Lenze SW 8400 Parameterisation

EDS84AVHCxx
13292591 L-force Drives

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Software Manual
8400
E84AVHCxxxxxxx
8400 HighLine C Inverter Drives
L
8400 HighLine C | Software Manual
Overview of technical documentation for Inverter Drives 8400
Overview of technical documentation for Inverter Drives 8400
Project planning, selection & ordering Legend:

8400 hardware manual Printed documentation
Catalogue Online documentation
(PDF/Engineer online help)
Mounting & wiring Abbreviations used:
MA 8400 BaseLine/8400StateLine/HighLine BA Operating Instructions
MA for the communication module KHB Communication manual
MA for the extension module MA Mounting instructions
MA for the safety module SW Software Manual
MA for the accessories
Parameterisation
BA keypad
SW 8400 BaseLine
SW 8400 StateLine
SW 8400 HighLine Í This documentation
KHB for the communication module
Drive commissioning
Commissioning guide
SW 8400 StateLine/HighLine
 chapter "Commissioning"
 chapter "Oscilloscope"
 chapter "Diagnostics & fault analysis"
Remote maintenance manual
Establishing networks
KHB for the communication medium used
2 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Contents
Contents
1 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.1 Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.2 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.3 Terminology used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.4 Definition of the notes used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2 Product description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.1 Functions of the frequency inverter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.2 Device architecture. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.3 Communicating with the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.3.1 Going online via diagnostic adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.3.2 Going online via system bus (CAN on board) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.3.3 Use of other communication interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.4 Keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.1 Quick commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.1.1 Keypad control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.1.2 Terminal control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.2 Commissioning with the keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
3.2.1 Preparation of keypad and controller for commissioning . . . . . . . . . . . . . . . . . . . 37
3.2.2 Code overview for quick commissioning by means of the keypad . . . . . . . . . . . 38
3.3 Commissioning of the "Actuating drive speed" application . . . . . . . . . . . . . . . . . . . . . . . . 40
3.3.1 Commissioning steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
3.3.2 Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.4 Commissioning of the "Table positioning" application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.4.1 Commissioning steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
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Contents
4 Drive control (DCTRL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

4.1 LED status displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.2 Device states. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4.2.1 Firmware update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
4.2.2 Init . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
4.2.3 MotorIdent. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.2.4 SafeTorqueOff. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.2.5 ReadyToSwitchON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
4.2.6 SwitchedON. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
4.2.7 OperationEnabled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
4.2.8 Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
4.2.9 TroubleQSP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
4.2.10 Trouble . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
4.2.11 Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4.2.12 SystemFault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4.3 Controller commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
4.3.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
4.3.2 Overview of controller commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
4.3.3 Status display for controller commands (in preparation) . . . . . . . . . . . . . . . . . . . . 68
4.3.4 Load Lenze setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.3.5 Saving the parameter set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.3.6 Loading the parameter set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.4 System block "LS_DriveInterface" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
4.5 Control word and status word of the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
4.6 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
4.6.2 Saving of the parameters in the memory module. . . . . . . . . . . . . . . . . . . . . . . . . . 78
4.6.3 Handling of the memory module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
4.6.4 Non-volatile saving of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
4.6.5 Parameter set transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
4.6.6 Parameters for status display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
4.6.7 Setting/removing the controller inhibit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
4.7 Activation/deactivation of quick stop function (QSP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
4 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Contents
5 Motor control (MCTRL). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

5.1 Selection of the operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
5.1.1 V/f characteristic control (VFCplus) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
5.1.1.1 Parameterising the V/f characteristic control without feedback . . 90
5.1.1.2 Parameterising V/f characteristic control with feedback . . . . . . . . . 94
5.1.1.3 Optimising the operational performance via slip compensation . . 101
5.1.1.4 Optimising the setting of the Imax controller . . . . . . . . . . . . . . . . . . . . 103
5.1.1.5 Torque limitation for VFC (V/f characteristic control). . . . . . . . . . . . . 104
5.1.2 Sensorless vector control (SLVC) and servo control (SC). . . . . . . . . . . . . . . . . . . . . 106
5.1.2.1 Sensorless vector control (SLVC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
5.1.2.2 Servo control (SC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
5.1.3 Optimising the motor parameter identification . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
5.2 Motor selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
5.2.1 Selection via motor catalogue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
5.2.2 Automatic motor parameter identification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
5.2.3 Manual parameter setting for external motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
5.3 Selection of the switching frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
5.4 Definition of current and speed limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
5.4.1 Definition of speed limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
5.4.2 Definition of current limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
5.5 Flying restart function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
5.6 DC-injection braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
5.6.1 Manual DC-injection braking (DCB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
5.6.2 Automatic DC-injection braking (Auto-DCB). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
5.7 Oscillation damping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
5.8 Signal flow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
5.9 System block "LS_MotorInterface" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
5.10 Monitoring functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
5.10.1 Motor temperature monitoring with I²xt. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
5.10.2 Motor temperature monitoring with motor PTC . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
5.10.3 Monitoring of the brake resistor by I²xt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
5.11 Braking operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
5.11.1 Selecting the voltage source for braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
5.11.2 Avoiding a thermal overload of the brake resistor . . . . . . . . . . . . . . . . . . . . . . . . . 176
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Contents
6 I/O terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177

6.1 Analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
6.1.1 Terminal assignment/electrical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
6.1.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
6.1.3 Using the analog input as current input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
6.1.4 System block "LS_AnalogInput". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
6.2 Analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
6.2.3 System block "LS_AnalogOutput" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
6.3 Digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
6.3.3 System block "LS_DigitalInput" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
6.4 Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
6.4.3 System block "LS_DigitalOutput" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
6.5 Terminal pre-assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
6.5.1 Application "Actuating drive - speed" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
6.5.1.1 Connection diagram in the Lenze setting . . . . . . . . . . . . . . . . . . . . . . . . 201
6.5.2 Application "Table positioning" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
7 Encoder evaluation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

7.1 Parameter setting for the motor encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
7.2 Encoder evaluation method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
7.3 Encoders with HTL level at X4/DI1 or X4/DI2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
7.3.1 Signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
7.4 Encoder with HTL level at X4/DI6 or X4/DI7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
7.4.1 Signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
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Contents
8 System bus "CAN on board" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219

8.1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
8.2 General data and application conditions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
8.3 Communication time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
8.4 Possible settings via DIP switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
8.4.1 Activation of the bus terminating resistor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
8.4.2 Setting the baud rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
8.4.3 Setting the node address. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
8.5 CAN signalling on the controller front panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
8.6 General information on data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
8.6.1 Structure of the CAN data telegram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
8.6.2 Communication phases of the CAN network (NMT). . . . . . . . . . . . . . . . . . . . . . . . 229
8.6.3 CAN start remote node. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
8.7 Process data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
8.7.1 Available process data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
8.7.2 Transmission type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
8.7.3 Cyclic process data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
8.7.4 Event-controlled process data objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
8.7.5 Identifiers of the process data objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
8.7.6 Assignment of the process data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
8.7.6.1 PDO mapping. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
8.7.6.2 Port blocks LP_CanIn1 ... LP_CanIn3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
8.7.6.3 Port blocks LP_CanOut1 ... LP_CanOut3 . . . . . . . . . . . . . . . . . . . . . . . . . 243
8.7.6.4 Port blocks LP_MciIn and LP_MciOut . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
8.8 Parameter data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
8.8.1 Identifiers of the parameter data objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
8.8.2 User data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
8.8.3 Error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
8.8.4 Parameter data telegram examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
8.8.4.1 Read parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
8.8.4.2 Write parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
8.8.4.3 Read block parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
8.9 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
8.9.1 Integrated error detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
8.9.2 Heartbeat protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
8.9.3 Emergency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
8.9.4 Heartbeat commissioning example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
8.10 Implemented CANopen objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263
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9 Error management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285

9.1 Basics on error handling in the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
9.2 AutoFailReset function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
9.3 Drive diagnostics with the »Engineer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
9.4 Drive diagnostics via keypad/bus system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
9.5 Logbook . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
9.5.1 Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
9.5.2 Filtering logbook entries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
9.5.3 Reading out logbook entries. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
9.6 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
9.6.1 Setting the error response. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
9.6.2 Monitoring of the device utilisation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
9.6.3 Mains phase failure monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
9.7 Error messages of the operating system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
9.7.1 Error number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
9.7.1.1 Structure of the error number (bit coding). . . . . . . . . . . . . . . . . . . . . . . 298
9.7.1.2 Error type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
9.7.1.3 Error subject area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
9.7.1.4 Error ID. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
9.7.1.5 Example for bit coding of the error number . . . . . . . . . . . . . . . . . . . . . 300
9.7.2 Reset of error message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
9.7.3 Error messages of positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
9.7.4 Overview of the error messages of the operating system. . . . . . . . . . . . . . . . . . . 303
9.7.5 Cause & possible remedies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
9.8 System block LS_SetError_1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
9.9 Drive diagnostics & fault analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
9.9.1 Maloperation of the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
9.9.2 Operation without mains supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
10 Fieldbus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316

10.1 Process data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
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11 Technology applications (TAs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319

11.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
11.1.1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
11.1.2 Purpose of the technology applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
11.1.3 Application cases for a technology application . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
11.2 Software structure of the application function at a glance . . . . . . . . . . . . . . . . . . . . . . . . . 323
11.2.1 How to use the technology applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
11.3 Introduction to the LS_MotionControlKernel system block . . . . . . . . . . . . . . . . . . . . . . . . . 328
11.3.1 Selection of the application and the control mode . . . . . . . . . . . . . . . . . . . . . . . . . 330
11.3.2 Communication of the user interfaces to the application block . . . . . . . . . . . . . 332
12 Basic drive functions in the MCK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334

12.1 Holding brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
12.1.1 Internal interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
12.1.2.1 Operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
12.1.2.2 Functional settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
12.1.2.3 Time response of the brake (time diagram) . . . . . . . . . . . . . . . . . . . . . . 341
12.1.2.4 Switching thresholds. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
12.1.2.5 Closing and opening time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
12.1.2.6 Motor magnetising time (only with asynchronous motor). . . . . . . . 345
12.1.2.7 Actual value monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
12.1.2.8 Process when brake is released . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
12.1.2.9 Process when brake is closed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
12.1.2.10 Response to pulse inhibit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
12.1.2.11 Torque precontrol during starting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
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13 TA "Actuating drive – speed" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349

13.1 Brief description of the function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
13.1.1 Basic signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
13.1.2 Brief description of the properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
13.1.3 Functions of the TA "Actuating drive-speed". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
13.1.4 Selecting the control source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
13.2 Terminal assignment in the Lenze setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
13.2.1 Overview of terminal assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
13.2.2 Terminal pre-assignment in detail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
13.2.3 User-defined terminal assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365
13.2.4 Pre-assignment of the application block LA_NCtrl . . . . . . . . . . . . . . . . . . . . . . . . . 368
13.2.5 Quick commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370
13.2.6 Description of the signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372
13.2.7 Interface description of the TA "Actuating drive - speed" . . . . . . . . . . . . . . . . . . . 373
13.2.7.1 Control words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
13.2.7.2 Setting controller inhibit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374
13.2.7.3 Resetting an error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374
13.2.7.4 Executing quick stop (QSP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
13.2.7.5 bSetDCBrake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
13.2.7.6 bRFG_Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
13.2.7.7 bRFG_0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
13.2.7.8 nVoltageAdd_a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
13.2.7.9 Torque limit value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377
13.2.7.10 CW/CCW rotation change-over . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377
13.2.7.11 Main setpoint and additional setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . 378
13.2.7.12 Fixed speeds and ramp times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
13.2.7.13 Ramp generator L_NSet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
13.2.7.14 Motor potentiometer function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
13.2.7.15 Process controller adaptation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
13.2.7.16 Actual process controller value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
13.2.7.17 Forced release of holding brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
13.2.7.18 Manual jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
13.2.7.19 General purpose functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384
13.2.7.20 Status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
13.2.7.21 wCurrentFailNumber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
13.2.7.22 bDriveReady . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386
13.2.7.23 bDriveFail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386
13.2.7.24 bCInhActive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386
13.2.7.25 bQSPIsActive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386
13.2.7.26 bSpeedCcw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
13.2.7.27 bSpeedActCompare . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
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13.2.7.28 bOverLoadActive / bUnderLoadActive . . . . . . . . . . . . . . . . . . . . . . . . . . . 387

13.2.7.29 bImaxActive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
13.2.7.30 bSpeedSetReached, bSpeedActEqSet . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
13.2.7.31 nMotorCurrent_a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
13.2.7.32 nMotorSpeedSet_a, nMotorSpeedAct_a . . . . . . . . . . . . . . . . . . . . . . . . 388
13.2.7.33 nMotorTorqueAct_a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
13.2.7.34 nDCVoltage_a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
13.2.7.35 nMotorVoltage_a. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
13.2.7.36 bBrakeReleaseOut, holding brake control . . . . . . . . . . . . . . . . . . . . . . . 389
13.2.7.37 bBrakeReleasedbBrakeReleased, holding brake status signal . . . . . 389
13.2.7.38 General purpose outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390
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14 TA "Table positioning" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391

14.1 Brief description of the function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
14.1.1 Brief description of the properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
14.1.2 Selecting the control source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396
14.2 Terminal assignment in the Lenze setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
14.2.1 Overview of terminal assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
14.2.2 Terminal pre-assignment in detail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 401
14.2.3 User-defined terminal assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409
14.2.4 Pre-assignment of the LA_TabPos application block . . . . . . . . . . . . . . . . . . . . . . . 410
14.3 Interface description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415
14.3.1 Control words of the MotionControlKernel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415
14.3.2 Specifying an operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 417
14.3.3 Control bits and process words for the motor control (MCTRL). . . . . . . . . . . . . . 418
14.3.4 Connecting and retracting limit switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419
14.3.4.1 Retracting the limit switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420
14.3.5 Manual jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421
14.3.6 Acceleration and speed override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424
14.3.6.1 Speed override. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425
14.3.6.2 Acceleration override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425
14.3.7 Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426
14.3.7.1 Homing modes ( C1221). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 428
14.3.7.2 Use of a reference switch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
14.3.7.3 Use of a touch probe sensor (in preparation). . . . . . . . . . . . . . . . . . . . . 433
14.3.7.4 Setting the homing speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
14.3.7.5 Homing start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
14.3.7.6 Setting the home position manually . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434
14.3.7.7 Resetting the home position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434
14.3.7.8 "Home position set once" status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434
14.3.8 StartStop and profile number for controlling the profile generation . . . . . . . . 435
14.3.9 Possible motion profiles. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 436
14.4 S-ramp time for jerk limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 437
14.4.1 Switching off the S-ramp time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 438
14.5 Limiting the torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439
14.5.1 "Home position known" status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439
14.5.2 "Position target reached" status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 440
14.5.3 "Transient phenomenon completed" status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441
14.5.4 Sequence block control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441
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15 Working with the FB Editor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442

15.1 Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442
15.1.1 Basic components of a drive solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443
15.1.1.1 What is a function block?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444
15.1.1.2 Parameterisable function blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445
15.1.1.3 What is a system block? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445
15.1.1.4 What is a port block?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446
15.1.1.5 What is an application block?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446
15.1.2 Conventions used for input/output identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447
15.1.3 Scaling of physical units. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 448
15.2 User interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449
15.2.1 Toolbar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450
15.2.2 Search function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451
15.2.3 Level selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452
15.2.4 Editor view/overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454
15.2.5 Context menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
15.2.6 Status bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
15.2.7 Overview window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
15.3 Using the FB-Editor as "Viewer" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458
15.3.1 Following connections of inputs and outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459
15.3.2 Keyboard commands for navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460
15.3.3 Change online display format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461
15.4 Reconfiguring the predefined interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463
15.4.1 Insert/delete objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463
15.4.1.1 Inserting a function block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464
15.4.1.2 Inserting a system block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 466
15.4.1.3 Inserting a port block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468
15.4.1.4 Inserting a comment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 470
15.4.1.5 Deleting objects that are no longer required. . . . . . . . . . . . . . . . . . . . . 472
15.4.2 Changing connector visibilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473
15.4.3 Arranging objects in the drawing area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 474
15.4.4 Creating/deleting connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475
15.4.4.1 Creating a connection using the connection line . . . . . . . . . . . . . . . . . 477
15.4.4.2 Creating a connection using port identifiers . . . . . . . . . . . . . . . . . . . . . 478
15.4.4.3 Creating a connection via connection dialog. . . . . . . . . . . . . . . . . . . . . 479
15.4.4.4 Deleting connections that are no longer required . . . . . . . . . . . . . . . . 480
15.4.5 Changing the processing order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481
15.4.6 Copying interconnection elements (across all devices) . . . . . . . . . . . . . . . . . . . . . 483
15.4.6.1 Insert options for copied elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 485
15.4.7 Reset changed interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486
15.5 Adjusting online and offline interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487
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15.6 Printing the interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488

15.7 Comparing interconnections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489
15.8 Copying interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492
15.9 Export/import of the interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493
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16 Function library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 494

16.1 Function blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
16.1.1 L_Absolut . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
16.1.2 L_AddSub . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498
16.1.3 L_AnalogSwitch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499
16.1.4 L_And . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 500
16.1.5 L_And5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 501
16.1.6 L_Arithmetik . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 502
16.1.7 L_ArithmetikPhi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503
16.1.8 L_Compare . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 504
16.1.8.1 Function 1: nIn1 = nIn2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 505
16.1.8.2 Function 2: nIn1 > nIn2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506
16.1.8.3 Function 3: nIn1 < nIn2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507
16.1.8.4 Function 4: |nIn1| = |nIn2| . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507
16.1.8.5 Function 5: |nIn1| > |nIn2| . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508
16.1.8.6 Function 6: |nIn1| < |nIn2| . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508
16.1.9 L_ComparePhi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 509
16.1.9.1 Function 1: dnIn1 = dnIn2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510
16.1.9.2 Function 2: dnIn1 > dnIn2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511
16.1.9.3 Function 3: dnIn1 < dnIn2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512
16.1.9.4 Function 4: |dnIn1| = |dnIn2|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512
16.1.9.5 Function 5: |dnIn1| > |dnIn2|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
16.1.9.6 Function 6: |dnIn1| < |dnIn2|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
16.1.10 L_ConvBitsToWord . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 514
16.1.11 L_ConvDIntToWords . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 515
16.1.12 L_ConvWordsToDInt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516
16.1.13 L_ConvWordToBits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 517
16.1.14 L_Counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518
16.1.15 L_DFlipFlop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
16.1.16 L_DigitalDelay. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522
16.1.17 L_DigitalLogic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524
16.1.18 L_DigitalLogic5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526
16.1.19 L_DT1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528
16.1.20 L_Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 529
16.1.21 L_MckCtrlInterface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530
16.1.22 L_MckStateInterface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
16.1.23 L_MPot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 537
16.1.23.1 Activation & control of motor potentiometer. . . . . . . . . . . . . . . . . . . . 539
16.1.23.2 Deactivation of motor potentiometer . . . . . . . . . . . . . . . . . . . . . . . . . . . 540
16.1.24 L_MulDiv. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 541
16.1.25 L_Mux . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 542
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16.1.26 L_Negation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543

16.1.27 L_Not . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 544
16.1.28 L_NSet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545
16.1.28.1 Main setpoint path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 548
16.1.28.2 JOG setpoints. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 549
16.1.28.3 Setpoint inversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 549
16.1.28.4 Value range of the input signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 549
16.1.28.5 Skip frequency function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 550
16.1.28.6 Ramp function generator for the main setpoint . . . . . . . . . . . . . . . . . 551
16.1.28.7 S-shaped ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553
16.1.28.8 Arithmetic combination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553
16.1.28.9 Additional setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553
16.1.28.10Application example for the additional load function . . . . . . . . . . . . 554
16.1.29 L_OffsetGainP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 555
16.1.30 L_OffsetGainPhiP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 557
16.1.31 L_Or . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559
16.1.32 L_Or5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560
16.1.33 L_PhaseIntK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 561
16.1.33.1 Function at constant input value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563
16.1.33.2 Function at input value with sign reversal . . . . . . . . . . . . . . . . . . . . . . . 564
16.1.33.3 Calculation of the output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 565
16.1.34 L_PCTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 566
16.1.34.1 Control characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 570
16.1.34.2 Ramp function generator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 571
16.1.34.3 Operating range of the PID process controller . . . . . . . . . . . . . . . . . . . 571
16.1.34.4 Evaluation of the output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 571
16.1.34.5 Deactivation of the process controller. . . . . . . . . . . . . . . . . . . . . . . . . . . 572
16.1.35 L_PT1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 573
16.1.36 L_RLQ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 574
16.1.37 L_RSFlipFlop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575
16.1.38 L_SampleHold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576
16.1.39 L_SignalMonitor_a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577
16.1.40 L_SignalMonitor_b . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 579
16.1.41 L_Transient . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 581
16.1.41.1 Function 0: Evaluate rising signal edges . . . . . . . . . . . . . . . . . . . . . . . . . 582
16.1.41.2 Function 1: Evaluate falling signal edges . . . . . . . . . . . . . . . . . . . . . . . . 583
16.1.41.3 Function 2: Evaluate rising and falling signal edges . . . . . . . . . . . . . . 583
16.2 System blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584
16.2.1 LS_DisFree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584
16.2.2 LS_DisFree_a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 585
16.2.3 LS_DisFree_b . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 586
16 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Contents
16.2.4 LS_MotionControlKernel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 587

16.2.5 LS_ParFix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 591
16.2.6 LS_ParFree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 592
16.2.7 LS_ParFree_a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 593
16.2.8 LS_ParFree_b . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 594
16.2.9 LS_ParFree_v . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 595
16.2.10 LS_PulseGenerator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 596
17 Parameter reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 598

17.1 Structure of the parameter descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 599
17.1.1 Data type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 600
17.1.2 Parameters with read-only access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 600
17.1.3 Parameters with write access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 601
17.1.3.1 Parameters with setting range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 601
17.1.3.2 Parameters with selection list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 601
17.1.3.3 Parameters with bit-coded setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 602
17.1.3.4 Parameters with subcodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 603
17.1.4 Parameter attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 603
17.2 Parameter list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 605
17.3 Table of attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 855
18 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 865
Your opinion is important to us. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 879
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 17

About this documentation
Document history
1 About this documentation
 Danger!
The controller is a source of danger which may lead to death or severe injury of
persons.
To protect yourself and others against these dangers, observe the safety
instructions before switching on the controller.
Please read the safety instructions provided in the 8400 Mounting Instructions
and in the 8400 Hardware Manual 8400. Both documents are supplied with the
controller.
This software manual contains information on the parameterisation of the

8400 HighLine C controller by means of the L-force »Engineer« and the keypad.
The information in this software manual is valid for the 8400 HighLine C frequency
inverter with the following nameplate data:
Type Type designation From firmware version

8400 HighLine C E84AVHSCExxxxxx0 01.00
 Tip!
Current documentation and software updates for Lenze products can be found on
the Internet in the "Services & Downloads" area under
http://www.Lenze.com
1.1 Document history
Version Description
1.0 07/2008 TD06 First edition
2.0 11/2008 TD06 Revision of the chapter "Commissioning"
3.0 04/2009 TD06 Revision of the chapters
• Parameter list ( 605)
• TA "Actuating drive – speed" ( 349)
• TA "Table positioning" ( 391)
18 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Conventions used
1.2 Conventions used
This Software Manual uses the following conventions to distinguish between different
types of information:
Type of information Writing Examples/notes
Variable identifier Italics By setting bEnable to TRUE...
Window The Message window... / The Options dialog box...
Control element Bold The OK button... / The Copy command... / The Properties tab... / The
Name input field...
Sequence of If the execution of a function requires several commands, the individual
menu commands commands are separated by an arrow: Select FileOpen to...
Shortcut <Bold> Press <F1> to open the Online Help.
If a command requires a combination of keys, a "+" is placed between
the key symbols:
Use <Shift>+<ESC> to...
Hyperlink Underlined A hyperlink is an optically highlighted reference which is activated by a
mouse click.
Step-by-step Step-by-step instructions are indicated by a pictograph.
instructions 
1.3 Terminology used
Term Meaning
»Engineer« Lenze PC software which supports you in "engineering" (parameterisation,
diagnostics and configuration) throughout the whole life cycle, i.e. from
planning to maintenance of the commissioned machine.
Application block Block for a technology application (e.g. actuating drive - speed)
A technology application is a drive solution based on the experience and
know-how of Lenze in which function blocks interconnected to a signal flow
form the basis for implementing typical drive tasks.
Code Parameter used for controller parameterisation or monitoring.
The term is usually called "index".
Display codes Parameter that displays the current state or value of an input/output of a
system block.
FB Editor Function block editor
Graphical interconnection tool which is provided for FB interconnections in
the »Engineer« on the FB editor tab and by means of which the applications
integrated in the drive can also be reconfigured and extended by individual
functions.
Function block General designation of a function block for free interconnection (only
HighLine).
A function block can be compared with an integrated circuit that contains a
certain control logic and delivers one or several values when being executed.
• Each function block has a unique identifier (the instance name) and a
processing number which defines the position at which the function
block is calculated during the task cycle.
Representation e.g. "L_Arithmetik1": function block for arithmetic
operations
Lenze setting This setting is the default factory setting of the device.
Port block Block for implementing the process data transfer via a fieldbus
LP Abbreviation: Lenze Port block, e.g. LP_CanIn1, port block CAN1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 19

Terminology used
Term Meaning
LA Abbreviation: Lenze Application block, e.g. LA_NCtrl, block for the
application "speed closed-loop control"
LS Abbreviation: Lenze System block, e.g. LS_DigitalInput, system block for
digital input signals
QSP Quick stop
SC Operating mode: Servo Control
SLVC Operating mode: sensorless vector control ("SensorLess Vector Control")
Subcode If a code contains several parameters, the individual parameters are stored
under "subcodes".
This Manual uses a slash "/" as a separator between code and subcode
(e.g. "C00118/3").
The term is usually called "subindex".
System block System blocks provide interfaces to basic functions and to the hardware of
the controller in the FB editor of the »Engineer« (e.g. to the digital inputs).
VFCplus Operating mode: V/f characteristic control ("Voltage Frequency Control")
20 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Definition of the notes used
1.4 Definition of the notes used
The following signal words and symbols are used in this Software Manual to indicate
dangers and important information:
Safety instructions
Layout of the safety instructions:
 Pictograph and signal word!

