605, p0612, r0632, p5391
See also: F07011, A07012, F07013, A07014
NOTICE
Note

Parameter
p5391[0...n] Mot_temp_mod 1/3 fault threshold / F thr

state:
0.0 [°C] 200.0 [°C] 120.0 [°C]
Description: Sets the fault threshold for monitoring the motor temperature for motor temperature model 1 (I2t) and 3.
Fault F07011 is output after the fault threshold is exceeded.
The stator winding temperature (r0632) is used to initiate the signal.
Dependency: See also: r0034, p0612, r0632, p5390
See also: F07011, F07013, A07014
NOTICE
Note
r5392[0...2] Mot_temp_mod 2 thermal resistance adaptation / Temp_mod 2 R adpt

Unit: K/W Unit group: 50_1 Unit selection: p0100
Description: Displays the adaptation of the thermal resistances for motor temperature model 2.
Index: [0] = Thermal resistance stator/environment
[1] = Thermal resistance winding/stator
[2] = Thermal resistance rotor/stator
Note
The values are only valid when the motor temperature model 2 is activated (p0612.1 = 1).
r5393[0...2] Mot_temp_mod 3 thermal conductivity adaptation / Temp_mod 3 L adpt

Description: Displays the adaptation of the thermal conductivity for motor temperature model 3.

Parameter
Index: [0] = Thermal conductivity stator/environment

[1] = Thermal conductivity winding/stator
[2] = Thermal conductivity rotor/stator
Dependency: See also: p5350, p5351, p5352, p5353, p5354, p5355, p5370, p5371, p5372, p5380, p5381, p5382, p5383, p5384
Note
The values are only valid when the motor temperature model 3 is activated (p0612.2 = 1).
r5395[0...7] Mot_temp_mod 2/3 power losses calculated / Temp_mod 2/3 Pcalc

Description: Displays the calculated power losses for motor temperature models 2 and 3.
Index: [0] = Stator
[1] = Stator winding
[2] = Rotor
[3] = Supplement
[4] = Modulation
[5] = Hysteresis
[6] = Eddy current
[7] = Total
Dependency: See also: p5350, p5351, p5352, p5353, p5354, p5355, p5390, p5391
Note
For index [2...7]:
The values are only valid for motor temperature model 2 (p0612.1 = 1).
r5600 PROFIenergy energy-saving mode ID / Pe mode ID

Parameter group:
Description: Displays the PROFIenergy mode ID of the effective energy-saving mode.
Value: 0: POWER OFF
2: Energy-saving mode
240: Operation
255: Ready

Parameter
p5611.0...2 PROFIenergy energy-saving properties general / Pe properties gen

state:
Parameter group:
- - 0000 bin
Description: Sets the general properties for energy-saving.
00 Inhibit PROFIenergy control commands Yes No
01 Drive initiates OFF1 when transitioning to energy-saving mode Yes No
02 Trans to energy-saving mode from PROFIdrive state S3/4 poss Yes No
Note
PROFIenergy is a profile for energy management in production systems.
PROFIdrive state S3: ready
PROFIdrive state S4: operation
r5613.0...1 PROFIenergy energy saving active/inactive / Pe save act/inact

Parameter group:
Description: State displays as to whether PROFIenergy energy saving is active or inactive.
00 PROFIenergy active Yes No
01 PROFIenergy inactive Yes No
Note
Bit 0 and bit 1 are inverse of one another.
p6450 Center potential controller mode / MP mod

state:
Parameter group: Mean potential control

Parameter

0 3 2
Description: Sets the mode of the center potential controller.
For value = 2:
The center potential control with FLBM/FTBM is activated.
For value = 3:
The center potential control with current impression is activated. The P current setpoint is increased proportional to the
voltage asymmetry using factor p6475.
Value: 0: No symmetrization
1: Symmetrization with zero system
2: Symmetrization with FLBM/FTBM
3: Symmetrization by impressing current
Note
FLBM: Fixed lowside bias modulation
FTBM: Fixed topside bias modulation
p6451.0...1 Center potential controller configuration / CPC config

state:
- - 0001 bin
Description: Sets the configuration of the center potential controller.
For bit 00:
- When the bit is not set, then voltage asymmetry is filtered using a PT1 filter.
- When the bit is set, voltage asymmetry is filtered using a notch filter.
For bit 01:
- When the bit is not set, losses of different magnitudes can occur in the phases.
- When the bit is set, losses are uniformly distributed between the phases.
00 DC link voltage asymmetry Notch filter PT1 filter
01 Uniformly distribute losses between the phases Yes No
r6452.0...6 Center potential controller status / CPC int status

Description: Display and signal source of the states of the center potential controller.

Parameter
00 Sign filtered active power Neg/generating Pos/motoring

01 Controller stopped due to minimum active power Yes No
02 Symmetrizing controller at limit Yes No
03 FLBM/FTBM lower voltage limit reached Yes No
04 FLBM/FTBM hysteresis active Yes No
05 FLBM/FTBM upper voltage limit reached Yes No
06 Current injection (impression) active Yes No
p6460 Center potential controller voltage asymmetry limit / CPC_U_asym_lim

state:
0.0 [V] 10000.0 [V] 5.0 [V]
Description: Sets the voltage limit of the symmetrization.
p6461[0...3] Center potential controller smoothing times / MP t filt

state:
0.00 [ms] 10000.00 [ms] [0] 0.00 [ms]
[1] 0.00 [ms]
[2] 50.00 [ms]
[3] 16.66 [ms]
Description: Sets the smoothing times for the center potential control. The filter is deactivated if the smoothing time is 0.
Index: [0] = Smoothing time partial DC link voltage negative
[1] = Smoothing time partial DC link voltage positive
[2] = Smoothing time active power
[3] = Smoothing time voltage asymmetry.

Parameter
r6464[0...1] Center potential controller partial DC link voltage actual value / PartVdc actual val
Index: [0] = VdcN partial DC link voltage negative
[1] = VdcP partial DC link voltage positive
r6465[0...1] Center potential controller partial voltages VdcN, VdcP smoothed / CPC VdcN/P smooth
Description: Display and numerical signal source of the smoothed partial DC link voltages (VdcN,VdcP).
The value is smoothed using p6461[0] or p6461[1].
Index: [0] = VdcN partial DC link voltage negative
[1] = VdcP partial DC link voltage positive
r6466[0...3] Center potential controller system deviation / CPC sys_dev

Description: Display and numerical signal source of the system deviation of the center potential controller.
The value indicates the asymmetry of the partial DC link voltages VdcP and VdcN.
Index: [0] = Voltage asymmetry
[1] = Voltage asymmetry filtered
[2] = Voltage asymmetry limited
[3] = Voltage asymmetry adapted

Parameter
Note
For index [0]:
Original signal
For index [1]:
Depending on the configuration of the center potential controller (p6451.0), the signal is filtered using a PT1 filter or a
notch filter.
For index [2]:
For low voltages, the signal filtered from 6466[1] is set to 0; for higher voltages, the output voltage is reduced.
For index [3]:
Signal from 6466[2] is adapted for low voltages.
r6467 Center potential controller active power smoothed / CPC P_act smooth
Unit: W Unit group: - Unit selection: -
Description: Display and numerical signal source of the smoothed active power of the center potential controller.
The signal is smoothed using p6461[2].
p6470 Center potential controller FLBM/FTBM hysteresis / CPC FLBM/FTBM hyst

state:
0.00 [V] 1000.00 [V] 5.00 [V]
Description: Sets the hysteresis when switching over between FLBM/FTBM modulation.
The modulation type is switched over if the DC link voltage asymmetry exceeds the set value.
Note
FLBM: Flat lowside bias modulation
FTBM: Flat topside bias modulation
p6471[0...1] Center potential controller angle limit / CPC_angle_lim_I_0

state:

Parameter

0.0 [°] 30.0 [°] 5.0 [°]
Description: Sets the limit for angle-dependent modulation.
For index 0:
FMM is activated if the +/-30° converted line angle is greater than (30° - p6471[0]).
For index 1:
FMM is activated if the +-30° converted line angle is less than this value.
Index: [0] = Angle limit sector center
[1] = Angle limit sector limit
Note
FMM: Flat Middle Modulation
p6472 Center potential ctrl modulation depth limit for symmetrization / MinFLBFTBsym
state:
0.00 [%] 110.00 [%] 70.00 [%]
Description: Sets the modulation depth threshold. Depending on the threshold, the symmetrization type is briefly switched over.
If FLBM/FTBM symmetrization (p6450 = 2) is active, and the modulation depth is less than this threshold, then the
center potential symmetrization is switched over to current injection (impression) for at least 100 msec.
Note
FLBM: Fixed lowside bias modulation
FTBM: Fixed topside bias modulation
p6475 Center potential controller Kp current setpoint / CP Kp Iset

state:
Unit: A/V Unit group: - Unit selection: -
-1000.00000 [A/V] 1000.00000 [A/V] 1.00000 [A/V]
Description: Sets the proportional gain (Kp) of the center potential controller with current setpoint. The value is applicable for the
current impression controller (p6450=3).

Parameter
r6476 Center potential controller current setpoint factor / CPC Iset factor
Description: Display and numerical signal source for the current setpoint factor. The factor is applicable for the current impression
controller (p6450=3).
r7671[0...3] IIoT IP address actual / IIoT IP addr act

Parameter group:
Description: Displays the actual IP address for the IIoT interface (X128) on the Control Unit.
r7737[0...n] Power unit auxiliary fan 1 wear counter / PU fan1 wear_count

Description: Displays the wear counter of auxiliary fan 1 in the power unit.
p7830 Telegram diagnostics selection / Tel diag sel

state:
0 3 0
Description: Selects a telegram whose contents should be shown in r7831 ... r7836.
Value: 0: Reserved
1: First cyclic receive telegram sensor 1

Parameter

Dependency: See also: r7831, r7832, r7833, r7834, r7835, r7836
r7831[0...23] Telegram diagnostics signals / Tel diag sig

Description: Displays the signals contained in the selected telegram (p7830).
Value: 0: UNUSED
1: UNKNOWN
102: SAPAR_ID_DSA_ALARM
110: SAPAR_ALARMBITS_FLOAT_0
10500: ENC_ID_TIME_PRETRIGGER
10501: ENC_ID_TIME_SEND_TELEG_1
10502: ENC_ID_TIME_CYCLE_FINISHED
10503: ENC_ID_TIME_DELTA_FUNMAN
10504: ENC_ID_SUBTRACE_CALCTIMES
10505: ENC_ID_SYNO_PERIOD
10515: ENC_ID_AB_SQUARE_SUM
10516: ENC_ID_ADC_TRACK_A
10517: ENC_ID_ADC_TRACK_B
10518: ENC_ID_ADC_TRACK_C
10519: ENC_ID_ADC_TRACK_D
10520: ENC_ID_ADC_TRACK_A_SAFETY
10521: ENC_ID_ADC_TRACK_B_SAFETY
10523: ENC_ID_ADC_TEMP_1
10524: ENC_ID_SUBTRACE_TRACK_A
10525: ENC_ID_SUBTRACE_TRACK_B
10526: ENC_ID_ADC_TRACK_R
10532: ENC_ID_TRACK_AB_X
10533: ENC_ID_TRACK_AB_Y
10534: ENC_ID_OFFSET_CORR_AB_X
10535: ENC_ID_OFFSET_CORR_AB_Y
10536: ENC_ID_AB_ABS_VALUE
10537: ENC_ID_TRACK_CD_X
10538: ENC_ID_TRACK_CD_Y
10539: ENC_ID_TRACK_CD_ABS
10542: ENC_ID_AB_RAND_X
10543: ENC_ID_AB_RAND_Y
10544: ENC_ID_AB_RAND_ABS_VALUE

Parameter
10545: ENC_ID_SUBTRACE_ABS_ARRAY
10546: ENC_ID_PROC_OFFSET_0
10547: ENC_ID_PROC_OFFSET_4
10550: ENC_ID_SUBTRACE_AMPL
10563: ENC_ID_ENCODER_TEMP
10564: ENC_SELFTEMP_ACT
10565: ENC_ID_MOTOR_TEMP_TOP
10566: ENC_ID_MOTOR_TEMP_1
10567: ENC_ID_MOTOR_TEMP_1_COD
10580: ENC_ID_RESISTANCE_1
10590: ENC_ID_ANA_CHAN_A
10591: ENC_ID_ANA_CHAN_B
10592: ENC_ID_ANA_CHAN_X
10593: ENC_ID_ANA_CHAN_Y
10596: ENC_ID_AB_ANGLE
10597: ENC_ID_CD_ANGLE
10598: ENC_ID_MECH_ANGLE_HI
10599: ENC_ID_RM_POS_PHI_COMMU
10600: ENC_ID_PHI_COMMU
10601: ENC_ID_SUBTRACE_ANGLE
10612: ENC_ID_DIFF_CD_INC
10613: ENC_ID_RM_POS_PHI_COMMU_RFG
10628: ENC_ID_MECH_ANGLE
10629: ENC_ID_MECH_RM_POS
10644: ENC_ID_INIT_VECTOR
10645: FEAT_INIT_VECTOR
10660: ENC_ID_SENSOR_STATE
10661: ENC_ID_BASIC_SYSTEM
10662: ENC_ID_REFMARK_STATUS
10663: ENC_ID_DSA_STATUS1_SENSOR
10664: ENC_ID_DSA_RMSTAT_HANDSHAKE
10665: ENC_ID_DSA_CONTROL1_SENSOR
10667: ENC_ID_SAFETY
10669: ENC_ID_SUB_STATE
10676: ENC_ID_COUNTCORR_SAW_VALUE
10677: ENC_ID_COUNTCORR_ABS_VALUE
10678: ENC_ID_SAWTOOTH_CORR
10680: ENC_ID_SM_XIST1_CORRECTED_QUADRANTS
10692: ENC_ID_RESISTANCE_CALIB_INSTANT
10693: ENC_ID_SERPROT_POS
10700: ENC_ID_AB_VIOL_COUNT
10701: ENC_ID_SUBTRACE_TRACK_A_TRIG
10702: ENC_ID_SUBTRACE_TRACK_B_TRIG
10723: ENC_ID_ACT_STATEMACHINE_FUNCTION
10724: ENC_ID_ACT_FUNMAN_FUNCTION
10725: ENC_ID_SAFETY_COUNTER_CRC
10728: ENC_ID_SUBTRACE_AREA

Parameter
10740: ENC_ID_POS_ABSOLUTE
10741: ENC_ID_POS_REFMARK
10742: ENC_ID_SAWTOOTH
10743: ENC_ID_SAFETY_PULSE_COUNTER
10745: ENC_ID_EIU_ZEROCTRL
10756: ENC_ID_DSA_ACTUAL_SPEED
10757: ENC_ID_SPEED_DEV_ABS
10772: ENC_ID_DSA_POS_XIST1
10788: ENC_ID_AB_CROSS_CORR
10789: ENC_ID_AB_GAIN_Y_CORR
10790: ENC_ID_AB_PEAK_CORR
11825: ENC_ID_RES_TRANSITION_RATIO
11826: ENC_ID_RES_PHASE_SHIFT
12088: ENC_ID_SM_DIFF_PULSE_ACCU
15150: ENC_ID_SPINDLE_S1_RAW
15155: ENC_ID_SPINDLE_S1_CAL
r7832[0...23] Telegram diagnostics numerical format / Tel diag format

Description: Displays the original numerical format of the signals contained in the telegram.
The associated signal number is represented in the appropriate index of r7831.
Value: -1: Unknown
0: Boolean
1: Signed 1 byte
2: Signed 2 byte
3: Signed 4 byte
4: Signed 8 byte
5: Unsigned 1 byte
6: Unsigned 2 byte
7: Unsigned 4 byte
8: Unsigned 8 byte
9: Float 4 byte
10: Double 8 byte
11: mm dd yy HH MM SS MS DOW
12: ASCII string
13: SINUMERIK frame type
14: SINUMERIK axis type

Parameter
r7833[0...23] Telegram diagnostics unsigned / Tel diag unsign

Description: Parameter to display a DSA signal in the unsigned-integer format.
The associated signal number is represented at the appropriate index in r7831.
r7834[0...23] Telegram diagnostics signed / Tel diag sign

Description: Parameter to display a DSA signal in the signed-integer format.
r7835[0...23] Telegram diagnostics real / Tel diag real

Description: Parameter to display a DSA signal in the float format.
r7836[0...23] Telegram diagnostics unit / Tel diag unit

Description: Displays the units of a DSA signal.
Value: -1: Unknown
0: None
1: Millimeter or degrees
2: Millimeter
3: degrees

Parameter
4: mm/min or RPM
5: Millimeter / min
6: Revolutions / min
7: m/sec^2 or U/sec^2
8: m/sec^2
9: U/sec^2
10: m/sec^3 or U/sec^3
11: m/sec^3
12: U/sec^3
13: sec
14: 16.667 / sec
15: mm/revolution
16: ACX_UNIT_COMPENSATION_CORR
18: Newton
19: Kilogram
20: Kilogram meter^2
21: Percent
22: Hertz
23: Volt peak-to-peak
24: Amps peak-to-peak
25: Degrees Celsius
26: degrees
28: Millimeter or degrees
29: Meters / minute
30: Meters / second
31: ohm
32: Millihenry
33: Newton meter
34: Newton meter/Ampere
35: Volt/Ampere
36: Newton meter second / rad
38: 31.25 microseconds
39: Microseconds
40: Milliseconds
42: Kilowatt
43: Micro amps peak-to-peak
44: Volt seconds
45: Microvolt seconds
46: Micro newton meters
47: Amps / volt seconds
48: Per mille
49: Hertz / second
53: Micrometer or millidegrees
54: Micrometer
55: Millidegrees
59: Nanometer
61: Newton/Amps
62: Volt seconds/meter
63: Newton seconds/meter

Parameter
64: Micronewton
65: Liters / minute
66: Bar
67: Cubic centimeters
68: Millimeter / volt minute
69: Newton/Volt
80: Millivolts peak-to-peak
81: Volt rms
82: Millivolts rms
83: Amps rms
84: Micro amps rms
85: Micrometers / revolution
90: Tenths of a second
91: Hundredths of a second
92: 10 microseconds
93: Pulses
94: 256 pulses
95: Tenths of a pulse
96: Revolutions
97: 100 revolutions / minute
98: 10 revolutions / minute
99: 0.1 revolutions / minute
100: Thousandth revolution / minute
101: Pulses / second
102: 100 pulses / second
103: 10 revolutions / (minute x seconds)
104: 10000 pulses/second^2
105: 0.1 Hertz
106: 0.01 Hertz
107: 0.1 / seconds
108: Factor 0.1
109: Factor 0.01
110: Factor 0.001
111: Factor 0.0001
112: 0.1 Volt peak-to-peak
113: 0.1 Volt peak-to-peak
114: 0.1 amps peak-to-peak
115: Watt
116: 100 Watt
117: 10 Watt
118: 0.01 percent
119: 1/second^3
120: 0.01 percent/millisecond
121: Pulses / revolution
122: Microfarads
123: Milliohm
124: 0.01 Newton meter
125: Kilogram millimeter^2
126: Rad / (seconds newton meter)

Parameter
127: Henry
128: Kelvin
129: Hours
130: Kilohertz
131: Milliamperes peak-to-peak
132: Millifarads
133: Meter
135: Kilowatt hours
136: Percent
137: Amps / Volt
138: Volt
139: Millivolts
140: Microvolts
141: Amps
142: Milliamperes
143: Micro amps
144: Milliamperes rms
145: Millimeter
146: Nanometer
147: Joules
r8400[0...2] Date / Date

Description: Displays the actual date in year, month and day.
Index: [0] = Year (YYYY)
[1] = Month (1 ... 12)
[2] = Day (1 ... 31)
Note
The time in r8400 and r8401 is used to display the fault and alarm times.
Possible date/time setting:
- Web server (manually)
- NTP (Network Time Protocol)
The date/time are stored in the internal clock block of the converter and continue to run even if the supply voltage is
interrupted (for approx. 5 days).
r8401[0...2] Time / Time


Parameter
Description: Displays the current time in hours, minutes and seconds.

Index: [0] = Hour (0 ... 23)
[1] = Minute (0 ... 59)
[2] = Second (0 ... 59)
Note
The time in r8400 and r8401 is used to display the fault and alarm times.
The time is displayed in the 24-hour format.
Possible date/time setting:
- Web server (manually)
- NTP (Network Time Protocol)
The date/time are stored in the internal clock block of the converter and continue to run even if the supply voltage is
interrupted (for approx. 5 days).
r8540.0...15 STW1 in manual operation / STW1 manual

Description: In manual operation with operating unit/web server: Display of the specified STW1 (control word 1).
00 ON/OFF1 Yes No
03 Reserved Yes No
04 Reserved Yes No
05 Reserved Yes No
06 Reserved Yes No
07 Acknowledge fault Yes No
08 Jog bit 0 Yes No
09 Jog bit 1 Yes No
10 Reserved Yes No
11 Direction reversal (setpoint) Yes No
12 Reserved Yes No
13 Reserved Yes No
14 Reserved Yes No
15 Reserved Yes No
r8541 Speed setpoint in manual operation / N_set man


Parameter

Description: In manual operation with operating unit/web server: Display of the specified speed setpoint.
c8542[0...15] Active STW1 in manual operation / STW1 active manual

Factory interconnection: [0] Parameter: 8540.0[1] Parameter:
8540.1[2] Parameter: 8540.2[3]
Parameter: 8540.3[4] Parameter:
8540.4[5] Parameter: 8540.5[6]
8540.7[8] Parameter: 8540.8[9]
8540.10[11] Parameter: 8540.11[12]
8540.13[14] Parameter: 8540.14[15]
Parameter: 8540.15
Description: In the manual mode with operating unit/web server: Setting of the signal sources for the active STW1 (control word 1).
Index: [0] = ON/OFF1
[1] = Operating condition / OFF2
[2] = Operating condition / OFF3
[3] = Enable operation
[4] = Enable ramp-function generator
[5] = Continue ramp-function generator
[6] = Enable speed setpoint
[7] = Acknowledge fault
[8] = Jog bit 0
[9] = Jog bit 1
[10] = Master control by PLC
[11] = Direction reversal (setpoint)
[12] = Enable speed controller
[13] = Motorized potentiometer raise
[14] = Motorized potentiometer lower
[15] = CDS bit 0
c8543 Active speed setpoint in manual operation / N_set active man

Description: In the manual mode with operating unit/web server: Signal for the active speed setpoint.

Parameter
c8558 Signal to switch over between manual/automatic operation / s_s manual/auto

Description: Signal for switching over between manual and automatic operation.
r8936[0...1] PN cyclic connection state / PN cyc conn state

Parameter group:
Description: Displays the status of the cyclic PROFINET connection.
Value: 0: Canceled
1: Not connected
2: Connection starts to be established
3: Module information expected
4: Module information received
5: Module address expected
6: Module address received
7: Parameterization data expected
8: Parameterization data received
9: Evaluate parameterization data
10: Connection being established completion expected
11: System redundancy backup
12: Configured controller STOP
13: Configured controller RUN
Index: [0] = Controller 1
[1] = Controller 2
Note
The parameter is active when the "PROFINET Device" protocol is selected.
For two connections (Shared Device or system redundancy) the display in the index depends on the sequence in which
the connections are established.
The following states are displayed for system redundancy:
Primary controller: r8936[x] = 13
Backup controller: r8936[x] = 11
For value = 10:
If the connection remains in this state, then when using PROFINET IRT the following can apply:
- topology error (incorrect port assignment).
- Synchronization missing.

Parameter
r8937[0...5] PN cyclic connection diagnostics / PN cycl conn diag

Parameter group:
Description: Display to diagnose the cyclic PROFINET connection.
Index: [0] = Number of cyclic connections
[1] = Number of send subslots of all connections
[2] = Number of send net data (bytes) of all connections
[3] = Number of receive subslots of all connections
[4] = Number of receive net data (bytes) of all connections
[5] = Connection type (RT, IRT)
Note
The parameter is active when the "PROFINET Device" protocol is selected.
For index [5]:
Bit 0 = 1: there is at least one RT connection.
Bit 1 = 1: there is an IRT connection.
r8961[0...3] PN controller IP address / PN CtrI IP Addr

Description: Displays the IP address of the PROFINET controller.
Note
For a shared device, the IP address of the automation controller is displayed.
For system redundancy, the IP address of the active controller is displayed.
c8995[0...3] Ethernet X127 enable / Eth X127 enable

Factory interconnection: [0] Fixed value: 1[1] Fixed value: 1[2]
Fixed value: 0[3] Fixed value: 0
Description: Signal to enable the Ethernet interface X127 for applications.

Parameter
Index: [0] = Secure S7 Protocol Startdrive

[1] = Web server HTTPS
[2] = S7 protocol PCS7
[3] = Web server HTTP
Note
The parameter influences the access from applications.
1 signal:
Ethernet interface X127 is enabled for access.
0 signal:
Ethernet interface X127 is blocked and cannot be accessed.
The signal is not influenced by setting the factory setting.
c8997[0...2] PROFINET X150 enable / PN X150 enable

Factory interconnection: [0] Fixed value: 1[1] Fixed value: 1[2]
Fixed value: 0
Description: Signal to enable PROFINET interface X150 for applications.
Index: [0] = Secure S7 Protocol Startdrive
[1] = Web server HTTPS
[2] = S7 protocol PCS7
Note
The parameter influences the access from applications.
1 signal:
PROFINET interface X150 is enabled for access.
0 signal:
PROFINET interface X150 is inhibited for access.
The signal is not influenced by setting the factory setting.
r9280[0...n] CDS name / CDS name

Description: Names of all CDS

Parameter
r9281[0...n] DDS name / DDS name

Description: Names of all DDS
r9282 CDS name total length / CDS name length

Description: The length of the CDS name.
r9283 DDS name total length / DDS name length

Description: The length of the DDS name.
p9500 SI monitoring clock cycle / SI cycle

Write permission: Edit Safety Integrated application
state:
Parameter group: Extended functions
1.00000 [ms] 12.00000 [ms] 4.00000 [ms]
Description: Sets the monitoring clock cycle for safe motion monitoring.
See also: C01652
Note
The monitoring cycle must be a multiple of the actual value sensing clock cycle (p9511).

Parameter
r9502 SI axis type / SI axis type

Description: Displays the axis type (linear axis or rotary axis/spindle).
Value: 0: Linear axis
1: Rotary axis/spindle
Note
The axis type is set in the commissioning tool.
Safety parameters with units that are dependent on the axis type change after switching over the axis type.
p9511 SI actual value sensing cycle / SI act cycle

state:
1.00000 [ms] 8.00000 [ms] 1.00000 [ms]
Description: Sets the clock cycle time of the actual value sensing for safe motion monitoring.
Setting criteria if the motion monitoring functions are executed with an encoder.
- A slower cycle time reduces the maximum permissible speed; however, it ensures a lower system utilization level.
- The maximum permissible velocity, which, when exceeded, can mean that errors occur in the safe actual value
sensing, is displayed in r9730.
Dependency: See also: C01652
Note
The monitoring clock cycle from p9500 must be an integer multiple of this parameter.
For motion monitoring functions with encoder, the cycle time of the actual value sensing must be an integer multiple
of the current controller cycle.
p9516.1 SI encoder configuration, safety functions / SI enc_config

state:

Parameter

- - 0000 bin
Description: Sets the configuration for the position actual value.
The encoder that is used for the safe motion monitoring function must be parameterized in this parameter.
01 Position actual value sign change Yes No
See also: C01671
Note
In the standard case, p9516.1 should be set equal to p0410.1.
p9520 SI leadscrew pitch / SI leadscrew_pitch

state:
Unit: mm Unit group: - Unit selection: -
0.1000 [mm] 8388.0000 [mm] 10.0000 [mm]
Description: Sets the gear ratio between SI encoder 1 and load in mm/revolution for a linear axis with rotary encoder.
NOTICE
The fourth decimal point can be rounded-off depending on the size of the entered number (from 3 places before the
decimal point).
p9521[0...7] SI gearbox encoder (motor)/load denominator / SI grbx denom

state:
1 2147000000 1
Description: Sets the denominator for the selected gearbox between SI encoder 1 (or motor in the case of encoderless monitoring
functions) and the load.
Index: [0] = Gearbox 1
[1...7] = Reserved
Note
The gearbox ratio is obtained from p9522 / p9521.

Parameter
p9522[0...7] SI gearbox encoder (motor)/load numerator / SI grbx numerator

state:
1 2147000000 1
Description: Sets the numerator for the selected gearbox between SI encoder 1 (or motor in the case of encoderless monitoring
functions) and the load.
[1...7] = Reserved
Note
The gearbox ratio is obtained from p9522 / p9521.
p9530 SI SOS standstill tolerance / SI standst_tol

state:
0.000 [mm] 100.000 [mm] 1.000 [mm]
Description: Sets the tolerance for the function "Safe Operating Stop" (SOS).
Note
SOS: Safe Operating Stop
p9530 SI SOS standstill tolerance / SI standst_tol

G220 (Safety rot), Data type: FloatingPoint32 Visible in: Standard display
G220 Clean Power Read permission: Read drive data or acknowledge messages
(Safety rot)
state:
0.000 [°] 100.000 [°] 1.000 [°]

Parameter
Description: Sets the tolerance for the function "Safe Operating Stop" (SOS).
Note
SOS: Safe Operating Stop
p9531[0...3] SI SLS limit values / SI SLS limit

state:
Unit: mm/min Unit group: - Unit selection: -
0.00 [mm/min] 1000000.00 [mm/min] 2000.00 [mm/min]
Description: Sets the limit values for function SLS (Safely-Limited Speed).
Index: [0] = Limit value SLS1
[1] = Limit value SLS2
See also: C01714
p9531[0...3] SI SLS limit values / SI SLS limit

(Safety rot)
state:
0.00 [rpm] 1000000.00 [rpm] 2000.00 [rpm]
Description: Sets the limit values for function SLS (Safely-Limited Speed).
See also: C01714

Parameter
p9533 SI SLS setpoint speed limiting / SI SLS set_lim

state:
0.000 [%] 100.000 [%] 80.000 [%]
Description: Sets the evaluation factor to define the setpoint limit from the selected actual velocity limit.
The active SLS (Safely-Limited Speed) limit value is evaluated with this factor and is made available as setpoint limit in
r9733.
A value of 0 signifies that the setpoint speed limiting is not active.
Dependency: r9733[0] = p9531[x] x p9533 (converted from the load side to the encoder side)
r9733[1] = p9531[x] x p9533 (converted from the load side to the encoder side)
[x] = selected SLS limit value
Conversion factor from the encoder side to the load side:
- Motor type = rotary and axis type = linear: p9522 / (p9521 x p9520)
- Otherwise: p9522 / p9521
See also: p9531
Note
The active actual velocity limit is selected via safety-relevant inputs (SGE).
When selecting a safety function, where standstill is reached or required (e.g. STO, SS1), then setpoint 0 is entered in
r9733.
p9539[0...7] SI gearbox rotation reversal / SI grbx reversal

state:
0 1 0
Description: Sets the direction of rotation reversal for the gearbox.
0: No direction of rotation reversal
1: Direction of rotation reversal
Value: 0: No direction of rotation reversal
1: Direction of rotation reversal
[1...7] = Reserved

Parameter
p9545 SI SSM filter time / SI SSM filt

state:
0.00 [ms] 500.00 [ms] 0.00 [ms]
Description: Sets the filter time for the SSM feedback signal to detect standstill.
Note
The filter time is only active if the function is enabled (p9604.12 = 1).
SSM: Safe Speed Monitor (safety-relevant feedback signal from the speed monitoring)
p9546 SI SSM velocity limit / SI SSM v_lim

state:
Description: Sets the velocity limit for the SSM feedback signal to detect standstill.
When this limit value is undershot (take into account the parameterized hysteresis), signal "SSM feedback signal active"
is set.
Note
p9546 SI SSM velocity limit / SI SSM v_lim

(Safety rot)
state:
0.002 [rpm] 1000000.000 [rpm] 60.000 [rpm]
Description: Sets the velocity limit for the SSM feedback signal to detect standstill.
When this limit value is undershot (take into account the parameterized hysteresis), signal "SSM feedback signal active"
is set.

Parameter
Note
p9547 SI SSM velocity hysteresis / SI SSM hyst

state:
Description: Sets the velocity hysteresis for the SSM feedback signal to detect standstill (n < nx).
Note
The following applies when parameterizing the hysteresis:
- Set parameters p9546 and p9547 according to the following rule: p9546 * 0.75 >= p9547
p9547 SI SSM velocity hysteresis / SI SSM hyst

(Safety rot)
state:
0.0010 [rpm] 500.0000 [rpm] 30.0000 [rpm]
Description: Sets the velocity hysteresis for the SSM feedback signal to detect standstill (n < nx).
Note
The following applies when parameterizing the hysteresis:
- Set parameters p9546 and p9547 according to the following rule: p9546 * 0.75 >= p9547

Parameter
p9548 SI SAM velocity tolerance / SI SAM vel tol

state:
Description: Sets the velocity tolerance for function "SAM (Safe Acceleration Monitor)".
If the drive velocity increases during the down ramp by more than this tolerance, then SAM identifies this and STO (Safe
Torque Off) is initiated.
p9548 SI SAM velocity tolerance / SI SAM vel tol

(Safety rot)
state:
0.00 [rpm] 120000.00 [rpm] 300.00 [rpm]
Description: Sets the velocity tolerance for function "SAM (Safe Acceleration Monitor)".
If the drive velocity increases during the down ramp by more than this tolerance, then SAM identifies this and STO (Safe
Torque Off) is initiated.
p9551 SI SLS delay time for limit value change / SI SLS t_del
state:
0.00 [ms] 600000.00 [ms] 100.00 [ms]
Description: Sets the delay time for the limit value change for function SLS (Safely-Limited Speed).
When transitioning from a higher to a lower safely-limited velocity/speed stage, within this delay time, the "old" velocity
stage remains active.
Even if SLS is activated from the state "SLS inactive", then this delay time is still applied.

Parameter
Note
The set time is rounded internally to an integer multiple of the monitoring clock cycle.
p9555 SI transition time SCF to SS1 / SI t SCF->SS1

state:
0.00 [ms] 600000.00 [ms] 0.00 [ms]
Description: Sets the transition time from SCF (Safety Channel Failure) to SS1 (Safe Stop 1).
Note
p9556 SI transition time SS1 to STO / SI t SS1->STO

state:
0.00 [ms] 3600000.00 [ms] 100.00 [ms]
Description: Sets the transition time from SS1 (Safe Stop 1) to STO (Safe Torque Off).
The parameter has no effect for motion monitoring functions with safe brake ramp monitoring (p9606 = 2).
See also: C01701
Note
p9560 SI STO shutdown velocity / SI STO v_shutdown

state:

Parameter

Description: Sets the shutdown velocity for activating STO (Safe Torque Off).
Below this speed "standstill" is assumed, and for SS1 (Safe Stop 1) STO is initiated.
For motion monitoring functions with safe brake ramp monitoring (p9606 = 2), the parameter must be > 0, as it is the
only cancel criterion for SBR (Safe Brake Ramp).
Note
The shutdown velocity has no effect for a value = 0.
p9560 SI STO shutdown velocity / SI STO v_shutdown

(Safety rot)
state:
0.00 [rpm] 6000.00 [rpm] 0.00 [rpm]
Description: Sets the shutdown velocity for activating STO (Safe Torque Off).
Below this speed "standstill" is assumed, and for SS1 (Safe Stop 1) STO is initiated.
For motion monitoring functions with safe brake ramp monitoring (p9606 = 2), the parameter must be > 0, as it is the
only cancel criterion for SBR (Safe Brake Ramp).
Note
The shutdown velocity has no effect for a value = 0.
p9563[0...3] SI SLS stop response / SI SLS stop

state:
0 1 1
Description: Sets the specific stop response for the SLS function.
These settings apply to the individual limit values for SLS.
Value: 0: STO (Safe Torque Off)
1: SS1 (Safe Stop 1)

Parameter
Note
SI: Safety Integrated
SLS: Safely-Limited Speed
SS1: Safe Stop 1
STO: Safe Torque Off
p9564 SI SDI tolerance / SI SDI tol

state:
0.001 [mm] 360.000 [mm] 12.000 [mm]
Description: Sets the tolerance for function SDI (Safe Direction).
This motion in the monitored direction is still permissible without a stop response occurring and safety message
C01716 being output.
See also: C01716
p9564 SI SDI tolerance / SI SDI tol

(Safety rot)
state:
0.001 [°] 360.000 [°] 12.000 [°]
Description: Sets the tolerance for function SDI (Safe Direction).
This motion in the monitored direction is still permissible without a stop response occurring and safety message
C01716 being output.
See also: C01716

Parameter
p9565 SI SDI delay time / SI SDI t

state:
0.00 [ms] 600000.00 [ms] 100.00 [ms]
Description: Sets the delay time for function SDI (Safe Direction).
After selecting the SDI function, then for a maximum of this time, motion in the monitored direction is permissible. This
time can therefore be used for braking any motion.
See also: C01716
Note
p9566 SI SDI stop response / SI SDI stop

state:
0 1 1
Description: Sets the stop response for the SDI function (Safe Direction).
This setting applies to both directions of motion.
Value: 0: STO (Safe Torque Off)
1: SS1 (Safe Stop 1)
See also: C01716
p9568 SI SAM velocity limit / SI SAM v_lim

state:

Parameter

Description: Sets the velocity limit for the "SAM (Safe Acceleration Monitor)" function.
The SAM limit value is limited downward to this value.
p9568 SI SAM velocity limit / SI SAM v_lim

(Safety rot)
state:
0.00 [rpm] 1000.00 [rpm] 0.00 [rpm]
Description: Sets the velocity limit for the "SAM (Safe Acceleration Monitor)" function.
The SAM limit value is limited downward to this value.
p9581 SI SBR reference velocity / SI SBR vRef

state:
Description: Sets the reference velocity for monitoring SBR (Safe Brake Ramp).
The SBR brake ramp gradient depends on p9581 (reference velocity ) and p9583 (reference time).
p9581 SI SBR reference velocity / SI SBR vRef

(Safety rot)
state:
600.0000 [rpm] 1000000.0000 [rpm] 1500.0000 [rpm]
Description: Sets the reference velocity for monitoring SBR (Safe Brake Ramp).

Parameter
p9582 SI SAM/SBR delay time / SI SAM_SBR t_del

state:
10.00 [ms] 99000.00 [ms] 50.00 [ms]
Description: Sets the delay time for monitoring SAM (Safe Acceleration Monitor) / SBR (Safe Brake Ramp).
The SAM/SBR monitoring is started once the delay time has expired.
Note
Internally, the set time is limited downwards (lower limit) to 2 safety monitoring clock cycles (2 * p9500).
p9583 SI SBR reference time / SI SBR tRef

state:
0.50 [s] 3600.00 [s] 10.00 [s]
Description: Sets the reference time for monitoring SBR (Safe Brake Ramp).
Note
p9596 SI SOS delay time / SI SOS t_del

state:

Parameter

0.00 [ms] 600000.00 [ms] 100.00 [ms]
Description: Sets the delay time for the SOS function (Safe Operating Stop).
Activating SOS from state "SOS inactive" is always realized with this delay time.
Note
p9603.0...1 SI control / SI control

state:
Parameter group: Safety Integrated
- - 0001 bin
Description: Sets the type of control for the safety functions integrated in the drive.
00 Control via F-DI Enable Inhibit
01 Control via PROFIsafe Enable Inhibit
Note
If no bit is set, then Safety Integrated is inhibited for this drive.
When simultaneously controlled via terminal (bit 00 = 1 signal) and PROFIsafe (bit 01 = 1 signal), the following applies:
- It is only permissible that F-DI 0 is used
- Only STO / SS1 may be interconnected
p9604.0...30 SI enable / SI enable

state:
- - 0000 0000 0000 0000 0000 0000 0000
0001 bin
Description: Sets the enable signal for the safety functions integrated in the drive.
00 Enable STO Enable Inhibit
02 Enable SS1 Enable Inhibit
07 Enable SOS Enable Inhibit
08 Enable SLS Enable Inhibit

Parameter
09 Enable SLS dynamic Enable Inhibit

11 Enable SDI Enable Inhibit
12 Enable SSM Enable Inhibit
22 Enable SMT Enable Inhibit
30 Enable F-DI in PROFIsafe telegram Enable Inhibit
p9606 SI SS1 function specification / SI SS1 fct spec

state:
0 2 0
Description: Sets the function specification of the SS1 (Safe Stop 1) safety function integrated in the drive.
Value: 0: SS1-t time-controlled
1: SS1-a acceleration-monitored
2: SS1-r ramp-monitored
p9610 SI PROFIsafe destination address / SI PROFIsafe dest

state:
0 65534 0
Description: Sets the PROFIsafe destination address (F_Dest_Add).
Note
p9611 SI PROFIsafe telegram selection / SI PS tel

state:

Parameter

0 902 0
Description: Sets the PROFIsafe telegram number.
Value: 0: No PROFIsafe telegram selected
30: PROFIsafe standard telegram 30, PZD-1/1
902: PROFIsafe SIEMENS telegram 902, PZD-3/6
p9612 SI stop response for failure or control fault / SI ctrl failure

state:
0 1 0
Description: Sets the stop response for failure or control fault (e.g. PROFIsafe communication).
Value: 0: STO
1: SS1
Note
For p9612 = 0 (STO):
The drive safely switches off the motor, the motor coasts down.
For p9612 = 1 (SS1):
The drive brakes the motor with OFF3 ramp-down time until standstill is detected. A switchover is then made to STO.
p9613 SI PROFIsafe source address / SI PROFIsafe src

state:
0 65534 0
Description: Sets the PROFIsafe source address (F_Source_Add).
Note

Parameter
p9614 SI PROFIsafe F_watchdog time / SI PROFIsafe WD

state:
0 [ms] 65535 [ms] 0 [ms]
Description: Sets the PROFIsafe monitoring time (F_WD_Time).
p9630 SI safe maximum speed encoder (rotary) / SI n_max enc rot

state:
0 [rpm] 300000000 [rpm] 0 [rpm]
Description: Sets the safe maximum speed for the rotary encoder (encoder side).
p9631 SI safe position accuracy encoder (rotary) / SI pos gen enc rot
state:
0.000 [°] 360.000 [°] 0.000 [°]
Description: Sets the safe position accuracy for the rotary encoder (encoder side).

Parameter
r9634 SI safe maximum speed encoder detected (rotary) / SI n_Max EncRotAct

Description: Displays the safe maximum speed for the rotary encoder (encoder side) that was detected.
r9635 SI safe position accuracy encoder detected (rotary) / SI PosAccEncRotAct

Description: Displays the safe position accuracy for the rotary encoder (encoder side) that was detected.
p9673 SI module identifier OM-SMT / Module ID OM-SMT

state:
0 4294967295 0
Description: Module identifier for the Option Module Safe Motor Temperature (OM-SMT).
p9674 SI module identifier Sensor Module / Module ID SM

state:
0 4294967295 0
Description: Module identifier of the Sensor Module.

Parameter
p9675 SI module identifier encoder / Module ID encoder

state:
0 4294967295 0
Description: Module identifier of the encoder.
Note
The value = 0 when using an encoder without its own serial number.
p9676 SI identifier encoder properties / No encoder

state:
0 4294967295 0
Description: Identifier for the encoder properties.
p9677 SI offset POS1 POS2 encoder / SI offs POS1/2

state:
-2147483648 2147483647 0
Description: Sets the offset between encoder positions POS1 and POS2.
This value is used once only for a check (after powering up and unparking).

Parameter
p9699 SI configuration alarm filtering / SI conf alarm filt

state:
Parameter group: Basic functions
0 1 1
Description: Sets the enable for the "Alarm filtering" function.
Value: 0: Deactivate alarm filtering
1: Activate alarm filtering
Note
Parameter is active after a POWER ON
r9708 SI diagnostics safe position / SI safe pos

Description: Displays the actual load-side actual value.
Note
The display of the load-side position actual value is updated in the monitoring clock cycle.
r9708 SI diagnostics safe position / SI safe pos

(Safety rot)
Description: Displays the actual load-side actual value.
Note
The display of the load-side position actual value is updated in the monitoring clock cycle.

Parameter
r9714[0...4] SI diagnostics velocity / SI diag v

Description: Displays the velocity actual values for motion monitoring functions.
Index: [0] = Load side velocity actual value
[1] = Actual SAM/SBR velocity limit
[2] = Actual SLS velocity limit
[3] = Reserved
[4] = Load side filtered velocity actual value
NOTICE
For index [1]:
If several SAM and/or SBR monitoring functions are simultaneously active, then the lowest of the limit values is
indicated here.
For index [2]:
This SLS velocity limit can, as a result of conversion into the internal monitoring format, deviate from the specified SLS
velocity limit (see r9732).
Note
The display is updated in the SI monitoring clock cycle.
r9714[0...4] SI diagnostics velocity / SI diag v

(Safety rot)
Description: Displays the velocity actual values for motion monitoring functions.
Index: [0] = Load side velocity actual value
[1] = Actual SAM/SBR velocity limit
[2] = Actual SLS velocity limit
[3] = Reserved
[4] = Load side filtered velocity actual value
NOTICE
For index [1]:
If several SAM and/or SBR monitoring functions are simultaneously active, then the lowest of the limit values is
indicated here.
For index [2]:
This SLS velocity limit can, as a result of conversion into the internal monitoring format, deviate from the specified SLS
velocity limit (see r9732).

Parameter
Note
The display is updated in the SI monitoring clock cycle.
r9720.0...15 SI control word / SI STW

Description: Control signals for safety functions integrated in the drive.
00 Deselect STO Yes No
01 Deselect SS1 Yes No
03 Deselect SOS Yes No
04 Deselect SLS Yes No
07 Acknowledgment Signal edge active No
09 Select SLS bit 0 Set Not set
12 Deselect SDI positive Yes No
13 Deselect SDI negative Yes No
15 Deselect SSM Yes No
Note
Note: only the control signals of the available and enabled functions (see p9604) are updated. All others are 1 across the
board.
r9722.0...15 SI status signals / SI status signals

Description: Display and signal source for the status signals for the safety functions (synchronized signal).
00 STO or safe pulse cancellation active Yes No
01 SS1 active Yes No
03 SOS active Yes No
04 SLS active Yes No
07 Internal event No Yes
09 Active SLS limit value bit 0 Set Not set
12 SDI positive active Yes No
13 SDI negative active Yes No

Parameter
15 SSM (speed below limit value) Yes No
NOTICE
For bit 07:
An internal event is displayed if a stop function is active.
The signal state behaves in an opposite way to the PROFIsafe Standard.
Note
Only the status signals of the enabled functions (see p9604) are updated, all others are 0 across the board.
Bit 09 and bit 10 together determine the selected SLS limit value.
r9725[0...2] SI diagnostics data cross-check / SI diag KDV

Description: Displays the diagnostics of the data cross-check.
For index [0]
Number of the data, which, for the data cross-check between the two monitoring channels, led to the SCF (Safety
Channel Failure) on the drive.
For index [1]:
Displays the value from channel A for a KDV error.
For index [2]:
Displays the value from channel B for a KDV error.
Index: [0] = Message value for KDV
[1] = KDV actual value channel A
[2] = KDV actual value channel B
Note
KDV: Data cross-check
r9728 SI actual checksum configuration of the safety functions / SI act CRC FctConf
Description: Displays the checksum over the checked parameters used to configure safety functions (actual checksum).

Parameter
p9729 SI reference checksum configuration of the safety functions / SI set CRC FctConf
state:
0000 hex FFFF FFFF hex A1A1 A1A1 hex
Description: Sets the checksum over the checked parameters used to configure safety functions (reference checksum).
r9730 SI Safe maximum velocity / SI safe v_max

Description: Displays the safe maximum velocity (on the load side) that is permissible for the safe motion monitoring functions as
a result of the actual value sensing.
This parameter indicates up to which load velocity the safe encoder actual values (redundant encoder coarse position)
can still be correctly detected as a result of the particular encoder parameterization.
This parameter is only of significance for enabled safety with encoder (otherwise "0").
r9730 SI Safe maximum velocity / SI safe v_max

(Safety rot)
Description: Displays the safe maximum velocity (on the load side) that is permissible for the safe motion monitoring functions as
a result of the actual value sensing.
This parameter indicates up to which load velocity the safe encoder actual values (redundant encoder coarse position)
can still be correctly detected as a result of the particular encoder parameterization.
This parameter is only of significance for enabled safety with encoder (otherwise "0").

Parameter
r9731 SI safe position accuracy / SI pos_accuracy

Description: Displays the safe position accuracy (load side).
As a result of the actual value sensing for safe motion monitoring functions, this accuracy can be achieved as the
maximum.
Note
The parameter is only of significance for enabled safety with encoder (otherwise "0").
r9731 SI safe position accuracy / SI pos_accuracy

(Safety rot)
Description: Displays the safe position accuracy (load side).
As a result of the actual value sensing for safe motion monitoring functions, this accuracy can be achieved as the
maximum.
Note
The parameter is only of significance for enabled safety with encoder (otherwise "0").
r9732[0...1] SI velocity resolution / SI v_res

Description: Displays the velocity resolution for safety-relevant motion monitoring functions.
For index [0]:
Displays the safe velocity resolution (load side). Setpoints for velocity limits or parameter changes for velocities below
this threshold have no effect.
For index [1]:
Displays the safe velocity accuracy based on the safe encoder accuracy
Index: [0] = Actual velocity resolution
[1] = Minimum velocity resolution

Parameter
Note
For index [0]:
This parameter does not provide any information about the actual accuracy of the velocity sensing. This depends on the
type of actual value sensing, the gear factors as well as the quality of the encoder being used.
Conversion of:
(internal fixed value / Tsi) to mm/min (linear) or rpm (rotary) with Tsi = p9500 (SI monitoring cycle).
Example:
For Tsi = 4 ms, r9732[0] = 15 mm/min (linear) or 1/24 rpm (rotary) is obtained.
For index [1]:

- Only takes into account the coarse encoder resolution and is an internal calculation, which also incorporates the factor
for the motor-load side conversion, the gear ratio and the SI monitoring clock cycle.
r9732[0...1] SI velocity resolution / SI v_res

(Safety rot)
Description: Displays the velocity resolution for safety-relevant motion monitoring functions.
For index [0]:
Displays the safe velocity resolution (load side). Setpoints for velocity limits or parameter changes for velocities below
this threshold have no effect.
For index [1]:
Displays the safe velocity accuracy based on the safe encoder accuracy
Index: [0] = Actual velocity resolution
[1] = Minimum velocity resolution
Note
For index [0]:
This parameter does not provide any information about the actual accuracy of the velocity sensing. This depends on the
type of actual value sensing, the gear factors as well as the quality of the encoder being used.
Conversion of:
(internal fixed value / Tsi) to mm/min (linear) or rpm (rotary) with Tsi = p9500 (SI monitoring cycle).
Example:
For Tsi = 4 ms, r9732[0] = 15 mm/min (linear) or 1/24 rpm (rotary) is obtained.
For index [1]:

- Only takes into account the coarse encoder resolution and is an internal calculation, which also incorporates the factor
for the motor-load side conversion, the gear ratio and the SI monitoring clock cycle.
r9733[0...2] SI effective setpoint velocity limiting / SI setp_limit


Parameter
Description: Displays the necessary setpoint velocity limit as a result of the selected motion monitoring functions.
Contrary to the parameterization of the SI limit values, this parameter specifies the motor-side limit value and not the
load-side limit value.
Recommendation: For the ramp-function generator, by appropriately interconnecting the speed limits c1051 and c1052 with r9733[0, 1],
drive-based setpoint velocity limiting can be realized.
- Interconnect c1051 with r9733[0]
- Interconnect c1052 with r9733[1]
Additional limiting can also be activated using numerical sinks c1085 and c1088.
Index: [0] = Setpoint limiting positive
[1] = Setpoint limiting negative
[2] = Setpoint limit absolute
Dependency: For SLS: r9733[0] = p9531[x] x p9533 (converted from the load side to the motor side)
For SDI negative: r9733[0] = 0
For SLS: r9733[1] = - p9531[x] x p9533 (converted from the load side to the motor side)
For SDI positive: r9733[1] = 0
[x] = selected SLS limit value
Conversion factor from the load side to the motor side:
- Motor type = rotary and axis type = linear: p9522 / (p9521 x p9520)
- Otherwise: p9522 / p9521
NOTICE
If c1051 = r9733[0] is interconnected, c1052 = r9733[1] must also be interconnected and vice versa.
If only the absolute value of the setpoint velocity limiting is required, r9733[2] must be interconnected.
Note
The unit changeover between linear and rotary axis is not implemented via the safety changeover (r9502) but by the
linear motor changeover.
If the "SLS" or "SDI" function is not selected, r9733[0] shows p1082 and r9733[1] shows -p1082.
The display in r9733 can be delayed by up to one SI monitoring clock cycle as compared to the display in r9720 and r9722.
When selecting a safety function, where standstill is reached or required (e.g. STO, SS1), then setpoint 0 is entered in
r9733.
r9734.0...15 SI Safety Information Channel status word S_ZSW1B / SIC S_ZSW1B

Description: Display and signal source for status word S_ZSW1B of the Safety Information Channel.
00 STO selected or active Yes No
03 SOS active Yes No
05 SOS selected Yes No
06 SLS selected Yes No
07 Internal event Yes No
09 Select SLS bit0 Yes No

Parameter
10 Select SLS bit1 Yes No

12 SDI positive selected Yes No
13 SDI negative selected Yes No
Note
SIC: Safety Information Channel
For bit 07:
r9745[0...63] SI components / SI comp

Description: Displays the component of the safety message that has occurred.
Note
r9750[0...63].0...20 SI diagnostic attributes / SI diag_attr

Description: Displays the diagnostic attributes of the safety messages that have occurred.

Parameter
Note
The structure of the safety message buffer and the assignment of the indices is shown in r60045.
For bits 20 ... 16:
Bit 20, 19, 18, 17, 16 = 0, 0, 0, 0, 1 --> PROFIdrive message class 1: hardware fault/software error
or not available
permissible range
r9753[0...63] SI message value for float values / SI msg_val float

Description: Displays additional information about the safety message that has occurred for float values.
Dependency: See also: r9754, r9755, r9756, r60044, r60045, r60048, r60049, p60052
r9754[0...63] SI message time received in days / SI t_msg recv days

Description: Displays the relative system runtime in days when the safety message occurred.

Parameter
r9755[0...63] SI message time removed in milliseconds / SI t_msg rem ms

Description: Displays the relative system runtime in milliseconds when the safety message was removed.
r9756[0...63] SI message time removed in days / SI t_msg rem days

Description: Displays the relative system runtime in days when the safety message was removed.
r9768[0...8] Receive SI PROFIsafe control words / SI PS PZD recv

Description: Displays the received PROFIsafe telegram.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
Note
The PROFIsafe trailer at the end of the telegram is also displayed (5 bytes).

Parameter
r9769[0...8] Send SI PROFIsafe status words / SI PS PZD send

Description: Displays the PROFIsafe telegram to be sent.
Index: [0] = PZD 1
[1] = PZD 2
[2] = PZD 3
[3] = PZD 4
[4] = PZD 5
[5] = PZD 6
[6] = PZD 7
[7] = PZD 8
[8] = PZD 9
Note
The PROFIsafe trailer at the end of the telegram is also displayed (5 bytes).
r9770[0...7] SI PROFIsafe configuration of the F-PLC / SI Config F-PLC

Description: Displays the configuration data received from the F-PLC (when control via PROFIsafe is enabled).
Index: [0] = Telegram number
[1] = Control telegram length from the F-PLC in bytes
[2] = Status telegram length to the F-PLC in bytes
[3] = F_PRM_FLAG1, F_PRM_FLAG2
[4] = F_Source_Add
[5] = F_Dest_Add
[6] = F_WD_Time
[7] = F_Par_CRC
r9771[0...43] SI PROFIsafe diagnostics information CRC error / SI PS diag CRC err


Parameter
Description: Diagnostics data for CRC error in the cyclic PROFIsafe communication. The information regarding the last signaled CRC
error is always displayed.
Structure of the diagnostic information:

Bytes 0 to 1: diagnostic data structure version
Bytes 2 to 9: IncNo_1: used in the V2.6.1 mode
Bytes 10 to 17: IncNo_2: used in the V2.6.1 mode
Bytes 18 to 21: received telegram CRC
Bytes 22 to 25: expected telegram CRC
Bytes 26 to 29: VirtualConsecutiveNo: used in the V2.4 mode
Bytes 30 to 33: Code name: used in the V2.6.1 mode
Bytes 34 to 37: Modifier: used in the V2.6.1 mode
Bytes 38 to 41: CRC of the iParameters (not used)
Bytes 42 to 43: CRC of the F-parameters
r9776.0...4 SI diagnostics / SI diag

Description: Displays the operating state, referred to the safety functions. The parameter is used for diagnostics.
00 Safety parameter changed Yes No
01 Safety functions enabled Yes No
02 Safety component replaced and data save required Yes No
04 Safety commissioning mode active Yes No
Note
For bit 00 = 1:
At least one safety parameter was changed. The change only becomes effective after a restart, which is automatically
performed after exiting safety commissioning.
For bit 01 = 1:
Safety functions have been enabled and are active.
For bit 02 = 1:
A safety-relevant component has been replaced. Retentively save (save all parameters, p0977 = 1)
For bit 04 = 1:
The safety commissioning mode is selected.
r9780[0...1] SI checksum to check changes / SI chg chksm


Parameter
Description: Displays the checksum to track changes for Safety Integrated.

These are additional checksums that are created to track changes (fingerprint for the "safety logbook" functionality) to
safety parameters (that are relevant for checksums).
Index: [0] = SI checksum to track functional changes
[1] = SI checksum to track hardware-specific changes
r9781[0...1] SI change control time stamp days / SI chg chksm days

Description: Displays the time stamps for the checksums for tracking changes for Safety Integrated. The time stamps for the
checksums for tracking changes (fingerprint for the "safety logbook" functionality) made to safety parameters are saved
in parameters r9780[0] and r9780[1].
Index: [0] = SI time stamp for checksum to track functional changes
[1] = SI time stamp for checksum to track hardware-specific changes
See also: C01690
NOTICE
r9782[0...1] SI change control time stamp milliseconds / SI chg t ms

Description: Displays the time stamps for the checksums for tracking changes for Safety Integrated.
The time stamps for the checksums for tracking changes (fingerprint for the "safety logbook" functionality) made to
safety parameters are saved in parameters r9780[0] and r9780[1].
Index: [0] = SI time stamp for checksum to track functional changes
[1] = SI time stamp for checksum to track hardware-specific changes
See also: C01690
NOTICE

Parameter
r9794 SI actual checksum safety enable / SI act CRC ENA

Description: Displays the checksum over the parameters to enable the safety functions (actual checksum).
p9795 SI reference checksum safety enable / SI set CRC ENA

state:
Description: Displays the checksum over the parameters to enable the safety functions (reference checksum).
r9796 SI actual checksum PROFIsafe addresses / SI act CRC PA

Description: Displays the checksum over the parameters for the PROFIsafe addresses (actual checksum).
p9797 SI reference checksum PROFIsafe addresses / SI set CRC PA

state:

Parameter
Description: Sets the checksum over the parameters for the PROFIsafe addresses (reference checksum).
r9798 SI actual checksum over the drive configuration / SI act CRC DOconf
Description: Displays the checksum over the checksum-checked parameters to configure the drive (actual checksum).
p9799 SI reference checksum over the configuration of the drive / SI ref CRC DOconf
state:
Description: Sets the checksum over the checksum-checked parameters to configure the drive (reference checksum).
r9828 SI actual checksum configuration of safety functions channel B / SI act CRCfctConfB

Description: Displays the checksum over the checksum-checked parameters to configure safety functions (actual checksum)
channel B.