(characterise the type and severity of danger)
Note
(describes the danger and informs how to prevent dangerous situations)
Pictograph Signal word Meaning

Danger! Danger of personal injury through dangerous electrical voltage
 Reference to an imminent danger that may result in death or serious personal injury
if the corresponding measures are not taken.
Danger! Danger of personal injury through a general source of danger
 Reference to an imminent danger that may result in death or serious personal injury
if the corresponding measures are not taken.
Stop! Danger of property damage
 Reference to a possible danger that may result in property damage if the
corresponding measures are not taken.
Application notes
Pictograph Signal word Meaning

Note! Important note to ensure trouble-free operation

Tip! Useful tip for easy handling

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 21

Product description
2 Product description
This manual contains basic information on the runtime software and on how you can
establish very easily an online connection between PC and controller for parameter setting
with the »Engineer«.
The 8400 HighLine controller is designed for simple drive tasks which require additional
functions.
The device is provided, among other things, with
 CAN onboard and can be implemented into an automation system via diverse
fieldbuses.
 integrated applications for speed-controlled drive tasks and a table positioning
function with integrated travel profile generator.
The internal functional range is firmly defined and can be parameterised using an FB editor
or a pluggable keypad.
The control signals and setpoints can be selected via terminals or a fieldbus. The function
of the single control signals can be freely defined using the FB editor.
The 8400 HighLine frequency inverter comes with all function blocks and all integrated
applications. Thus, it is not necessary to create a PLC program and load it into the
controller.
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Product description
Functions of the frequency inverter
2.1 Functions of the frequency inverter
 Integrated protective functions, e.g. Ixt overload monitoring that responds - among
other things - to too frequent mains switching
 Adjustable warning levels for a simplified and safe machine maintenance (e.g. motor
operating time)
 Signalling of device states through front LEDs
– Drive green: Drive is in operation / controller inhibit
– Drive red: Drive is in an error state
– CAN green: CAN is in operation
– CAN red: CAN is in an error state
 Fieldbus communication (see Communicating with the controller ( 25))
– CANopen interface (on board) with address switch at the front
– Pluggable communication module (MCI interface), e.g. PROFIBUS-DP V1
 Motor control types
– V/f open loop
– V/f closed loop
– Vector open loop
– Servo control or motor control with ServoControl feature
 Evaluation of the feedback signals via HTL encoders up to max. 100 kHz
 Diagnostics and parameter setting options with PC or plugged-in keypad
– Writing and reading of device and communication module parameters
– Reading out all diagnostic information
– Reading out logbook information (similar to an error history buffer)
– Firmware update of the frequency inverter
 Parameter saving with mains failure protection on the (pluggable) memory module
 Data logger for signal recording while being online
 Password-protected parameter setting (in preparation)
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Product description
Device architecture
2.2 Device architecture
• I/O level
– Free interconnection of I/O terminals and process
I/O level data by the user
• Application level
– Predefined applications for solving different drive
Application level tasks:
Speed closed-loop control/ speed open-loop control
Table positioning
• MotionControlKernel
MotionControlKernel – Brake management
– Manual jog via terminal
– Manual jog via operator dialog
Operating system – Positioning profile generator
– Homing (referencing)
• Operating system
– Control and monitoring of the I/O terminals (speed
Motor control measurement 2 kHz scanning)
– Communication to diagnostic terminal X6,
CANonboard and MCI module provision of the
services for parameter data management and
connection of the memory module
– Device control
• Motor control
– Control and monitoring of the output stages for
motor and brake chopper
24 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Product description
Communicating with the controller
2.3 Communicating with the controller
The following interfaces/communication modules can be used to build up communication

between PC and controller:
 Diagnostic interface X6/Going online via diagnostic adapter
 CAN on board interface/Going online via system bus (CAN on board) ( 28)
 Optional MCI interface in the module slot of the controller for inserting a
communication module.
 Tip!
Detailed information about the individual interfaces can be found in the
corresponding Communication Manuals.
2.3.1 Going online via diagnostic adapter
 Stop!
If you change parameters in the »Engineer« while the controller is connected
online, the changes will be directly accepted by the controller!
For the initial commissioning of the controller, you can use, for instance, the diagnostic
adapter offered by Lenze:
 Note!
Please observe the documentation for the diagnostic adapter!
Preconditions:
 The diagnostic adapter is connected to the diagnostic interface X6 on the controller and
to a free USB port on the PC.
 The driver required for the diagnostic adapter is installed.
 The control electronics of the controller are supplied with 24 V low voltage via plug X2.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 25

Product description
 How to build up an online connection via the diagnostic adapter:

1. Select the 8400 HighLine controller to which you want to build up an online
connection in the Project view of the »Engineer«:
2. Click the icon or select the command OnlineGo online.

• If no online connection has been configured for the selected controller so far,
the Device assignment offline devices dialog box will be displayed:
• The dialog box also appears if the online connection is built up via the command
OnlineGo online instead of using the toolbar icon.
3. Select the "Diagnostic adapter" entry from the Bus connection list field.
4. Click Find device access path to find the controller in the selected bus system.
• The Address assignment dialog box appears:
5. Select the corresponding controller from the Field devices located list field.
6. Click OK.
• The Address assignment dialog box is closed and the selected Device access path
(e.g. "DDCMP:/") is indicated in the Device assignment offline devices dialog box.
7. Click Connect.
• The dialog box is closed and the online connection with the controller is built up.
• When an online connection with the controller exists, this is indicated
-by a yellow icon in the Project view and
- by the word "ONLINE" in the status bar:
26 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Product description
Now you can use the icons and to easily build up and end a connection with the
controller. The communication settings are only required when communication with a
controller is built up for the first time.
 If you want to change the existing configuration, select the command OnlineGo
online to open the Device assignment offline devices dialog box and change the settings.
 With an online connection, the »Engineer« displays the current parameter settings of
the controller with a yellow background colour.
 When the background colour changes from yellow to red, the connection with the
controller has been interrupted.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 27

Product description
2.3.2 Going online via system bus (CAN on board)
As an alternative to the diagnostic adapter, you can use the integrated system bus
interface (CAN on-board, terminal X1) of the controller for communication.
 Lenze offers the following communication accessories for connection to the PC:
Communication accessories PC interface

PC system bus adapter 2173 Parallel interface
incl. connection cable and voltage supply adapter (LPT port)
• for DIN keyboard connection (EMF2173IB)
• for PS/2 keyboard connection (EMF2173IBV002)
• for PS/2 keyboard connection with electrical isolation (EMF2173IBV003)
PC system bus adapter 2177 USB
incl. connection cable (EMF2177IB) (Universal Serial Bus)
 Note!
• For detailed information about the PC system bus adapter, please see the
"CAN Communication Manual".
• Please observe the documentation for the PC system bus adapter!
• The online connection is built up as described in the previous chapter Going
online via diagnostic adapter, only select the entry "CAN system bus" from
the Bus connection list field in the Device assignment offline devices dialog
box. ( 25)
2.3.3 Use of other communication interfaces
If required, the controller can be expanded by e.g. the PROFIBUS communication interface.
 For this purpose, the controller is provided with the MCI module receptacle to plug in a
 Detailed information on this subject can be found in the Hardware Manual and
Communication Manual for the corresponding communication system.
28 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Product description
Keypad
2.4 Keypad
 When the keypad is connected to the diagnostic

interface X6 at the front of the controller, the status of
the controller is displayed via different symbols on the
LDC display in the area n.
Symbol Meaning Note

 Controller is ready for operation.
 Controller is enabled.
 Application in the controller is stopped.
 Quick stop is active
 Controller is inhibited. The power outputs are inhibited.
 Controller is ready to switch on.
 The maximum torque is reached.
 Set current limit has been exceeded in motor
or generator mode.
 Pulse inhibit is active The power outputs are inhibited.
 System fault is active
 "Fault" state Fault is active
 "Trouble" state Trouble is active
 "TroubleQSP" state TroubleQSP is active
 "Warning" Warning is active or locked warning
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 29

Commissioning
3 Commissioning
Before switching on
 Note!
• Keep to the respective switch-on sequence.
• In the event of faults during commissioning, refer to the chapter
"Troubleshooting and fault elimination".
In order to prevent injury to persons or damage to material assets

 before connecting the mains voltage, check
– The wiring for completeness, short circuit, and earth fault
– The "emergency stop" function of the entire system
– The motor circuit configuration (star/delta) must be adapted to the output voltage
of the controller
– The in-phase connection of the motor
– The direction of rotation or the encoder (if available)
 The setting of the most important drive parameters before enabling the controller:
– Is the V/f rated frequency adapted to the motor circuit configuration?
– Are the drive parameters relevant for your application set correctly?
– Is the configuration of the analog and digital inputs and outputs adapted to the
wiring?
Selection of the suitable commissioning tool

For commissioning the 8400 frequency inverter two options are provided to you:
 Commissioning by means of the keypad for simple drive tasks, e. g. quick
commissioning of the "Actuator - speed" standard application
 Commissioning by means of the »Engineer« for drive tasks with higher requirements,
e. g. "Table positioning"
 Tip!
The extensive parameterisation and configuration is carried out using the
»Engineer«. The online help that is available for each device and the accompanying
software documentation supports you during this activity.
For quick commissioning and checking individual parameters on the controller, the
L-force keypad is useful.
30 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Commissioning
Notes for the motor operation
 Danger!
• For thermal reasons, continuous operation of self-ventilated motors at a low
field frequency and rated motor current is not permissible. If required, a
motor temperature monitoring should be activated with C00585
Motor temperature monitoring with I²xt ( 169)
Motor temperature monitoring with motor PTC ( 172).
• With C00015 87 Hz operation has to be set if an asynchronous motor
connected in delta (nameplate data: 400 V  /230 V ) is to be operated on a
frequency inverter for a supply voltage of 400 V on the supply side.
 Tip!
In the Lenze setting the "V/f characteristic linear" operating mode is set as motor
control. The parameter settings are preset in a manner that if the combination of
the frequency inverter and the 50 Hz asynchronous machine matches as regards
power, the controller is ready for operation immediately without further
parameterisation effort, and the motor is working satisfactorily.
Recommendations for the following application cases:
• If the frequency inverter and the motor strongly differ from each other with
regard to their power, set
 code C00022 (Imax limit - in motor mode) to
• I Max = 2.0 × I N(motor)
• If a high starting torque is required
 Set code C00016 (Umin boost) when the motor is in idle speed, so that the
rated motor current IN(motor) is flowing at a field frequency of f = 3Hz (C00058).
• For noise optimisation
 set code C00018 to "3" (switching frequency 16 kHzsin var).
• If a high torque without feedback is to be provided at small speeds, we
recommend the "Vector control" operating mode.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 31

Commissioning
Quick commissioning
3.1 Quick commissioning
Objective
The motor without load is to be rotated for purposes of testing or demonstration in the
shortest time possible, using as little wiring effort as possible and only few settings.
Keypad or setpoint potentiometer

For this simple purpose two options are provided for controlling the drive controller. Please
select:
 Keypad control ( 33) , i. e. the X400 keypad serves as setpoint source
 Terminal control ( 35) , i. e. a setpoint potentiometer connected to the terminals of the

controller serves as setpoint source
Diagnostics
For the drive diagnostics also use the LEDs placed on the front of the controller in addition
to the X400 keypad:
 Two LEDs signalise the device state (DRIVE READY and DRIVE ERROR):
LED status displays ( 55)
 Two LEDs show the bus state (CAN-RUN and CAN-ERROR): CAN signalling on the
controller front panel ( 225)
In the context of quick commissioning, the LEDs for the bus status are of lower significance.
 Tip!
The description for handling the X400 keypad can be found in the Mounting
Instructions which are contained on the "L-force Inverter Drives 8400" CD in
electronic form.
32 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Commissioning
Quick commissioning
3.1.1 Keypad control
Please proceed step by step:

1. Wire the power connections
Make use of the Mounting Instructions supplied with the frequency inverter to
wire the power terminals according to the requirements of your device.
2. Wire the control connections
Digital inputs at terminal X5 Assignment Information

RFR • Controller enable
GI DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR 24I 24E RFR = high
• Error reset
High → low (edge-controlled)
3. Load the Lenze setting into the controller
 Note!
With the Lenze setting the "Actuating drive speed" application is carried out.
After attaching the keypad or

MCTRL: Act. speed val.
C00051 switching on the controller with the
0 rpm keypad attached, first the connection
of the keypad to the controller is
established.
The process is completed if code
C00051 appears in the display.
• Then press the left function key.
• Scroll to the bottom from the

Par1 8400 HighLineC
"User menu" with the button to
User - Menu
the "Quick commissioning" menu
Go to param
• Click "right" button
Logbook
Par1 Quick commissioning
Load Lenze setting • Select the "Keypad" menu
Quick commissioning Terminals
Keypad C00002/1
SAVE
• Code 00002/1:
SAVE
EDIT – Parameterise "Edit" using the
left function key
– Select value "1" ---> On/Start
and confirm "OK" with the right
function key
• During loading the Lenze setting,

C00051 the display goes off for a short
0 rpm time.
• When the display has reappeared,
the main menu is shown.
– The main menu can be set in a
user-defined manner via the
codes C00465 ... C00469.
• By means of the left function key
the user menu can be reached
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 33

Commissioning
Quick commissioning
4. Set keypad control

Further like for commissioning item
Load the Lenze setting into the
Par1 8400 HighLineC
controller:
User - Menu Load Lenze setting
– "Quick commissioning" menu

C00002/1
Go to param Par1 Quick commissioning
Logbook – Keypad
Terminals
Quick commissioning
Quick commissioning Keypad
EDIT – Load Lenze setting
SAVE With the "Bottom" navigation key,
SAVE Select CtrlMode code C00007 for selecting the control
C00007 mode is reached:
• Select parameter code 00007 and
EDIT
parameterise with "Edit"
• Select value "20" ---> "Keypad"
and confirm with "OK".
5. Enable controller:
Set terminal X5/RFR to HIGH potential (reference: X5/24I).
6. Use the keypad to change the motor velocity or
the motor speed by selecting different fixed setpoints:
Keypad Code Subcode Motor speed

C00728 3 Counter-clockwise rotation:
-199.99 % ..... 0 (from C00011)
Terminals
Keypad < ... >
Clockwise rotation:
SAVE 0 ... +199.99 % (from C00011)
C00728
C00051 C00051 - Display of actual speed value
EDIT
 Please observe
– the actual speed value: C00051
– the front-panel LEDs LED status displays ( 55)
7. Save the settings in the device with SAVE .
 Tip!
The complete parameter overview will be presented in the following chapter:
Code overview for quick commissioning by means of the keypad ( 38)
34 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Commissioning
Quick commissioning
3.1.2 Terminal control
Please proceed step by step:

1. Wire the power connections
Make use of the Mounting Instructions supplied with the frequency inverter to carry out
the power connections correctly and in accordance with the requirements of your device.
2. Wire the control connections
Analog inputs at X3 Assignment Terminal control

A1U Setpoint selection
O1U GA A2I A2U A1I A1U AR 10 V (= 100 %):
1500 rpm (for 4-pole motor)
"
1kW
...
0...10 V 10kW
Wiring of the digital inputs at X5 Assignment Terminal control

RFR • Controller enable: RFR = high
X5 GI DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR 24I 24E
• Error reset:
+ High → low (edge-controlled)
DC 24 V
_ DI1 Fixed frequency 1 ... fixed frequency 3, see table
below
DI2
DI1 ... DI7: all active = High
DI3 DCB
Bold print: minimum wiring required for DI4 Direction of rotation counter-clockwise/clockwise
operation (CCW/CW)
DI5 ... DI7 No function
3. If you can be sure that the frequency inverter is in the default state (Lenze setting), you
can skip the following commissioning step.
Otherwise establish the Lenze setting of the frequency inverter. We recommend the use of
the keypad.
 Note!
With the Lenze setting the "Actuating drive speed" application is carried out.
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Commissioning
Quick commissioning
After attaching the keypad or

C00051 switching on the controller with the
0 rpm keypad attached, first the connection
of the keypad to the controller is
established.
The process is completed if code
C00051 appears in the display.
• Then press the left function key.
• Scroll to the bottom from the

"User menu" with the button to
Par1 8400 HighLineC
User - Menu
the "Quick commissioning" menu
Go to param Load Lenze setting
Logbook
Quick commissioning Terminals C00002/1
• Select the "Terminals" menu
SAVE
Keypad • Click "right" button
SAVE EDIT • Code 00002/1:
– Parameterise "Edit" using the
left function key
– Select value "1" ---> On/Start
and confirm "OK" with the right
function key
• During loading the Lenze setting,

C00051 the display goes off for a short
0 rpm time.
• When the display has reappeared,
the main menu is shown.
– The main menu can be set in a
user-defined manner via the
codes C00465 ... C00469.
• By means of the left function key
the user menu can be reached
4. Enable controller:
Set terminal X5/RFR to HIGH potential (reference: X5/GI).
5. Use the potentiometer to change the motor velocity or
change the motor speed by selecting different fixed setpoints:
DI2 DI1 Motor speed

0 0 Setpoint from potentiometer
0 1 40 % of C00011 (reference speed)
 Please observe
– the actual speed value: C00051
– the front-panel LEDs LED status displays ( 55)
6. Save the settings in the device with SAVE .
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Commissioning
Commissioning with the keypad
3.2 Commissioning with the keypad
3.2.1 Preparation of keypad and controller for commissioning
Controller preparation
1. Set controller inhibit (X5/RFR = LOW).
2. Ensure that the mains voltage and the motor cables are wired correctly.
3. If an external 24 V supply voltage is used:
4. Establish connection of the supply voltage at X5/24E.
Connection of the keypad

1. Attach keypad to terminal X6 (while keeping the release button pressed).
2. If there is no external 24 V supply voltage:
Switch on the mains supply.
After approx. 4 - 6 seconds the controller and the keypad are initialised. The keypad
displays the main menu of the control software:
 Tip!
The fastest way to commission the controller is via the "Quick commissioning"
menu. This menu contains all parameters required to establish the basic readiness
for operation. It is suitable for the settings required to show whether the device is
operational and, furthermore, it is suitable for well-known applications requiring
only a few optimisations.
For the more extensive and detailed adaptation of parameters to special
requirements, Lenze recommends the Engineer PC software (see documentation
for Engineer PC software and Software Manual for the controller).
Selecting the "Quick commissioning" menu with the keypad

Starting from the main menu, you get to the "Quick commissioning" menu by clicking the
key several times and then clicking the key:

Par1 8400 HighLineC
User - Menu
Code list Terminals
Quick commissioning Keypad
SAVE
SAVE
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Commissioning
3.2.2 Code overview for quick commissioning by means of the keypad
If you are within the menu for quick commissioning with keypad, the individual
commissioning steps can be reached by accordingly pressing the key. The codes
contained in the menu are listed in the following table:
Parameter Display in the keypad Information

C00002/1 Load Lenze setting Load Lenze setting
C00007 Select CtrlMode Selection of the operating mode
C00728/3 nMainSetValue_a Main setpoint (for the "Actuating drive speed" application)
C00011 Appl.: Reference speed Reference speed
C00012 Accel. time - main setpoint Acceleration time
C00013 Decel. time - main setpoint Deceleration time
C00015 VFC: V/f base frequency Base frequency
C00016 VFC: Vmin boost Vmin boost
C00022 Imax (motor mode) Current limit (in motor mode)
C00087 Rated motor speed Rated motor speed
C00089 Rated motor freq. Rated motor frequency
C00039/1 Fixed setpt 1 Fixed setpoint JOG1
C00727/3 bSetSpeedCcw Change of direction of rotation
C00727/4 bJogSpeed1 Jog value 1 for motor speed
C00051 MCTRL: Act. speed val. Current speed value
C00054 Motor curr. Motor current
Highlighted in grey = display parameter
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Commissioning
Keypad display Information

C00002
Load Lenze setting
C00007
C00002/1
C00011
C00007
C00011 C00012
C00012 C00013
C00013
C00015 C00015
C00016 C00016
C00022
C00087 C00022
C00089 C00087
C00728/3
C00728/1 C00089
C00728/2 C00728/ 1 ... 3
C00039/1
C00039/2 C00039/ 1 ... 3
C00039/3 C00727/ 1 ... 8
C00727/1 ... 8
C00051 C00051
C00054 C00054
EDIT
If you select suitable and reasonable values for the parameters in this menu, you can
ensure an error-free operation of the controller.
Analog and digital control information (e.g. speed setpoint, CW rotation / CCW rotation)
are selected depending on the setting of C00007 (e.g. selection through the digital inputs).
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 39

Commissioning
Commissioning of the "Actuating drive speed" application
3.3 Commissioning of the "Actuating drive speed" application
The predominant purpose of this commissioning is to commission a simple system

constellation with few components. In the course of the step-by-step instructions
reference to further information is made, that is suitable for commissioning more complex
specifications.
8400 HighLine
8400 StateLine
X6
U V W X3 GA AR A1U X4 RFR 24I
R RFR
X61
M
3~
X6
Control terminals at plug connector X3:

• GA, reference ground (GND) for analog signals
• AR, reference voltage (10 V) for analog signals
• A1U, input 1 for analog signals (slider of the setpoint potentiometer R)
• RFR, controller enable (CINH)
Parameterisation and diagnostics connection X6:
• Communication between the PC and controller
[3-1] Block diagram for wiring the commissioning example for the "Actuating drive speed" application
 Tip!
For a detailed description of the technology application, please see the chapter
TA "Actuating drive – speed" ( 349)
40 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Commissioning
3.3.1 Commissioning steps
1. Observe all safety measures required before switching on the device, for this also see
Before switching on ( 30) .
2. Open the corresponding »Engineer«
– Press the function key F1 during the »Engineer« is open. By this you reach the online
help.
 Note!
In the general part of the menu structure of the online help basic operations are
described in detail. Please refer to the following chapters and, if required, carry
out the following:
• Chapter "Working with projects", e. g. "Creating a new project (select a
component from the catalogue)", or "Creating a new project (Start search for
connected devices)"
• Chapter "Project structure", e. g. select a motor, if possible, carry out motor
identification run
• Chapter "Device functions in the online mode", e. g. "Setting a
communication path and going online", establish connection between PC -
device
3. Execute the start-up wizard

By means of the start-up wizard and the information contained in the online help
– you first create a project in the »Engineer«
– you establish a connection to the controller and its connected components, for
instance via a diagnostic adapter.
When an online connection between the PC and the device has been established,
there will be a colour change of the symbols in the project tree (left arrow) and a
corresponding lettering in the lower part of the working area (right arrow).
Click on the highlighted symbols on the left:
[3-2] Reference to the online connection in the project tree and the working area
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 41

Commissioning
4. Loading of the Lenze setting
 Note!
After loading the Lenze setting (C00002/1 = 1), the status in the device is
displayed by the »Engineer«. The change of a parameter value is shown by an
"unequal" symbol .
In order to be able to take a defined state as a basis for this commissioning, you
have to load the Lenze setting.
– A description of how the Lenze setting is loaded by means of the »Engineer« can be
found in the chapter Load Lenze setting ( 69)
5. Set the "Actuating drive speed" application
– Set "Actuating drive speed" C00005, (arrow) on the "Application parameters" tab in
the "Application" list field.
The contents of the tab are adapted to the application set by means of the
»Engineer«.
Within the device individual function blocks (e. g. ramp function generator, PID
process controller, arithmetic function, etc.) are connected to each other, so that a
signal flow for solving this drive task or application is generated.
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Commissioning
6. Select the control source

Depending on the task to be carried out, the source that controls the drive can be
defined here (arrow).
In the example the control source "Terminals 0" (Lenze setting) is selected.
Important parameters
Parameter Information
C00007 Select control mode
C00242 Operating mode
C00806 Use motor potentiometer yes / no
Detailed descriptions can be found in

Selecting the control source ( 352)
Pre-assignment of the application block LA_NCtrl ( 368)
7. Start the application

– RFR = TRUE: enable controller
– By means of the setpoint potentiometer ("R", see graphics [3-1]), the speed can be
varied.
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Commissioning
3.3.2 Diagnostics
Why doesn't the motor rotate?

If, contrary to expectations, the motor does not carry out a movement after the last
commissioning step, we recommend the following systematic means to find out
the reason for this.
1. Check the signal flow with regard to plausible setpoints
2. Check setpoint sources
– Click on the "Drive control" button (see illustration) of the "Diagnostics" tab
The appearing view is a complete summary of all control sources having an impact
on the controller:
n Control sources that are set to controller inhibit by the controller

o Control sources that are set to quick stop by the controller
q Control signals via CAN control word
p Control signals via MCI fieldbus module (e. g. Profibus)
r / s Miscellaneous status information
[3-3] Diagnostics options for drive control
 Tip!
This information can also be displayed by means of a keypad. For this call the codes
specified in the header of the table.
44 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Commissioning
Commissioning of the "Table positioning" application
3.4 Commissioning of the "Table positioning" application
The predominant purpose of this commissioning is to commission a simple system

constellation with few components. In the course of the step-by-step instructions
reference to further information is made, that is suitable for commissioning more complex
specifications.
X6
8400 HighLine
U V W X5 24E 24I RFR DI1 DI2 DI3 DI4 DI5 DI6 DI7 GI X61
X6
RFR PosProfile
PosExecute
M
3~
i
A B - +
pd
-30 -20 -10 10 20 30 40
0-Position

• RFR, controller enable
• DI1, encoder, track A
• DI2, encoder, track B
• DI3, left hardware limit switch
• DI4, right hardware limit switch
• DI5, "PosExecute" function
• DI6, DI7, setting of the operating mode (following operation, homing, manual jog, positioning)
Parameterisation and diagnostics connection X6:
• Communication between the PC and controller
[3-4] Block diagram for wiring the commissioning example for the "Table positioning" application
 Tip!
For a detailed description of the technology application, please see the chapter
TA "Table positioning" ( 391)
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 45

Commissioning
3.4.1 Commissioning steps
1. Observe all safety measures required before switching on the device, for this also see
Before switching on ( 30) .
2. Open the corresponding »Engineer«.
– Press the function key F1 during the »Engineer« is open. By this you reach the online
help.
 Note!
In the general part of the menu structure of the online help basic operations are
described in detail. Please refer to the following chapters and, if required, carry
out the following:
• Chapter "Working with projects", e. g. "Creating a new project (select a
component from the catalogue)", or "Creating a new project (Start search for
connected devices)"
• Chapter "Project structure", e. g. select a motor, if possible, carry out motor
identification run
• Chapter "Device functions in the online mode", e. g. "Setting a
communication path and going online", establish connection between PC -
device
3. Execute the start-up wizard

By means of the start-up wizard and the information contained in the online help
– you first create a project in the »Engineer«
– you establish a connection to the controller and its connected components, for
instance via a diagnostic adapter.
When an online connection between the PC and the device has been established,
there will be a colour change of the symbols in the project tree (left arrow) and a
corresponding lettering in the lower part of the working area (right arrow).
Click on the highlighted symbols on the left:
[3-5] Reference to the online connection in the project tree and the working area
4. Loading of the Lenze setting

 In order to be able to take a defined state as a basis for this commissioning, you have
to load the Lenze setting.
– A description of how the Lenze setting is loaded by means of the »Engineer« can be
found in the chapter Load Lenze setting ( 69)
46 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Commissioning
5. Set "Table positioning" application

– Next to the project tree there is the working area of the »Engineer«.
– Set "Table positioning" (upper arrow) on the "Application parameters" tab in the
"Application" list field.
– The contents of the tab are adapted to "Table positioning" by the »Engineer«.
– Then the "Machine parameters" button appears (lower arrow)
6. Set the machine parameters
– Click on the "Machine parameters" button.
The following dialog window opens:
– Parameterise all fields that are highlighted in yellow, e.g.:

Gearbox factor
Feed constant
Reference speed
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 47

Commissioning
7. Enter the terminal assignment

– Call the "Terminal assignment" tab.
– Adapt the terminal assignment of the digital input terminals:
– In the example a two-track encoder has been selected, which is connected to

terminals DI1 (track A) and DI2 (track B).
Function assignment of the inputs: C00115/1, option 2:
"DI1(6)&DI2(7)=FreqIn (2-track)", see upper arrow
– By clicking on the button highlighted by the lower arrow, a window for the
parameterisation of the encoder will open (here: position encoder)
8. Enter the encoder increments
– Enter the corresponding data of your encoder.
48 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Commissioning
9. Enter the position encoder in the code

– Click on the "All parameters" tab
– Set code C00490/0 to "Encoder signal FreqIn12":
– Set the proportional gain of the position encoder to an appropriate value using code
C00254/0. In the example Kp = "5" is selected
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 49

Commissioning
10. Set homing

 Click "Signal flow" button on the
"Application parameters" tab, see
arrow
 Click on the button for homing in the

"MotionControlKernel" block, see
arrow
 Click on the "Homing mode" button
50 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Commissioning
 Select the homing mode

For the example, a simple homing
without touch probe was selected: The
right limit switch, and then the zero
position is approached, depending on
the homing degree that is set.
 Parameterise fields highlighted in
yellow:
– Enter an appropriate starting speed
C01224/1.
– Set the homing degree C01227/1 , i.
e. the value in positive or negative
direction from the limit position on
the right
 Select "Homing" operating mode via
terminals
– At inputs DI5 and DI6 the profile is
set via terminals. With DI5=FALSE
and DI6=TRUE the operating mode is
set to "Homing".
– With C01241 the status of the
operating mode can be read out or
checked in the
"MotionControlKernel" function
block ("Signal flow" button) by
means of the position of the switch
displayed, see arrow
 For further information, see
Specifying an operating mode
( 417)
11. Start homing

– Enable the controller via RFR
– Input DI7 to TRUE ("Alternative function PosExecute")
12. Complete homing when the home position is reached. Switch the following digital
inputs:
– DI7 = "FALSE"
– RFR = "FALSE".
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Commissioning
13. Enter one or more profiles
 Note!
In the Lenze setting the profile numbers 0 ... 2 are assigned to following
operation, homing, and ManualJog.
Therefore the positioning profile has to receive a profile number ≥ 3.
The assignment of the profile numbers (see illustration) is reached as follows in
the »Engineer«:
"Application parameters" tab
"Signal flow" button
 "MCK interface (control)" button in the "MCKInterface" block
[3-6] Assignment of the profile numbers 0 ... 15 in the Lenze setting
52 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Commissioning
 The profile entry field can be reached via the "Profile entry" button on the "Application
parameters" tab:
– Parameterise the fields required

– If required, enter the sequence profile
– Then press "Back" button (at the top of the tab)
14. Start positioning
– DI5 = TRUE, DI6 = TRUE: "Positioning" operating mode
 The status switch displayed in the MotionControlKernel (see "Signal flow") now adopts
the following position:
– RFR = TRUE: enable controller

– DI7 = TRUE: start positioning with ("PosExecute")
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 53

Drive control (DCTRL)
4 Drive control (DCTRL)

This chapter gives information about the device function "Drive control DCTRL". This device
function serves to control the controller into defined states and retrieve status information
via the system block LS_DriveInterface:
 The device displays status information in different ways
– as optical display via front LEDs to signalise the operating status. LED status
displays
– as text message in the keypad / Engineer.
– as process signal at the output of the system block LS_DriveInterface
– as diagnostic parameter
 The operating states of the controller are based on the DS402 standard. Device states
( 56)
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LED status displays
4.1 LED status displays
The states of the "DRIVE READY" and "DRIVE ERROR" LEDs on the front of the controller
depend on the device state. Device states ( 56)
DRIVE READY
DRIVE ERROR
DRIVE READY DRIVE ERROR Status

Off Off Init
Off SafeTorqueOff
Off ReadyToSwitchON
Off SwitchedON
Off OperationEnabled
Warning
The controller is ready to switch on, switched on or the operation is
enabled and a warning is indicated.
TroubleQSP
Off Trouble
Off Fault
Off SystemFault
Legend
The symbols used for indicating the LED states have the following meaning:
LED flashes once approx. every three seconds (slow flash)
LED flashes once approx. every 1.25 seconds ( flash)
LED flashes twice approx. every 1.25 seconds (double flash)
LED blinks every second
LED is permanently on
 Tip!
The current device state is also displayed in C00137.
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Device states
4.2 Device states
The state machine controls the controller into defined states that can be diagnosed with
the following codes:
 C00137 , output of status designation
 C00150 , bit-coded output in the status word (bits 8 ... 11)
In the diagram below, the arrows between the device states indicate the starting and end
points of the possible state changes. The figures represent the state ID, see table Device
states ( 57)
0
Power on
Init SystemFault
1 11
0
Firmware
SafeTorqueOff
Update
10 0
ReadyToSwitchON Fault
3 8
1 Warning
6
SwitchedOn OperationEnabled MotorIdent

4 5 2
Trouble TroubleQSP
7 9
Pulse inhibit (grey field)

 Can be reached from all states.
 "Warning" contradicts the definition of a device state. In fact, it is a message which is to call attention to the
device state the warning exists for.
"Warning" can occur in parallel to other states.
[4-1] Device state machine
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Device states
The change from one state to the other is carried out within one processing cycle, i.e.
within t = 1 ms. If within this time there are several requests for state changes, the state
with the higher priority is processed first. The priority sequence is listed in the below table:
State priority State designation ID Status bits Meaning

Bit 11 Bit 10 Bit 9 Bit 8
- Firmware update 0 0 0 0 0 Firmware download function is
active
- Init 1 0 0 0 1 Initialisation is active
- MotorIdent 2 0 0 1 0 Motor parameter identification is
active
Prio 8 ReadyToSwitchON 3 0 0 1 1 Device is ready to start
Prio 7 SwitchedON 4 0 1 0 0 Device is switched on
Prio 4 OperationEnabled 5 0 1 0 1 Operation
- Warning 6 0 1 1 0 Warning / warning locked is active
Prio 6 Trouble 7 1 1 1 1 Trouble is active
Prio 10 Fault 8 1 0 0 0 Fault is active
Prio 5 TroubleQSP 9 1 0 0 1 TroubleQSP is active
Prio 9 SafeTorqueOff 10 1 0 1 0 Safe torque off is active
Prio 11 SystemFault 11 1 0 1 1 System fault is active
[4-1] Device states
4.2.1 Firmware update
 Note!
This function may only be executed by qualified Lenze personnel!
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 57

Device states
4.2.2 Init
 Note!
If there is an undervoltage situation in the DC bus, the controller changes -
depending on the configuration - to the "Trouble" or "Fault" state or remains in
the "ReadyToSwitchON" state if there is a mains supply failure.
LED DRIVE READY LED DRIVE ERROR Display in C00137

Off Off Init
In this state
– the controller is directly after switching on the 24 V supply voltage.
– the operating system is initialised.
– all device components (communication module, memory module, power section,
etc.) are identified.
 The inverter is inhibited, i.e. the motor terminals (U, V, W) of the inverter are
deenergised.
 The digital and analog inputs are not yet evaluated at this time.
 The bus systems (CAN, PROFIBUS etc.) do not work yet, i.e. communication is not
possible.
 The application is not yet processed.
 The monitoring functions are not yet active.
 The controller cannot be parameterised yet and no device commands can be carried out
yet.
When the power section is identified, it is checked first that it is switched on and that the
required voltage is within the tolerance zone.
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Device states
4.2.3 MotorIdent

Off MotorIdent
8400 frequency inverters are provided with a function for automatic identification of
motor parameters, see functional description Motor data identification .
 Stop!
During motor parameter identification, the controller does not respond to
setpoint changes or control processes, (e.g. speed setpoints, QSP, torque
limitations).
The "MotorIdent" device state can only be reached by the "SwitchON" device state and
jumps back to that state after the action is completed.
The following illustration shows, under which conditions the state change will be enabled
or stopped:
C0002/23 = 1
CINH = 1 &
ReadyToSwitchON MotorIdent
3 2
[4-2] Conditions for the state change of the motor identification
While the motor parameters are being detected,

 the application remains active
 all system interfaces (IOs, bus systems, etc.) remain active
 error monitoring remains active
 the inverter is controlled independently of the setpoint sources.
Detailed description:Automatic motor parameter identification ( 140)
4.2.4 SafeTorqueOff
 Danger!
This state is only possible together with a connected safety module and an
existing power section supply.
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Device states
4.2.5 ReadyToSwitchON

Off ReadyToSwitchON
The controller is in this device state directly after the initialisation has been completed!
 The bus systems are running and the terminals and encoders are evaluated.
 The monitoring modes are active.
 The controller can be parameterised.
 The application is basically executable.
Auto-start option C00142 = 1: Auto restart inhibited after power-up

 If the auto-start option C00142 = 1 inhibit at "mains off", Lenze setting) has been
selected, the controller must be explicitly reset after the mains is switched on so that
the controller state changes from "Device is ready to switch on" to "Device is switched
on:
0 1
RFR
Initialisation Ready to switch on Switched on Operation
RFR
t
RFR
RFR
t
 Controller pulses are inhibited

 Controller pulses are enabled
n With controller inhibit during power-up
o Without controller inhibit during power-up
[4-3] State change when auto restart is enabled (C00142 = "1")
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Device states
Auto-start option C00142 = 0: Auto restart enabled after power-up

 The following figure shows the state changes for the auto-start option
C00142 = 0 as a function of the controller inhibit:
0 1
RFR
RFR
t
RFR
RFR
t
 Controller pulses are inhibited

 Controller pulses are enabled
n With controller inhibit during power-up
o Without controller inhibit during power-up
[4-4] State change when auto restart is enabled (C00142 = "0")
 Tip!
Code C00142 can also be used to configure that the controller inhibits the auto-
start function if
• there is a "Trouble" error status or
• a "Fault" error status or
• an undervoltage situation has been detected
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Device states
4.2.6 SwitchedON

Off SwitchedON
The drive is in this device state when the DC-bus voltage is applied and the controller is still
inhibited by the user (controller inhibit). The cause for the controller inhibit (CINH) is
indicated under C00158.
 The bus systems are running and the terminals and encoders are evaluated.
 The monitoring modes are active.
 The application is basically executable.
 When the controller is enabled, the motor creates a torque.
4.2.7 OperationEnabled

Off OperationEnable
In this device state, the motor follows the setpoint defined in the application.
4.2.8 Warning

Warning
This display may occur in all device states if a monitoring mode responds, the error
response "Warning" or "Warning locked" has been parameterised for.
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Device states
4.2.9 TroubleQSP

TroubleQSP
This device state will be active as soon as a monitoring mode responds, the error response
"TroubleQSP" has been parameterised for.
 The drive is decelerated to standstill with torque within the deceleration time
parameterised for quick stop independently of the defined setpoint and can be kept
there.
 The device state can only be abandoned by acknowledging the error if the error cause
is removed.
 When the controller is inhibited, it is possible to jump to the "SwitchedON" state even
during the error state since the controller inhibit function has a higher priority. As long
as the error is pending and has not been acknowledged, the state is changed back to
the "TroubleQSP" state when the controller is enabled afterwards.
Depending on certain conditions a state change takes place based on the "TroubleQSP"
device state.
State no. State name Condition(s) for the state change

15 ReadyToSwitchON Control bit "SwitchON" = FALSE
16 OperationEnabled Control bit "ControllerInhibit" of all control channels = TRUE
& error has been reset by control bit "ResetFail"
& no other error is pending
17 SwitchedON Control bit "ControllerInhibit" of one control channel = FALSE
& error has been reset by control bit "ResetFail"
& no other error is pending.
18 Trouble A message is active in the system.
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Device states
4.2.10 Trouble

Off Trouble
This device state becomes active as soon as a monitoring mode responds for which the
error response "Trouble" has been parameterised.
 The motor has no torque (is coasting) due to the inhibit of the inverter.
 The "Trouble" device state is automatically abandoned if the error cause has been
removed.
Depending on certain conditions a state change takes place based on the "Trouble" device
state.
State no. State name Condition(s) for the state change

11 ReadyToSwitchON This state is assumed automatically without evaluating any
control bits
12 OperationEnabled Control bit "ControllerInhibit" of all control channels = FALSE
& the message has been cancelled again
13 SwitchedON Control bit "ControllerInhibit" of one control channel = TRUE
14 TroubleQSP In the system, there is an error configured on "TroubleQSP"
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Device states
4.2.11 Fault

Off Fault
This device state will be active as soon as a monitoring mode responds, the error response
"Fault" has been parameterised for.
 The motor has no torque (is coasting) due to the inhibit of the inverter.
 To exit the device state, "Fail reset" must be set.
When "Fail reset" has been carried out, a change to the "ReadyToSwitchON" state takes
place.
 Note!
If an undervoltage (error message "LU") occurs in the DC bus of the frequency
inverter, the device changes to "Trouble".
An additional error with a higher priority leads the device into the "Fault" state.
According to the Device state machine ( 56), the device changes to
"ReadyToSwitchOn" after acknowledging the error although the undervoltage is
still available!
 Tip!
For more detailed information on the error messages, see
Overview of the error messages of the operating system ( 303) or
Cause & possible remedies ( 305).
4.2.12 SystemFault

Off SystemFail
This device state becomes active if a system fault occurs.

 The device state can only be abandoned by
– mains switching or
– a system restart (in preparation).
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Controller commands
4.3 Controller commands
4.3.1 General information
The commands in the subcodes of code C00002 enable

 the direct control of the controller. This comprises e.g. the following subcodes:
– 16, controller enable (CINH)
– 17, quick stop (QSP)
– 26, CAN reset node
 the management of parameter sets and diagnosis services:
– Parameter set management, e.g. subcodes 7 ... 11, saving parameter sets
– Logbook management
– Error management
– Identification, e.g. motor parameters, inverter characteristic
Regarding the execution of the commands, there are two different groups:
1. Commands with immediate control effect (e.g. quick stop). These commands contain
the static status information ON or OFF.
2. Commands with a pure command nature
The controller commands with pure command nature do not execute the action
immediately (it may take some seconds until the action has been executed). However,
after the command is written, they demonstrate the command progress by delivering
dynamic status information.
 How to read out the degree of processing from the controller:

1. Write the value "1" (Start) to e.g. C0002/11
• A write operation to C0002/xx with values >1 is rejected by the device and
acknowledged with an error message.
2. In the above example, read C0002/11 until the value "0" (Ready) is indicated.
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Controller commands
Certain commands can only be executed if the controller is inhibited, e.g.

 Load Lenze setting C00002/1
 Load all parameter sets, C00002/6
 Identify motor parameters, C00002/23
If these commands are executed without the controller being inhibited, the returned
information is:
 "6": No access controller inhibit
 Note!
C00003 always displays the last error occurred, if e.g. a command should fail.
Status display for controller commands (in preparation) ( 68)
The following subchapters describe the controller commands in the controller in detail.
With an online connection, the controller commands can be activated from the »Engineer«
by selecting the corresponding command in the Parameters tab under C00002. As an
alternative, the controller commands can be activated via the keypad.
 Stop!
When a controller command has been transmitted via C00002 and the supply
voltage is to be switched off, first check via C00002 that the controller command
has been completed successfully, see C00002/11 (save parameter set). This
particularly applies to controller commands used for saving data in the memory
module of the device. If the saving process cannot be completed successfully,
data inconsistency can occur in the memory module.
 Tip!
Many frequently required controller commands (e.g. "Save start parameters") can
be executed via the toolbar icons of the »Engineer«.
 Note!
Controller commands that can be executed via the toolbar of the »Engineer«
always affect the element currently selected in the Project view including all
subelements.
• If no controller, but e.g. a system module is selected in the Project view, the
corresponding controller command (e.g. load parameter set ) will be
activated in all lower-level controllers having an online connection with the
»Engineer«.
For the commands described in the following subsections, the controller must
be selected in the Project view.
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Controller commands
4.3.2 Overview of controller commands
C00002 Information Static/

comman
Subcode Controller command
d
1 Load Lenze setting Load Lenze setting ( 69) CINH
2...5 Reserved -
6 Load all parameter sets CINH
7...10 Reserved -
11 Save all parameter sets -
12...15 Reserved -
16 Enable controller Setting/removing the controller inhibit -
( 81)
17 Activate quick stop Activation/deactivation of quick stop -
function (QSP) ( 82)
18 Reserved -
19 Reset error Reset of error message ( 301) -
20 Reserved -
21 Delete logbook Logbook ( 292) -
22 Reserved -
23 Identify motor parameter CINH
24 Reserved -
25 Reserved -
26 CAN reset node -
27...32 Reserved -
[4-2] Overview of controller commands, "CINH": controller must be inhibited
4.3.3 Status display for controller commands (in preparation)
For almost all controller commands, the status is displayed under C00002, e.g. whether the
controller command has been executed successfully or an error has occurred during the
execution. If an error has occurred (i.e. C00002 provides the value "4" ---> Failed on
readback), you can read out the parameter 3 for detailed error diagnosis.
C00003 shows the status of the device command carried out last.
 The controller commands which support the status display via C00002 can be obtained
from the table in the previous chapter "Overview of controller commands" (see column
"Static / command").
 The content of C00003 remains unchanged if a controller command does not support
the status display.
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Controller commands
4.3.4 Load Lenze setting
This controller command resets the parameter settings to the Lenze setting. All parameter
changes get lost.
 Only possible when the controller is inhibited.
 This controller command has an effect on the settings of the parameters of the
operating system, application and module.
 How to load the Lenze setting:

1. Click the icon to set the controller inhibit.
• A confirmation prompt is displayed asking you if the controller should really be
inhibited.
2. Confirm confirmation prompt with Yes to continue the action.
3. Execute device command C00002/1 = 1: "On / Start".
4.3.5 Saving the parameter set
Controller parameter changes made via the »Engineer« or keypad will get lost after mains
switching of the controller unless the settings have been explicitly saved with the
corresponding controller command in the memory module of the controller.
 How to save all parameter sets safe against mains failure in the memory module:
Execute device command C00002/11 = 1: "On / Start".
4.3.6 Loading the parameter set
Activation of this controller command reloads all parameters from the memory module
into the controller. All parameter changes made since the last saving of the parameter set
will get lost.
 Only possible when the controller is inhibited
 This controller command has an effect on the settings of the parameters of the
operating system, application and module.
 How to reload the starting parameters from the memory module:

1. Click the symbol to inhibit the controller and stop the application currently
running.
• A confirmation prompt is displayed asking you if the controller should really be
inhibited and the application currently running should be stopped.
2. Confirm confirmation prompt with Yes to continue the action.
3. Execute controller command C00002 / 6 = "1", Load all parameter sets.
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System block "LS_DriveInterface"
4.4 System block "LS_DriveInterface"
The system block LS_DriveInterface displays the drive control DCTRL in the FB editor.
LS_DriveInterface ?
DriveCommands wStateDetermFailNoLow
}
C00002/17
C00002 / 16 QSP
C00002 / 17 Bit 2 { 1 11 wStateDetermFailNoHigh
C00002 / 19
.........
Disable 10 0 bInit
2 Bit1 { bSafeTorqueOff
1
wCanControl bReady
3 C00002/16 3 8 bReadyToSwitchOn
14
Bit3 { bOperationEnable
Bit 15 0 7 CINH bWarning
2 bTrouble
1
4 5 bFault
wMciControl Fail-
3 bSystemFail
{ SET
14 Bit14 bSafetyIsActive
Bit 15 0 7 bImpIsActive
7 9
C00002/19 Fail- bCInhIsActive
RESET bCwCcw
Bit7 { bNactCompare
X5/28
bCInh
bFailReset
Status
bStatus_Bit0
0
PowerDisabled 1
bStatus_Bit2
2
bStatus_Bit3
3
bStatus_Bit4
4
bStatus_Bit5
5
ActSpeedIsZero 6
ControllerInhibit 7
StatusCodeBit1 8 wDeviceStatusWord
StatusCodeBit2 9
StatusCodeBit3 10
StatusCodeBit4 11
Warning 12
Message 13
bStatus_Bit14
14
bStatus_Bit15
15
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Inputs
Identifier Information/possible settings