Parameter
p9829 SI reference checksum configuration of safety functions chan. B / SI set CRCfctConfB

state:
0000 hex FFFF FFFF hex B2B2 B2B2 hex
Description: Sets the checksum over the checked parameters used to configure safety functions (reference checksum).
r9894 SI actual checksum safety enable channel B / SI act CRC ENA B

Parameter group:
Description: Displays the checksum over the parameters to enable the safety functions (actual checksum) channel B.
p9895 SI reference checksum safety enable channel B / SI ref CRC ENA B

state:
Parameter group:
Description: Displays the checksum over the parameters to enable the safety functions (reference checksum) channel B.
r9896 SI actual checksum PROFIsafe addresses channel B / SI act CRC PA B


Parameter
Description: Displays the checksum over the parameters for the PROFIsafe addresses (act checksum) chan B.
p9897 SI reference checksum PROFIsafe addresses channel B / SI set CRC PA B

state:
Parameter group:
Description: Sets the checksum over the parameters for the PROFIsafe addresses (reference checksum) channel B
r9898 SI actual checksum configuration of the drive, channel B / SI act CRC DOconfB
Description: Displays the checksum over the checksum-checked parameters to configure the drive (actual checksum) channel B.
p9899 SI reference checksum over the drive configuration, channel B / SI ref CRC DOconfB
state:
Description: Sets the checksum over the checksum-checked parameters to configure the drive (reference checksum) channel B.

Parameter
r9936[0...199] DRIVE-CLiQ diagnostic error counter connection / DQdiag err counter

Description: Displays the error counter for the individual DRIVE-CLiQ connections/cables.
r9936[0]: sum of the error counter for all connections
r9936[1]: not used
r9936[2]: error counter for the feeder cable to DRIVE-CLiQ components with component number 2
...
r9936[199]: error counter for the feeder cable to DRIVE-CLiQ components with component number 199
The feeder cable is the DRIVE-CLiQ cable that is connected to a component in the direction of the Control Unit.
p9937.0...8 DRIVE-CLiQ diagnostic configuration / DQ diag config

state:
- - 0000 0000 0000 0000 bin
Description: Sets the configuration for the DRIVE-CLiQ diagnostics (error counter r9936).
Using this function, connections and cables of DRIVE-CLiQ connections can be checked for transfer errors. The error
counter is evaluated in the PHY blocks involved.
00 Alarm for connection error Yes No
08 Reset error counter Yes No
See also: A01839
Note
For bit 00:
After changing the error counter (r9936), an appropriate alarm is output.
The alarm automatically disappears after 5 seconds.
For bit 08:
With p9937.8 = 1, the error counters are reset (r9936[0...199]).
After the reset, p9937.8 is automatically set to 0.

Parameter
p10000.0...2 SI F-DI enable / SI F-DI enable

state:
- - 0001 bin
Description: Sets the enable signal for the failsafe digital inputs.
00 F-DI 0 (X130.2/3, X130.6/7) Enabled Not enabled
Note
- Digital inputs of F-DI that have not been enabled can be used as binary signal sources for non-safety-related functions.
- Only F-DI that have been enabled are monitored in a safety-relevant way. It is neither permissible that the associated
DI are set to simulation nor used as non-safety-related functions, as they can be subject to test pulses.
p10002 SI F-DI changeover discrepancy time / SI F-DI chg t

state:
1.00 [ms] 2000.00 [ms] 500.00 [ms]
Description: Sets the discrepancy time for digital inputs.
The signal states at the two associated digital inputs (F-DI) must assume the same state within this discrepancy time.
Note
The time must be set longer than the SI monitoring clock cycle.
c10006 SI acknowledgment internal event F-DI / SI ackn int


Parameter
Description: Signal for "acknowledge internal event" (internal fault) for a specific axis.
The rising edge of this signal resets status "internal event" in the converter and active discrepancy errors are
acknowledged.
Note
F-DI: Failsafe Digital Input
p10017[0...2] SI digital inputs input filter / SI F-DI t_filt

state:
1.00 [ms] 100.00 [ms] 4.00 [ms]
Description: Setting of the input filter for the digital inputs.
The input filter is rounded off to whole milliseconds and accepted.
The input filter acts on the following digital inputs:
- Failsafe digital inputs (F-DI).
Example:
Input filter = 1 ms: Fault pulses of 1 ms are filtered; only pulses longer than 2 ms are processed.
Input filter = 3 ms: Fault pulses of 3 ms are filtered; only pulses longer than 4 ms are processed.
The input filtering result can be read in r10051 and r10151.
The set input filter impacts the response time of the safety function.
Index: [0] = F-DI 0
[1] = F-DI 1
[2] = F-DI 2
NOTICE
If the cable connected at the digital input is longer than 30 m, to maintain the functional safety, the minimum debounce
time must be set to 20 ms.
Note
If the self test is enabled using externally specified dark pulses (p10041 = 3) for at least one F-DI, then p10017 must be
set longer than the maximum duration of the dark pulses + 2 ms. If the test pulses are specified using the switchable
power supply (p10041 = 1 or p10041 = 2), then this means p10017 > p10018 + 2 ms.
p10018 SI F-DI self test length dark pulses VS1/VS2 / SI F-DI pulsLength
state:

Parameter

0 [ms] 50 [ms] 0 [ms]
Description: Sets the dark pulse length of the switchable power supply for the self test using specified dark pulses (p10041) of the
F-DI.
Value = 0: switchable power supply, permanently switched on.
Value > 0: dark pulse length for the switchable power supply. The test cycle is fixed at 5 s.
Note
The dark pulses from VS1 are enabled for:
- Self test using specified dark pulses with a switchable power supply (p10041 = 1)
- Self test using specified dark pulses with two switchable power supplies (p10041 = 2)
The dark pulses from VS2 are enabled for:
- Self test using specified dark pulses with two switchable power supplies (p10041 = 2)
The switchable power supplies are continuously switched on if another self test was set
p10019 SI F-DI self test external dark pulses wait time / SI F-DI ext puls_t
state:
10 [s] 3600 [s] 1020 [s]
Description: Sets the maximum wait time for the dark pulses for the F-DI self test using an externally specified test pulses.
Note
This parameter is only active for F-DIs that are tested using external test pulses (p10041[x] = 3).
p10020 SI F-DO self test dark pulses duration / SI F-DO pulses

state:
4 [ms] 150 [ms] 4 [ms]
Description: Sets the duration of the dark pulses for the self test of the F-DO. The test cycle is fixed at 5 s.
Note
F-DO: Failsafe Digital Output.

Parameter
c10022 SI STO input terminal / SI STO F-DI

Description: Signal for the axis-specific selection of function "STO (Safe Torque Off)" (control via F-DI).
Note
c10023 SI SS1 input terminal / SI SS1 F-DI

Description: Signal for selecting function "SS1 (Safe Stop 1)".
Note
c10025 SI SOS input terminal / SI SOS F-DI

Description: Signal for selecting function "SOS (Safe Operating Stop)".
Note

Parameter
c10026 SI SLS input terminal / SI SLS F-DI

Description: Signal for selecting function "SLS (Safely-Limited Speed)".
Note
If SLS is to be statically active, then the signal must be interconnected with a fixed value of "0".
c10027 SI SLS limit bit 0 input terminal / SI SLS lim 0 F-DI

Description: Signal for selecting limit value bit 0 of function "SLS (Safely-Limited Speed)".
Note
c10028 SI SLS limit bit 1 input terminal / SI SLS lim 1 F-DI

Description: Signal for selecting limit value bit 1 of function "SLS (Safely-Limited Speed)".
Note

Parameter
c10030 SI SDI positive input terminal / SI SDI pos F-DI

Description: Signal for selecting function "SDI positive".
Note
If SDI positive should always be active, then c10030 must be interconnected with a 0 signal.
SDI: Safe Direction (safe motion direction)
c10031 SI SDI negative input terminal / SI SDI neg F-DI

Description: Signal for selecting function "SDI negative".
Note
If SDI negative should always be active, then c10031 must be interconnected with a 0 signal.
SDI: Safe Direction (safe motion direction)
c10035 SI SSM input terminal / SI SSM F-DI

Description: Signal to select function "SSM (Safe Speed Monitor)".
Note
If SSM should always be active, then c10035 must be interconnected with a 0 signal.

Parameter
r10038 SI Safe State status / SI Safe State

Description: Display and signal source for "Safe State".
p10039.0...10 SI Safe State signal selection / SI Safe State sel

state:
- - 0000 0000 0000 0001 bin
Description: Sets the signals for "Safe State".
00 STO active Selected Not selected
01 SS1 active Selected Not selected
07 SLS active Selected Not selected
08 SDI pos active Selected Not selected
09 SDI neg active Selected Not selected
10 SSM (speed below limit value) Selected Not selected
Note
The signals are logically OR'ed.
p10040.0...2 SI F-DI input mode / SI F-DI InpModeChA

state:
- - 0000 bin
Description: Sets the input mode for the safety digital inputs (F-DI).
00 F-DI 0, DI 22+ (X130.6/7) NO contact NC contact

Parameter

Note
Only an NC contact can be connected for the safety digital inputs not listed.
p10041[0...2] SI F-DI self test mode selection / SI F-DI test mode

state:
0 3 0
Description: Enable for the F-DI self test.
Value: 0: Self test using internal test signals
1: Self test using specified dark pulses (VS1)
2: Self test using specified dark pulses (VS1 and VS2)
3: Self test using externally specified dark pulses
Index: [0] = F-DI 0
[1] = F-DI 1
[2] = F-DI 2
Note
Modes 1 and 2:
A check is made whether p10017 is > p10018 + 2 ms and whether p10018 is set > 0.
c10042[0...5] SI F-DO 0 signals of the AND logic operation / SI F-DO 0 signals

Description: Signals for F-DO 0.
The 6 signals in c10042[0...5] are AND'ed and the result is output in F-DO 0.
Index: [0] = AND logic operation input 1
[1] = AND logic operation input 2

Parameter
Note
Indices that are connected with a fixed value of 0 are not taken into account when forming the AND logic operation.
F-DO: Failsafe Digital Output
p10047 SI F-DO diagnostics mode selection / SI F-DO diag mode

state:
0 1 1
Description: Sets the enable signal for the integration of F-DO in the test.
For value = 0:
Diagnostics using internal feedback signals (F-DO dynamization is required).
For value = 1:
Self test using internal feedback signals and specified dark pulses.
Value: 0: Diagnostics using internal feedback signals
1: Self test using specified dark pulses
Note
F-DO: Failsafe Digital Output.
c10050[0...2] SI status F-DI via PROFIsafe / SI F-DI above PS

Description: The state of the selected failsafe digital inputs F-DIs is transferred to the F-control via PROFIsafe.
Index: [0] = F-DI via Profisafe status 1
[1] = F-DI via Profisafe status 2
[2] = F-DI via Profisafe status 3
Note

Parameter
r10051.0...2 SI digital inputs status channel A / SI DI status chA

Description: Display and signal source for the single-channel, logical and debounced status of the failsafe digital inputs of channel
A.
00 Status of the DI 21+ (X130.2/3) Logical 1 Logical 0
01 Status of DI 0+ (X131.1/4) Logical 1 Logical 0
Note
The relationship between the logic level and the external voltage level at the input is intended for the use of a safety
function:
With 24 V at the input, NC contacts have a logical "1" level, for 0 V at the input, a logical "0" level.
This means that an NC/NC contact parameterization for 0 V at both inputs of the F-DI leads to a status of the F-DI equal
to "0" (safety function selected), for 24 V at both inputs of the F-DI, to a status of the F-DI equal to "1" (safety function
deselected).
NC contact:
24V at the input -> logical "1"
0V at the input -> logical "0"
r10071.0...2 SI F-DI status / SI F-DI status

Description: Display and binary signal source for the status of the failsafe digital inputs.
00 Status of the F-DI 0 Logical 1 Logical 0
Note
If a safety function is interconnected to an input (e.g. via c10022), then the following applies:
- Logical "0": Safety function is selected
- Logical "1": safety function is deselected

Parameter
r10072.0 SI F-DO status / SI F-DO status

Description: Display and binary signal source for the status of the failsafe digital outputs.
00 Status of the F-DO 0 Logical 1 Logical 0
Note
r10075.0...15 SI PROFIsafe control word / SI S_STW2

Description: Displays the control signals for safety functions integrated in the drive only via PROFIsafe.
r10076 SI PROFIsafe SLS-LIMIT / SI S_SLS_LIM_A


Parameter
Description: Scaling for limit value SLS1 via PROFIsafe telegram 901.
The value range 1 ... 32767 corresponds to 0.01 % ... 100 % of limit value SLS1.
An invalid value results in the stop response parameterized in p9563[0].
Also for scaled limit value SLS1, the SLS2, SLS3 and SLS4 limit values can be selected using r9720.9 and r9720.10.
r10080.0...15 SI status signals channel A / SI status chA

Parameter group:
Description: Status signals (channel A) for safety-relevant motion monitoring functions integrated in the drive.
NOTICE
For bit 07:
Note
Only the status signals of the available and enabled functions (see p9604) are updated. All others are 0 across the board.
r10098 SI actual checksum across device-specific parameters / SI act CRC DO conf

Description: Displays the checksum over the checksum-checked parameters for the device-specific parameters of the drive system
(actual checksum).

Parameter
p10099 SI reference checksum across device-specific parameters / SI set CRC DO conf

state:
(reference checksum).
r10138 SI Safe State status channel B / SI Safe State chB

Description: Display for the Safe Status.
r10151.0...2 SI digital inputs status channel B / SI DI status chB

Parameter group:
Description: Display and signal source for the single-channel, logical and debounced status of the failsafe digital inputs of channel
B.

Parameter
Note
The relationship between the logic level and the external voltage level at the input depends on the parameterization (see
p10040) of the input as NC contact or NO contact, and is aligned to the use of a safety function:
With 24 V at the input, NC contacts have a logical "1" level, for 0 V at the input, a logical "0" level.
This means that an NC/NC contact parameterization of 0 V at both inputs of the F-DI leads to a status of the F-DI equal
to "0" (safety function selected), for 24 V at both inputs of the F-DI, to a status of the F-DI equal to "1" (safety function
deselected).
With 24 V at the input, NO contacts have a logical "0" level, for 0 V at the input, a logical "1" level. This means that for
an NC/NO contact parameterization, the level 0 V/24 V leads to a status of the F-DI equal to "0" (safety function selected),
the level 24 V/0 V leads to status of the F-DI equal to "1" (safety function deselected).
r10171.0...2 SI F-DI status channel B / SI F-DI status B

Description: Display for the status of the failsafe digital inputs.
Note
If a safety function (e.g. via c10022) is controlled via an F-DI, then the following applies:
- Logical "0": Safety function is selected
- Logical "1": safety function is deselected
r10172.0 SI F-DO status channel B / SI F-DO status B

Description: Display and binary signal source for the status of the failsafe digital outputs.
00 Status of the F-DO 0 Logical 1 Logical 0
Note

Parameter
r10175.0...15 SI PROFIsafe control word channel B / SI S_STW2 B

Description: Displays the control signals for safety-related motion monitoring functions integrated in the drive via PROFIsafe.
r10176 SI PROFIsafe S_SLS_LIMIT_A channel B / SI S_SLS_LIM B

Description: Dynamic limit value input for SLS (Safely-Limited Speed) via PROFIsafe.
r10180.0...15 SI status signals channel B / SI status chB

Parameter group:
Description: Status signals (channel B) for safety-relevant motion monitoring functions integrated in the drive.

Parameter

NOTICE
For bit 07:
Note
Only the function status signals of the available and enabled functions (see p9604) are updated. All others are 0 across
the board.
r10198 SI actual checksum across device-specific parameters channel B / SI act CRC DOconfB
(actual checksum) channel B.
p10199 SI reference checksum across device-specific parameters chan B / SI ref CRC DOconfB
state:
(reference checksum) channel B.
r10352.0...17 SI STO select cause / SI STO sel cause

Description: Reason that STO (Safe Torque Off) function was selected.

Parameter
00 Selection via F-DI High Low

01 Selection via PROFIsafe High Low
04 Safety commissioning mode active High Low
05 Axis parking active / missing actual value High Low
07 Response to SS1 High Low
12 Stop response High Low
14 Response to parameterizing error High Low
15 Response to internal software error High Low
16 No communication to OM-SMT High Low
17 No communication via PROFIsafe High Low
r10353.0...17 SI SS1 select cause / SI SS1 sel cause

Description: Reason for the selection of function SS1 (Safe Stop 1).
13 Selection when transitioning to following function High Low
r10355.0...10 SI SOS selection cause / SI SOS sel cause

Description: Reason for the selection of function SOS (Safe Operating Stop).
10 Response to SS2E High Low

Parameter
r10356.0...1 SI SLS select cause / SI SLS sel cause

Description: Reason for the selection of function SLS (Safely-Limited Speed).
r10360.0...1 SI SDI positive select cause / SI SDIpos SelCause

Description: Displays the reason why SDI (Safe Direction) positive was selected.
r10361.0...1 SI SDI negative select cause / SI SDIneg SelCause

Description: Displays the reason why SDI (Safe Direction) negative was selected.

Parameter
r10365.0...1 SI SSM select cause / SI SSM sel cause

Description: Displays the reason why function SSM (Safe Speed Monitor) was selected.
r10452.0...17 SI STO select cause channel B / SI STO sel cause B

Description: Reason for the selection of function STO (Safe Torque Off) on channel B.
04 Safety commissioning mode active High Low
05 Axis parking active / missing actual value High Low
14 Response to parameterizing error High Low
15 Response to internal software error High Low
16 No communication to OM-SMT High Low
r10453.0...17 SI SS1 select cause channel B / SI SS1 sel cause B

Description: Reason for the selection of function SS1 (Safe Stop 1) on channel B.

Parameter
13 Selection when transitioning to following function High Low

r10455.0...10 SI SOS select cause channel B / SI SOS sel cause B

Description: Reason for the selection of function SOS (Safe Operating Stop) on channel B.
10 Response to SS2E High Low
r10456.0...1 SI SLS select cause channel B / SI SLS sel cause B

Description: Reason for the selection of function SLS (Safely-Limited Speed) on channel B.
r10460.0...1 SI SDI positive select cause channel B / SI SDIposSelCauseB

Description: Displays the reason why SDI (Safe Direction) positive was selected on channel B.

Parameter
r10461.0...1 SI SDI negative select cause channel B / SI SDInegSelCauseB

Description: Displays the reason why SDI (Safe Direction) negative was selected on channel B.
r10465.0...1 SI SSM select cause channel B / SI SSM sel cause B

Description: Displays the reason why SI function SSM (Safe Speed Monitor) was selected on channel B.
r13002 Infeed operating display / INF op_display

Parameter group: Status parameters, Diagnostics general, Drive enable signals
Description: Operating display for the infeed.
Value: 0: Operation - Everything enabled
21: Ready for operation - Set "Enable operation" = "1" (c13852)
31: Ready for switching on - Precharging running (p0857)
32: Ready for switching on - Set "ON/OFF1" = "0/1" (c13840)
35: Switching on inhibited - Carry out first commissioning
41: Switching on inhibited - Set "ON/OFF1" = "0" (c13840)
42: Switching on inhibited - Set "OFF2" = "1" (c13844, c13845)
45: Switching on inhibited - Remove fault cause, acknowledge fault
46: Switching on inhibited - Exit commissioning mode
60: Infeed deactivated/not operational
70: Initialization
200: Wait for booting/partial booting
250: Device signals a topology error

Parameter
NOTICE
For several missing enable signals, the corresponding value with the highest number is displayed.
Note
EP: Enable Pulses (pulse enable)
COM: Commissioning
r13024 Infeed line frequency smoothed / Line freq smooth

Description: Display and numerical signal source for the smoothed line frequency.
Note
The line frequency is available smoothed (r13024) and unsmoothed (r13066).
A positive sign of the frequency is obtained when the line supply phases U, V and W are connected with the correct phase
sequence.
A negative sign of the frequency is obtained when the 3 line phases are interchanged therefore designating a negative
direction of the rotating field of the 3-phase line supply voltage.
Scaling is carried out via p2008 (not via p2000).
r13025 Infeed input voltage smoothed / U_inp smth

Description: Display and numerical signal source for the smoothed actual value of the voltage at the line connection terminals.
NOTICE
Note
The input voltage is available smoothed (r13025) and unsmoothed (r13072[1]).

Parameter
r13027 Infeed absolute current actual value smoothed / I_act AbsV smth
NOTICE
Note
r13029 Infeed reactive current actual value smoothed / I_react smooth

Parameter group: Reactive current controller, Power unit, Mode signals / displays
Description: Displays the smoothed actual value of the reactive current component.
Note
The reactive current actual value is available smoothed (r13029) and unsmoothed (r13076).
r13030 Infeed current actual value smoothed / I_act smth

Parameter group: Active current controller, Power unit, Mode signals / displays
Description: Displays the smoothed actual value of the active current components.
Note
The active current actual value is available smoothed (r13030) and unsmoothed (r13078).

Parameter
r13032 Infeed active power actual value smoothed / Active power ActV
Description: Display and numerical signal source for the smoothed actual value of the active power drawn from the line supply.
NOTICE
Note
The active power is available smoothed (r13032 with 300 ms) and unsmoothed (r13082).
r13036 Infeed power unit overload I2t / PU overload I2t

Description: Displays the infeed overload determined using the I2t calculation.
A current reference value is defined for the I2t monitoring of the infeed. It represents the current that can be conducted
by the infeed without any influence of the switching losses (e.g. the continuously permissible current of the capacitors,
inductances, busbars, etc.).
If the I2t reference current of the infeed is not exceeded, then an overload (0 %) is not displayed.
In the other case, the degree of thermal overload is calculated, where 100% results in a trip.
r13037[0...10] Infeed power unit temperatures / PU temperatures

Description: Display and numerical signal source for temperatures in the infeed power unit.

Parameter
Index: [0] = Infeed maximum value

[2] = Reserved
[3] = Air intake
Note
r13037[0]: Maximum value of infeed temperatures.
r13038 Infeed power factor smoothed / Cos phi smooth

Description: Displays the smoothed actual power factor.
NOTICE
For active powers < 25 % of the rated power, this does not provide any useful information.
Note
Meaning for the infeed:
- Power factor at the line connection point.
r13046.0...26 Infeed missing enable signals / Missing enable sig

Parameter group: Control/status words, Drive enable signals
Description: Display and signal source for missing enable signals that are preventing the closed-loop infeed control from being
commissioned.
03 Operation enable missing Yes No

Parameter

19 Pulse enable internal missing Yes No
26 Infeed inactive or not operational Yes No
Note
Value = 0 indicates that all enable signals for the infeed are present.

- Switching on inhibited is active.



- There is an OFF1 fault response. The system is only enabled if the fault is removed and was acknowledged and the
"switching on inhibited" withdrawn with OFF1 = 0.

- The commissioning mode is selected, there is an OFF2 fault response or the OFF1 signal sink (c13840) is changed.
Bit 19 = 1 (internal pulse enable missing), if:

- Synchronization is running between the basic clock cycle, DRIVE-CLiQ clock cycle and application clock cycle.

- The infeed is inactive or not operational.
r13066[0...1] Infeed line frequency / f_line

Description: Display and numerical signal source for the line frequency.
For index [0]:
Displays the instantaneous value of the line supply PLL.
For index [1]:
Displays the values smoothed with a time constant of 50 ms to monitor the frequency.
[1] = Smoothed

Parameter
Note
The line frequency is also available with an adjustable smoothing (r13024).
A positive sign of the frequency is obtained when the line supply phases U, V, W are connected with the correct phase
sequence.
A negative sign of the frequency is obtained when the 3 line phases are interchanged therefore designating a negative
direction of the rotating field of the 3-phase line supply voltage.
Scaling is carried out via p2008 (not via p2000).
r13067[0...1] Infeed absolute current value permissible / Abs current perm

Parameter group: Current limits, Power unit, Mode signals / displays
Description: Displays the actual permissible absolute line-side current.
Index: [0] = Motoring mode
[1] = Generating mode
r13068 Infeed absolute current actual value / I_act AbsV

Description: Displays actual absolute current.
NOTICE
The value is updated with the current controller sampling time.
Note
Absolute current value = sqrt(r13076^2 + r13078^2)
r13069[0...8] Infeed phase current actual value / I_phase ActV

Description: Display and numerical signal source for the measured actual phase currents as peak value.

Parameter

[1] = Phase V
[2] = Phase W
[3] = Phase U offset
[4] = Phase V offset
[5] = Phase W offset
[6] = Total U, V, W
[7] = Alpha component
[8] = Beta component
Note
In indices 3 ... 5, the offset currents of the 3 phases, which are added to correct the phase currents, are displayed.
The sum of the 3 corrected phase currents is displayed in index 6.
The line currents are indicated in indices 7 and 8 (according to the Clarke transformation).
r13070 Infeed DC link voltage actual value / Vdc act val

Parameter group: DC link voltage controller, Power unit, Mode signals / displays
r13072[0...4] Infeed input voltage / U_inp

Description: Display and numerical signal source for the actual input voltage of the power unit (infeed).
Index: [0] = Power unit input terminals
[1] = Line filter input terminals
[2] = Line voltage source (model)
[3] = Line voltage source smoothed (model)
[4] = Line voltage source strongly smoothed (model)

Parameter
Note
The input voltage at input terminals is available smoothed (r13025) and unsmoothed (r13072[1]).
For r13072[0]:
Displays the pulsed internal voltage for diagnostic purposes.
The value is calculated from the modulation depth (r13074) and is therefore only correct in the closed-loop controlled
mode and when the pulses are enabled.
For r13072[1]:
Displays the absolute voltage at the input terminals of the device.
For r13072[2]:
Displays the estimated value for the voltage of the voltage source that is calculated in the voltage model of the line supply
PLL.
The model takes into account the specification of a line inductance p0225.
For r13072[3]:
Displays the smoothed value for the source voltage in r13072[2].
The PT1 smoothing time constant is set in p3472[1].
For r13072[4]:
Displays the strongly smoothed value for the source voltage in r13072[2].
The PT1 smoothing time constant is set in p3472[2].
r13074 Infeed modulation depth / mod_depth

Description: Display and numerical signal source for the actual modulation depth.
Note
For space vector modulation, 100% corresponds to the maximum output voltage without overcontrol.
Values above 100% indicate an overcontrol condition - values below 100% indicate no overcontrol.
The phase voltage (phase-to-phase, rms) is calculated as follows:(r13074 x r13070) / (sqrt(2) x 100 %).
r13075 Infeed reactive current setpoint / I_react_set

Description: Display and numerical signal source for the reactive current setpoint.
Note
If the line phases are interchanged and the line voltage therefore has a negative orientation (r13066 < 0), it should be
noted that the sign of the reactive current is reversed.

Parameter
r13076 Infeed reactive current actual value / I_reactive_ActV

Description: Display and numerical signal source for the reactive current actual value.
Note
The reactive current actual value is available smoothed (r13029) and unsmoothed (r13076).
r13077 Infeed active current setpoint / I_act_set

Description: Display and numerical signal source for the active current setpoint (Iq_set).
r13078 Infeed current actual value / I_active_act

Description: Display and numerical signal source for actual value of the active current.
Note
The active current actual value is available smoothed (r13030) and unsmoothed (r13078).
r13082 Infeed active power actual value / P_act


Parameter
Description: Displays the instantaneous active power.

Note
The active power is available smoothed (r13032) and unsmoothed (r13082).
r13088 Infeed DC link voltage setpoint / Vdc setpoint

Parameter group: DC link voltage controller, Mode signals / displays
Description: Display and numerical signal source for the DC link voltage setpoint.
Note
The currently active setpoint for the DC link voltage is the sum of the fixed setpoint and the output of the reserve
controller for the modulation depth.
The following applies: r13088 = p3510 + r3485.
The summed setpoint is limited to the maximum steady-state DC link voltage (p0280).
r13089[0...5] Infeed phase voltage actual value / U_phase ActV

Description: Displays the actual phase voltage.
Index: [0] = Measurement phase U
[1] = Measurement phase V
[2] = Measurement phase W
[3] = Calculation phase U
[4] = Calculation phase V
[5] = Calc phase W
Note
For index [1, 2, 3]:
Displays the voltage measured values for the line terminals.
For index [3, 4, 5]:
Displays the calculated internal voltages of the infeed.
The values are determined from the transistor switch-on durations.

Parameter
r13094 Infeed transformation angle / Transformat_angle

Description: Displays the transformation angle.
Note
The transformation angle corresponds to the line supply angle.
r13192.0...26 Infeed firmware properties 1 / PU FW properties 1

Description: Displays the properties supported by the line-side inverter firmware.
00 Support of optimized pulse patterns Yes No
01 Support of asynchronous pulse frequencies for vector/infeed Yes No
08 Support of the simulation mode Yes No
09 Support of internal armature short-circuit Yes No
10 Support of autonomous armature short-circuit Yes No
16 Reserved Yes No
18 Reserved Yes No
19 Support of closed-loop current limiting control Yes No
20 Support of component status Yes No
22 Support of lower device supply voltage Yes No
23 Support of test pulse operation Yes No
26 Support of phase mode Yes No
NOTICE
This information represents the characteristics/features of the line-side inverter firmware. They provide information
about hardware attributes/properties.
r13193.5...15 Infeed firmware properties 2 / PU FW properties 2


Parameter
Description: Displays the properties supported by the line-side inverter firmware.

05 SW supports tolerant response to overvoltages Yes No
08 SW supports reduced undervoltage threshold while precharging Yes No
12 SW supports DC link forming Yes No
15 Motor holding brake with variable brake voltage Yes No
r13200[0...n] Infeed power unit current code number / INF PU curr codeNo
Description: Displays the unique code number of the infeed.
Note
r13200 = 0: No infeed power unit found.
p13201[0...n] Infeed power unit code number / INF PU code no

state:
0 65535 0
Description: Code number of the infeed. This value is automatically entered when the drive is commissioned for the first time.
r13204[0...n].0...25 Infeed power unit hardware properties / INF PU HW prop

Description: Displays the properties supported by the hardware of the infeed.
00 Device type DC/AC device AC/AC device
01 internal EMC filter available Yes No
02 Active line infeed available Yes No
03 Smart line infeed available Yes No
08 Internal Braking Module Yes No

Parameter
10 Internal voltage measurement Yes No

13 Safety Integrated supported Yes No
14 Internal LC output filter Yes No
16 Line infeed is capable of energy recovery Yes No
17 Line infeed with 3-level topology Yes No
19 Heat sink fan Yes No
24 Internal filter voltage Yes No
25 Capacitive precharging Yes No
r13206[0...1] Infeed power unit rated power / INF PU P_rated

Description: Displays the rated infeed power (rating plate).
Index: [0] = Voltage range 1
[1] = Voltage range 2
See also: p0100
r13207[0...1] Infeed power unit rated current / INF PU I_rated

Description: Displays the rated current of the infeed (rating plate).
r13208 Infeed rated power unit line supply voltage / INF PU U_rated
Description: Displays the rated line supply voltage of the power unit.
r0208 = 400: 380 - 500 V +/-10 %
r0208 = 690: 525 - 690 V +/-10 %

Parameter
r13209[0...1] Infeed power unit maximum current / INF PU I_max

Description: Displays the maximum input current of the infeed.
r13257[0...29] Infeed power unit individual temperatures / PU temperatures

Description: Display and numerical signal source for temperatures in the infeed.

Parameter
Index: [0] = Power unit 1

[1] = Power unit 2
[2] = Power unit 3
[3] = Power unit 4
[4] = Power unit 5
[5] = Power unit 6
NOTICE
Note
p13287[0...1] Infeed ground fault monitoring shutdown threshold / Gnd flt threshold
state:
Parameter group: Power unit, Messages / Monitoring
0.0 [%] 100.0 [%] [0] 6.0 [%]
[1] 16.0 [%]
Description: Sets the shutdown thresholds for the ground fault monitoring.
The setting is made as a percentage of the maximum current of the infeed (r13209).

Parameter
Index: [0] = During precharging

[1] = Regular
r13801 Infeed actual pulse frequency / Pulse freq act

Description: Display and numerical signal source for the actual infeed switching frequency.
r13802 Infeed modulator mode / Modulator mode

Description: Displays the mode for the modulator.
Value: 1000: Space vector modulation 2
1002: Fixed lowside bias modulation
1004: Flat middle modulation
1005: Fixed topside bias modulation
1007: Space vector modulation 3
r13807[0...2] Infeed DC link voltage to calculate the modulation depth / VdcActValMod_depth

Description: Displays the DC link voltage that is used to convert the setpoint voltage into an equivalent modulation depth.
Index: [0] = Total voltage
[1] = Diagnostics 1
[2] = Diagnostics 2
Note
For indices [1] and [2]:
Only for internal Siemens diagnostics.

Parameter
p13810.0...11 Infeed modulator configuration / Modulator config

state:
- - 0000 1000 0000 0110 bin
Description: Sets the configuration for the modulator.
Recommendation: It is recommended that settings bit 2 = 1 and bit 11 = 1 are left.
In individual cases, it may be necessary to deviate from this rule for special dynamic properties of the load or the line
supply.
00 Compensation of the partial DC link voltages in the power unit Yes No
01 DC link voltage compensation in the power unit Yes No
02 Activate pulse frequency wobbulation Yes No
11 Current controller dynamics higher Yes No
Dependency: The modulator configuration is overwritten when the power unit (p13201) or the line filter type (r0220) is changed.
It is possible that special settings required for the modulator must be newly set.
WARNING
For bit 02 = 0:
Pulse frequency wobbulation is deactivated.
The line harmonics of the converter are higher and it is no longer guaranteed that the line supply standards are
complied with. This can result in a fault, or if the situation continues, it can also damage other components connected
to the line supply!
However, in non-public grids and for special requirements, it may make sense (and it is also safe) to deactivate the
wobbulation function on a case-for-case basis.
CAUTION
For bit 11 = 0:
The higher dynamic response of the closed-loop current control is deactivated.
However, if the load or resonance properties of the line supply or line supply faults demand a high dynamic response
of the closed-loop current control, then the line current and/or the DC link voltage can manifest oscillations. These
oscillations can lead to nuisance trips. Ongoing oscillations can damage the converter or loads in the vicinity connected
to the same line supply.
NOTICE
For bit 02 = 0:
Deactivating wobbulation only becomes effective after saving the parameters and a 24V power on.

Parameter
Note
For bit 00:
Bit 00 is only active for line infeeds utilizing multilevel topology (r13204.17 = 1) and if p1810.01 is set = 1.
Bit 00 = 0:
No compensation of the partial DC link voltages in the power unit of the infeed.
Bit 00 = 1:
Compensation of the partial DC link voltages in the power unit of the infeed.
The selection is only active if the center potential control is activated (p6450 > 0), otherwise, p1810.00 is set = 0.
For bit 01 = 0:
DC link voltage compensation in the current controller.
For bit 01 = 1:
DC link voltage compensation in the power unit of the infeed.
The selection is only active if the following applies: p1810.11 = 1.
r13838.0...22 Gating unit status words 1 and 2 / Gating unit ZSW1

Description: Display and signal source for status word 1 of the power unit.
00 Fault time-critical On Off
01 Measured value ready No Yes
03 Upper switch-off signal path Inactive Active
04 Lower switch-off signal path Inactive Active
05 Test pulse operation active Active Not active
06 Test pulse measured values valid Yes No
07 Brake state On Off
08 Brake diagnostics On Off
15 Diagnostics 24 V On Off
16 Actual pulse frequency asynchronous (SVM) Yes No
17 Wobbulation active Active Not active
18 Even samples active Active Not active
19 Moving average active Active Not active
20 TLCC bit0 On Off
21 TLCC bit1 On Off
22 TLCC bit2 On Off

Parameter
r13839.0...26 Gating unit control words 1 and 2 / Gating unit STW1/2

Description: Displays control word 1 and control word 2 of the power unit.
Bits 00..15: control word 1, bits 16..31: control word 2
00 Fault On Off
01 Activate current offset calculation Active Not active
06 Activate test pulses Active Not active
07 Select zero system 1 0
08 Main contactor control On Off
10 Acknowledge fault On Off
16 Asynchronous pulse frequency Yes No
17 Activate wobbulation Active Not active
18 Reset wobbulation Active Not active
19 Activate modulator Active Not active
20 Activate event samples measuring configuration Active Not active
21 Activate compound brake Active Not active
22 Modulator current limitation mode bit 0 1 0
23 Modulator current limitation mode bit 1 1 0
24 Modulator current limitation mode bit 2 Yes No
25 Modulator current limitation mode bit 3 Active Not active
26 Activate modulator direct mode Active Not active
c13840[0...n] Infeed ON/OFF (OFF1) / ON / OFF (OFF1)

Parameter group: Drive enable signals, Shutdown functions

Parameter
Description: Signal for command "ON/OFF (OFF1)".

Dependency: See also: p3490, c13844, c13852, r13863
CAUTION
NOTICE
For 0 signal:
The switching on inhibited is acknowledged.
Only the signal source that originally switched on can also switch off again.
Note
The following applies:
- For 0 signal: OFF1 (pulse cancellation and precharging contactor/line contactor open )
- For 0/1 signal edge: ON (precharging contactor/line contactor close, pulses can be enabled)
r0863.1 of a drive can also be selected as signal source.

Switching off can also be delayed with a wait time (p3490).
c13844[0...n] Infeed no coast-down / coast-down (OFF2) signal source 1 / OFF2 signal 1

Description: First signal for the command to instantaneously switch off the drive.
This corresponds to command "No coast-down / coast-down (OFF2)" for drives.
CAUTION
c13845[0...n] Infeed no coast-down / coast-down (OFF2) signal source 2 / OFF2 signal 2


Parameter
Description: Second signal for the command to instantaneously switch off the drive.
This corresponds to command "No coast-down / coast-down (OFF2)" for drives.
CAUTION
c13852[0...n] Enable infeed operation/inhibit infeed operation / Enable operation

Description: Signal for command "Enable operation/inhibit operation".
c13852 = 0 signal
Inhibit operation (cancel pulses).
c13852 = 1 signal
Enable operation (pulses can be enabled).
CAUTION
c13854[0...n] Infeed control by PLC/no control by PLC / Master ctrl by PLC

Parameter group: Drive enable signals, Configuration, Shutdown functions
Description: Signal for command "Control by PLC/no control by PLC".
0 signal: No control by PLC.
1 signal: Control by PLC.
CAUTION

Parameter
Note
This bit is used to initiate a response for the drives when the control fails (F07220). If there is no control system available,
then binary signal sink c13854 should be set = 1.
If a control is available, then STW1.10 must be set to 1 (PZD1) so that the received data is updated. This applies regardless
of the setting in c13854 and also in the case of free telegram configuration (r0922 = 999).
r13863.0...2 Infeed drive coupling status word/control word / CoupleZSW/STW

Description: Display and signal source for the status word and control word of the drive coupling.
00 Closed-loop control operation Yes No
01 Energize contactor Yes No
02 Infeed line supply failure Yes No
Note
For bit 00:
Bit 0 signals that the infeed is ready.
When the operating signal is transferred via the binary signal source r13863.0, then this allows several drives to start
(run-up) staggered over time when they are simultaneously switched on.
The first drive only transfers the operating signal to the next drive after it has reached its ready condition.
For bit 01:
Bit 1 is used to control an external line contactor.
For bit 02:
This bit signals a power failure.
p13870 Voltage setpoint filter modulator type / Uset_filt mod type

state:
Parameter group: Digital filters, Power unit
0 100 100
Description: Sets the voltage setpoint filter of the modulator.
For p13870 = 0: The filter is deactivated.
For p13870 >= 100: A preconfigured filter is parameterized.
Value: 0: Filter off
100: G220-CPD - filter
Dependency: The voltage setpoint filter of the modulator is only active when the fast current controller is activated (p13810.11).

Parameter
r13898.0...10 Infeed control word sequence control / STW seq_ctrl INF

Description: Display and numerical signal source for the control word of the sequence control for the infeed.
00 ON/OFF1 Yes No
Note
r13899.0...12 Infeed status word sequence control / ZSW seq_ctrl INF

Description: Display and signal source for the status word of the sequence control for the infeed.
01 Ready Yes No
04 No OFF2 active OFF2 inactive OFF2 active
06 Switching on inhibited Yes No
08 Switching-on operation active Yes No
11 Precharging complete Yes No
12 Line contactor closed Yes No
r60000 PROFIdrive reference speed reference frequency / PD n_ref f_ref

Parameter group:

Parameter
Description: Displays the reference quantity for speed and frequency.

All speeds or frequencies specified as relative value are referred to this reference quantity.
Note
Parameter r60000 is an image of parameter p2000 in conformance with PROFIdrive.
r60022 PROFIsafe telegram / Ps telegr

Parameter group: Safety Integrated, Configuration
Description: Displays the PROFIsafe telegram.
Value: 0: No PROFIsafe telegram selected
30: PROFIsafe standard telegram 30, PZD-1/1
902: PROFIsafe SIEMENS telegram 902, PZD-3/6
Note
When reading the parameter via PROFIdrive, value 65534 is applicable for "No PROFIsafe telegram".
r60044 SI message buffer counter changes / SI msg_buffer chg

Description: Displays the changes of the safety message buffer.
This counter is incremented every time that the safety message buffer changes.
Recommendation: This is used to check whether the safety message buffer has been read out consistently.
r60045[0...63] SI message code / SI msg_code

Description: Displays the numbers of safety messages that have occurred.

Parameter
Note
The messages type "safety message" (Cxxxxx) are entered in the message fault buffer.
Message buffer structure (principle):
r60045[0], r60048[0], r60049[0], r9753[0], r9754[0], r9755[0], r9756[0] --> safety message 1 (oldest active message)
of the actual message case.
...
r60045[7], r60048[7], r60049[7], r9753[7], r9754[7], r9755[7], r9756[7] --> safety message 8 (latest active message)
of the actual message case,
Safety messages that have gone are automatically acknowledged.

History of acknowledged messages:
r60045[8], r60048[8], r60049[8], r9753[8], r9754[8], r9755[8], r9756[8] --> safety message 1 of the 1st
acknowledged message case,
...
r60045[16], r60048[16], r60049[16], r9753[16], r9754[16], r9755[16], r9756[16] --> safety message 1 of the 2nd
...
r60045[56], r60048[56], r60049[56], r9753[56], r9754[56], r9755[56], r9756[56] --> safety message 1 of the 7th
...
r60045[63], r60048[63], r60049[63], r9753[63], r9754[63], r9755[63], r9756[63] --> safety message 8 (oldest gone
message) of the 7th acknowledged message case,
r60047[0...63] SI message number / SI mess_no

Description: Displays the numbers of safety messages that have occurred.
Note
The messages type "safety message" (Cxxxxx) are entered in the message fault buffer.
Message buffer structure (principle):
r60045[0], r60048[0], r60049[0], r9753[0], r9754[0], r9755[0], r9756[0] --> safety message 1 (oldest active message)
of the actual message case.
...
r60045[7], r60048[7], r60049[7], r9753[7], r9754[7], r9755[7], r9756[7] --> safety message 8 (latest active message)
of the actual message case,
Safety messages that have gone are automatically acknowledged.

History of acknowledged messages:
r60045[8], r60048[8], r60049[8], r9753[8], r9754[8], r9755[8], r9756[8] --> safety message 1 of the 1st
...
r60045[16], r60048[16], r60049[16], r9753[16], r9754[16], r9755[16], r9756[16] --> safety message 1 of the 2nd
...
r60045[56], r60048[56], r60049[56], r9753[56], r9754[56], r9755[56], r9756[56] --> safety message 1 of the 7th
...
r60045[63], r60048[63], r60049[63], r9753[63], r9754[63], r9755[63], r9756[63] --> safety message 8 (oldest gone
message) of the 7th acknowledged message case,

Parameter
r60048[0...63] SI message time received in milliseconds / SI t_msg recv ms

Description: Displays the relative system runtime in milliseconds when the safety message occurred.
r60049[0...63] SI message value / SI msg_value

Description: Displays the additional information about the safety message that occurred (as integer number).
p60052 SI message cases counter / SI msg_cases count

state:
0 65535 0
Description: Number of safety message cases that have occurred since the last reset.
Dependency: The safety message buffer is cleared by resetting the parameter to 0.
See also: r9753, r9754, r9755, r9756, r60044, r60045, r60048, r60049
r60100[0...4] PROFIdrive telegram display total / Pd telegr tot

Description: Displays the send and receive telegrams.

Parameter
Index: [0] = Subslot 1: MAP

[1] = Subslot 2: PROFIsafe
[2] = Subslot 3: standard/SIEMENS
[3] = Subslot 4: supplementary telegram
[4] = Subslot 5: supplementary telegram
Note
Value = 65534: No telegram
Value = 65535: MAP "Module Access Point"
r60122 PROFIdrive SIC/SCC telegram / SIC/SCC tel

Parameter group: Safety Integrated, Configuration
Description: Displays the telegram for the Safety Information Channel (SIC) / Safety Control Channel (SCC).
Value: 700: Supplementary telegram 700, PZD-0/3
32766: No telegram
Note
When reading the parameter via PROFIdrive, value 65534 is applicable for "No telegram".
r61000[0...239] PROFINET Name of Station / PN name of station

Description: Displays PROFINET Name of Station.
r61001[0...3] PROFINET IP of Station / PN IP of station

Description: Displays PROFINET IP of Station.

Parameter

Function diagrams 4
4.1 Explanations about the function diagrams
Overview
The following function diagrams explain the symbols and signal interconnections used in the
function diagrams.
Function diagrams
1020 – Explanation of symbols (1) (Page 712)

712
Figure 4-1

Function diagrams
Parameters Signal interconnection
Sink Source
Symbol Meaning Symbol Meaning Symbol Meaning
Name [Unit] Monitoring parameter Name Numerical sink with Name [Unit] Source numeric
1020 – Explanation of symbols (Part 1)
rxxxx[*] with unit [Unit] and index, cxxxx[*] index, index range or rxxxx[*] with unit [Unit] and index,
index range or data set [*] (Def) data set [*] and factory index range or data set [*]
interconnection (Def) to a
parameter or a fixed
Name Setting parameter value Name Source binary
from ... to [Unit] with min/max value and with bit or bit range w
unit [Unit], factory Name Binary sink with index, rxxxx.w
pxxxx[*] (Def)
setting (Def) and index, cxxxx[*] index range or data set
index range or data set [*] [*] and factory Name Source, binary/numerical
(Def) with bit or bit range w (if
interconnection (Def) to a rxxxx
parameter or a fixed only one bit of this source
rxxxx.w is to be displayed, then
Name [Unit] Setting parameter value
with unit [Unit], factory display as "binary source"
pxxxx[*] (Def)
setting (Def) and index, is also possible)
index range or data set [*]
Explanations of parameters, signal sinks and signal sources Data sets

Symbol Meaning Symbol Meaning
Name Parameter name, or for parameters with displayed bit or index: Bit or index Parameter belongs to the
name. The bit name is always referred to a "1 signal". The name can be pxxxx[C] Command Data Set (CDS).
omitted if, for example, a parameter occurs several times on a chart. Parameter belongs to the
pxxxx[D] Drive Data Set (DDS).
Parameter belongs to the
"t" stands for the parameter type: pxxxx[E] Encoder Data Set (EDS).
"r" = monitoring parameter.
Parameter belongs to the
These parameters are read-only pxxxx[M] Motor Data Set (MDS).
"p" = setting parameter.
txxxx Parameter belongs to the
These parameters can be changed. pxxxx[P]
= Power unit Data Set (PDS).
txxxx[y..z] "c" = signal sinks.
txxxx[y] These parameters can be interconnected.
Cross references between diagrams
List Manual, 08/2023, FW V6.2, A5E51781505B AA
txxxx[DS] "xxxx" stands for the parameter number

txxxx[*].v..w "[y…z]" specifies the index range
txxxx[*].w "[y]" specifies the applicable index Symbol Meaning
"DS" specifies the data set [aaaa.b] Diagram references for parameters that occur a multiple number of times.
".v…w" specifies the bit field [Function diagram number, signal path]
".w" specifies the applicable bit number The function diagrams are sub-divided into 8 signal paths in order to facilitate
1 8
orientation.
from ... to Value range Text Text = Unique signal designation or parameter
[aaaa.b] aaaa = Signal goes to target diagram aaaa
[Unit] Dimension unit
b = Signal goes to signal path b
(Def) Text Text = Unique signal designation or parameter
Factory setting, or factory interconnection for signal sinks. For some

parameters, the factory setting value is only calculated when commissioning, [cccc.d] cccc = Signal comes from source diagram cccc
see parameter information "Calculated". Factory interconnections for signal d = Signal comes from signal path d
sinks can either be other parameters (signal sources) or fixed values. Cross references for control bits:
pxxxx rxxxx pxxxx= Original parameter of signal
[aaaa.b] rxxxx.w aaaa.b = Signal comes from source diagram aaaa, signal path b
1 2 3 4 5 6 7 8
Explanations on the function diagrams © Siemens AG
- 1020 -
Explanation of the symbols (part 1) V6.02.00
Figure 4-2
Pre-assigned signal Symbols for logic functions Symbols for computational and closed-loop
interconnections control functions
S
1 NOT element
General Logical inversion (negation)
Name Adjustable parameter of a Threshold value switch 1/0
x 1 y
from ... to [Unit] preassigned, numerical &
AND element Outputs at y a logical "1" if x < S.
pxxxx[*] (Def) source with minimum/ with logical inversion of an input
0
maximum value, unit,
S
index or data set [*] and OR element
factory setting (def) 1
1 y Threshold value switch 0/1
x1 x Outputs at y a logical "1" if x > S.
y
=1 XOR element
Fixed speed values y = 1 when x1 ≠ x2 is. 0
x2
S
Fixed speed setpoint 1 x1 Comparator
-210000.000 ... 210000.000 [rpm] y
p1001 [D] (0.000)
= y = 1 when x1 = x2 is.
x2 Threshold value 1/0 with hysteresis
... S Q
R/S flip-flop
x
1
y Outputs a logical "1" at y if x < S.
If x ≥ S + H then y returns to 0.
S = setting input 0
Fixed speed setpoint 15 R = reset input
-210000.000 ... 210000.000 [rpm] R Q Q = non-inverted output
p1015 [D] (0.000)
Q = inverted output
H
S
Symbols for computational and closed-loop
Switch symbol
pxxxx
control functions Threshold value 0/1 with hysteresis
Simple changeover switch 1 Outputs a logical "1" at y if x > S.
x y Sign reversal x y
The switch position is -1 If x ≤ S - H then y returns to 0.
shown according to the y = -x
0 0
factory setting of pxxxx (in
this case switch position 1). x y Absolute value generator
1 y = |x|

H
x1
y Divider LU MLU
y=
x1 Limiter
x2 x2 y
x x is limited to the upper limit LU and the lower
limit LL and output at y.
x1 y
Multiplier The digital signals MLU and MLL have the
LL MLL value "1", if the upper or lower limit is active.
x2 y = x1 · x2 LU
x MLU y
x y Comparator greater than 0
>0
y = 1, if the analog signal x > 0, i.e. is positive. MLL
LL
d
Differentiator
dt dx SET Sample & Hold element
y= Sample and hold element.
Function diagrams
dt x S&H y y = x if SET = 1
(not retentively saved at POWER OFF)
1 2 3 4 5 6 7 8
- 1021 -
713

714
Figure 4-3

Function diagrams
Switch-on delay PT1 element 2nd-order filter (bandstop/general filter)
pxxxx pxxxx
x y
T 0 Natural frequency, numerator Damping, numerator
y
x T 0 y fn_n D_n
pzzzz pwwww
x y
pxxxx
The digital signal x must have the value "1" without any interruption t
during the time T before output y changes to "1".
Delay element, first order.
T T T T |y| fs
pxxxx = time constant
x y
x f_B
f
2nd Order Filter
y
Switch-off delay PT2 low pass

pxxxx
x y Natural frequency, Damping, pxxxx pyyyy
denominator denominator
0 T fn_d D_d
fn_d D_d
x 0 T y pxxxx pyyyy Natural frequency, denominator Damping, denominator
pxxxx Used as bandstop filter

The digital signal x must have the value "0" without interruption
- center frequency fs: fn_n = fs
during the time T before output y changes to "0".
fn_d = fs
T T T T - bandwidth f_B: D_n = 0
|y|
x f_B
x D y D_d =
2 · fs
y fn
f
Transfer function when used as general filter
Delay (switch-on and switch-off) s 2 2 · D_n

Transfer function · s+1
pxxxx pyyyy +
x y 2 π fn_n 2 π fn_n
1 H(s) =
T1 T2 H(s) = s 2 2 · D_d
s 2 2 · D_d + · s+1
x T1 T2 y + · s + 1 2 π fn_d 2 π fn_d
2 π fn_d 2 π fn_d
pxxxx pyyyy
The digital signal x must have the value "1" without interruption during
time T1 or must have the value "0" during time T2 before output y
changes its signal state.
T1 T1 T2 T2
y
1 2 3 4 5 6 7 8
- 1022 -
Function diagrams
4.2 Input/output terminals
Overview
The following function diagrams describe the input/output terminals.
Function diagrams
2201 – Connection overview (Page 716)
2221 – Digital inputs isolated (DI 0 … DI 5, DI 21 ... DI 22) (Page 717)
2242 – Digital outputs (DO 0 … DO 2) (Page 718)
2251 – Analog inputs 0 … 1 (AI 0 … AI 1) (Page 719)
2256 – Analog inputs as digital inputs (DI 11 … DI 12) (Page 720)
2261 – Analog outputs 0 … 1 (AO 0 … AO 1) (Page 721)
2272 – 2-wire control (Page 722)
2273 – 3-wire control (Page 723)

716
Figure 4-4

Function diagrams
Digital inputs [2221] Digital outputs [2242]
X131 Invert digital outputs
p0748
1 DI 0 Signal for X133
24 V 1 = DI 0 (X131.1)
2 DI 1+ terminal DO 0
r0723 1 = DI 0 (X131.1) DO 0+ 1
1 0
2201 – Connection overview
3 DI 1- r0723.0 c0730
DI 2 r0722 (52.3)
5 1 DO 0- 2
r0722.0 1
6 DI 3+ Signal for
7 DI 3- ... ... terminal DO 1 DO 1 NC 3
8 DI 4 c0731 0
DO 1 NO 4
DI 5 1 = DI 5 (X131.9) (52.7)
9
1
1
r0723 DO 1 COM 5
10 M2 1 1 = DI 5 (X131.9)
3,3 V r0723.5 Signal for
4 M1 r0722 terminal DO 2 DO 2 NC 6
r0722.5 c0732 0
DO 2 NO 7
(0)
X130 1 = DI 21 (X130.2/3) 1
1 DO 2 COM 8
4/8 M r0723
1 1 = DI 21 (X130.2/3)
1/5 VS1/VS2 24 V r0723.21
r0722
2 DI 21+ r0722.21 Analog output [2261]
1 = DI 22 (X130.6/7)
3 DI 21- AO0 (X132.10/11)
r0723 1 = DI 22 (X130.6/7)
6 DI 22+ 1 X132
r0723.22
r0722
c0771[0] D AO 0 10
7 DI 22- 3,3 V (21)
r0722.22
A M 11
X132
3 +10 V OUT
Analog inputs [2251] Failsafe digital output [2853]
4 M X130
AI0 (X132.1 / 2) [%]
1/5 AI 0+ / AI1+ A F-DO+ 9
r0755[0]
2/6 AI 0- / AI1-
D r0755[1]
Status F-DO +24 V
AI1 (X132.5 / 6) [%] (r10072.0) F-DO- 10
Thermal monitoring, motor [8016] M

8 Temp+ Motor temperature [°C]

A
9 Temp- r0035
D
X124
Motor temperature + 24 V 1
sensor
+ 24 V 2
M 3
M 4
24 V DC to next
device
If Safety Integrated is active, can also be used as F-DI, see [2850].
1 2 3 4 5 6 7 8
Input/output terminals © Siemens AG
- 2201 -
Overview V6.02.00
Figure 4-5
Sampling time of the digital inputs: p0799[0] (2 ms) Digital inputs simulation mode
Digital inputs debounce time
1 = DI 0 (X131.1) Simulation 0.000 ... 20.000 [ms]
p0795.0
p0795(0) p0724 (4.000)
Digital inputs status inverted
1 = DI 0 (X131.1)
0
Digital inputs status
DI 0 Digital inputs simulation r0723 1 = DI 0 (X131.1)
T 0 1 r0723.0
r0723.0..22
2221 – Digital inputs electrically isolated (DI 0 … DI 5, DI 21 ... DI 22)
mode setpoint r0722

1 = DI 0 (X131.1) &
1 r0722.0
r0722.0..22
p0796
p0796.0 (0)
p0724
24 V p0795.1 1 = DI 1 (X131.2)
0 r0723
DI 1+ T 0 1 1 = DI 1 (X131.2)
r0723.1
DI 1– r0722
p0796.1 &
1 r0722.1
p0724
p0795.2 1 = DI 2 (X131.5)
0 r0723
DI 2 T 0 1 1 = DI 2 (X131.5)
r0723.2
r0722
p0796.2 &
1 r0722.2
p0724
p0795.3 1 = DI 3 (X131.6)
0 r0723
DI 3+ T 0 1 1 = DI 3 (X131.6)
r0723.3
DI 3– r0722
p0796.3 &
1 r0722.3
p0724
p0795.4 1 = DI 4 (X131.8)
0 r0723
DI 4 T 0 1 1 = DI 4 (X131.8)
3,3 V r0723.4
r0722
p0796.4 &
1 r0722.4
p0724
p0795.5 1 = DI 5 (X131.9)
0 r0723
DI 5 T 0 1 1 = DI 5 (X131.9)
r0723.5
r0722
p0796.5 &
1 r0722.5
p0724
p0795.21 1 = DI 21 (X130.2/3)
0 r0723
DI 21+ 24 V T 0 1 1 = DI 21 (X130.2/3)
r0723.21
r0722
DI 21– p0796.21 &

1 r0722.21
p0724
p0795.22 1 = DI 22 (X130.6/7)
Function diagrams
0 r0723
DI 22+ T 0 1 1 = DI 22 (X130.6/7)
3,3 V r0723.22
DI 22– r0722
p0796.22 &
1 r0722.22
1 2 3 4 5 6 7 8
- 2221 -
717
Digital inputs, electrically isolated (DI 0 … DI 5, DI 21 ... DI 22) V6.02.00

718
Figure 4-6

Function diagrams
Sampling time of the digital outputs: p0799[0] (2 ms)
2242 - Digital outputs (DO0 … DO2)
1 = DO 0 (X133.1) Inverted
p0748.0 (0)
1 = DO 0 (X133.1)
Signal for terminal DO 0 r0747.0
c0730 0 DO 0+
(52.3) <1>
1
1 DO 0-
1 = DO 1 (NO: X133.4 / NC: X133.3) Inverted

p0748.1 (0)
1 = DO 1 (NO: X133.4 / NC: X133.3)
c0731 0
(52.7)
1
1 DO 1 NC
<1>
DO 1 NO
DO 1 COM
1 = DO 2 (NO: T. 24 / NC: T. 23) Inverted

p0748.2 (0)
1 = DO 2 (NO: X133.7 / NC: X133.6)
c0732 0
(0)
1
1 DO 2 NC
<1>
DO 2 NO
DO 2 COM
<1> The digital output access authority is displayed in r0729.
1 2 3 4 5 6 7 8
- 2242 -
Digital outputs 0 ... 2 (DO 0 ... DO 2) V6.02.00
Figure 4-7
Sampling time of the analog inputs: p0799[1] (4 ms) <2> <3> <4> Analog inputs wire break monitoring, response threshold
0.00 ... 20.00
Analog inputs type p0761[0..1] (2.00)
0 ... 4
p0756[0..1] (4) <2> Analog inputs wire-break monitoring delay
Analog inputs simulation
time
mode
0 ... 1000 [ms]
0 ... 1
2251 - Analog inputs 0 … 1 (AI 0 … AI 1)
p0762[0..1] (100)
p0797[0..1] (0)
Analog inputs
≠1,3 status word
1
20 mA T 0
20 mA r0751.0..9
1,3 F03505 "Analog input