DIS code | data type
wCANControl Control word and status word of the controller ( 73)

C00136/1 | WORD The controller controlled by a higher-level control (e.g. IPC) receives its control word
via the CAN bus (connection to plug connector X1). The process data word is
provided at this input by the upstream port block LP_CanIn1.
For a detailed description of the individual control bits, see below.
wMCIControl Control word via communication module (e.g. PROFIBUS)
WORD The controller controlled by a higher-level control (e.g. IPC) receives its control word
via an attached communication module. The process data word is provided at this
input by the upstream port block LP_MciIn1.
For a detailed description of the individual control bits, see below.
bCInh Setting/removing the controller inhibit ( 81)
C00833/36 | BOOL
True The controller is set to the SwitchedON state.
False The controller is set to the OperationEnabled state.
bFailReset Reset of error message ( 301)
C00833/37 | BOOL
True The current error is reset.
False The current error is not reset.
bStatus_Bit0 Freely assignable bit positions of the controller's status word.
bStatus_Bit2 You can use these bit positions for returning information to the higher-level control
bStatus_Bit3 (e.g. IPC).
bStatus_Bit4
bStatus_Bit5
bStatus_Bit14
bStatus_Bit15
C00833/38 ... 44 | BOOL
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Outputs
Identifier Value/meaning
wDeviceStatusWord Control word and status word of the controller ( 73) , based on DSP-402
C00150 | WORD The status word contains all information required for controlling the controller. The
process data word is sent to the higher-level control via a port block:
• port block LP_CanOut1 for use of the on-board CAN or
• port block LP_MciOut1 for use of an attached communication module .
wStateDetermNoLow Display of the state-determining error (low)
WORD
wStateDetermNoHigh Display of the state-determining error (high)

WORD
*) all BOOL True State control of the controller is in state:
bInit *) • Init
*)
bSafeTorqueOff • SafeTorqueOff
bReady *) • Ready
bReadyToSwitchOn *) • ReadyToSwitchON
*)
bOperationEnable • OperationEnable
bWarning *) • Warning
bTrouble *) • OperationEnable
bFail *) • Fault
*)
bSystemFail • SystemFail
bSafetyIsActive In preparation
bImpIsActive True Pulse inhibit is active
bCInhIsActive True Controller inhibit is active
bCwCcw True Motor rotates in CCW direction
bNactCompare For open-loop operation: speed setpoint = comparison value C00024
For closed-loop operation: actual speed value = comparison value
C00024
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Control word and status word of the controller
4.5 Control word and status word of the controller
The control word (C00136) and the status word (C00150) assignments depend on the
selected technology application (TA, C00005).
Overview
Control word for TA "Speed closed-loop control" ( 74)
Word Name Scaling

Input word w1 MainSetValue 16384 (214) ≡ 100 % (referred to C00011)
Status word for TA "Speed closed-loop control" ( 75)
Word Name Scaling

Output word w1 MotorSpeedAct 16384 (214) ≡ 100 % (referred to C00011)
Control word for TA "Table positioning" ( 76)
Word Name Scaling

Input word wIn2 SpeedOverride 16384 (214) ≡ 100 % (speed of active profile)
Input word dnIn34 PosProfilePosition 65535 (216) inc ≡ 1 revolution of motor shaft,
see position resolution C00125 ,
Status word for TA "Table positioning" ( 76)
Word Name Scaling

Output word wOut2 GPSignalOut1_a 16384 (216) ≡ 100 %
Output word dnOut34 SetPos_p
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Control word for TA "Speed closed-loop control"
Bit Function Lenze function Information

0 SwitchOn TRUE: OR operation between
Device state changes to wCANDriveControl_Bit0 and
SwitchON wMCIDriveControl_Bit0
At least one of the CAN or MCI control words

= TRUE, so that the device changes to the
SwitchOn state at switching on without a
higher-level control having to set this bit via
the fieldbus.
If control via a bus system is not wanted (e.g.

in the case of control via terminals), the
output signal wDriveCtrl of the LS_ParFix
block can be connected to the control word
inputs.
1 DisableVoltage TRUE: IMP pulse inhibit Inhibit inverter control (IMP)
2 SetQuickStop TRUE: QSP quick stop Execute quick stop (QSP)
3 Enable operation TRUE: controller enable Enable controller (RFR)
-->see bit 0, SwitchOn
For terminal control, the value "1" must be
set in both control words because otherwise
the controller will be inhibited.
4 ModeSpecific_1 Reserved Currently not assigned
5 ModeSpecific_2
6 ModeSpecific_3
7 ResetFault TRUE: TRIP reset Reset error (trip reset)
8 SetHalt TRUE: activate stop function Stop drive via stopping ramp (in preparation)
9 reserved_1 -
10 reserved_2 -
11 SetDCBreak TRUE: SetDCBreak DC injection brake
12 JogSpeed1 TRUE: JogSpeed1 Activation of fixed speed
13 JogSpeed2 TRUE: JogSpeed2 Activation of fixed speed
14 SetFail TRUE: SetFail Set error (trip set)
15 SetSpeedCcw TRUE: SetSpeedCcw CCW direction of rotation
[4-3] Controller control word for application "Speed closed-loop control"
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Status word for TA "Speed closed-loop control"
Bit Function Information

0 FreeStatusBit0 not assigned, freely usable
1 PowerDisabled Inverter control is inhibited (IMP)
3 FreeStatusBit3
4 FreeStatusBit4
5 FreeStatusBit5
6 ActSpeedIsZero Current speed < threshold value C00024
7 ControllerInhibit Controller inhibit is active
8 StatusCodeBit0 Status ID (bit-coded)
9 StatusCodeBit1 see table
Device states ( 57)
10 StatusCodeBit2
11 StatusCodeBit3
12 Warning Drive indicates device state: "Warning"
13 Trouble Drive indicates device state: "Trouble", e.g. with overvoltage
15 FreeStatusBit15
[4-4] Controller status word (C00150) for application "Speed closed-loop control"

0 Fail
1 M_max
2 I_max
3 PowerDisabled
4 Ready
5 ControllerInhibit
6 Trouble
7 InitState
8 CwCcw
9 TroubleQSP
10 SafeTorqueOff
11 ApplicationRunning
12 AplParSetBit0
13 AplParSetBit1
14 Quick stop
15 Motorpar. Ident.
[4-5] Extended status word 2, C00155 , of the controller for application "Speed closed-loop control"
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Control word for TA "Table positioning"
Bit Function Lenze function Information

0 MckOperationMode_1 Selection of operating mode of MotionControlKernel
1 MckOperationMode_2 Status ID (bit-coded), for assignment see
Control double word for activating the MotionControlKernels ( 416)
2 MckOperationMode_4
3 CINH TRUE: set controller inhibit
4 PosProfileNo_1 Selection of profile number
5 PosProfileNo_2 For assignment see
6 PosProfileNo_4
7 PosProfileNo_8
8 PosExecute TRUE: start positioning
9 EnableSpeedOverride TRUE: activate speed
override
10 HomeSetPosition TRUE: set home position
11 FailReset TRUE: reset error
12 ManJogNeg TRUE: activate fixed speed Activate CCW rotation or CW rotation in
(negative) "Manual jog"
13 ManJogPos TRUE: activate fixed speed ---> C01231
(positive)
14 not assigned
15 not assigned
[4-6] Controller control word for application "Table positioning"
Status word for TA "Table positioning"

0 DriveFail Fault is active
1 GPSignalOut1 General-purpose binary signal monitor
2 GPSignalOut2
3 CInhActive Controller inhibit is active
4 DriveReady Status: readiness for operation
5 DigitalInput5 Status of digital input 5
8 InTarget Position in target window reached, C01245
9 ProfileBusy Profile is being processed
10 HomePosAvailable Home position is available
11 SpeedActCompare Actual speed ≥ C00024
14 QSPIsActive Quick stop is active
15 not assigned
[4-7] Controller status word for application "Table positioning"
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Parameter setting
4.6 Parameter setting
The controller can be adapted to a specific task by means of parameters. There are different
ways to parameterise the controller:
 Keypad
 CAN on board
 Fieldbus communication (MCI interface)
 Diagnostic interface
Parameter identification
Each parameter has
 a parameter number which is unique within a drive system
 a parameter text
 specific attributes
– access type (read, write)
– data type
– limit values
– Lenze setting (factory-set scaling)
Division of the parameters into groups

The parameters are divided into the following function groups:
A. Setting parameters
Parameters for setting a device function, e.g. acceleration ramp, reference speed, max.
motor current
B. Configuration parameters
Parameters for setting signal flows (FB interconnection) in the device, e.g. connection
of the main setpoint to the analog input of the controller
C. Diagnostic parameters
Parameters for displaying device-internal process variables, e.g. the actual motor
voltage or the control word. The diagnostic parameters have the attribute: read only.
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Parameter setting
Changing of parameters
 Danger!
If you change configuration parameters, please observe that this causes the
device-internal signal flow to change immediately which could result in a
sudden change of setpoint sources (if, for instance, the signal source for the
main setpoint is configured).
This can lead to an undesired behaviour at the motor shaft.
Changing a parameter usually causes an immediate response of the controller.

The exceptions are certain controller commands, e.g. C00002/1 ("Load Lenze setting") or
settings which might cause a critical state of the drive behaviour, e.g. a change of the
actual speed value feedback configuration for closed-loop operation of the motor control.
Such parameter changes are only accepted if the controller is inhibited, otherwise an error
message is generated.
4.6.2 Saving of the parameters in the memory module
All parameters of the drive system are saved in the integrated memory module of the
controller. This includes
 the parameters of the controller
 the parameters of the communication module plugged into the MCI interface
 the parameters of the possibly existing safety module (device variant)
When the device is switched on, all parameters are automatically loaded from the memory
module into the main memory of the controller.
The memory module functions correctly even if the controller is fed by the external 24V
supply and the mains supply remains switched off.
In the event of a device replacement, the entire parameter data of an axis can be retained
by "taking along" the memory module, so that additional PC or keypad operations are not
required.
The controller is provided with one data set for all parameters, i.e. every setting and
configuration parameter has a value.
(In preparation: Several parameter sets per controller)
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Parameter setting
4.6.3 Handling of the memory module
In the delivery state, the Lenze setting of the parameters is stored in the memory module.
The following cases are distinguished regarding the handling:
• Delivery
– All devices are delivered with a plugged-on memory module.
– The memory module can be preconfigured with customer-specific data.
– The memory module is available as a spare part - without any data.
• During operation
– When the memory module is plugged on/off, a message is generated.
– Parameter sets can be saved manually.
– Parameter sets can be loaded manually
 Note!
Automatic saving is explicitly not supported because this significantly reduces
the service life of the memory module.
• Plugging off the memory module

– When the memory module is plugged off, an error message is generated. Therefore,
this should not be done during normal operation of the controller.
– Nevertheless, the memory module can be plugged off/on during operation. The
behaviour of the device remains basically unchanged because all parameters are
available in the RAM after the device has been started.
– The device can also be parameterised when the memory module has been plugged
off. Saving of the parameter sets to the memory module then, of course, is not
possible.
• Replacement of the controller
If the controller has to be replaced, observe the versions of the devices. Generally, the
following applies:
– Before the data are transferred, the version is checked.
– Parameter sets of devices with V 1.0 can be processed on devices ≥ V 1.0
(downward compatibility).
– An error message is generated if the parameter set versions of the two devices are
not compatible.
– Parameters of a higher device version are not supported on devices with a lower
version.
– Parameter sets of a device with less functions (e.g. 8400 StateLine) can be loaded and
executed in devices with more functions (e.g. 8400 HighLine). The reverse is not
possible!
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Parameter setting
4.6.4 Non-volatile saving of parameters
 Note!
Please observe the following points during the saving process to avoid data
inconsistency, which could cause an error when loading the parameters from
the memory module:
• Do not switch off the supply voltage.
• Do not pull off the memory module from the device.
To save changed parameters permanently (i.e. safe against mains failure), the controller
command C00002/11 must be called separately. This command copies all parameters
from the RAM of the device to the memory module.
This process may take some seconds.
The state of the saving process is indicated by the status of the corresponding controller
command C00002/11.
The controller command C00002/1 can be used to reset the controller to the Lenze setting
of the parameters (delivery state)
4.6.5 Parameter set transfer
The »Engineer« PC program can be used to
 save the parameter set to the memory module of the controller ,
 read the parameter set from the controller ,
 transfer the parameter set to the controller .
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Parameter setting
4.6.6 Parameters for status display
C00002 Controller command transmission and execution status
C00003 Status of the last device command
C00136/1 MCI control word
C00136/2 CAN control word
C00137 Device state
C00150 Status word
C00155 Status word 2
C00158 Cause of controller inhibit (CINH)
C00159 Cause of quick stop
C00165/1 Status-determining error as numeric text
C00165/2 Current error as numeric text
C00166/1 Error type, status-determining
C00166/2 Subject area, status-determining
C00166/3 Error ID, status-determining
C00166/4 Error type, current
C00166/5 Subject area, current
C00166/6 Error ID, current
C00168 Status-determining error (display of 32-bit number)
4.6.7 Setting/removing the controller inhibit
Setting the controller inhibit inhibits the power output stages in the controller and resets
the speed/current controllers of the motor control.
 When the controller is inhibited, the status output bCInhActive of the system block
LS_DriveInterface is set to TRUE.
 The controller can be inhibited by different sources, e.g. using the digital input RFR, the
bCInh input of the LS_DriveInterface system block or via the "Inhibit controller"
controller command (C00002/16 = "0").
 The bit code under C00158 shows the source that inhibited the controller.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 81

Activation/deactivation of quick stop function (QSP)
4.7 Activation/deactivation of quick stop function (QSP)
When the quick stop function is activated, it

 disconnects the motor control from the selected setpoints and brakes the motor to
standstill (nact = 0) along the quick stop ramp (C00105).
 holds the motor at standstill (only at closed-loop operation)
 sets the pulse inhibit (CINH) if the auto-DCB function has been activated via C00019.
Activation of the quick stop function

The quick stop function can be activated by different signal sources:
 Controller command C00002/17 , activate quick stop
 Bit 2 in the control word of the fieldbus communication (CANonboard / MCI) set to
TRUE
 Occurrence of a device error which is set to the "TroubleQSP" response type.
 Input signal at the LS_MotorInterface system block (motor control) set to TRUE.
 Tip!
The cause of a quick stop can be displayed via the parameter C00159.
82 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Motor control (MCTRL)
5 Motor control (MCTRL)

This chapter contains information on the internal motor control parameterisation of the
controller, i.e. this chapter describes:
 Control types and related signal flow diagrams
 Motor selection
 Motor parameterisation
 Optimisation of the internal control loops of the motor control.
See also: Parameterising the V/f characteristic control without feedback ( 90)
Parameterising V/f characteristic control with feedback ( 94)
Sensorless vector control (SLVC) ( 106)
Servo control (SC) ( 117)
Encoder evaluation ( 211)
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 83

Selection of the operating mode
5.1 Selection of the operating mode
The motor control process is defined with the selection of the operating mode, see C00006.
Different processes are available, which can be operated as follows regarding the speed
feedback:
V/f characteristic control (VFCplus) ( 88)
– Without speed feedback, VFCplus: linear V/f characteristic (C00006, value: 6)
– With speed feedback, VFCplus: linear V/f characteristic (C00006, value: 7)
– Without speed feedback, VFCplus: quadratic V/f characteristic (C00006, value: 8)
– With speed feedback, VFCplus: quadratic V/f characteristic (C00006, value: 9)
Sensorless vector control (SLVC) ( 106)
– Without speed feedback, sensorless vector control (C00006, value: 4)
Servo control (SC) ( 117)
– With speed feedback, field-oriented vector control (C00006, value: 2)
 Note!
In all operating modes, an influence can be exercised on the torque via two
process signal inputs:
• V/f characteristic control (VFCplus)
Indirect influence via the effect on the Imax controller through
– nTorqueMotLim C00728/1: Limitation of the torque in motor mode
– nTorqueGenLim C00728/2: Limitation of the torque in generator mode
• Sensorless vector control ("SLVC") and servo control ("SC")
Direct influence on the torque-generating current component through
– nTorqueMotLim C00728/1: Limitation of the torque in motor mode
– nTorqueGenLim C00728/2: Limitation of the torque in generator mode
84 L Firmware 02.00 - DMS EN 3.0 - 05/2009

V/f characteristic control (VFCplus)

The V/f characteristic control (VFCplus) is an operating mode for standard frequency
inverter applications based on a simple and robust control process which is suitable for the
operation of machines with linear or square-law load torque characteristic (e.g. fans).
Furthermore, this operating mode is also suitable for group drives and special motors. Due
to the low parameterisation effort, commissioning of such applications is fast and easy.
The parameters required for optimising the drive behaviour C00016 (Vmin) and C00021
(slip compensation) are dimensioned for machines with power adaptation to the inverter
in the Lenze setting .
If a feedback of the speed is used, the V/f characteristic control (VFCplus) can be provided
with an additional slip regulator which dynamically adapts the actual speed value to the
speed setpoint.
Field-oriented vector control

The field-oriented vector control (SLVC) is based on a decoupled, separate control of the
torque-generating and the field-generating current component. The actual speed is
reconstructed via a motor model so that there is no speed encoder required. Compared to
the V/f characteristic control, improved drive characteristics are achieved with the field-
oriented vector control. These in particular include
 a higher maximum torque across the entire speed range
 a higher speed accuracy
 a higher concentricity factor
 a higher efficiency
 the implementation of an operation with torque-actuating drive
 the limitation of the maximum torque in motor and generator mode for speed-
actuated operation
 Tip!
If a high torque without feedback is to be provided at small speeds, we recommend
the "Vector control" operating mode.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 85

As shown in the following graphics, the drive systems with feedback have, independently
of the operating mode, more advantages than systems without feedback.
V/f characteristic control (VFCplus) without feedback V/f characteristic control (VFCplus) with feedback
M M
1 0 1 0
MN MN
-nN nN n -nN nN n
-MN -MN
2 3 2 3
9300vec092 9300vec093
 Operation in motor mode (CW rotation),  Operation in generator mode (CCW rotation),  Operation in motor
mode (CCW rotation),  Operation in generator mode (CW rotation)
Sensorless vector control (SLVC) Servo control (SC)
M M
1 0 1 0
MN MN
-nN nN n -nN nN n
-MN -MN
2 3 2 3
9300vec095 9300vec094
 Operation in motor mode (CW rotation),  Operation in generator mode (CCW rotation),  Operation in motor
mode (CCW rotation),  Operation in generator mode (CW rotation)
86 L Firmware 02.00 - DMS EN 3.0 - 05/2009

To ease the selection of the operating mode (C00006), the two following tables contain
recommendations and alternatives to standard applications.
Application Recommended Alternatively

Single drives
With constant load VFCplus: V/f linear SLVC
With extremely alternating loads VFCplus: V/f linear SLVC
With high starting duty SLVC VFCplus: V/f linear
Torque limitation SLVC -
With torque limitation (power control) VFCplus: V/f linear SLVC
Three-phase reluctance motor VFCplus: V/f linear -
Three-phase sliding rotor motor VFCplus: V/f linear -
Three-phase AC motors with permanently assigned VFCplus: V/f linear -
frequency/voltage characteristic
Pump and fan drives with quadratic load characteristic VFCplus VFCplus or SLVC
(square-law V/f
characteristic)
Simple hoists VFCplus: V/f linear -
Group drives (several motors connected to controller)
Identical motors and loads VFCplus: V/f linear -
Different motors and/or alternating loads VFCplus: V/f linear -
[5-1] Standard applications without speed feedback
Application Recommended Alternatively

Single drives
With constant load SC VFCplus / SLVC
With extremely alternating loads SC VFCplus / SLVC
With high starting duty SC VFCplus / SLVC
With speed control (speed feedback) SC VFCplus
With high dynamic performance e.g. for positioning and SC -
infeed drives
Torque limitation SC SLVC
With torque limitation (power control) - -
Winder with dancer position control SC VFCplus
Unwinder with dancer position control SC VFCplus
Three-phase reluctance motor - -
Three-phase sliding rotor motor - -
Three-phase AC motors with permanently assigned - -
frequency/voltage characteristic
Pump and fan drives with quadratic load characteristic - -
Simple hoists VFCplus: V/f linear -
Group drives (several motors connected to controller)
Identical motors and loads VFCplus -
Different motors and/or alternating loads - VFCplus
[5-2] Standard applications with speed feedback
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 87

5.1.1 V/f characteristic control (VFCplus)
 Stop!
• The following must be observed when operating drives with quadratic V/f
characteristic:
– Please always check whether the corresponding drive is suitable for
operation with a quadratic V/f characteristic!
– If your pump or fan drive is no suitable for operation with a quadratic V/f
characteristic, you either have to use the V/f characteristic control with a
linear V/f characteristic, or select the SLVC operating mode (sensorless
vector control) and SC (servo control).
• For adjustment, observe the thermal performance of the connected
asynchronous motor at low output frequencies.
– Usually, standard asynchronous motors with insulation class B can be
operated for a short time with their rated current in the frequency range 0
Hz ≤ f ≤ 25 Hz.
– Contact the motor manufacturer to get the exact setting values for the
max. permissible motor current of self-ventilated motors in the lower
speed range.
– If you select the quadratic V/f characteristic, we recommend to set a lower
Vmin.
• The nameplate data of the motor (at least rated speed and rated frequency)
must be entered if, instead of a standard motor, an asynchronous motor is
used with the following values:
– rated frequency ≠ 50 Hz (star) or
– rated frequency ≠ 87 Hz (delta) or
– number of pole pairs ≠ 2.
88 L Firmware 02.00 - DMS EN 3.0 - 05/2009

The following illustration shows the structure of the control system in a simplified
manner; for the complete representation see Signal flow ( 159).
Imax controller Slip compensation
nStatorCurrentIS_a
C00054 Vp:C00073/1 Slipcomp
TN:C00074/1 C00021
Imax Mot:C00022
Imax Gen :C00023
Motor slip model nMotorFreqAct_a
C00058
nSpeedSetValue_a Characteristic Modulator

C00830/22 selection
fMod
nmax: fmax:
C00909/1 /2 C00910/1 /2
fbase: C00015
%
Vmin: C00016
Hz
Vset
nEffSpeedSetValue_a
C00050
[5-3] Signal flow diagram of the V/f characteristic control (VFCplus)
In case of the V/f characteristic control (VFCplus), the motor voltage of the inverter is
determined by means of a linear or quadratic characteristic depending on the field
frequency or motor speed to be generated. The voltage follows a preselected characteristic.
Uout Uout
100 % 100 %
Umin Umin
0 0
0 1 n 0 1 n
nN nN
8400vec085 / 8400vec086
[5-4] Principle of a linear and quadratic V/f characteristic
Generally, two different characteristic shapes can be defined:

 Linear V/f characteristic for drives with a constant and speed-independent load torque
 Quadratic characteristic for drives with a load torque increasing quadratically with the
speed. Quadratic V/f characteristics are mainly used in centrifugal pumps and fan
drives.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 89

5.1.1.1 Parameterising the V/f characteristic control without feedback
Overview of the relevant parameters
C00006 Selection of the operating mode for V/f characteristic control without
feedback with
• value "6" for linear characteristic or
• value "8" for quadratic characteristic
C00011 Reference speed
C00015 Base frequency
C00016 Vmin boost
C00018 Switching frequency
C00021 Slip compensation
C00022 Current limit (in motor mode)
C00023 Current limit (in generator mode)
C00073/1 Imax current controller gain
C00074/1 Imax current controller reset time
C00080 Override point of field weakening function
C00909/1 /2 Maximum positive / negative speed
C00910/1 /2 Maximum positive / negative output frequency
 How to parameterise the V/f characteristic:

1. Select the operating mode "V/f characteristic control" with corresponding
characteristic shape C00006.
2. When using an asynchronous motor which deviates from the standard motor,
having a different rated frequency than 50 Hz (star) or 87 Hz (delta) or a different
number of pole pairs than 2:
• Enter nameplate data of the motor (at least rated speed and rated frequency)
3. If required, adapt the base frequency of the V/f characteristic C00015
4. If required, rise the V/f characteristic by Vmin C00016
See also: Setting the V/f base frequency ( 91)