0
wire breakage"
Analog inputs Analog inputs

characteristic value x1 characteristic value x2
-50.000 ... 160.000 -50.000 ... 160.000
p0757[0..1] (0.000) p0759[0..1] (10.000)
AI 0+ <2> <2>
AI 1+ 0, 2
Analog inputs characteristic value y2 y [%]
+ A 0 1 -1000.00 ... 1000.00 [%] y2
0 p0760[0..1] (100.00)
<1> 100 μs + 2V 3
– D + x1 x2 x [%]
4 mA 4 1 Analog inputs characteristic value y1
AI 0– -1000.00 ... 1000.00 [%] y1
AI 1– p0758[0..1] (0.00)
<2>
Analog inputs offset Analog inputs simulation mode setpoint
-20.000 ... 20.000 -20.000 ... 20.000 Analog inputs dead zone
p0763[0..1] (0.000) p0798[0..1] (0.000) 0.000 ... 20.000
p0764[0..1] (0.000)
r0752[0..1] <2>
Analog inputs actual input voltage/current
Analog inputs smoothing Analog inputs noise

Analog inputs activate Analog inputs
time constant suppression window
absolute value generation inversion
0.0 ... 1000.0 [ms] 0.00 ... 20.00 [%]
p0766[0..1] (0) c0767[0..1] p0753[0..1] (0.0) p0768[0..1] (0.00) Analog inputs enable
Reference quantities, e. g.
(0) c0769[0..1]
p2000 … r2004
(1) Analog inputs,
0 0 y = x if actual value in
x y x1
1 percent [%]
|y - x| > p0768
-1 otherwise y = y(old) r0755[0..1]
+
1 1
0% x2
0 x1 · x2

100 %
<1> Differential input! <3> Possible settings p0756[0...1]:
The maximum voltage difference between analog input terminals AI+, AI-, and the ground must not exceed 35 V. 0: Unipolar voltage input (0 V ... +10 V)
For current measurement (p0756[0...1] = 2, 3), the voltage between differential inputs AI+ and AI- must not exceed 1: Unipolar voltage input monitored (+2 V ... +10 V)
Function diagrams
10 V or the impressed current must not exceed 80 mA, as otherwise the input will be damaged. 2: Unipolar current input (0 mA ... +20 mA)
3: Unipolar current input monitored (+4 mA to +20 mA)
<2> For p0756[0...1] = 0, 1, 4 the unit is V. 4: Bipolar voltage input (-10 V ... +10 V)
For p0756[0...1] = 2, 3 the unit is mA. <4> Wire breakage sensing only activated when p0756 = 1, 3.
1 2 3 4 5 6 7 8
- 2251 -
719
Analog inputs 0 ... 1 (AI 0 ... AI 1) V6.02.00

720
Figure 4-8

Function diagrams
Sampling time of the digital inputs: p0799[1] (4 ms)
2256 - Analog inputs as digital inputs (DI 11 … DI 12)
Digital inputs simulation mode

1.6 V 4.0 V Digital inputs debounce time
1 = DI 11 (X132.1/2) AI0 Simulation 0.000 ... 20.000 [ms]
p0795.11
p0795 (0) Digital inputs status inverted
p0724 (4.000) 1 = DI 11 (X132.1/2) AI0
1
AI 0+ r0723 Digital inputs status
0 1 r0723.0..22
r0723.11
(DI 11) Digital inputs simulation T 0 1 = DI 11 (X132.1/2) AI0
0
mode setpoint r0722
r0722
1 = DI 11 (X132.1/2) AI0 &
1 r0722.0..22
r0722.11
p0796
p0796.11 (0)
1 = DI 12 (X132.5/6) AI1 Simulation

1.6 V 4.0 V p0795.12 (0) p0724 1 = DI 12 (X132.5/6) AI1
1 r0723
AI 1+ 0 1 r0723.12
T 0 1 = DI 12 (X132.5/6) AI1
(DI 12)
0 r0722
1 = DI 12 (X132.5/6) AI1 &
1 r0722.12
p0796.12 (0)
1 2 3 4 5 6 7 8
- 2256 -
Analog inputs as Digital inputs (DI 11 … DI 12) V6.02.00
Figure 4-9
Sampling time of the analog
p0799[2] (4 ms)
outputs:
2261 – Analog outputs 0 … 1 (AO 0 … AO 1)
Analog output, activate Analog output

absolute value generation AO0 (X132.10/11) smoothing time constant
0 ... 1 0.0 ... 1000.0 [ms]
x1 p0775[0] (0) c0782[0] p0773[0] (0.0)
(0)
% AO0 (X132.10/11)
x2 Analog output actual output value
c0771[0] 0 0
x1 · 100 % referred [%]
x2 (21)
Reference quantities, e. g. 1
-1 1
r0772[0]
p2000 … r2004
Analog output actual output voltage/current

Analog output Analog output r0774[0]
characteristic value x1 characteristic value x2
-1000.00 ... 1000.00 [%] -1000.00 ... 1000.00 [%] Analog output type
0 ... 2 <1>
p0777[0] (0.00) p0779[0] (100.00)
p0776[0] (0)
<1>
Analog output characteristic value y1 y
0.000 ... 20.000 y2
p0778[0] (0.000) 0, 1
x y D AO 0
x2 x [%] 0 2
x1 + A
Voltage output
Current output
Analog output characteristic value y2 [%] +
0 … 20 mA
0.000 ... 20.000 4 mA
0 … 10 V
y1
p0780[0] (20.000) <1>
<1>
Analog output offset
-20.000 ... 20.000
p0783[0] (0.000) M

Function diagrams
<1> For p0776[0] = 1 the unit is V.
For p0776[0] = 0, 2 the unit is mA.
1 2 3 4 5 6 7 8
- 2261 -
721
Analog output 0 (AO 0) V6.02.00

722
Figure 4-10

Function diagrams
Two-wire control (p3334 = 1) Two-wire control (p3334 = 2)
clockwise/counterclockwise 1 clockwise/counterclockwise 2
2/3 wire control selection 2/3 wire control selection

p3334 (0) p3334 (0)
2272 - 2-wire control
2/3 wire control 2/3 wire control

command 1 command 1
r0722 c3330 [C] 1 = ON ON / OFF (OFF1) r0722 c3330 [C] 1 = ON ON / OFF (OFF1)
r0722.x (0) r3333 c0840 [C] r0722.x (0) r3333 c0840 [C]
r3333.0 (0) r3333.0 (0)
1 = Reversing Setpoint inversion 1 = Reversing Setpoint inversion

r3333 c1113 [C] r3333 c1113 [C]
command 2 command 2
r3333.1 (0) r3333.1 (0)
r0722 c3331 [C] r0722 c3331 [C]
<1> <1>
r0722.x (0) r0722.x (0)
1 = ON inverted 1 = ON inverted
r3333 r3333
1 r3333.2
1 r3333.2
1 = Reversing inverted 1 = Reversing inverted
r3333 r3333
1 r3333.3
1 r3333.3
Command ignored
ON / OFF1 ON / OFF1
Clockwise Clockwise
t t
Command
ignored
ON / OFF1 ON / OFF1
Counterclockwise Counterclockwise
t t
Setpoint Setpoint
Motor speed OFF1 OFF1 Motor speed OFF1 OFF1
Clockwise Clockwise
Counterclockwise t Counterclockwise t
Setpoint inverted OFF1 OFF1

Setpoint inverted OFF1
<1> Ongoing interconnection is either possible from r3333.0/r3333.1 or from the inverted signals
r3333.2/r3333.3.
1 2 3 4 5 6 7 8
- 2272 -
Two-wire control V6.02.00
Figure 4-11
Three-wire control (p3334 = 3) Three-wire control (p3334 = 4)
enable clockwise/counterclockwise enable ON/reversing
2/3 wire control selection 2/3 wire control selection

p3334 (0) p3334 (0)
2273 - 3-wire control

command 1 command 1
r0722 c3330 [C] 1 = ON ON / OFF (OFF1) r0722 c3330 [C] 1 = ON ON / OFF (OFF1)
r0722.x (0) r3333 c0840 [C] r0722.x (0) r3333 c0840 [C]
r3333.0 (0) r3333.0 (0)
2/3 wire control 1 = Reversing Setpoint inversion 2/3 wire control 1 = Reversing Setpoint inversion
command 2 command 2
r3333 c1113 [C] r3333 c1113 [C]
r0722 c3331 [C] r3333.1 (0) r0722 c3331 [C] r3333.1 (0)
r0722.x (0) r0722.x (0)
<1> <1>
1 = ON inverted 1 = ON inverted
r3333 r3333
command 3 1 r3333.2
command 3 1 r3333.2
r0722 c3332 [C] r0722 c3332 [C]
1 = Reversing inverted 1 = Reversing inverted
r0722.x (0) r0722.x (0)
r3333 r3333
1 r3333.3
1 r3333.3
Enable / OFF1 Enable / OFF1

t t
Command ignored Command ignored
ON
Clockwise ON
t t
ON
Counterclockwise Reversing
t t
Setpoint Setpoint
Motor speed Motor speed OFF1
Clockwise Clockwise
Counterclockwise t Counterclockwise t

Setpoint inverted OFF1 OFF1
Setpoint inverted OFF1
Function diagrams
<1> Ongoing interconnection is either possible from r3333.0/r3333.1 or from the inverted signals
r3333.2/r3333.3.
1 2 3 4 5 6 7 8
- 2273 -
723
Three-wire control V6.02.00

Function diagrams
4.3 PROFIenergy
4.3 PROFIenergy
Overview
The following function diagrams describe the PROFIenergy function.
Function diagrams
2381 – Control commands and interrogation commands (Page 725)
2382 – States (Page 726)

Figure 4-12 PROFIenergy

control commands
"Start_Pause"
Pause_Time
PROFINET "Start_Pause_with_time_response"
2381 - Control commands and interrogation commands
1 = Inhibit PROFIenergy
control commands
p5611.0 (0)
1 &
0
min max
Port 1
Port 2 480000 ms
"End_Pause"
Ready for operation

r5600 = 255
Energy-saving mode 2
r5600 = 2
[2382]
Time_to_pause Time_to_operate
PROFIenergy
interrogation commands
"List_Energy_Saving_Modes“
"Get_Mode“
"PEM_Status“
"PEM_Status_with_CTTO“
"PE_Identify“
"Query_Version“
"Get_Measurement_List“
"Get_Measurement_List_with_object_number“
"Get_Measurement_Values“
Function diagrams
4.3 PROFIenergy
"Get_Measurement_Values_with_object_number“
1 2 3 4 5 6 7 8
PROFIenergy © Siemens AG
- 2381 -
725
Control commands and interrogation commands V6.02.00

726
Figure 4-13
4.3 PROFIenergy
Function diagrams
PROFIdrive States PROFIenergy States
<1>
POWER ON PROFIenergy
2382 - States
POWER OFF
S1: Switching on
inhibited <2>
PROFIenergy
A08800
Energy-saving mode 2 PROFIenergy
& Energy-saving mode
active
1 = Inhibit PROFIenergy 1 = PROFIenergy active
control commands r5613
p5611.0 (0) & r5613.0
S2: Ready for Start_Pause
1 = PROFIenergy inactive
switching on 1 = Trans to energy-saving mode from r5613
PROFIdrive state S3/4 poss 1
r5613.1
p5611.2 (0)
Drive at standstill
Start_Pause
PROFIenergy energy-
& saving mode ID
1 = Inhibit PROFIenergy control commands Connection termination r5600
p5611.0 (0)
≥1 CPU STOP
End_Pause
1 = Drive initiates OFF1
when transitioning to
energy-saving mode
p5611.1 (0)
≥1 PROFIenergy
OFF1
Ready for operation
S3: Ready for

operation
PROFIenergy
Operation
S4: Operation
<1> Excerpt from: Basic state machine of a PROFIdrive drive axis (source: PROFIBUS Nutzerorganisation (PNO)).
<2> Diagnostic alarms to the CPU inhibited.
1 2 3 4 5 6 7 8
PROFIenergy © Siemens AG
- 2382 -
States V6.02.00
Function diagrams
4.4 PROFIdrive
4.4 PROFIdrive
Overview
The following function diagrams describe the PROFIdrive function.
Function diagrams
2401 – Overview (Page 728)
2415 – Standard telegrams and process data (PZD) (Page 729)
2418 – Manufacturer-specific telegrams and process data (PZD) (Page 730)
2423 – Supplementary/free telegrams and process data (PZD) (Page 731)
2440 – PZD receive signals interconnection (Page 732)
2441 – STW1 control word interconnection in Interface Mode 3 (VIK/NAMUR) (Page 733)
2442 – STW1 control word interconnection in Interface Mode 1 (Page 734)
2444 – STW2 control word interconnection (Page 736)
2450 – PZD send signals interconnection (Page 738)
2451 – ZSW1 status word interconnection in Interface Mode 3 (VIK/NAMUR) (Page 739)
2452 – ZSW1 status word interconnection in Interface Mode 1 (Page 740)
2460 – MELDW status word interconnection (Page 744)
2468 – Receive telegram free interconnection (Page 745)
2470 – Send telegram free interconnection (Page 746)

728
Figure 4-14
4.4 PROFIdrive
Function diagrams
Signal Meaning Interconnection
... ... ...

2401 – Overview
... ... ... Receive telegram

Header
[2440] PZD receive signals interconnection Data

[2441] … [2445] Control word interconnection
Trailer
Permanently assigned Signal Meaning Interconnection

telegrams
... ... ...
PROFIdrive PZD telegram
r0922
... ... ...
Signal interconnection
[2450] PZD send signals interconnection
PZD1
[2451] … [2455] Status word interconnection
PROFIdrive
Signal x
PZD1
PZDx PZD2
PZD3
[2415] Standard telegrams and process data (PZD)
[2418] Manufacturer-specific telegrams and process data (PZD)
...
[2423] Supplementary/free telegrams and process data (PZD)
PZDx Send telegramm

Free telegrams
[2468] Receive telegram, free interconnection (r0922 = 999)

Header
PZD1 Data
PZD2 Trailer
PZD3
...
PZDx
[2470] Send telegram, free interconnection (r0922 = 999)
[2472] Status words, free interconnection
1 2 3 4 5 6 7 8
PROFIdrive © Siemens AG
- 2401 -
Overview V6.02.00
Figure 4-15
Subslot 3: standard/SIEMENS
r60100[2]
<1> r0922
Interconnection is
[2440], [2450] automatically
2415 - Standard telegrams and process data (PZD)
made according to
Telegram 1 2 3 4 20
Application class 1 1 1, 4 1, 4 1
Interface Mode 1 1 1 1 3
PZD1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1
PZD2 NSOLL_A NIST_A NSOLL_A NIST_A_GLATT
NSOLL_B NIST_B NSOLL_B NIST_B NSOLL_B NIST_B
PZD3 IAIST_GLATT
PZD4 STW2 ZSW2 STW2 ZSW2 STW2 ZSW2 MIST_GLATT
PZD5 G1_STW G1_ZSW G1_STW G1_ZSW PIST_GLATT
PZD6 G2_STW MELD_NAMUR
G1_XIST1 G1_XIST1
PZD7
PZD8
G1_XIST2 G1_XIST2
PZD9
PZD10 G2_ZSW
PZD11
G2_XIST1
PZD12
PZD13
G2_XIST2
PZD14
PZD15
PZD16
PZD17
PZD18
PZD19
PZD20
PZD21
PZD22
PZD23
PZD24
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PRPFIBUS/PROFINET
PRPFIBUS/PROFINET
PRPFIBUS/PROFINET
PRPFIBUS/PROFINET
PRPFIBUS/PROFINET
Receive telegram from

PZD25
PZD26
Send telegram to
Send telegram to
Send telegram to
Send telegram to
Send telegram to
PZD27
PZD28
PZD29
PZD30
PZD31
PZD32
<2>
Function diagrams
<1> The telegram assignment is automatically established when switching from a free telegram (r0922 = 999) to another telegram. When switching from any telegram (r0922 ≠ 999) to the
free telegram (r0922 = 999) the "previous" telegram assignment is kept.
4.4 PROFIdrive
<2> Not suitable for sensorless vector control (SLVC).
1 2 3 4 5 6 7 8
- 2415 -
729
Standard telegrams and process data (PZD) V6.02.00

730
Figure 4-16
4.4 PROFIdrive
Function diagrams
Subslot 3: standard/SIEMENS
r60100[2]
<1> r0922
Interconnection is
[2440], [2450] automatically
2418 – Manufacturer-specific telegrams and process data (PZD)
made according to
Telegram 102 103 352

Application class 1, 4 1, 4 1
Interface Mode 2 2 1
PZD1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1
PZD2 NSOLL_A NIST_A_GLATT
NSOLL_B NIST_B NSOLL_B NIST_B
PZD3 <2> IAIST_GLATT
PZD4 STW2 ZSW2 STW2 ZSW2 <2> MIST_GLATT
PZD5 MOMRED MELDW MOMRED MELDW <2> WARN_CODE
PZD6 G1_STW G1_ZSW G1_STW G1_ZSW <2> FAULT_CODE
PZD7 G2_STW
G1_XIST1 G1_XIST1
PZD8
PZD9
G1_XIST2 G1_XIST2
PZD10
PZD11 G2_ZSW
PZD12
G2_XIST1
PZD13
PZD14
G2_XIST2
PZD15
PZD16
PZD17
PZD18
PZD19
PZD20
PZD21
PZD22
PZD23
PZD24
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PRPFIBUS/PROFINET
PRPFIBUS/PROFINET
PRPFIBUS/PROFINET

PZD25
PZD26
Send telegram to
Send telegram to
Send telegram to
PZD27
PZD28
PZD29
PZD30
PZD31
PZD32
<4>
<2> Freely interconnectable.
<3> In order to comply with the PROFIdrive profile, PZD1 must be used as control word 1 (STW1) or status word 1 (ZSW1).
<4> Not suitable for sensorless vector control (SLVC).
1 2 3 4 5 6 7 8
- 2418 -
Manufacturer-specific telegrams and process data (PZD) V6.02.00
Figure 4-17
Subslot 4: supplementary telegram
r60100[3]
PROFIdrive SIC/SCC Telegramm PROFIdrive PZD telegram
r60122 <1> r0922
Free telegram
2423 – Supplementary/free telegrams and process data (PZD)
Interconnection is Interconnection is
Manufactory-specific supplementary telegrams [2468], [2470]
made according to made according to
Telegram 700 750 Telegram 999

PZD n+1 S_ZSW1B (r9734) M_ADD (p1511) M_ACT (r0080) PZD1 STW1 <2> ZSW1 <2>
PZD n+2 M_LIMIT_POS (p1522) PZD2
S_V_LIMIT_B (r9733[2])
PZD n+3 M_LIMIT_NEG (p1523) PZD3
PZD n+4 PZD4
Transmit telegram length freely selectable

PZD n+5 PZD5
Receive telegram length freely selectable

PZD n+6 PZD6
via central PROFIdrive configuration
via central PROFIdrive configuration

PZD7
PZD8
The arrangement of process data (PZD) for the supplementary telegram depends on the telegram PZD9
selection. PZD10
The supplementary telegram is appended to the telegram selected. PZD11
PZD12
PZD13
PZD14
in the master.
in the master.
PZD15
PZD16
PZD17
PZD18
... PZD19
PZD20
PZD21
PZD22
PZD23
PZD24
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PROFIBUS/PROFINET
PRPFIBUS/PROFINET
PRPFIBUS/PROFINET
PRPFIBUS/PROFINET

PZD25
PZD26
Send telegram to
Send telegram to
Send telegram to
PZD27
PZD28
PZD29
PZD30
PZD31
PZD n+x PZD32
Function diagrams
4.4 PROFIdrive
<2> In order to comply with the PROFIdrive profile, PZD1 must be used as control word 1 (STW1) or status word 1 (ZSW1).
1 2 3 4 5 6 7 8
- 2423 -
731
Supplementary/free telegrams and process data (PZD) V6.02.00

732
Figure 4-18
4.4 PROFIdrive
Function diagrams
PROFINET
<3> Signal targets for PZD receive signals <1> <2>

2440 - PZD receive signals interconnection
PROFIdrive receive r2050 Bit, WORD PROFIdrive Interconnection Function Data

Signal Meaning Scaling
telegram r2060 DWORD Signal-No. parameter diagramm type
STW1 Control word 1 1 (bit serial) [2441] ... [2443] U16 -

Header ...
STW2 Control word 2 3 (bit serial) [2444], [2445] U16 -
Data
Telegram assignment NSOLL_A Speed setpoint A (16-bit) 5 c1060 [3030.1] I16 4000 hex =
^ p2000
Trailer
according to r0922
NSOLL_B Speed setpoint B (32-bit) 7 c1060 [3030.1] I32 4000 0000 hex =
^ p2000
[2415], [2418]
G1_STW Encoder 1 control word 9 c0480[0] - U16 -
G2_STW Encoder 2 control word 13 c0480[1] - U16 -
MOMRED Torque reduction 101 c1542 - I16 4000 hex =

^ p1544
<1> When selecting a standard telegram or manufacturer-specific telegram, this interconnection parameter of the command data set CDS0 is automatically set.
<2> Data type according to to the PROFIdrive profile: I16 = Integer16, I32 = Integer32, U16 = Unsigned16.
<3> Display parameters for receive data according to [2468].
1 2 3 4 5 6 7 8
- 2440 -
PZD receive signals interconnection V6.02.00
Figure 4-19
Signal targets for STW1 in Interface Mode 3 (VIK-NAMUR) <1>
Interconnection [Function diagram] [Function diagram]

Signal Meaning
parameter internal control word signal target
= ON (pulses can be enabled)

STW1.0 c0840[0] = r2050[0].0 [2501.2] [2610]
0 = OFF1 (braking with ramp-function generator, then pulse suppression & ready for switching on)
2441 – STW1 control word interconnection in Interface Mode 3 (VIK/NAMUR)
1 = No OFF2 (enable is possible)

STW1.1 c0844[0] = r2050[0].1 [2501.2] [2610]
0 = OFF2 (immediate pulse suppression and switching on inhibited)

STW1.2 c0848[0] = r2050[0].2 [2501.2] [2610]
0 = OFF3 (braking with the OFF3 ramp p1135, then pulse suppression and switching on inhibited)
1 = Enable operation (pulses can be enabled)

STW1.3 c0852[0] = r2050[0].3 [2501.2] [2610]
0 = Inhibit operation (suppress pulses)
1 = Ramp-function generator enable

STW1.4 c1140[0] = r2050[0].4 [2501.2] [3060], [3070], [3080]
0 = Inhibit ramp-function generator (set the ramp-function generator output to zero)
1 = Continue ramp-function generator

STW1.5 c1141[0] = r2050[0].5 [2501.2] [3060], [3070]
0 = Freezes the ramp-function generator
1 = Setpoint enable
STW1.6 c1142[0] = r2050[0].6 [2501.2] [3060], [3070], [3080]
0 = Inhibits the setpoint (the ramp-function generator input is set to zero)
STW1.7 = 1st acknowledge faults c2103[0] = r2050[0].7 [2512.1] [8060]
STW1.8 Reserved - - -
STW1.10 1 = Control via PLC <2> c0854[0] = r2050[0].10 [2501.2] [2501]
STW1.11 1 = Direction reversal <3> c1113[0] = r2050[0].11 [2505.2] [3040]
STW1.15 1 = CDS bit 0 c0810 = r2050[0].15 - [8560]
Function diagrams
<1> Used in telegram 20.
<2> Bit 10 in STW1 must be set to ensure that the drive accepts the process data.
4.4 PROFIdrive
<3> The direction reversal can be locked (see p1110 and p1111).
1 2 3 4 5 6 7 8
- 2441 -
733
STW1 control word interconnection in Interface Mode 3 (VIK/NAMUR) V6.02.00

734
Figure 4-20
4.4 PROFIdrive
Function diagrams
Signal targets for STW1 in Interface Mode 1 <1>

Signal Meaning

STW1.0 c0840[0] = r2050[0].0 [2501.2] [2610]
2442 - control word interconnection via Interface Mode 1

STW1.1 c0844[0] = r2050[0].1 [2501.2] [2610]

STW1.2 c0848[0] = r2050[0].2 [2501.2] [2610]

STW1.3 c0852[0] = r2050[0].3 [2501.2] [2610]

STW1.4 c1140[0] = r2050[0].4 [2501.2] [3060], [3070], [3080]

STW1.5 c1141[0] = r2050[0].5 [2501.2] [3060], [3070]
1 = Setpoint enable
STW1.6 c1142[0] = r2050[0].6 [2501.2] [3060], [3070], [3080]
STW1.11 1 = Direction reversal <3> c1113[0] = r2050[0].11 [2505.2] [3040]

STW1.13 1 = Motorized potentiometer raise c1035[0] = r2050[0].13 [2505.2] [3020]
STW1.14 1 = Motorized potentiometer lower c1036[0] = r2050[0].14 [2505.2] [3020]
<1> Used in telegram 1, 2, 3, 4, 352.

<3> The direction reversal can be locked (see p1110 and p1111).
1 2 3 4 5 6 7 8
- 2442 -
STW1 control word interconnection in Interface Mode 1 V6.02.00
Figure 4-21

Signal Meaning

STW1.0 c0840[0] = r2050[0].0 [2501.2] [2610]
2443 – STW1 control word interconnection in Interface Mode 2

STW1.1 c0844[0] = r2050[0].1 [2501.2] [2610]

STW1.2 c0848[0] = r2050[0].2 [2501.2] [2610]

STW1.3 c0852[0] = r2050[0].3 [2501.2] [2610]

STW1.4 c1140[0] = r2050[0].4 [2501.2] [3060], [3070], [3080]

STW1.5 c1141[0] = r2050[0].5 [2501.2] [3060], [3070]
1 = Setpoint enable
STW1.6 c1142[0] = r2050[0].6 [2501.2] [3060], [3070], [3080]
STW1.11 1 = Ramp-function generator active c2148[0] = r2050[0].11 - [8011]
STW1.12 1 = Unconditionally open the holding brake c0855[0] = r2050[0].12 [2501.2] [2701]
1 = Closed-loop torque control active

STW1.14 c1501[0] = r2050[0].14 [2520.2] [6060]
0 = Closed-loop speed control active
Function diagrams
<1> Used in telegram 102, 103.
4.4 PROFIdrive
1 2 3 4 5 6 7 8
- 2443 -
735

736
Figure 4-22
4.4 PROFIdrive
Function diagrams

Signal Meaning
STW2.0 Drive Data Set selection DDS bit 0 c0820[0] = r2050[3].0 - [8565]
STW2.8 1 = Traverse to fixed endstop active c1545[0] = r2050[3].8 [2520.2] [8015]
STW2.11 = Motor changeover feedback signal c0828[0] = r2050[3].11 - -

STW2.12 Master sign-of-life, bit 0

c2045 = r2050[3] - -

<1> Used in telegram 1, 2, 3, 4, 352.
1 2 3 4 5 6 7 8
- 2444 -
Figure 4-23

Signal Meaning Inverted
STW2.0 Drive Data Set selection DDS bit 0 c0820[0] = r2050[3].0 - [8565] -
STW2.3 Reserved - - - -
STW2.6 1 = Integrator inhibit, speed controller c1477[0] = r2050[3].6 [2520.2] [6040] -
STW2.8 1 = Traverse to fixed endstop active c1545[0] = r2050[3].8 [2520.2] [8015] -
STW2.9 1 = Drive Data Set, DDS effective bit 3 c0823[0] = r2050[3].9 - [8565] -
STW2.11 = Motor changeover feedback signal c0828[0] = r2050[3].11 - - -
STW2.12 Master sign-of-life, bit 0 -

r2045 = r2050[3] - -
Function diagrams
4.4 PROFIdrive
1 2 3 4 5 6 7 8
- 2445 -
737

738
Figure 4-24
4.4 PROFIdrive
Function diagrams
Signal sources for PZD send signals <1>
2450 - PZD send signals interconnection
PROFIdrive Interconnection Function Data r2053 WORD PROFIdrive

Signal Meaning Scaling r2063 DWORD
Signal-No. parameter diagramm type send telegram
ZSW1 Status word 1 2 r2053[0] [2451], [2452] U16 -

... Header
ZSW2 Status word 2 4 r2053[3] [2454] U16 - Data
NIST_A Actual speed A (16 bit) 6 r0063[0] [4715] I16 4000 hex =
^ p2000 Telegram assignment Trailer
according to r0922
NIST_B Actual speed B (32 bit) 8 r0063[0] [4715] I32 4000 0000 hex =
^ p2000
[2415], [2418]
G1_ZSW Encoder 1 status word 10 r0481[0] [4730] U16 -
G1_XIST1 Encoder 1 position actual value 1 11 r0482[0] [4704] U32 -
G1_XIST2 Encoder 1 position actual value 2 12 r0483[0] [4704] U32 - PROFINET

G2_ZSW Encoder 2 status word 14 r0481[1] [4730] U16 -
IAIST_GLATT Absolute actual current, smoothed 51 r0068[1] [6799] I16 4000 hex =
^ p2002
MIST_GLATT Actual torque smoothed 53 r0080[1] [6799] I16 4000 hex =

^ p2003
PIST_GLATT Actual active power, smoothed 54 r0082[1] [6799] I16 4000 hex =
^ p2004
NIST_A_GLATT Actual speed, smoothed 57 r0063[1] [6799] I16 4000 hex =

^ p2000
MELDW VIK-NAMUR message bit bar 58 r3113 - U16 -
FAULT_CODE Fault code 301 r2131 [8060] U16 -

WARN_CODE Alarm code 303 r2132 [8065] U16 -

<1> Data type according to to the PROFIdrive profile: I16 = Integer16, I32 = Integer32, U16 = Unsigned16.
1 2 3 4 5 6 7 8
- 2450 -
PZD send signals interconnection V6.02.00
Figure 4-25
Signal sources for ZSW1 in Interface Mode 3 (VIK-NAMUR) <1> <2>

Signal Meaning
ZSW1.0 1 = Ready for switching on c2053[0].0 = r0899.0 [2503.7] [2610]

2451 – ZSW1 status word interconnection in Interface Mode 3 (VIK/NAMUR)
ZSW1.1 1 = Ready for operation (DC link loaded, pulses inhibited) c2053[0].1 = r0899.1 [2503.7] [2610]
ZSW1.2 1 = Operation enabled (drive follows n_set) c2053[0].2 = r0899.2 [2503.7] [2610]
ZSW1.3 1 = Fault present c2053[0].3 = r2139.3 [2548.7] [8060]
ZSW1.4 1 = No coast down active (OFF2 inactive) c2053[0].4 = r0899.4 [2503.7] [2610]
ZSW1.5 1 = No Quick stop active (OFF3 inactive) c2053[0].5 = r0899.5 [2503.7] [2610]
ZSW1.6 1 = Switching on inhibited active c2053[0].6 = r0899.6 [2503.7] [2610]
ZSW1.7 1 = Alarm present c2053[0].7 = r2139.7 [2548.7] [8065]
ZSW1.8 1 = Speed setpoint - actual value deviation within tolerance t_off c2053[0].8 = r2197.7 [2534.7] [8011]
ZSW1.9 1 = Control requested <3> c2053[0].9 = r0899.9 [2503.7] [2503]
ZSW1.10 1 = f or n comparison value reached/exceeded c2053[0].10 = r2199.1 [2537.7] [8010]
ZSW1.11 1 = I, M, or P limit not reached c2053[0].11 = r0052.11 [2510.7] -
ZSW1.12 Reserved - - -
ZSW1.13 1 = No motor overtemperature alarm c2053[0].13 = r2135.6 [2549.7] [8016]
1 = Motor rotates forwards (n_act ≥ 0)

ZSW1.14 c2053[0].14 = r2197.3 [2534.7] [8011]
0 = Motor rotates backwards (n_act < 0)
c2053[0].15 = r0836.0
ZSW1.15 1 = Display CDS - -
<4>
Function diagrams
<1> Used in telegram 20.
<2> The ZSW1 is generated using c2053[0].0...15.
<3> The drive is ready to accept data.
4.4 PROFIdrive
<4> Interconnection is not disabled.
1 2 3 4 5 6 7 8
- 2451 -
739
ZSW1 status word interconnection in Interface Mode 3 (VIK-NAMUR) V6.02.00

740
Figure 4-26
4.4 PROFIdrive
Function diagrams
Signal sources for ZSW1 in Interface Mode 1 <1> <2>

Signal Meaning

2452 – ZSW1 status word interconnection in Interface Mode 1
ZSW1.11 1 = I, M, or P limit not reached c2053[0].11 = r0052.11 [2510.7] -

ZSW1.12 1 = Open holding brake c2053[0].12 = r0899.12 [2503.7] [2701]
ZSW1.13 1 = No motor overtemperature alarm c2053[0].13 = r2135.6 [2549.7] [8016]
1 = Motor rotates forwards (n_act ≥ 0)

ZSW1.14 c2053[0].14 = r2197.3 [2534.7] [8011]
0 = Motor rotates backwards (n_act < 0)
ZSW1.15 1 = No alarm, thermal overload, power unit c2053[0].15 = r2135.7 [2549.7] [8021]
<1> Used in telegram 1, 2, 3, 4, 352.

1 2 3 4 5 6 7 8
- 2452 -
ZSW1 status word interconnection in Interface Mode 1 V6.02.00
Figure 4-27

Signal Meaning

ZSW1.11 1 = Alarm class bit 0 c2053[0].11 = r2139.11 [2548.7] -
ZSW1.12 1 = Alarm class bit 1 c2053[0].12 = r2139.12 [2548.7] -
ZSW1.14 1 = Closed-loop torque control active c2053[0].14 = r1407.2 [2522.7] -
Function diagrams
4.4 PROFIdrive
1 2 3 4 5 6 7 8
- 2453 -
741

742
Figure 4-28
4.4 PROFIdrive
Function diagrams

Signal Meaning
ZSW2.0 1 = Drive Data Set, DDS effective bit 0 c2053[3].0 = r0051.0 - [8565]
ZSW2.5 1 = Alarm class bit 0 c2053[3].5 = r2139.11 [2548.7] [8065]
ZSW2.6 1 = Alarm class bit 1 c2053[3].6 = r2139.12 [2548.7] [8065]
ZSW2.8 1 = Travel to fixed stop active <3> c2053[3].8 = r1406.8 [2520.7] -
ZSW2.10 1 = Pulses enabled c2053[3].10 = r0899.11 [2503.7] [2610]
ZSW2.11 1 = Motor changeover active c2053[3].11 = r0835.0 - [8575]

<3>
ZSW2.12 Follower sign-of-life, bit 0
<4>
<3>
<4>
Implicitly interconnected - -
<3>
<4>
<3>
<4>
<1> Used in telegram 1, 2, 3, 4, 352.

<3> Not for U/f control.
<4> These signals are automatically interconnected for clock-cycle synchronous operation.
1 2 3 4 5 6 7 8
- 2454 -
Figure 4-29

Signal Meaning
ZSW2.4 1 = Ramp-function generator inactive c2053[3].4 = r0053.9 [2511.7] -
ZSW2.5 1 = Open the holding brake c2053[3].5 = r0899.12 - [2701]
ZSW2.6 1 = Integrator inhibit, speed controller c2053[3].6 = r2050[3].6 - [2445]
ZSW2.8 1 = Travel to fixed stop active <3> c2053[3].8 = r1406.8 [2520.7] -
ZSW2.11 1 = Motor changeover active c2053[3].11 = r0835.0 - [8575]
<3>
<4>
<3>
<4>
Implicitly interconnected - -
<3>
<4>
<3>
<4>
Function diagrams
<3> Not for U/f control.
4.4 PROFIdrive
<4> These signals are automatically interconnected for clock-cycle synchronous operation.
1 2 3 4 5 6 7 8
- 2455 -
743

744
Figure 4-30
4.4 PROFIdrive
Function diagrams
Signal sources for MELDW <1> <2>

Signal Meaning
MELDW.0 1 = Ramp-up/ramp-down completed c2053[4].0 = r2199.5 [2537.7] [8011]

2460 ‑ MELDW status word interconnection
MELDW.1 1 = Torque utilization < torque threshold value 2 (p2194) c2053[4].1 = r2199.11 [2537.7] [8012]
MELDW.2 1 = |n_act| < speed threshold value 3 (p2161) c2053[4].2 = r2199.0 [2537.7] [8010]
MELDW.3 1 = |n_act| > speed threshold value 2 (p2155) c2053[4].3 = r2197.1 [2534.7] [8010]
MELDW.4 1 = Vdc_min controller active c2053[4].4 = r0056.15 [2526.7] [6220], [6320]
MELDW.5 Variable signaling function 1 output signal c2053[4].5 = r3294.0 - [8024]
MELDW.6 1 = No motor overtemperature alarm c2053[4].6 = r2135.6 [2549.7] [8016]
MELDW.7 1 = No alarm, thermal overload, power unit c2053[4].7 = r2135.7 [2549.7] [8021]
MELDW.8 1 = Speed setpoint - actual value deviation within tolerance t_on c2053[4].8 = r2199.4 [2537.7] [8011]
MELDW.9 Reserved - - -
MELDW.10 Reserved - - -
MELDW.11 1 = Controller enable c2053[4].11 = r0899.8 [2503.7] [2610]

MELDW.12 1 = Drive ready c2053[4].12 = r0899.7 [2503.7] [2610]
MELDW.13 1 = Pulses enabled c2053[4].13 = r0899.11 [2503.7] [2610]


<2> The MELDW is generated using c2053[4].0...15.
1 2 3 4 5 6 7 8
- 2460 -
MELDW status word interconnection V6.02.00
Figure 4-31
PROFIdrive PZD receive PROFIdrive PZD receive
double word word
r2060[0..30] r2050[0..31].0..15
<3> <4> <3> <4>
<1>
PZD receive word 1 r2050[0]
2468 - Receive telegram free interconnection
PZD 1 + 2
PZD 1
r2060[0]

PZD 2 + 3
PZD 2
r2060[1]

PZD 3 + 4
PZD 3
PROFINET r2060[2]

PZD 4 + 5
PZD 4
r2060[3]
PROFIdrive receive PZD receive word 5 r2050[4]

telegram
PZD 5
... ... ...

Header
Data
Trailer
PZD receive word 29 r2050[28] PZD 29

PZD 29 + 30
r2060[28]

PZD 30 + 31
r2060[29]

PZD 31 + 32
r2060[30]
<2>
Reference quantities for further interconnection
p2xxx
<1> In order to maintain the PROFIdrive profile, receive word 1 must be used as control word (STW1) (due to bit 10 "control requested").
<2> The following representation applies for words and double words: words -> 4000 hex = 100 %, double words -> 4000 0000 hex = 100 %.
Function diagrams
The reference variables p200x apply for the ongoing interconnection (100 % -> p200x).
The following applies for temperature values: 100 °C -> 100 % = 4000 hex or 4000 0000 hex, 0 °C -> 0 %.
<3> Every PZD word can be assigned a word or a double word. Only one of the 2 interconnection parameters r2050 or r2060 can have a value <> 0 for a PZD word.
4.4 PROFIdrive
<4> When interconnecting a signal source multiple times all the signal sinks must have either Integer or FloatingPoint data type.
1 2 3 4 5 6 7 8
- 2468 -
745
Receive telegram, free interconnection (r0922 = 999) V6.02.00

746
Figure 4-32
4.4 PROFIdrive
Function diagrams
PROFIdrive PZD send double word PROFIdrive PZD send word
c2063[0..30] c2053[0..31]
(0) (0)
<3> <3>
PZD 1
2470 ‑ Send telegram free interconnection
c2053[0] <1>
(0)
PZD 1 + 2 PZD send word 1
c2063[0] PZD 2 <1>
(0) c2053[1]
(0)
c2063[1] PZD 3
(0) c2053[2]
(0)
c2063[2] PZD 4
(0) c2053[3]
(0)
PZD send word 4 PROFIdrive
send telegram
... ... ...

Header
Data
Trailer
PZD 29 + 30
c2063[28] PZD 30
(0) c2053[29]
(0)
c2063[29] PZD 31
(0) c2053[30] PROFINET
(0)
c2063[30] PZD 32
(0) c2053[31]
(0)
PZD send word 32
<2>
Reference quantities for further interconnection
p2xxx
<1> To comply with the PROFIdrive profile, send word 1 must be used as status word 1 (ZSW1), not as DWORD.
<2> Physical word and double word values are inserted in the telegram as referenced variables. p200x apply as reference variables (telegram contents = 4000 hex or 4000 0000 hex in the case of double
words, if the input variable has the value p200x).
The following applies for temperature values: 100° C -> 100 % = 4000 hex or 4000 0000 hex; 0° C -> 0 %.
<3> A PZD send word can either be supplied via signal sink r2053[x] (WORD) or via r2063[x] (DWORD).
The two corresponding signal sinks cannot be interconnected.
1 2 3 4 5 6 7 8
- 2470 -
Send telegram, free interconnection (r0922 = 999) V6.02.00
Function diagrams
4.5 Internal control/status words
Overview
The following function diagrams describe the internal control and status words.
Function diagrams
2501 – Control word sequence control (Page 748)
2503 – Status word sequence control (Page 749)
2505 – Control word setpoint channel (Page 750)
2510 – Status word 1 (Page 751)
2511 – Status word 2 (Page 752)
2512 – Control word 1 (Page 753)
2513 – Control word 2 (Page 754)
2520 – Control word speed controller (Page 755)
2522 – Status word speed controller (Page 756)
2526 – Status word closed-loop control (Page 757)
2530 – Status word closed-loop current control (Page 758)
2534 – Status word monitoring functions 1 (Page 759)
2548 – Status word faults/alarms 1 (Page 762)
2549 – Status word faults/alarms 2 (Page 763)
2610 – Sequence control - sequencer (Page 764)
2634 – Sequence control - missing data (Page 765)

748
Figure 4-33

Function diagrams
PROFIdrive-Bit Control word sequence
control
r0898
Bit No. Meaning
r0898.0..14
c0840 [C]
ON / OFF (OFF1) = ON
2501 - Control word sequence control
No coast-down / coast- <1> (0) 00 r0898.0 [2512.2]

0 = OFF1 active
down (OFF2) signal 2 <1> c0844 [C]
No coast-down / coast-down
c0845 [C] <2> (1) 1 = Operating condition, no coast down active (OFF2 inactive)
(OFF2) signal 1 & 01 r0898.1 [2512.2]
(1) 0 = OFF2 active
<1> c0848 [C]
No Quick Stop / Quick Stop 1 = Operating condition, no quick stop active (OFF3 inactive)
c0849 [C] <2> (1) 02 r0898.2 [2512.2]
(OFF3) signal 1 & 0 = OFF3 active
(1)
No Quick Stop / Quick Stop c0852 [C]
Enable operation/inhibit operation
(OFF3) signal 2 <1> (1) 03 1 = Enable operation r0898.3 [2512.2]
c1140 [C]
Enable ramp-function generator/ [2512.2], [3060.6],
<1> (1) 04 1 = Enable ramp-function generator r0898.4
inhibit ramp-function generator [3070.7], [3080.5]
c1141 [C]
Continue ramp-function generator/ [2512.2], [3060.6],
<1> (1) 05 1 = Continue ramp-function generator r0898.5
freeze ramp-function generator [3070.7]
c1142 [C]
Enable setpoint/inhibit setpoint [2512.2], [3060.1],
<1> (1) 06 1 = Enable speed setpoint r0898.6
[3070.1], [3080.4]
c0855 [C]
Unconditionally release holding brake
<1> (0) 07 1 = Command open brake r0898.7 [2701.4]
c1055 [C]
Jog bit 0
<1> (0) 08 1 = Jog 1 r0898.8 [2512.2], [3030.6]
c1056 [C]
Jog bit 1
<1> (0) 09 1 = Jog 2 r0898.9 [2512.2], [3030.6]
c0854 [C]
Control by PLC/no control by
<1> (1) 10 1 = Master control by PLC <3> r0898.10 [2512.2]
PLC
11 Reserved
c0856 [C]
Enable speed controller
<1> (1) 12 1 = Enable speed controller r0898.12 [2701.4], [6060.4]
13 Reserved
c0858 [C]
Unconditionally close holding brake
<1> (0) 14 1 = Command close brake r0898.14
15 Reserved
<1> Specified from the HMI device when master control is retrieved
<2> PROFIdrive interconnection:
For PROFIdrive standard telegrams, these inputs are connected with PROFIdrive-STW1 [2415]. Only relevant for CDS0.
1 2 3 4 5 6 7 8
Internal control/status words © Siemens AG
- 2501 -
Control word, sequence control V6.02.00
Figure 4-34 PROFIdrive-Bit Status word sequence

control
r0899
Bit No. Meaning
r0899.0..13
2503 - Status word sequence control
[2610] 00 1 = Ready for switching on r0899.0 [2510.2]
[2610] 01 1 = Ready r0899.1 [2510.2]
[2610] 02 1 = Operation enabled r0899.2 [2510.2]
No coast-down / coast-down [2610] 03 1 = Jog active r0899.3

(OFF2) signal 2
c0845 [C]
(1) [2610] 04 1 = No coasting active OFF2 inactive r0899.4 [2510.2], [2701.1]
No Quick Stop / Quick Stop

(OFF3) signal 2 [2610] 05 1 = No Quick Stop active OFF3 inactive r0899.5 [2510.2]
c0849 [C]
(1) [2610] 06 1 = Switching on inhibited active r0899.6 [2510.2], [2701.1]
Infeed
operation
& 07 1 = Drive ready r0899.7 [2510.2]
c0864
(13863.0) [2610] 08 1 = Controller enable r0899.8
OFF1 Bit 9 = 1 --> Ready to exchange

09 1 = Control request <1> r0899.9
process data
OFF2
≥1 10 Reserved
OFF3
[2610] 11 1 = Pulses enabled r0899.11
Enable internal
missing or fault
[2701.8] 12 1 = Open holding brake r0899.12 [2510.2]
with this reaction

[2701.8] 13 1 = Command close holding brake r0899.13
14 Reserved
15 Reserved
Function diagrams
Only for Clean Power infeed.
1 2 3 4 5 6 7 8
- 2503 -
749
Status word, sequence control V6.02.00

750
Figure 4-35

Function diagrams
Control word setpoint channel
r1198
Bit No. Meaning
r1198.0..15
c1020 [C]
Fixed speed setpoint selection bit 0 [3010.1], [3011.1]
2505 - Control word setpoint channel
(0) 00 1 = Fixed setpoint bit 0 r1198.0

[2513.2]
c1021 [C]
[2513.2]
c1022 [C]
[2513.2]
c1023 [C]
[2513.2]
04 Reserved
c1110 [C]
Inhibit negative direction
(0) 05 1 = Inhibit negative direction r1198.5 [3040.4]
c1111 [C]
Inhibit positive direction
(0) 06 1 = Inhibit positive direction r1198.6 [3040.5]
07 Reserved
08 Reserved
09 Reserved
10 Reserved
c1113 [C]
Setpoint inversion
(0) 11 1 = Setpoint inversion r1198.11 [2512.2], [3040.2]
12 Reserved
c1035 [C]
Motorized potentiometer setpoint raise
(0) 13 1 = Motorized potentiometer raise r1198.13 [2512.2], [3020.1]
c1036 [C]
Motorized potentiometer lower setpoint
(0) 14 1 = Motorized potentiometer lower r1198.14 [2512.2], [3020.1]
15 1 = Bypass ramp-function generator r1198.15 [3060.1], [3070.1]
1 2 3 4 5 6 7 8
- 2505 -
Control word, setpoint channel V6.02.00
Figure 4-36
Status word 1
r0052
Bit No. Meaning
r0052.0..15
r0899
[2503.7] 1 = Ready for switching on
2510 – Status word 1
r0899.0 00 1 = Ready for switching on r0052.0
r0899
[2503.7] 1 = Ready
r0899.1 01 1 = Ready r0052.1
r0899
[2503.7] 1 = Operation enabled
r0899.2 02 1 = Operation enabled r0052.2 [7958.1]
r2139
[2548.7] 1 = Fault present
r2139.3 03 1 = Fault present <1> r0052.3
r0899
[2503.7] 1 = No coasting active OFF2 inactive
r0899.4 04 0 = Coast down active (OFF2) r0052.4
r0899
[2503.7] 1 = No Quick Stop active OFF3 inactive
r0899.5 05 0 = Quick Stop active (OFF3) r0052.5
r0899
[2503.7] 1 = Switching on inhibited active
r0899.6 06 1 = Switching on inhibited active r0052.6
r2139
[2548.7] 1 = Alarm present
r2139.7 07 1 = Alarm present r0052.7
r2197
[2534.7] 1 = Speed setpoint - actual value
r2197.7 08 0 = Deviation setpoint/actual speed r0052.8
deviation in tolerance t_off
r0899
[2503.7] 1 = Drive ready
r0899.7 09 1 = Control request r0052.9
r2197
[2534.7] 1 = |n_act| > n_max (delayed)
r2197.12 10 1 = Maximum speed exceeded r0052.10
r0056
[2526.7] 1 = Current/torque
r0056.13 11 1 = I, M or P limit not reached r0052.11
limiting
r0899
[2503.7] 1 = Open holding brake
r0899.12 12 1 = Motor holding brake open r0052.12
r2135
[2548.7] 1 = Alarm motor overtemperature

r2135.14 13 0 = Alarm motor overtemperature r0052.13
r2197
[2534.7] 1 = n_act >= 0
r2197.3 14 1 = Motor rotates forwards r0052.14
r2135
[2548.7] 1 = Alarm power unit thermal
r2135.15 15 0 = Alarm drive converter overload r0052.15
overload
Function diagrams
<1> When p1210 > 0, the source is r1214.10.
1 2 3 4 5 6 7 8
- 2510 -
751
Status word 1 (r0052) V6.02.00

752
Figure 4-37

Function diagrams
Status word 2
r0053
Bit No. Meaning
r0053.0..11
r1239
[7017.5] 1 = DC braking active
2511 – Status word 2
r1239.8 00 1 = DC braking active r0053.0
r2197
[2534.7] 1 = |n_act| <= n_standstill p1226
r2197.5 01 1 = |n_act| > p1226 (n_standstill) r0053.1
r2197
[2534.7] 1 = |n_act| <= n_min p1080
r2197.0 02 1 = |n_act| > p1080 (n_min) r0053.2
r2197
[2534.7] 1 = I_act >= I_threshold value p2170
r2197.8 03 1 = I_act >= p2170 r0053.3
r2197
[2534.7] 1 = |n_act| > speed threshold 2 p2155
r2197.2 04 1 = |n_act| > p2155 r0053.4
r2197
[2534.7] 1 = |n_act| <= speed threshold 2 p2155
r2197.1 05 1 = |n_act| <= p2155 r0053.5
r2197
[2534.7] 1 = |n_act| >= n_set
r2197.4 06 1 = |n_act| >= r1119 (n_set) r0053.6
r2197
[2534.7] 1 = Vdc_act <= Vdc_threshold value
r2197.9 07 1 = Vdc <= p2172 r0053.7
p2172
r2197
[2534.7] 1 = Vdc_act > Vdc_threshold value p2172
r2197.10 08 1 = Vdc > p2172 r0053.8
r1199
[3080.8] 1 = Ramp-function generator active
r1199.2 09 1 = Ramp-up/ramp-down completed r0053.9
r2349
[7958.6] 1 = Technology controller output at
r2349.10 10 1 = Technology controller output at the lower limit r0053.10
the minimum
r2349
[7958.6] 1 = Technology controller
r2349.11 11 1 = Technology controller output at the upper limit r0053.11
output at the maximum
12 Reserved
13 Reserved
14 Reserved
15 Reserved
1 2 3 4 5 6 7 8
- 2511 -
Status word 2 (r0053) V6.02.00
Figure 4-38
Control word 1
r0054
Bit No. Meaning
r0054.0..15
r0898
[2501.7] 1 = ON/OFF1 1 = ON, operating condition (edge-controlled)
2512 – Control word 1
r0898.0 00 r0054.0
0 = OFF1, Shutdown via ramp, followed by pulse inhibit
r0898
[2501.7] 1 = Operating condition / OFF2 1 = Operating condition, no coast down active (OFF2 inactive)
r0898.1 01 r0054.1
0 = OFF2 active
r0898
[2501.7] 1 = Operating condition / OFF3 1 = Operating condition, no quick stop active (OFF3 inactive)
r0898.2 02 r0054.2
0 = OFF3 active
r0898
[2501.7] 1 = Enable operation
r0898.3 03 1 = Enable operation r0054.3
r0898
[2501.7] 1 = Enable ramp-function generator
r0898.4 04 1 = Enable ramp-function generator r0054.4
r0898
[2501.7] 1 = Continue ramp-function generator
r0898.5 05 1 = Continue ramp-function generator r0054.5
1st acknowledge faults
r0898
c2103 [C] [2501.7] 1 = Enable speed setpoint
r0898.6 06 1 = Enable speed setpoint r0054.6
(0)
POWER ON
≥1 07 1 = Acknowledge fault r0054.7
c2104 [C] r0898

[2501.7] 1 = Jog 1
(0) r0898.8 08 1 = Jog bit 0 r0054.8
2nd acknowledge faults
r0898
[2501.7] 1 = Jog 2
r0898.9 09 1 = Jog bit 1 r0054.9
r0898
[2501.7] 1 = Master control by PLC
r0898.10 10 1 = Master control by PLC <1> r0054.10
r1198
[2505.7] 1 = Setpoint inversion
r1198.11 11 1 = Direction reversal (setpoint) r0054.11
r0898
[2501.7] 1 = Enable speed controller
r0898.12 12 1 = Enable speed controller r0054.12
r1198
[2505.7] 1 = Motorized potentiometer raise

r1198.13 13 1 = Motorized potentiometer raise r0054.13
r1198
[2505.7] 1 = Motorized potentiometer lower
r1198.14 14 1 = Motorized potentiometer lower r0054.14
r0836
[8560.7] 1 = CDS selection bit 0
r0836.0 15 1 = CDS bit 0 r0054.15
Function diagrams
1 2 3 4 5 6 7 8
- 2512 -
753
Control word 1 (r0054) V6.02.00

754
Figure 4-39

Function diagrams
Supplementary control
word
r0055
Bit No. Meaning
r0055.0..15
r1198
[2505.7] 1 = Fixed setpoint bit 0
2513 – Control word 2
r1198.0 00 1 = Fixed setpoint bit 0 r0055.0
r1198
r1198
r1198
r0837
[8565.7] 1 = DDS selection bit 0
r0837.0 04 1 = DDS selection bit 0 r0055.4
r0837
[8565.7] 1 = DDS selection bit 1
r0837.1 05 1 = DDS selection bit 1 r0055.5
06 Reserved
07 Reserved
r2349
[7958.3] 1 = Technology controller deactivated
r2349.0 08 1 = Technology controller enable r0055.8
r1239
1 = DC braking/armature short-circuit
r1239.11 09 1 = DC braking enable r0055.9
selected
10 Reserved
r1406
[2520.7] 1 = Droop enable
r1406.11 11 1 = Droop enable r0055.11
r1406
[2520.7] 1 = Torque control active
r1406.12 12 1 = Torque control active r0055.12
c2106 [C]
External fault 1
(1) 13 0 = External fault 1 (F07860) r0055.13
14 Reserved
r0836
[8565.7] 1 = CDS selection bit 1
r0836.1 15 1 = CDS bit 1 r0055.15
1 2 3 4 5 6 7 8
- 2513 -
Supplementary control word 2 (r0055) V6.02.00
Figure 4-40
Control word speed controller
r1406
Bit No. Meaning
r1406.4..15
2520 - Control word speed controller
00 Reserved
01 Reserved
02 Reserved
03 Reserved
c1476 [C]
Speed controller hold integrator
(0) 04 1 = Hold speed controller I component r1406.4 [6040.1]
c1477 [C]
Speed controller set integrator value
(0) 05 1 = Set speed controller I component r1406.5 [6040.1]
06 Reserved
07 Reserved
c1545 [C]
Activates travel to a fixed stop
(0) 08 1 = Travel to fixed stop active r1406.8 [8015.1]
09 Reserved
10 Reserved
c1492 [C]
Droop feedback enable
(0) 11 1 = Droop enable r1406.11 [2513.2], [6030.1]
c1501 [C]
Change over between closed-loop
(0) 12 1 = Torque control active r1406.12 [2513.2], [6060.1]
speed/torque control

13 Reserved
14 Reserved
15 1 = Set speed adaptation controller I component r1406.15
Function diagrams
1 2 3 4 5 6 7 8
- 2520 -
755
Control word, speed controller (r1406) V6.02.00

756
Figure 4-41

Function diagrams
Status word speed
controller
r1407
Bit No. Meaning
r1407.0..31
00 1 = U/f control active r1407.0
2522 - Status word speed controller
01 1 = Encoderless operation active r1407.1 [4715.1]

[6060.3] 02 1 = Torque control active r1407.2 [6030.5], [8011.4]
[6040.8], [6824.8] 03 1 = Speed control active r1407.3
04 Reserved
[6040.8], [6824.8] 05 1 = Speed controller I component frozen r1407.5
[6040.8], [6824.8] 06 1 = Speed controller I component set r1407.6
[3080.1], [6040.1],
[6060.8], [6826.8] 07 1 = Torque limit reached r1407.7
[6824.3]
[6060.5], [6060.8], [6826.5], [6826.8] 08 1 = Upper torque limit active r1407.8
[6060.5], [6060.8], [6826.5], [6826.8] 09 1 = Lower torque limit active r1407.9
[6030.4] 10 1 = Droop enabled r1407.10
[6030.5], [6822.3] 11 1 = Speed setpoint limited r1407.11
12 1 = Ramp-function generator set r1407.12
13 1 = Encoderless operation due to a fault r1407.13
14 1 = I/f control active r1407.14
[6060.5], [6826.5] 15 1 = Torque limit reached (without precontrol) r1407.15
16 1 = Encoderless open-loop controlled operation not active r1407.16
[6640.8], [6829.8] 17 1 = Speed limiting control active r1407.17
18 Reserved
19 Reserved
20 Reserved
21 Reserved
22 Reserved
23 1 = Acceleration model activated r1407.23

24 1 = Moment of inertia estimator active r1407.24
[6035.4] 25 1 = Load estimate active r1407.25
[6035.4] 26 1 = Moment of inertia estimator stabilized r1407.26
[6035.4] 27 1 = Moment of inertia estimator fast estimation active r1407.27
28 Reserved
29 Reserved
30 Reserved
31 1 = Standard Drive Control active r1407.31
p0504 = 2: Dynamic Drive Control (DDC)
1 2 3 4 5 6 7 8
- 2522 -
Status word, speed controller (r1407) V6.02.00
Figure 4-42 Status word, closed-loop

control
r0056
Bit No. Meaning
r0056.0..15
2526 - Status word closed-loop control
00 1 = Initialization completed r0056.0
01 1 = De-magnetizing completed r0056.1
02 1 = Pulse enable available r0056.2
03 1 = Soft starting present r0056.3
[6722.8]
[6837.8] 04 1 = Magnetizing completed r0056.4 [2701.1]
[6850.6]
[6301.3] 05 1 = Voltage boost when starting r0056.5
[6301.3]
[6851.4] 06 1 = Acceleration voltage r0056.6
[6730.5], [6731.5], [6792.5]

[6710.6]
[6841.5], [6842.5], [6843.5] 07 1 = Frequency negative r0056.7 [6832.4]
[6856.5]
[6722.4], [6791.4]
[6835.4], [6837.4] 08 1 = Field weakening active r0056.8
[6715.8]
[6833.8] 09 1 = Voltage limit active r0056.9
[6311.8] 10 1 = Slip limit active r0056.10
[6730.5], [6731.5], [6792.5]

[6841.5], [6842.5], [6843.5] 11 1 = Frequency limit active r0056.11
[6856.5]
12 1 = Current limiting controller voltage output active r0056.12 [8015.1]

[6060.8], [6300.5] 13 1 = Current/torque limiting r0056.13 [2510.2], [8015.1]
[6826.8]
[6031.5], [6710.3]
[6220.8], [6320.8] 14 1 = Vdc_max controller active r0056.14 [6822.6], [6832.4]
[6710.1]
[6220.8], [6320.8] 15 1 = Vdc_min controller active r0056.15 [6832.4]
Function diagrams
p0504 = 1: Standard Drive Control (SDC)
1 2 3 4 5 6 7 8
- 2526 -
757
Status word, closed-loop control (r0056) V6.02.00

758
Figure 4-43

Function diagrams
Status word current
controller
r1408
Bit No. Meaning
r1408.0..31
2530 - Status word closed-loop current control
00 1 = Current controller active r1408.0
[6714.5]
[6833.5] 01 1 = Id control I component limiting active r1408.1
02 Reserved
[6715.8]
[6833.8] 03 1 = Voltage limiting active r1408.3
04...07 Reserved
08 1 = iq limiting active r1408.8
09 Reserved
10 1 = Speed adaptation limiting active r1408.10
[6730.4]
11 1 = Speed adaptation speed deviation Out tolerance r1408.11 [8015.1]
[6841.4]
[6730.4] <1>
12 1 = Motor stalled r1408.12 [8015.1]
[6841.4]
13...15 Reserved
16 1 = Current limit active r1408.16
17 1 = Torque limit active r1408.17

[6640]
[6829]
[6852]
18 1 = Power limit active r1408.18
<1>
19 1 = Stall limit active r1408.19
20...30 Reserved
31 1 = Standard Drive Control active r1408.31


p0504 = 1: Standard Drive Control (SDC)
<1> Stall detection or stall monitoring not available for U/f control and SDC.
1 2 3 4 5 6 7 8
- 2530 -
Status word, closed-loop current control (r1408) V6.02.00
Figure 4-44 Status word monitoring 1
r2197
Bit No. Meaning
r2197.0..13
2534 - Status word monitoring functions 1
[8022.8] 00 1 = |n_act| <= n_min p1080 r2197.0 [2511.2]
[8010.8] 01 1 = |n_act| <= speed threshold 2 p2155 r2197.1 [2511.2]
[8010.8] 02 1 = |n_act| > speed threshold 2 p2155 r2197.2 [2511.2]
[8011.8] 03 1 = n_act >= 0 r2197.3 [2510.2]
[8022.8] 04 1 = |n_act| >= n_set r2197.4 [2511.2]
[8022.8] 05 1 = |n_act| <= n_standstill p1226 r2197.5 [2511.2]
[8010.8] 06 1 = |n_act| > n_max r2197.6 [8023.1]
[8011.8] 07 1 = Speed setpoint - actual value deviation in tolerance t_off r2197.7 [2510.2]
[8022.8] 08 1 = I_act >= I_threshold value p2170 r2197.8 [2511.2]
[8022.8] 09 1 = Vdc_act <= Vdc_threshold value p2172 r2197.9 [2511.2]
[8022.8] 10 1 = Vdc_act > Vdc_threshold value p2172 r2197.10 [2511.2]
[8022.8] 11 1 = Output load is not present r2197.11
[8023.8] 12 1 = |n_act| > n_max (delayed) r2197.12 [2510.2]

13 1 = |n_act| > n_max (F07901) r2197.13
14 Reserved
15 Reserved
Function diagrams
1 2 3 4 5 6 7 8
- 2534 -
759
Status word, monitoring functions 1 V6.02.00

760
Figure 4-45

Function diagrams
Status word monitoring 2
r2198
Bit No. Meaning
r2198.0..13
[8023.8] 00 1 = |n_act| <= speed threshold value 5 r2198.0
[8023.8] 01 1 = |n_act| > speed threshold value 5 r2198.1
[8023.8] 02 1 = |n_act| <= speed threshold value 6 r2198.2
[8023.8] 03 1 = |n_act| > speed threshold value 6 r2198.3
[8011.8] 04 1 = |n_set| < p2161 r2198.4
[8011.8] 05 1 = n_set > 0 r2198.5
[8015.8] 06 1 = Motor blocked r2198.6
[8015.8] 07 1 = Motor stalled r2198.7
[8022.8] 08 1 = |I_act| < I_threshold value p2170 r2198.8
[8023.8] 09 1 = |M_act| > torque threshold value 1 and n_set reached r2198.9
[8012.8] 10 1 = |M_set| < torque threshold value 1 r2198.10
[8013.8] 11 1 = Load in the alarm range r2198.11

[8013.8] 12 1 = Load in the fault range r2198.12
[8023.8] 13 1 = |M_act| > torque threshold value 1 r2198.13
14 Reserved
15 Reserved
1 2 3 4 5 6 7 8
- 2536 -
Figure 4-46 PROFIdrive-Bit

Status word monitoring 3
r2199
Bit No. Meaning
r2199.0..11
[8010.8] 00 1 = |n_act| < speed threshold 3 r2199.0
[8010.8] 01 1 = f or n comparison value reached or exceeded r2199.1
02 Reserved
03 Reserved
[8011.8] 04 1 = Speed setpoint - actual value deviation in tolerance t_on r2199.4
[8011.8] 05 1 = Ramp-up/ramp-down completed r2199.5 [8012.1], [8023.1]
06 1 = Current below the zero current threshold r2199.6
07 1 = Speed deviation model/external in tolerance r2199.7
08 Reserved
09 Reserved
10 Reserved
[8012.8] 11 1 = Torque utilization < torque threshold value 2 r2199.11
12 Reserved

13 Reserved
14 Reserved
15 Reserved
Function diagrams
1 2 3 4 5 6 7 8
- 2537 -
761

762
Figure 4-47

Function diagrams
Status word faults/alarms
1
r2139
Bit No. Meaning
r2139.0..15
2548 - Status word faults/alarms 1
00 1 = Being acknowledged r2139.0
01 1 = Acknowledgment required r2139.1
02 Reserved
[8060.8] 03 1 = Fault present r2139.3 [2510.2]
04 Reserved
[8070.7] 05 1 = Safety message present r2139.5
06 Reserved
[8065.7] 07 1 = Alarm present r2139.7 [2510.2]
08 Reserved
09 Reserved
10 Reserved
[8065.7] 11 1 = Alarm class bit 0 r2139.11

[8065.7] 12 1 = Alarm class bit 1 r2139.12
[8065.7] 13 1 = Maintenance required r2139.13
[8065.7] 14 1 = Maintenance urgently required r2139.14

[8060.8] 15 1 = Fault gone/can be acknowledged r2139.15
1 2 3 4 5 6 7 8
- 2548 -
Status word, faults/alarms 1 (r2139) V6.02.00
Figure 4-48
Status word faults/alarms 2
r2135
Bit No. Meaning
r2135.6..15
00...05 Reserved
2549 – Status word faults/alarms 2
[8016.8] 06 1 = No alarm motor overtemperature r2135.6
[8021.7] 07 1 = No alarm thermal power unit overload r2135.7
08...11 Reserved
[8016.8] 12 1 = Fault motor overtemperature r2135.12
[8021.7] 13 1 = Fault power unit thermal overload r2135.13
[8016.8] 14 1 = Alarm motor overtemperature r2135.14 [2510.2]
[8021.7] 15 1 = Alarm power unit thermal overload r2135.15 [2510.2]

Function diagrams
1 2 3 4 5 6 7 8
- 2549 -
763
Status word, faults/alarms 2 (r2135) V6.02.00

764
Figure 4-49

Function diagrams
<2> Faults p0857 … p0861 Drive at standstill
Missing enable 2000.00 µs
<7> F07300...F07802 POWER ON Pulse enable HW &
signals (r0046) F06000 <1>
≥1 Fault with OFF1- or
[2634]
S1: Switching on inhibited Enable operation OFF3 response ...
ZSWA.06 = 1, ZSWA.11 = 0 (STWA.03)
ZSWA.00/01/02 = 0 From all states
2610 - Sequence control - sequencer
"0 = OFF" (STWA.00)

Pulses inhibited
"0 = Coast Stop" (STWA.01)
<3>
"0 = Quick Stop" (STWA.02) "0 = Coast Stop" (STWA.01) Drive at standstill
&
"Commissioning completed"
<3>
"0 = Quick Stop" (STWA.02) <3>
"0 = Coast Stop" Pulse enable HW &
<5>
(STWA.01)
≥1 ≥1
<5> r0046.8 safety enable missing <5> r0046.8 safety enable missing
[2634] r0046.8 safety Enable operation
[2634] [2634]
enable missing (STWA.03)
S2: Ready for switching on <4>

ZSWA.00 = 1, ZSWA.11 = 0 "0 = Quick Stop" S5b: Quick Stop
(STWA.02) &
ZSWA.00/01 = 1
"0 = OFF" Main contactor is OPEN
ZSWA.11 = 1
Wait for power-up or jog
Jog 1 ≥1 ZSWA.02/06 = 0
Jog 2 Bring the drive to n ≤ 0 along
"0 = OFF" the ramp-function generator,
<3>
"0 = Quick Stop" (STWA.02) c0864
&
Jog 1 & Drive at standstill then inhibit the pulses
(13863.0) Jog 2 Pulse enable HW &
<5> r0046.8 safety enable missing Infeed ≥1
[2634] operation S3: Ready for operation Enable operation
Close main 1 = Energize ZSWA.00/01 = 1, ZSWA.11 = 0 (STWA.03) <4>
contactor contactor ZSWA.02/06 = 0
1 = Precharging S5c: Jogging -
c0870 r0863.1 <4>
completed Wait for "Enable operation" down ramp
(0) r0863.0 S5a: Ramp stop ZSWA.00/01 = 1
ZSWA.00/01 = 1 ZSWA.11 = 1
VDC charged
& ZSWA.11 = 1 ZSWA.02/06 = 0
Enable operation (STWA.03) ZSWA.02/06 = 0
Bring the drive to n ≤ 0 along
No PM_fault Enable operation
Encoder ready <6> & (STWA.03)
1 Bring the drive to n ≤ 0 along the ramp-function generator,
the ramp-function generator, then inhibit the pulses
De-magnetization completed
then inhibit the pulses

(r0046.27 = 0)
<3> No jog Jog 1 Jog 1
S4: Operation operation Jog 2
≥1 ZSWA.00/01/02 = 1 "0 = OFF" & Jog 2 ≥1 Jog operation &
<5> r0046.8 safety enable missing
ZSWA.11 = 1, ZSWA.06 = 0
[2634]
OFF2 (has priority over jogging) No jog operation: Setpoints enabled
Only for Clean Power infeed. Pulses enabled
<1> POWER ON = 24 V electronics supply OFF --> ON or RESET. Controller enabled OFF3 (has priority over jogging)
<2> The sequence control is implemented according to the PROFIdrive profile. S4: Operation
<3> These control commands can also be triggered by a fault response.

S5a: Ramp stop 1 = Controller enable
<4> The parameters p1226, p1227 and p1228 influence this status.
<5> Only if "Safety Integrated" is active. S5b: Quick Stop ≥1 r0899.8 [2503.3]
<6> Only for operation with encoder. S5c: Jogging -
<7> STWA.xx = control word, sequence control, bit xx (r0898) [2501]; ZSWA.xx = status word, sequence control bit xx (r0899) [2503]. down ramp
1 2 3 4 5 6 7 8
- 2610 -
Sequence control - Sequencer V6.02.00
Figure 4-50
Missing enable signal 2000.00 µs
r0046
Bit No. Meaning
r0046.0..31
00 1 = OFF1 enable missing r0046.0 [3020.5]
01 1 = OFF2 enable missing r0046.1
2634 - Sequence control - missing data
02 1 = OFF3 enable missing r0046.2 [3060.1]

0 = Internal quick stop [3060.4]
03 1 = Operation enable missing r0046.3 Fault with OFF3
response
1 [3070.1]
04 1 = Armature short-circuit / DC braking enable missing r0046.4 [3070.4]
Line
05 1 = STOP2 enable missing r0046.5
06 Reserved
07 Reserved
1 = Internal RFG enable [3060.1]
08 1 = Safety enable missing r0046.8 1 [3070.1]
09 1 = Infeed enable missing r0046.9
10 1 = Ramp-function generator enable missing r0046.10
11 1 = Ramp-function generator start missing r0046.11
12 1 = Speed setpoint enable missing r0046.12 Close main contactor
c0870
13 Reserved 1 = Energize contactor
(0)
14 Reserved r0863
[2610.2]
1 r0863.1
DO
15 1 = QuickStop enable missing r0046.15
+24 V
16 1 = OFF1 enable internal missing r0046.16 Line contactor
control from Line contactor
17 1 = OFF2 enable internal missing r0046.17 sequence control feedback signal
18 1 = OFF3 enable internal missing r0046.18 c0860 DI
19 1 = Pulse enable internal missing r0046.19 (863.1)
20 1 = Armature short-circuit/DC braking internal enable missing r0046.20
ON/OFF monitoring
21 1 = STOP2 enable internal missing r0046.21
Line contactor monitoring
22 Reserved time [ms]
23 Reserved p0861 (100)
24 Reserved F07300
25 1 = Function bypass active r0046.25 T 0 "Line contactor Power unit
26 1 = Drive inactive or not operational r0046.26 1 feedback signal
missing"
27 1 = De-magnetizing not completed r0046.27 Time monitoring

28 1 = Brake open missing r0046.28
Operating monitoring
29 Reserved
30 1 = Speed controller enable missing r0046.30
31 1 = Jog setpoint active r0046.31 &
Function diagrams
&
1 2 3 4 5 6 7 8
- 2634 -
765
Sequence control - Missing enable signals, line contactor control V6.02.00

Function diagrams
4.6 Brake control
4.6 Brake control
Overview
The following function diagrams describe the brake control function.
Function diagrams
2701 – Basic brake control (Page 767)

Figure 4-51
Pulse cancellation delay time 1 = Command close brake
0.000 ... 299.000 [s] c0858 r0898 <1>
p1228 [D] (0.000) 1 = Command close holding brake
[2501.7] r0898.14
r0899 <7>
1 = Enable speed controller r0899.13 [2503.3]
RESET c0856 r0898
Speed actual value Unsmoothed [rpm] (Q=0) Q
[2501.7] r0898.12 Close brake
≥1
2701 - Basic brake control
[4715.6] r0063[0] RESET Close "normal" brake

1 T 0 (Q=0) Q
SET p1215 = 0
Q
(Q=1) Open brake
[4715.8] r0063[1]
0 1 SET
Q
r0899 <4>
Speed actual value & (Q=1) r0899.12 [2503.3]
Smoothed with p0045 [rpm] 1 = Open holding brake
Zero speed detection
Threshold for zero speed detection
0.00 ... 210000.00 [rpm] monitoring time
p1226 [D] (20.00) 0.000 ... 300.000 [s] <2>
p1227 [D] (4.000) Motor holding brake closing time
Speed setpoint 0 ... 10000 [ms]
before the setpoint p1217 [M] (100)
filter [rpm] 1 T 0
[6030.2] r0060
0 T 0
& RESET
OFF1 present 1 (Q=0) Q
<6>
OFF3 present 1
Pulse enable HW [6730.7]
& SET
Q [6731.7]
(Q=1)
1 = No coasting active OFF2 inactive [6792.7]
[2503.7] r0899.4
Motor holding brake
Enable pulses opening time
<3> 1 = Command open
0 ... 10000 [ms] 1 = STOP2 enable
& RESET brake

1 = Enable operation 1 p1216 [M] (100) internal missing
(Q=0) Q c0855 r0898 <1>
r0046
[2501.7] r0898.3 <2> <8> RESET
[2501.7] r0898.7
(Q=0) Q r0046.21 <5>
1 = Switching on inhibited active SET
1 T 0
[2503.7] r0899.6 & (Q=1)
Q
SET
& (Q=1)
Q
1 = Magnetizing completed
[2526.7] r0056.4
<1> Priority assignment (high -> low): p1215, p0858, p0855, p0856, sequence control.
<2> If p1215 = 0 -> t = 0 ms.
<3> Only if "Safety Integrated" is active.
<4> If an external motor holding brake is used, p1215 should be set to 3 and r0899.12 should be interconnected as control signal.
<5> r0046.21 = 0, as long as r0046.0 = 1 (OFF1 enable missing or switching on inhibited).
r0046.21 = 1, if c0858 = 1 or c0856 = 0.
Function diagrams
The signal generation is shown simplified.
4.6 Brake control

<6> The internal signal includes signals that lead to OFF1 or OFF3 (e. g. signal interconnection or fault response).
<7> If the brake is permanently applied or released (c0855, c0858 or p1215) the drive does not wait while the brake is released or applied.
<8> Start frequency with U/f control: p1351 [6311.3]; Start torque with vector control: c1475 [6040.1].
1 2 3 4 5 6 7 8
Brake Control © Siemens AG
- 2701 -
767
Basic brake control V6.02.00

Function diagrams
4.7 Safety Integrated
Overview
The following function diagrams describe the Safety Integrated function.
Function diagrams
2850 – Failsafe digital inputs (F-DI 0 ... F-DI 2) (Page 769)
2853 – Failsafe digital output (F-DO 0) (Page 770)
2854 – Control signals safe motion monitoring function (Part 1) (Page 771)
2855 – Control signals safe motion monitoring function (Part 2) (Page 772)
2856 – Safe state selection (Page 773)
2915 – Standard telegrams (Page 774)
2917 – Manufacturer-specific telegrams (Page 775)

Figure 4-52
24 V DC to next device 1 = Control via F-DI Enable p9500
p9603.0 (1) 1 = F-DI 2 (X131.5/4, X131.6/7) Enabled &
X124.1 p10000.2 (0)
24 V IN 1 = Control via PROFIsafe Enable
p9603.1 (0) 1
X124.2 & 1 = F-DI 1 (X131.1/4, X131.2/3) Enabled &
1 = Enable F-DI in PROFIsafe telegram Enable p10000.1 (0)
p9604.30 (0)
2850 - Fail-safe digital inputs (F-DI 0 ... F-DI 2)
X124.3
0 V IN
1 = F-DI 0 (X130.2/3, X130.6/7) Enabled
&
X124.4 p10000.0 (1)
SI F-DI self test length dark 24 V Generate test pulses
pulses VS1/VS2 [ms]
p10018 (0) p10041[x] = 0, 3: VS1 = VS2 = 24 V SI F-DI changeover
p10041[x] = 1: VS1 = p10018, VS2 = 24 V discrepancy time [ms]
p10041[x] = 2: VS1 = VS2 = p10018 p10002 (500.00)
X130.1 VS 1
Enable F-DI 0
X130.2 DI 21+ F-DI 0 C01770 T 0
Check test pulses C01770
p10041[0] (0) 3: Test pulse error =1
X130.3 DI 21- 1: Discrepancy error
1 = Status of the F-DI 0

X130.4
M r10051 Logical 1
F-DI 0 [ms]
X130.5 VS 2 p10017[0] (4.00) 0 r10051.0
& r10071
r10071.0
X130.6 DI 22+ 1 1 r10151
X130.7 DI 22- 1 = F-DI 0, DI 22+ (X130.6/7) NO contact r10151.0
p10040.0 (0)
X130.8
M
F-DI 1 C01770 Enable F-DI 1
Check test pulses T 0 C01770
X131.1 DI 0+ 1: Discrepancy error
M1 r10051 Logical 1
F-DI 1 [ms]
X131.2 DI 1+
X131.3 DI 1-
p10017[1] (4.00) 0 r10051.1
& r10071
r10071.1
1 1 r10151
X131.4 r10151.1
M1 1 = F-DI 1, DI 1+ (X131.2/3) NO contact
p10040.1 (0)
F-DI 2 C01770 Enable F-DI 2

Check test pulses T 0 C01770
X131.5 DI 2+ 1: Discrepancy error
M1 r10051 Logical 1
F-DI 2 [ms]
X131.6 DI 3+ p10017[2] (4.00) 0 r10051.2
& r10071

r10071.2
X131.7 DI 3-
1
Function diagrams
1 r10151
1 = F-DI 2, DI 3+ (X131.6/7) NO contact r10151.2
p10040.2 (0)
1 2 3 4 5 6 7 8
Safety Integrated © Siemens AG
- 2850 -
769
Fail-safe digital inputs (F-DI 0 … F-DI 2) V6.02.00

770
Figure 4-53

Function diagrams
p9500
1 = Control via F-DI Enable

p9603.0 (1)
1
1 = Control via PROFIsafe Enable
p9603.1 (0)
2853 - Fail-safe digital output (F-DO 0)
Enable F-DO <1>
c10042[0]
Possible sources: AND logic operation input 1
(0)
<2>
SI status signals c10042[1] 1
AND logic operation input 2
(0)
r9722 2
c10042[2] 1 = Status of the F-DO 0
[2856.4] r9722.0..15 (0)
Logical 1
3
r10072
SI Safe State status
c10042[3]
AND logic operation input 4 4 & r10072.0
(0)
r10038 5
[2856.8] r10038 c10042[4]
(0) 6
c10042[5]
(0)
SI F-DO self test dark F-DO 0+

pulses duration [ms]
p10020 (4)
Control and check test pulses +24 V
SI F-DO diagnostics
mode selection F-DO 0-
p10047 (1)
M Example of a circuit
C01771 X124.1
"SI: Fault of the failsafe outputs"
X124.2
X124.3
X124.4
<1> The F-DO is only active if at least one input of c10042[0..5] is interconnected to a signal source or a 1 signal was set.
<2> If a signal source is not connected to an input, then the input is set to HIGH (default).
Exception: 24 V DC to next device
If a signal source is not interconnected to any input or 1 signal was set, then the output signal = 0.
1 2 3 4 5 6 7 8
- 2853 -
Fail-safe digital output (F-DO 0) V6.02.00
Figure 4-54
1 = Control via F-DI Enable 1 = Control via PROFIsafe Enable p9500
p9603.0 (1) p9603.1 (0)
<1>
1 = Enable STO Enable
p9604.0 (1) 1 = Selection via F-DI
SI STO input terminal r10352
1
0 1 1 1 = Deselect STO
2854 – Control signals safe motion monitoring function (part 1)
r10352.0
c10022 0
1 r9720
(10071.0) &
1 r9720.0 [2856.1]
0 0 r10352
1 1
r10075 1 1 r10352.1
1 = Deselect STO
r10075.0 1 = Selection via PROFIsafe
1
1 = Enable SS1 Enable

SI SS1 input terminal r10353
1
0 1 1 r10353.0 1 = Deselect SS1
c10023 0
1 r9720
(1) &
1 r9720.1 [2856.1]
0 0 r10353
1 1
r10075 1 1 r10353.1
1 = Deselect SS1
1
1 = Enable SLS Enable

SI SLS input terminal 0 r10356
1 1 1 r10356.0 1 = Deselect SLS
c10026 0
1 r9720
(1) &
1 r9720.4 [2856.1]
0 0 r10356
1 1
r10075 1 1 r10356.1
1 = Deselect SLS
1
SI SLS limit bit 0 input terminal 0

1 = Select SLS bit 0
1 1 Set
c10027 0
1 r9720
(0) &
1 r9720.9 [2856.1]
0 0
1 1
r10075 1
1 = Select SLS bit 0 Set
r10075.9
1
SI SLS limit bit 1 input terminal 0

1 = Select SLS bit 1
1 1 Set
c10028 0
1 r9720
(0) &
1 r9720.10 [2856.1]
0 0

1 1
r10075 1
Function diagrams
1 = Select SLS bit 1 Set
r10075.10
1
<1> Only F-DI 0 can be used for control via PROFIsafe. For control via PROFIsafe, the fail-safe digital output can only be interconnected with STO (Safe Torque Off) / SS1 (Safe Stop 1).
1 2 3 4 5 6 7 8
- 2854 -
771
Control signals safe motion monitoring functions (part 1) V6.02.00

772
Figure 4-55

Function diagrams
1 = Control via F-DI Enable 1 = Control via PROFIsafe Enable p9500
p9603.0 (1) p9603.1 (0)
<1>
2855 ‑ Control signals of safe motion monitoring function (part 2)
1 = Enable SDI Enable

SI SDI positive input terminal 0 r10360
1 1 1 r10360.0 1 = Deselect SDI positive
c10030 0
1 r9720
(1) &
1 r9720.12 [2856.1]
0 0 r10360
1 1
r10075 1 1 r10360.1
1 = Deselect SDI positive
1
1 = Selection via F-DI

SI SDI negative input terminal 0 r10361
1 1 1 r10361.0 1 = Deselect SDI negative
c10031 0
1 r9720
(1) &
1 r9720.13 [2856.1]
0 0 r10361
1 1
r10075 1 1 r10361.1
1 = Deselect SDI negative
1
1 = Enable SSM Enable

SI SSM input terminal 0 r10365
1 1 1 r10365.0 1 = Deselect SSM
c10035 0
1 r9720
(1) &
1 r9720.15 [2856.1]
0 0 r10365
1 1
r10075 1 1 r10365.1
1 = Deselect SSM

1
<1> Only F-DI 0 can be used for control via PROFIsafe. For control via PROFIsafe, the fail-safe digital output can only be interconnected with STO (Safe Torque Off) / SS1 (Safe Stop 1).
1 2 3 4 5 6 7 8
- 2855 -
Control signals safe motion monitoring functions (part 2) V6.02.00
Figure 4-56
p9500
1 = STO active Selected
p10039.0 (1)
1 = Deselect STO
1 = STO or safe pulse cancellation active 0
r9720 0
r9722
2856 - Safe State selection
[2854.8] r9720.0
r9722.0
1
1 = SS1 active Selected

p10039.1 (0)
1 = Deselect SS1
1 = SS1 active 0
r9720 0
r9722
[2854.8] r9720.1
r9722.1
1
1 = SLS active Selected

p10039.7 (0)
1 = Deselect SLS
1 = SLS active 0
r9720 0
r9722
[2854.8] r9720.4
r9722.4
1
SI Safe State status
Safe motion r10038
monitoring 1 = SDI pos active Selected ≥1 r10038
p10039.8 (0)
1 = Deselect SDI positive

1 = SDI positive active 0
r9720 0
r9722
[2855.8] r9720.12
r9722.12
1
1 = SDI neg active Selected

p10039.9 (0)
1 = Deselect SDI negative

1 = SDI negative active 0
r9720 0
r9722
[2855.8] r9720.13
r9722.13
1
1 = SSM (speed below limit

value) Selected
p10039.10 (0)

Function diagrams
1 = Deselect SSM
1 = SSM (speed below limit value) 0
r9720 0
r9722
[2855.8] r9720.15
r9722.15
1
1 2 3 4 5 6 7 8
- 2856 -
773
Safe state selection V6.02.00

774
Figure 4-57

Function diagrams
SI PROFIsafe telegram selection
0 ... 902
p9611 (0)
2915 - Standard telegrams
Interconnection is
made according to
Telegram 30
PZD1 S_STW1 S_ZSW1
PZD2
PZD3
PZD4
PZD5
PZD6
PZD7
PZD8
PZD9
PZD10
PZD11
PZD12
PZD13
PZD14
PZD15
PZD16
PZD17
PZD18
PZD19
PZD20
PZD21
PZD22
PZD23
PZD24
PROFIBUS/PROFINET
PRPFIBUS/PROFINET
PZD25
PZD26
Send telegram to
PZD27
PZD28
PZD29
PZD30
PZD31
PZD32
PROFIsafe telegram
r60022
1 2 3 4 5 6 7 8
Safety Integrated PROFIsafe © Siemens AG
- 2915 -
Standard telegrams V6.02.00
Figure 4-58
SI PROFIsafe telegram selection
0 ... 902
p9611 (0)
2917 - Manufacturer-specific telegrams
Interconnection is
made according to
Telegram 902
PZD1
S_STW2 S_ZSW2
PZD2
PZD3 S_SLS_LIMIT_A S_SLS_LIMIT_A_ACTIVE
PZD4 Reserved
PZD5
Reserved
PZD6
PZD7
PZD8
PZD9
PZD10
PZD11
PZD12
PZD13
PZD14
PZD15
PZD16
PZD17
PZD18
PZD19
PZD20
PZD21
PZD22
PZD23
PZD24
PROFIBUS/PROFINET
PRPFIBUS/PROFINET
PZD25
PZD26
Send telegram to
PZD27
PZD28
PZD29
PZD30
PZD31
PZD32
PROFIsafe telegram
r60022

Function diagrams
1 2 3 4 5 6 7 8
Safety Integrated PROFIsafe © Siemens AG
- 2917 -
775
Manufacturer-specific telegrams V6.02.00

Function diagrams
4.8 Setpoint channel
Overview
The following function diagrams describe the setpoint channel.
Function diagrams
3010 – Fixed speed setpoints, binary selection (Page 778)
3011 – Fixed speed setpoints, direct selection (Page 779)
3020 – Motorized potentiometer (Page 780)
3030 – Main/supplementary setpoint, setpoint scaling, jogging (Page 781)
3040 – Direction limitation and direction reversal (Page 782)
3050 – Skip edges (Page 783)
3051 – Speed limits (Page 784)
3060 – Basic ramp-function generator (Page 785)
3070 – Extended ramp-function generator (Page 786)
3080 – Ramp-function generator selection, status word, tracking (Page 787)

Figure 4-59
Supplementary setpoint scaling [%] raise
c1076 [C] Motorized potentiometer
(100.00) Fixed speed setpoint setpoint after ramp-
effective [rpm] function generator [rpm]
Supplementary setp [rpm] r1050
3001 – Overview
r1024
c1075 [C]
(0.00)
lower
Main setpoint scaling [%] 1 = Jog 1
c1071 [C] r0898.8
[3010] Fixed speed setpoints, binary selection (p1016 = 2) [3020] Motorized potentiometer
(100.00) 1 = Jog 2 [3011] Fixed speed setpoints, direct selection (p1016 = 1)
Main setpoint r0898.9
c1070 [C] +
(1061) 0 0
+ Setpoint after the direction
Jog 1 speed setpoint [rpm] limiting [rpm] Ramp-function generator
0 1
p1058 [D] (150.000) setpoint at the input [rpm]
n_set_1 r1114
Jog 2 speed setpoint [rpm]

1 0
+/- r1119 [6300.1]
[6850.1]
p1059 [D] (-150.000)
pos
1 1 neg
(-1)
[3030] Main/supplementary setpoint, setpoint scaling, jogging [3040] Direction limitation [3050] Skip frequency bands
and direction reversal
Speed controller speed setpoint 1 [rpm]
p1115 c1155 [C]

(0.00)
Ramp-function generator speed setpoint at the output [rpm] Speed controller setpoint
n_set_4 0 + sum [rpm]
r1150
r1170 [6020.1]
c1160 [C]
+ [6820.1]
1 + [8005.5]
(0.00)
[3060] Basic ramp-function
generator Speed controller speed setpoint 2 [rpm]
Ramp-function generator status word

r1199
ZSW
r1199.0..8
n_set_5
Ramp-function
generator M_limit
tracking

Function diagrams
[3070] Extended ramp-function generator
[3070] Ramp-function generator selection, status word, tracking
Ramp-function generator tracking
1 2 3 4 5 6 7 8
Setpoint channel © Siemens AG
- 3001 -
777
Overview V6.02.00
778
Figure 4-60

Function diagrams
Fixed speed setpoint select mode
p1016 (1) Fixed speed setpoint
number actual
0.000 0 0 0 0
3010 - Fixed speed setpoints, binary selection
1 = Fixed setpoint bit 0 r1197

c1020 r1198 1
[3011]
Fixed speed setpoint 1 [rpm]
[2505.6] r1198.0 2 0 0 0 1
p1001 [D] (0.000)
1 = Fixed setpoint bit 1
c1021 r1198 1 Fixed speed setpoint 2 [rpm]
[3011] 0 0 1 0
[2505.6] r1198.1 p1002 [D] (0.000)
2
1 = Fixed setpoint bit 2 Fixed speed setpoint 3 [rpm]
0 0 1 1
c1022 r1198 1 p1003 [D] (0.000)
[3011]
[2505.6] r1198.2
2 Fixed speed setpoint 4 [rpm]
0 1 0 0
1 = Fixed setpoint bit 3 p1004 [D] (0.000)
c1023 r1198 1
[3011] Fixed speed setpoint 5 [rpm]
[2505.6] r1198.3 0 1 0 1
2 p1005 [D] (0.000)

0 1 1 0
p1006 [D] (0.000)
Fixed speed setpoint 7 [rpm] Fixed speed setpoint

0 1 1 1
p1007 [D] (0.000) effective [rpm]
r1024
1 0 0 0
p1008 [D] (0.000)

1 0 0 1
p1009 [D] (0.000)

1 0 1 0
p1010 [D] (0.000)

1 0 1 1
p1011 [D] (0.000)

1 1 0 0
p1012 [D] (0.000)

1 1 0 1
p1013 [D] (0.000)

1 1 1 0
p1014 [D] (0.000)

1 1 1 1
p1015 [D] (0.000)
1 2 3 4 5 6 7 8
- 3010 -
Fixed speed setpoints, binary selection (p1016 = 2) V6.02.00
Figure 4-61
Fixed speed setpoint select mode

p1016 (1)
3011 - Fixed speed setpoints, direct selection

c1020 r1198 1
[2505.6] r1198.0 2 [3010]
c1021 r1198 1
[2505.6] r1198.1 1 = Fixed speed setpoint selected
≥1
2 [3010] r1025.0
c1022 r1198 1
[2505.6] r1198.2
2 [3010]
c1023 r1198 1
[2505.6] r1198.3
2 [3010]

0001
p1001 [D] (0.000)

0010
p1002 [D] (0.000)

0100
p1003 [D] (0.000) Fixed speed setpoint
+ + + effective [rpm]
1000 r1024
p1004 [D] (0.000) + + +

Function diagrams
1 2 3 4 5 6 7 8
- 3011 -
779
Fixed speed setpoints, direct selection (p1016 = 1) V6.02.00

780
Figure 4-62

Function diagrams
Motorized potentiometer configuration
1 = Data save active 0 The setpoint for the motorized potentiometer is not saved and after ON is entered using p1040.
p1030.0 [D] 1 The setpoint for the motorized potentiometer is saved in a ashion after OFF and after ON set to the saved value.
1 = Automatic mode ramp-function generator active 0 Without ramp-function generator in automatic mode (ramp-up/ramp-down time = 0).
p1030.1 [D] 1 With ramp-function generator in automatic mode.
1 = Initial rounding-off active 0 Without initial rounding.
3020 - Motorized potentiometer
p1030.2 [D] 1 With initial rounding. The ramp-up/down time set is exceeded accordingly.
1 = Non-volatile saving active 0 Non-volatile data save deactivated.
p1030.3 [D] 1 The setpoint for the motorized potentiometer is saved in a non-volatile fashion (for p2230.0 = 1).
1 = Ramp-function generator always active 0 Ramp-up encoder inactive with pulse inhibit.
p1030.4 [D] 1 The ramp-up encoder is calculated independently of the pulse enable.
0
Old value is kept
c1035 r1198
1 -1
[2505.7] r1198.13
1 = Motorized potentiometer raise
c1036 r1198
[2505.7] r1198.14 Motorized potentiometer Motorized potentiometer
Motorized potentiometer manual/automatic ramp-up time ramp-down time
1 = Motorized potentiometer lower c1041 [C]
00 p1030.1 0.000 ... 1000.000 [s] 0.000 ... 1000.000 [s]
(0) p1047 [D] (10.000) p1048 [D] (10.000)
Motorized potentiometer
& <2> <2>
maximum speed [rpm]
01 y
p1037 [D] (0.000) p1082
0 Motorized potentiometer
0 1 setpoint after ramp-
Motorized potentiometer -1 function generator [rpm]
minimum speed [rpm] 1 x y
10 r1050
p1038 [D] (0.000) 1 0 x
Recommended
r1045 interconnection:
Mot potentiometer speed setpoint in r1070 [3030.1]
-p1082
11 front of ramp-function gen [rpm] y=0
c1039 [C] Reference value for the ramp function

[3051.8]
(0) generator (p1082) Motorized potentiometer starting value

-210000.000 ... 210000.000 [rpm]
Motorized potentiometer inversion Motorized potentiometer setting value [rpm] p1040 [D] (0.000)
c1044 [C]
c1042 [C] (0.00)
(0.00)
Motorized potentiometer automatic setpoint [rpm] Motorized potentiometer accept setting value
c1043 [C]
(0)
1: OFF1 enable missing (r0046.0) 0

[2634.7]
<1> For automatic commissioning, p1037 and p1038 are set to the maximum motor speed (p0322) or to the rated motor speed 0
1
(p0311), provided that the maximum motor speed has not been specified.
<2> If initial rounding-off is active (p1030.2 = 1), the selected ramp-up/down times are exceeded accordingly.
<3> Only effective if p1030.0 = 0. p1030.4[D]
1 2 3 4 5 6 7 8
- 3020 -
Motorized potentiometer V6.02.00
Figure 4-63
1 = Jog 1
c1055 r0898
Interpolator clock cycle [2501.7] r0898.8
for speed setpoints 1 = Jog 2
1 = Master control active 0.00 ... 127.00 [ms]
c1056 r0898 <1>
p1079 (0.00)
3030 - Main/supplementary setpoint, setpoint scaling, jogging
r0807.0 [2501.7] r0898.9
x,y x Total setpoint

Setpoint from external operating tool or operator panel. 1 y effective [rpm]
r1078
Main setpoint 0 0 0
t
scaling [%]
c1071 [C] Jog 1 speed setpoint
(100.00) -210000.000 ... 210000.000 [rpm] 0 1
p1058 [D] (150.000)
Speed setpoint_1
Main setpoint [3040.1]
c1070 [C] <2> Main setpoint effective [rpm] Jog 2 speed setpoint
-210000.000 ... 210000.000 [rpm] 1 0
(1061) r1073
p1059 [D] (-150.000)
+
1 1
+
Supplementary setp [rpm]
Supplementary setpoint effective [rpm] Old value is kept
c1075 [C] <2>
(0.00) r1077
Supplementary setpoint
scaling [%] 1
c1076 [C] r0898.8
(100.00) 0 t
1
r0898.9
0 t
n
p1082
p1058
t
p1059
-p1082

p1120
p1121
p1120
p1121
Function diagrams
<1> Jogging can only be activated in the operating state “Ready for operation (S2)“.
<2> The interconnection to the source for the main and supplementary setpoints is automatically established with the appropriate settings in the HMI device, e.g. by the telegram selection. For the
factory setting, r1024 is interconnected to the main setpoint c1070 via the universal setpoint (c1060/r1061)
1 2 3 4 5 6 7 8
- 3030 -
781
Main/supplementary setpoint, setpoint scaling, jogging V6.02.00

782
Figure 4-64

Function diagrams
3040 - Direction limitation and direction reversal
1 = Setpoint inversion 1 = Inhibit negative direction 1 = Inhibit positive direction

c1113 r1198 c1110 r1198 c1111 r1198
[2505.7] r1198.11 [2505.2] r1198.5 [2505.2] r1198.6 Setpoint channel speed limit
0.000 ... 210000.000 [rpm]
p1063 [D] (40000.000)
0 0 0
Speed setpoint_1
[3030.8] 0 r1114 [3050.1]
-1 1
0 1 1 Setpoint after the direction
-1 limiting [rpm]
1 2 3 4 5 6 7 8
- 3040 -
Direction limitation and direction reversal V6.02.00
Figure 4-65
Skip speed 1 Skip speed 2 Skip speed 3 Skip speed 4
0.000 ... 210000.000 [rpm] 0.000 ... 210000.000 [rpm] 0.000 ... 210000.000 [rpm] 0.000 ... 210000.000 [rpm]
p1091 [D] (0.000) p1092 [D] (0.000) p1093 [D] (0.000) p1094 [D] (0.000)
<1> <1> <1> <1>
Skip speed scaling [%]
c1098 [C]
3050 - Skip frequency bands
(100.00)
Minimum speed [rpm]

c1106 [C]
-1 -1 -1 -1
(0.00)
y
Minimum speed
0.000 ... 19500.000 [rpm]
p1080 [D] (0.000)
w
Max
w
Effective minimum
speed
w
w = p1101[D] <2> Speed setpoint after minimum
Setpoint after the direction limiting [rpm] Skip speed limiting [rpm]
w bandwidth
[3040.8] r1114 r1112 [3051.1]
x
-1
w
Speed controller setpoint sum [rpm] 1 1 = r1170 within the skip band
[3080.8] r1170 r1099.0
0

Function diagrams
<1> A skip speed of "0" deactivates the skip band.
<2> If the drive is not stopped via the input setpoint, but via controlled intervention, the lower hysteresis branch is relevant after a subsequent run-up.
1 2 3 4 5 6 7 8
- 3050 -
783
Skip frequency bands V6.02.00

784
Figure 4-66

Function diagrams
Speed limit in positive direction of rotation
c1085 [C]
(1083[0])
Speed limit in positive direction of rotation Positive speed limit effective [rpm]
3051 - Speed limitations
0.000 ... 210000.000 [rpm] Min r1084 [6030.1]

p1083 [D] (40000.000) 0 [6640.5]
[8010.2]
Maximum speed Reference value for the ramp function generator [3020.5]
0.000 ... 210000.000 [rpm] [3060.4]
p1082 [D] (1500.000) <1> [3070.4]
Speed limit RFG positive direction of rotation

c1051 [C]
(1083[0]) Maximum limiting active
0 1 [3080.5]
Speed setpoint after minimum limiting [rpm] Ramp-function generator setpoint at the input [rpm]
[3050.8] r1112 r1119 [3060.1]
[3070.1]
[6031.1]
-1 [8022.1]
Speed limit RFG negative direction of rotation

c1052 [C] 0
(1086[0])
Speed limit in negative direction of rotation 0 Negative speed limit effective [rpm]
-210000.000 ... 0.000 [rpm] Max r1087 [6030.1]
p1086 [D] (-40000.000) Limiting to negative [6640.5]
values [8010.2]
c1088 [C]
(1086[0])
Speed limit in negative direction of rotation
<1> Value of p1082 is limited to maximum motor speed (p0322).
1 2 3 4 5 6 7 8
- 3051 -
Speed limitations V6.02.00
Figure 4-67
Ramp-function generator ramp-down time [s] OFF3 ramp-down time
Ramp-function generator p1121 [D] (10.000) 0.000 ... 5400.000 [s]
ramp-down time scaling [%] p1135 [D] (1.000)
c1139 [C]
(100.00)
Ramp-function generator ramp-up time [s]

3060 - Basic ramp-function generator
Ramp-function generator p1120 [D] (10.000)

ramp-up time scaling [%] 0 1
0 = Internal quick stop
c1138 [C] [2634.7]
(100.00)
0 0
1 = Bypass ramp-function generator
r1198 0 1 0 1
[2505.7] <1>
r1198.15
1 = Enable ramp-function generator
c1141 r0898 <2> 1 Ramp
flattening-off c1140 r0898
[2501.7] r0898.5 <3>
[3080.8] [2501.7] r0898.4
1 = Enable speed setpoint Tup Tdn
c1142 r0898 Freeze ramp-function generator
[2501.7] r0898.6
Ramp-function generator Basic ramp-function generator 0
setpoint at the input [rpm] 0 0 n_set_4
1 [3080.1]
[3051.8] r1119
1 y 1
0
0 x Tup Tdn
p1082
1
0 x t
1 = Internal RFG enable 0 -p1082
[2634.7]
[2634.7]
& Ramp-function generator
y acceleration [rev/s²]
r1149
p1082
c1143 [C] t
Ramp-function generator, accept setting value -p1082
(0)
Tup Tdn
c1144 [C]
Ramp-function generator setting value [rpm]
(0.00) Other status bits
1 Ramp-up active
x
+ Ramp-down active
<1> With activated Technology controller (c2200 > 0, p2251 = y – 0 Ramp-function
p1082 generator,
0) the ramp-function generator is bypassed (r2349.5).

status bits
<2> With jog 1 or jog 2 (c1055 OR c1056 =1): [3080.5]
Function diagrams
Freeze of ramp-function generator is locked (r0898.5 = 1-signal). Reference value for the
ramp-function generator Ramp-function gen. tolerance for ramp-up and ramp-down active
With simultaneous jog 1 and 2 (c1055 = c1056 = 1):
[3051.8] 0.000 ... 1000.000 [rpm]
ramp-function generator is frozen and the last setpoint remains effective (r0898.5 = 0-signal).
p1148 [D] (19.800)
<3> After a 0/1 signal: The ramp-function generator restarts. The ramp-function generator output starts at 0.
1 2 3 4 5 6 7 8
- 3060 -
785
Basic ramp-function generator V6.02.00

786
Figure 4-68

Function diagrams
Ramp-function generator ramp-down time [s] OFF3 ramp-down time
Ramp-function generator p1121 [D] (10.000) 0.000 ... 5400.000 [s] OFF3 final rounding-off time [s]
ramp-down time scaling [%] p1135 [D] (1.000) p1137 [D] (0.000)
c1139 [C] Ramp-function generator final rounding-off time [s]
(100.00) p1131 [D] (0.000)
Ramp-function generator ramp-up time [s] OFF3 initial rounding-off time [s]
3070 - Extended ramp-function generator
Ramp-function generator p1120 [D] (10.000) p1136 [D] (0.010)

ramp-up time scaling [%] 0 1
0 = Internal quick stop Ramp-function generator initial rounding-off time [s]
c1138 [C] [2634.7] p1130 [D] (0.000)
(100.00) 0 1 0 1
0 0
1 = Bypass ramp-function generator
r1198 0 1 0 1
[2505.7] <1>
r1198.15
c1141 r0898 <3> 1 Ramp
flattening-off c1140 r0898
[2501.7] r0898.5 <4>
[3080.8] [2501.7] r0898.4
1 = Enable speed setpoint Tup Tdn
c1142 r0898 Freeze ramp-function generator
[2501.7] r0898.6
Ramp-function generator y Ti Tf
0 0
setpoint at the input [rpm] Tup Tdn 0 n_set_5
1 p1082 [3080.1]
[3051.8] r1119 x Extended yramp-
y 1
0
0
1 function generator
y
1
0 x
1 = Internal RFG enable 0
[2634.7]
[2634.7]
& Ramp-function generator
acceleration [rev/s²]
r1149
-p1082
dy/dt Ti Tf Ti Tf Ti Tf Ti Tf
c1143 [C]
Ramp-function generator, accept setting value
(0)
c1144 [C] t
Ramp-function generator setting value [rpm]
(0.00) Other status bits
Tup eff Tdn eff 1 Ramp-up active

<1> With activated Technology controller (c2200 > 0, p2251 = <2> <2> x
0) the ramp-function generator is bypassed (r2349.5). + Ramp-down active
y – 0 Ramp-function
<2> Effective ramp-up time: Tup_eff = Tup + (Ti/2 + Tf/2) p1082 generator,
Effective ramp-down time: Tdn_eff = Tdn + (Ti/2 + Tf/2)
status bits
<3> With jog 1 or jog 2 (c1055 OR c1056 =1): [3080.5]
Freeze of ramp-function generator is locked (r0898.5 = 1-signal). Reference value for the
ramp-function generator Ramp-function gen. tolerance for ramp-up and ramp-down active
With simultaneous jog 1 and 2 (c1055 = c1056 = 1):
[3051.8] 0.000 ... 1000.000 [rpm]
ramp-function generator is frozen and the last setpoint remains effective (r0898.5 = 0-signal).
p1148 [D] (19.800)
<4> After a 0/1 signal: The ramp-function generator restarts. The ramp-function generator output starts at 0.
1 2 3 4 5 6 7 8
- 3070 -
Extended ramp-function generator V6.02.00
Figure 4-69
Ramp-function generator selection
Ramp-function generator selection Ramp-function generator speed
p1115 (1)
setpoint at the output [rpm]
From Basic ramp-function generator r1150 x,y x Plot friction characteristic
[3060.8] T1
n_set_4 0 y
x y No OFF2
3080 ‑ Ramp-function generator selection, status word, tracking
No OFF3
&
n_set_5 1
[3070.8] t
From Extended ramp-function generator
+ Speed controller setpoint
0 sum [rpm]
Speed controller speed setpoint 2 [rpm] r1170 [3050.1]
1 = Enable speed setpoint c1160 [C] + [7010.7] [6030.1]
From the ramp- 1
[2501.7] r0898.6 <2> (0.00) [6822.1]
function generator [8011.1]
x,y T1 x
Speed controller speed 0 + y friction characteristic
setpoint 1 [rpm] 0 x y
0
0 r1169
<2> c1155 [C] + <4>
Speed controller speed setpoints
1
<3> (0.00) t
1 1 and 2 [rpm]
[2501.7] r0898.4 Ramp-function generator tracking intensity

p1145 [D] (0.0)
<5>
Ramp flattening-off [3060.4]
[2522.7] r1407.7 [3070.4]
1 = Torque limit reached r1199.5
1 = Ramp-function
Ramp-function generator tracking generator tracking active
Ramp-function generator status word

r1199
Bit Ramp-function generator status word
r1199.0..8
<1> For p1145 > 0, ramp-function generator tracking is activated when the torque limiting 0 1 = Ramp-up active r1199.0
responds. [3060.8], [3070.8]
1 1 = Ramp-down active r1199.1
This means that the speed controller output only exceeds the torque limit by a
deviation that can be set via p1145. 2 1 = Ramp-function generator active r1199.2 c2148
≥1
<2> For OFF1/OFF3, the ramp-function generator ramp is active. The ramp-function 3 1 = Ramp-function generator set r1199.3
generator is set to the setpoint (r1170) and stops the drive with the ramp-downtime
4 1 = Ramp-function generator held r1199.4
(p1121 or p1135). STW1.4 (enable ramp-function generator) is effective while the
drive is stopped via the ramp-function generator. 5 1 = Ramp-function generator tracking active r1199.5 <1>
Depending on the p1115, the basic ramp-function generator [3060] or the extended [3051.8] 6 1 = Maximum limit active r1199.6
ramp-function generator [3070] is effective.
<3> If technology controller is activated (c2200 > 0, p2251 = 1) interconnected with r2294. 7 1 = Ramp-function generator acceleration positive r1199.7

<4> The value is displayed correctly only with r0899.2 = 1 (operation enabled). 8 1 = Ramp-function generator acceleration negative r1199.8
Function diagrams
<5> Behavior of the response ramp of the torque limiting:
p1145 = 0.0: No ramp-function generator tracking. The ramp-function generator ramp is no longer in the range of the speed actual value.
p1145 = 1.0: The ramp-function generator ramp remains as close as possible to the speed actual value.
p1145 > 1.0: The ramp-function generator ramp is steeper than for p1145 = 1.0 (higher "speed following error").
1 2 3 4 5 6 7 8
- 3080 -
787
Ramp-function generator selection, status word, tracking V6.02.00

Function diagrams
4.9 Encoder evaluation
Overview
The following function diagrams describe the encoder evaluation.
Function diagrams
4704 – Position and temperature sensing encoders 1 … 2 (Page 789)
4715 – Speed actual value and pole pos. sensing, motor encoder (encoder 1) (Page 790)
4720 – Encoder interface, receive signals, encoders 1 … 2 (Page 791)
4730 – Encoder interface, send signals, encoders 1 … 2 (Page 792)
4750 – Absolute value for incremental encoder (Page 793)

Figure 4-70
Temperature sensor
Encoder type selection

p0400 [E] (0) Rotary encoder pulse number <4> Absolute encoder rotary multiturn resolution Configuration, absolute
Encoder configuration effective p0408 [E] (2048) p0421 [E] (4096) value encoder
p0404 [E]
Encoder rotary zero mark distance Absolute encoder rotary singleturn resolution
Square-wave encoder track A/B p0425 [E] (2048) p0423 [E] (8192)
4704 – Position and temperature sensing encoders 1 … 2
p0405 [E] Raw position signals

(only from motor
encoder)
[4715.1]
1 2 1 2 No. of signal
<3> Diagnostics encoder
A 2n periods position actual value
B A Gn_XIST1
up 31 n-1
x2n n 0 r0479[0..2]
dn III
Raw position signals 2 n <1>
B 1 = Invert position
32 Bit Fine resolution actual value Direction of rotation
A (Multiplication by p0410.1 [E] p1821 [D] (0)
Sensor Module Free-running hardware)
properties sin/cos 1 signal period position counter <2> Encoder position actual
r0458[0..2].0..27
B 0 0 value Gn_XIST1
232 -1
r0482[0..2]
-1 -1 1
1 <1> <5>
1 signal period 0
For SSI encoders: Absolute
Sequence control
position information
Motor temperature ϑ [8016.1]
&
Fine resolution absolute
value Gx_XIST2 (in bits)
p0419 [E] (0) Direction of rotation
p1821 [D] (0)
Reference mark position Encoder position actual
x2n 0 value Gn_XIST2
Cyclic absolute position value (only for Absolute value
Encoder error r0483[0..2]
absolute value encoders, e.g. SSI) -1 1
processing Error code <1> <6>
Measuring probe
position Function selection [4730.1]
Encoder status bits to Gn_ZSW
Encoder n Bit 14, 15 Bit 0…13
Diagnostic encoder control word Gn_STW
[4720.5]
r0487[0..2].0..15 F31100 … A33999
<1> Measuring probe position
Encoder status word Gn_ZSW Encoder faults/alarms
<1> Assignment of the indices: Index [n-1] = Encoder n

[4730.5] r0481[0..2].0..15
Index [0] = motor encoder (encoder 1), Index [1] = Encoder 2, Index [2] = reserved p0979[0...25]
<1>
<2> Generating the two's complement. Encoder format acc. to PROFIdrive
Function diagrams
<3> Depending on selected encoder, n is set automatically: <4> For rotary encoders = pulse number setting.
Square-wave encoder; n = 2 For resolvers = pole pair number setting.
SSI encoder: n = 0 <5> Gn_XIST1 is a free-running position value. The external control must process the overflows.
Others (e. g. sin/cos): n = 11 <6> The contents of r0483 are determined by the encoder status word/control word. Refer to [4720] and [4730].
1 2 3 4 5 6 7 8
Encoder evaluation © Siemens AG
- 4704 -
789
Position and temperature sensing, encoders 1 … 2 V6.02.00

790
Figure 4-71

Function diagrams
<2> 1 = Invert speed actual value
p0410.0 [E]
0 Transformation angle [°]

Pole position sensing r0094
-1 1
4715 – Speed actual value and pole pos. sensing, motor encoder (encoder 1)
Zero mark
1 = Invert speed actual

Actual speed measurement value Actual speed smoothing time [ms]
p0410.0 [E] p1441 [D] (0.00)
Speed actual value from the

up dx 0 encoder Motor encoder [rpm]
A, B Fine resolution
[4704.8] for speed dt r0061[0]
-1 1
actual value dn III [6730.1], [6841.1] <3>
Raw position signals
(only from motor [6731.1], [6842.1]
encoder)
1 encoder revolution 0
Encoder angle
Zero mark -1 1
Speed actual value filter 5 Speed actual value filter 5

denominator natural frequency [Hz] denominator damping
p1678 [D] (1999.0) p1679 [D] (0.700)
1 = Encoderless operation active

Speed actual value filter 5 r1407
D type r1407.1
p1677 [D] (2) [2522.7]
Filter 5 [%]
c1655[4] fn
f 0
(100.00) 1 0 Speed actual value Unsmoothed [rpm]
Speed actual value filter 5 r0063[0] To basic braking control [2701.1]
1
numerator damping 2 1
To speed controller [6040.1]
p1681 [D] (0.700) To Kp_n-/Tn_n adaptation [6050.1]
Speed actual value filter 5 1 = Filter 5 To current/power/torque limits [6640.1]
numerator natural frequency [Hz] p1656.4 [D] To field-weakening characteristic [6722.1], [6724.1]
p1680 [D] (1999.0) To display signals [6799.1], [6799.5]
|y|
To speed signals 1 [8010.1]
<1> calculation of actual speed
[6730.3], [6841.3] <3>
f [6731.3], [6842.3]
2nd Order Filter Display values smoothing time constant [ms]
p0045 (4.00)
Speed actual value

p1678[D] p1679[D]
Smoothed with p0045 [rpm]
<1> For vector control without encoder (SLVC).
r0063[1]
<2> For operation with encoder and permanent-magnet synchronous motor (p0300 = 2xxx).
<3> For induction motor (p0300 = 1xxx).
1 2 3 4 5 6 7 8
- 4715 -
Speed actual value and rotor position sensing, motor encoder (encoder 1) V6.02.00
Figure 4-72
PROFIdrive-Bit Diagnostic encoder control word Gn_STW
Encoder control word r0487[0..2].0..15
Gn_STW
c0480[0..2] <1>
(0) Bit Control word for encoder n (n = 1 or 2) To the position sensing, encoder n [4704.3]
<1> <5> Selects the function to be activated (with bit value = 1)

4720 – Encoder interface, receive signals, encoders 1 … 2
Function Function for bit 7 = 0 Function for bit 7 = 1

<1> Assignment of the indices: Index [n-1] = Encoder n
no. (search for reference mark) (flying measurement)
Index [0] = motor encoder (encoder 1), Index [1] = Encoder 2, Index [2] = reserved
<2> Actual position values are read out from Gn.XIST2 using a handshake
0 1 Reference mark 1 Measuring probe 1 procedure. e.g.: Read position value(s) at reference mark(s)
1. Set r0487.0...3 according to the function to be activated.
2. Set r0487.4 (activate function)
1 2 Reference mark 2 Measuring probe 1 3. Reset all bits from r0487.0...4 to 0.
4. r04810...3 must be active depending on the activated function.
5. Overtravel zero mark(s) until all bits in r0481.0...3 are reset to 0.
2 3 Reference mark 3 Measuring probe 2 6. Select r0487.0...3 individually and activate with r0487.5 until r0481.4...7
is equal to 1 and read out the position values in r0483.
7. Reset all bits, starting with r0487.5 followed by r0487.0…3.
3 4 Reference mark 4 Measuring probe 2
Start/stop/read selected function The following pulse diagram is an example for reading in the position at the
reference mark 1 (mode: bit 7 = 0).
4
0 1 0 1 Select function 1 (Bit 3...0)
0001
<6> ("search for reference mark 1")
5 0 0 1 1 000 001 000

Start function (Bit 6...4)
Function active (Gn_ZSW Bit 0)

6 0 0 0 0
Interrupt function Actual value save at the

Read generated value reference mark
Activate selected function 000 010
Read generated value (Bit 6...4)
No function
Mode of the function to be activated
Value from function 1 available
7 1 = flying measurement
(Gn_ZSW Bit 4)
0 = Search for reference mark (zero mark or BERO)
Position actual value at
8...12 Reserved reference mark 1 in Gn_XIST2
1 = Request cyclic transfer of the absolute position value in Further reference marks can be read out according to PROFIdrive profile.
13 Gn_XIST2
(e.g. EQN absolute track; acknowledgment in Gn_ZSW bit 13) <3> The bits are processed with the following priority sequence (highest priority -->
lowest priority bit):
14 1 = Request parking encoder (handshake with Gn_ZSW bit 14) <4> Bit 14 --> Bit 15 --> Bit 4...7 --> Bit 12 --> Bit 13.
<4> The checkback signal is provided in Gn_ZSW bit 14, but the encoder is not
= acknowledge encoder fault (located in Gn_ZSW, bit 15; actually parked.
15
Handshake with Gn_ZSW bit 11) <5> If a standard telegram (PROFIdrive) is selected, the interconnection is performed

according to the specifications of the standard telegrams [2415].
<3>
<6> Bits 0...13 control what is transferred in Gn_XIST 2.
Function diagrams
There are 3 alternatives:
- Bit 7 = 0: Position actual value at the reference mark <2>
- Bit 7 = 1: Position actual value when the measuring probe edge is received <2>
- Bit 13 = 1: Cyclic absolute position value from absolute encoder
1 2 3 4 5 6 7 8
- 4720 -
791
Encoder interface, receive signals, encoders 1 ... 2 V6.02.00

792
Figure 4-73

Function diagrams
PROFIdrive-Bit
Encoder status bits Encoder status word Gn_ZSW

from the position Bit Status word from encoder n (n = 1 oder 2) r0481[0..2].0..15 to the sequence control for Gn_XIST2 [4704.5]
sensing, encoder n <1>
[4704.8] Feedback signal of the active function (1 = function active)
4730 – Encoder interface, send signals, encoders 1 … 2
Function
For reference number and flying measurement
no.
0 1 reference mark 1 or measuring probe 1
Position value 2 from encoder n