Setting Vmin boostn ( 92)
Parameterising V/f characteristic control with feedback ( 94)
90 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Setting the V/f base frequency

The V/f base frequency determines the slope of the V/f characteristic and has considerable
influence on the current, torque, and power performance of the motor.
– The setting in code C00015 applies to all permitted mains voltages.
– Mains fluctuations or fluctuations of the DC-bus voltage (operation in generator
mode) do not need to be considered when the code is set. They are automatically
compensated by the internal mains voltage compensation of the device.
– Depending on the setting of C00015, it may be required to adapt the reference speed
C00011 to pass the total motor speed range.
– The V/f base frequency is automatically calculated from the stored motor nameplate
data by the motor parameter identification:
• Ufrequency inverter:
U FU [ V ]
C00015 [ Hz ] = -------------------------- ⋅ f Nenn [ Hz ] – Frequency inverter 400 V
U NMot [ V ]
– Frequency inverter 230 V
• Uratedmot: Rated motor voltage depending on the
connection method
• frated: Rated motor frequency
Typical values for the V/f base frequency C00015:
Frequency inverter 400 V Frequency inverter 230 V

Motor Motor Motor C00015 Motor Motor Motor C00015
voltage [V] frequency connection voltage [V] frequency connection
[Hz] [Hz]
230 / 400 50  50 Hz 230 50  50 Hz
220 / 380 50  52,6 Hz 220 / 380 50  52,3 Hz
280 / 480 60  50 Hz
400 / 690 50  50 Hz
400 50
230 / 400 50  87 Hz
280 / 480 60
400 87
220 / 380 50  90,9 Hz
 Note!
4-pole asynchronous motors which are designed for a rated frequency of f = 50
Hz in star connection can be operated in delta connection when being constantly
excited up to f = 87 Hz.
• Advantages:
– Higher speed-setting range
– 73% higher power output in case of standard motors
• Motor current and motor power increase by the factor 3 .
• The field weakening range starts above 87 Hz.
• Generally, this process can also be used with motors which have different
numbers of pole pairs. In case of 2-pole asynchronous motors, the mechanical
limit speed must be maintained.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 91

Setting Vmin boostn
The Vmin boost C00016 of the motor voltage

 serves to select a magnetising current required for asynchronous motors
independently of the load.
 is effective for output frequencies below the V/f base frequency
 optimises the torque behaviour of the motor.
The general linear and quadratic V/f characteristics are shown in the following
illustrations. The illustrations show the impacts of the parameters used to adapt the
characteristic shape.
V out [V] 1/N/PE AC 264 V V out [V]

3/PE AC 264 V 1/N/PE AC 264 V
3/PE AC 550 V 3/PE AC 264 V
3/PE AC 550 V
V rmot V rmot
(100 %) (100 %)
1/N/PE AC 180 V 1/N/PE AC 180 V
3/PE AC 100 V 3/PE AC 100 V
3/PE AC 320 V 3/PE AC 320 V
C00016 C00016
C00016
2
C00015 C00015 f [Hz] C00015 f [Hz]
2
[5-5] Representation of the linear V/f characteristic (on the left) and quadratic V/f characteristic (on the right)
 How to adjust the Vmin boost:

1. Operate motor in idle state at approx. 6 % of the rated motor speed.
2. Increase Vmin until the following motor current is reached:
• Motor in short-time operation up to 0.5 nrated
with self-ventilated motors: Imotor ≈ Irated motor
with forced-ventilated motors: Imotor ≈ Irated motor
• Motor in continuous operation up to 0.5 nrated
with self-ventilated motors: Imotor ≈ 0.8 Irated motor
with forced-ventilated motors: Imotor ≈ Irated motor
 Note!
Vmin is automatically calculated by the motor parameter identification using the
data specified on the motor nameplate so that a no-load current of approx. 0.8
Irated motor results at the slip frequency of the machine.
92 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Subsequent optimisation of the V/f characteristic control (VFCplus)

The V/f characteristic control (VFCplus) is generally ready for operation. It can be adapted
subsequently by adapting the characteristic and/or the drive behaviour.
 Adaptation of the characteristic
– Each of the three characteristic shapes can be adapted to different load profiles or
motors via several parameters, see e.g. C00015, base frequency or C00016, Vmin
boost.
 Adaptation of the drive behaviour
– Limitation of the maximum current by a current controller (e.g. to prevent the motor
from stalling or to limit to the maximally permissible motor current)
– Adaptation of the field frequency by a load-dependent slip compensation (improved
speed accuracy for systems without feedback)
– Adaptation of the controller parameters of the slip regulator with a V/f characteristic
control with feedback
Only the following drive behaviour requires an optimisation of the V/f characteristic
control:
Drive behaviour Remedy

Bad smooth running with low speeds, especially in case Carry out motor identification
of operation with long motor cable
Problems in case of high starting duty (great mass Adapt Vmin boost C00016
inertia) • Set the code so that a 0.8 ... 1-fold rated motor current
flows with controller enabled and 5 ... 10% of the
rated speed.
The drive does not follow the speed setpoint. The current controller intervenes in the set field
frequency to limit the controller output current to the
maximum current (C0022, C0023). Therefore
• increase acceleration time / deceleration time
C00012, C00013
• consider a sufficient magnetising time of the motor.
Depending on the motor power, the magnetising
time amounts to 0.1 ... 0.2 s
• increase permissible maximum current (in motor
mode, in generator mode) C00022 C00023
For operation without speed feedback (C00006 = 6): • Increase slip compensation C00021 .
Insufficient speed constancy at high load (setpoint and Important: unstable drive due to overcompensation!
motor speed are not proportional any more) • With cyclic load impulses (e. g. centrifugal pump), a
smooth motor characteristic is achieved by smaller
values in C00021 (possibly negative values)
Note: The slip compensation is only active for operation
without speed feedback.
Error messages "Clamp operation active" (OC11), • Increase the gain of the Imax controller C00073/1
controller cannot follow dynamic processes, i.e. • Reduce the integral-action time of the Imax controller
acceleration or deceleration times are too short C00074/1
regarding the load conditions • Increase the acceleration time C00012
• Increase the deceleration time C00013
Motor stalling in the field weakening range (adaptation • Decrease override point of field weakening range
required especially for small machines) C00080
• If motor power < inverter power:
Set C00022 to Imax = 2 Irated motor
• Reduce dynamic performance of setpoint generation
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 93

5.1.1.2 Parameterising V/f characteristic control with feedback

The V/f characteristic control (VFCplus) can be operated with a speed feedback. This has
the following advantages:
 Steady-state accuracy of the speed
 A low parameterisation effort compared to the vector control SLVC
 An improved dynamic performance compared to the V/f characteristic control without
feedback or to the sensorless vector control SLVC.
 Suitable for group drives
 Note!
• Ensure that the maximum input frequency of 100 kHz is not exceeded during
operation of the motor control with feedback. Frequency inputs ( 193)
• Since the slip in the V/f operation with feedback is calculated from the actual
speed value and the speed setpoint and injected by the slip regulator, the slip
compensation C00021 is deactivated in this operating mode because the slip
is measured and compensated during the V/f operation with feedback.
C00006 Selection of the operating mode for V/f characteristic control with feedback
with
• value "6" for operating mode: VFCplus, V/f linear characteristic, or
• value "8" for operating mode: VFCplus, V/f square-law characteristic
C00015 Base frequency
C00016 Vmin boost
C00073/1 Imax current controller gain
C00074/1 Imax current controller reset time
C00115/1 Function of digital inputs 1 and 2
C00420/1 Number of encoder increments, digital inputs 1 and 2
C00495 Speed sensor selection
C00496 Encoder evaluation method
C00497/1 Encoder filter time for digital inputs 1 and 2
C00971 /1 /2 Controller limitation / slip limitation
C00972 (Slip regulator) gain Vp of the Imax controller
C00973 (Slip regulator) reset time Ti of the Imax controller
94 L Firmware 02.00 - DMS EN 3.0 - 05/2009

 How to parameterise the V/f characteristic control (VFCplus) with feedback:

1. If required, adapt the base frequency of the V/f characteristic C00015
2. If required, rise the V/f characteristic by Vmin C00016
3. Set dynamic behaviour of the slip regulator designed as PI controller via the slip
regulator gain C00972 and the slip regulator reset time C00973.
4. Limit the maximum intervention of the slip regulator, C00971, subcode 1 (slip
regulator output limitation).
5. If required, limit the maximum slip, C00971, subcode 2.
 Note!
For V/f characteristic control (VFCplus) with speed feedback, we recommend a
considerably lower increase of the V/f characteristic by Vmin C00016.
Vmin should be dimensioned so that approximately 50% of the rated motor
current flows at slip frequency in idle state.
See also: Setting the V/f base frequency ( 91)

Setting Vmin boostn ( 92)
Setting and optimisation of the slip regulator ( 98)
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 95

Simplified signal flow diagram

The following illustration shows the structure of the control system in a simplified
manner;
for the complete representation see Signal flow ( 159).
nTorqueMotLim_a
C00830/28
nTorqueGenLim_a
C00830/29
nMotorTorqueAct_a
C00056/2 bLimTorqueSetVal
0
Imax controller
1
Imax Mot:C00022
Vp:C00073/1
Imax Gen:C00023
TN:C00074/1
nStatorCurrentIs
C00054
bLimCurrentSetVal
bLimSpeedCtrlOut
nMotorSpeedAct [Hz]
nmax:C00909/1 /2 + C00971/2
nSpeedSetValue_a %
C00830/22 Hz
nEffSpeedSetValue_a Slip regulator fmax:C00910/1 /2

C00050
KP C00972 C00971/1
TN C00973 nMotorFreqAct_a
C00058
V/f characteristic Modulator

nSpeedCtrlISet
fMod
C00830/24
bSetSpeedCtrl
C00833/31 fbase : C00015
nCtrlSpeedPAdapt_a Vmin : C00016
C00830/25
bSetCtrlSpeedPAdapt
Vset
nMotorSpeedAct_a %
C00051 Hz
[5-6] Signal flow of the V/f characteristic control (VFCplus) with feedback
96 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Commissioning of the V/f characteristic control (VFCplus) with feedback

In order to protect the drive system, the commissioning of the slip regulator and the V/f
characteristic control operation with feedback has to be carried out in several steps.
1. Set the V/f characteristic (C00015, C00016). For special motors with a rated frequency
differing from 50 Hz or a number of pole pairs ≠ 2, the nameplate data have to be
entered.
2. Select the operating mode C00006 "V/f characteristic control with feedback" (linear or
quadratic characteristic) and deactivate the slip regulator (C00971/1 = 0)
3. Parameterise the speed feedback
4. Select a speed setpoint (e.g. 20% of the rated speed) and enable the controller
5. Check that the actual speed value (C00051) has approximately the same value as the
speed setpoint (C00050). In case of a sign reversal between setpoint and actual value,
check the connection of the encoder (e.g. changing of tracks A / B of the encoder or
inversion of the actual speed value). In case of large deviations between actual speed
value and speed setpoint (factor 2), set the controller inhibit and enter the nameplate
data of the motor. Then repeat step 5.
6. To protect the drive, set a low manipulating variable limitation for the slip regulator
C00971/1 (e.g. half the slip frequency, 2 Hz)
7. Select a speed setpoint (e.g. 20% of the rated speed) and enable the controller
8. In the case of semi-stable operational performance, reduce the reset time C00972 or
the proportional gain C00973 until the drive runs stable again.
Setting and optimisation of the slip regulator ( 98)
9. Finally, adapt the manipulating variable limitation of the slip regulator C00971/1 (e.g.
increase to double the slip frequency)
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 97

Setting and optimisation of the slip regulator

The slip regulator is designed as PI controller. To improve the response to setpoint changes,
the setpoint speed or setpoint frequency is added as feedforward control value to the
output (manipulating variable) of the slip regulator. Compared to the conventional speed
controller, the slip regulator only compensates the slip.
In the Lenze setting, the configuration of the slip regulator provides robustness and
moderate dynamics.
The setting range of the slip regulator gain C00972, which leads to a stable operational
performance, mainly depends on the resolution of the speed sensor. There is always the
direct connection between encoder resolution and gain.
The higher the encoder resolution, the higher the gain can be set.
The table contains the maximum and recommended slip regulator gains for encoders with
common encoder increments:
Encoder increment Slip regulator gain

[Increment/revolution] maximum Recommended
8 0,09 0,06
64 0,52 0,31
100 0,79 0,47
120 0,94 0,57
128 1,00 0,60
256 1,29 0,77
386 1,63 0,98
512 1,97 1,18
640 2,31 1,38
768 2,65 1,59
896 2,99 1,79
1014 3,33 2,00
1536 4,69 2,81
2048 6,05 3,63
3072 8,77 5,26
4096 11,49 6,90
[5-1] Slip regulator gain with regard to encoder increments
98 L Firmware 02.00 - DMS EN 3.0 - 05/2009

 How to adapt the slip regulator gain C00972 to the operating conditions:
1. Adapt the code C00972 to the encoder increments according to the table [5-1].
2. Set code C00971, subcode 1, to half the slip frequency (= 2 Hz)
3. Select the speed setpoint
4. Enable controller
5. Increase C00972 until the drive is semi-stable (recognisable by motor noise / "hum" of
the motor or noise on the actual speed value signal)
6. Reduce C00972 until the drive runs stable again (no "hum" of the motor)
7. Reduce C00972 to approx. half the value
8. In case of low encoder resolutions, a reduction of C00972 for low speeds (speed
setpoint ≈ 0) might be required. We recommend to finally check the behaviour at
setpoint speed = 0 (in case of irregular running, C00972 must be further reduced).
9. Adapt code C00971/1 again (e.g. double the slip frequency).
 How to set the slip regulator time constant C00973:

1. Set code C00971, subcode 1, to half the slip frequency (≈ 2 Hz)
2. Select the speed setpoint
3. Enable controller
4. Reduce C00973 until the drive is semi-stable (recognisable by motor noise / "vibration"
of the motor or oscillations on the actual speed value)
5. Increase C00973 until the drive runs stable again (no "vibration" of the motor)
6. Increase C00973 to approx. double the value
7. Adapt code C00971/1 again (e.g. double the slip frequency).
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 99

Setting of the slip regulator manipulating variable limitation C00971

The max. intervention of the slip regulator is limited via the slip regulator manipulating
variable limitation. Depending on the application, the limitation can be made here. We
recommend to limit the maximum intervention to double the rated slip of the motor. The
rated slip is calculated as follows:
n Motor [ rpm ]
f Schlupf [ Hz ] = f Nenn [ Hz ] – ⎛ -------------------------------------------
Nenn
- ⋅ p Polpaarzahl⎞
Nenn ⎝ 60 ⎠
The setting of C00971, subcode 1 = 0 deactivates the slip regulator. In this case, the
structure of the operating mode corresponds to the structure of the V/f characteristic
control without feedback.
Setting of the maximum slip C00971/2

In addition to the limitation of the slip regulator, the field frequency to be injected can be
limited by another limiting element.
When the maximum slip is limited, e.g. to twice the rated slip of the motor, you can prevent
a stalling of the motor during very dynamic processes. Motor stalling can occur due to
 a high overcurrent at very steep speed ramps
 very fast speed changes caused by the load, e.g. abrupt stopping of the drive since being
travelled against a limit stop or a standing load.
100 L Firmware 02.00 - DMS EN 3.0 - 05/2009

5.1.1.3 Optimising the operational performance via slip compensation
 Note!
The slip compensation C00021 is only active in the V/f characteristic control
operating mode without feedback and SLVC (sensorless vector control) (C00006
= 4, 6, 8).
Under load, the speed of an asynchronous machine decreases. This load-dependent speed
drop is called slip.
The slip can be partly compensated by setting C00021 accordingly.
 The setting can be made automatically by entering the calculated value into code
C00021 during the motor parameter identification.
 The setting must be made manually when the motor parameter identification cannot
be called up.
 This is how the slip compensation and the Vmin boost are entered automatically:
1. Prepare the motor parameter identification by setting the following data taken
from the motor nameplate:
• Rated motor power C00081
• Rated motor speed C00087
• Rated motor current C00088
• Rated motor frequency C00089
• Rated motor voltage C00090
• Motor cos ϕ C00091
2. Carry out the motor parameter identification
Automatic motor parameter identification ( 140)
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 101

 How to set the slip compensation manually:

1. Calculate the slip compensation from the data of the motor nameplate:
s Slip constant C00021 [%]
n rsyn – n r
s = ------------------------- ⋅ 100% nrsyn Synchronous motor speed [rpm ]
n rsyn
nr Rated motor speed according to the motor
f r ⋅ 60 nameplate [rpm ]
n rsyn = --------------
- fr Rated motor frequency according to the
p
motor nameplate [Hz]
p Number of motor pole pairs (1, 2, 3 ..)
[5-2] Calculation of the slip compensation from the motor data
2. Transmit the result to code C00021

3. When the drive is running, correct the code C00021 until no load-dependent speed
drop occurs anymore in the desired speed range between idle state and maximum
load of the motor. The guide value for a correctly set slip compensation is as
follows:
• Deviation from the rated motor speed ≤ 1% for the speed range of 10 % ... 100 %
of the rated motor speed and loads ≤ rated motor torque.
• Greater deviations are possible in the field weakening range
 Tip!
• If C00021 is set too high, the drive may get unstable.
• Negative slip (C00021 < 0) with V/f characteristic control results in "smoother"
drive behaviour at heavy load impulses or applications requiring a significant
speed drop under load.
102 L Firmware 02.00 - DMS EN 3.0 - 05/2009

5.1.1.4 Optimising the setting of the Imax controller
In the VFCplus operating mode (linear or quadratic V/f characteristic control with or
without speed feedback), the controller is provided with a current limitation control
defining the dynamic behaviour under load and counteracting an exceedance of a
maximum current in motor or generator mode. This current limit value control is referred
to as Imax control. The utilisation (motor current) that is measured is compared to the
current limit value set under C00022 for a load in motor mode and under C00023 for a load
in generator mode.
If the current limit values are exceeded, the controller changes its dynamic behaviour.
Motor overload during acceleration

The controller prolongs the acceleration ramp to keep the current on or below the current
limit.
Generator overload during deceleration

The controller prolongs the deceleration ramp to keep the current on or below the current
limit.
Increasing load with constant speed

 If the motor current limit value is reached:
– The controller reduces the effective speed setpoint until a stable working point is set
or an effective speed setpoint of 0 rpm is reached.
– If the load is reduced, the controller increases the effective speed setpoint until the
setpoint speed is reached or the load reaches the current limit value again.
 When the generator current limit value is reached:
– The controller increases the effective speed setpoint until a stable working point is
set or the maximally permissible speed or output frequency is reached C00909 /
C000910
– If the load is reduced, the controller decreases the effective speed setpoint until the
setpoint speed is reached or the load reaches the current limit value again.
 If a sudden load is built up at the motor shaft (e.g. drive is blocked), the overcurrent
disconnection may respond (fault message OC1 or OC11, see Error messages of the
operating system ( 298)).
The current limitation controller is factory-set so that the drive is stable. In the majority of
applications, an optimisation is not required. The setting of the current limitation
controller must be adapted if
 A power control runs with high moments of inertia.
Recommendation: Increase of the reset time of the Imax controller C00073/1
 Vibrations in the VFCplus operating mode with encoder during the operation of the
current limitation controller.
Recommendation: Increase of the reset time of the Imax controller C00073/1
 Overcurrent errors (e.g. OC3) occur due to load impulses or too high acceleration ramps.
Recommendation: Reduction of the ramp time and reset time in C00073/1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 103

5.1.1.5 Torque limitation for VFC (V/f characteristic control)
Imax controller /
nTorqueMotLim_a Evaluation torque limitation
C00830/28 torque limitation /
nTorqueGenLim_a current limitation
C00830/29
nMotorTorqueAct_a
0
1
Imax Mot:C00022
Vp:C00073/1
Imax Gen:C00023
TN:C00074/1
nStatorCurrentIs
C00054
nSpeedSetValue_a bLimCurrentSetVal
C00830/22 bLimSpeedCtrlOut
nmax:C00909 QSP
0
%
1
Hz
bNMaxFault
C00105
QSP Ramp
[5-7] Section of the signal flow chart V/f characteristic control with feedback ( 160)
The section Optimising the setting of the Imax controller ( 103) describes how the drive can
be protected against overload. The corresponding settings are selected during
commissioning and then remain unchanged.
The interaction with the plant or process requirements often require a torque limitation to
a lower value. To avoid an overload in the drive train, the torque can be limited with
nTorqueMotLim in motor mode and with nTorqueGenLim in generator mode.
For this, the actual torque (C00056/2) is directly calculated from the current slip speed of
the machine. This requires the correct entry of the motor data.
VFC (V/f characteristic control) without feedback

The accuracy of the torque limitation is limited because the actual torque (C00056/2) is
only calculated from the slip speed measured indirectly via the motor current.
104 L Firmware 02.00 - DMS EN 3.0 - 05/2009

VFC (V/f characteristic control) with feedback

The slip speed of the motor is available at the slip controller output. This leads to a high
accuracy for the actual torque (C00056/2) and the torque limitation.
 Note!
• To avoid instabilities during operation with active slip compensation, the
torque limit values are internally processed as absolute values. The following
values can be selected for
– nTorqueMotLim in a range between 0 and + 199.99 %
– nTorqueGenLim in a range between - 199.99 and 0 %
(100 % corresponds to the maximum torque C00057)
• When the slip compensation is deactivated (C00021 = 0), indirect torque
limitation will be used (differential signal between apparent motor current
and nTorqueMotLim or nTorqueGenLim). Above the no-load current of the
motor, the accuracy of the indirect torque limitation is limited.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 105

5.1.2 Sensorless vector control (SLVC) and servo control (SC)
 Stop!
• With SLVC, the connected motor may be maximally two power classes lower
than the motor assigned to the controller.
• With SC, we recommend to select a power-adapted combination of inverter
and motor.
• Operation with vector control is only permissible for a single drive.
• Operation of the sensorless vector control (SLVC) is not permissible for hoists.
• The Lenze setting enables the operation of a power-adapted motor for both
the SLVC and SC operating modes. An optimal operation can only be ensured
if you follow on of the following three entries:
– enter the selected motor via the Lenze motor catalogue or
– enter the motor nameplate data and carry out the motor parameter
identification or
– enter the nameplate data and equivalent circuit data of the motor (motor
leakage inductance and motor magnetising inductance, slip compensation
and stator resistance of the motor) manually.
• When you enter the motor nameplate data, take into account the phase
connection implemented for the motor (star or delta connection). Only enter
the data applying to the selected connection type.
• With SC, it is additionally required to parameterise the speed feedback.
 Tip!
Observe the representation of the signal flows to the vector controls
• SLVC: Signal flow ( 159)
• SC: Signal flow - servo control for asynchronous motor ( 162)
5.1.2.1 Sensorless vector control (SLVC)

The operating mode is based on the improved motor current control according to the FTC
procedure by Lenze.
In comparison to the V/f characteristic control without feedback, the following can be
achieved by means of sensorless vector control SLVC:
 the implementation of torque-actuated operation with speed limitation.
actuated operation
106 L Firmware 02.00 - DMS EN 3.0 - 05/2009

The sensorless field-oriented vector control can be operated in two different modes:
 Speed control with torque limitation (bTorqueModeOn = 0)
 Torque control with speed limitation (bTorqueModeOn = 1)
An optimal operation of the SLVC can be achieved from a minimum speed of approx. 0.5-
fold slip speed. At lower speed values below the 0.5-fold slip speed, the maximum torque
is reduced.
The maximum field frequency with the SLVC operating mode is 650 Hz.
Speed control with torque limitation

A speed setpoint is selected and the drive system is operated in a speed-controlled manner.
The operational performance can be adapted in the following ways:
 Overload limitation in the drive train:
The torque is limited by the torque setpoint. The torque setpoint is identical with the
value at the speed controller output nOutputSpeedCtrl. This is why the nTorqueMotLim
C00728/1 can be used to limit the torque in motor mode and nTorqueGenLim C00728/
2 can be used to limit the torque in generator mode to avoid an overload in the drive
train.
 Note!
To avoid problems caused by sign changes and an unstable operation, the torque
limit values nTorqueMotLim C00728/1 and nTorqueGenLim C00728/2 are
internally processed as absolute values. The max. torque in motor mode can
therefore effectively only be defined in a range from 0 … +199.99% and the max.
torque in generator mode only in a range from 0 ... -199.99..0%.
(100 % corresponds to the maximum torque C00057)
 Motor current limitation:

A cross current setpoint is generated from the torque setpoint (see above) which is
limited depending on the magnetising current, the max. current in motor mode
C00022 and the max. current in generator mode C00023. The total current injected in
the motor will not exceed the currents generated in motor and generator mode.
 Slip compensation:
The slip of the machine is reconstructed by means of the slip model. The influencing
parameter is the slip compensation C00021.
Torque control with speed limitation

For torque-controlled operation, a torque setpoint nTorqueAdd is defined for the drive
system. Contrary to the speed control with torque limitation (see above), speed controller
and torque limitation are deactivated for this application. The torque setpoint is directly
determined from nTorqueAdd. The speed is defined by the process. Due to the "limitation",
the torque-controlled drive can only run within a certain speed range, the positive speed of
which is limited by nSpeedHighLimit and the negative speed of which is limited by
nSpeedLowLimit.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 107

 Tip!
We recommend to use the flying restart function for connecting/synchronising the
inverter to an already rotating drive system.
C00006 Selection of the operating mode for V/f characteristic control without
feedback with
• value "6" for linear characteristic or
• value "8" for quadratic characteristic
C00057 Maximum torque
C00070/1 SLVC: Vp speed controller
C00071/1 SLVC: Ti speed controller
C00073/2 SLVC: Vp torque controller
C00074/2 SLVC: Ti torque controller
C00081 Rated motor power
C00082 Motor rotor resistance
C00083 Motor rotor time constant
C00084 Motor stator resistance
C00085 Motor stator leakage inductance
C00087 Rated motor speed
C00088 Rated motor current
C00089 Rated motor frequency
C00090 Rated motor voltage
C00091 Motor cosine phi
C00092 Motor magnetising inductance
C00095 Motor magnetising current
C00097 Rated motor torque
C00273 Total moment of inertia
C00275 Setpoint precontrol filtering
C00915 Motor cable length
C00916 Motor cable cross-section
C00917 Motor cable resistance
C00985 Feedforward control in the d-branch
C00986 Feedforward control in the q-branch
108 L Firmware 02.00 - DMS EN 3.0 - 05/2009

 How to set the sensorless vector control:

1. Set code C00006 to the value "4" for selecting the "sensorless vector control (SLVC)"
mode.
2. For the selection of the control mode, set the corresponding bit as follows:
• bTorqueModeOn = 0, for speed control with torque limitation
• bTorqueModeOn = 1,
for torque control with speed limitation
3. For the motor selection and parameterisation, the equivalent circuit data and the
nameplate data are required. Depending on the manufacturer of the motor used,
proceed as follows:
• Lenze motor
Select motor from the Engineer catalogue [A] or carry out
motor parameter identification [B] or [C]
• Third-party motor
Enter motor nameplate data [B] and
carry out motor parameter identification [C], or
directly enter known equivalent circuit data C00084, C00085 , C00092 , C00095
and nameplate data [B] and [D]
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 109

Selection and parameterisation of the motor

A. Select the motor from the Engineer motor catalog
Motor catalogue ( 139).
The data is transferred to the drive automatically
• If the Lenze motor is not listed there, continue with step [B].
B. Prepare the motor parameter identification by setting the following data taken from
the motor nameplate and specifying the motor cable:
• Motor cable length C00915
• Motor cable cross-section C00916
C. Carry out the motor parameter identification
The following parameters are identified and automatically transmitted to the
corresponding codes:
• Motor leakage inductance
• Motor magnetising inductance
• Motor stator resistance
• Motor rotor resistance
• Motor rotor time constant
• Magnetising current
• Motor cable resistance
D. Enter the nameplate data and the equivalent circuit data of the external motor:
• Motor rotor resistance C00082
• Motor stator resistance C00084
• Magnetising inductance C00092
• Leakage inductance C00085
• Magnetising current C00095
• Slip compensation C00021
The field-oriented sensorless vector control is now ready for operation.
110 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Optimising the sensorless vector control in the case of undesired drive behaviour
Drive behaviour Remedy

Deviation between no-load current and magnetising The magnetising inductance C00092 must be adapted
current or bad speed or torque accuracy. when the machine coasting. If the no-load current at 0.5-
fold rated motor speed is higher than the magnetising
current C00095, reduce the magnetising inductance
until the no-load current and the magnetising current
are equal. If not, increase the magnetising inductance.
+15 %
92
C00
0
-15 %
0,37 22 90 PN [kW]
Tendency of the correction of C00092

PN: Rated motor power
Insufficient speed constancy at high load (setpoint and Via C00021 (slip compensation) you can affect the speed
motor speed are not proportional any more) stability under high loads:
• If nact > nslip, reduce the value in C00021
CAUTION: • If nact < nslip, increase the value in C00021
An overcompensation of the settings mentioned under "
Remedy" can result in unstable behaviour!
Unstable control with higher speeds • Check value in C00092 by comparing the current
consumption in no-load operation with the rated
magnetising current C00095
• Optimise oscillation damping C00234
Error messages "Short circuit" (OC1) or "Clamp operation • Increase the gain of the torque controller C00073/2
active" (OC11) at short acceleration times C00012 in • Reduce the integral-action time of the torque
proportion to the load (controller cannot follow the controller C00074/2
dynamic processes). • Increase the acceleration time / deceleration time
C00012 / C00013
Mechanical resonances with certain speeds 1 The function block N_Nset_1 serves to suppress speed
ranges in which resonances occur.
Speed variations in no-load operation for speeds > 1/3 The oscillation damping minimises speed variations
rated speed C00234
• Drive runs unstable Check the equivalent circuit data of the motor and the
• Setpoint speed and actual speed deviate strongly nameplate data.
• The torque required is not generated at standstill. Increase the magnetising current of the motor C00095
• Current overshoots (OC1 or OC11 error) occur when
heavy loads are accelerated from standstill.
• The machine runs uneven
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 111

Optimising the starting behaviour after controller enable

When the controller is enabled, the magnetising of the motor leads to a start delay.
Under consideration of the motor rotor time constants under code C00083, the delay is
calculated as follows:
Magnetisation time = 1.5 ⋅ motor rotor time constant
If this delay cannot be tolerated for specific applications, the motor must always be
operated in an energised condition. For this, select one of the following options:
1. How to proceed without setting controller inhibit:
– Deactivate the Auto-DCB function with C00019 = 0
– Do not activate controller inhibit but use setpoint = 0 or the QSP function to
decelerate the drive to standstill.
2. How to proceed if the application requires controller inhibit to be set:
– Deactivate the Auto-DCB function with C00019 = 0
– Select a higher motor rotor resistance (max. factor 2!) under C00082 to reduce the
magnetisation time.
When starting, the short-term motor current rise may lead to a jerk in the machine!
112 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Optimising the dynamic performance and the field weakening behaviour for sensorless
vector control
In the Lenze setting, the torque controller is preset in such a way that a robust and stable
operation with moderate dynamic performance is possible within the entire speed range.
Optimising the controller parameters subsequently is not necessary.
A greater dynamic performance of the sensorless field-oriented vector control can be
achieved by reducing the time constant of the torque controller with C00074/2.
To achieve a better dynamic performance of the field weakening function, set the time
constant to C00074/2 ≤ 15 ms. With this setting, the torque/speed characteristic in the
field weakening range is improved for actual speeds above the rated speed:
M M
0 1
MN MN
nN n nN n
• For torque controller time constants T >15 ms (see ), the actual speed value slightly drops in the field
weakening range if the load torque increases in the motor mode.
• For torque controller time constants T ≤ 15 ms (see ), the speed remains stable in the field weakening range if
the torque is within the M/n characteristic field highlighted in grey.
[5-8] Speed / torque characteristic diagram in the field weakening range
 Tip!
For applications requiring a high dynamic performance and a high speed and
torque accuracy in the field weakening range, we recommend to set the time
constant of the torque controller to T ≤ 15 ms in C00074/2.
In this case, we recommend to limit the maximum torque to 1.5 x Mrated via
nTorqueMotLim C00728/1 and nTorqueGenLim C00728/2 to ensure stable
operation in the field weakening range.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 113

Optimising the speed controller setting

The speed controller is a PI controller. In the Lenze setting, the speed controller is
configured in such a way that it has a good robustness and a moderate dynamic
performance.
The selection values for the gain VPN of the speed controller C00070/1 are scaled which
makes the parameter setting almost independent of the power of the motor / inverter and
comparable:
MN
V PN = -------- [ % ]
nN
If the rated data of the motor and the mass inertia of the drive system are known, we
recommend the following setting:
TM [ s ] • VPN C00070/1:
V PN ≈ 1,5...3 ⋅ -------------------- Gain of the speed controller
0, 01 [ s ] • TM :
–1 Time constant for motor acceleration
2 ⋅ π ⋅ n N [ min ] 2 • M N:
T M [ s ] = -------------------------------------------- ⋅ J (Antrieb,gesamt) [ kgm ] Rated motor torque
M N [ Nm ] ⋅ 60
• n N:
Rated motor speed
P N [ W ] ⋅ 60
M N [ Nm ] = -------------------------------------------
- • Jdrive, total:
–1 Total moment of inertia of the drive
2 ⋅ π ⋅ n N [ min ]
 Tip!
Values recommended by Lenze for the setting of the (proportional) gain:
• for drive systems without feedback:
VPN = 6 … 25
• For drive system with good disturbance behaviour: VPN > 15
In this case you should optimise the dynamic performance of the torque
controller.
In addition to the controller's P component, code C00071/1 can be used to set the
integral action component of the PI controller.
Value range recommended by Lenze for the setting of the speed controller's time
constant:
τ = 20 ms … 150 ms.
114 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Optimising the reference behaviour and detecting the mass inertia

Setting the total moment of inertia under C00273 provides the optimum torque
feedforward control. Depending on the application, an adjustment of the setting under
C00273 may be necessary to optimise the response to position/speed setpoint changes by
means of the torque feedforward control.
Without feedforward control: C00273 set too low:
n, M n, M

t t
C00273 set too high: Optimum feedforward control:

n, M n, M

t t
n Actual speed value (signal nMotorSpeedAct)

o Speed setpoint (signal nMotorSpeedSet)
p Speed controller output (signal nOutputSpeedCtrl)
[5-9] Typical signal characteristics for different settings of the load moment of inertia
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 115

 How to optimise the torque feedforward control:

1. Run a typical speed profile and record the inputs and outputs of the speed
controller with the data logger (in preparation).
• Motor control variables to be recorded:
nMotorSpeedSet (speed setpoint)
nMotorSpeedAct (actual speed value)
nOutputSpeedCtrl (speed controller output)
To optimise the reference behaviour, the speed controller output
(nOutputSpeedCtrl), the speed setpoint and actual speed value must be observed.
2. Estimate the moment of inertia and set it under C00273 with regard to the motor
end (i.e. considering the gearbox factors).
3. Repeat the data logger recording (see step 1).
Now the data logger should show that part of the required torque is generated by
the feedforward control and the speed controller output signal (nOutputSpeedCtrl)
is correspondingly smaller. The resulting following error decreases.
4. Change the setting under C00273 and repeat the data logger recording until the
intended response to setpoint changes is reached.
• The optimisation could aim at the speed controller being completely relieved
(see signal characteristics in Fig. [5-10]).
5. Save parameter set (C00002 = "11: Save start parameters").
116 L Firmware 02.00 - DMS EN 3.0 - 05/2009

5.1.2.2 Servo control (SC)

The field-oriented servo control (SC) is based on a decoupled, separate control of the
torque-generating and the field generating current component. The operating mode is
based on a controller structure with feedback, field-orientation, and cascade arrangement
and provides for a dynamic and stable operation in all four quadrants. Basically, the servo
control offers the same advantages as the sensorless vector control (SLVC):
 the implementation of torque-actuated operation with speed limitation.
actuated operation
The servo control can be operated in two different modes:

Speed control with torque limitation ( 107), (bTorqueModeOn = 0
Torque control with speed limitation ( 107), (bTorqueModeOn = 1)
A position-controlled application requires a speed control with torque limitation

(bTorqueModeOn = 0).
C00006 Selection of the operating mode
C00057 Maximum torque
C00070/2 SC: Vp speed controller
C00071/2 SC: Ti speed controller
C00072 SC: Tdn speed controller
C00075 Vp current controller
C00076 Ti current controller
C00077 SC: Vp field controller
C00078 SC: Ti field controller
C00079/1 SC: Current controller feedforward control (in preparation)
C00079/2 SC: Adaptive field weakening controller
C00079/3 SC: n-Ctrl-AntiWindUp
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 117

C00091 Motor cosine phi
C00097 Rated motor torque
C00270 SC: Frequency of the current setpoint filter
C00271 SC: Width of the current setpoint filter
C00272 SC: Depth of the current setpoint filter
C00273 SC: Moment of inertia
C00274 SC: Maximum acceleration change
C00275 Setpoint precontrol filtering
C00280 SC: Filter time constant - DC detection
C00576 SC: Field feedforward control
C00577 SC: Vp Field weakening controller
C00578 SC: Ti Field weakening controller
C00985 Feedforward control in the d-branch
C00986 Feedforward control in the q-branch
 How to set the servo control (SC):

1. Set code C00006 to the value "2" for selecting the "vector control (SC)" mode.
2. Parameterise the speed feedback by
• parameterising the function of the digital inputs 1 and 2 as encoder input
C00115
• entering the encoder increments C00420/1
• selecting the speed sensor C00495
• adapting the filter time of the actual speed value C00497
• changing over the encoder evaluation process with low-resolution encoders
(number of increments < 120 increments) C00496
3. For the selection of the control mode, set the corresponding bit as follows:
• bTorqueModeOn = 0, for speed control with torque limitation
• bTorqueModeOn = 1, for torque control with speed limitation
118 L Firmware 02.00 - DMS EN 3.0 - 05/2009

For the motor selection and parameterisation, the equivalent circuit data, the slip
compensation, and the nameplate data are required.
The servo control is now ready for operation.
The Lenze settings of the controllers are predefined for a power-adapted motor. For an
optimal drive behaviour, we recommend to adapt the controller settings.
See also Selection and parameterisation of the motor ( 110)

Motor selection ( 136)
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 119

Optimise control mode

The "optimisation steps" given in the following table serve to further optimise the control
behaviour of the servo control and adjust it to the concrete application.
 Detailed information on the individual steps can be found in the following
subchapters.
Generally, the following optimisation steps are recommended:
Optimisation steps
1. Optimise current controller . ( 121)
• The current controller should always be optimised if a motor of a third-party manufacturer with
unknown motor data is used!
2. Optimise speed controller . ( 122)
• The setting of the speed controller must be adapted depending on the mechanical path.
• For an optimal reference behaviour, the total moment of inertia can be used to make a feedforward
control of the speed setpoint.
In special cases, the following functions can be used for further optimisation:
Optimisation steps
1. Set current setpoint filter ( 128).
If higher-frequency speed or torque oscillations occur, which cannot be dampened by the speed controller,
a band-stop filter can be activated.
In order to suppress or damp (mechanical) resonant frequencies, a current setpoint filter is integrated in the
speed control loop of the controller which is switched off in the default setting but can be parameterised
accordingly, if required.
Then readjust the speed controller: Optimise speed controller. ( 122)
2. Jerk limitation ( 130)
3. Optimising the behaviour in the field weakening range ( 131)
 Tip!
To run a typical speed profile for optimising the motor control, you can also use the
basic function "manual jog" with suitably adapted jog parameters if this basic
function is supported by the technology application selected, see chapter "Manual
jog" .
120 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Optimise current controller
 Note!
An optimisation of the current controller should generally be carried out unless
a power-adapted standard motor is used or the motor has been selected from
the motor catalog of the Engineer!
An optimisation of the current controller is sensible since the two control parameters gain
(C00075) and reset time (C00076) depend on the required maximum current and the set
switching frequency.
 The gain and reset time can be calculated with the following formula:
• Vp = current controller gain [V/A], C00075
L SS [ H ] • Tn = reset time [s], C00076
V P ,C00075 = ----------------
-
TE [ s ] • Lss = motor stator leakage inductance [H], C00085
• Rs = motor stator resistance [Ω], C00084
• TE = equivalent time constant (= 500 μs)
L SS [ H ]
T n ,C00076 = ----------------
-
RS [ Ω ]
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 121

Optimise speed controller

The speed controller is designed as PID controller with an additional differential speed
setpoint gain. An optimal behaviour can be achieved by optimising the PID speed controller
or detecting the total mass inertia of the drive train.
In the Lenze setting, the configuration of the speed controller provides robustness and
moderate dynamics.
The selection values for the gain VPN of the speed controller C00070/2 are scaled which
makes the parameter setting almost independent of the power of the motor / inverter and
comparable:
MN
V PN = -------- [ % ]
nN
TM [ s ] • VPN C00070/2:
V PN ≈ 1,5...3 ⋅ -------------------- Gain of the speed controller
0, 01 [ s ] • TM :
–1
Time constant for motor acceleration
2 ⋅ π ⋅ n N [ min ] 2 • M N:
T M [ s ] = -------------------------------------------- ⋅ J (Antrieb,gesamt) [ kgm ] Rated motor torque
M N [ Nm ] ⋅ 60
• n N:
Rated motor speed
P N [ W ] ⋅ 60
M N [ Nm ] = -------------------------------------------
- • Jdrive, total:
–1 Total moment of inertia of the drive
2 ⋅ π ⋅ n N [ min ]
 Tip!
Values recommended by Lenze for the setting of the (proportional) gain:
• for drive systems without feedback:
VPN = 6 … 20
• for drive systems with a good disturbance behaviour: VPN > 12
In addition to the controller's P component, code C00071/2 can be used to set the
integral action component of the PI controller.
Value range recommended by Lenze for the setting of the speed controller's time
constant:
τ = 20 ms … 150 ms.
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If the mass inertia of the drive is unknown, the optimisation can be achieved as follows:
Gain setting
The proportional gain Vp is selected under C00070/2:
1. Select the speed setpoint.
2. Increase C00070/2 until the drive becomes unstable (observe motor noises).
3. Reduce C00070/2, until the drive becomes stable again.
4. Reduce C00070/2 to approx. half the value.
Reset time setting

The reset time Tn is selected under C00071/2:
1. Reduce C00071/2 until the drive becomes unstable (observe motor noises).
2. Increase C00071/2 until the drive runs stable again.
3. Increase C00071/2 to approx. double the value.
Rate time setting

The rate time Td is selected under C00072:
 Increase C00072 during operation until an optimum control behaviour is reached.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 123

Optimise reference behaviour and detect mass inertia

Setting the total moment of inertia under C00273 provides the optimum torque
feedforward control. Depending on the application, an adjustment of the setting under
C00273 may be necessary to optimise the response to position/speed setpoint changes by
means of the torque feedforward control.
Without feedforward control: C00273 set too low:
n, M n, M

t t
C00273 set too high: Optimum feedforward control:

n, M n, M

t t
n Actual speed value (signal nMotorSpeedAct)

o Speed setpoint (signal nMotorSpeedSet)
p Speed controller output (signal nOutputSpeedCtrl)
124 L Firmware 02.00 - DMS EN 3.0 - 05/2009

 How to optimise the torque feedforward control:

1. Run a typical speed profile and record the inputs and outputs of the speed
controller with the data logger (in preparation).
• Motor control variables to be recorded:
nMotorSpeedSet (speed setpoint)
nMotorSpeedAct (actual speed value)
nOutputSpeedCtrl (speed controller output)
To optimise the reference behaviour, the speed controller output
(nOutputSpeedCtrl), the speed setpoint and actual speed value must be observed.
2. Estimate the moment of inertia and set it under C00273 with regard to the motor
end (i.e. considering the gearbox factors).
3. Repeat the data logger recording (see step 1).
Now the data logger should show that part of the required torque is generated by
the feedforward control and the speed controller output signal (nOutputSpeedCtrl)
is correspondingly smaller. The resulting following error decreases.
4. Change the setting under C00273 and repeat the data logger recording until the
intended response to setpoint changes is reached.
• The optimisation could aim at the speed controller being completely relieved
(see signal characteristics in Fig. [5-10]).
5. Save parameter set (C00002 = "11: Save start parameters").
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 125

Using the ramp response for setting the speed controller
 Stop!
If the controller parameters are preset unfavourably, the control can tend to
heavy overshoots up to instability!
• Following and speed errors can adopt very high values.
• If the mechanical components is very sensitive, the corresponding
monitoring functions must be activated.
When operation of the mechanics at the stability limit is not possible, the ramp response
can be used to set the speed controller. The proceeding is similar to optimising the mass
moment of inertia. For an optimal setting, we recommend to detect the mass inertia
(optimal reference behaviour).
126 L Firmware 02.00 - DMS EN 3.0 - 05/2009

 How to optimise the speed controller setting by means of the ramp response:
1. Run a typical speed profile and record the ramp response of the speed with the
integrated oscilloscope (in preparation).
• Variables of the motor control to be recorded:
speed setpoint
actual speed value
2. Evaluate the ramp response:
Vp < Vp opt. Vp = Vp opt. Vp > Vp opt.
n n n
Tn < Tn opt.
t t t
n n n
Tn = Tn opt.
t t t
n n n
Tn > Tn opt.
t t t
• Solid line = ramp response (actual speed value)

• Dash line = speed setpoint
3. Change the gain Vp under C00070 and the reset time Tn under C00071.
4. Repeat steps 1 ... 3 until the optimum ramp response is reached.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 127

Set current setpoint filter

Due to the high dynamic performance or limit frequency of the closed current control loop,
mechanical natural frequencies can be activated which may lead to an unstable speed
control loop.
In order to suppress or damp these resonant frequencies, a current setpoint filter is
integrated in the speed control loop of the controller which is switched off in the default
setting but can be parameterised accordingly, if required.
Current
setpoint filter
f:C270
Df:C271
dB:C272
[5-11] Optional current setpoint filters (filter cascade) in the speed control loop
Overview of parameters for current setpoint filter
Parameter Information Lenze setting

Value Unit
C00270 Freq. - current setpoint filter 1 200.0 Hz

C00271 Width current setp. filter 1 20.0 Hz
C00272 Depth current setp. filter 1 0 DB
Setting of the current setpoint filter

Since the frequency response of the speed controlled system is only rarely known to such
an extent that the current setpoint filters can be adjusted to the controlled system in the
run-up, the following example describes how to set the current setpoint filters.
128 L Firmware 02.00 - DMS EN 3.0 - 05/2009

 How to set the current setpoint filters:

1. Optimise current controller ( 121).
2. Optimise speed controller ( 122)
3. Measure the oscillation frequency (observe current or speed).

4. Set the measured oscillation frequency in C00270 as filter frequency.
5. Set "25%" of the filter frequency in C00271 as filter width.
• Example: Filter frequency = 200 Hz  filter width = 50 Hz.
6. Set "40 dB" in C00272 as filter depth.
• If the filter depth is set to "0 dB" (default setting), the filter is not active.
 Note!
Readjust the speed controller after setting the current setpoint filter.
Optimise speed controller. ( 122)
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 129

Jerk limitation
 Note!
Only activate this jerk limitation for speed-controlled applications!
If table positioning or a free FB interconnection with the positioning operating
mode is selected, the jerk limitation has to be deactivated. The travel profile
generator is provided with a jerk limiting function, the activation of the motor
control jerk limitation would cause following errors.
The jerk limitation serves to limit the change of the setpoint torque. Thus, sudden torque
variations can be prevented and the speed characteristic becomes smoother.
Jerk
limitation
C274
On:
C274<C274Mot
Input: InputJerkCtrl
Output: Current setpoint filter
The setting of the jerk limitation defines which maximum torque change (with regard to
the rated motor torque) is permissible per ms. A setting of 400 % / ms deactivates the jerk
limitation.