4 1 = Position actual value from function 1
The contents of position actual value 2 (Gn_XIST2) at [4704] depends on Gn_STW and Gn_ZSW.
Generated This can be done as follows:
value
in Gn_XIST2 - Undefined for a parking encoder (Gn_ZSW.14 = 1).
(and can be - For Gn_ZSW.15 = 1 the fault code for encoder faults is located here.
read) - Position actual value at the reference mark
(for Gn_STW.7 = 0 and Gn_ZSW.4-7 > 0; with handshake).
7 1 = Position actual value from function 4 - Position actual value due to flying measurement
(for Gn_STW.7 = 1 and Gn_ZSW.4.7 > 0; with handshake).
- Cyclic absolute position value (free-running value, e.g. from the SSI absolute track
8 1 = Measuring probe 1 deflected (high signal) (for Gn_ZSW.13 = 1).
From the measuring
probe evaluation
9 1 = Measuring probe 2 deflected (high signal)
10 Reserved
11 1 = Acknowledge encoder fault active
12 Reserved (for reference point offset)
13 Absolute value is cyclically transferred

14 Parking encoder active (i.e. the encoder is not operational)
15 Encoder fault, the fault is in Gn_XIST2 (r0483) <1> Assignment of the indices: Index [n-1] = Encoder n
Index [0] = motor encoder (encoder 1), Index [1] = Encoder 2, Index [2] = reserved
1 2 3 4 5 6 7 8
- 4730 -
Encoder interface, send signals, encoders 1 ... 2 V6.02.00
Figure 4-74
POWER ON
Zero mark
r0481.13
Basic
4750 – Absolute value for incremental encoder
functions
or
p4652 = 1
Gn_XIST1
<1> Gn_XIST2
Reset input
p4652 = 2 XIST1_ERW
Reset output
XIST1_ERW
p4652 = 3
Reset output
XIST1_ERW reset mode

1 = Support absolute position for incremental encoder 0 ... 3
p0437.13 [E] p4652[0..2] (0)
Encoder status word Gn_ZSW
r0481[0..2].0..15 XIST1_ERW actual value
Encoder control word Gn_STW r4653[0..2]
<2> c0480[0..2] Encoder position actual value Gn_XIST1
(0) r0482[0..2]
Basic Extended
1 function function r4654
Encoder position actual value Gn_XIST2
r4654.0 1 = Motor encoder XIST1_ERW reset
r0483[0..2]
r4654.8 1 = Encoder 2 XIST1_ERW reset
Reset output

Reset XIST1_ERW
Function diagrams
c4655[0..2]
(0)
<1> Only applies for p0437.13 = 1. Reset input
<2> Bit 13: Request absolute value cyclic, see [4720].
1 2 3 4 5 6 7 8
- 4750 -
793
Absolute value for incremental encoder V6.02.00

Function diagrams
4.10 Vector control
4.10 Vector control
Overview
The following function diagrams describe the vector control function.
Function diagrams
6020 – Closed-loop speed control and generation of the torque limits, overview (Page 795)
6030 – Speed setpoint, droop (Page 796)
6031 – Pre-control balancing, acceleration model (Page 797)
6035 – Moment of inertia estimator (Page 798)
6040 – Speed controller (Page 799)
6050 – Kp_n-/Tn_n adaptation (Page 800)
6060 – Torque setpoint (Page 801)
6220 – Vdc_max controller and Vdc_min controller (VECTOR) (Page 802)
6490 – Speed control configuration (Page 803)
6491 – Flux control configuration (Page 804)
6630 – Upper/lower torque limit (Page 805)
6640 – Current/power/torque limits (Page 806)
6700 – Closed-loop current control, overview (Page 807)
6710 – Current setpoint filter (Page 808)
6714 – Iq and Id controllers (Part 1) (Page 809)
6715 – Iq and Id controllers (Part 2) (Page 810)
6721 – Id setpoint (permanent magnet synchronous motor) (Page 811)
6722 – Field weakening characteristic, Id setpoint (induction motor) (Page 812)
6723 – Field weakening controller, flux controller (induction motor) (Page 813)
6724 – Field weakening controller (permanent magnet synchronous motor) (Page 814)
6730 – Interface to power unit (induction motor) (Page 815)
6731 – Interface to the power unit (permanent magnet synchronous motor) (Page 816)
6790 – Flux setpoint (synchronous reluctance motor) (Page 817)
6791 – Field weakening controller, Id setpoint (synchronous reluctance motor) (Page 818)
6792 – Interface to the power unit (synchronous reluctance motor) (Page 819)
6799 – Display signals (Page 820)

Figure 4-75
p1400 p1401 r0056 r1408
Supplementary torque 1 scaling [%]
c1512 [C]
(0.00)
[6490] Closed-loop speed control configuration Kp adaptation Tn adaptation Supplementary torque 1 [Nm] For Kp adaptation
[6491] Closed-loop flux control configuration p1460[D] p1462[D] c1511 [C]
6020 - Closed-loop speed control and generation of the torque limits, overview
[2526] Status word closed-loop control (r0056) p1470[D] p1472[D]

[2530] Status word closed-loop current control (r1408) (0.00)

p1514 [D] (100.0)
Supplementary torque 2 [Nm]
c1513 [C]
p1442[D] (0.00)
Speed actual value p1452[D] Accelerating torque Unsmoothed [Nm] Supplementary torque
Unsmoothed [rpm] total [Nm]
r1518[0]
r0063[0] r1515
Speed setpoint from: Kp Tn
[4715.6] Encoder or Torque setpoint [Nm]
[6700.1] speed model – r0079
r1508 [6700.1]
Torque setpoint before
supplementary torque [Nm]
[6040] Speed controller [6060] Torque setpoint

[6050] Kp_n/Tn_n adaptation
Speed controller speed setpoint [rpm]

r1438
Speed pre-control
[6700.1]
Torque limit upper

Symmetrizing c1522 [C]
Torque limit upper [Nm]
(1520[0]) Upper effective torque limit
p1520 [D] (0.00)
p0341[M] p0342[M] [Nm]
p1496[D] Power limit motoring [kW]
Speed setpoint filter 1 r1538
p1530 [D] (0.00)
time constant [ms] Generating the Lower effective torque limit
p1416 [D] (0.00) Power limit regenerative [kW]
torque limits [Nm]
p1531 [D] (-0.01)
r1539
Speed controller Motor current limit [Arms]
setpoint sum [rpm] Speed setpoint after the filter [rpm] p0640 [D] (0.00)
[3001.8] r1170 r0062 c1523 [C]
Torque limit lower [Nm]
(1521[0])
p1521 [D] (0.00)
Torque limit lower
4.10 Vector control

Function diagrams
[6030] Speed setpoint, droop [6630] Upper/lower torque limit
[6031] Pre-control balancing, acceleration model [6640] Current/power/torque limits
For operation with encoder
1 2 3 4 5 6 7 8
Vector control © Siemens AG
- 6020 -
795
Speed control and generation of the torque limits, overview V6.02.00

796
Figure 4-76
4.10 Vector control

Function diagrams
Droop input Droop compensation torque [Nm]
<4>
Speed controller I torque c1486 [C] Droop compensation torque scaling Speed precontrol [rpm]
output [Nm] Droop input selection (0.00) -2000.0 ... 2000.0 [%]
p1488 [D] (0) c1430 [C]
p1487 [D] (100.0)
[6040.8] r1482 (0.00)
nN x,y x
y
Torque setpoint before MN
6030 - Speed setpoint, droop
3 <3> <1>
2 –
[6060.5] r1508
t
1
+ 150 ms
0 0
Output voltage [Vrms] Droop feedback scaling <2> 0 1 1 = Interpolation speed
0.000 ... 0.500 precontrol
r0072 p1489 [D] (0.050) p1400.7 [D]
0
1 = Droop enable After interpolator [rpm]
1 = Droop enabled Droop feedback speed r1432[1]
r1406 0 1
r1407 reduction [rpm]
[2520.7] r1406.11
r1407.10 r1490
Pre-control speed_2
[2522.4] [6031.2]
Speed setpoint before Speed setpoint after

1 = Speed setpoint limited
the setpoint filter [rpm] the filter [rpm]
r1407
r0060 [6799.1] r0062 [6031.1]
r1407.11 [2522.4]
–
+
[3080.8] r1170
Speed controller
+ +
setpoint sum [rpm]
Positive speed limit effective [rpm]
Speed setpoint filter 1 time constant
[3051.8] r1084 0.00 ... 5000.00 [ms]
[3051.8] r1087 p1416 [D] (0.00)
Negative speed limit effective [rpm]
<1> Ratio between the total and 0

Motor moment of inertia motor moment of inertia
0.000000 ... 100000.000000 [kgm²] 1.000 ... 10000.000 1 0 1 = Sensorless vector control speed
p0341 [M] (0.000000) p0342 [M] (1.000) precontrol
p1400.15 [D]
r1407
[6060.8] r0079 0
r1407.11 [2522.3] Pre-control speed [6730.1]
Torque setpoint [Nm] [6731.1]
[6792.1]
1
Accelerating for torque control scaling r1407
1 = Torque control active
0.0 ... 400.0 [%] r1407.2
p1499 [D] (100.0)

<2> Scaling: p1489 = 0.100 - for a rated motor torque of r0333 - results in a speed setpoint reduction of 0.1 · p0311.
<3> Only active, if p1488 > 0.
<4> Only for p1400[D].10 = 1.
1 2 3 4 5 6 7 8
- 6030 -
Speed setpoint, droop V6.02.00
Figure 4-77
1 = Acceleration precontrol signal 1 = Vdc_max controller active
source External (p1495) r0056
p1400.2 [D] Moment of inertia total, scaled [kgm²] [2526.7] r0056.14
Acceleration precontrol [rev/s²]
[6035.8] r1493 1
c1495 [C] 0 Calculated accelerating torque
1
(0.00) [6060.1]
Acceleration calculation 0
6031 - Precontrol balancing, acceleration model
<2> 0
[6030.7] r0062
Speed setpoint after the
filter [rpm]
Pre-control balancing <1>
>0
+
Speed controller speed actual value Acceleration precontrol
smoothing time (sensorless) [ms] scaling [%] r1438 [6040.1]
p1452 [D] (10.00) p1496 [D] (0.0) + Speed controller speed
setpoint [rpm]
Speed precontrol symmetrizing dead time Speed precontrol symmetrizing time constant [ms]
p1428 [D] (0.0) p1429 [D] (0.00)
After symmetrization [rpm]
Pre-control speed_2 r1432[0]
Pre-control balancing 2 1
[6030.8]
0
0
Speed controller reference
model damping 1 = Reference model speed
p1434 [D] (1.000) 1 = Speed precontrol setpoint I component
Speed controller reference Speed controller reference p1400.10 [D] p1400.3 [D]
model natural frequency [Hz] model dead time
p1433 [D] (0.00) p1435 [D] (0.00) Speed controller reference
model I component input 0 Speed setpoint I
c1437 [C] + component [rpm]
x y r1439
Reference model r1436 (1436)
1
+ [6040.1]
(y = x for the factory setting of Speed controller reference model
p1433 ... p1435) speed setpoint output [rpm]
r1084 1 = Master control active

Ramp-function generator setpoint at the input [rpm] r0807.0
[3051.8] r1119 r1084
n_set via PC 1 Speed controller speed setpoint
r1087
c1155 [C] + steady-state (static) [rpm]
Speed controller speed setpoint 1 [rpm] r1444
(0.00)
+ 0
+ r1087
c1160 [C]
Speed controller speed setpoint 2 [rpm]
(0.00)
4.10 Vector control

Function diagrams
<1> The following applies for precontrol balancing:
For p1400.2 = 1, parameters p1428 and p1429 are active.
For p1400.2 = 0, parameter p1452 is active.
<2> For p1400.10 = 1
1 2 3 4 5 6 7 8
- 6031 -
797
Pre-control balancing, acceleration model V6.02.00

798
Figure 4-78
4.10 Vector control

Function diagrams
Ratio between the total and motor moment of inertia Acceleration precontrol scaling
1.000 ... 10000.000 0.0 ... 10000.0 [%] 1 = Moment of inertia estimator active
p0342 [M] (1.000) p1496 [D] (0.0) p1400.18 [D]
<3>
Moment of inertia total,
Motor moment of inertia
0 scaled [kgm²]
0.000000 ... 100000.000000 [kgm²]
p0341 [M] (0.000000) r1493 [6031.3]
6035 – Moment of inertia estimator
Load moment of inertia

+
0.00000 ... 100000.00000 [kgm²]
p1498 [D] (0.00000) <2> +
r1407
r1407.26 1 = Moment of inertia estimator stabilized
r1407.27 1 = Moment of inertia estimator fast estimation active
[2522.4]
Moment of inertia estimator change time
moment of inertia
10.00 ... 5000.00 [ms] 1 = Activating the moment of inertia
p1561 [D] (500.00)
precontrol
only for initialization <2> p5310.1 [D]
<1>
Moment of inertia
Torque actual value [Nm] 0
Moment of inertia calculation 0
r0080[0..1]
estimator
r0063[0..2] 1
Speed actual value [rpm]
Moment of inertia estimator accelerating

torque threshold value Moment of inertia estimator Moment of inertia precontrol
0.10 ... 100.00 [%] change time load 1 = Activating calculations change time moment of inertia
p1560 [D] (10.00) 5.00 ... 5000.00 [ms] p5310.0 [D] 10.00 ... 5000.00 [ms]
p1562 [D] (10.00) p5316 [D] (500.00)
<1>
<2>
Cyclic calculation of
Load torque estimator

the coefficients
1 = Load estimate active <2> Moment of inertia precontrol linear positive [s²]
r1407 p5312 [D] (0.000000)
r1407.25
Moment of inertia precontrol constant positive [kgm²]
<1> Possible bit combinations p5310: [2522.4] p5313 [D] (0.000000)
Bit 1, 0 Moment of inertia precontrol linear negative [s²]
= 0, 0 --> Function not active. p5314 [D] (0.000000)
= 0, 1 --> Cyclic calculation of the coefficients without moment of inertia precontrol (commissioning).
Moment of inertia precontrol constant negative [kgm²]
= 1, 0 --> Moment of inertia precontrol activated (without cyclic calculation of the coefficients).
p5315 [D] (0.000000)
= 1, 1 --> Moment of inertia precontrol activated (with cyclic calculation of the coefficients).
<2> On p1400.22 = 1 and r1407.26 = 1, the current values are saved in p1561, p1562, p5312 … p5315 for RAM to ROM.
<3> If c1497 ≠ 1, the switch always remains set to 0.
1 2 3 4 5 6 7 8
- 6035 -
Moment of inertia estimator V6.02.00
Figure 4-79
Speed
Speed controller encoderless controller
operation integral
integral time time
[ms] Tn_n_basic
0.00 ... 100000.00 [ms] [6050.4]
<1> p1462 [D] (20.00)
Speed operation
controller P
P gain
gain p1472 [D] (20.0) Kp_n_basic
Speed controller encoderless
0.00 ... 999999.00 [6050.4]
p1460 [D] (0.30) Kp_n_adapt Tn_n_adapt
p1470 [D] (0.30) [6050.8] 1 0 [6050.8] 1 0
1 = Kp/Tn adaptation active
6040 - Speed controller
p1400.5 [D] Speed controller integral time effective [ms]

[6490.7] r1469
1 = Automatic Kp/Tn adaptation active
Dynamic reduction, field weakening
p1400.0 [D]
[6490.7] Speed controller P gain effective
r1468
Speed controller speed setpoint [rpm] Speed controller
[6031.8] r1438 Kp Kp Tn
Speed controller system deviation [rpm]
+ r0064 M_set from speed controller
Speed controller speed actual [6060.1]
value smoothing time Upper effective torque limit [Nm] +
0.00 ... 32000.00 [ms] – +
p1442 [D] (4.00)
Speed controller speed actual value smoothing time (sensorless) [ms]
[6640.8] r1538
p1452 [D] (10.00) Lower effective torque limit [Nm]
[6640.8] r1539
Speed actual value
Unsmoothed [rpm] Speed controller actual speed smoothed [rpm]
[4715.6] r0063[0] r1445 Tn
Kp Speed controller I torque
Speed controller system deviation I component [rpm] output [Nm]
– r1454
[6031.7] r1482 [6030.1]
+ Set
1 = Speed control active
Enable speed controller Hold Set Val
Speed setpoint I component [rpm] r1407
from sequence control S4: Operation
r1439 r1407.3 [2522.4]
r1406
[2520.7] 1 = Hold speed controller I component
r1406.4
1 = Speed controller I component frozen
r1406
[2520.7] 1 = Set speed controller I component r1407
r1406.5
r1407.5 [2522.4]
c1478 [C] 1 = Speed controller I component set
Speed controller integrator setting value [Nm]
(0.00) r1407
c1479 [C] r1407.6 [2522.4]
Speed controller integrator setting value scaling [%]
(100.00)
c1475 [C]
Speed controller torque setting value for motor holding brake [Nm] 1 = Sensorless vector control
(0.00)
freeze I comp
[6721.8] Torque setting value, speed controller p1400.1 [D]
[6790.8]
[6490.7]
r1407
[2522.7] 1 = Torque limit reached
4.10 Vector control

r1407.7
Function diagrams
For vector control without encoder (SLVC).
<1> For p1462/p1472 = 0.0 s or 100.0 s, the I component is disabled (integral action time = infinite).
1 2 3 4 5 6 7 8
- 6040 -
799
Speed controller V6.02.00

800
Figure 4-80
4.10 Vector control

Function diagrams
Free Kp_n adaptation
[6490.7]
1 = Free Tn adaptation active
p1400.6 [D]
6050 - Kp_n-/Tn_n adaptation
Speed controller P gain

adaptation signal [%] Adaptation factor upper y
0.0 ... 200000.0 [%] 0
1
c1455 [C] p1459 [D] (100.0) x
(0.00)
Adaptation factor lower 1
0.0 ... 200000.0 [%] x
p1458 [D] (100.0)
Speed controller P gain adaptation lower starting point <1>
0.00 ... 400.00 [%]
p1456 [D] (0.00)
Speed controller P gain Speed controller P gain adaptation upper starting point <1>
0.00 ... 400.00 [%]
scaling [%] p1457 [D] (0.00)
c1466 [C]
(100.00)
Speed-dependent Kp_n/Tn_n adaptation

Speed actual value Kp_n_basic Kp
[6040.8]
Unsmoothed [rpm]
n Kp Kp_n_adapt
[4715.6] r0063[0] [6040.4]
Speed controller Kp adaptation speed upper scaling
0.0 ... 200000.0 [%] n
p1461 [D] (100.0)
Speed controller adaptation speed upper <1>

0.00 ... 210000.00 [rpm]
p1465 [D] (210000.00)
Speed controller adaptation speed lower <1>

0.00 ... 210000.00 [rpm]
p1464 [D] (0.00)
Speed controller Tn adaptation speed upper scaling y

0.0 ... 200000.0 [%]
p1463 [D] (100.0) n Tn Tn_n_adapt
[6040.5]
x
[6040.8]
Tn_n_basic
<1> If the lower transition point exceeds the upper transition point, the Kp-adaptation also changes over.
1 2 3 4 5 6 7 8
- 6050 -
Kp_n/Tn_n adaptation V6.02.00
Figure 4-81
c1511 [C]
1 Supplementary torque
(0.00)
+ total [Nm]
c1512 [C] + [6490.7] 0 r1515
(0.00) 1 = Torque precontrol Always active 0 <1>
Supplementary torque 1 scaling [%] p1400.14 [D]
1
6060 - Torque setpoint
Supplementary torque 2 [Nm] r0898

1 = Enable speed controller
c1513 [C] [2501.7] r0898.12
(0.00)
Supplementary torque 2 scaling Accelerating torque smoothing time constant
-2000.0 ... 2000.0 [%] 0.00 ... 100.00 [ms]
Accelerating torque p1517 [D] (4.00) Accelerating torque
p1514 [D] (100.0)
Unsmoothed [Nm] Smoothed [Nm]
<3>
r1518[0] r1518[1]
1
0 <1> <2> <1> <2> +
Calculated accelerating torque
[6031.8] + 1 = Current/torque limiting
0
Upper effective torque limit [Nm] r0056
[6640.8] r1538 r0056.13 [2526.4]
Torque limit for speed controller output

Total upper torque limit [Nm] Upper limit [Nm]
1 = Torque limit reached
[6630.8] r1526 r1547[0]
r1407
1 r1407.7 [2522.4]
c1552 [C] 1 = Upper torque limit active
(100.00) r1407
Torque limit upper scaling without r1407.8 [2522.4]
1 = Upper torque limit active
offset [%]
r1407
Torque setpoint before r1407.8 [2522.4]
Torque setpoint [Nm]
c1503 [C] <5>
(0.00)
1 r1508 [6030.1], [6722.1] + Torque setpoint [Nm]
M_set from speed controller r0079 [6030.1]
[6040.8] 1 = Torque limit reached + [6710.1]
0 <4>
<5> (without precontrol) [8012.1]
1 = Torque control active Torque limiting
c1501 r1406 r1407
r1407 r1407.15 [2522.4]
[2520.7] r1406.12 r1407.2
p1300 = M Ctrl 1 [2522.4] 1 = Lower torque limit active 1 = Lower torque limit active
r1407 r1407
Torque limit lower scaling without offset [%] r1407.9 [2522.4] r1407.9 [2522.4]
c1554 [C]
(100.00) r1547[1]
[6630.8] r1527 Lower limit [Nm]
Total lower torque limit [Nm]
r1539
4.10 Vector control

Function diagrams
[6640.8]
Lower effective torque limit [Nm]
<3> Acceleration control is inhibited for p1517 = 100 ms.
<1> The signal is only effective after magnetization has been completed (r0056.4 = 1). <4> M_set is also influenced by the speed limit controller.
<2> No pre-control if the Vdc controller is active [6220.8]. <5> The following applies for c1551 = 0: The fixed torque limits are used (upper: r1538, lower: r1539).
1 2 3 4 5 6 7 8
- 6060 -
801
Torque setpoint V6.02.00

802
Figure 4-82
4.10 Vector control

Function diagrams
Vdc_max controller integral time
0 ... 10000 [ms]
p1251 [D] (0)
Vdc_max controller
proportional gain Vdc_max ctrl rate time
6220 - Vdc_max controller and Vdc_min controller (VECTOR)
0.00 ... 100.00 0 ... 1000 [ms]

Vdc controller or Vdc monitoring p1250 [D] (1.00) p1252 [D] (0)
Vdc_max (Vector control) configuration
p1240 [D] (1)
0
<1>
Actual DC link voltage [V] 1 = Vdc_max controller active
1,3
r0070 1 r0056
+ 0
– 0 0 r0056.14 [2526.4]
0,2 0
Calculate on_level
Vdc_max controller
switch-in level [V] Vdc_max controller dynamic factor
Vdc_max controller automatic r1242 1 ... 10000 [%]
ON level detection p1243 [D] (100)
Vdc controller output [Arms]
p1254 (0)
r1258
Iq_max
Device supply voltage [6710.1]
Operation point
70 ... 690 [V] 0 Iq_min
p0210 (400) selection
[6710.1]
Vdc_min controller integral time

0 ... 10000 [ms] Vdc controller active
Vdc_min controller switch-in level p1394 [D] (0) 1
(kinetic buffering)
65 ... 150 [%]
p1245 [D] (72) Vdc_min controller switch-in level
(kinetic buffering) [V] Vdc_min controller Vdc_min controller
r1246 proportional gain rate time
0.00 ... 100.00 0 ... 1000 [ms]
p1393 [D] (1.00) p1395 [D] (0)

Calculate on_level
Actual DC link voltage [V] – 0

2,3 1 = Vdc_min controller active
r0070 1
0
r0056
+
0 r0056.15 [2526.4]
0,1 0
Vdc_min (Vector control)
<1> For settings p1240 = 4 ... 6, the following applies: The DC link
controllers are not calculated. When the threshold in r1242 or r1246 is Vdc_min controller dynamic factor (kinetic buffering)
reached, the DC link voltage monitoring initiates a fault (F07403 or 1 ... 10000 [%]
F07404). p1247 [D] (100)
1 2 3 4 5 6 7 8
- 6220 -
Vdc_max controller and Vdc_min controller V6.02.00
Figure 4-83
Speed control configuration
Bit No. Meaning
p1400 [D]
00 1 = Automatic Kp/Tn adaptation active p1400.0 [D] [6040.2], [6824.5]

6490 - Speed control configuration
01 1 = Sensorless vector control freeze I comp p1400.1 [D] [6040.6], [6824.6]
02 1 = Acceleration precontrol signal source External (p1495) p1400.2 [D] [6822.4]
03 1 = Reference model speed setpoint I component p1400.3 [D] [6031.7]

... Reserved
05 1 = Kp/Tn adaptation active p1400.5 [D] [6040.2], [6824.5]
06 1 = Free Tn adaptation active p1400.6 [D] [6050.7]
07 1 = Interpolation speed precontrol p1400.7 [D] [6030.7], [6822.3]

... Reserved
10 1 = Speed precontrol p1400.10 [D] [6031.6], [6822.1]
... Reserved
14 1 = Torque precontrol Always active p1400.14 [D] [6060.4], [6826.4]
15 1 = Sensorless vector control speed precontrol p1400.15 [D] [6030.7], [6822.7]
16 1 = I component for limiting Enable p1400.16 [D]

... Reserved
18 1 = Moment of inertia estimator active p1400.18 [D] [6035.6], [6822.7]
... Reserved
20 1 = Acceleration model p1400.20 [D] [6822.6]
... Reserved
22 1 = Obtain moment of inertia estimator value for pulse inhibit p1400.22 [D] [6035.1]
23 1 = Acceleration model (with speed encoder) p1400.23 [D] [6822.6]
24 1 = Moment of inertia estimator fast estimation active p1400.24 [D]
25 1 = Accelerating torque instantaneous in the I/f mode p1400.25 [D]

... Reserved
27 0 = Load gearbox, take into account torque limit p1400.27 [D]
... Reserved
4.10 Vector control

Function diagrams
30 1 = Diagnostic mode SDC/DDC p1400.30 [D]
31 1 = Standard Drive Control p1400.31 [D]
1 2 3 4 5 6 7 8
- 6490 -
803
Speed control configuration V6.02.00

804
Figure 4-84
4.10 Vector control

Function diagrams
Flux control configuration
Bit No. Meaning
p1401 [D]
00 1 = Flux setpoint soft starting active p1401.0 [D] [6722.5], [6837.5]

6491 - Flux control configuration
01 1 = Flux setpoint differentiation active p1401.1 [D] [6723.6], [6838.5]
02 1 = Flux build-up control active p1401.2 [D] [6722.5], [6723.5], [6837.4]
03 1 = Flux characteristic load-dependent p1401.3 [D] [6790.5], [6834.5]

... Reserved
06 1 = Quick magnetizing p1401.6 [D] [6722.5], [6837.5], [6850.6]
07 1 = Precontrol speed limitation p1401.7 [D] [6640.6]
08 1 = Speed limiting controller With M_limits p1401.8 [D]
09 1 = Dynamic load-dependent flux boost p1401.9 [D] [6790.3], [6834.3]
10 1 = Flux boost low speed p1401.10 [D] [6790.3], [6834.3]

... Reserved
13 1 = Precontrol characteristic (PESM) p1401.13 [D]
14 1 = Efficiency optimization active p1401.14 [D] [6722.4], [6837.4]

... Reserved
30 1 = Speed-dependent flux (parabolic characteristic) p1401.30 [D] [6851.7]
1 2 3 4 5 6 7 8
- 6491 -
Flux control configuration V6.02.00
Figure 4-85
6630 - Upper/lower torque limit
Upper torque limit
Torque limit upper Total upper torque

! limit [Nm]
Torque limit upper c1522 [C]
<1>
-1000000.00 ... 20000000.00 [Nm] (1520[0]) r1526 [6060.1]
p1520 [D] (0.00) [6640.1]
Torque limit upper scaling <3> c1528 [C]

-2000.0 ... 2000.0 [%] (1524[0])
p1524 [D] (100.0) Torque limit upper scaling
Travel to fixed stop evaluation

torque reduction
0 ... 65535 [%]
Travel to fixed stop p1544 (100)
torque reduction [%] Travel to fixed stop torque
c1542 [C] scaling [%]
(0.00) r1543
–
+
100 %
214 = 100 %
Lower torque limit

Torque limit lower scaling
Torque limit lower scaling <3> c1529 [C]
-2000.0 ... 2000.0 [%] (1525[0])
p1525 [D] (100.0)
Torque limit lower Total lower torque

Torque limit lower c1523 [C] limit [Nm]
-20000000.00 ... 1000000.00 [Nm] (1521[0]) r1527 [6060.1]
p1521 [D] (0.00) ! [6640.1]
<2>
4.10 Vector control

Function diagrams
<1> Danger: Negative values at <1> represent a minimum torque for the other torque direction and
<2> positive values at <2> can cause the motor to accelerate uncontrollably.
<3> For manufacturer-specific PROFIdrive telegrams with PZD5 = MOMRED (e.g. telegrams 102, 103), r1543 is connected here. The signal source in c1542 (travel to fixed stop torque reduction)
is also set using the selected telegram.
1 2 3 4 5 6 7 8
- 6630 -
805
Upper/lower torque limit V6.02.00

806
Figure 4-86
4.10 Vector control

Function diagrams
Current limiting Output frequency [Hz] Speed limiting
[6730.5], [6731.5], [6792.5] r0066
Stall limit scaling [%]
p1553 [D] (100.0) Iq stall Kp from speed controller
[6723.4] Maximum output voltage [Vrms]
[6724.4] calculation [6040.5]
[6791.4] r0071 Motor stator leakage inductance [mH] Tn from speed controller
[6040.6]
p0356 [M] (0.00000)
6640 - Current/power/torque limits
Motor current Positive speed limit

limit [Arms] 1 = Speed limiting control active
Current limit p0640 [D] (0.00) effective [rpm]
Output current Current limit torque- + r1407
scaling [%] maximum [Arms] generating total [3051.8] r1084 r1407.17 [2522.4]
c0641 [C] r0067 [6722.1] [Arms] +
r1533 [3051.8] r1087
(100.00) x
[6724.1] – –
Negative speed limit Speed limiting
[8016.8] Min effective [rpm]
I_max reduction controller
[6730.5] y x2 – y2 Sign
+ or - <2>
[6731.8] r0289 -1
[6792.8] Maximum power unit output current
[Arms]
Field-generating current 1 = Precontrol speed limitation Precontrol
[6721.8] setpoint total [Arms]
Max Min
p1401.7 [D]
[6723.8]
[6791.8] r1624
[4715.6] r0063[0] Torque limit offset

-100000.00 ... 100000.00 [Nm]
Speed actual value p1532 [D] (0.00)
Unsmoothed [rpm] Total upper torque
r1548[1] r1548[0] limit [Nm]
Lower limit [Arms] Upper limit [Arms] r1534
Total upper torque limit [Nm] + Upper effective torque
[6630.8] r1526 + limit [Nm]
+ Min r1538 [6040.3]
[6835.8] M + <4> [6060.1]
[6836.8] Iq
[6841.1]
Lower effective torque

+ limit [Nm]
Total lower torque limit [Nm] + Max r1539 [6040.3]
[6630.8] r1527 + <4> [6060.1]
+
Power limiting r1535 Torque-generating current
Total lower torque maximum limit [Arms]
Iq <1> limit [Nm] r1536[0..1]
Min [6710.1]
Power limit regenerative
-100000.00 ... -0.01 [kW] Torque-generating current
p1531 [D] (-0.01) <3> minimum limit [Arms]
n r1537[0..1]
Power limit motoring
0.00 ... 100000.00 [kW] Max [6710.1]
p1530 [D] (0.00)
<1>
<1> Intervention by the Vdc controller.
<2> Intervention when the speed limit is exceeded + 3 % n_rated.
<3> Power derating possible using c1555 ∙ p1556.
<4> The limit (current, stall, torque or power limit) which is active and limits the torque is indicated in r1408.16 … r1408.18.
1 2 3 4 5 6 7 8
- 6640 -
Current/power/torque limits V6.02.00
Figure 4-87
r0075 Current setpoint field-generating [Arms]
Torque setpoint [Nm] r0077 Current setpoint torque-generating [Arms]

r0079
Current controller Current controller
[6020.8]
P gain integral-action time [ms] Actual DC link voltage [V]
M p1715 [D] (0.000) p1717 [D] (2.00)
6700 - Current regulation, overview
Iq Output voltage [Vrms] r0070
[6710] Current setpoint filter r0072

Modulation depth [%]
U_set r0074
Maximum output voltage [Vrms]
r0071 K
+ U_angle
– P
Iq controller +
+ – +
– +
Field p1715[D] p1717[D]
U_set weakening p1720[D] p1722[D]
controller
Flux setpoint
50.0 ... 200.0 [%]
p1570 [D] (100.0) + +
+ –
Starting torque static (without Field Id controller
encoder) [%] weakening
p1610 [D] (50.0) characteristic
Current actual value
torque-generating [Arms]
<1> r0078[0..1] I_phase actual
value
Transformation
Current r0076[0..1]
Acceleration starting torque calculation Current actual value field-
(encoderless) [%]
generating [Arms]
p1611 [D] (30.0)
[6721] Id setpoint (p0300 = 2xxx) [6714] Iq and Id controllers (part 1)

[6722] Field weakening characteristic, flux setpoint (p0300 = 1xxx) [6715] Iq and Id controllers (part 2)
[6723] Field weakening controller, flux controller, Id setpoint (p0300 = 1xxx) V_phase actual
[6724] Field weakening controller (p0300 = 2xxx) value
[6791] Flux setpoint (p0300 = 6xxx)
[6792] Id setpoint (p0300 = 6xxx) Slip frequency [Hz]
Speed adaptation r0065
Speed pre-control
[6020.3] Motor model Current model
M Output frequency [Hz]
Speed model
[6020.1] Iq – + r0066
<1> The input is not active for: + +

- operation with encoder
4.10 Vector control

Function diagrams
- synchronous reluctance motor with test pulse technique
- induction motor closed-loop control down to f = 0 (passive loads) [6730] Interface to the power unit (induction motor, p0300 = 1xxx)
For reluctance synchronous motor (p0300 = 6xxx). [6731] Interface to the power unit (Permanent-magnet synchronous motor, p0300 = 2xxx)
For induction motor (p0300 = 1xxx). [6792] Interface to the power unit (Reluctance synchronous motor, p0300 = 6xxx)
1 2 3 4 5 6 7 8
- 6700 -
807
Current control, overview V6.02.00

808
Figure 4-88
4.10 Vector control

Function diagrams
1 = Vdc_max controller active 1 = Frequency negative
[2526.7] r0056.14 [2526.7] r0056.7
Torque-generating current maximum limit [Arms] 0

[6640.8] 1
r1536[0..1]
6710 - Current setpoint filter
[6220.8] 1
Iq_max
0 Current setpoint torque-
1 = Vdc_min controller active generating [Arms]
[6220.8] r0056.15 r0077 [6714.1]
0 [6721.5]
Torque-generating current minimum limit [Arms] 0
[6640.8]
r1537[0..1]
1
[6220.8] 1
Iq_min
Supplementary torque 3
1 = Filter 1
[7010.8] c1569 [C] p1656.0 [D] 1 = Filter 2
(3841) p1656.1 [D]
Torque setpoint [Nm] + Interpolator and
0
[6060.8] r0079 smoothing for voltage
0
+ limits
[6721.8] M 1
[6730.1] Iq 1
Current setpoint filter 1 Current setpoint filter 1 Current setpoint filter 2 denominator Current setpoint filter 2
denominator natural frequency [Hz] denominator damping natural frequency [Hz] denominator damping
p1658 [D] (1999.0) p1659 [D] (0.700) p1663 [D] (1999.0) p1664 [D] (0.700)
D D
Filter 1 [%] fn Filter 2 [%] fn

f f
c1655[0] c1655[1]
(100.00) (100.00)
Current setpoint filter 1 numerator damping Current setpoint filter 2 numerator damping
p1661 [D] (0.700) p1666 [D] (0.700)
Current setpoint filter 1 numerator Current setpoint filter 2 numerator natural
natural frequency [Hz] frequency [Hz]
p1660 [D] (1999.0) |y| 1 p1665 [D] (1999.0) |y| 1
2 2
f f
2nd Order Filter 2nd Order Filter
Current setpoint filter 1 type Current setpoint
p1657 [D] (1) filter 2 type
p1658[D] p1659[D] p1663[D] p1664[D] p1662 [D] (1)
1 2 3 4 5 6 7 8
- 6710 -
Current setpoint filter V6.02.00
Figure 4-89 Isd current controller precontrol scaling

0.0 ... 200.0 [%]
Isq current controller precontrol scaling
0.0 ... 200.0 [%]
p1702 [D] (70.0) p1703 [D] (70.0)
<2>
<1> [6723.3] Flux setpoint [%]
<2> [6724.8] r0083
6714 - Iq and Id controllers (Part 1)
<3> [6791.4]
Pre-control, de-coupling and
Flux setpoint <3> limiting
[6791.8] Isd controller integral component limit [Vrms]
quadrature axis
r1725
1 = Id control I component
limiting active
Motor leakage inductance total [mH] r1408
r0377 [M]
r1408.1 [2530.4]
Field-generating current
setpoint total [Arms] Id current controller
r1624 Isd controller integral
component [Vrms]
<1> [6723.8] Direct-axis voltage setpoint
<2> [6721.8] + r1724 +
Symmetrizing [Vrms]
<3> [6791.8] + r1732[0..1] [6715.1]
– + +
Kp_I Tn_I r1723
Current setpoint field- Isd controller output [Vrms]

generating [Arms] <1> <2> p1715[D] p1717[D]
r0075 <3> p1720[D] p1722[D]
Current actual value field- Current controller Current controller
generating Unsmoothed [Arms] P gain integral-action time [ms]
[6715.8] r0076[0] p1715 [D] (0.000) p1717 [D] (2.00)
Current setpoint torque- Isq controller integral

generating [Arms] component [Vrms]
+ r1719 +
[6710.8] r0077 Symmetrizing
+ r1733[0..1] [6715.1]
– + +
Kp_I Tn_I r1718 Quadrature-axis voltage
Iq current controller Isq controller output [Vrms] setpoint [Vrms]
Current actual value torque-
generating Unsmoothed [Arms]
[6715.8] r0078[0]
4.10 Vector control

Function diagrams
<2> For synchronous motor (p0300 = 2xxx).
<3> For reluctance synchronous motor (p0300 = 6xxx).
1 2 3 4 5 6 7 8
- 6714 -
809
Iq and Id controllers (part 1) V6.02.00

810
Figure 4-90
4.10 Vector control

Function diagrams
U_set 1 [6723.4] <1>
[6724.4] <2>
[6791.3] <3>
U_max 1 [6723.3] <1>

6715 - Iq and Id controllers (Part 2)
[6724.3] <2>
[6791.3] <3>
1 = Voltage limit active

r0056
r0056.9 [2526.4]
1 = Voltage limiting active

r1408
r1408.3 [2530.4]
Direct-axis voltage setpoint [Vrms]

[6714.8] r1732[0..1] K
U_set
[6730.1] <1>
Coordinate converter [6731.1] <2>
U_angle [6792.1] <3>
p +
[6714.8] r1733[0..1] +
Quadrature-axis voltage setpoint [Vrms]
Transformation angle [°]

<1> [6730.4]
<2> [6731.4] r0094
<3> [6792.1]
Phase U
Current actual value field-generating Unsmoothed [Arms] [6714.1]
Ia
3 r0076[0] [6799.5]
<1> [6730.5] [6850.1]
<2> [6731.5] Phase V
VD-
<3> [6792.5] Current actual value torque-generating Unsmoothed [Arms] [6310.1]
Ib [6714.1]
2 r0078[0]
Phase W [6799.5]
[6850.1]
[6300.1]
Absolute current actual value Unsmoothed [Arms] [6799.1]

x² + y² r0068[0] [7017.6]
[8021.1]
<1> For induction motor (p0300 = 1xxx). [8022.1]
1 2 3 4 5 6 7 8
- 6715 -
Iq and Id controllers (part 2) V6.02.00
Figure 4-91
Motor model kT adaptation corrective value [Nm/A]
[6731.5]
r1797 [D]
6721 - Id setpoint (permanent-magnet synchronous motor)
M
Iq [6640.5]
Motor stator leakage inductance
Field weakening controller / 0.00000 ... 1000.00000 [mH] Kt Rel [6710.1]
flux controller output [Arms] p0356 [M] (0.00000) [6799.5]
r1593[0..1] Motor stator inductance d axis
Optimum motor load angle [6724.8] 0.00000 ... 1000.00000 [mH] Lq
0.0 ... 135.0 [°] p0357 [M] (0.00000)
p0327 [M] (90.0) [6724.8]
Field weakening Iq
Motor reluctance torque constant
precontrol characteristic -1000.00 ... 1000.00 [mH] Ld M
Torque setpoint [Nm] p0328 [M] (0.00)
r0079
0 +
[6640.1]
+ [6714.1]
MTPA characteristic field- 1
generating current setpoint -1 Field-generating current setpoint total [Arms]
r1624
Actual motor magnetizing current/short-circuit current [Arms]
r0331 [M]
1 = Controlled operation
[6731.4]
Current injection ramp time r1751.0
1 ... 10000 [ms]
p1601 [D] (20)
Switchover
<1> Closed-loop
operation <2>
Current setpoint torque- ←→ [6842.4] Id
Setting value field-
Acceleration starting torque (encoderless) Open-loop
generating [Arms] generating current
0.0 ... 200.0 [%] operation
p1611 [D] (30.0) [6710.8] r0077
Current setpoint smoothing time
4 ... 10000 [ms]
Ramp-function p1616 [D] (40)
generator operating M
[6731.4] r0094 P
+ 0.9 · r0067 Open-loop
Calculation K <2>
operation
absolute current [6040.1]
+ Torque setting value
<2> speed controller
Starting torque static (without encoder) [6060.5] r1508
-200.0 ... 200.0 [%] Torque setpoint before
p1610 [D] (50.0) supplementary torque [Nm]
r1407.2
<1> Effective injection ramp time:
p1601: When switching over from open-loop controlled to closed-loop controlled operation
4.10 Vector control

Function diagrams
p1616: When switching over from closed-loop controlled to open-loop controlled operation
<2> Only when closed-loop torque control is active (r1407.2 = 1):
The setting value for the field-generating current is formed by subtracting the effective torque current defined by r1508 from the calculated absolute current (p1610, p1611).
The "Torque setting value speed controller" is no longer applicable.
1 2 3 4 5 6 7 8
- 6721 -
811
Id setpoint (Permanent-magnet synchronous motor, p0300 = 2xxx) V6.02.00

812
Figure 4-92
4.10 Vector control

Function diagrams
Field weakening characteristic scaling Motor excitation build-up time
80.0 ... 120.0 [%] -20.000 ... 20.000 [s]
p1586 [D] (100.0) p0346 [M] (0.000)
Maximum output voltage [Vrms] 1 = Flux setpoint soft starting active 1 = Magnetizing completed
r0071 p1401.0 [D]
r0056
Flux threshold value magnetizing [%] r0056.4 [2526.4]
[6723.4] p1573 [D] (100.0)
6722 - Field weakening characteristic, Id setpoint (induction motor)
1 = Flux build-up control active

p1401.2 [D] Quick magnetizing active
[6723.7]
1 = Quick magnetizing
Flux setpoint p1401.6 [D]
y
50.0 ... 200.0 [%] Flux setpoint smoothing time
p1570 [D] (100.0) 4 ... 5000 [ms]
r0056 1 = Field weakening active
p1582 [D] (15)
r0056.8 [2526.4]
[4715.6] r0063[0]
f
Speed actual value
Unsmoothed [rpm]
Field weakening Flux setpoint
characteristic 1 = Efficiency optimization active selection
p1401.14 [D]
Torque actual value [Nm]

1
r0080[0..1]
100 % <0.3 s
r0084[0..1]
0
Flux actual value [%] Efficiency optimization [6730.4]
Motor rotor time constant / damping time constant d axis [ms] Motor model status
Efficiency optimization maximum flux limit value
10.0 ... 200.0 [%] r0384 [M] r1751
p3316 [D] (110.0)
0
Efficiency optimization minimum flux limit value Efficiency optimization optimum flux [%] Flux setpoint
10.0 ... 200.0 [%] [6723.1]
p3315 [D] (70.0) r3313
0.9 1
Output current maximum [Arms]
Id current limit
[6640.3] r0067 [6723.1]

Starting torque static (without encoder) 4 ... 10000 [ms]

-200.0 ... 200.0 [%] p1616 [D] (40)
p1610 [D] (50.0)
supplementary torque [Nm] +
[6060.5] r1508 Id_set Flux setpoint
– calculation calculation
+
Acceleration starting torque (encoderless)
0.0 ... 200.0 [%]
p1611 [D] (30.0)

r0331 [M]
1 2 3 4 5 6 7 8
- 6722 -
Field weakening characteristic, Id setpoint (induction motor, p0300 = 1xxx) V6.02.00
Figure 4-93
Drive filter type motor side Pulse frequency setpoint Modulator mode Maximum modulation depth
0 ... 4 1.000 ... 16.000 [kHz] 0 ... 6 20.0 ... 150.0 [%]
p0230 (0) p1800 [D] (4.000) p1802 [D] (0) p1803 [D] (106.0)
<1> <1>
Calculation, max. modulation depth

6723 – Field weakening controller, flux controller, Id setpoint (induction motor)
Maximum modulation depth [%] Maximum output voltage [Vrms]

r0073 r0071
[6730.4] [6640.1], [6722.1]
<1> Field weakening controller integral-action time

10 ... 10000 [ms]
Voltage reserve dynamic p1596 [D] (50)
0.0 ... 150.0 [Vrms]
p1574 [D] (10.0)
0
– Field weakening controller output [%]
[6730.1] r0070 r1597
+ +
Actual DC link voltage [V] –
-200 %
2
U_max 1 U_set 1
[6715.8]
[6715.8]
1 = Flux setpoint differentiation active

1 = Flux build-up control active p1401.1 [D]
p1401.2 [D]
0
0
Quick magnetizing active
1 [6837.8]
Flux setpoint [%] Field-generating current setpoint

r0083 total [Arms]
+ + r1624
Flux setpoint [6714.1]
0
[6722.8] [6640.1]
+ + [6714.1]
1
Saturation characteristic -1
p0362 ... p0369
Id current limit
[6722.8]
4.10 Vector control

Function diagrams
<1> Value range and/or factory setting depend on p0502.
1 2 3 4 5 6 7 8
- 6723 -
813
Field weakening controller, flux controller, Id setpoint (induction motor, p0300 = 1xxx) V6.02.00
814
Figure 4-94
4.10 Vector control

Function diagrams
0 ... 4 1.000 ... 16.000 [kHz] 0 ... 6 20.0 ... 150.0 [%]
p0230 (0) p1800 [D] (4.000) p1802 [D] (0) p1803 [D] (106.0)

6724 - Field weakening controller (permanent-magnet synchronous motor)
Maximum modulation depth [%] Actual motor magnetizing current/short-circuit current [Arms]
r0073 Field weakening r0331 [M]
[6731.4] controller additional
Voltage reserve dynamic setpoint
0.0 ... 150.0 [Vrms] -80.00 ... 50.00 [%] Field weakening controller
p1574 [D] (10.0) p1595 [D] (0.00) integral-action time
10 ... 10000 [ms]
p1596 [D] (50)
0 Field weakening controller /

– + flux controller output [Arms]
r1593[0..1] [6721.5]
+ + +
–
[6731.1] r0070
Actual DC link voltage [V] 2 U_max 1 U_set 1
[6715.8]
[6715.8]
Rated motor voltage +
0 ... 20000 [Vrms] – Ld
p0304 [M] (0) Ψnom
+ Flux setpoint [%]
r0083 [6714.1]
r0071 + +
[6640.1] +
100 %
Field weakening
Speed actual value Unsmoothed [rpm] -nF nF precontrol characteristic
[4715.6] r0063[0] [6721.4]

r0331 [M]
0.9

Min -1
[6640.3] r0067
1 2 3 4 5 6 7 8
- 6724 -
Field weakening controller (Permanent-magnet synchronous motor, p0300 = 2xxx) V6.02.00
Figure 4-95
Power unit
[6220.1] Actual DC link voltage [V]
[6723.1]
r0070
[6799.1]
[8022.1] Output voltage [Vrms]
r0072 DC link voltage (Vdc)
6730 - Interface to power unit (induction motor)
[6723.2] r0073 r0074

2 -
U_set Modulation depth [%]
[6715.8] +
U_angle
[6715.8]
Gain resonance damping for U
1 = Encoderless operation active encoderless closed-loop control

Slip frequency [Hz] p1740 [D] (0.025) 1 = Frequency limit active PWM
[2522.7] r1407.1 V
r0065 r0056 M
Speed actual value from the Current model Vibration damping
r0056.11 ~
encoder Motor encoder [rpm] Output frequency [Hz] W
[4715.8] r0061[0] 0 + + r0066
Pre-control speed
[6030.8] + + +
1 – [4715.8] 1 = Frequency negative
calculation of Pulse enable HW
p1764[D] p1767[D] Sign r0056
actual speed
p1760[D] p1761[D] + + or - r0056.7
+
Motor model speed adaptation
Maximum power unit output
proportional component [rpm]
current [Arms]
r1770[0..3]
[6640.1] r0289
r1771
Motor model speed adaptation I Power unit overload [%] I_max PU
component [rpm] r0036[0..2]
Phase current actual value [A]

Reverse the output phase sequence r0069[0..8]
p1820 [D] (0)
Actual stator resistance Motor model
[ohm]
Actual phase voltage (motor) [V]
r0395 [M] r0089[0..2]
Flux actual value [%] Transformation angle [°]
r0084[0..1] r0094 [6715.1]
Actual power factor

[6799.1] r0087
r1408 1 = Speed adaptation speed deviation
Stall detection r1408.11 Out tolerance
M p1744, p1745 r1408.12 1 = Motor stalled
[6640.5] Iq Motor model status
[6710.1]
Model control r1751
4.10 Vector control

Function diagrams
[6722.7]
p1752[D] p1753[D] p1758[D] p1759[D]

For operation with encoder p1755[D] p1756[D]
1 2 3 4 5 6 7 8
- 6730 -
815
Interface to the power unit (induction motor, p0300 = 1xxx) V6.02.00

816
Figure 4-96
4.10 Vector control

Function diagrams
Power unit
[6724.1]
r0070
[6799.1]
6731 - Interface to the power unit (permanent-magnet synchronous motor)
[6724.2] r0073 r0074

2 -
[6715.8] +
U_angle
[6715.8]

p1740 [D] (0.025) 1 = Frequency limit active PWM
[2522.7] r1407.1 V
r0056 M
Vibration damping
r0056.11 ~
[4715.8] r0061[0] 0 + r0066
Pre-control speed
[6030.8] + +
p1764[D] p1767[D] Sign r0056
actual speed
p1760[D] p1761[D] + + or - r0056.7
+
current [Arms]
r1770[0..3]
[6640.1] r0289
r1771

Reverse the output phase sequence
p1820 [D] (0) r0069[0..8]
Actual stator resistance

[ohm] Motor model
r0395 [M] Actual phase voltage (motor) [V]
Current actual value field-generating [Arms] r0089[0..2]
r0076[0..1] Transformation angle [°]

kT estimator
Current setpoint torque-generating [Arms] r0094 [6715.1]
r0077 p0328
Direct-axis voltage setpoint [Vrms] r0334 Motor model kT adaptation
p0357 corrective value [Nm/A]
r1732[0..1] p1780.3 r1797 [D]
r1733[0..1]
Motor model status
Model control r1751

[6721.5]
p1752[D] p1753[D]
1 2 3 4 5 6 7 8
- 6731 -
Interface to the power unit (Permanent-magnet synchronous motor, p0300 = 2xxx) V6.02.00
Figure 4-97
1 = Dynamic load-dependent flux boost
p1401.9 [D]
Torque setpoint [Nm] +20% Dynamic load-dependent boost [%]

[6060.8] r0079 r1568[3]
6790 - Flux setpoint (synchronous reluctance motor)
Flux reduction factor [%] 1 = Flux characteristic load-dependent

p1581 [D] (100) p1401.3 [D]
Setpoint before filter [%]
r1568[0]
0 +
Flux setpoint
100 % + [6791.1]
1 0
Flux setpoint
50.0 ... 200.0 [%]
p1570 [D] (100.0)
1 = Flux boost low speed

p1401.10 [D]
Speed actual value [rpm] 100 % Minimum value at low speed [%]
r0063[0..2] r1568[2]
Flux reduction factor 30 % 50 %

0 ... 100 [%] Current injection ramp time [ms]
p1581 [D] (100) p1601 [D] (20) 1 = Controlled operation
[6792.4]
r1751.0
Closed-loop
speed
controlled
operation
r0077 → PSI Flux setting value
0.0 ... 200.0 [%] Current setpoint torque-generating [Arms] Open-loop [6791.1]
p1611 [D] (30.0) speed
Current setpoint smoothing time [ms] controlled
p1616 [D] (40) operation
Ramp-function
generator operating Torque setting value
+ 0.9 · r0067 M
speed controller
Calculation absolute Open-loop
P speed [6040.1]
current
+ K controlled
operation
Starting torque static (without encoder) Transformation angle [°]
-200.0 ... 200.0 [%]
4.10 Vector control

r0094
Function diagrams
p1610 [D] (50.0)
[6792.1]
1 2 3 4 5 6 7 8
- 6790 -
817
Flux setpoint (Reluctance synchronous motor, p0300 = 6xxx) V6.02.00

818
Figure 4-98
4.10 Vector control

Function diagrams
0 ... 4 1.000 ... 16.000 [kHz] 0 ... 6 20.0 ... 150.0 [%]
p0230 (0) p1800 [D] (4.000) p1802 [D] (0) p1803 [D] (106.0)

6791 - Field weakening controller, Id setpoint (synchronous reluctance motor)
Maximum modulation depth [%]

r0073
[6792.4]
U_set 1
Field weakening controller integral-action time
[6715.8] 10 ... 10000 [ms]
p1596 [D] (50)
U_max 1
[6715.8] 0
[6792.1] r0070 r1597
+ +
Voltage reserve dynamic Voltage target value limit
2 0.0 ... 150.0 [Vrms] 50.00 ... 300.00 [%] -1
p1574 [D] (10.0) p1575 [D] (200.00)
–
+ r0071
[6640.1]
Speed actual value [rpm] +

r0063[0..2]
+
Flux setpoint quadrature axis psid, min
[6791.8] Pre-control
calculation Field weakening
value total [%]
r1568[5] r1568[4]
Field weakening value precontrol [%]
Flux reduction flux build-up smoothing time From the flux model
0 ... 5000 [ms]
[6843.4]
p1579 [D] (4)
r0056
r0056.8 [2526.4]
1 = Field weakening active M [6640.5]
Flux setpoint
Iq [6710.1]
[6790.8]
Flux setting value Flux setpoint [%] Iq
0 r0083 [6714.1] M
Torque factor and
Current setpoint torque-generating [Arms] magnetizing current
Flux reduction flux decrease smoothing time Flux setpoint [6714.1]
20 ... 5000 [ms] r0077 [6791.1]
quadrature axis
p1578 [D] (200) [6710.8] [6640.1]

[6714.1]
0
Field-generating current setpoint total [Arms]
r1624
1 2 3 4 5 6 7 8
- 6791 -
Field weakening controller, Id setpoint (Reluctance synchronous motor, p0300 = 6xxx) V6.02.00
Figure 4-99
Power unit
Actual DC link voltage [V]
[6220.1] r0070
[8022.1] DC link voltage (Vdc)
r0072
6792 - Interface to the power unit (synchronous reluctance motor)
[6791.2] r0073 r0074

2 -
[6715.8] +
[6715.8]
U_angle +
encoderless closed-loop control
1 = Encoderless operation active p3366[D] p1750.5[D] p1740 [D] (0.025) 1 = Frequency limit active PWM
[2522.7] r1407.1 V
r0056 M
Pulse generator Vibration damping
r0056.11 ~
[4715.8] r0061[0] 0 + r0066
Pre-control speed
[6030.8] + +
1 – 1 = Frequency negative
p1760[D] p1761[D] Pulse enable HW
p1764[D] p1767[D] r0063[0] Sign r0056
p1798[D] p1799[D] + + or - r0056.7
+
current [Arms]
r1770[0..3]
[6640.1] r0289
r1771

Reverse the output phase sequence r0069[0..8]
p1820 [D] (0)
Actual stator resistance Motor model
[ohm]
r0395 [M] r0089[0..2]
[6790.5] r0094 Pulse technique excitation actual [mVs]
r3361[0..2]
Pulse technique response [A]
r3362[0..5]
Flux model [6835.7]
Motor model status

Model control r1751
4.10 Vector control

Function diagrams
[6790.6]
For operation with encoder p1747[D] p1752[D] p1753[D]

Only available with license p1755[D] p1756[D]
1 2 3 4 5 6 7 8
- 6792 -
819
Interface to the power unit (Reluctance synchronous motor, p0300 = 6xxx) V6.02.00
820
Figure 4-100
4.10 Vector control

Function diagrams
Speed controller speed
setpoint [rpm]
Speed setpoint smoothed [rpm] Modulation depth [%]
r1438 Modulation depth smoothed [%]
100 ms r0020 r0074
100 ms r0028
Speed actual value Speed actual value smoothed [rpm]
Unsmoothed [rpm] r0021
6799 - Display signals
field-generating
r0063[0] Speed actual value rpm smoothed [rpm] Unsmoothed [Arms] Current actual value field-
100 ms
r0022 r0076[0] generating smoothed [Arms]
300 ms r0029
Display values smoothing time constant [ms]
p0045 (4.00)
torque-generating
Unsmoothed [Arms] Current actual value torque-
Speed actual value generating smoothed [Arms]
Smoothed with p0045 [rpm] r0078[0]
300 ms r0030
r0063[1]
Actual torque smoothed [Nm]

Output frequency [Hz] Output frequency smoothed [Hz] 100 ms r0031
r0066 r0024
100 ms Torque actual value Unsmoothed [Nm]
M
r0080[0]
Iq
Output voltage [Vrms] Output voltage smoothed [Vrms] Display values smoothing time constant [ms]
p0045 (4.00)
r0072 r0025
100 ms
Torque actual value
Smoothed with p0045 [Nm]
Speed actual value r0080[1]
Actual DC link voltage [V] DC link voltage smoothed [V] Unsmoothed [rpm]
Active power actual value
r0070 r0026 r0063[0] (motor) Unsmoothed [kW]
100 ms
r0082[0]
p0045
Absolute current actual
value Unsmoothed [Arms] Absolute actual current smoothed [Arms] Active power actual value (motor)
r0068[0] r0027 Smoothed with p0045 [kW]
300 ms
r0082[1]
Display values smoothing time constant [ms]

p0045 (4.00)
Active power actual value Active power actual
Absolute current actual value (motor) Unsmoothed [kW] value smoothed [kW]
Smoothed with p0045 [Arms]
r0082[0] r0032
r0068[1] 100 ms
√3
Electric power [kW]
r0082[2] Actual power factor

Power factor smoothed
r0087
r0087 r0072 300 ms r0038
Actual power factor Output voltage [Vrms]
1 2 3 4 5 6 7 8
- 6799 -
Display signals V6.02.00
Function diagrams
4.11 U/f control
4.11 U/f control
Overview
The following function diagrams describe the U/f control function.
Function diagrams
6300 – U/f control, overview (Page 822)
6301 – Voltage boost (Page 823)
6302 – U/f characteristic (Page 824)
6310 – Resonance damping (Page 825)
6311 – Slip compensation (U/f) (Page 826)
6320 – Vdc_max controller and Vdc_min controller (U/f) (Page 827)

822
Figure 4-101
4.11 U/f control

Function diagrams
r0056
.
.
. Flying restart mode Vdc_ctrl config Speed actual Slip compensation Resonance damping
p1200 p1280 value calculation p1334, p1335 p1338, p1339
[6320] [6311.8] [6310.8]