Value Unit
C00274 Jerk limitation 400.0 %/ms
130 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Optimising the behaviour in the field weakening range

The behaviour in the field weakening range is influenced by
 the field controller
 the field weakening controller
 the field feedforward control
 the adaptation of the P component of the field controller and speed controller
 an additional limitation of the integral part of the speed controller when the voltage
limit is reached.
 a feedforward control of the current controller (decoupling network) (in preparation)
Usually the settings are pre-optimised so that a further optimisation is not required. When
special motors (e.g. mid-frequency motors) or non-power-adapted motors are used, an
optimisation can be carried out according to the following algorithms.
Field controller:
The field controller is designed as a PI controller.
The gain VPN of the field controller C00077 can be calculated with the motor rotor time
constant C00083 and the equivalent time constant of the current-controlled motor:
MN
V PN = -------- [ % ]
nN
TR [ s ] TR[ s ] • VPField C00077:

V PFeld ≈ -------------------------------------- = -------------------
- Gain of the field controller
4 ⋅ T Ersatz [ ms ] 0, 01 [ s ] • TNField C00078:
Time constant of the field controller
T NFeld [ ms ] = T R [ ms ] • TR C00083:
Motor rotor time constant

Value Unit
C00077 SC: Vp field controller - -

C00078 SC: TN field controller - ms
 Tip!
The motor rotor time constant depends on the motor rotor resistance, the
magnetising inductance, and the leakage field inductance. For an optimal
calculation we recommend to select a Lenze motor from the motor table. If
external motors are used, a parameter identification must be carried out.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 131

Field weakening controller:

The field weakening controller serves to adapt the magnetising current when the
maximum control voltage has been reached so that in steady operation approximately
95 % of the maximally possible control voltage is output. Thus there is a voltage reserve for
dynamic load or speed variations.
• VP,FS :
2
V P ,FS ≈ ---------------------------- , TNFS ≈ 10 ... 30 ms Controlled system gain
V Strecke ,FS • VPN C00077:
Gain of the field controller
1 – σ p ⋅ 2 ⋅ π ⋅ nN 2 • TNField C00078:
V Strecke ,FS = ------------ ⋅ ------------------------------ ⋅ σ ⋅ ( L h + L ss )
σ 60 Time constant of the field controller
• TR C00083:
2
( Lh ) Motor rotor time constant
σ = 1 – -------------------------- • Lh C00092:
2
( L h + L ss ) Mutual motor inductance
• Lss = Motor stator leakage inductance [H],
C00085
• L ss C00085:
Motor stator leakage inductance
• p = number of pole pairs
 Tip!
If the field weakening controller is parameterised unfavourably, vibrations occur in
the magnetising current, in the direct-axis current and in the cross current, in the
torque and in the speed in the field weakening range. This is also audible by an
increased motor noise (humming). The vibrations can be dampened by a decrease
of the proportional gain of the field weakening controller.
Procedure:
• Operate the drive with max. required speed in the field weakening operation
• Reduce the P component of the field weakening controller until the vibration
response cannot be detected anymore.

Value Unit
C00577 SC: Vp Field weakening controller - -

C00578 SC: Tn field weakening controller - ms
132 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Field feedforward control:

To have enough voltage reserve available for dynamic acceleration processes, a timely
weakening of the field is required. The field weakening is controlled by the field
feedforward control.
The field feedforward control reciprocally reduces the magnetising current from the base
frequency C00015 on. The starting point of the reduction can be shifted to low frequencies
via C00576. Thus, more voltage reserve is available for acceleration processes.
The field feedforward control C00576 is given in percent, 100 % corresponds to the rated
slip of the machine.

Value Unit
C00576 Field feedforward control 200.0 %
 Tip!
Usually, the Lenze setting is sufficient for most of the applications. For applications
with very dynamic acceleration processes in the field weakening range we
recommend to increase the field feedforward control. In case of very slow
applications, you can reduce the field feedforward control.
Adaptation of the P component of the field controller and speed controller

In the field weakening range, the properties of the drive change due to the reduction of the
magnetisation and the voltage limitation of the inverter. To be able to continue to provide
a stable, well dampened drive behaviour, the 8400 servo control has an automatic
adaptation of the P component of the field weakening controller and speed controller.
In the Lenze setting, this function is activated. Depending on the application, this function
can be deactivated via C00079/2.

Value Unit
C00079/2 SC: Adaptive field weakening controller 0 -
 Tip!
Lenze recommends to always activate the adaptation of the field weakening and
speed controller.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 133

Additional limitation of the integral part of the speed controller when the voltage limit is
reached.
In dynamic acceleration processes in the field weakening range, the acceleration torque is
limited due to the limitation of the maximum output voltage of the inverter. Acceleration
ramps that are set too high C00012, may lead to undesired charging of the integrator of
the speed controller, which result in very strong overshoots of the actual speed value when
the setpoint is reached.
The function C00079/3 serves to intelligently limit the integrator part in dynamic
acceleration processes in the field weakening range so that an overshoot of the actual
speed value can be prevented when the setpoint speed is reached.
Without limitation: With limitation:
n [rpm]
n [rpm]

t
t
n Speed setpoint
oActual speed value
In the Lenze setting, the function "without limitation" is deactivated because the robustness of the drive may
decrease in the field weakening range. This may result in slight speed variations.

Value Unit
C00079/3 SC: n-Ctrl Anti-WindUp 0 -
 Tip!
Lenze recommends to activate the additional limitation of the speed controller's I-
component on reaching the voltage limit (C00079 = 1) if dynamic acceleration
processes in the field weakening range are wanted.
The function should be deactivated again if slight speed variations occur in the
field weakening range.
Feedforward control of the current controller (decoupling network)

Decoupling the direct-axis current and the cross current via a decoupling network is
currently being prepared.
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5.1.3 Optimising the motor parameter identification
For the measurement of the variables required, the motor is energised via the controller
terminals U, V and W during the motor parameter identification.
The corresponding current controller can be set via the codes C00075 and C00076.
In the Lenze setting, the current controller is preset in such a way that an optimum
controller behaviour is obtained for a motor with power adaptation to the inverter.
 Note!
The motor parameter identification may be aborted if a special motor (e.g. mid-
frequency motor) is used or if there is a large deviation between inverter and
motor power.
In this case we recommend
• to reduce the P component Vp of the current controller C00075 e.g. by
halving.
• to increase the time constant Ti of the current controller C00076 e.g. by
doubling it.
Another cause for the abort of the motor parameter identification could be the
implausibility of the entered nameplate data, e.g. the entry P = 0 kW for the
motor power.
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Motor selection
5.2 Motor selection
Click the button shown on the left to open

the motor selection tab.
Particularly the field-oriented control requires the motor data parameters to be set. The
motor data comprise the parameters of the motor nameplate and the data of the
equivalent circuit diagram of the motor:
Overview of the relevant parameters, field 
C00091 Motor cos ϕ
[5-3] Codes of the motor nameplate
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Motor selection
Other motor data

In the lower part of the tab you will find the "Other motor data" button, see  in the
illustration above. After a click the following interface opens:
C00015 VFCplus: U/f base frequency
C00070 SLVC: Vp speed controller
C00071 SLVC: Ti speed controller
C00075 Vp current controller
C00076 Ti current controller
C00273 SC: Moment of inertia
[5-4] Codes of the equivalent circuit diagram of the motor
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Motor selection
Motor cable
In addition to the motor data, the resistance of the motor cable can also be detected and
considered by entering the motor cable length and the motor cable cross-section. For a
correct identification of the equivalent circuit parameters of the motor, the entry of the
motor cable data is mandatory, especially for long motor cables.
[5-5] Codes of the motor cable
138 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Motor selection
5.2.1 Selection via motor catalogue
By clicking the "From motor catalogue" button of the "Application parameters" tab, an
operator dialog opens for selecting a motor. The operator dialog provides the option to
 select a motor (blue-highlighted cursor position) using the scroll function or
 select a motor by entering various criteria. The search criteria must be entered in the
grey area in the upper part of the operator dialog. Search criteria are
– Motor name (see list field "Name")
– Nameplate data (see list field "C86").
This selection is connected to the C00086 code which provides a selection limited to
the most important motor types for e.g. setting parameters with the keypad.
– Product type (see list field "Type"), e.g. synchronous motors, asynchronous motors,
geared motors etc.
– Manufacturer (see list field of the same name), e.g. Lenze motors, motors of other
manufacturers, motors by user-defined entry
– Rated power (see list field "Power")
– Plant data (pre-optimised, motor-specific controller settings and motor moment of
inertia)
[5-13] Motor catalogue
For each motor selected, its name, type, and important technical data are displayed in the
right part of the operator dialog.
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Motor selection
5.2.2 Automatic motor parameter identification
 Danger!
During the motor parameter identification, the motor is energised via the
outputs U, V and W of the controller!
Observe the corresponding safety instructions!
The motor parameter identification serves to determine the motor data, the inverter
characteristic and the effects of the motor cable.
 Note!
Before initial commissioning of the vector control, it is absolutely recommended
to carry out the motor parameter identification.
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Motor selection
Overview of the relevant parameters:
C00015 V/f base frequency
Value measured during the parameter identification or calculated value
C00016 Vmin boost
C00081 Rated motor power specified on the nameplate
C00084 Value measured during the parameter identification or calculated value
C00085 Value measured during the parameter identification or calculated value
C00087 Nameplate data, rated motor speed
C00088 Nameplate data, rated motor current
C00089 Nameplate data, rated motor frequency
C00090 Nameplate data, rated motor voltage
C00091 Nameplate data, motor cos ϕ
[5-6] Codes for automatic motor parameter identification
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Motor selection
 Note!
• The motor parameter identification must be carried out when the motor is
cold!
• The load machine may remain connected. Holding brakes, if present, may
remain in the braking position.
• With an idling motor, a small angular offset may occur at the motor shaft.
• The motor parameter identification may be aborted by unstable drive
behaviour (e.g. through a special motor or a great deviation between inverter
and motor power).
• To identify the stator resistance, the amplitude of the rated motor current
C00088 is injected. If the rated motor current is lower than 60% of the rated
inverter current, at least 60% of the rated inverter current is injected to
ensure a sufficient accuracy of the parameter identification.
 How to carry out the automatic motor parameter identification:

1. Inhibit controller or set it to the SwitchedON ( 62) state (e.g. LOW signal at
terminal X4/RFR).
Wait until the drive is at standstill.
2. Transfer the nameplate data to the following codes:
• C00081, rated motor power
• C00087, rated motor speed
• C00088 , rated motor current,
enter value according to the connection method ( / )
• C00089 , rated motor frequency,
• C00090 , rated motor voltage,
• C00091, motor cos ϕ
3. Indicate motor cable length and motor cable cross-section
• Motor cable resistance C00917
4. Start the motor parameter identification with the controller command C00002/23.
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Motor selection
5. Enable controller, set it to the OperationEnabled ( 62) state (e.g. HIGH Signal at
terminal X4/RFR).
The identification starts. The progress of the identification can be read in C00002/
23.
The identification takes approx. 30 s.
During this time, the following steps are passed through:
• The motor stator resistance C00084 is measured.
• The inverter error characteristic is measured.
• The leakage inductance is measured
• The motor magnetising inductance C00092 and the motor rotor resistance
C00082 are measured.
• The magnetising current C00095 is measured.
• The V/f base frequency C00015 is calculated.
• The slip compensation is C00021 calculated.
• The Vmin boost C00016 is detected.
6. The identification is complete when the message "Done" appears under C00002/
23.
7. Inhibit controller or set it to the SwitchedON ( 62) state (e.g. LOW signal at
terminal X4/RFR).
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Motor selection
5.2.3 Manual parameter setting for external motors
External motor data can be entered manually if you have the equivalent circuit diagram
and nameplate data available.
 Tip!
For the improvement of the concentricity factor, we recommend to carry out the
motor parameter identification of the external motor first, and then enter the data
for the manual parameterisation.
Improving the concentricity factor includes
• the adjustment of the inverter error characteristic to the drive system and
• the knowledge of the motor cable resistance.
Both factors are determined during the motor parameter identification.
C00015 V/f base frequency,
value measured during the parameter identification or calculated value
C00016 Vmin boost
C00021 Slip compensation,
C00081 Rated motor power, nameplate data
C00084 Motor stator resistance,
C00085 Motor stator leakage inductance,
C00087 Rated motor speed, nameplate data
C00088 Rated motor current, nameplate data
C00089 Rated motor frequency, nameplate data
C00090 Rated motor voltage, nameplate data
C00091 Motor cos ϕ, nameplate data
C00092 Motor magnetising inductance,
C00095 Motor magnetising current,
[5-7] Codes for the manual parameterisation of the motor data
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Selection of the switching frequency
5.3 Selection of the switching frequency
 Note!
Operate the mid-frequency motors exclusively with the switching frequency
f = 8 kHzsin or f = 16 kHzsin .
The switching frequency of the inverter has an effect on the smooth running performance
and the noise generation in the motor connected, as well as on the power loss in the
controller.
The lower the switching frequency, the
 better the concentricity factor
 lower the power loss
 higher the noise generation.
Adjustable switching frequencies:
Parameter Values Information

C00018 1: 4 kHz var./drive-optimised • "var.":
Adaptation of the switching frequency depending on the current
2: 8 kHz var./drive-optimised
• "drive-opt.":
3: 16 kHz var./drive- drive-optimised modulation ("sine/delta modulation")
optimised
4: Reserved
5: 2 kHz constant/drive- • "fixed":
optimised Fixed switching frequencies
6: 4 kHz constant/drive- • "drive-opt.":
optimised drive-optimised modulation ("sine/delta modulation")
7: 8 kHz constant/drive-
optimised
8: 16 kHz constant/drive-
optimised
11: 4 kHz var./min. Pv • "min. Pv":
The "min. PV" modulation mode additionally reduces the power
12: 8 kHz var./min. Pv
loss for these switching frequencies.
13: 16 kHz var./min. Pv
14: Reserved
15: 2 kHz constant/min. Pv
Lowering the switching frequency due to high heatsink temperatures

If the maximally permissible heatsink temperature was exceeded, the drive would be
inhibited due to the "Overtemperature" error and the motor would coast without any
torque.
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Therefore, the switching frequency in the Lenze setting is lowered to the next smaller value
when the heatsink temperature has increased to 5 ° C below the maximally permissible
temperature.
After the heatsink has cooled down, the controller automatically switches to the next
higher switching frequency up to the switching frequency set.
Lowering the switching frequency can be prevented using code C00144. When the
maximally permissible heatsink temperature is reached, "Trip" is set for the respective
switching frequency and the motor coasts, see code C00165.
 Note!
For operation with a switching frequency of 16 kHz,
• the controller output current must not exceed the current limit values given
in the technical data. Reduce the output current using the codes C00022,
C00023.
• the Ixt evaluation C00064 is considered with the required derating to
0.67 Irated (Irated - rated device current) at switching frequencies of 2, 4 and
8 kHz.
Lowering of the switching frequency depending on the output current

"Variable" switching frequencies can be selected for the controller in C00018, where the
controller automatically lowers the switching frequency depending on the controller
output current. The modulation mode will not be changed. The changeover thresholds are
included in the rated data of the Hardware Manual (the Hardware Manual is available on
the CD included in the scope of supply).
When a "constant" switching frequency is selected, no switching frequency changeover
takes place. In case of fixed frequencies, the controller output current is limited to the
permissible value of the corresponding switching frequency. In case of larger load
impulses, the overcurrent interruption may be activated, to which the controller responds
with "Trip", see code C00165.
 Tip!
The Lenze setting "8 kHzsinvar" ( C00018, value "2") is the optimum value for
standard applications.
146 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Limiting the maximum output frequency
 Note!
If the servo control mode (SC) is selected, the drive assumes the 'maximum
current limitation' state if the maximum output frequency C00910 has been
reached.
The maximum output frequency C00910 of the controller is not limited depending on the
For this reason, adapt the maximum output frequency according to our recommendation:
At a switching frequency of 4 kHz, for instance, 500 Hz
1
Maximum output frequency ≤ --- Switching frequency for the maximum output frequency should not be
8
exceeded.
Carry out further measures:

 If required, deactivate the switching frequency changeover by the heatsink
temperature C00144.
 If required, ensure that the changeover threshold of the controller output current to
the next smaller switching frequency will not be exceeded. If required, select a
constant switching frequency using code C00018.
Display of the current switching frequency

The switching frequency currently being applied in the controller is displayed under code
C00725.
Operation at an ambient temperature of 45°C

The controller is designed so that operation at an ambient temperature of 45° C without
derating is permissible at a switching frequency of 4 kHz.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 147

Definition of current and speed limits
5.4 Definition of current and speed limits
5.4.1 Definition of speed limits
Limitation of the speed setpoint

The parameter setting of code C00011 means with a speed setpoint of 100 % the drive
must rotate with the given value of the code. The speed setpoint information is given in
percent and refers to the reference speed set in C00011.. For the sake of the resolution to be
achieved and the connected accuracy, the reference speed should be based on the speed
range required in the prevailing application.
Lenze recommendation: Reference speed = 1500 ... 3000 rpm .
Irrespective of the operating mode, there are more limitation options:

 Limitation of the max. positive or negative speed C00909/1 or /2
 Limitation of the max. positive or negative output field frequency C00910/1 or /2
 Note!
In the torque-controlled operation (bTorqueModeOn = TRUE), the limitation of
the speed setpoint has no function! In this case, a permissible speed range can
be defined via the speed limitation (nSpeedHighLimit and nSpeedLowLimit).
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Definition of current and speed limits
5.4.2 Definition of current limits
The 8400 controllers are provided in the various operating modes with functions which
determine the dynamic behaviour under load and counteract the exceedance of the
maximum current in motor or generator mode.
The max. motor or generator current is limited with the codes C00022 or C00023.
The current limits must be selected depending on
 the permissible maximum motor current
– Recommendation: I(mot)rated < 1.5 ... 2.0
 the permissible maximum inverter current
 the required motor or generator torque for the application
 Note!
Highly dynamic applications
(e.g. too low acceleration and deceleration ramp times or greatly fluctuating
loads)
The overcurrent disconnection may respond (fault message OC1 or OC11) when
the parameterisation of the maximum current in motor mode C00022
approximately corresponds to the maximum permissible value of the respective
inverter.
Remedy by
• Increase of the acceleration and deceleration ramp time,
• Reduction of the maximum current C00022 / C00023 in motor/generator
mode
• Adaptation of the indirect peak current limitation the implementation of
which is dependent on the operating mode (procedure described below)
• Reduction of the current limitation controller's reset time with C00074/1.
 How to adapt the peak current limitation:

1. VFCplus with encoder:
• Reduce the slip limitation to twice the rate motor slip with C00971
• Reduce Vmin with C00016
2. VFCplus:
• Reduce the slip compensation with C00021.
3. SLVC:
• Reduce the slip compensation with C00021.
• Reduce nTorqueMotLim C00728/1 and nTorqueGenLim C00728/2
4. SC:
• Reduce the jerk limitation with C00274.
• Reduce nTorqueMotLim C00728/1 and nTorqueGenLim C00728/2
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 149

Flying restart function
5.5 Flying restart function
The flying restart function works with a simple asynchronous motor model which requires
the knowledge of the motor stator resistance RS and the rated motor current. In order that
the flying restart function works properly, we recommend to carry out a parameter
identification before using the function. Automatic motor parameter identification
( 140)
The flying restart function works safely and reliably for drives with great centrifugal
masses.
 Note!
• Do not use the flying restart function if several motors with different
centrifugal masses are connected to a controller.
• After the controller is enabled, the motor can start for a short time or reverse
when machines with low friction and low mass inertia are used.
• The flying restart process serves to identify max. field frequencies up to +/-
200 Hz.
 Tip!
• When power-adapted standard asynchronous motors are used (rated motor
power approximately corresponds to the rated inverter power), a motor
parameter identification is not required.
• On drive systems with feedback, you do not need to use the flying restart
function because the synchronisation to the speed detected by the feedback is
always carried out in a jerk-free manner.
• In connection with the flying restart function, we recommend to read the
information given in this manual in the chapter
Automatic DC-injection braking (Auto-DCB) ( 155)
This function serves to activate a mode which is used to "catch" a coasting motor during
operation without speed feedback. This means that the synchronicity between controller
and motor is to be adjusted in such a way that a jerk-free transition to the rotating
machines is achieved in the instant of connection.
The frequency inverter detects the synchronicity by identifying the synchronous field
frequency.
Duration
The "catching" process is completed after approx. 0.5 ... 1.5 seconds. The duration is
influenced by the starting value. If the field frequency is not known, we recommend a fixed
starting value of 10 Hz (or -10 Hz with systems rotating in negative direction).
150 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00075 Gain of the current controller
C00076 Time constant of the current controller
C00990 Activation of flying restart function
C00991 Selection of the flying restart function
C00992 Selection of the starting frequency
C00994 Current injection for the flying restart process
 How to parameterise the flying restart function:

1. Activate flying restart function in C00990 through "ON".
• Every time the controller is enabled, a synchronisation to the rotating or
standing drive is carried out.
When the Lenze setting is used, most applications do not require additional
controller settings.
If additional settings are necessary, proceed as follows:
2. Define the speed or rotational frequency range to be searched by the flying restart
function in C00991:
• positive speed range (n ≥ 0 rpm )
• negative speed range (n ≤ 0 rpm )
• total speed range
3. Select start frequency C00991 and C00992
We recommend to define a starting frequency of approximately 20 % of the rated
motor frequency to enable a safe and fast connection to standing drive systems.
• For the methods 1-4, the starting frequency defining the starting point of the
flying restart process is at 10 / -10 Hz and is pre-optimised for standard motors.
With C0990 = 5 you can freely select the starting frequency under code C0992.
This is especially recommended for motors with higher rated frequencies.
• For systems with a known search speed (e.g. torque-controlled drive systems
which are to synchronise to a defined speed) the starting value can be adapted
to reduce the flying restart time.
4. Set flying restart current C00994
We recommend to set a flying restart current of 10 % ... 25 % of the rated motor
current.
• During a flying restart process, a current is injected into the motor to identify
the speed.
• Reducing the current causes a reduction of the motor torque during the flying
restart process. A short-time starting action or reversing of the motor is
prevented with low flying restart currents.
• An increase of the current improves the robustness of the flying restart
function.
5. Set current controller C00075 C00076
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 151

During the catching process, current and torque peaks are prevented by controlling
the current amplitude. The gain C00075 and the time constant C00076 can be
adapted so that the jerk-free / torque-free connection of the inverter to the
rotating motor can be improved.
We recommend not to change the Lenze setting of the current controller.