6300 – U/f control, overview
[2526] Speed controller

setpoint sum [rpm]
Ramp-function generator
r1170
setpoint at the input [rpm] + + + Output frequency [Hz]
Ramp-function
[3001.8] r1119 r0066
generator + + +
[3060]
r0313 [M] Output frequency
[3070] 60
smoothed [Hz]
[3080] Motor pole pair number,
actual (or calculated) r0024
100 ms
Current limit scaling [%]
c0641 [C] I_max controller frequency output [rpm] Transformation angle [°]
(100.00) r1343 r0094
Motor current limit
Imax closed-loop +
0.00 ... 10000.00 [Arms] frequency control 180 °
1 +
p0640 [D] (0.00) p1340 ... p1341 1 = Current/torque limiting
0°
Output current r0056 0
current [Arms] maximum [Arms] r0056.13 Angular difference
r0289 r0067 Imax closed-loop symmetrizing actual angle
[6301.4] voltage control p1358 [D] (0)
I_max reduction I_max controller voltage
MIN p1345 ... p1346
Electric power [kW] + output [Vrms]
r0082[2]
– r1344
Angular difference [°]
r1359
Rated value [kW]
–
+
r0206[0]
Absolute current actual value c1356 [C]

Unsmoothed [Arms] (0.00)
Soft starting
r0068[0] >0 p1200 U/f control angular setpoint [°]
Control mode Voltage limiting [Vrms]

Current setpoint torque- p1300 p1331 [D] (1000.00)
generating [Arms] +
V_boost permanent
r0077 V_set [6730.1]
p1310
[6302.8] + [6731.1]
V_boost accelerate
p1311 <1>
f_set
<0 Output voltage [Vrms]
V_boost starting r0072
p1312 U/f control Eco factor actual value [%]

Eco mode r1348 Output voltage smoothed
[Vrms]
[6301], [6302]
r0025
100 ms
<1> Only for p1300 = 19 and p1302.1 = 1.
1 2 3 4 5 6 7 8
- 6300 -
U/f control, overview V6.02.00
Figure 4-102
6301 - Voltage boost
Rated motor current [Arms]

p0305 [M] (0.00)
Starting current (voltage boost) Actual stator resistance [ohm]
permanent [%] r0395 [M]
1 = Ramp-up active
p1310 [D] (50.0)
r1199 Output current
r1199.0 maximum [Arms]
r0067
0
0 + [6300.1]
Starting current (voltage boost) Voltage boost
when accelerating [%] [6302.1]
r0056
+
p1311 [D] (0.0) 1
>0 +
r0056.6 [2526.4] 0 3
1 = Acceleration voltage
0
Starting current (voltage boost) 0
when starting [%]
r0056
p1312 [D] (0.0) <1> 1 >0 r0056.5 [2526.4]
1 = Voltage boost when
starting
Function diagrams
4.11 U/f control
<1> p1312 is only effective for the first acceleration phase after pulse enable.
1 2 3 4 5 6 7 8
- 6301 -
823
U/f control, voltage boost V6.02.00

824
Figure 4-103
4.11 U/f control

Function diagrams
r0071
Linear
Rated motor voltage [Vrms]

p0304 [M] (0)
<1>
6302 - U/f characteristic
Rated motor frequency [Hz]

p0310 [M] (0.000)
Open-loop/closed-loop control type

r0071 p1300 [D] (20)
Flux current control (FCC)
p0304[M] 0/5
1/6
<1>
2
r0077 3 [6300.4]
Current setpoint torque- 4
generating [Arms]
7
U/f control Eco factor actual value [%]
U/f control FCC starting frequency [Hz] p0310[M] ECO mode r1348 19
p1333 [D] (0.00)
r0071 +
Parabolic
U/f control independent voltage c1330 [C] +
setpoint [Vrms] (0.00)
p0304[M]
f_set Maximum output
[6300.2] <1> voltage [Vrms]
r0071 Freely programmable
p1327[D]
p0310[M]
p1325[D]
p1323[D]
p1321[D]
Voltage boost
[6301.8]
<2>
<1> Dependent on the load current p1320[D] p1324[D]
<2> For p1320 = 0, the voltage boost via p1310 is not effective. p1322[D] p1326[D]
1 2 3 4 5 6 7 8
- 6302 -
U/f control, characteristic V6.02.00
Figure 4-104
6310 - Resonance damping
U/f mode resonance damping filter time constant U/f mode resonance damping gain
1.00 ... 1000.00 [ms] 0.00 ... 100.00
p1339 [D] (20.00) p1338 [D] (0.00)
Current actual value torque-

generating Unsmoothed [Arms]
Resonance damping
[6715.8] r0078[0] [6300.7]
+
–
Output frequency [Hz] 1

[6730.5]
r0066
[6731.5]
6% 10 % 95 % f/f Mot N
<1>
U/f mode resonance damping maximum frequency
0.00 ... 3000.00 [Hz]
p1349 [D] (0.00)
Function diagrams
4.11 U/f control
<1> For p1349 = 0: the limit is 0,95 · f Mot N ≤ 45 Hz.
1 2 3 4 5 6 7 8
- 6310 -
825
U/f control, Resonance damping V6.02.00

826
Figure 4-105
4.11 U/f control

Function diagrams
Slip compensation limit value
0.00 ... 600.00 [%]
p1336 [D] (250.00)
6311 - Slip compensation (U/f)
Motor holding brake starting frequency <1>

-300.00 ... 300.00 [%]
p1351 [D] (0.00)
-1
Slip compensation scaling

0.0 ... 600.0 [%] Rated motor slip [Hz]
p1335 [D] (0.0) r0330 [M]
Slip frequency [Hz] Slip compensation

[6300.6]
r0065 250 ms
100 %
Rated motor slip [Hz]
-1
r0330 [M] r1337
Actual slip
0
compensation [%]
1 r0056
Output frequency [Hz]
1
1 r0056.10 [2526.4]
0
r0066 1 = Slip limit active
[6730.5]
p1334
f/f Mot N
[6731.5]
p1334 + 4 %
<1> Preset value for r1337:

Activation with r0056.4 = 1 till r0066 ≥ p1334 and p1216 has expired. 100 % equal r0330 (Rated motor slip).
1 2 3 4 5 6 7 8
- 6311 -
U/f control, slip compensation V6.02.00
Figure 4-106
Vdc_max controller integral time (U/f)
0 ... 10000 [ms]
p1291 [D] (40)
Vdc_max controller Vdc_max controller rate

proportional gain (U/f) time (U/f)
0.00 ... 100.00 0 ... 1000 [ms]
6320 - Vdc_max controller and Vdc_min controller (U/f)
Vdc controller or Vdc monitoring p1290 [D] (1.00) p1292 [D] (10)
Vdc_max (U/f control) configuration
p1240 [D] (1) 0
<1>
Actual DC link voltage [V] 1 = Vdc_max controller active
1,3
r0070 1 r0056
+ 0
– 0 0 r0056.14 [2526.4]
0,2 0
Calculate on_level
Vdc_max controller
switch-in level (U/f) [V] Vdc_max controller dynamic factor (U/f)
Vdc_max controller automatic r1282 1 ... 10000 [%]
detection ON signal level (U/f) p1283 [D] (100)
Vdc controller output (U/f) [rpm]
p1294 (0)
r1298
Device supply voltage Vdc_ctrl config

70 ... 690 [V] 0 [6300.4]
p0210 (400)
Vdc_min controller integral time (U/f)

0 ... 10000 [ms]
Vdc_min controller switch-in level p1391 [D] (0)
(kinetic buffering) (U/f)
65 ... 150 [%]
p1285 [D] (72) Vdc_min controller switch-in level
(kinetic buffering) (U/f) [V] Vdc_min controller Vdc_min controller
r1286 proportional gain (U/f) rate time (U/f)
0.00 ... 100.00 0 ... 1000 [ms]
p1390 [D] (0.00) p1392 [D] (0)
Calculate on_level
Actual DC link voltage [V] – 0

2,3 1 = Vdc_min controller active
r0070 1
0
r0056
+
0 r0056.15 [2526.4]
0,1 0
Vdc_min (U/f control)
Function diagrams
<1> For settings p1240 = 4 ... 6, the following applies: The DC link
controllers are not calculated. When the threshold in r1242 or r1246 is Vdc_min controller dynamic factor (kinetic buffering) (U/f)
4.11 U/f control

reached, the DC link voltage monitoring initiates a fault (F07403 or 1 ... 10000 [%]
F07404). p1287 [D] (100)
1 2 3 4 5 6 7 8
- 6320 -
827
U/f control, Vdc_max controller and Vdc_min controller V6.02.00

Function diagrams
4.12 Dynamic Drive Control
Overview
The following function diagrams describe the Dynamic Drive Control function.
Function diagrams
6820 – Speed control and generation of the torque limits, overview (Page 829)
6821 – Current control, overview (Page 830)
6822 – Speed setpoint, pre-control balancing, acceleration model (Page 831)
6824 – Speed controller with Kp_n-/Tn_n adaptation (Page 832)
6826 – Torque setpoint (Page 833)
6828 – Upper/lower torque limit (Page 834)
6832 – Current setpoint filter (Page 836)
6833 – Iq and Id controllers (Page 837)
6834 – Flux setpoint (synchronous reluctance motor) (Page 838)
6835 – Field weakening controller, Id setpoint (synchronous-reluctance motor) (Page 839)
6836 – Id setpoint (permanent magnet synchronous motor) (Page 840)
6837 – Field weakening characteristic, flux setpoint (induction motor) (Page 841)
6838 – Field weakening controller, flux controller (induction motor) (Page 842)
6839 – Field weakening controller (permanent-magnet synchronous motor) (Page 843)
6842 – Interface to the power unit (permanent magnet synchronous motor) (Page 845)
6843 – Interface to the power unit (synchronous reluctance motor) (Page 846)

Figure 4-107
p1400 p1401 r0056 r1408
c1512 [C]
(0.00)
[6490] Closed-loop speed control configuration Kp adaptation Tn adaptation Supplementary torque 1 [Nm] For Kp adaptation
[6491] Closed-loop flux control configuration p1460[D] p1462[D] c1511 [C]
[2526] Status word closed-loop control (r0056) p1470[D] p1472[D] (0.00)
6820 - Speed control and generation of the torque limits, overview
[2530] Status word closed-loop current control (r1408)

p1514 [D] (100.0)
c1513 [C]
p1442[D] (0.00)
Speed actual value p1452[D] Accelerating torque Unsmoothed [Nm] Supplementary torque
Unsmoothed [rpm] r1518[0] total [Nm]
r0063[0] r1515
Speed setpoint from: Kp Tn
[4715.6] Encoder or Torque setpoint [Nm]
[6821.1] speed model – r0079
r1508 [6821.1]
[6824] Speed controller with Kp_n/Tn_n adaptation [6826] Torque setpoint
Speed controller speed setpoint [rpm]

r1438
Speed pre-control
[6821.1]
Torque limit upper

Symmetrizing c1522 [C]
Torque limit upper [Nm]
(1520[0]) Upper effective torque limit
p1520 [D] (0.00)
p0341[M] p0342[M] [Nm]
p1496[D] Power limit motoring [kW]
Speed setpoint filter 1 r1538
p1530 [D] (0.00)
time constant [ms] Generating the
p1416 [D] (0.00) Power limit regenerative [kW]
torque limits
p1531 [D] (-0.01)
r1539
Speed controller Motor current limit [Arms]

setpoint sum [rpm] Lower effective torque limit
p0640 [D] (0.00)
c1523 [C] [Nm]
[3001.8] r1170 r0062 Torque limit lower [Nm]
Speed setpoint after the filter [rpm] (1521[0])
p1521 [D] (0.00)
Torque limit lower
Function diagrams
[6822] Speed setpoint, Pre-control balancing, acceleration model [6828] Upper/lower torque limit
[6829] Current/power/torque limits
1 2 3 4 5 6 7 8
Dynamic Drive Control (DDC, p0504 = 2) © Siemens AG
- 6820 -
829
Speed control and generation of the torque limits, overview V6.02.00

830
Figure 4-108

Function diagrams
r0075 Current setpoint field-generating [Arms]
Torque setpoint [Nm] r0077 Current setpoint torque-generating [Arms]

r0079
Current controller Current controller
[6820.8]
P gain integral-action time [ms] Actual DC link voltage [V]
M p1715 [D] (0.000) p1717 [D] (2.00)
r0070
6821 - Current control, overview
Iq Output voltage [Vrms]

[6832] Current setpoint filter r0072
Modulation depth [%]
Maximum output voltage [Vrms] r0074
r0071 U_set
K
+ U_angle
– P
– Iq controller +
+ +
– +
Field
U_set weakening p1715[D] p1717[D]
p1720[D] p1722[D]
controller
Flux setpoint
50.0 ... 200.0 [%]
p1570 [D] (100.0) + +
+ –
Starting torque static (without Field Id controller
encoder) [%] weakening
p1610 [D] (50.0) characteristic
torque-generating [Arms]
<1> r0078[0..1] I_phase actual
value
Transformation
Current r0076[0..1]
Acceleration starting torque calculation Current actual value field-
(encoderless) [%]
generating [Arms]
p1611 [D] (30.0)
[6834] Flux setpoint (p0300 = 6xxx) [6833] Iq and Id controller

[6835] Id setpoint (p0300 = 6xxx)
[6836] Id setpoint (p0300 = 2xxx) V_phase actual
[6837] Field weakening characteristic, flux setpoint (p0300 = 1xxx) value

[6838] Field weakening controller, flux controller, Id setpoint (p0300 = 1xxx)
[6839] Field weakening controller (p0300 = 2xxx) Slip frequency [Hz]
Speed adaptation r0065
Speed pre-control Motor model Current model

[6820.3]
M Output frequency [Hz]
Speed model Iq
[6820.1] – + r0066
+ +
<1> The input is not active for:

- operation with encoder
- synchronous reluctance motor with test pulse technique [6841] Interface to the power unit (induction motor, p0300 = 1xxx)
- induction motor closed-loop control down to f = 0 (passive loads)
[6842] Interface to the power unit (Permanent-magnet synchronous motor, p0300 = 2xxx)
For reluctance synchronous motor (p0300 = 6xxx).
[6843] Interface to the power unit (Reluctance synchronous motor, p0300 = 6xxx)
For induction motor (p0300 = 1xxx).
1 2 3 4 5 6 7 8
- 6821 -
Current control, overview V6.02.00
Figure 4-109 Acceleration precontrol scaling [%]

Torque actual value [Nm] p1496 [D] (0.0)
r0080[0..1]
r0084[0..1]
Moment of inertia 1
Flux actual value [%] estimator r1493

only for initialization 0 Moment of inertia total,
6822 - Speed setpoint, pre-control balancing, acceleration model
[6035]
Motor moment of inertia [kgm²] scaled [kgm²]
p0341 [M] (0.000000)
1 = Moment of inertia estimator active
Ratio between the total and motor moment of inertia p1400.18 [D]
p0342 [M] (1.000)
1 = Vdc_max controller active
r0056
1 = Acceleration precontrol signal source External (p1495) p1400.23[D]
p1400.20[D] r0056.14
p1400.2 [D]
Acceleration precontrol [rev/s²] [2526.7]
1
Calculated accelerating
c1495 [C] 0 torque
1
(0.00) [6826.1]
Speed setpoint before
the setpoint filter [rpm] Acceleration calculation 0
0
r0060
[6799.1]
Speed setpoint filter 1 Acceleration precontrol scaling [%]
time constant [ms] p1496 [D] (0.0)
p1416 [D] (0.00)
Speed setpoint Speed controller speed
Speed controller after the filter [rpm] <2> 0 setpoint [rpm]
setpoint sum [rpm] r0062 r1438 [6824.1]
[3080.8] r1170 Pre-control balancing +
>0 +
<1>
Positive speed limit
effective [rpm] Speed controller speed actual value
r1407 smoothing time (sensorless) [ms]
[3051.8] r1084
r1407.11 [2522.3] p1452 [D] (10.00)
[3051.8] r1087
Negative speed limit Speed precontrol Speed precontrol symmetrizing time
effective [rpm] symmetrizing dead time constant [ms]
p1428 [D] (0.0) p1429 [D] (0.00)
1 = Interpolation speed precontrol After symmetrization [rpm]

p1400.7 [D] <2>
Speed precontrol [rpm] x,y x Pre-control balancing 2 r1432[0]
c1430 [C] y
(0.00)
1 +

1
Pre-control speed [6841.1]
t
+ [6842.1]
0 [6843.1]
r1432[1] 0 0
Speed precontrol After interpolator [rpm]
Function diagrams
<1> The following applies for precontrol balancing:
For p1400.2 = 1, parameters p1428 and p1429 are active. 1 = Sensorless vector control speed precontrol
For p1400.2 = 0, parameter p1452 is active. p1400.15 [D]
<2> For p1400.10 = 1
1 2 3 4 5 6 7 8
- 6822 -
831
Speed setpoint, Pre-control balancing, acceleration model V6.02.00

832
Figure 4-110

Function diagrams
Speed actual value Unsmoothed [rpm]
r0063[0] Speed controller P gain Speed controller integral time
0.00 ... 999999.00 0.00 ... 100000.00 [ms]
p1460 [D] (0.30) p1462 [D] (20.00)
Speed controller Tn adaptation p1470 [D] (0.3000) p1472 [D] (20.00)
speed upper scaling
y <1>
0.0 ... 200000.0 [%]
p1463 [D] (100.0) n Tn Kp_n_basic
6824 - Speed controller with Kp_n-/Tn_n adaptation
x [6824.1]
Tn_n_basic Tn_n_adapt Tn_n_basic
[6824.8] [6824.1]
Speed controller adaptation speed upper <2> Kp_n_adapt

0.00 ... 210000.00 [rpm] 1 0 1 0
p1465 [D] (210000.00) 1 = Kp/Tn adaptation active
Speed controller adaptation speed lower <2> p1400.5 [D]
Speed controller integral time
0.00 ... 210000.00 [rpm] [6490.6]
effective [ms]
p1464 [D] (0.00) r1469
Kp_n_basic Dynamic reduction,
Kp
[6824.8] field weakening
Speed controller Kp adaptation r1468

speed upper scaling Kp
1 = Automatic Kp/Tn adaptation active Speed controller P gain
0.0 ... 200000.0 [%] n p1400.0 [D]
p1461 [D] (100.0) Speed controller effective
[6490.6]
Kp Tn
Speed controller system deviation [rpm] Kp
M_set from
Speed controller speed setpoint [rpm] r0064 speed controller
[6822.8] r1438 [6826.1]
+ Upper effective torque limit [Nm] +
– + r1480
r1538
Speed controller PI torque
[6828.8] output [Nm]
r1539
Lower effective torque limit [Nm] Tn
Speed controller speed actual Kp Speed controller I torque
value smoothing time
output [Nm]
0.00 ... 32000.00 [ms]
p1442 [D] (4.00) r1482
p1452 [D] (10.00) Enable speed controller Set
Hold Set Val r1407
Speed controller speed from sequence control S4: Operation
r1407.3 [2522.4]
actual value input
c1440 [C] Speed controller actual speed smoothed [rpm] 1 = Speed control active
(63[0]) r1445 1 = Speed controller I component frozen
Speed controller torque setting value for motor holding r1407
r1443 brake [Nm] r1407.5 [2522.4]
Speed controller speed c1475 [C] Integrator control

r1407
actual value at actual (0.00) r1407.6 [2522.4]
value input [rpm]
[6834.8] Torque setting value speed controller 1 = Speed controller I component set
[6836.8]
r1407 1 = Sensorless vector control freeze I comp
[2522.7] r1407.7 p1400.1 [D]
<1> For p1462/p1472 = 0.0 s or 100.0 s, the I component is disabled (integral action time = infinite).
<2> If the lower transition point exceeds the upper transition point, the Kp-adaptation also changes over.
1 2 3 4 5 6 7 8
- 6824 -
Speed controller with Kp_n/Tn_n adaptation V6.02.00
Figure 4-111
c1511 [C]
1 Supplementary torque
(0.00)
+ total [Nm]
c1512 [C] + [6490.7] 0 r1515
(0.00) 1 = Torque precontrol Always active 0 <1>
Supplementary torque 1 scaling [%] p1400.14 [D]
r0898
1
6826 - Torque setpoint
Supplementary torque 2 [Nm] 1 = Enable speed controller

c1513 [C] [2501.7] r0898.12
(0.00)
Supplementary torque 2 scaling Accelerating torque smoothing time constant
-2000.0 ... 2000.0 [%] 0.00 ... 100.00 [ms]
p1514 [D] (100.0) p1517 [D] (4.00)
<1> <2> <1> <2>
<3>
Accelerating torque Unsmoothed [Nm] Accelerating torque Smoothed [Nm]
Calculated accelerating torque r1518[0] r1518[1] +
[6822.8]
+ 1 = Current/torque limiting
Upper effective torque limit [Nm] r0056
[6828.8] r1538 r0056.13 [2526.3]
Torque limit upper Torque limit for speed controller output

c1522 [C] Upper limit [Nm]
(1520[0]) r1547[0]
r1407
1 r1407.7 [2522.4]
[6828.8] r1526
r1407
Total upper torque limit [Nm]
r1407.8 [2522.4]
Torque setpoint before r1407
supplementary torque [Nm] r1407.8 [2522.4]
r1508 [6836.5]
<5> [6837.1] + Torque setpoint [Nm]
M_set from speed controller
[6824.8] r0079 [6832.1]
1 = Torque limit reached + [6834.1]
<4>
<5> (without precontrol) [8012.1]
Torque limiting
r1407
r1407.15 [2522.4]
1 = Lower torque limit active 1 = Lower torque limit active

r1407 r1407
Torque limit lower scaling without offset [%] r1407.9 [2522.4] r1407.9 [2522.4]
c1554 [C]
(100.00) r1547[1]

[6828.8] r1527 Lower limit [Nm]
[6828.8] r1539
Function diagrams
<3> Acceleration control is inhibited for p1517 = 100 ms.
<1> The signal is only effective after magnetization has been completed (r0056.4 = 1). <4> M_set is also influenced by the speed limit controller.
<2> No pre-control if the Vdc controller is active [6220.8]. <5> The following applies for c1551 = 0: The fixed torque limits are used (upper: r1538, lower: r1539).
1 2 3 4 5 6 7 8
- 6826 -
833
Torque setpoint V6.02.00

834
Figure 4-112

Function diagrams
Upper torque limit
6828 - Upper/lower torque limit
Torque limit upper Total upper torque

! limit [Nm]
Torque limit upper c1522 [C]
<1>
-1000000.00 ... 20000000.00 [Nm] (1520[0]) r1526 [6826.1]
p1520 [D] (0.00) [6829.1]
Torque limit upper scaling <3> c1528 [C]

-2000.0 ... 2000.0 [%] (1524[0])
p1524 [D] (100.0) Torque limit upper scaling
Travel to fixed stop evaluation

torque reduction
0 ... 65535 [%]
Travel to fixed stop p1544 (100)
torque reduction [%] Travel to fixed stop torque
c1542 [C] scaling [%]
(0.00) r1543
–
+
100 %
214 = 100 %
Lower torque limit

Torque limit lower scaling
Torque limit lower scaling <3> c1529 [C]
-2000.0 ... 2000.0 [%] (1525[0])

p1525 [D] (100.0)
Torque limit lower Total lower torque

Torque limit lower c1523 [C] limit [Nm]
-20000000.00 ... 1000000.00 [Nm] (1521[0]) r1527 [6826.1]
p1521 [D] (0.00) ! [6829.1]
<2>
<1> Danger: Negative values at <1> represent a minimum torque for the other torque direction and
<2> positive values at <2> can cause the motor to accelerate uncontrollably.
<3> For manufacturer-specific PROFIdrive telegrams with PZD5 = MOMRED (e.g. telegrams 102, 103), r1543 is connected here. The signal source in c1542 (travel to fixed stop torque reduction)
is also set using the selected telegram.
1 2 3 4 5 6 7 8
- 6828 -
Upper/lower torque limit V6.02.00
Figure 4-113
Current limiting Output frequency [Hz] Speed limiting
[6841.5], [6842.5], [6843.5] r0066
[6835.4] Maximum output voltage [Vrms] Iq stall
[6838.4]
r0071 calculation Kp from speed controller
[6839.4] Motor stator leakage inductance [mH] [6824.5]
Motor current p0356 [M] (0.00000) Tn from speed controller
limit [Arms] [6824.6]
Current limit p0640 [D] (0.00) Output current
Current limit torque- Positive speed limit 1 = Speed limiting control active
scaling [%] maximum [Arms] generating total effective [rpm]
c0641 [C] r0067 [6837.1] [Arms] + r1407
r1533 [3051.8] r1084
(100.00) [6839.1] r1407.17 [2522.4]
x
[8016.8] Min [3051.8] r1087 +
I_max reduction – –
y x2 – y2 Negative speed limit Speed limiting
[6841.8] r0289 -1 effective [rpm] controller
[6842.8] Maximum power unit output current
Sign <2>
[6843.8] [Arms]
+ or -
Field-generating current Max Min
[6835.8]
setpoint total [Arms]
[6836.8]
[6838.8] r1624
r0063[0]
Speed actual value Torque limit offset
Unsmoothed [rpm] -100000.00 ... 100000.00 [Nm]
r1548[1] r1548[0] p1532 [D] (0.00)
Total upper torque limit
Lower limit [Arms] Upper limit [Arms] [Nm]
r1534
Total upper torque limit [Nm] + Upper effective torque
[6828.8] r1526 + limit [Nm]
+ Min r1538 [6824.4]
[6835.8] M + <4> [6826.1]
[6836.8] Iq
[6841.1]
Lower effective torque

+ limit [Nm]
Total lower torque limit [Nm] + Max r1539 [6824.4]
[6828.8] r1527 + <4> [6826.1]
+
r1535
Power limiting Torque-generating current
Total lower torque
limit [Nm] maximum limit [Arms]
Iq <1> r1536[0..1]
Min [6832.1]
Power limit regenerative
-100000.00 ... -0.01 [kW] Torque-generating current

p1531 [D] (-0.01) <3> minimum limit [Arms]
n r1537[0..1]
Power limit motoring
0.00 ... 100000.00 [kW] Max [6832.1]
p1530 [D] (0.00) <1>
Function diagrams
<1> Intervention by the Vdc controller.
<2> Intervention when the speed limit is exceeded + 3 % n_rated.
<3> Power derating possible using c1555 ∙ p1556.
<4> The limit (current, stall, torque or power limit) which is active and limits the torque is indicated in r1408.16 … r1408.18.
1 2 3 4 5 6 7 8
- 6829 -
835

836
Figure 4-114

Function diagrams
1 = Vdc_max controller active
6832 - Current setpoint filter
r0056 1 = Frequency negative

[2526.7] r0056
r0056.14 [2526.7]
r0056.7
Torque-generating current maximum limit [Arms] 0

[6828.8] 1
r1536[0..1]
Vdc controller or Vdc monitoring configuration 1

p1240 [D] (1) 0
Vdc controller
Actual DC link voltage output [Arms]
[V] r1258
r0070
0
[6220] 1
Torque-generating current minimum limit [Arms] 1

[6828.8] 0
r1537[0..1]
r0056
[2526.7]
r0056.15
1 = Vdc_min controller active
Current setpoint torque-

Torque setpoint [Nm] Interpolator and generating [Arms]
Current setpoint filter

[6826.8] r0079 smoothing for r0077 [6833.1]
+ voltage limits p1655 … p1666 [6834.5]
+
Supplementary torque 3 [6835.6]
[6710] [6836.5]
c1569 [C]
[6842.3]
[7010.8] (3841)
[6835.8] M
[6836.8]
[6841.1] Iq
1 2 3 4 5 6 7 8
- 6832 -
Current setpoint filter V6.02.00
Figure 4-115
<1> [6838.3] Flux setpoint [%]
U_set 1 [6838.1] <1>
<2> [6839.8] r0083
[6839.1] <2>
<3> [6835.4] Pre-control, de-coupling and [6835.4] <3>
Flux setpoint <3> limiting
[6835.8]
quadrature axis 1 = Id control I component
U_max 1 [6838.3] <1>
6833 - Iq and Id controllers
limiting active [6839.3] <2>

r1408 [6835.3] <3>
Isq current controller precontrol scaling r1408.1 [2530.4] 1 = Voltage limit active
0.0 ... 200.0 [%] r0056
p1703 [D] (70.0)
r0056.9 [2526.4]
Field-generating current
setpoint total [Arms] Id current controller Direct-axis voltage setpoint [Vrms]
r1624
+ r1732[0..1] 1 = Voltage limiting active
<1> [6838.8]
<2> [6836.8] r1408
Symmetrizing
<3> [6835.8] + + r1408.3 [2530.4]
–
Kp_I Tn_I
Current setpoint field- [6841.1] <1>

K U_set
generating [Arms] <1> <2> p1715[D] p1717[D] [6842.1] <2>
r0075 <3> p1720[D] p1722[D] [6843.1] <3>
Current controller Current controller Coordinate converter

P gain integral-action time [ms]
U_angle [6841.1] <1>
p1715 [D] (0.000) p1717 [D] (2.00)
p [6842.1] <2>
+ [6843.1] <3>
+
Current setpoint torque-
generating [Arms] +
[6832.8] r0077 Symmetrizing
+ +
– r1733[0..1]
Kp_I Tn_I
Iq current controller
<1> [6841.4] Transformation angle [°]
<2> [6842.4] r0094
<3> [6843.1]
Phase U
Ia Absolute current actual value Unsmoothed [Arms]
<1> [6841.5] 3 [6799.1]
x2  y2 r0068[0]
<2> [6842.5] Phase V [8021.1]
VD-

<3> [6843.5] Current actual value torque-generating Unsmoothed [Arms]
2 Ib r0078[0] [6799.6]
Phase W
Current actual value field-generating Unsmoothed [Arms]
r0076[0] [6799.6]
Function diagrams
1 2 3 4 5 6 7 8
- 6833 -
837
Iq and Id controller V6.02.00

838
Figure 4-116

Function diagrams
1 = Dynamic load-dependent flux boost
p1401.9 [D]
Torque setpoint [Nm] +20% Dynamic load-dependent boost [%]

[6826.8] r0079 r1568[3]
0
6834 - Flux setpoint (synchronous reluctance motor)
Flux reduction factor [%] 1 = Flux characteristic load-dependent

p1581 [D] (100) p1401.3 [D]
Setpoint before filter [%]
r1568[0]
0
Flux setpoint
100 % 1 [6835.1]
0
Flux setpoint
50.0 ... 200.0 [%]
p1570 [D] (100.0)
1 = Flux boost low speed

p1401.10 [D]
Speed actual value [rpm] 100 % Minimum value at low speed [%]
r0063[0..2] r1568[2]
Flux reduction factor 30 % 50 %

0 ... 100 [%] Current injection ramp time [ms]
p1581 [D] (100) p1601 [D] (20) 1 = Controlled operation
[6843.4]
r1751.0
Closed-loop
speed
controlled
operation
r0077 → PSI Flux setting value

0.0 ... 200.0 [%] Current setpoint torque-generating [Arms] Open-loop [6835.1]
p1611 [D] (30.0) speed
Current setpoint smoothing time [ms] controlled
p1616 [D] (40) operation
Ramp-function
generator operating Torque setting value
+ 0.9 · r0067 M
speed controller
Calculation absolute Open-loop
P speed [6824.3]
current
+ K controlled
operation
Starting torque static (without encoder) Transformation angle [°]

-200.0 ... 200.0 [%]
p1610 [D] (50.0) r0094
[6843.1]
1 2 3 4 5 6 7 8
- 6834 -
Flux setpoint (Reluctance synchronous motor, p0300 = 6xxx) V6.02.00
Figure 4-117
0 ... 4 1.000 ... 16.000 [kHz] 0 ... 6 20.0 ... 150.0 [%]
p0230 (0) p1800 [D] (4.000) p1802 [D] (0) p1803 [D] (106.0)

6835 – Field weakening controller, Id setpoint (synchronous reluctance motor)

r0073
[6843.3]
U_set 1
Field weakening controller integral-action time
[6833.8] 10 ... 10000 [ms]
p1596 [D] (50)
U_max 1
[6833.8] 0
[6843.1] r0070 r1597
+ +
Voltage reserve dynamic Voltage target value limit
2 0.0 ... 150.0 [Vrms] 50.00 ... 300.00 [%] -1
p1574 [D] (10.0) p1575 [D] (200.00)
–
+ r0071
[6829.1]
Speed actual value [rpm] +

r0063[0..2]
+
Flux setpoint quadrature axis psid, min
Pre-control
[6835.8] calculation Field weakening
value total [%]
r1568[5] r1568[4]
Field weakening value precontrol [%]
Flux reduction flux build-up smoothing time From the flux model
0 ... 5000 [ms] [6843.4]
p1579 [D] (4)
r0056
r0056.8 [2526.4]
1 = Field weakening active M [6829.5]
Flux setpoint
Iq [6832.1]
[6834.8]
Flux setting value Flux setpoint [%] Iq
0 r0083 [6833.1] M

Torque factor and
Current setpoint torque-generating [Arms] magnetizing current
Flux reduction flux decrease smoothing time Flux setpoint [6833.1]
20 ... 5000 [ms] r0077 [6835.1]
quadrature axis
p1578 [D] (200) [6832.8] [6829.1]
Function diagrams
[6833.1]
0
Field-generating current setpoint total [Arms]
r1624
1 2 3 4 5 6 7 8
- 6835 -
839
Field weakening controller, Id setpoint (Reluctance synchronous motor, p0300 = 6xxx) V6.02.00
840
Figure 4-118

Function diagrams
Motor model kT adaptation corrective value [Nm/A]
[6842.4]
r1797 [D]
M
6836 - Id setpoint (permanent-magnet synchronous motor)
Iq [6829.5]
Motor stator leakage inductance
Field weakening controller / 0.00000 ... 1000.00000 [mH] Kt Rel [6832.1]
flux controller output [Arms] p0356 [M] (0.00000) [6799.5]
r1593[0..1] Motor stator inductance d axis
Optimum motor load angle [6839.8] 0.00000 ... 1000.00000 [mH] Lq
0.0 ... 135.0 [°] p0357 [M] (0.00000)
p0327 [M] (90.0) [6839.8]
Field weakening Iq
Motor reluctance torque constant
precontrol characteristic -1000.00 ... 1000.00 [mH] Ld M
Torque setpoint [Nm] p0328 [M] (0.00)
r0079
0 +
[6829.1]
+ [6833.1]
MTPA characteristic field- 1
generating current setpoint -1 Field-generating current setpoint total [Arms]
r1624
r0331 [M]
1 = Controlled operation
[6843.4]
Current injection ramp time r1751.0
1 ... 10000 [ms]
p1601 [D] (20)
Switchover
<1> Closed-loop
operation
Current setpoint torque- ←→ [6842.4] Id
Setting value field-
Acceleration starting torque (encoderless) Open-loop
generating [Arms] generating current
0.0 ... 200.0 [%] operation
p1611 [D] (30.0) [6832.8] r0077
4 ... 10000 [ms]
p1616 [D] (40)
Ramp-function Transformation angle [°]

generator operating
[6842.4] r0094 P
+ 0.9 · r0067 Open-loop M
Torque setting value
Calculation K speed controller
operation
absolute current [6824.3]
+
Starting torque static (without encoder)
-200.0 ... 200.0 [%]
p1610 [D] (50.0)
<1> Effective injection ramp time:

p1601: When switching over from open-loop controlled to closed-loop controlled operation
p1616: When switching over from closed-loop controlled to open-loop controlled operation
1 2 3 4 5 6 7 8
- 6836 -
Id setpoint (Permanent-magnet synchronous motor, p0300 = 2xxx) V6.02.00
Figure 4-119
Motor excitation build-up time
-20.000 ... 20.000 [s]
p0346 [M] (0.000)
1 = Flux setpoint soft starting active 1 = Magnetizing completed
p1401.0 [D]
r0056
Maximum output Flux threshold value magnetizing [%]
voltage [Vrms] r0056.4 [2526.4]
[6838.4] p1573 [D] (100.0)
r0071
6837 – Field weakening characteristic, flux setpoint (induction motor)
1 = Flux build-up control active

p1401.2 [D] Quick magnetizing active
[6838.8]
1 = Quick magnetizing
Flux setpoint p1401.6 [D]
y
50.0 ... 200.0 [%] Flux setpoint smoothing time
p1570 [D] (100.0) 4 ... 5000 [ms]
r0056 1 = Field weakening active
p1582 [D] (15)
r0056.8 [2526.4]
r0063[0]
f
Speed actual value
Unsmoothed [rpm]
Field weakening Flux setpoint
characteristic 1 = Efficiency optimization active selection
p1401.14 [D]
Torque actual value [Nm]

1
r0080[0..1]
100 % <0.3 s
r0084[0..1]
0
Flux actual value [%] Efficiency optimization [6841.3]
Motor rotor time constant / damping time constant d axis [ms] Motor model status
Efficiency optimization maximum flux limit value
10.0 ... 200.0 [%] r0384 [M] r1751
p3316 [D] (110.0)
0
Efficiency optimization minimum flux limit value Efficiency optimization optimum flux [%] Flux setpoint
10.0 ... 200.0 [%] [6838.1]
p3315 [D] (70.0) r3313
1
Id current limit
[6829.3] r0067 [6838.1]
0.9 Current setpoint smoothing time
Starting torque static (without encoder) 4 ... 10000 [ms]
-200.0 ... 200.0 [%] p1616 [D] (40)
Torque setpoint before p1610 [D] (50.0)
supplementary torque
[Nm] +
[6826.5] r1508 Id_set Flux setpoint
– calculation calculation
+

0.0 ... 200.0 [%]
p1611 [D] (30.0)
Function diagrams
r0331 [M]
1 2 3 4 5 6 7 8
- 6837 -
841
Field weakening characteristic, flux setpoint (Induction motor, p0300 =1xxx) V6.02.00
842
Figure 4-120

Function diagrams
0 ... 4 1.000 ... 16.000 [kHz] 0 ... 6 20.0 ... 150.0 [%]
p0230 (0) p1800 [D] (4.000) p1802 [D] (0) p1803 [D] (106.0)
<1> <1>

6838 – Field weakening controller, flux controller, Id setpoint (induction motor)
Maximum modulation depth [%] Maximum output voltage [Vrms]

r0073 r0071
[6841.3] [6829.1], [6837.1]
<1> Field weakening controller integral-action time

10 ... 10000 [ms]
Voltage reserve dynamic p1596 [D] (50)
0.0 ... 150.0 [Vrms]
p1574 [D] (10.0)
0 Field weakening controller
– output [%]
r1597
+ +
–
[6841.1] r0070 -200 %
[6833.8]
[6833.8]
1 = Flux setpoint differentiation active

1 = Flux build-up control active p1401.1 [D]
p1401.2 [D]
0
0
Quick magnetizing active
1 [6837.8]
Flux setpoint [%] Field-generating current setpoint

total [Arms]
r0083
+ + r1624
Flux setpoint [6833.1]
0
[6837.8] [6829.1]
+ + [6833.1]
1
Saturation characteristic -1
p0362 ... p0369
Id current limit
[6837.8]
<1> Value range and/or factory setting depend on p0502.
1 2 3 4 5 6 7 8
- 6838 -
Field weakening controller, flux controller, Id setpoint (induction motor, p0300 = 1xxx) V6.02.00
Figure 4-121
0 ... 4 1.000 ... 16.000 [kHz] 0 ... 6 20.0 ... 150.0 [%]
p0230 (0) p1800 [D] (4.000) p1802 [D] (0) p1803 [D] (106.0)

6839 - Field weakening controller (permanent-magnet synchronous motor)

r0073 r0331 [M]
[6842.3] Voltage reserve dynamic Field weakening controller additional setpoint
0.0 ... 150.0 [Vrms] -80.00 ... 50.00 [%]
p1574 [D] (10.0) p1595 [D] (0.00) Field weakening controller
integral-action time
10 ... 10000 [ms]
p1596 [D] (50)
0 Field weakening controller /

– + flux controller output [Arms]
r1593[0..1] [6836.5]
+ + +
–
[6842.1] r0070
[6833.8]
[6833.8]
Rated motor voltage +
0 ... 20000 [Vrms] – Ld
p0304 [M] (0) Ψnom
+ Flux setpoint [%]
r0083 [6833.1]
r0071 + +
[6829.1] +
100 %
Field weakening
Speed actual value Unsmoothed [rpm] -nF nF precontrol characteristic
[4715.6] r0063[0] [6836.4]

r0331 [M]
0.9

Min -1
[6829.3] r0067
Function diagrams
1 2 3 4 5 6 7 8
- 6839 -
843
Field weakening controller (Permanent-magnet synchronous motor, p0300 =2xxx) V6.02.00

844
Figure 4-122

Function diagrams
Power unit
[6799.1] r0070
[6838.2] r0073 r0074
-
2
[6833.8] +
U_angle
[6833.8]
1 = Encoderless encoderless closed-loop control
operation active p1740 [D] (0.025) PWM
Slip frequency [Hz] 1 = Frequency limit active
[2522.7] r1407.1 r0065 V
r0056 M
Current model Vibration damping
r0056.11 ~
[4715.8] r0061[0] 0 + + r0066
Pre-control speed
[6822.8] + + +
p1764[D] p1767[D] Sign r0056
actual speed
p1760[D] p1761[D] + + or - r0056.7
+
current [Arms]
r1770[0..3]
[6829.1] r0289
r1771
Motor model speed adaptation Power unit overload [%] I_max PU
I component [rpm] r0036[0..2]

p1820 [D] (0) r0069[0..8]
Actual stator Motor model

resistance [ohm]
r0395 [M]
r0089[0..2]
Flux actual value [%] Transformation angle [°]
r0084[0..1] r0094 [6833.1]
Actual power factor

[6799.1] r0087
1 = Speed adaptation speed deviation Out tolerance
Stall detection r1408.11
M p1744, p1745 r1408.12 1 = Motor stalled
[6829.5] Iq Motor model status
[6832.1]
Model control r1751
[6837.7]
p1752[D] p1753[D] p1758[D] p1759[D]

1 2 3 4 5 6 7 8
- 6841 -
Interface to the power unit (induction motor, p0300 = 1xxx) V6.02.00
Figure 4-123
Power unit
[6799.1] r0070
[6839.2] r0073 r0074
-
6842 - Interface to the power unit (permanent-magnet synchronous motor)
2
[6833.8] +
U_angle
[6833.8]

p1740 [D] (0.025) 1 = Frequency limit active PWM
[2522.7] r1407.1 V
r0056 M
Vibration damping
r0056.11 ~
[4715.8] r0061[0] 0 + r0066
Pre-control speed
[6030.8] + +
p1764[D] p1767[D] Sign r0056
actual speed
p1760[D] p1761[D] + + or - r0056.7
+
current [Arms]
r1770[0..3]
[6829.1] r0289
r1771

p1820 [D] (0) r0069[0..8]
Motor model
Actual stator resistance [ohm]
Current actual value field-generating [Arms] r0089[0..2]
r0076[0..1] Transformation angle [°]

kT estimator
Current setpoint torque-generating [Arms] r0094 [6833.1]
r0077 p0328
Direct-axis voltage setpoint [Vrms] r0334 Motor model kT adaptation
p0357 corrective value [Nm/A]
r1732[0..1] p1780.3 r1797 [D]

Quadrature-axis voltage setpoint [Vrms] [6836.6]
r1733[0..1]
Motor model status
Model control r1751
Function diagrams
[6836.4]
p1752[D] p1753[D]
1 2 3 4 5 6 7 8
- 6842 -
845
Interface to the power unit (Permanent-magnet synchronous motor, p0300 = 2xxx) V6.02.00
846
Figure 4-124

Function diagrams
Power unit
[6835.1] r0070
[6838.2] r0073 r0074
-
6843 - Interface to the power unit (synchronous reluctance motor)
2
[6833.8] +
[6833.8]
U_angle +
encoderless closed-loop control
1 = Encoderless operation active p3366[D] p1750.5[D] p1740 [D] (0.025) 1 = Frequency limit active PWM
[2522.7] r1407.1 V
r0056 M
Pulse generator Vibration damping
r0056.11 ~
[4715.8] r0061[0] 0 + r0066
Pre-control speed
[6822.8] + +
1 – 1 = Frequency negative
p1760[D] p1761[D] Pulse enable HW
p1764[D] p1767[D] r0063[0] Sign r0056
p1798[D] p1799[D] + + or - r0056.7
+
current [Arms]
r1770[0..3]
[6829.1] r0289
r1771

p1820 [D] (0) r0069[0..8]
Actual stator resistance

[ohm] Motor model
r0089[0..2]
[6833.1] Pulse technique excitation actual [mVs]
r0094
[6834.5] r3361[0..2]
Pulse technique response [A]
r3362[0..5]
Flux model [6835.7]
Motor model status

Model control r1751

[6834.6]
Only available with license

p1747[D] p1752[D] p1753[D]
1 2 3 4 5 6 7 8
- 6843 -
Interface to the power unit (Reluctance synchronous motor, p0300 = 6xxx) V6.02.00
Function diagrams
4.13 Standard Drive Control
Overview
The following function diagrams describe the Standard Drive Control function.
Function diagrams
6851 – U/f characteristic and voltage boost (Page 849)

848
Figure 4-125

Function diagrams
Output voltage smoothed
[Vrms]
Current setpoint smoothing time [ms]
p1616 [D] (40) r0025
100 ms
Output voltage [Vrms]
Starting torque static (without encoder) [%] K r0072
p1610 [D] (50.0)
Acceleration starting torque (encoderless) [%]
6850 - Overview
p1611 [D] (30.0) 0

P U_angle
Voltage boost + +
+ + -1 1
SDC characteristic
Current actual value field-generating
smoothed [Arms] Id_max controller
300 ms r0029 p1820 [D] (0)
1 = Quick magnetizing Reverse the output
r0076[0] p1401.6 [D] phase sequence
Current actual value field-generating Unsmoothed [Arms] 0,9
Current actual value torque-generating Unsmoothed [Arms]
r0078[0]
Current actual value torque- –
generating smoothed [Arms]
+ r0056
300 ms Iq_max controller r0056.4 [2526.4]
r0030
1 = Magnetizing completed
[6851] Characteristic and voltage boost
p0346 [M] (0.000) p1573 [D] (100.0)

Torque limit upper [Nm] Motor excitation build- Flux threshold value
p1520 [D] (0.00) up time [s] magnetizing [%]
Torque limit lower [Nm] Generating the Iq current Output current
p1521 [D] (0.00) limit maximum [Arms]
r0067
Motor current limit [Arms]
p0640 [D] (0.00)
Power limit motoring [kW] Power limit regenerative [kW]

p1530 [D] (0.00) p1531 [D] (-0.01)
[6852] Current/power/torque limits

r0056 Flying restart mode Vdc controller or Slip compensation Resonance damping
. p1200 Vdc monitoring p1793 p1740
. configuration
. p1240 Motor pole pair number,
actual (or calculated) Transformation angle [°]
r0313 [M] r0094 [6856.3]
+ + + + Output frequency [Hz]
[2526] Ramp-function
r0066
generator + + + +
r0063[0..2]
f_set
Speed actual value [rpm] 60 [6851.1] r0024
[3001.8] r1119 r1170 100 ms
Output frequency
Ramp-function generator Speed controller setpoint sum [rpm] smoothed [Hz]
setpoint at the input [rpm]
1 2 3 4 5 6 7 8
Standard Drive Control (SDC, p0504 = 1) © Siemens AG
- 6850 -
Overview V6.02.00
Figure 4-126 Iq_max controller

–
Iq_max
[6852.8] [6850.4]
Linear +
Rated motor voltage [Vrms] r0071
6851 - Characteristic and voltage boost
p0304 [M] (0)

1 = Speed-dependent flux
(parabolic characteristic)
p1401.30 [D]
Current actual value Dependent on the 0

torque-generating [Arms] load current
[6856.1] r0078[0..1] Rated motor frequency [Hz] [6850.5]
p0310 [M] (0.000) +
1 +
Parabolic
Rated motor voltage [Vrms] r0071
f_set p0304 [M] (0)
[6850.6]
Rated motor frequency [Hz]

p0310 [M] (0.000)

Starting torque static (without encoder) [%] Current setpoint smoothing time [ms]
p1610 [D] (50.0) r0067 p1616 [D] (40)
p0305² - r0331²
[6852.4] Actual stator resistance [ohm]
0,9
r0395 [M]
x
x² + r0331²
+
+
0 3
1 = Ramp-up active
r1199 Id_max controller Isd controller
r1199.0 Current actual value field-generating [Arms] output [Vrms]
[6856.1] r0076[0..1] r1723

+
1 = Acceleration voltage
–
0
0 r0056
>0 r0056.6 [2526.4] Current controller P gain
1 p1715 [D] (0.000)
Function diagrams
Acceleration starting torque (encoderless) [%]
p1611 [D] (30.0)
1 2 3 4 5 6 7 8
- 6851 -
849
Characteristic and voltage boost V6.02.00

850
Figure 4-127

Function diagrams
Motor current limit [Arms]
p0640 [D] (0.00)
Current limit scaling [%]

c0641 [C]
(100.00) Output current maximum [Arms]

Maximum power unit output current [Arms] MIN r0067 [6851.4]
r0289
[6852.5] x
Current limit torque-generating total [Arms]
Current actual value field-generating smoothed [Arms] y x2 – y2 r1533
r0029
Total upper torque limit [Nm]

r1534 Torque-generating current maximum limit [Arms]
MIN
Torque limit upper M <1> <3>
r1536[0..1]
-1000000.00 ... 20000000.00 [Nm] Torque sign
p1520 [D] (0.00) I
+
Iq_max
[6851.6]
-
r1535
Torque limit lower M <2> <3> Torque-generating current minimum limit [Arms]
-20000000.00 ... 1000000.00 [Nm] MAX
p1521 [D] (0.00) r1537[0..1]
I
Power limit motoring [kW]

p1530 [D] (0.00)
MIN
Power limit scaling
p1556 [D] (0.00) Iq

Power limit
c1555 [C]
(2004)
n
-1
MAX
Power limit regenerative [kW]
p1531 [D] (-0.01)
<1> Danger: Negative values at <1> represent a minimum torque for the other torque direction and can
<2> positive values at <2> cause the motor to accelerate uncontrollably.
<3> The limit (current, torque or power limit) which is active and limits the torque is indicated in r1408.16 … r1408.18.
1 2 3 4 5 6 7 8
- 6852 -
Figure 4-128
Power unit

[8022.1] r0070 DC link voltage (Vdc)
Output voltage [Vrms]
-
r0072
Modulation depth [%] +
2 r0073
r0074
U_set U
U_angle
[6850.8] PWM
V
1 = Frequency limit active M
r0056 ~
r0056.11 W
Output frequency [Hz]

[6850.8] r0066
1 = Frequency negative
Sign r0056 Pulse enable HW
+ or - r0056.7
Actual stator resistance [ohm]

r0395 [M]
Reverse the output phase sequence current [Arms]
p1820 [D] (0) [6852.1] r0289 I_max PU
Actual power factor
r0087 Motor model Phase current actual value [A]
r0069[0..8]
Flux actual value [%]
r0084[0..1]
Slip frequency [Hz] Actual phase voltage

r0065 (motor) [V]
r0089[0..2]
field-generating
Unsmoothed [Arms] Power unit overload
[6851.4] r0076[0] 2 [%]
Ia
r0036[0..2]

VD-
[6851.1] r0078[0]
3
Current actual value Ib
torque-generating
Unsmoothed [Arms]
Function diagrams
r0068[0] x2 + y2 r0094 [6850.8]
Absolute current actual Transformation angle [°]
value Unsmoothed [Arms]
1 2 3 4 5 6 7 8
- 6856 -
851
Interface to the power unit (Induction motor, p0300 = 1xxx) V6.02.00

Function diagrams
4.14 Technology functions
Overview
The following function diagrams describe the technology functions.
Function diagrams
7010 – Friction characteristic (Page 853)
7014 – External armature short-circuit (EASC) (Page 854)
7016 – Internal armature short-circuit (IASC) (Page 855)
7017 – DC braking (Page 856)
7035 – Bypass (Page 857)

Figure 4-129
Friction characteristic
status word
r3840
Record friction characteristic Record friction characteristic ramp-up/ramp-down time r3840.0..9
0.000 ... 999999.000 [s]
p3846 [D] (10.000) 1 = Record friction
Record friction characteristic time to warm up characteristic activated
7010 - Friction characteristic
0.000 ... 3600.000 [s] r3840.1

p3847 [D] (0.000)
1 = Record friction
characteristic completed
r3840.2
Drive ON from the sequence control [3080.6]
1 = Record friction
Record friction characteristic activation <1>
&
characteristic canceled
0 ... 9 Start ramp-function generator
p3845 (0) Friction characteristic record active (p3845 > 0) r3840.3
A07961
"Friction characteristic
record activated"
F07963
"Friction characteristic
record interrupted"
Activate friction characteristic

Friction characteristic value M0 [Nm] Friction characteristic value M9 [Nm]
p3830 [D] (0.0000) p3839 [D] (0.0000)
Upper effective torque limit [Nm]
[6640.8] r1538
1 = Friction characteristic OK
Start friction r3840.0 Friction characteristic activation
Friction characteristic characteristic scaling M [Nm] p3842 (0)
speed signal input p3849 [D] (1.00) <3> A07960
"Friction characteristic Friction characteristic Supplementary torque 3
c3848 [C] incorrect" 1 output [Nm] c1569 [C] [6710.1]
(63[0])
r3841 (3841) [6832.1]
<2> 0
0
Sign
+ or - n [rpm]
Friction characteristic value n0 [rpm] Friction characteristic value n9 [rpm]

p3820 [D] (15.00) p3829 [D] (3000.00)
[6640.8] r1539
1 = Friction characteristic positive direction

r3840.8
<1> p3845
= 0: Friction characteristic record deactivated
Function diagrams
= 1: Friction char record activated for all directions <2> A speed setpoint (e.g. r0060) is recommended as input variable of the friction characteristic if the speed actual
= 2: Friction char record activated for positive direction value can always track the speed setpoint.
= 3: Friction char record activated for negative direction <3> When starting/reversing, in the range around standstill, the friction torque establishes itself as a function of the
= 9: Friction characteristic speed calculation speed. The rate at which the friction torque establishes itself can be scaled using p3849.
1 2 3 4 5 6 7 8
Technology functions © Siemens AG
- 7010 -
853
Friction characteristic V6.02.00

854
Figure 4-130

Function diagrams
2000 µs
p1231 = 1 External armature short-circuit

contactor feedback signal
Pulse enable via hardware c1235 [C]

7014 – External armature short-circuit (EASC)
1 (0)
24 V DI
1 = Armature short-circuit / DC
braking enable missing
DC braking/armature
short circuit activation r0046.4
c1230 [C]
DO
(0)
5V
1 r1239.0 Converter
1 = External armature
1 = Pulse enable internal missing r0002 = 19 short-circuit +24 V
r0046.19
1
[2610]
Drive not in the state "S4:
Operation" or "S5x" r0046.20 M
1 = Armature short-circuit/DC braking 3~
internal enable missing
p1231 = 1
Ext armature short-cct contactor feedback signal monit time
0 ... 1000 [ms]
p1236 [M] (200)
T 0 F07905:
=1 & External armature short-circuit: Contactor
feedback signal "Open" missing
F07904:
& External armature short-circuit: Contactor
feedback signal "Closed" missing
External armature short-circuit wait time when opening p1231 = 2

0 ... 1000 [ms]
p1237 [M] (200)
0 T Pulse enable via hardware

1
1 2 3 4 5 6 7 8
- 7014 -
External Armature Short-Circuit (EASC, p0300 = 2xxx) V6.02.00
Figure 4-131
2000 µs
p1231 = 4
Power unit
7016 – Internal armature short-circuit (IASC)
1 = Armature short-circuit / DC
braking enable missing
F07907
r0046 "Motor terminals are not at zero potential
r0046.4 after pulse cancellation"
DC braking/armature short
circuit activation
c1230 [C]
Converter
(0)
Fault response, Internal Armature Short-Circuit 1 Control of armature short-circuiting in

the power unit
M
& 3~
r0046
r0046.20
1 = Armature short-circuit/DC braking
internal enable missing

Function diagrams
1 2 3 4 5 6 7 8
- 7016 -
855
Internal Armature Short-Circuit (IASC, p0300 = 2xxx) V6.02.00

856
Figure 4-132

Function diagrams
DC braking braking current DC braking time
0.00 ... 10000.00 [Arms] 0.0 ... 3600.0 [s]
p1232 [M] (0.00) p1233 [M] (1.0)
<2>
Motor de-excitation time Speed at the start of DC braking
0.000 ... 20.000 [s] 0.00 ... 210000.00 [rpm]
p0347 [M] (0.000) p1234 [M] (40000.00)
<1>
7017 - DC braking
n_act Pulse inhibit

n_set To pulse inhibit
To sequence control
p1234
DC braking/armature short 1 = DC braking ready

circuit configuration t r1239.10
DC braking/armature short p1231 [M] (0) |I_set| p0347 <3>
p1232 1 = DC braking active
circuit activation
r1239.8 [2511.2]
c1230 [C] <4> |I_act|
4,14 The parameters of the
(0)
5 t I_max current controller are also used.
OFF1/OFF3 1 I_max voltage controller
0 p1231 = 14 I_max voltage controller
0 proportional gain integral time
n_act Braking response 0.000 ... 100000.000 0.000 ... 50.000 [s]
Pulse inhibit p1345 [D] (0.000) p1346 [D] (0.030)
n_set
DC braking fault
response p1234
4,5,14
OFF
t
0 |I_set| p0347 <3> Kp Tn
p1232
|I_set| Output voltage [Vrms]
|I_act|
MIN r0072
+
p1233 t –
p1231 = 5
[8021]
Pulse inhibit From I²t control
n_act
n_set r0068[0]

value Unsmoothed [Arms]
|I_set| t
p0347 Current controller P gain Current controller integral-action time
p1232
0.000 ... 100000.000 0.00 ... 1000.00 [ms]
p1715 [D] (0.000) p1717 [D] (2.00)
|I_act|
t
p1231 = 4
<1> The de-magnetization time is determined during automatic calculation (p0340 = 1, 3).
<2> The DC brake current is determined during automatic calculation (p0340 = 1).
<3> As soon as the standstill threshold (p1226) has been reached, the DC current injection will be aborted prematurely.
<4> DC brake upon falling below the starting speed for DC brake (p1234).
1 2 3 4 5 6 7 8
- 7017 -
DC braking (p0300 = 1xxx) V6.02.00
Figure 4-133
p1260 p1274[0..1] Line
Bypass K2
<1> configuration
.
.
.
1 = Bypass via signal (r1266)
p1267.0 (0) K1
Bypass control command <2>
c1266 <3>
7035 - Bypass
1
(0) T1 T2 DO 2 K1
K2
Bypass speed threshold [rpm] 0 DI 4
0
p1265 (1480.00)
1 +24 V OUT
0 DI 3
0
n_set 1 1 K1
T1 T2 DO 1 K2
1
0
<2> Bypass control/status word
1 = Bypass via reaching the speed threshold r1261
p1267.1 (0) r1261.0..14
Bypass control command

c1266 t
(0)
1 = Command switch motor - Power unit Close p1264
r1261.0 Signal for contactor K1: t
Switch motor/drive Inverter operation
p1274[1]
c1269[0] t
Feedback signal from K1:
(1261.0)
Inverter operation p1263
1 = Command switch motor - Line supply Close
r1261.1 Signal for contactor K2: t
Switch motor/line supply Line operation
p1262 +
c1269[1] p1274[0] t
Feedback signal from K2:
(1261.1)
Line operation
Switch motor/drive Monitoring time for K1: t
0 ... 5000 [ms]
p1274[0] (1000) Inverter operation
p1274[0] p1274[0]
Switch motor/line supply Monitoring time for K2: t
0 ... 5000 [ms]
p1274[1] (1000) Line operation
p1274[1] p1274[1]
Inverter Switchover Line Switchover Inverter

operation phase operation phase operation

Flying Power up
<1> Flying restart must be activated for the bypass function (p1200 = 1 or 4).
restart
<2> Following bypass functions are possible:
Bypass function when activating via a control signal (p1267.0 = 1).
Function diagrams
Bypass function depending on the speed (p1267.1 = 1).
p0346 t
<3> Contactors K1 and K2 must be interlocked so that they cannot close at the same time. In order to
prevent line contactor K2 from inadvertently closing, K2 should be closed via digital output DO 2
that is not preassigned. Example: Activation via a control signal (p1267.0 = 1)
1 2 3 4 5 6 7 8
- 7035 -
857
Bypass V6.02.00
Function diagrams
4.15 Technology controller
Overview
The following function diagrams describe the technology controller.
Function diagrams
7950 – Fixed values, binary selection (Page 859)
7951 – Fixed values, direct selection (Page 860)
7954 – Motorized potentiometer (Page 861)
7957 – Closed-loop control, vector (Part 1) (Page 862)
7958 – Closed-loop control, vector (Part 2) (Page 863)
7959 – Kp/Tn adaptation (Page 864)

Figure 4-134
Technology controller fixed
value selection method
p2216 [D] (1)
23 20 0 ... 15
Technology controller
fixed value selection bit 0 0.00 % 0000
1
7950 - Fixed values, binary selection
c2220 [C] [7951]

(0) Technology controller fixed value 1 [%]
2 0001
p2201 [D] (10.00)
fixed value selection bit 1 Technology controller fixed value 2 [%]
1 0010 1 = Technology controller
c2221 [C] [7951] p2202 [D] (20.00)
(0) fixed value selected
≥1
2
Technology controller fixed value 3 [%] r2225
Technology controller 0011
p2203 [D] (30.00) r2225.0
fixed value selection bit 2
1
c2222 [C] [7951] Technology controller fixed value 4 [%]
0100
(0) p2204 [D] (40.00)
2
Technology controller Technology controller fixed value 5 [%]
fixed value selection bit 3 0101
p2205 [D] (50.00)
1
c2223 [C] [7951]
(0) Technology controller fixed value 6 [%]
2 0110
p2206 [D] (60.00)
Technology controller fixed value 7 [%] Technology controller

0111
p2207 [D] (70.00) fixed value effective [%]
r2224
Technology controller fixed value 8 [%]
1000
p2208 [D] (80.00)

1001
p2209 [D] (90.00)

1010
p2210 [D] (100.00)

1011
p2211 [D] (110.00)

1100
p2212 [D] (120.00)

1101
p2213 [D] (130.00)

1110
p2214 [D] (140.00)
Function diagrams
1111
p2215 [D] (150.00)
Technology controller number actual
r2229
1 2 3 4 5 6 7 8
Technology controller © Siemens AG
- 7950 -
859
Fixed value selection binary (p2216 = 2) V6.02.00

860
Figure 4-135

Function diagrams
Technology controller fixed
value selection method
p2216 [D] (1)
1
7951 - Fixed values, direct selection
c2220 [C]
(0)
2
[7950]
1 1 = Technology controller
c2221 [C]
(0) fixed value selected
≥1
2
[7950] r2225
Technology controller r2225.0
1
c2222 [C]
(0)
2
[7950]
1
c2223 [C]
(0)
2
[7950]

0001
p2201 [D] (10.00)

0010
p2202 [D] (20.00)

0100
p2203 [D] (30.00) Technology controller
+ + + fixed value effective [%]
1000 r2224
p2204 [D] (40.00) + + +
1 2 3 4 5 6 7 8
- 7951 -
Fixed value selection direct (p2216 = 1) V6.02.00
Figure 4-136
Technology controller motorized potentiometer configuration
1 = Data save active 0 The setpoint for the motorized potentiometer is not saved and after ON is entered using p2240.
p2230.0 [D] 1 The setpoint for the motorized potentiometer is saved after OFF and after ON is entered using r2231. In order to save in a non-
volatile fashion, bit 03 should be set to 1.
1 = Initial rounding-off active 0 Without initial rounding.

7954 - Motorized potentiometer
p2230.2 [D] 1 With initial rounding. The ramp-up/down time set is exceeded accordingly.
1 = Non-volatile data save active for p2230.0 = 1 0 Non-volatile data save deactivated.
p2230.3 [D] 1 The setpoint for the motorized potentiometer is saved in a non-volatile fashion (for p2230.0 = 1).
1 = Ramp-function generator always active 0 Ramp-up encoder inactive with pulse inhibit.
p2230.4 [D] 1 The ramp-up encoder is calculated independently of the pulse enable.
Old value is kept
Technology controller motorized

potentiometer raise setpoint
c2235 [C]
(0)
Technology controller motorized
potentiometer lower setpoint
Technology controller motorized Technology controller motorized
c2236 [C] potentiometer ramp-up time potentiometer ramp-down time
(0) 0.0 ... 1000.0 [s] 0.0 ... 1000.0 [s]
p2247 [D] (10.0) p2248 [D] (10.0)
0 0 <2> <2>
y
Technology controller motorized Technology controller mot.
potentiometer maximum value [%] p2237
potentiometer setpoint before RFG [%]
0 1
p2237 [D] (100.00) r2245
x y
Technology controller motorized r2250
x
potentiometer minimum value [%] Technology controller motorized
1 0
p2238 [D] (-100.00) potentiometer setpoint after RFG [%]
-p2238
y=0
1 = OFF1 enable missing
1 1 <1>
r0046
r0046.0 Technology controller motorized potentiometer starting value
-200.00 ... 200.00 [%]
p2240 [D] (0.00)

Technology controller motorized potentiometer setpoint memory [%]
r2231
Function diagrams
<1> For p2230.0 = 0, this setpoint is entered after ON.
<2> If initial rounding-off is active (p2230.2 = 1), the selected ramp-up/down times are exceeded accordingly.
1 2 3 4 5 6 7 8
- 7954 -
861
Motorized potentiometer V6.02.00

862
Figure 4-137

Function diagrams
setpoint 1 scaling [%] Technology controller setpoint after ramp-function generator [%]
Technology controller p2255 (100.00)
setpoint 1 [%] r2260
c2253 [C] Technology controller Technology controller
(0.00) ramp-up time [s] setpoint filter time constant [s] p2263 = 1
p2257 (1.00) p2261 (0.000)
Technology controller r2273
7957 – Closed-loop control, vector (Part 1)
Technology controller setpoint after filter [%]

setpoint 2 [%] r2262 Technology controller
c2254 [C] + 0 system deviation [%]
(0.00) r2273 [7958.1]
+ + 1 1 +
+ + p2263 = 0
setpoint 2 scaling [%] Technology controller
p2256 (100.00) ramp-down time [s] Technology controller type
p2258 (1.00)
p2263 (0)
<1>
1 d
0
dt
Technology controller lower Technology controller upper
limit actual value [%] limit actual value [%]
1 1
0
p2268 (-200.00) p2267 (200.00)

0 0 Technology controller
Technology controller system differentiation time constant [s]
1 0 0 1 deviation inversion
1 = Actual value limit p2274 (0.000)
p2306 (0)
p2252.3 (0)
Technology controller actual

value inversion (sensor type) Technology controller
Technology controller actual p2271 (0) actual value function
value filter time constant [s] Technology controller gain p2270 (0)
p2265 (0.000) actual value [%]
p2269 (100.00)
c2264 [C] 0 Value 0: Output (y) = input (x)

x Value 1: Root function (y = root from x) y
(0.00) -1
F07426 1 1
Value 2: Square function (y = x * x)
Technology controller Value 3: Cube function (y = x * x * x)
actual value [%] r2272
Technology controller actual value scaled [%]
r2349
r2349.8 1 = Technology controller actual value at the minimum
r2349.9 1 = Technology controller actual value at the maximum
<2> r2349.12 1 = Fault response active
Technology controller actual value after filter [%]

r2266
<1> D component can be disabled by entering a zero.

<2> r2349.12 = 1, if p2345 > 0 and actual value limited and start value p2302 not active.
1 2 3 4 5 6 7 8
- 7957 -
Closed-loop control, vector (part 1) V6.02.00
Figure 4-138
Hold techn. controller I component for Technology controller limiting enable
1 = Technology controller limiting enable
n_skip threshold value [%] c2290 [C]
Hold technology r2349
p2339 (2.00) (1)
controller integrator r2349.13
c2286 [C] <2> [7959.8] [7959.8] r2349
7958 – Closed-loop control, vector (part 2)
(56.13) Kp Tn Technology controller precontrol signal [%]

r2349.1 1 = Technology controller limited
<4> c2289 [C] r2349.10 1 = Technology controller output at the minimum
Technology controller (0.00) r2349.11 1 = Technology controller output at the maximum
system deviation [%] +
[7957.8] r2273
+
1 = Operation enabled
r0052
<5>
r0052.2
1 = Technology controller deactivated
c2200 [C]
r2349
(0) 1 r2349.0 [2513.2]
Technology controller enable
maximum limiting
Positive speed limit effective [rpm] c2297 [C]
r1084 (1084)
+
Technology controller maximum limiting –
-200.00 ... 200.00 [%] Technology controller
p2291 (100.00) limit offset [%]
c2299 [C] Technology controller ramp-
<3> (0.00) up/ramp-down time [s]
p2293 (1.00)
Negative speed limit effective [rpm] Technology controller
r1087 minimum limiting
Technology controller minimum limiting c2298 [C] – Technology controller output
-200.00 ... 200.00 [%] (2292) signal starting value [%]
p2292 (0.00) + p2302 (0.00)
Technology controller output scaling

Technology controller output scaling c2296 [C]
-100.00 ... 100.00 [%] (2295) <6>
p2295 (100.00)
Ramp-function generator speed Technology controller last speed setpoint (smoothed) [%] 0 0 output signal [%]
setpoint at the output [rpm] r2344 0
r2294
1
r1150 10 s 1
Technology controller fixed value 15 2 <1>

-200.00 ... 200.00 [%] r2349.12
p2215 [D] (150.00) 1 = Fault response active
<1> r2349.12 = 1, if p2345 > 0 and actual value limited and start value p2302 not active.
<2> I component stop, only when r2273 and r2294 in same direction. Technology controller fault response
p2345 (0)
Function diagrams
<3> Recommendation for p2251 = 1: c2299 connected to r1150.
<4> p2251 = 0: I component is stopped, when r2294 is below the minimum speed or within a suppression bandwidth.
<5> Signal = 0 --> factor = 0, when setpoint from external operating tool or operator panel.
<6> The start value p2302 is only used in mode p2251 = 0. After enable of technology controller the start value is present as long as the RFG output reaches this value.
1 2 3 4 5 6 7 8
- 7958 -
863
Closed-loop control, vector (part 2) V6.02.00

864
Figure 4-139

Function diagrams
7959 – Kp/Tn adaptation and Kp/Tn selection
Technology controller Kp
adaptation scaling [%]
c2315
(100.00)
Technology controller Technology controller,
Kp adaptation input Kp adaptation output
value [%] Technology controller Kp adaptation upper value r2316
0.000 ... 1000.000
c2310 p2312 (10.000)
(0.00) 1
Technology controller Kp adaptation lower value Kp
0.000 ... 1000.000 [7958.3]
p2311 (1.000) Technology controller proportional gain <1>
0.000 ... 1000.000 0
p2280 (1.000)
Technology controller Kp Technology controller Kp adaptation upper
adaptation lower starting point starting point 1 = Activate Kp adaptation
0.00 ... 400.00 [%] 0.00 ... 400.00 [%] p2252.7 (0)
p2313 (0.00) p2314 (100.00)
Technology controller Technology controller

Tn adaptation input Tn adaptation output [s]
value [%] Technology controller Tn adaptation lower value r2322
0.000 ... 60.000 [s]
c2317 p2319 (10.000)
(0.00) 1
Technology controller Tn adaptation upper value Tn
0.000 ... 60.000 [s] [7958.3]
p2318 (3.000) Technology controller integral time <1>
0.000 ... 10000.000 [s] 0

p2285 (30.000)
Technology controller Tn Technology controller Tn
adaptation lower starting point adaptation upper starting point 1 = Activate Tn adaptation
0.00 ... 400.00 [%] 0.00 ... 400.00 [%] p2252.8 (0)
p2320 (0.00) p2321 (100.00)
<1> For deactivated adaptation the P and I component can be disabled by entering a zero.
1 2 3 4 5 6 7 8
- 7959 -
Kp-/Tn-adaptation and Kp-/Tn-selection V6.02.00
Function diagrams
4.16 Signals and monitoring functions
Overview
The following function diagrams describe the signals and monitoring functions.
Function diagrams
8010 – Speed messages (Part 1) (Page 867)
8011 – Speed messages (Part 2) (Page 868)
8012 – Torque messages (Page 869)
8013 – Load monitoring (Part 1) (Page 870)
8014 – Load monitoring (Part 2) (Page 871)
8015 – Blocking and stall monitoring (Page 872)
8016 – Thermal monitoring motor (Page 873)
8017 – Motor temperature model 1 (I2t) (Page 874)
8018 – Motor temperature model 2 (Page 875)
8019 – Motor temperature model 3 (Page 876)
8020 – ZSW motor temperature (Page 877)
8021 – Thermal monitoring power unit (Page 878)
8022 – Monitoring functions (Part 1) (Page 879)
8023 – Monitoring functions (Part 2) (Page 880)
8024 – Variable messages 1, 2, 3 (Page 881)

866
Figure 4-140

Function diagrams
Speed actual value Actual speed smoothed signals [rpm]
Unsmoothed [rpm] r2169
[4715.7] r0063[0]
8005 – Overview
Speed controller setpoint sum [rpm]

n_max r1170
[3001.8]
Speed setpoint 2 for messages [rpm]

c2154 [C]
(0.00)
[8011] Speed signals (part 2)
Torque setpoint [Nm]

[8010] Speed signals (part 1) r0079
[6060]
Upper effective torque limit [Nm]

r1538
[6640]

Load monitoring speed r1539
actual value [rpm] [6640]
c3230 [C]
(0.00)
[8015] Blocked and stall monitoring

[8012] Torque signals (not for U/f
control)
Torque actual value

Unsmoothed [Nm]
r0080[0]
6799.8
[8013] Load monitoring (part 1)

[8014] Load monitoring (part 2)
1 2 3 4 5 6 7 8
Signals and monitoring functions © Siemens AG
- 8005 -
Overview V6.02.00
Figure 4-141 Positive speed limit effective [rpm]

F07901
"Motor overspeed"
r1084
r1087
Negative speed limit effective [rpm]
8010 – Speed messages (part 1)
0 1 = |n_act| > n_max

Speed actual value Unsmoothed [rpm]
n r2197
r0063[0]
r2197.6 [2534.4]
n
Actual speed smoothed signals [rpm]
r2169
[8011.1], [8013.1],
Speed actual value [8015.1], [8022.1], Hysteresis speed n_act > n_max
filter time constant 0.00 ... 60000.00 [rpm]
[8023.1] p2162 [D] (0.00)
0 ... 1000000 [ms]
p2153 [D] (0) Speed threshold 3
0.00 ... 210000.00 [rpm]
p2161 [D] (5.00)
1 = |n_act| < speed threshold 3
1
r2199
r2199.0 [2537.4]
0
Hysteresis speed 3
0.00 ... 300.00 [rpm]
p2150 [D] (2.00) <1> On-delay comparison value reached
0.0 ... 10000.0 [ms]
Speed threshold 1 p2156 [D] (0.0)
0.00 ... 210000.00 [rpm] 1 = f or n comparison value
p2141 [D] (5.00) reached or exceeded
1
T 0 r2199
r2199.1 [2537.4]
0
Hysteresis speed 1
0.00 ... 300.00 [rpm]
p2142 [D] (2.00) <1>
1 = n_act > p2155 own hysteresis
Speed threshold 2 p2149.3 [D]
0.00 ... 210000.00 [rpm]
p2155 [D] (900.00)
1 1 T 0 r2197

r2197.1 [2534.4]
0 0 1 = |n_act| <= speed
Hysteresis speed 2 threshold 2 p2155
0.00 ... 300.00 [rpm] 1
p2140 [D] (90.00) <1>
Speed threshold 2
0.00 ... 210000.00 [rpm]
p2155 [D] (900.00) 0 1 T 0 r2197
1 r2197.2 [2534.4]
1 = |n_act| > speed
Function diagrams
1 0
0 threshold 2 p2155
Hysteresis speed 2
0.00 ... 300.00 [rpm]
<1> Calculated. p2140 [D] (90.00) <1>
1 2 3 4 5 6 7 8
- 8010 -
867
Speed signals (part 1) V6.02.00

868
Figure 4-142

Function diagrams
0
Speed setpoint for messages/signals
1 = n_set > 0
[3080.8] c2151 [C] 1
r2198
(1170)
r2198.5 [2536.4]
0
Hysteresis speed 3
0.00 ... 300.00 [rpm]
8011 – Speed messages (part 2)
p2150 [D] (2.00) <1>
Speed threshold 3
0.00 ... 210000.00 [rpm]
p2161 [D] (5.00)
1 = |n_set| < p2161
1
r2198
r2198.4 [2536.4]
0
Hysteresis speed 3
0.00 ... 300.00 [rpm]
p2150 [D] (2.00) <1>
1 = Torque control active
r1407.2
Speed threshold 4 [2522.7]
Speed setpoint 2 for <1>
0.00 ... 210000.00 [rpm] 1 = Speed setpoint - actual value deviation in tolerance t_off
messages [rpm] p2163 [D] (90.00) 0 T r2197 <2>
c2154 [C] + 1 1 r2197.7 [2534.4]
(0.00)
+ 1 = Enable alarm A07903
– 0 p2149.0 [D]
Hysteresis speed 4
0.00 ... 200.00 [rpm] Off-delay n_act = n_set
p2164 [D] (2.00) <1> 0.0 ... 10000.0 [ms]
p2166 [D] (200.0) 1
A07903 "Motor speed deviation"
Switch-on delay n_act = n_set A07903 is only signaled for
0.0 ... 10000.0 [ms] 1
0
p2149.0 = 1 and r2197.7 = 0.
p2167 [D] (200.0)
1 = Speed setpoint - actual value deviation in tolerance t_on

T 0 r2199
[8010.3] r2169
r2199.4 [2537.4]
Actual speed smoothed
signals [rpm] Ramp-function generator active SET r2199
1 = RESET (Q=1) Q r2199.5 [2537.4]
c2148 [C]
RESET 1 = Ramp-up/ramp-down completed
(0)
(Q=0) Q
0 Priority
1 RESET
2 SET 1 = n_act >= 0
1
<1> Calculated. r2197
<2> Evaluation only for: r2197.3 [2534.4]

Pulse enable and operating enable (r0899.2) 0
or OFF1 Hysteresis speed 3
or OFF3 0.00 ... 300.00 [rpm]
p2150 [D] (2.00) <1>
or rotating measurements.
1 2 3 4 5 6 7 8
- 8011 -
Speed signals (part 2) V6.02.00
Figure 4-143
Torque threshold value 1
0.00 ... 20000000.00 [Nm]
p2174 [D] (5.13)
8012 - Torque messages
Torque setpoint [Nm] 1 1 = |M_set| < torque threshold value 1

[6060.8] r0079 r2198
0 1 r2198.10 [2536.4]
2 % of p2174
Torque utilization switch-off delay
0.0 ... 1000.0 [ms]
p2195 [D] (800.0)
1 = Ramp-up/ramp-down completed
r2199 0 T Ramp-function generator operating
[2537.7] r2199.5 1
x1 > x2 = y = 1
x1 (positive torque requested)
0 x2
> y
Torque setpoint [Nm] Torque threshold value 2

1 0.00 ... 100.00 [%]
[6060.8] r0079 p2194 [D] (90.00)
-1 0
Requested torque 1 = Torque utilization < torque
threshold value 2
r2199
[Nm]
x1 [%]
1
1 r2199.11 [2537.4]
y
x2
0
Upper effective torque limit [Nm] x1 · 100 %

1 x2
[6640.8] r1538
2 % of p2194
[6640.8] r1539 -1 0
Lower effective torque limit [Nm] Torque utilization smoothed [%]
100 ms r0033
Torque utilization [%]

r0081
Function diagrams
1 2 3 4 5 6 7 8
- 8012 -
869
Torque signals (not for U/f control) V6.02.00

870
Figure 4-144

Function diagrams
Load monitoring speed threshold value 2 [rpm]
p2183 [D] (900.00)
Load monitoring speed threshold value 1 [rpm] Load monitoring speed threshold value 3 [rpm]
p2182 [D] (150.00) p2184 [D] (1500.00)
1 = Load monitoring only in the 1st quadrant A07926 "Envelop characteristic, parameter not valid" <2>
p2149.1 [D]
Torque actual value filter time constant [ms]
p3233 [D] (100) Load monitoring configuration
8013 - Load monitoring (Part 1)
Torque actual value 1 p2193 [D] (0)

Unsmoothed [Nm] Load monitoring response
p2181 [D] (0)
[6799.8] r0080[0] 1 = Load in the alarm
0 p2192[D]
0 0 range
1 r2198
Load monitoring torque threshold no load [Nm]
p2191 [D] (0.00) 2 0 T r2198.11 [2536.4]
3 Evaluation
Load monitoring stall monitoring torque threshold [Nm] 0 r2198
p2168 [D] (10000000.00) 4
r2198.12 [2536.4]
Load monitoring stall monitoring upper threshold [rpm] 5
1 = Load in the fault
p2165 [D] (0.00) range
Load monitoring torque threshold 1 upper [Nm]
p2185 [D] (10000000.00) Load characteristics: Load monitoring disabled
(0)
Load monitoring torque threshold 1 lower [Nm] [8014] load monitoring (part 2)
p2186 [D] (0.00) A07920
(1)
Torque/speed too low
p2187 [D] (10000000.00) A07921
(2)
Torque/speed too high
Load monitoring torque threshold 2 lower [Nm]
p2188 [D] (0.00) A07922
(3)
Torque/speed outside tolerance
p2189 [D] (10000000.00) F07923 <1>
(4)
Torque/speed too low
Load monitoring torque threshold 3 lower [Nm]
p2190 [D] (0.00) F07924 <1>
(5)
Torque/speed too high
1 F07925 <1>
(6)
Torque/speed outside tolerance
[8010.3] r2169
0 A07891 … A07893
Actual speed smoothed (7)
Pump/fan load monitoring as alarm
signals [rpm]
Load monitoring speed deviation [rpm] F07894 … F07896 <1>

p2149.1[D] (8)
p3231 [D] (150.00) Pump/fan load monitoring as fault
Load monitoring speed
actual value [rpm]
c3230 [C] – 1 Load monitoring delay time [s]
(0.00) p2192 [D] (10.00)
+ 0
Load monitoring failure detection (external) 0
1 0 T r2198
c3232 [C] 1
(1) r2198.12 [2536.4]
1,2,3,4,5
1 = Load in the fault
range
<1> The response to these faults can be defined.

<2> Fault evaluation only with p2181 > 0 and p2193 > 0.
1 2 3 4 5 6 7 8
- 8013 -
Load monitoring (part 1) V6.02.00
Figure 4-145 Monitoring torque and load drop (p2193 =1) Pump/fan monitoring (p2193 = 4/5)
Load monitoring stall monitoring upper threshold

0.00 ... 210000.00 [rpm]
8014 - Load monitoring (Part 2)
p2165 [D] (0.00)

M [Nm]
M [Nm]
Load monitoring torque

threshold 3 upper
0.00 ... 20000000.00 [Nm]
p2189 [D] (10000000.00)

threshold 3 lower
0.00 ... 20000000.00 [Nm]
p2190 [D] (0.00)
Tolerance Load monitoring stall

bandwidth monitoring torque threshold
0.00 ... 20000000.00 [Nm]
p2168 [D] (10000000.00)
threshold 2 upper
0.00 ... 20000000.00 [Nm] Pump/fan characteristics
p2187 [D] (10000000.00)
Load monitoring torque threshold 3 lower
threshold 2 lower 0.00 ... 20000000.00 [Nm]
0.00 ... 20000000.00 [Nm] p2190 [D] (0.00)
p2188 [D] (0.00)
Load monitoring torque Load monitoring torque

threshold 1 upper threshold 2 lower
0.00 ... 20000000.00 [Nm] 0.00 ... 20000000.00 [Nm]
p2185 [D] (10000000.00) p2188 [D] (0.00)
Load monitoring torque Load monitoring torque Leakage
threshold 1 lower threshold 1 lower
0.00 ... 20000000.00 [Nm] 0.00 ... 20000000.00 [Nm] <1>
p2186 [D] (0.00) p2186 [D] (0.00)

Dry running protection/broken belt
threshold no load
n [rpm] 0.00 ... 20000000.00 [Nm] n [rpm]
p2191 [D] (0.00)
Load monitoring speed threshold value 2 Load monitoring speed threshold value 2
0.00 ... 210000.00 [rpm] 0.00 ... 210000.00 [rpm]
p2183 [D] (900.00) p2183 [D] (900.00)
Load monitoring speed threshold value 1 Load monitoring speed threshold value 3 Load monitoring speed threshold value 1 Load monitoring speed threshold value 3
0.00 ... 210000.00 [rpm] 0.00 ... 210000.00 [rpm] 0.00 ... 210000.00 [rpm] 0.00 ... 210000.00 [rpm]
p2182 [D] (150.00) p2184 [D] (1500.00) p2182 [D] (150.00) p2184 [D] (1500.00)
Function diagrams
<1> Only for pump applications.
1 2 3 4 5 6 7 8
- 8014 -
871
Load monitoring (part 2) V6.02.00

872
Figure 4-146

Function diagrams
Motor locked detection or motor locked monitoring function (not for closed-loop torque control)
1 = Travel to fixed stop active
c1545 r1406
[2520.7] r1406.8 1

8015 - Blocking and tilt monitoring
r1407 Open-loop/closed-loop control type

[2522.7] r1407.7 0 ... 23
c2144 [C]
(0) 1
& p1300 [D] (20)
<2>
Motor stall monitoring

enable (negated)
Motor blocked delay time
0.000 ... 65.000 [s]
p2177 [D] (3.000)
≥20
Actual speed smoothed 1 = Motor blocked
signals [rpm] Motor blocked speed threshold 5,6, T 0 r2198
0
r2169 < p2175

[8010.3] r2169 0.00 ... 210000.00 [rpm] 19 r2198.6 [2536.4]
p2175 [D] (120.00)
Load monitoring speed 0..4, 7
actual value [rpm] F07900
1
c3230 [C] MIN
<1>
(0.00)
0
1 = Current limiting controller voltage

output active
r0056
[2526.7] r0056.12
≥1 &
[2526.7] r0056.13
1 = Current/torque limiting
Stall detection or stall monitoring (not for U/f control)

Motor stalled delay time

1 = Speed adaptation speed deviation 0.000 ... 10.000 [s]
p2178 [D] (0.010)
Out tolerance
r1408 <2> 1 = Motor stalled
[6730.4] r1408.11 T 0 r2198
≥1 r2198.7 [2536.4]
[6730.4] r1408.12
1 = Motor stalled
F07902
<1> Only evaluated with p2193 = 2 and U/f control.

<2> The following applies for p1300 = 20: For p2149.5 = 1, the transition from speed-controlled to closed-loop controlled operation (r1751.0 = 0 --> 1) is additionally monitored. This additional
blocking monitoring is not effective for p1750.2 = 1 (closed-loop controlled operation down to zero frequency for passive loads).
1 2 3 4 5 6 7 8
- 8015 -
Blocked and stall monitoring V6.02.00
Figure 4-147
Motor temperature sensor type
p0601 [M] (0)
Motor temperature sensor for monitoring
p0600 [M] (11)
0 = No sensor
ϑ via motor temperature model 2 0 1= PTC alarm & timer
[8018.8]
2= KTY
8016 - Thermal monitoring motor
ϑ via motor encoder 1 1 3= KTY & PTC <1>
Only for KTY/Pt1000

[4704.8]
ϑ via encoder 2 4= Bimetallic NC contact alarm & timer
2
[4704.8] 5= Pt100 <2>
ϑ via terminal 11 6= Pt1000
7= Pt1000 & PTC <1>
c0603[0..3]
10
(-200.00) A07820
Motor temperature [°C] [8018.1] "Temperature sensor
not connected"
A07015
T 0 "Motor temperature sensor fault"
Motor temperature [°C]
F07016
r0035 [8017.1]
-140 °C 250 °C 1 = No alarm motor overtemperature
<5> r2135
Motor temperature alarm threshold 1 Temperature sensor fault timer 1 r2135.6 [2549.4]
0.0 ... 200.0 [°C] Sensor type 0.000 ... 600.000 [s]
p0616 [M] (130.0) p0607 [M] (0.100) 1 = Alarm motor overtemperature
MIN
Mot_temp_mod 2/sensor: alarm threshold <3> r2135
0.0 ... 240.0 [°C] 1 r2135.14 [2549.4]
p0604 [M] (130.0) 1650 Ω 1 = Fault motor overtemperature
<4> PTC
r2135
1 r2135.12 [2549.4]
1
A07910 [8020.2]
Mot_temp_mod 1/2 sensor threshold and temperature value 0 [8017.8] "Motor
Fault OT
0.0 ... 240.0 [°C] [8019.8] overtemperature"
p0605 [M] (145.0) T 0 1
& F07011 [8020.2]
<6> 1 = Current

1 reduction active
Mot_temp_mod 2: sensor timer
0.000 ... 600.000 [s] r5389
0
p0606 [M] (0.000) & r5389.8 [8020.2]
KTY/Pt1000 sensor type & c5388
(threshold not applicable for PTC) Motor overtemperature response >0 (0) Calculation
0 ... 12 Fault response Motor temperature inhibit I_max_red
<1> Only for motors with DRIVE-CLiQ. p0610 [M] (12) =1 current reduction
<2> Pt100 is calibrated via p0624.
<3> For KTY, Pt100, Pt1000 and "No sensor": temperature as defined in the model. I_max reduction
<4> The relevant rated response temperature in °C depends on the temperature sensor chosen by the motor manufacturer. [6300.1]
Function diagrams
<5> Switch-on delay p0607 = 0 suppresses fault F07016. [6640.1]
<6> For KTY/Pt1000 and PTC / bimetallic NC contact, the value p0606 = 0 has a different meaning: [6829.1]
KTY/Pt1000: 0 means the output of the timer is switched out (logical 0).
PTC / bimetallic NC contact: 0 means the delay time is 0 s.
1 2 3 4 5 6 7 8
- 8016 -
873
Thermal monitoring, motor V6.02.00

874
Figure 4-148

Function diagrams
1 = Activate mot_temp_mod 1 (I2t)
p0612.0 [M]
8017 - Motor temperature model 1 (I2t)
Mot_temp_mod 1/2 sensor threshold

and temperature value [°C] Motor overtemperature response
p0605 [M] (145.0) p0610 [M] (12)
Absolute current actual <5> Motor utilization
value Unsmoothed [Arms] thermal [%]
r0068[0] ϑ model - p0613
Motor temperature model 1 (I2t) p0627
· 100 [%] r0034
Rated motor current [Arms]

p0305 [M] (0.00) <3> ϑ model Mot_temp_mod stator winding temperature [°C]
r0632 [M]
I2t motor model thermal time constant [s]
p0611 [M] (0) Only for:
- Permanent-magnet synchronous motor (PMSM) Mot_temp_mod 1/3 fault threshold [°C]
Motor temperature [°C] - Reluctance synchronous motor (RESM) p5391 [M] (120.0)
[8016.1] r0035
<1>
<2>
Mot_temp_mod 1/3 ambient temperature [°C] 1 Fault OT
Motor overtemperature, stator
p0613 [M] (20) winding [K] [8016.6]
p0627 [M] (80) 0
<2>
Motor ambient temperature during commissioning [°C] 2K
p0625 [M] (20)
Mot_temp_mod 1/3 alarm threshold [°C]
p5390 [M] (110.0)
<4>
1
A07012
0 "Motor temperature model 1/3
overtemperature"
2K
<1> Only if there is a temperature sensor (p0600 and p0601 > 0).
<2> Only if <1> are not met.
<3> The lower p0611 and the lower the reference current of the thermal motor model 1 (I2t), the faster A07012 is reached.
<4> p0605 or p5390 also define the target temperature for r0034 = 100 %. Therefore, the treshold value has no influence on the time up to alarm A07012.
<5> If p0610 = 12.
1 2 3 4 5 6 7 8
- 8017 -
Motor temperature model 1 (I2t) V6.02.00
Figure 4-149
1 = Activate mot_temp_mod 2
p0612.1 [M]
8018 - Motor temperature model 2
Mot_temp_mod 1/2 sensor threshold

and temperature value [°C] Motor overtemperature response
p0605 [M] (145.0) p0610 [M] (12)
<1>
Rated motor temperature rise Calculated motor temperatures
Motor ambient temperature during

commissioning [°C] Mot_temp_mod ambient temperature [°C]
p0625 [M] (20) Motor temperature model 2 r0630 [M]
Motor overtemperature, stator core [K] (Thermal 3-mass-model) Mot_temp_mod stator iron temperature [°C]
p0626 [M] (50) r0631 [M]
[8016.3] ϑ model
Motor overtemperature, stator winding [K] Mot_temp_mod stator winding temperature [°C] [8016.1]
p0627 [M] (80) Only for: r0632 [M]
Induction motor (ASM)
Motor overtemperature rotor [K] Mot_temp_mod rotor temperature [°C]
p0628 [M] (100) r0633 [M]
Motor weight (for the thermal motor model) [kg] Rotor thermally relevant weight [%]
p0344 [M] (0.0) p0619 [M] (20.0)
Stator thermally relevant iron component [%] Stator thermally relevant copper component [%]
p0617 [M] (40.0) p0618 [M] (15.0)

Function diagrams
<1> If p0610 = 12.
1 2 3 4 5 6 7 8
- 8018 -
875
Motor temperature model 2 V6.02.00

876
Figure 4-150

Function diagrams
1 = Activate mot_temp_mod 3
p0612.2 [M]
8019 – Motor temperature model 3
Mot_temp_mod 1/3 boost factor at standstill Motor overtemperature response

p5350 [M] (2.0000) p0610 [M] (12) Calculated motor temperatures
<1>
Speed actual value Mot_temp_mod ambient temperature [°C]

Smoothed with p0045 [rpm] Motor temperature model 3 r0630 [M]
r0063[1]
Mot_temp_mod stator iron temperature [°C]
r0631 [M]
r0068[0] Mot_temp_mod rotor temperature [°C]
Absolute current actual Only for: r0633 [M]
value Unsmoothed [Arms] Permanent-magnet synchronous motor (PMSM)
ϑ model Mot_temp_mod stator winding temperature [°C]
r0632 [M]
Motor utilization
thermal [%]
ϑ model - p0613
· 100 [%] r0034
p5351 … p5355 p5370 … p5372 p5380 … p5384 p5390 - p0613
Power losses Thermal capacities Thermal conductivity
values Mot_temp_mod 1/3 fault threshold [°C]
p5391 [M] (120.0)
1
Fault OT
≥1 [8016.6]
0
Mot_temp_mod 3
2K
timer [s]
Mot_temp_mod 1/3 alarm r5387 [M]
threshold [°C]
p5390 [M] (110.0)
<2> T 0
1
A07012
0 "Motor temperature model 1/3

overtemperature"
<1> If p0610 = 12. 2K

<2> p0605 or p5390 also define the target temperature for r0034 = 100 %. Therefore, the treshold value has no influence on the time up to alarm A07012.
1 2 3 4 5 6 7 8
- 8019 -
Motor temperature model 3 V6.02.00
Figure 4-151
Mot_temp status word faults/alarms
r5389
Bit No. Meaning
r5389.0..8
00 1 = Motor temperature measurement fault present r5389.0
[8016.8] F07011 01 1 = Motor temperature model fault present r5389.1

8020 - Motor temperature status word faults/alarms
02 1 = Encoder temperature measurement fault present r5389.2
F07011 03 1 = Motor overload protection fault active r5389.3
[8016.8] A07910 04 1 = Motor temperature measurement alarm active r5389.4
[8016.8] A07910 05 1 = Motor temperature model alarm active r5389.5

[8017.8], [8019.8] A07012
... Reserved
A07012 07 1 = Motor overload protection alarm active r5389.7
[8016.8] 08 1 = Current reduction active r5389.8

... Reserved

Function diagrams
1 2 3 4 5 6 7 8
- 8020 -
877
Motor temperature status word faults/alarms V6.02.00

878
Figure 4-152

Function diagrams
Warning "Infeed overtemperature"
Power unit [8622.8] 1 = Fault power unit thermal overload
Fault "Power unit overload" r2135
[8021.7] 1 r2135.13 [2549.4]
Tmax - heatsink
Maximum power unit temperature Faults "Power unit overtemperature"
F30004 "heat sink AC inverter"
8021 - Thermal monitoring power unit
F30024 "thermal model"

Temperature measurement F30025 "chip"
1
ϑ Max F30035 "air intake"
0 F30036 "internal"
F30037 "rectifier"
F30067 "capacitor air discharge"
Pulse frequency
Fault "Power unit undertemperature"
setpoint [kHz] Min F30068 "inverter heat sink"
p1800 [D] (4.000) Power unit temperature alarm
threshold [°C]
p0292[0..1] (5)
–
+ Alarms "Power unit overtemperature"

A30034 "internal"
1 A30066 "capacitor air discharge"
A30250 "heat sink AC inverter"
Power unit temperatures [°C] 0 A30251 "rectifier"
Power unit A30252 "chip"
r0037[0..10]
overload response A30253 "thermal model"
p0290 (2)
<1>
Alarm "Infeed overtemperature"
[8622.8] 1 Overload response
1 = Alarm power unit thermal overload

r2135
r2135.15 [2549.4]
Absolute current actual r0036[0..2] r2135
value Unsmoothed [Arms] 95 %
1 r2135.7 [2549.4]
Power unit overload [%]
[6714.8] r0068[0] 1 = No alarm thermal power unit overload
I2t model 1
Rated power unit Alarms "Power unit overload"
power unit
current [Arms] 0 A30256 "I2t (AC)"
A30257 "I2t (DC)"
r0207[0..2]
100 % A30267 "Active power"
Faults "Power unit overload" [8021.4]

1
F30005 "I2t (AC)"

F30258 "I2t (DC)"
0 F30268 "Active power"
Only for Clean Power infeed.
<1> For p0290 = 2/12 and p0212.9 = 1, the following applies:
For an overload condition, the infeed can reduce the maximum power unit output current. The reduced current can be read out of r0289.
1 2 3 4 5 6 7 8
- 8021 -
Thermal monitoring, power unit V6.02.00
Figure 4-153
Minimum speed
0.000 ... 19500.000 [rpm]
p1080 [D] (0.000)

1 = |n_act| <= n_min p1080
signals [rpm]
1 r2197
[8010.3] r2169
0 r2197.0 [2534.4]
8022 – Monitoring functions (part 1)
Hysteresis speed 3
0.00 ... 300.00 [rpm]
Ramp-function generator p2150 [D] (2.00)
+ 1 = |n_act| >= n_set
setpoint at the input [rpm]
1 r2197
[3051.8] r1119
– r2197.4 [2534.4]
0
1 Pulse cancellation delay time
0.000 ... 299.000 [s]
0 p1228 [D] (0.000)
-1
Speed actual value
1 = |n_act| <= n_standstill p1226
Unsmoothed [rpm] 0 1 T 0 r2197
r0063[0]
r2197.5 [2534.4]
0
DC link voltage threshold value

0 ... 2000 [V]
Threshold for zero speed detection 1 = Vdc_act <= Vdc_threshold value p2172
p2172 [D] (800)
0.00 ... 210000.00 [rpm] T 0
p1226 [D] (20.00) r2197
DC link voltage comparison r2197.9 [2534.4]
Actual DC link voltage [V] 1 delay time
r0070 0 ... 10000 [ms]
0 p2173 [D] (10)
[6730.1], [6731.1], [6792.1]
[6841.1], [6842.1], [6843.1] T 0 r2197
1 r2197.10 [2534.4]
[6856.1] Current threshold value
0.00 ... 10000.00 [Arms] 1 = Vdc_act > Vdc_threshold value p2172
p2170 [D] (0.00)
1 = I_act >= I_threshold value p2170

Torque actual value filter time constant 1 0 T r2197
0 ... 1000000 [ms] r2197.8 [2534.4]
p3233 [D] (100) 0 Current threshold value
reached delay time
0 ... 10000 [ms]

p2171 [D] (10) 1 = |I_act| < I_threshold value p2170
[6715.8] value Unsmoothed [Arms] 1 0 T r2198
[6833.8] r0068[0]
r2198.8 [2536.4]
[6856.1] 0
Output load identification current limit Output load detection delay time
Output voltage [Vrms] 1 0.00 ... 1000.00 [Arms] 0 ... 10000 [ms]
r0072 p2179 [D] (0.00) p2180 [D] (2000)
[6730.5], [6731.5], [6792.5] 0
[6841.5], [6842.5], [6843.5] Enable pulses 1 = Output load is not present
[6856.5] 1
&
0 T 0 r2197
Function diagrams
r2197.11 [2534.4]
0
p0504 = 2: Dynamic Drive Control (DDC) A07929
p0504 = 1: Standard Drive Control (SDC) Drive: No motor detected
1 2 3 4 5 6 7 8
- 8022 -
879
Monitoring functions (part 1) V6.02.00

880
Figure 4-154

Function diagrams
1 = |n_act| <= speed threshold value 5
signals [rpm] 1
0 T r2198
[8010.3] r2169 r2198.0 [2536.4]
0
Delay for n_act comparison with
8023 – Monitoring functions (part 2)
Speed threshold 5 Hysteresis speed 3 speed threshold value 5

0.00 ... 210000.00 [rpm] 0.00 ... 300.00 [rpm] 0 ... 10000 [ms]
p2157 [D] (900.00) p2150 [D] (2.00) p2158 [D] (10)
1 = |n_act| > speed threshold value 5

1 0 T r2198
r2198.1 [2536.4]
0
1 = |n_act| <= speed threshold value 6

1
T 0 r2198
r2198.2 [2536.4]
0
Delay for n_act comparison with
Speed threshold 6 Hysteresis speed 3 speed threshold value 6
0.00 ... 210000.00 [rpm] 0.00 ... 300.00 [rpm] 0 ... 10000 [ms]
p2159 [D] (900.00) p2150 [D] (2.00) p2160 [D] (10)
1 = |n_act| > speed threshold value 6

1 T 0 r2198
r2198.3 [2536.4]
0
Torque threshold value

Torque threshold value 1 comparison delay time
0.00 ... 20000000.00 [Nm] 0 ... 10000 [ms]
p2174 [D] (5.13) p2176 [D] (200)
Torque actual value
1 = |M_act| > torque threshold value 1

Unsmoothed [Nm] 1 T 0 r2198
[6799.8] r0080[0]
r2198.13 [2536.4]
0
r2199 r2198
[2537.7] r2199.5
& r2198.9 [2536.4]
1 = Ramp-up/ramp-down completed 1 = |M_act| > torque threshold value 1
Delay for comparison n > n_max
and n_set reached
0 ... 10000 [ms]
p2152 [D] (200)
1 = |n_act| > n_max

1 = |n_act| > n_max (delayed)
r2197 0 T r2197
[2534.7] r2197.6
r2197.12 [2534.4]
1 2 3 4 5 6 7 8
- 8023 -
Monitoring functions (part 2) V6.02.00
Figure 4-155
p3299[0...2] (4.000 ms)
<1> <2>
8024 - Variable messages 1, 2, 3
Variable signaling
function threshold value
p3295[0..2] (0.000)
<1>
Activate function Comparison with sign

p3290.0 Function 1 p3290.1 Function 1
p3290.2 Function 2 p3290.3 Function 2
p3290.4 Function 3 p3290.5 Function 3 Variable signaling
function hysteresis
Variable signaling p3296[0..2] (0.000)
function input signal 0
<1>
0 1
c3291[0..2]
(0) 0
1
<1>
t
Exceeded
1 Variable signaling function output signal
Undershot Undershot r3294.0..2
0 r3294.0 1 = Function 1 output signal
r3294.1 1 = Function 2 output signal
r3294.2 1 = Function 3 output signal
<1> <3> <1> <3>

Variable signaling function pickup delay [ms] Variable signaling function dropout delay [ms]
p3297[0..2] (0) p3298[0..2] (0)

<1> Index [0]: Variable signaling function 1
Index [1]: Variable signaling function 2
Index [2]: Variable signaling function 3
Function diagrams
<2> Possible sampling times:
1.000 ms, 2.000 ms, 3.000 ms, 4.000 ms
<3> For a value of 0, the delay is disabled.
1 2 3 4 5 6 7 8
- 8024 -
881
Variable signaling function 1, 2, 3 V6.02.00

Function diagrams
4.17 Diagnostics
4.17 Diagnostics
Overview
The following function diagrams describe the diagnostics.
Function diagrams
8060 – Fault buffer (Page 884)
8065 – Alarm buffer (Page 885)
8070 – Safety buffer (Page 886)

Figure 4-156
Fxxxxx
Real time clock
Fyyyyy r0945 r0949 r0948 r2109
III
8050 – Overview
Fzzzzz Code Value coming going Fault cases counter

p0952 (0)
[8060] Fault buffer
Axxxxx
Ayyyyy r2122 r2124 r2123 r2125
III
Azzzzz Code Value coming going Alarm counter

r2111
[8065] Alarm buffer
Cxxxxx
Cyyyyy r60045 r60049 r60048 r9755
III
Czzzzz Code Value coming going SI message cases counter

p60052 (0)
[8070] Safety message buffer (p3117 = 0)
Function diagrams
4.17 Diagnostics
1 2 3 4 5 6 7 8
Diagnostics © Siemens AG
- 8050 -
883
Overview V6.02.00
884
Figure 4-157
4.17 Diagnostics
Function diagrams
Fault time received in milliseconds [ms] Fault time removed in milliseconds [ms]
r0948[0..63] r2109[0..63]
Fault value Fault value for float values Component fault
r0949[0..63] r2133[0..63] Fault time received in days Fault time removed in days r3120[0..63]
8060 - Fault buffer r2130[0..63] r2136[0..63]
Fault code Fault number Diagnostic attribute fault

r0945[0..63] r0947[0..63] <1>
r3122[0..63].0..20
<2>
Fault cases counter

r0945[0] r0949[0] [I32] r0948[0] [ms] r2109[0] [ms] 16 bit counter p0952 (0)
Fault 1 r3120[0] r3122[0]
r0947[0] r2133[0] [Float] r2130[0] [d] r2136[0] [d]
External fault 1 r0945[1] r0949[1] [I32] r0948[1] [ms] r2109[1] [ms] III
Fault 2 r3120[1] r3122[1] Fault case
c2106 [C] r0947[1] r2133[1] [Float] r2130[1] [d] r2136[1] [d] RESET
appears
(1) Actual fault
case RESET
Delete fault buffer p0952 = 0:
1st acknowledge faults r0945 = 0, r0947 = 0 Fault buffer is
c2103 [C] r0948 = 0, r0949 = 0 deleted/cleared
(0) r0945[7] r0949[7] [I32] r0948[7] [ms] r2109[7] [ms] r2109 = 0, r2130 = 0
Fault 8 r3120[7] r3122[7]
<3> r0947[7] r2133[7] [Float] r2130[7] [d] r2136[7] [d] r2133 = 0, r2136 = 0
POWER ON r3120 = 0, r3122 = 0
≥1 Acknowledge fault
c2104 [C] r0945[8] r0949[8] [I32] r0948[8] [ms] r2109[8] [ms]

Fault 1 r3120[8] r3122[8] Fault appears
(0) r0947[8] r2133[8] [Float] r2130[8] [d] r2136[8] [d]
2nd acknowledge faults r0945[9] r0949[9] [I32] r0948[9] [ms] r2109[9] [ms] Fault disappears
1.
Fault 2
r0947[9] r2133[9] [Float] r2130[9] [d] r2136[9] [d]
r3120[9] r3122[9]
Fault case acknowl.
≥1
acknowl.
fault case Fault buffer change
r0945[15] r0949[15] [I32] r0948[15] [ms] r2109[15] [ms]

Fault 8 r3120[15] r3122[15] 16 bit counter, free running
r0947[15] r2133[15] [Float] r2130[15] [d] r2136[15] [d]
r0945[56] r0949[56] [I32] r0948[56] [ms] r2109[56] [ms] III r0944

Fault 1 r3120[56] r3122[56]
r0947[56] r2133[56] [Float] r2130[56] [d] r2136[56] [d] RESET Counter for fault
r0945[57] r0949[57] [I32] r0948[57] [ms] r2109[57] [ms] buffer changes
Fault 2 r3120[57] r3122[57]
r0947[57] r2133[57] [Float] r2130[57] [d] r2136[57] [d] POWER ON
7.
acknowl.
Date Time fault case 1 = Fault present
r8400[0..2] r8401[0..2] (oldest) r2139
r2139.3 [2548.2]
Fault times r0945[63] r0949[63] [I32] r0948[63] [ms] r2109[63] [ms]
Fault 8 r3120[63] r3122[63] r2139
r0947[63] r2133[63] [Float] r2130[63] [d] r2136[63] [d]
r2139.15 [2548.2]
1 = Fault gone/can be acknowledged
<1> The fault code of the oldest active fault is displayed in r2131.
<2> The buffer parameters are cyclically updated in the background (refer to the status signal in r2139).
<3> This fault is overwritten when "more recent" faults occur (with the exception of "safety faults").
1 2 3 4 5 6 7 8
- 8060 -
Fault buffer V6.02.00
Figure 4-158
Alarm value for Alarm time received in milliseconds [ms] Alarm time removed in milliseconds [ms]
float values r2123[0..63] r2125[0..63]
Alarm value Component alarm
r2124[0..63] r2134[0..63] Alarm time received in days Alarm time removed in days r3121[0..63]
r2145[0..63] r2146[0..63]
8065 - Alarm buffer
Alarm code <1> Diagnostic attribute alarm

r2122[0..63] r3123[0..63].0..20
<2>
Alarm counter
Alarm 1 r2124[0] [I32] r2123[0] [ms] r2125[0] [ms] 16 bit counter r2111
r2122[0] r3121[0] r3123[0]
(oldest) r2134[0] [Float] r2145[0] [d] r2146[0] [d]
r2124[1] [I32] r2123[1] [ms] r2125[1] [ms] III
Alarm 2 r2122[1] r3121[1] r3123[1] Alarm appears
r2134[1] [Float] r2145[1] [d] r2146[1] [d] RESET
RESET
Delete alarm buffer
r2122 = 0, r2123 = 0 Alarm buffer is deleted and
r2124 = 0, r2125 = 0 r2111 is set to 0.
Date Time Alarm 8 r2124[7] [I32] r2123[7] [ms] r2125[7] [ms] r2134 = 0, r2145 = 0
r8400[0..2] r8401[0..2] r2122[7] r3121[7] r3123[7]
(most recent) r2134[7] [Float] r2145[7] [d] r2146[7] [d] r2146 = 0, r3121 = 0
r3123 = 0 POWER ON
Alarm times
Alarm appears
Alarm history
Alarm 1 r2124[8] [I32] r2123[8] [ms] r2125[8] [ms] Alarm disappears
≥1
(most recent) r2122[8] r3121[8] r3123[8]
r2134[8] [Float] r2145[8] [d] r2146[8] [d]
r2124[9] [I32] r2123[9] [ms] r2125[9] [ms] Alarm buffer change
Alarm 2 r2122[9] r3121[9] r3123[9]
r2134[9] [Float] r2145[9] [d] r2146[9] [d]
16 bit counter, free running
III r2121
Alarm 56 r2124[63] [I32] r2123[63] [ms] r2125[63] [ms]
r2122[63] r3121[63] r3123[63] RESET Counter alarm buffer
(oldest) r2134[63] [Float] r2145[63] [d] r2146[63] [d]
changes
POWER ON
Status word faults/alarms 1

r2139
r2139.0..15
r2139.7 1 = Alarm present
r2139.11 1 = Alarm class bit 0
Function diagrams
r2139.12 1 = Alarm class bit 1
4.17 Diagnostics
r2139.13 1 = Maintenance required
<1> The alarm code of the last alarm that occurred is displayed in r2132. r2139.14 1 = Maintenance urgently required
<2> The buffer parameters are cyclically updated in the background (refer to the status signal in r2139). [2548.2]
1 2 3 4 5 6 7 8
- 8065 -
885
Alarm buffer V6.02.00

886
Figure 4-159
4.17 Diagnostics
Function diagrams
SI message value SI message time received in milliseconds [ms] SI message time removed in milliseconds [ms]
for float values r60048[0..63] r9755[0..63]
SI message value SI components
r60049[0..63] r9753[0..63] SI message time received in days SI message time removed in days r9745[0..63]
8070 - Safety message buffer r9754[0..63] r9756[0..63]
SI message code SI message number SI diagnostic attributes

r60045[0..63] r60047[0..63] r9750[0..63].0..20
<1>
SI message cases counter

Safety r60045[0] r60049[0] [I32] r60048[0] [ms] r9755[0] [ms] 16 bit counter p60052 (0)
r9745[0] r9750[0]
message 1 r60047[0] r9753[0] [Float] r9754[0] [d] r9756[0] [d]
Safety r60045[1] r60049[1] [I32] r60048[1] [ms] r9755[1] [ms] III
r9745[1] r9750[1] Message appears
message 2 r60047[1] r9753[1] [Float] r9754[1] [d] r9756[1] [d] RESET
Actual p60052 = 0
message RESET 1
case Delete message buffer
POWER ON
r9753 = 0, r9754 = 0,
<2> Message buffer
r9755 = 0, r9756 = 0,
Safety r60045[7] r60049[7] [I32] r60048[7] [ms] r9755[7] [ms] r60044 = 0, r60045 = 0, is deleted and
r9745[7] r9750[7] p60052 is set to
Acknowledging via Failsafe message 8 r60047[7] r9753[7] [Float] r9754[7] [d] r9756[7] [d] r60047 = 0, r60048 = 0,
r60049 = 0 0.
Digital Input (F-DI) or Message acknowledging
PROFIsafe
Safety r60045[8] r60049[8] [I32] r60048[8] [ms] r9755[8] [ms]
r9745[8] r9750[8] Message appears
Safety r60045[9] r60049[9] [I32] r60048[9] [ms] r9755[9] [ms] Message disappears
1. message 2 r60047[9] r9753[9] [Float] r9754[9] [d] r9756[9] [d]
r9745[9] r9750[9]
Message acknowledged
≥1
acknowl.
message Message buffer change
case
SI message buffer counter changes
Safety r60045[15] r60049[15] [I32] r60048[15] [ms] r9755[15] [ms] r60044
r9745[15] r9750[15] 16 bit counter, free running
Safety r60045[56] r60049[56] [I32] r60048[56] [ms] r9755[56] [ms] III

r9745[56] r9750[56]
message 1 r60047[56] r9753[56] [Float] r9754[56] [d] r9756[56] [d] RESET
Safety r60045[57] r60049[57] [I32] r60048[57] [ms] r9755[57] [ms]
r9745[57] r9750[57]
message 2 r60047[57] r9753[57] [Float] r9754[57] [d] r9756[57] [d] POWER ON
7.
acknowl.
message
case
Date Time (oldest) 1 = Safety message present
r8400[0..2] r8401[0..2] Safety r60045[63] r60049[63] [I32] r60048[63] [ms] r9755[63] [ms] r2139
r9745[63] r9750[63]
message 8 r60047[63] r9753[63] [Float] r9754[63] [d] r9756[63] [d] r2139.5
Message times
<1> The buffer parameters are cyclically updated in the background (refer to the status signal in r2139).
<2> This message is overwritten when "more recent" messages occur.
1 2 3 4 5 6 7 8
- 8070 -
Safety message buffer (p3117 = 0) V6.02.00
Function diagrams
4.18 Data sets
4.18 Data sets
Overview
The following function diagrams describe the data sets.
Function diagrams
8560 – Command Data Sets (CDS) (Page 888)
8565 – Drive Data Sets (DDS) (Page 889)
8570 – Encoder Data Sets (EDS) (Page 890)
8575 – Motor Data Sets (MDS) (Page 891)

888
Figure 4-160
4.18 Data sets

Function diagrams
Example:
Change over Command Data Set
CDS0 --> CDS1
p0810 = "0" p0810 = "1"

CDS0 selected CDS1 selected
8560 - Command Data Sets (CDS)
r0836.0 = 0 r0836.0 = 1
t
t
CDS0 effective CDS1 effective

r0050.0 = 0 r0050.0 = 1
t Number of Command Data Sets (CDS)

p0170 (2)
Command data set selection CDS bit 0 CDS3 Command Data Set CDS selected
c0810 r0836
(722.3) CDS2 r0836.0..3 [2513.2]
r0836.0 1 = CDS selection bit 0
Command data set selection CDS bit 1 CDS1 r0836.1 1 = CDS selection bit 1
c0811 r0836.2 1 = CDS selection bit 2
(0) CDS0 r0836.3 1 = CDS selection bit 3
Command Data Set CDS effective

r0050
r0050.0..1
r0050.0 1 = CDS effective bit 0
r0050.1 1 = CDS effective bit 1
1 2 3 4 5 6 7 8
Data sets © Siemens AG
- 8560 -
Command Data Sets (CDS) V6.02.00
Figure 4-161 DDS (Drive Data Set)
p0186 [D] (0) Motor Data Sets (MDS) number
p0187 [D] (99) Motor encoder encoder data set number

8565 - Drive Data Sets (DDS)
p0188 [D] (99) Encoder 2 encoder data set number
EDS (Encoder Data Set)

Motor Data Set MDS effective
r0049[0]
MDS (Motor Data Set) Motor encoder encoder data set EDS effective
r0049[1]
Encoder 2 Encoder Data Set EDS effective
r0049[2]
Number of Drive Data Sets (DDS)
p0180 (1)
Drive Data Set selection DDS bit 0 DDS16 Drive Data Set DDS selected
c0820 [C] r0837
(0) ... r0837.0..4 [2513.2]
r0837.0 1 = DDS selection bit 0
Drive Data Set selection DDS bit 1 DDS1 r0837.1 1 = DDS selection bit 1
c0821 [C] r0837.2 1 = DDS selection bit 2
(0) DDS0 r0837.3 1 = DDS selection bit 3
r0837.4 1 = DDS selection bit 4
Drive Data Set selection DDS bit 2

c0822 [C]
(0)
Drive Data Set DDS effective
r0051
Drive Data Set selection DDS bit 3 r0051.0..3
c0823 [C]
r0051.0 1 = DDS effective bit 0
(0)
Function diagrams
4.18 Data sets
1 2 3 4 5 6 7 8
- 8565 -
889
Drive Data Sets (DDS) V6.02.00

890
Figure 4-162
4.18 Data sets

Function diagrams
DDS (Drive Data Set) <1>

8570 ‑ Encoder Data Sets (EDS)

0
EDS0 EDS for motor encoder
1
EDS1
…
p0400[E] E = p0187[D]
Drive Data Set selection DDS bit 0 EDS15

15 …
c0820 [C] 99 p0425[E]
Not configured
(0)
c0823 [C] Assigned parameters

(0) - for position sensing
Drive Data Set selection DDS bit 3 0 for encoder n: [4704]
EDS0 EDS for encoder 2 - for speed actual value sensing
1 for encoder n: [4715]
EDS1
Number of Encoder Data Sets (EDS) …
p0400[E] E = p0188[D]
1 ... 16
p0140 (1) EDS15
15 …
99 p0425[E]
Not configured
Encoder Data Set 15 – EDS15
Encoder Data Set 1 – EDS1 EDS15
Encoder Data Set 0 – EDS0 ...
p0400[0] EDS1
...
EDS0
Motor encoder encoder data set EDS effective
p0454[0] r0049[1]
Encoder 2 Encoder Data Set EDS effective
r0049[2]
F07502 "Encoder Data Set EDS not configured"

F07510: "Identical encoder in the drive data set"
<1> Encoder errors always refer to the currently active Encoder Data Set.
1 2 3 4 5 6 7 8
- 8570 -
Encoder Data Sets (EDS) V6.02.00
Figure 4-163 DDS (Drive Data Set) Number of Motor Data Sets (MDS)
1 ... 16
p0130 (1)

8575 - Motor Data Sets (MDS)

Motor Data Set 15 – MDS15
Drive Data Set selection DDS bit 0

c0820 [C]
(0)
p0826[0]
c0823 [C]
(0) Motor Data Set MDS effective
Drive Data Set selection DDS bit 3 r0049[0]
1 = Motor changeover active

r0835
= Pulse inhibit r0835.0
Function diagrams
4.18 Data sets
1 2 3 4 5 6 7 8
- 8575 -
891
Motor Data Set (MDS) V6.02.00

Function diagrams
4.19 Clean Power infeed
Overview
The following function diagrams describe the Clean Power infeed.
Function diagrams
8605 – Control word sequence control infeed (Page 894)
8606 – Status word sequence control infeed (Page 895)
8608 – Status word infeed (Page 896)
8610 – Sequencer (Page 897)
8612 – Missing enables, line contactor control (Page 898)
8615 – Controller modulation depth reserve/DC link voltage (Page 899)
8617 – Current precontrol/current controller/gating unit (Page 900)
8619 – Interface to the power unit, control signals, actual values (Page 901)
8620 – Line voltage monitoring (Page 902)
8621 – Monitoring line frequency, DC link voltage and precharging (Page 903)
8622 – Thermal monitoring power unit infeed (Page 904)

Figure 4-164
Line voltage monitoring Control/Status words Faults and alarms
STW ZSW
L1
L2
!
Fxxxxx L3
Axxxxx PE
8601 – Overview
[8620] [8605] ... [8608] [8060] ... [8075]

1 = Closed-loop
Monitoring the line frequency, DC Thermal monitoring, power unit Sequence control control operation
link voltage and precharging r13863.0 p0864
[2610]
max
r13863.1
1 = Energize
[8621] [8021], [8622] [8610], [8612] contactor
Infeed active current

Controller modulation depth Infeed setpoint voltage Usq
setpoint [Arms]
reserve/DC link voltage (reactive component) [Vrms]
r13077
r3633 L1 L2 L3 PE
Infeed DC link voltage setpoint [V]
p3510 (600.00) Power precontrol/current controller/ Control signals, actual
gating unit values
Trans- |U|
+ +
– –
[8615] U
r13075
+
Infeed reactive current – formation
setpoint [Arms]
[8617] Line supply and

Infeed setpoint voltage Usd (active filter model
component) [Vrms]
r3632
Trans- Vdc measurement
r13076
Infeed reactive current actual value [Arms] I
Infeed current actual value [Arms]

r13078
Infeed DC link voltage actual value [V] formation
Function diagrams
r13070
[8619]
DC+ DC-
1 2 3 4 5 6 7 8
Infeed Clean Power © Siemens AG
- 8601 -
893
Overview V6.02.00
894
Figure 4-165

Function diagrams
Infeed control word
sequence control
r13898
Bit No. Meaning
r13898.0..10
Infeed no coast-down / coast-
c13840 [C] = ON (close precharging/line contactor, pulses can be enabled)
down (OFF2) signal source 1 Infeed ON/OFF (OFF1)
(863.1) 00 0 = OFF1 (reduce Vdc along a ramp, pulse suppression and open r13898.0 [8612.1]
c13844 [C]
8605 – Control word sequence control infeed
precharging/line contactor)
(1) 1 = Operating condition no OFF2 (enable is possible)
c13845 [C] & 01 0 = OFF2 (immediate pulse suppression, open precharging/line r13898.1 [8612.1]
(1) contactor and switching on inhibited)
Infeed no coast-down / coast-
02 Reserved
down (OFF2) signal source 2
c13852 [C]
Enable infeed operation/inhibit infeed
(1) 03 1 = Enable operation r13898.3 [8612.1]
operation
04 Reserved
05 Reserved
06 Reserved
07 Reserved
08 Reserved
09 Reserved
c13854 [C]
Infeed control by PLC/no control
(898.10) 10 1 = Master control by PLC <1> r13898.10
by PLC
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved
<1> Bit 10 in STW1 must be set to ensure that the infeed accepts the process data.
1 2 3 4 5 6 7 8
- 8605 -
Control word sequence control infeed V6.02.00
Figure 4-166 Infeed status word sequence

control
r13899
Bit No. Meaning
r13899.0..12
00 1 = Ready for switching on r13899.0

8606 – Status word sequence control infeed
01 1 = Ready r13899.1
02 1 = Operation enabled r13899.2
03 Reserved
[8610] 04 1 = No OFF2 active OFF2 inactive r13899.4
05 Reserved
06 1 = Switching on inhibited r13899.6
07 Reserved
08 1 = Switching-on operation active r13899.8
<1> 09 1 = Control request r13899.9
10 Reserved
11 1 = Precharging complete r13899.11 [8621.1]
From Sequencer 12 1 = Line contactor closed r13899.12
13 Reserved
14 Reserved

15 Reserved
Function diagrams
<1> The infeed is ready to process PROFIdrive process data.
1 2 3 4 5 6 7 8
- 8606 -
895
Status word sequence control infeed V6.02.00

896
Figure 4-167

Function diagrams
Infeed status word
r3405
Bit No. Meaning
r3405.1..3
00 Reserved
8608 – Status word infeed
01 1 = Vdc controller active r3405.1
02 1 = Phase failure detected r3405.2
03 1 = Current limit reached r3405.3
04...15 Reserved
1 2 3 4 5 6 7 8
- 8608 -
Status word infeed V6.02.00
Figure 4-168
POWER ON <1>
Fault with OFF1- or
S1: Switching on inhibited S7: OFF2 response
r13899.6 = 1, r13899.0/1/2 = 0 r3402 = 10
r3402 = 1
Open the line contactor From all states
Commissioning completed, no fault
8610 – Sequencer
Infeed internal state

active (r13002 < 45) "Commissioning" "Commissioning" r3402
c13840 [C] (r13002 ≥ 46) (r13002 ≥ 46)
Infeed ON/OFF (OFF1) c13844 [C]
(863.1) c13844 [C] F06000
0
c13844 [C]
& (1) 1 0
(1) ≥1 F07220
Infeed no coast-down / coast- F07300
down (OFF2) signal source 1 (1) c13845
0 [C] c13845 [C]
(1) 0
(1)
Infeed no coast-down / coast- c13845 [C] r13046
down (OFF2) signal source 2 (1) r13046.0..26 [8612]
Infeed missing
S2: Ready for switching on S6: enable signals
r13899.0 = 1, r13899.1/2/6 = 0
r3402 = 10
r3402 = 2
Line contactor is open Open the line contactor
Wait for power-on
p3490 c13844 [C]
c13840 [C] c13840 [C] 0
0 0 c13840 [C] (1)
0
(863.1) & (863.1) & 0 T
(863.1) & c13845 [C] 1
0
(1)
S3a: Close the line contactor 1 = Energize contactor

Line contactor (refer to [8612]) r13863.1
feedback signal r3402 = 2 [8612.6] S5a: Discharge ramp
c0860 r13899.0/1 = 1, r13899.2/6 = 0
Precharging
<2> (13863.1) c13840 [C] c13840 [C] r3402 = 10
r13899.8 = 1, r3402 = 5 0 0
Time monitoring, refer to [8964.7] (863.1) & (863.1) & Ramp-down Vdc via ramp p3566, then
suppress the pulses
S3: Ready for operation

p3490
r13899.0/1 = 1, r13899.2/6 = 0
r3402 = 6
Enable infeed operation/ Line contactor is closed 0 T
inhibit infeed operation
c13852 [C] c13852 [C] c13844 [C]
(1) & 0 0
(1) c13852 [C] (1)
0
c13840 [C] & (1) & c13845 [C] 1
1 = Closed-loop control operation 0 0
S4: Operation (863.1) (1)

r13863.0 [2610.3]
r13899.0/1/2 = 1, r13899.6 = 0
r3402 = 9
Pulses and controller are enabled
Function diagrams
Ramp-up Vdc via the ramp
<1> POWER ON = 24 V electronics supply OFF --> ON or RESET.

<2> For the factory setting, the line contactor monitoring is deactivated as a result of the direct connection with the control signal.
1 2 3 4 5 6 7 8
- 8610 -
897
Sequencer V6.02.00
898
Figure 4-169

Function diagrams
Missing enable signals
Missing enable signals prevent the infeed going into the state "operation"
(Operation enabled: r13899.2 = 1 [8606]).
Infeed missing enable signals
r13046
8612 – Missing enables, line contactor control
Bit No. Meaning

r13046.0..26
1 = OFF1 enable missing from the line

00 r13046.0 supply
(r13898.0 = 0 ([8605]) or switching on inhibited is present
1 = OFF2 enable missing

01 r13046.1
(r13898.1 = 0 ([8605]))
Line contactor control
02 Reserved (optional)
1 = Operation enable missing S7: Open the line

03 r13046.3
(r13898.3 = 0 ([8605])) contactor
S6: Open the line
04...15 Reserved contactor
S3a: Close the 1 = Energize contactor
1 = OFF1 enable internal missing line contactor r13863
16 r13046.16 DO
(OFF1 fault response is present) r13863.1 +24 V
1 = OFF2 enable internal missing [8610.4] [2242]
17 r13046.17
(commiss. selected (r13002 ≥ 46) or OFF2 fault response present)
1 = Line contactor Line contactor feedback signal
closed c0860
18 Reserved DI
r13899.12 (13863.1)
[8606.4] [2241]
19 1 = Pulse enable internal missing r13046.19
20...25 Reserved
ON/OFF monitoring
Line contactor monitoring time
26 1 = Infeed inactive or not operational r13046.26 0 ... 5000 [ms]

p0861 (100) to the converter
27...31 Reserved
T 0
1
F07300
"Line contactor
1 feedback signal
Operating monitoring missing"
1 2 3 4 5 6 7 8
- 8612 -
Missing enable signals, line contactor control V6.02.00
Figure 4-170 Controller, modulation depth reserve <1> Power pre-control

Infeed modulation depth limit Infeed precontrol power scaling
50.0 ... 110.0 [%] -100000.00000 ... 100000.00000 [%]
p3480 (98.0) p3521[0..3] (100.00000)
Infeed modulation
depth [%] –
8615 – Controller modulation depth reserve/DC link voltage
c3519[0..3]
[8619.3] r13074
+ (0.00)
Infeed power precontrol [kW]
Infeed precontrol power
+ display [kW]
r3522
Infeed standby controller integral time Infeed power precontrol [kW] + P
0.0 ... 1000.0 [ms] c3519[0..3]
p3481 (7.5) I_line_act
(0.00)
Infeed standby controller output [V]
r3485
Infeed precontrol power scaling U_line calculated
-100000.00000 ... 100000.00000 [%] [8619.5]
p3521[0..3] (100.00000)
Controller DC link voltage

DC link voltage maximum
steady-state Infeed Vdc controller Infeed Vdc controller
50 ... 1500 [V] proportional gain dynamic response
p0280 (640) 0.01 ... 1000.00 [%] 0.10 ... 100000.00 [%]
Infeed DC link voltage p3560 (100.00) p3562 (100.00)
setpoint 1 = Vdc controller
100.00 ... 1600.00 [V] r3400.3
p3510 (600.00) Vdc_max stat
[8620.5] Kp Tn Infeed active current
<2> 0 setpoint [Arms]
0
+ + r13077 [8617.1]
+ + 1
+
–
r13088 [8621.1]
Infeed DC link voltage

setpoint [V]
I output [Arms] PI output [Arms]
r3554[0] r3554[1]
[8619.8] r13070
Infeed DC link voltage actual value [V]

Function diagrams
<1> This controller increases (boosts) the DC link voltage when the modulation depth limit has been reached (p3480).
<2> When the pulses are enabled, the DC link voltage is ramped (p3566) from the actual value to the setpoint p3510.
1 2 3 4 5 6 7 8
- 8615 -
899
Controller modulation depth reserve/DC link voltage V6.02.00

900
Figure 4-171

Function diagrams
Current pre-control Current control
Infeed current precontrol factor D component
0.00 ... 500.00 [%]
p3603 (100.00)
Infeed active current
<1>
setpoint [Arms] d
8617 – Current precontrol/current controller/gating unit
[8615.8] r13077 dt
Infeed active current controller

Differentiator integral component [Vrms]
r3618
Infeed active current controller
system deviation [Arms]
Infeed current actual r3606
value [Arms]
Kp Tn
r13078
– + Infeed setpoint voltage Usd
[8619.8]
(active component) [Vrms]
+ + r3632
[8619.8]
Active current ctrl
Infeed current controller

Infeed current controller P gain dynamic response
0.00 ... 1000.00 [%] 0.10 ... 100000.00 [%]
p3615 (100.00) p3617 (100.00)
Infeed reactive current

actual value [Arms]
Kp Tn
r13076
– Infeed setpoint voltage Usq
[8619.8] (reactive component) [Vrms]
+ r3633
+
+ [8619.8]
controller system Reactive current ctrl
deviation [Arms]
r3608
Infeed reactive current controller

integral component [Vrms]
r3619
setpoint [Arms] d
r13075 dt
<1>
Differentiator
Infeed current precontrol factor D component
0.00 ... 500.00 [%]

p3603 (100.00)
<1> With p3603 = 0, the D-component is switched off.
1 2 3 4 5 6 7 8
- 8617 -
Power precontrol/current controller/gating unit V6.02.00
Figure 4-172 L1 L2 L3
Infeed input voltage smoothed [Vrms]
r13025
300 ms Line filter input terminals [Vrms]
Voltage/frequency r13072[1]
sensing r13066[0..1]
8619 – Interface to the power unit, control signals, actual values
Infeed line frequency [Hz]

r13024
300 ms
Total U, V, W [A] Infeed line frequency smoothed
r13069[6] Transformation [Hz]
+ Infeed current actual value
+ smoothed [Arms] Infeed current actual value
phase U [A] UVW 300 ms
+ r13030 [Arms]
r13069[0]
IU r13078 [8617.3]
U
Phase V [A] Infeed current actual value filter smoothing time
r13069[1] 0.000 ... 2.000 [ms]
IV p3614[0..3] (0.000) Infeed reactive current actual
V value [Arms]
Phase W [A] r13076 [8617.3]
r13069[2] Infeed reactive current actual
IW
W value smoothed [Arms]
Phase current actual values 300 ms r13029
Infeed absolute current
dq actual value [Arms]
DC link voltage undervoltage r13068 [8622.1]
threshold [V]
r0296 r13027 [8622.1]
300 ms
DC link voltage overvoltage Infeed inductance between Infeed absolute current actual
threshold [V] line supply and filter value smoothed [Arms]
r0297 0.000 ... 1000.000 [mH]
p0225 (0.000)
Infeed reactive current actual
value smoothed [Arms] Infeed power factor
r13029 smoothed
Line supply 300 ms r13038
Infeed active power actual
r13094 and filter value [kW]
Infeed transformation angle [°] model
r13082
r13032
U_line calculated 300 ms
[8615.7], [8620.1] Infeed active power actual value
smoothed [kW]
Absolute angle of the setpoint voltage [°] Polar
r3635[1] Infeed setpoint voltage Usd (active component) [Vrms]
[8617.8]
r3632

Infeed setpoint voltage Usq (reactive component) [Vrms]
[8615.1] r13074 [8617.8]
Cartesian r3633
DC+ Infeed modulation depth [%]
Function diagrams
DC- Transformation
r13070 [8615.2]
[8621.1]
1 2 3 4 5 6 7 8
- 8619 -
901
Interface to the power unit, control signals, actual values V6.02.00

902
Figure 4-173

Function diagrams
Device supply voltage
70 ... 1000 [Vrms]
p0210 (400) Line supply overvoltage alarm threshold
100 ... 200 [%]
Nominal line supply p0281 (110)
voltage
8620 – Line voltage monitoring
A06301
"Infeed: Line supply overvoltage"
Calculated actual
line supply voltage
Line supply undervoltage alarm threshold

10 ... 100 [%]
p0282 (80)
U_line calculated
[8619.5] A06105:
300 ms
& "Infeed: Line supply undervoltage"
Line supply undervoltage shutdown (trip) threshold

10 ... 100 [%]
p0283 (75)
F06100
"Infeed: Shutdown due to line supply
undervoltage condition"
Line supply undervoltage alarm threshold

10 ... 100 [%] 110 %
p0282 (80)
F06310:
"Infeed: Supply voltage (p0210) incorrectly

parameterized"
Monitoring when switching-in the pulses

(regarding the frequency, refer to [8621])
F06300:
"Infeed: Line voltage too high at power on"
à Closed-loop voltage control not possible
Vdc_max stat
[8615.3]
1 2 3 4 5 6 7 8
- 8620 -
Line voltage monitoring V6.02.00
Figure 4-174
Line frequency monitoring
Infeed line frequency Smoothed [Hz]
A06350:
[8619.8] r13066[1]
"Infeed: Measured line frequency too high"
Change from "ready" to

8621 – Monitoring line frequency, DC link voltage and precharging
Line supply frequency exceeded alarm threshold "operation" [8610.3] Fault for more than
100.0 ... 300.0 [%] 20 attempts
p0284 (110.0)
Rated line frequency Repeat the line supply
10 ... 100 [Hz] 1 synchronization when III
p0211 (50) switching-in the pulses > 20
Line supply frequency undershot alarm threshold
0.0 ... 100.0 [%]
p0285 (90.0) F06500:
"Infeed: Line synchronization not possible"
A06351:
"Infeed: Measured line frequency too low"
DC link monitoring DC link voltage maximum steady-state

50 ... 1500 [V]
p0280 (640)
Infeed DC link voltage setpoint [V] A06800:
[8615.3] r13088 "Infeed: Maximum steady-state DC link voltage
reached"
DC link voltage overvoltage threshold [V]

r0297
F30002:
[8619.8] r13070
"Power unit: DC link voltage overvoltage"
DC link voltage undervoltage threshold [V]

r0296
F30003:
"Power unit: DC link voltage overvoltage"
Precharging monitoring for the DC link Power unit monitoring time

100.0 ... 60000.0 [ms]
p0857 (10000.0)

1 = Energize contactor
T 0
[8610.4] r13863.1
& F06000:
Function diagrams
"Infeed: Precharging monitoring time expired"
[8606.7] r13899.11
1 = Precharging complete
1 2 3 4 5 6 7 8
- 8621 -
903
Monitoring the line frequency, DC link voltage and precharging V6.02.00

904
Figure 4-175

Function diagrams
Power unit
Tmax - heatsink Maximum power unit temperature

8622 – Thermal monitoring power unit infeed
Faults "Infeed power unit:"

Temperature measurement
1 F29004 "Heat sink overtemperature"
ϑ Max F29024 "Overtemperature thermal model"
0 F29025 "Chip overtemperature"
F29035 "Overtemperature air intake"
Warning "Infeed overtemperature"

1 [8021.4]
5K
Pulse frequency –
setpoint
+
Alarms "Infeed power unit:"
1 A29250 "Overtemperature heat sink rectifier"
A29252 "Chip overtemperature"
0 A29253 "Overtemperature thermal model"
A29254 "Overtemperature air intake"
r0257[0..29]
Power unit temperatures [°C]
r13037[0..10]
Infeed power unit temperatures [°C]
Alarm "Infeed overtemperature"
1 <1>
[8021.4]
Infeed power unit overload I2t [%]

Infeed absolute current r13036
actual value [Arms] 95 %
[8619.8] r13068
I2t model 1
power unit A29256 "Infeed power unit: Overload I2t"
infeed 0
100 %
[8619.6] r13027
Infeed absolute current 1
actual value smoothed F29005 "Infeed power unit: Overload I2t"

[Arms] 0
<1> For p0290 = 2/12 and p0212.9 = 1, the following applies:

For an overload condition, in addition to the alarm, the infeed can reduce the maximum power unit output current. The reduced current can be read out of r0289.
1 2 3 4 5 6 7 8
- 8622 -
Thermal monitoring infeed power unit V6.02.00
Faults and alarms 5
5.1 Overview of faults and alarms
5.1.1 Display of faults/alarms (messages)
Description
In the case of a fault, the converter signals the corresponding fault(s) and/or alarm(s).
The texts about faults and alarms are displayed via the following interfaces:
• Output of messages via the fault and alarm buffer with a fieldbus connection to the higher-
level controller.
• Output of messages via the commissioning interface.
5.1.2 Differences between faults and alarms
Overview
An alarm reports an operating state which is non-critical at present. A fault means that it is
normally no longer possible to run the motor. The converter therefore responds to alarms and
faults differently.

Faults and alarms
Description of function
The differences between faults and alarms are as follows:
Message type Response to a message and removal of the message

Fault How does a converter respond when a fault occurs?
• Initiate the appropriate fault response
• Set the status signal ZSW1.3
• Enter the fault into the fault buffer
How are faults eliminated?
• Remove the cause of the fault
• Acknowledge fault
What happens when the converter is switched off and switched on?
• Faults are saved retentively.
Alarm How does a converter respond when an alarm occurs?
• Set the status signal ZSW1.7
• Enter the alarm into the alarm buffer
How are alarms eliminated?
• Alarms are self-acknowledging.
If the cause of the alarm is no longer present, then the converter resets the alarm.
What happens when the converter is switched off and switched on?
• The alarm buffer is lost when the supply voltage is switched off.
You can find the current status of faults and alarms in parameters r2135 and r2139.
You can change the message type for individual messages using parameters p2118 and
p2119. You change the fault response using p2100 and p2101.
Note:
Messages from encoders whose signal is not used for control purposes are output by the
converter as a warning.
5.1.3 Message buffer
5.1.3.1 Fault buffer
Overview
The converter stores a limited number of faults as incidents in a fault buffer. As a consequence,
acknowledged faults are kept for diagnostic purposes.
A fault includes a fault code, a fault value and 2 fault times. The associated parameters are
shown in the following diagram.

Faults and alarms
The fault code and fault value describe the cause of the fault. The fault value provides
additional and more detailed information about the fault.
The fault times indicate when the fault occurred and when the fault was eliminated.
Fault buffer
The converter stores up to 8 incidents in the fault buffer. The fault buffer comprises the
current incident and the fault history.
The fault buffer is kept when the converter supply voltage is switched off.
'BVMUDPEF 'BVMUWBMVF 'BVMUUJNFSFDFJWFE 'BVMUUJNFSFNPWFE $PNQPOFOU %JBHOPTUJD

GBVMU BUUSJCVUF
* ꫽PBU %BZT NT %BZT NT GBVMU
'BVMU S<> S<> S<> S<> S<> S<> S<> S<> S<>
'BVMU <> <> <> <> <> <> <> <> <>
$VSSFOU
JODJEFOU
'BVMU <> <> <> <> <> <> <> <> <>
'BVMU S<> S<> S<> S<> S<> S<> S<> S<> S<>
'BVMU <> <> <> <> <> <> <> <> <>
TUBDLOPXMFE
HFEJODJEFOU
'BVMU <> <> <> <> <> <> <> <> <>

'BVMU S<> S<> S<> S<> S<> S<> S<> S<> S<>
'BVMU <> <> <> <> <> <> <> <> <>
"DLOPXMFE
HFEJODJEFOU
<PMEFTU>
'BVMU <> <> <> <> <> <> <> <> <>
Figure 5-1 Structure of the fault buffer
Current incident
The current incident contains up to 8 active faults.
The faults are sorted by "Fault time received". If the current incident is full and an additional
fault occurs, then the converter overwrites the values with Index [7].
'BVMUDPEF 'BVMUWBMVF 'BVMUUJNFSFDFJWFE 'BVMUUJNFSFNPWFE

* ꫽PBU %BZT NT %BZT NT
'BVMU S<> S<> S<> S<> S<> PME S<> S<>
'BVMU <> <> <> <> <> <> <>
<> <> <> <> <> <> <>
<> <> <> <> <> <> <>
<> <> <> <> <> <> <>
<> <> <> <> <> <> <>
<> <> <> <> <> <> <>
'BVMU <> <> <> <> <> OFX <> <>
Figure 5-2 Current incident

Faults and alarms
Acknowledging faults
Once the cause of the fault has been eliminated, the converter writes the time to "Fault time
resolved". The "Fault time resolved" of the faults that have not been resolved remains at 0. To
acknowledge a fault, the converter offers the following options:
• Acknowledge via PROFIdrive control signal (STW1 bit 7): r2090.7 = 0/1 edge
• Acknowledge via binary signal sink:
r2103 (signal 1 for acknowledging faults)
r2104 (signal 2 for acknowledging faults)
r2103 and r2104 are equivalent interconnection options for acknowledging faults.
• Acknowledgement via a digital input
• Acknowledgement via an operating unit or via the commissioning tool
• Acknowledging by switching off/switching on the converter power supply
The faults active before switch-off are automatically moved to the history when the converter
runs up.
Faults detected during converter-internal monitoring of hardware and firmware can be
acknowledged only by switching the supply voltage off and on again.
Resolved and acknowledged faults are cleared from the active incident. Unresolved faults
remain stored in the active incident.
If more than 8 faults are active, then these faults are added to the active incident.
Fault history
Up to 7 incidents, each with 8 already acknowledged faults, are stored in the fault history.
The converter moves the acknowledged faults from the current incident to the fault history
as follows:
1. The converter shifts the values previously saved in the fault history by 8 indices.
The converter deletes the faults that were saved in the indexes [56 … 63] before
acknowledgement.
2. The converter copies the actual incident together with the acknowledged faults to the fault
history. The fault history can include acknowledged faults that have still not been resolved
(fault time resolved = 0). These faults remain as active faults until they are resolved.
"DUJWF 'BVMUIJTUPSZ
GBVMUT "DLOPXMFEHFEGBVMUT
<> <> <> <>

<> <> <> <>
<> <> <> <>
<> <> <> <>
<> <> <> <>
<> <> <> <>
<> <> <> <>
<> <> <> <>
.PWFBDLOPXMFEHFEJODJEFOUT
Figure 5-3 Movement of acknowledged faults to the fault history

Faults and alarms
Parameters
The following list contains the parameters of the "Fault buffer and fault history" function.
Number Name Unit

r0945[0...63] Fault code
r0948[0...63] Fault time received in milliseconds [ms]
r0949[0...63] Fault value
p2100[0...19] Change fault response fault number
p2101[0...19] Change fault response response
r2109[0...63] Fault time removed in milliseconds [ms]
p2118[0...19] Change message type message number
p2119[0...19] Change message type type
r2130[0...63] Fault time received in days
r2131 Actual fault code
r2133[0...63] Fault value for float values
r2136[0...63] Fault time removed in days
r3120[0...63] Component fault
r3122[0...63].0... Diagnostic attribute fault
20
5.1.3.2 Clear fault buffer
Requirement
None
Procedure
Set p0952 = 0 to clear the fault buffer.
The fault history is completely cleared. Active faults in the current incident are kept.
More information
For the following events, the converter deletes the fault buffer:
• Restore factory settings
• Download with modified drive topology

Faults and alarms
5.1.3.3 Safety message buffer
Overview
The converter stores a limited number of safety messages in a safety message buffer. As a
consequence, acknowledged messages are kept for diagnostic purposes.
A safety message includes message code, message value and 2 message times. The associated
parameters are shown in the following diagram.
In the delivery state (p3117 = 0), safety messages have message type "C" and the safety
message buffer is active. With p3117 = 1, safety messages are assigned message types Alarm
(A) or Fault (F) and are stored in the fault buffer or the alarm buffer.
The message code and the message value describe the message cause. The message value
provides additional and more detailed information about the safety message. The message
times indicate when the message occurred and when the message was resolved.
Safety message buffer

The entry into the safety message buffer takes place with a delay. Reading out the safety
message buffer only makes sense when the converter signals "Safety message active"
(r2139.5) and detects a changed safety message buffer (r60044).
The converter stores up to 8 message cases in the safety message buffer. The safety message
buffer comprises the current message case and the message history.
The safety message buffer is kept when the converter supply voltage is switched off.
The current message case before the supply voltage is switched off is acknowledged when
the supply voltage is switched on again, and it is then in the message history.
.FTTBHF .FTTBHFWBMVF .FTTBHFUJNFSFDFJWFE .FTTBHFUJNFBDLOPXMFEHFE $PNQPOFOU %JBHOPTUJD

DPEF * ꫽PBU %BZT NT %BZT NT BUUSJCVUFT
.FTTBHF` S<> S<> S<> S<> S<> S<> S<> S<> S<>
.FTTBHF` <> <> <> <> <> <> <> <> <>
$VSSFOU
NFTTBHFDBTF
.FTTBHF` <> <> <> <> <> <> <> <> <>
.FTTBHF` <> <> <> <> <> <> <> <> <>
TUBDLOPXMFE
HFENFTTBHF
DBTF
.FTTBHF` <> <> <> <> <> <> <> <> <>

.FTTBHF` <> <> <> <> <> <> <> <> <>
UIBDLOPXMFE
HFENFTTBHF
DBTF<PMEFTU>
.FTTBHF` <> <> <> <> <> <> <> <> <>
Figure 5-4 Structure of the safety message buffer

Faults and alarms
Current message case

The current message case contains up to 8 active messages.
The safety messages are sorted by "Message time received". If the current message case is full
and an additional safety message is received, then the converter overwrites the values with
Index [7]. Resolved messages are moved to the safety message history.
.FTTBHF .FTTBHFWBMVF .FTTBHFUJNFSFDFJWFE .FTTBHFUJNF

DPEF BDLOPXMFEHFE
* ꫽PBU %BZT NT %BZT NT
.FTTBHF` S<> S<> S<> S<> S<> PME S<> S<>
.FTTBHF` <> <> <> <> <> <> <>
<> <> <> <> <> <> <>
<> <> <> <> <> <> <>
<> <> <> <> <> <> <>
<> <> <> <> <> <> <>
<> <> <> <> <> <> <>
.FTTBHF` <> <> <> <> <> OFX <> <>
Figure 5-5 Current message case
Acknowledgment of safety messages

Once the cause of the safety message has been eliminated, the converter writes the time
to "Message time resolved". The "Message time resolved" of the unresolved safety messages
retains the value 0.
Safety messages are acknowledged via a fail-safe digital input (F-DI) or via PROFIsafe.
Resolved and acknowledged safety messages are cleared from the current message case.
Unresolved safety messages remain stored in the current message case. If more than 8
messages are active, then these messages are added to the actual message case.
Safety message history

Up to 7 message cases each with 8 already acknowledged safety messages are saved in the
safety message history.
The converter moves the acknowledged safety messages from the current message case to
the safety message history as follows:
1. The converter shifts the values previously saved in the safety message history by 8 indices.
The converter deletes the safety messages that were saved in the indices [56 … 63] before
acknowledgement.
2. The converter copies the actual message case with the acknowledged messages to the safety
message history.
The safety message history can include acknowledged messages that have still not been
resolved (fault time resolved = 0) These messages remain as active message until they are
resolved.

Faults and alarms
"DUJWF "DLOPXMFEHFETBGFUZ 4BGFUZNFTTBHFIJTUPSZ

NFTTBHFT NFTTBHFT
<> <> <> <>

<> <> <> <>
<> <> <> <>
<> <> <> <>
<> <> <> <>
<> <> <> <>
<> <> <> <>
<> <> <> <>
.PWFBDLOPXMFEHFENFTTBHFDBTFT
Figure 5-6 Movement of the acknowledged safety messages to the safety message history
Parameters
The following list contains the parameters of the "Safety message buffer and safety message
history" function.
Number Name Unit

p3117 Change safety message type
r9745[0...63] SI components
r9750[0...63].0... SI diagnostic attributes
20
r9753[0...63] SI message value for float values
r9754[0...63] SI message time received in days
r9755[0...63] SI message time removed in milliseconds [ms]
r9756[0...63] SI message time removed in days
r60044 SI message buffer counter changes
r60045[0...63] SI message code
r60047[0...63] SI message number
r60048[0...63] SI message time received in milliseconds [ms]
r60049[0...63] SI message value
p60052 SI message cases counter
5.1.3.4 Deleting a safety message buffer
Procedure
Set p60052 = 0 to delete the safety message buffer.
The message history is deleted entirely. Active safety messages in the current message case
are retained.

Faults and alarms
More information
The converter deletes the safety message buffer if the following events occur:
• Restore factory settings
• Download with modified drive topology

Faults and alarms
5.1.3.5 Alarm buffer
Overview
The converter stores the most recent alarms in an alarm buffer.
An alarm includes an alarm code, an alarm value, and 2 alarm times (for parameters, see the
following diagram).
The alarm code and the alarm value describe the alarm cause. The alarm value provides
additional and more detailed information about the alarm.
Alarm times indicate when the alarm occurred and when the alarm was resolved.
Alarm buffer
The converter saves up to 8 active alarms in the alarm buffer.
In the alarm buffer, the alarms are sorted according to "Alarm time received". If the alarm
buffer is completely filled and an additional alarm occurs, the converter overwrites the values
with index [7]. Resolved alarms are moved to the alarm history.
Once the cause of the alarm has been eliminated, the converter writes the time to "Alarm
time resolved". The "Alarm time resolved" value for unresolved faults remains at 0.
"MBSNDPEF "MBSNWBMVF "MBSNUJNFSFDFJWFE "MBSNUJNFSFNPWFE $PNQPOFOU %JBHOPTUJD

BMBSN BUUSJCVUF
* ꫽PBU %BZT NT %BZT NT BMBSN
"MBSN S<> S<> S<> S<> S<> PME S<> S<> S<> S<>
"MBSN <> <> <> <> <> <> <> <> <>
<> <> <> <> <> <> <> <> <>
<> <> <> <> <> <> <> <> <>
<> <> <> <> <> <> <> <> <>
<> <> <> <> <> <> <> <> <>
<> <> <> <> <> <> <> <> <>
"MBSN <> <> <> <> <> OFX <> <> <> <>
Figure 5-7 Alarm buffer
Alarm history
The alarm history saves up to 56 past alarms.
In the alarm history, alarms are sorted according to the "Alarm time resolved". The last alarm
that was resolved has index[8].

Faults and alarms
The converter moves resolved alarms from the alarm buffer to the alarm history as follows:
1. To create space after position [8] in the alarm history, the converter shifts the alarms already
stored in the alarm history "down" by one or more positions.
If the alarm history is completely full, the converter will delete the oldest alarms.
2. The converter moves the removed alarms from the alarm buffer to the now freed up positions
of the alarm history.
Alarms that have not been resolved remain in the alarm buffer.
3. Gaps can appear in the alarm buffer as a result of resolved alarms being moved to the alarm
history. The converter closes these gaps by moving unresolved alarms up. If there are more
than 8 active alarms, active alarms not previously visible are added to the alarm buffer. The
alarm buffer is resorted.
Alarm time received
[0] old
[1]
[2]
[3]
Active alarm buffer
[4]

[5]
[6]
Incoming alarm when [7] new
active alarm buffer is
completely full [8] Alarm time removed
[9]
new
Alarm history
[61]
[62]
[63] old
Removed alarm
Figure 5-8 Alarm history
Parameters
The following list contains the parameters of the "Alarm buffer and alarm history" function.
Number Name Unit

r2111 Alarm counter
p2118[0...19] Change message type message number
p2119[0...19] Change message type type
r2122[0...63] Alarm code
r2123[0...63] Alarm time received in milliseconds [ms]
r2124[0...63] Alarm value
r2125[0...63] Alarm time removed in milliseconds [ms]
r2132 Actual alarm code
r2134[0...63] Alarm value for float values
r3121[0...63] Component alarm

Faults and alarms
r3123[0...63].0... Diagnostic attribute alarm

20

Faults and alarms
5.1.4 Explanation of the list of faults and alarms
Description
The messages are displayed according to the following pattern.
'YYYYY " / 'BVMUMPDBUJPO PQUJPOBM /BNF

.FTTBHFDMBTT 5FYUPGUIFNFTTBHFDMBTT OVNCFSBDDPSEJOHUP130'*ESJWF
.FTTBHFWBMVF $PNQPOFOUOVNCFS GBVMUDBVTF
7BSJBOU 1SPEVDUWBSJBOU
$PNQPOFOU )BSEXBSFDPNQPOFOU
3FTQPOTF /0/&
"DLOPXMFEHNFOU 108&30/
&YQMBOBUJPOPGUIF 'PS
NFTTBHFWBMVF
7BMVF $BVTF 3FNFEZ
'BVMUDBVTFGPSWBMVF 3FNFEZGPSWBMVF
'BVMUDBVTFGPSWBMVF 3FNFEZGPSWBMVF
$BVTF %FTDSJQUJPOPGQPTTJCMFDBVTFT
'BVMUWBMVF S JOUFSQSFUGPSNBU
PSBMBSNWBMVF S JOUFSQSFUGPSNBU PQUJPOBM
*OGPSNBUJPOBCPVUGBVMUBOEBMBSNWBMVFT PQUJPOBM
3FNFEZ %FTDSJQUJPOPGQPTTJCMFSFNFEJFT
3FTQPOTFGPS" /0/&
"DLOPXMFEHFNFOUGPS/ *..&%*"5&-:
3FTQPOTFGPS/ /0/&
"DLOPXMFEHNFOUGPS/ /0/&
The representation of a message comprises as a maximum the information listed below.

Depending on the message, some information can be omitted.
• Fxxxxx (A, N)
A message comprises a letter followed by the relevant number.
The meaning of the letters is as follows:
– A means "Alarm"
– F means "Fault"
– N means "No message" or "Internal message"
– C means "Safety message" (dedicated message buffer)
The optional brackets indicate whether the type specified for this message can be changed
and which message types can be adjusted via parameters (p2118, p2119).
For a message with a message type that can be changed, information about response and
acknowledgment is specified independently (e.g. response for F, acknowledgment for F).
• Fault location (optional): Name
The fault location (optional), the name of the fault or alarm and the message number are all
used to identify the message (e.g. with the commissioning software).

Faults and alarms
• Message class
Every message is assigned a message class using the following structure:
Text of the message class (number according to PROFIdrive)
The message classes are transferred at different interfaces to the higher-level controller and
their associated display and operating units.
The message classes that are available are listed in the following table. In addition to the text
of the message class and its number according to PROFIdrive – as well as a brief info text
regarding the cause and remedy – they also include information about the various diagnostic
interfaces:
– PN (hex)
Specifies the "Channel error type" of the PROFINET channel diagnostics.
When activating the channel diagnostics, using the GSDML file, the texts listed in the table
can be displayed.
– DS1 (dec)
Specifies the bit number in data set DS1 of the diagnostic alarm for SIMATIC S7.
When the diagnostic alarms are activated, the texts listed in the table can be displayed.
– NAMUR (r3113.x)
Specifies the bit number in parameter r3113.
For a NAMUR interface, in some instances, the message classes are combined.
Text of the message class (number according to PROFIdrive) Diagnostics interface

Cause and remedy PN (hex) DS1 NAMUR
(dec) (r3113.x)
Hardware/software errors (1) 9000 0 0
A hardware or software malfunction was detected.
• Carry out a POWER ON for the relevant component.
• If it occurs again, contact the hotline.
Line fault (2) 9001 1 1
A line supply fault has occurred (phase failure, voltage level, …).
• Check the line supply/fuses.
• Check the supply voltage.
• Check the wiring.
Supply voltage fault (3) 9002 2 15
An electronics supply voltage fault (48 V, 24 V, 5 V…) was detected.
• Check the wiring.
• Check the voltage level.
DC link overvoltage (4) 9003 3 2
The DC link voltage has assumed an inadmissibly high value.
• Check the dimensioning of the system (line supply, reactor,
voltages).
• Check the infeed settings.

Faults and alarms

(dec) (r3113.x)
Power electronics fault (5) 9004 4 3
An inadmissible operating state of the power electronics has been
identified (overcurrent, overtemperature, IGBT failure …).
• Check that the permissible duty cycles are complied with.
• Check the ambient temperatures (fan).
Overtemperature of the electronic component (6) 9005 5 4
The temperature in the component has exceeded the highest per‐
missible limit.
• Check the ambient temperature/control cabinet cooling.
Ground fault / interphase short-circuit detected (7) 9006 6 5
A ground fault/interphase short-circuit was detected in the power
cables or in the motor windings.
• Check the power cables (connection).
• Check the motor.
Motor overload (8) 9007 7 6
The motor was operated outside the permissible limits (tempera‐
ture, current, torque…).
• Check the duty cycles and set limits.
• Check the ambient temperature / motor cooling.
Communication to the higher-level controller faulted (9) 9008 8 7
The communication to the higher-level controller (internal cou‐
pling, PROFIBUS, PROFINET …) is faulted or interrupted.
• Check the state of the higher-level control system.
• Check the communication connection/wiring.
• Check the bus configuration/clock cycles.
Safety monitoring channel has detected an error (10) 9009 9 8
A safe operation monitoring function (Safety) has detected an
error.
Actual position/speed value incorrect or not available (11) 900A 10 9
An illegal signal state was detected while evaluating the encoder
signals (track signals, zero marks, absolute values, …).
• Check the encoder / status of the encoder signals.
• Observe the maximum permissible frequencies.
Internal (DRIVE-CLiQ) communication faulted (12) 900B 11 10
The internal communication between the SINAMICS components
is faulted or interrupted.
• Check the DRIVE-CLiQ wiring.
• Ensure an EMC-compliant design.
• Observe the maximum quantity structure/cycles.

Faults and alarms

(dec) (r3113.x)
Infeed fault (13) 900C 12 11
The infeed is faulted or has failed.
• Check the infeed and its environment (line supply, filters, re‐
actors, fuses…).
• Check the infeed control.
Braking controller / Braking Module faulted (14) 900D 13 15
The internal or external Braking Module is faulted or overloaded
(temperature).
• Check the connection/state of the Braking Module.
• Comply with the permissible number of braking operations
and their duration.
Line filter fault (15) 900E 14 15
The line filter monitoring has identified an excessively high tem‐
perature or other inadmissible state.
• Check the temperature / temperature monitoring.
• Check the configuration to ensure that it is permissible (filter
type, infeed, thresholds).
External measured value / signal state outside of the permis‐ 900F 15 15
sible range (16)
A measured value / signal state read in via the input area (digital/
analog/temperature) has assumed an inadmissible value/state.
• Determine and check the relevant signal.
• Check the set thresholds.
Application / technological function fault (17) 9010 16 15
The application / technological function has exceeded a (set) limit
(position, speed, torque, …).
• Determine and check the relevant limit.
• Check the setpoint specified by the higher-level control.
Error in the parameterization/configuration/commissioning 9011 17 15
procedure (18)
An error has been identified in the parameterization or in a com‐
missioning procedure, or the parameterization does not match
the actual device configuration.
• Determine the precise cause of the fault using the commis‐
sioning tool.
• Adapt the parameterization or device configuration.

Faults and alarms

(dec) (r3113.x)
General drive fault (19) 9012 18 15
Group fault.
• Determine the precise cause of the fault using the commis‐
sioning tool.
Auxiliary unit fault (20) 9013 19 15
The monitoring of an auxiliary unit (incoming transformer, cool‐
ing unit …) has identified an inadmissible state.
• Determine the exact cause of the fault and check the device
involved.
• Message value
Provides information about the composition of the fault/alarm value.
Example:
Message value: Component number: %1, fault cause: %2
In this example, the message value contains information about the component number and
cause of the fault. Entries %1 and %2 are placeholders. If the commissioning software is
connected to the converter, then these placeholders are populated with the appropriate
values.
• Variant
Specifies the product variant in which the message exists. This information is not applicable
if an alarm is the same for all product variants.
• Component
Type of hardware component that has triggered the fault or alarm. For "None", it is not
possible to assign the message to a hardware component.
• Explanation of the message value
Explains the possible values of the variables (%n) in the message value. In this case, detailed
information can be specified regarding the cause and remedy for specific values.

Faults and alarms
• Response
Specifies the response in the event of a fault.
The following table lists all fault responses and their meanings used for the entire SINAMICS
drive family.
List PROFI‐ Response Description

drive
NONE – None No response when a fault occurs.
OFF1 ON/OFF Brake along the Closed-loop speed control (p1300 = 20, 21)
ramp-function • The motor is braked by immediately specifying
generator decel‐ n_set = 0 at the ramp-function generator decelera‐
eration ramp fol‐
tion ramp (p1121).
lowed by pulse
inhibit • The pulses are suppressed when standstill has been
identified.
• Switching on inhibited is activated.
Torque control (p1300 = 23)
• The following applies for torque control:
Response as for OFF2.
• When switching into torque control via r1501, the
following applies:
There is no dedicated braking response.
The pulses are suppressed when standstill has been
identified.
OFF1_DE‐ – As for OFF1, Faults with this fault response only become effective
LAYED however de‐ after the delay time in p3136 has expired.
layed The remaining time up to OFF1 is displayed in r3137.
Switching on inhibited is activated.
OFF2 COAST‐ Internal/exter‐ Closed-loop speed and torque control
STOP nal pulse inhibit • Immediate pulse cancellation, the motor "coasts
down " to a standstill.
OFF3 QUICK‐ Braking along Closed-loop speed control (p1300 = 20, 21)
STOP the OFF3 decel‐ • The motor is braked along the OFF3 deceleration
eration ramp fol‐ ramp (p1135) by immediately entering n_set = 0.
lowed by pulse
inhibit • The pulses are suppressed when standstill has been
identified.
Torque control (p1300 = 23)
• Switchover to closed-loop speed control and other
responses as described for closed-loop speed con‐
trol.
STOP2 – STOP2 • The motor is braked along the OFF3 deceleration
ramp (p1135) by immediately entering n_set = 0.
• The drive remains in closed-loop speed control.

Faults and alarms
List PROFI‐ Response Description

drive
IASC/ – – • For synchronous motors, the following applies:
DCBRK An internal armature short circuit is initiated if a
fault occurs with this fault response.
The conditions for p1231 = 4 must be complied
with.
• For induction motors, the following applies:
If a fault occurs with this fault response, DC braking
is initiated.
DC braking must have already been commissioned
(p1232, p1233, p1234).
The pulses are suppressed when standstill has been
identified.
Switching on inhibited is activated.
ENCODER – Internal/exter‐ The fault response ENCODER acts as a function of the
nal pulse inhibit setting in p0491.
(p0491) Factory setting:
p0491 = 0 + encoder fault results in an OFF2
Notice
When changing p0491, it is imperative that you care‐
fully observe the information provided in the descrip‐
tion of this parameter.
• Acknowledgment
A fault can only be acknowledged if the cause has been resolved.
The acknowledgment specifies when the fault can be acknowledged.
Acknowledg‐ Description
ment
IMMEDIATELY Acknowledgment can be immediately realized after the cause has been resolved.
PULSE INHIBIT Once the cause has been resolved, the fault can only be acknowledged when the
pulses are inhibited (r0899.11 = 0).
POWER ON The fault can only be acknowledged using POWER ON (the converter is switched-off/
switched-on).
NONE Acknowledgment can be immediately realized after the cause has been resolved.
• Cause
Describes the possible causes of the fault or alarm. Optionally, a message value, fault value
or alarm value can be additionally specified (more information on message value, fault value
and alarm value is provided under Message buffer).
• Remedy
Generally explains possible procedures to resolve the cause of this active fault or alarm.

Faults and alarms
5.2 List of faults and alarms
Faults and alarms

The following list contains faults and alarms of product G220.
Product: SINAMICS G220, Version: 602015000, Language: eng
Objects: G220, G220 Clean Power
F01000 Internal software error

Message class: Hardware/software error (1)
Message value: Module: %1, line: %2
Component: Control Unit (CU)
Response: OFF2
Acknowledgment: POWER ON
Cause: An internal software error has occurred.
Fault value (r0949, interpret hexadecimal):
Remedy: - Evaluate fault buffer (r0945).
- Carry out a POWER ON (switch-off/switch-on) for all components.
- If required, check the data on the non-volatile memory (e.g. memory card).
- Upgrade firmware to later version.
- Contact Technical Support.
- Replace the converter.
F01001 FloatingPoint exception

Message value: %1
Response: OFF2
Cause: An exception occurred for an operation with the FloatingPoint data type.
The error can be caused by the basic system or a technology function.
Remedy: - Carry out a POWER ON (switch-off/switch-on) for all components.
- Check configuration and signals of the blocks in FBLOCKS.
- Check configuration and signals of DCC charts.
- Check configuration and signals of TEC charts.

Message value: %1
Response: OFF2
Acknowledgment: IMMEDIATELY

Faults and alarms

F01003 Acknowledgment delay when accessing the memory

Message value: %1
Response: OFF2
Cause: A memory area was accessed that does not return a "READY".
N01004 (F, A) Internal software error

Message value: %1
Response: NONE
Acknowledgment: NONE
Fault value (r0949, hexadecimal):
Remedy: - Contact Technical Support.
Response upon: F: OFF2
Acknowl. upon F: POWER ON
Response upon: A: NONE
Acknowl. upon A: NONE
F01005 Firmware download for DRIVE-CLiQ component unsuccessful

Message value: Component number: %1, fault cause: %2
Component: None
Response: NONE

Faults and alarms
Explanation of the For %2
message value:
Value Cause Remedy
11 DRIVE-CLiQ component has detected a checksum error. After POWER ON has been carried out again for the
DRIVE-CLiQ component, download firmware again.
15 The selected DRIVE-CLiQ component did not accept the Use a suitable firmware version.
contents of the firmware file.
18 Firmware version is too old and is not accepted by the Use a suitable firmware version.
component.
19 Firmware version is not suitable for the hardware release Use a suitable firmware version.
of the component.
101 After several communication attempts, no response Check the DRIVE-CLiQ wiring.
from the DRIVE-CLiQ component.
139 Initially, only one new boot loader was loaded. After POWER ON has been carried out again for the
DRIVE-CLiQ component, download firmware again.
140 Firmware file for the DRIVE-CLiQ component not Use a suitable firmware version.
available on the memory card.
141 An inconsistent length of the firmware file was signaled. Use a suitable firmware version.
142 Component has not changed to the mode for firmware After POWER ON has been carried out again for the
download. DRIVE-CLiQ component, download firmware again.
156 Selected component is not available. Check the selected component number.
Cause: It was not possible to download the firmware to a DRIVE-CLiQ component.
yyxxxx hex: yy = component number, xxxx = fault cause
Example: xxxx = 000B hex = 11 dec:
xxxx = 008D hex = 141 dec:
The firmware download may have been caused by a loss of connection to the firmware file.
In the case of a converter, this can occur during a project download/reset, for example.
Remedy: - Check the selected component number.
- Check the DRIVE-CLiQ wiring.
- Use a component with a suitable hardware version.
- After POWER ON has been carried out again for the DRIVE-CLiQ component, download firmware again.
A01006 Firmware update for DRIVE-CLiQ component required

Message class: General drive fault (19)
Message value: Component number: %1
Component: None
Response: NONE
message value:
Component in target topology
Cause: The firmware of a DRIVE-CLiQ component must be updated as there is no suitable firmware or firmware version in the
component for operation with the converter.
Alarm value (r2124, interpret decimal):
Component number of the DRIVE-CLiQ component.
Remedy: Repeat the firmware update by switching off the device and switching on again.
A01007 POWER ON for DRIVE-CLiQ component required

Message class: General drive fault (19)

Faults and alarms

Component: None
Response: NONE
message value:
Component in target topology
Cause: A DRIVE-CLiQ component must be switched on again (POWER ON) (e.g. due to a firmware update).
Component number of the DRIVE-CLiQ component.
Note:
For a component number = 1, a POWER ON of the Control Unit is required.
Remedy: - Switch off the power supply of the specified DRIVE-CLiQ component and switch it on again.
- For SINUMERIK, auto commissioning is prevented. In this case, a POWER ON is required for all components and the auto
commissioning must be restarted.
A01009 (N) Control Unit overtemperature

Message class: Overtemperature of the electronic components (6)
Message value: -
Response: NONE
Cause: The temperature (r0037[0]) of the converter has exceeded the specified limit value.
Remedy: - Check the converter air intake.
- Check the converter fan.
Note:
The alarm is automatically withdrawn once the limit value has been fallen below.
Response upon: N: NONE
Acknowl. upon N: NONE
F01011 (N) Download interrupted

Message class: Error in the parameterization / configuration / commissioning procedure (18)
Message value: %1
Component: None
Response: NONE
Cause: The project download was interrupted.
Fault value (r0949, interpret decimal):
1: The user prematurely interrupted the project download.
2: The communication cable was interrupted (e.g. cable breakage, cable withdrawn).
3: The project download was prematurely exited by the commissioning tool.
100: Different versions between the firmware version and project files which were loaded by loading into the file system
"Download from memory card".
Note:
The response to an interrupted download is the state "first commissioning".
Remedy: - Check the communication cable.
- Download the project again.
- Boot from previously saved files (switch-off/switch-on or p0976).
- When loading into the file system (download from memory card), use the matching version.
Response upon: N: NONE

Faults and alarms
Acknowl. upon N: NONE
F01014 Topology: DRIVE-CLiQ component property changed

Component: None
Response: NONE
Cause: The properties of the DRIVE-CLiQ component have fundamentally changed.
Component number.
Remedy: - Check the DRIVE-CLiQ component, and if required replace.
- Carry out a restart, reload parameters.

Message value: %1
Response: OFF2
A01016 (F) Firmware changed

Message value: %1
Response: NONE
Cause: At least one firmware file in the directory was illegally changed on the non-volatile memory (memory card/device memory)
with respect to the version when shipped from the factory.
0: Checksum of one file is incorrect.
1: File missing.
2: File too many.
3: Incorrect firmware version.
4: Incorrect checksum of the backup file.
Remedy: For the non-volatile memory for the firmware (memory card/device memory), restore the delivery condition.
Response upon: F: OFF2
Acknowl. upon F: POWER ON
A01017 Component lists changed

Message value: %1

Faults and alarms
Response: NONE
Cause: The memory card has a defective file.
xyz dec: x = problem, y = file name
x = 1: file checksum is incorrect.
x = 2: error when parsing the file.
y = 1: file MOTARM.ACX
y = 2: file MOTARMLD.ACX
y = 3: file MOTSRM.ACX
y = 4: file MOTSLM.ACX
y = 5: file MOTRESM.ACX
y = 6: file BEARING.ACX
y = 7: file CFG_BEAR.ACX
y = 8: file BEARINGTYPE.ACX
y = 9: file BRAKE.ACX
y = 10: file CFG_BRAKE.ACX
y = 11: file ENCODER.ACX
y = 12: file CFG_ENCODER.ACX
y = 13: file ENCODERGEAR.ACX
y = 14: file CFG_ENC_GEAR.ACX
y = 15: file LOADGEAR.ACX
y = 16: file THERMMOTMOD3.ACX
y = 17: file CFG_THERMMOTMOD3.ACX
y = 30: file WHITELIST.ACX
Remedy: Correct the file involved.
F01018 Runup has been interrupted several times

Message value: -
Component: None
Response: NONE
Cause: Module booting was interrupted several times. As a consequence, the module boots with the factory setting.
Possible reasons for booting being interrupted:
- Power supply interrupted.
- CPU crashed.
- Parameterization invalid.
Remedy: - Carry out a POWER ON (switch-off/switch-on). After switching on, the module reboots from the valid parameterization (if
available).
- Restore the valid parameterization.
Examples:
a) Carry out a first commissioning, save, carry out a POWER ON (switch-off/switch-on).
b) Load another valid parameter backup (e.g. from the memory card), save, carry out a POWER ON (switch-off/switch-on).
Note:
If the fault situation is repeated, then this fault is again output after several interrupted boots.
A01019 Writing to the removable data medium unsuccessful

Message value: -

Faults and alarms
Response: NONE
Cause: The write access to the removable data medium was unsuccessful.
Remedy: - Check the removable data medium and if required replace.
- Repeat the data backup.
A01020 Writing to RAM disk unsuccessful

Message value: -
Response: NONE
Cause: A write access to the internal RAM disk was unsuccessful.
Remedy: Adapt the file size for the system logbook to the internal RAM disk (p9930).
F01023 Software timeout (internal)

Message value: %1
Response: NONE
Cause: An internal software timeout has occurred.
F01030 Sign-of-life failure for master control

Message class: Communication error to the higher-level control system (9)
Message value: -
Component: None
Response: OFF3 (IASC/DCBRK, NONE, OFF1, OFF2, STOP2)
Cause: For active PC master control of the PC, no sign-of-life was received within the monitoring time.
The master control was returned to the drive.
Remedy: Set the monitoring time higher at the PC or, if required, completely disable the monitoring function.
The monitoring time is set as follows using the commissioning tool:
<Drive> -> Commissioning -> Control panel -> Button "Fetch master control" -> A window is displayed to set the monitoring
time in milliseconds.
Notice:
The monitoring time should be set as short as possible. A long monitoring time means a late response when the
communication fails!
A01032 (F) All parameters must be saved

Message value: %1
Response: NONE

Faults and alarms
Cause: Data backup is incomplete
The partially saved parameters are not loaded the next time the system runs up.
For the system to successfully power up, all of the parameters must have been completely backed up.
Remedy: Save all parameters.
See also: p0977 (Save all parameters)
Response upon: F: NONE (OFF1, OFF2, OFF3)
Acknowl. upon F: IMMEDIATELY
F01033 Units changeover: Reference parameter value invalid

Message value: Parameter: %1
Variant: G220
Component: None
Response: NONE
Cause: When changing over the units to the referred representation type, it is not permissible for any of the required reference
parameters to be equal to 0.0
Fault value (r0949, parameter):
Reference parameter whose value is 0.0.
Remedy: Set the value of the reference parameter to a number different than 0.0.
See also: p0304, p0305, p0310, p2000, p2001, p2002, p2003, r2004
F01033 Units changeover: Reference parameter value invalid

Variant: G220 Clean Power
Component: None
Response: NONE
Cause: When changing over the units to the referred representation type, it is not permissible for any of the required reference
parameters to be equal to 0.0
Fault value (r0949, parameter):
Reference parameter whose value is 0.0.
Remedy: Set the value of the reference parameter to a number different than 0.0.
See also: p0304, p0305, p0310, p2000, p2001, p2002, p2003, r2004, p2008
F01034 Units changeover: Calculation parameter values after reference value change unsuccessful
Variant: G220
Component: None
Response: NONE

Faults and alarms
Cause: The change of a reference parameter meant that for an involved parameter the selected value was not able to be re-
calcul

G220 - List Manual

Uploaded by

Copyright:

Available Formats

G220 - List Manual

Uploaded by

Document Information

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

G220 - List Manual

Uploaded by

Copyright:

Available Formats

Edition 08/2023

Valid for firmware version 6.2

Siemens AG A5E51781505B AA Copyright © Siemens AG 2023.

SINAMICS G220 converters

4.12 Dynamic Drive Control ..................................................................................................... 828

SINAMICS G220 converters

SINAMICS G220 converters

1.2 About this manual

1.2.2 Target group

1.2.3 Standard scope

SINAMICS G220 converters

1.2.4 Websites of third-party companies

SINAMICS G220 converters

1.3 SINAMICS documentation

Table 1-1 SINAMICS documentation

Information Documentation class Content

SINAMICS G220 converters

1.4 Service and Support

1.4.1 Siemens Industry Online Support on the Web

Content of Siemens Online Support

1.4.2 Spare parts services

SINAMICS G220 converters

1.5 Important product information

1.5.1 Firmware updates and constraints

1.5.2 Open-source software (OSS)

1.5.3 Compliance with the General Data Protection Regulation

SINAMICS G220 converters

SINAMICS G220 converters

SINAMICS G220 converters

SINAMICS G220 converters

2.2 Warranty and liability for application examples

SINAMICS G220 converters

2.3 Cybersecurity information

SINAMICS G220 converters

SINAMICS G220 converters

SINAMICS G220 converters

The representation of a parameter includes as a maximum the information listed below.

• p... Adjustable parameters (read and write)

• Parameter name / short parameter name

• Integer8 I8 8-bit integer

SINAMICS G220 converters

SINAMICS G220 converters

SINAMICS G220 converters

• Unit group and unit selection

Unit group Unit selection for p0100 = Reference value for %

• Min, Max, Factory setting

Min Minimum value of the parameter [unit]

SINAMICS G220 converters

Signal source parameter Signal sink parameter

x: Signal interconnection permitted

SINAMICS G220 converters

SINAMICS G220 converters

3.2 List of parameters

r0002 Drive operating display / Drv op_display

SINAMICS G220 converters

r0020 Speed setpoint smoothed / Speed setpoint

r0021 Speed actual value smoothed / Speed actual value

r0022 Speed actual value rpm smoothed / Actual speed rpm

SINAMICS G220 converters

r0024 Output frequency smoothed / Output frequency