• If the current controller behaves unstable, it can be set as follows:
• Vp = current controller gain [V/A], C00075
L SS [ H ] • Tn = reset time [s], C00076
V P ,C00075 = ----------------
-
TE [ s ] • Lss = motor stator leakage inductance [H], C00085
• Rs = motor stator resistance [Ω], C00084
• TE = equivalent time constant (= 500 μs)
L SS [ H ]
T n ,C00076 = ----------------
-
RS [ Ω ]
 Tip!
Lenze recommends the following for a faultless operation:
• If a low flying restart current C00994 of 10% or less is used, reduce the
integration time C00993 to 60 ... 300 ms.
• The flying restart process can also be accelerated by reducing the integration
time to 60 ... 300 ms if this is required.
• If motors with higher rated frequencies are used, we recommend to manually
enter a starting frequency C00992
of 20 % of the rated motor frequency and to accelerate the flying restart process
(see above) and the use of a lower flying restart current ( 10 % of the rated motor
current).
152 L Firmware 02.00 - DMS EN 3.0 - 05/2009

DC-injection braking
5.6 DC-injection braking
 Danger!
The DC-injection braking or auto DC-injection braking function cannot be used
with the servo control (SC) mode.
DC-injection braking allows the drive to be quickly braked to a standstill without the need
to use an external brake resistor.
 The braking current can be defined with code C00036.
 The maximum braking torque to be generated by the DC braking current is approx.
20 ... 30 % of the rated motor torque. It is lower than that for braking in generator mode
with an external brake resistor.
 Automatic DC-injection braking (Auto-DCB) improves the starting performance of the
motor during operation without speed feedback.
C00019 Auto-DCB: threshold
Response threshold for activating the DC-injection braking
C00036 DCB: current
Enter the current in [%]
C00106 Auto-DCB: hold time
C00107 DCB: hold time
C00701/4 See explanations for function block LA_NCtrl
DC-injection braking can be carried out in two ways with different types of activation:
Manual DC-injection braking (DCB) ( 154)
Automatic DC-injection braking (Auto-DCB) ( 155)
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 153

5.6.1 Manual DC-injection braking (DCB)
DC-injection braking can be activated manually by connecting the pbSetDCBrake input of

the application block LA_NCtrl with a digital signal source (e.g. via the digital signal source
bCtrl1_B3 of the port block LP_CANIn1).
For HIGH-active inputs, DC-injection braking is active as long as the signal is at HIGH level.
When the hold time C00107 has expired, the controller sets the pulse inhibit (CINH).
154 L Firmware 02.00 - DMS EN 3.0 - 05/2009

5.6.2 Automatic DC-injection braking (Auto-DCB)
"Automatic DC-injection braking" (in the following called "Auto-DCB") can be used when
the drive has to be deenergised at n ≈ 0.
Function
For understanding the "Auto-DCB" function, it is necessary to distinguish between three
different types of operation:
1. The drive is enabled and during operation the speed setpoint falls below the Auto-DCB
threshold.
– In case of operation without speed feedback, a braking current C00036 is injected.
When the Auto-DCB hold time C00106 has expired, the motor is deenergised via the
Auto-DCB function, i.e. the controller inhibit (CINH) is set.
– In case of operation with speed feedback, the motor is deenergised via the Auto-DCB
function when the Auto-DCB hold time C00106 has expired, i.e. the controller inhibit
(CINH) is set.
The braking current, which can be parameterised with code C00036, is without
effect during operation with speed feedback.
2. When the controller is enabled, the drive is at standstill (n = 0).
If the enabled drive is to start, the speed setpoint passed via the acceleration ramp
must exceed the Auto-DCB threshold C00019. Below this threshold, the motor will not
be energised.
3. When the controller is enabled, the motor (still) rotates with a speed which is above the
auto DCB threshold. If the speed setpoint reached via the acceleration ramp exceeds
the auto DCB threshold C00019, the motor will be energised and the following action
will take place:
– During operation without speed feedback, the drive will be "catched".
For more information about this topic, please read Flying restart function ( 150).
– During operation with speed feedback, synchronisation to the current actual speed
value takes place.
 Tip!
We recommend to deactivate Auto-DCB with speed feedback C00495 via code
C00019 (value = "0").
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 155

Auto-DCB function during operation with speed feedback
 Stop!
If the DC-injection braking operation is too long and the braking current or
braking voltage is too high, the connected motor may overheat.
If you want to use the Auto-DCB function contrary to our recommendation (see above), the
Auto-DCB threshold must not fall below the following values depending on the number of
encoder increments C00420:
Number of encoder increments Auto-DCB threshold C00019

C00420
8 16
16 8
32 4
64 2
> 128 No restrictions
 How to set the automatic DC-injection braking

1. Set the hold time under code C00106 to t > 0.00 s
• Automatic DC-injection braking is active for the time set.
• In case of operation without speed feedback, a braking current is injected (code
C00036).
• When the hold time C00106 has expired, the controller sets the pulse inhibit.
2. Set the response threshold with C00019. This code can be used to set a dead band
in the setpoint. If DC-injection braking is not to be active here, C00106 must be set
to the value "0.00".
156 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Explanation of the automatic DC-injection braking function by means of two examples

Example 1
:
Speed setpoint
0 :
Actual speed value of the motor
C00019 :
Controller output current
:
1 Pulse inhibit
:
DC-injection braking is active
c:
2 The motor rotates with the selected
speed. The resulting current depends
C00036 on the load. See .
C0107 d:
The braking current set under
3 C00036 is injected.
e:
When the hold time C00107 has
expired, the pulse inhibit is set.
4
[5-14] Example 1: Signal characteristic for automatic DC-injection braking of a drive without speed feedback
Example 2
:
Speed setpoint
0 :
Actual speed value of the motor
C00019 :
Controller output current
:
1 Pulse inhibit
:
DC-injection braking is active
c:
2 The motor rotates with the selected
C00036
speed. The resulting current depends
on the load .
d:
The braking current set under
3 C00036 is injected.
e:
The actual speed value of the motor
follows the speed setpoint. The
4 resulting current depends on the
load.
[5-15] Example 2: Signal characteristic for automatic DC-injection braking of a drive with speed feedback
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 157

Oscillation damping
5.7 Oscillation damping
Mechanical oscillations are undesirable effects in every process and they may have an
adverse effect on the single system components and/or the production output.
Mechanical oscillations in the form of speed oscillations are suppressed by the oscillation
damping function.
Oscillation damping is successfully used with
 unloaded motors (no-load oscillations)
 motors with a different rated power than that of the controller, e.g. at operation with
high switching frequency and the related power derating.
 operation with higher-pole motors
 operation with special motors
 compensation of resonances in the drive
– At an output frequency of approx. 20 ... 40 Hz, some asynchronous motors can show
resonances which cause current and speed variations and thus destabilise the
running operation.
 Note!
Compensate the resonances during operation with feedback (closed loop,
feedback of nact) via the parameters of the slip regulator only.
 How to eliminate speed oscillations:

1. Approach the area where the speed oscillations occur.
2. Reduce the speed oscillations by changing C00079 step by step.
3. These can be indicators for smooth running:
• Constant motor current characteristic
• Reduction of the mechanical oscillations in the bearing seat
See also: Skip frequency function
158 L Firmware 02.00 - DMS EN 3.0 - 05/2009

5.8 Signal flow
L
Imax controller
nTorqueMotLim_a
C00830/28
nTorqueGenLim_a bLimTorqueSetVal
C00830/29
nMotorTorqueAct_a
C00056/2 Slip compensation
0
Imax Mot:C00022
1 nEffCurrentIq Hz
nOutputSpeedCtrl_a
Vp:C00073/1 Slipcomp %
Imax Gen:C00023
TN:C00074/1 C00021
nStatorCurrentIs Hz
nMotorTorqueAct_a
C00054 %
C00056/1
Motor slip model
nMotorFreqAct_a
C00058
Firmware 02.00 - DMS EN 3.0 - 05/2009
nmax:
bSetQSP fmax: fbase :C00015 Characteristic
C00909/1 /2 Modulator
C00910/1 /2 Vmin :C00016 selection
0 %
1 Hz U/f-quad
QSP ramp fMod
C00105 fmax: Inverter
nVoltageAdd_a Coordinate fPWM:
C00910/1 /2 U/f-linear error C00018
C00830/31 transformation characteristic
Hz n16Boost_a C00014 PWM

% fbase :C00015
Vmin :C00016 0
nEffSpeedSetValue_a nMotorSpeedAct_a Vset
C00050 1
C00051 nPWMAngleOffset_a
C00830/32
nVoltageAdd_a
C00830/31
nMotorVoltage
C00052
[5-1] Signal flow - V/f characteristic control without feedback

Signal flow
159
160
Signal flow
Imax controller
nTorqueMotLim_a
C00830/28
nTorqueGenLim_a
C00830/29
nMotorTorqueAct_a
0
1
Imax Mot:C00022
Vp:C00073/1
Imax Gen:C00023
TN:C00074/1
nStatorCurrentIs
C00054
nmax:C00909 QSP nMotorSpeedAct [Hz]

+ C00971/2
0
% nMotorFreqAct
1
Hz C00058
Slip regulator
bNMaxFault nMotorTorqueAct_a Hz - C00971/2
C00056/2 % fbase :C00015 Selection Modulator
C00105 fmax: of characteristic
C00910/1 /2 Vmin :C00016
Hz V/f square
nOutputSpeedCtrl_a % fmod
Firmware 02.00 - DMS EN 3.0 - 05/2009
V/f linear Transformation Inverter error fPWM

QSP ramp KP C00972 C00971/1 C00018
of coordinates characteristic
TN C00973
PWM
nEffSpeedSetValue_a nVoltageAdd_a
C00050 C00830/31
nMotorSpeedAct_a nBoost C00014
C00051
bLimSpeedCtrlOut
nPWMAngleOffset_a
0 C00830/32
Speed measurement nSpeedCtrlISet Vmod
nSetSpeedCtrlI 1 nVoltageAdd_a
C00830/31
nCtrlSpeedPAdapt_a
bSetCtrlSpeedPAdapt fbase :C00015
Vmin :C00016
C00495 Hz
n16SpeedCrlI_a
C00497/1 %
C00497/2 nMotorVoltage
100 kHz
0 C00052
1
%
2 Hz
10 kHz
[5-2] V/f characteristic control with feedback

L
L
bSetQSP
C00833/33
C00275 C00273 Hz
0 A %
NInputTorqueControl
1 Nm fmax:
0 nMotorSpeedAct_a
nEffSpeedSetValue_a C00910/1 /2 C00051
C00050 n16MotorFreqAc
Speed controller Torque controller Speed
nSpeedSetValue_a limitation C00058
C00830/22 nOutputSpeedCtrl
nInputJerkCtrl bTorque
bLimSpeedCtrlOut
nmax: ModeOn fmax:
bSetQSP VP:C00070/2 bTorqueModeOn VP:C00073/1
Imax:C00022 TN: C00910/1 /2
C00909/1 /2 TN:C00071/2 TN:C00074/1
Imax:C00023 C00074/1 0
0 % 0 Nm
1
1 Hz 1 A
C00105
bLimCurrentSetValue nSpeedHighLimit
nLimMotTorque nSpeedLowLimit
nLimGenTorque
QSP ramp A nMotorTorqueAct
nSpeedCtrllSet A nInputTorqueCtrl
bSpeedCtrll Nm C00056/2
Nm C00056/1
nSpeedCtrlPAdapt
bSpeedCtrlPAdapt Flux model
TN:
nSpeedCtrllAct C00074/1 (Calculation of slip)
C00021
Torque control with
speed limitation Motor voltage model Modulator
Firmware 02.00 - DMS EN 3.0 - 05/2009
nTorqueSetValue_a fMod fMod

Inverter
nEffCurrentIq Transformation error
nActualFluxx C00018
T_Rotor iqset R - C00084 jU jU of coordinates characteristic
S PWM
Imr Ls - C00085
Lh - C00092
TN:
TN: C00074/1 Vset Vset
Direct-axis current controller
Magnetization C00074/1 n16PWMAngleOffset
Vp: fix nEffCurrentIq iq C00830/32
nVoltageAdd_a
idset C00830/31
TN:
C00074/1 nMotorVoltage

C00052
nReactCurrentId
[5-3] Sensorless vector control (speed control)

Signal flow
161
162
Signal flow
bPosDerivateOn nEffSpeedSetValue
C833/67 bSetQSP C50/0
C833/33 nmax C909/1,2 bSetQSP Differential setpoint
feedforward control nTorqueSetValue
nSpeedSetValue fmax C910/1,2 bTorqueModeOn C833/33 C830/27
C830/22 0 C833/30 Jtotal
0 C275 C273
1 0
1 0
+ 1
0 1
PID speed controller

bPosCtrlOn nInputJerkCtrl
PosInterpol. C833/27
C1220/Bit00 nOutputSpeedCtrl Jerk Current
C105 nTorqueMotLim
0 limitation setpoint filter
0 C830/29
0 nLimSpeedCtrlOut f:C270
nTorqueGenLim
1 0 VP:C70/2 Df:C271
1 C830/28 C274 nInputTorqueCtrl
QSP ramp TN:C71/2 dB:C272
C56/1
TD:C72 +
1
0
On:
bTorqueModeOn bLimTorqueSetVal C274<C274Mot
Angel bTorqueInterpolationOn
dnPosSetValue nPosCtrlOutLimit C833/30
controller C830/21 nLimMotTorque C830/29
C834/6 PI current
VP nSpeedHighLimit nLimGenTorque C830/28
C254 C830/88 controller
nSpeedCtrllSet C830/24 Imax:C22 VP:C75
0 nSpeedLowLimit bSpeedCtrll C833/31 Imax:C23 TN:C76
C830/23 Modulator
+ 1 nSpeedCtrlPAdapt C830/25 Nm
Iset
bSpeedCtrlPAdapt Vsq
dnDeltaPos A Inverter
Firmware 02.00 - DMS EN 3.0 - 05/2009
nSpeedCtrllAct Transformation error

C834/4 Iq act
dnMotorPosAct of coordinates characteristics C18
bLimCurrentSetVal PWM
Iq_act Motor
Encoder interface PI field Id_act C79
PI field PI current model
weakening Id C79 .. C91
bSetMotorPostionRef controller controller controller
C833/68 VP:C577 VP:C77 VP:C75 Vset
C490 dnMotorPosRefValue 0.95 Id_act
C280 TN:C578 IMR C95 TN:C78 TN:C76 n16PWMAngleOffset
C833/6
Vs max n16VoltAdd
0 VDC bus Vsd
1
2
10 kHz fd
DIGIN 6/7 C495 TR C83 Iq_act Slip

C497/1 Vsd C52 Imr_act +
Vsq Field calculation
C496 C497/2 Id_act C21
0
feedvorward
1 control
100 kHz 2 nMotorVoltage nMotorSpeedAct
Df:C576
C52/0
DIGIN 1/2 Motor encoder
selection nMotorSpeedAct
[5-4] Signal flow - servo control for asynchronous motor

L
System block "LS_MotorInterface"
5.9 System block "LS_MotorInterface"
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 163

Inputs

nPosCtrlOutLimit Limitation of the position controller output

INT • Scaling: 16384 ≡ 100 % referred to C00011
bSpeedInterpolatorOn Activate interpolation of the speed setpoint
BOOL
nSpeedHighLimit Upper speed limit for speed limitation

INT (only for torque-controlled operation)
• Scaling: 16384 ≡ 100 % referred to C00011
nSpeedLowLimit Lower speed limit for speed limitation
INT (only for torque-controlled operation)
• Scaling: 16384 ≡ 100 % referred to C00011
nSpeedCtrlAdapt Adaptation of the speed controller gain
INT • Scaling: 16384 ≡ 100 % referred to C00071
nTorqueMotLimit Torque limitation in motor mode
INT • Scaling: 16384 ≡ 100 % Mmax referred to C00057
nTorqueGenLimit Torque limitation in generator mode
INT • Scaling: 16384 ≡ 100 % Mmax referred to C00057
bSetQSP Set quick stop
BOOL
nPWMAngleOffset Angle step change of output voltage phasor

INT • Scaling: 65535 ≡ 1 revolution
bPosCtrlOn Activate position or angle control
BOOL
dnDeltaPosSet Input difference of the position controller

dnPosSet Setpoint of the position controller
bChoosePosInput 0: dnDeltaPosSet - dnDeltaPosAct
BOOL 1: dnDeltaPosSet
bSetSpeedCtrlI Setting of the speed controller integrator
BOOL (scaling depends on operating mode, C00006)
• Scaling: 16384 ≡ 100 % nmax or 16384 ≡ 100 % Mmax
referred to C00011 or C00057
nSpeedCtrlISet Value of the speed controller integrator
INT (scaling depends on operating mode, C00006)
• Scaling:
for C00006 = 2 or 4: 16384 ≡ 100 % Mmax referred to C00011 or C00057
for C00006 = 7 or 9: 16384 ≡ 100 % nmax referred to C00011 or C00057
nSpeedAdd Speed setpoint
INT • Scaling: 16384 ≡ 100 % nmax
bTorquemodeOn Activate torque control
BOOL
nTorqueAdd Torque setpoint / additive torque

INT
bSetDCBrake Activate DC injection brake

BOOL
nVoltageAdd Additive voltage impression

INT • Scaling: 16384 ≡ 1000 V
bSetMotorPositionRef Setting of a home mark
BOOL
164 L Firmware 02.00 - DMS EN 3.0 - 05/2009


dnMotorPosRefValue Offset of the home mark

bAutoBoostActive Activate/deactivate AutoBoost function
BOOL
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 165

Outputs

bIdentificationState Motor parameter identification is active (1) / inactive (0)

BOOL
bFlyingSyncState Flying restart circuit is active (1) / inactive (0)

BOOL
bLimPosCtrlOut Limitation of the position controller output is active

BOOL
bLimSpeedCtrlOut Speed or slip controller output limitation is active (1) / inactive (0)
BOOL
bLimSpeedSetVal Setpoint speed reduction/increase by Imax controller is active (1) / inactive (0)
BOOL
wMaxMotorSpeed Reference speed

C00011 | BOOL
nOutputSpeedCtrl_a Speed or slip controller output

INT • Scaling:
16384 ≡ 100 % nmax
nEffSpeedSetValue_a Effective speed setpoint
INT • Scaling:
16384 ≡ 100 % nmax
nMotorSpeedAct_a Actual speed value
C00051 | INT • Scaling:
16384 ≡ 100 % nmax
nMotorSpeedAct_v Actual speed value
DINT • Scaling:
65535 ≡ 1 revolution
nMotorFreqAct_a Current field frequency
C00058 | INT
bLimTorqueSetVal Limitation of setpoint torque is active (1) / inactive (0)

BOOL
wMaxMotorTorque 100 = 0.01 Nm

C00057 Maximum motor torque
nInputTorqueCtrl_a Input of torque control (setpoint), C00057
INT • Scaling:
16384 ≡ 100 % Mmax
nMotorTorqueAct_a Actual torque value, C00057
C00056/2 | INT • Scaling:
16384 ≡ 100 % Mmax
bLimCurrentSetVal Current limitation is active (1) / inactive (0)
BOOL
nInputJerkCtrl_a Input of jerk limitation, C00057

INT • Scaling:
16384 ≡ 100 % Mmax
bQSPIsActive Quick stop is active (1) / inactive (0)
BOOL
bAutoGSBIsActive Automatic DC-injection braking is active (1) / inactive (0)

BOOL
bClampIsActive Current limitation clamp is active (1) / inactive (0)

BOOL
bShortCircuit Motor short-circuit detected (1) / not detected (0)

BOOL
bEarthFault Earth fault detected (1) / not detected (0)

BOOL
bUVDetected Undervoltage detected (1) / not detected (0)

BOOL
166 L Firmware 02.00 - DMS EN 3.0 - 05/2009


bOVDetected Overvoltage detected (1) / not detected (0)

BOOL
bMotorPhaseFault Motor phase fault detected (1) / not detected (0)

BOOL
bEncoderComFault Encoder fault detected (1) / not detected (0)

BOOL
bBrakeChopperFault Brake chopper fault is active (1) / inactive (0)

BOOL
bNMaxFault Limitation of max. setpoint speed is active (1) / inactive (0)

BOOL
bFChopReduced Reduction of the PWM frequency is active (1) / inactive (0)

BOOL
bIxtOverload I*t- device utilisation 100% (1) / <100% (0)

BOOL
nIxTRate_a 16384 = 100%

C00064/1 | INT Display I*t - device utilisation
bI2xtOverload I²*t- thermal motor load 100% (1) / <100% (0)
BOOL
nI2xTRate_a Display - thermal motor load I²*t

C00066 | INT • Scaling:
16384 ≡ 100 %
bMotorPTCFault Thermal overload of the motor (1) / no overload (0)
BOOL
bHeatSinkTempFault Thermal overload of the inverter (1) / no overload (0)

BOOL
nDCVoltage_a 16384 = 1000V

C00053 | INT DC-bus voltage
nMotorVoltage_a 16384 = 1000V
C00052 | INT Motor or inverter output voltage
nActualFluxx_a Actual magnetising current value, C00022
INT • Scaling:
16384 ≡ 100 %
nStatorCurrentIS_a 16384 = 100% Imax (C0022)
C00054 | INT Stator current or effective motor current
nEffCurrentIq_a Torque-producing cross current, C00022
INT • Scaling:
16384 ≡ 100 % Imax
nReaktCurrentId_a Field-producing direct-axis current, C00022
INT • Scaling:
16384 ≡ 100 % Imax
bHlgLoad Set (1) / do not set (0) ramp function generator
BOOL
nHlgSetValue_a Transfer value for the ramp function generator, C00011

INT • Scaling:
16384 ≡ 100 %
bHlgStop Stop of the ramp function generator
BOOL
dnMotorPosAct Current position or angle value

INT • Scaling:
65535 ≡ 1 revolution
nOutputPosCtrl Output / correcting variable of the position controller, C00011
INT • Scaling:
16384 ≡ 100 % nmax
bMainsFault Mains phase / mains failure
BOOL
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bFanFault Fan monitoring: Fault detected

BOOL
bNmaxForFchop Maximum field frequency for the prevailing switching frequency is exceeded
BOOL
bSafeTorqueOfActive Safe standstill is active

BOOL
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Monitoring functions
5.10 Monitoring functions
5.10.1 Motor temperature monitoring with I²xt
 Stop!
The I2xt motor monitoring does not present full motor protection! As the motor
utilisation calculated in the thermal motor model is lost after mains switching,
for instance the following operating states cannot be measured correctly:
• Restarting (after mains switching) of a motor that is already very hot.
• Change of the cooling conditions (e.g. cooling air flow interrupted or too
warm).
A full motor protection requires additional measures as e.g. the evaluation of
temperature sensors that are located directly in the winding or the use of
thermal contacts.
The 8400 frequency inverter is provided with a simple, sensorless monitoring for thermal
"I2xt" motor overload of self-ventilated standard motors.
C00066 displays the motor utilisation meter I2xt, which shows whether the motor is
overloaded or not.
With an overload of C00066 = 100 %, the permissible overload time of the motor is
reached, the message "Thermal motor overload, I2xt" (OC6) is output, and the response set
in C00606 (default setting: "Warning") is actuated.
C00120 serves to enter the overload threshold for I2xt
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 169

Adjustment
Calculate the overload threshold I2xt:

• Ir Rated motor current (C00088)
Ir • IN Rated current of the controller at a switching
C00120 = ----- ⋅ 100%
IN frequency of f = 8 kHz
 If you reduce C00120 starting from the calculated value, the motor utilisation counter
I2xt (C00066) is already counted up before the rated overload threshold has been
reached.
 If you increase C00120 starting from the calculated value, the motor utilisation meter
I2xt (C00066) will be counted up after the rated overload threshold has been reached.
The motor utilisation counter starts to count up if the apparent motor current (C00054) is
greater than the rated motor current (C00088).
Ir x 100 % Ir x 100 % Ir x 100 %

C00120 < C00120 = C00120 >
IN IN IN
t [s]
f = 20 Hz
360
f = 0 Hz f > 40 Hz
300
240
180
120
60
0
0 0.5 1.0 1.5 2.0 C00054
Ir
f: output frequency
t: release time
IN: rated controller current at a switching frequency of f = 8 kHz
Ir : rated motor current (C00088)
C00054: apparent motor current
[5-5] Tripping characteristic of the I2xt monitoring
 Example: C00120 = Ir /IN x 100 %

– C00054 = 1.5 x rated motor current
– After approx. 60 seconds, C00066 has reached the final value 100 % at output
frequencies f > 40 Hz. The controller switches off with the error "Thermal motor
overload, I2xt" (OC6) if C00606 is set to "0" (trip).
170 L Firmware 02.00 - DMS EN 3.0 - 05/2009

 Tip!
• To prevent the overload threshold response of motors with forced ventilation
from being triggered too early, deactivate this function.
• The current limits C00022 and C00023 only have an indirect influence on the
I2xt calculation. The settings of C00022 and C00023, however, serve to prevent
the motor from being operated with maximally possible utilisation.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 171

5.10.2 Motor temperature monitoring with motor PTC
 Stop!
• The controller can only evaluate one PTC thermistor!
Do not connect several PTC thermistors in series or parallel.
• If several motors are operated on one controller:
Use thermal contacts (NC contacts) connected in series.
• To achieve full motor protection, an additional temperature monitoring with
separate evaluation must be installed.
For detecting and monitoring of the motor temperature, a PTC thermistor (DIN 44081/
DIN 44082) or a thermal contact (NC contact) can be connected to the terminals X2/T1 and
X2/T2.
Lenze three-phase AC motors are provided with a thermal contact on delivery.
 Tip!
We recommend to always activate the PTC input when using motors which are
equipped with PTC thermistors or thermostats. This prevents the motor from being
destroyed by overheating.
Activation of the PTC input
 Note!
In the Lenze setting, the temperature monitoring of the motor is switched on!
On delivery, there is a wire jumper between the terminals X2/T1 and X2/T2.
1. Connect the thermal contact of the motor to X2/T1 and X2/T2.

2. Connect the motor PTC or the thermal motor contact (NC contact) to X2/T1 and X2/T2.
– When 1.6 kΩ < R < 4 kΩ, monitoring responds, see functional test below.
3. Setting the controller response:
– C00585 = 0: No response (Motor temperature monitoring is switched off)
– C00585 = 1: TRIP error message
– C00585 = 5: Warning signal
Functional test
Connect a fixed resistor to the PTC input:
 R > 4 kΩ : Fault message must be activated.
 R < 1 kΩ : Fault message must not be activated.
172 L Firmware 02.00 - DMS EN 3.0 - 05/2009

5.10.3 Monitoring of the brake resistor by I²xt
The brake resistor is loaded thermally by the braking power that is converted, or can be
thermally destroyed due to a braking power that is too high. The I2xt utilisation of the
controller which is proportional to the braking power converted is monitored to protect the
brake resistor.
 Danger!
In the Lenze setting (C00574 = 0) braking operation is not switched off if the
monitoring is activated!
In particular for applications like hoists or applications with a DC-bus connection
it has to be checked whether it is permissible to switch off the braking operation
by C00574 = 1 ("Fault").
 Stop!
Implement appropriate protective measures against thermal overload of the
brake resistor!
Examples:
• Parameterisation of an error response in C00574 and evaluation of the
parameterised error message within the application or the machine control.
• Interruption of the mains supply by means of the temperature contact at the
brake resistor and a simultaneous activation of the mechanical brake.
If the I2xt utilisation reaches the threshold set in C00572, a parameterisable response is
triggered, having a corresponding impact on the state machine and the inverter.
The following responses can be parameterised with C00574:
– 0, "No response" (Lenze setting)
– 1, "Fault", see Device states ( 56)
– 5, "Warning", see Device states ( 56)
If the system is dimensioned correctly, the monitoring should not be activated. If individual
pieces of rated data of the actually connected brake resistor are not known, they have to
be identified.
If the DC-bus voltage exceeds the overvoltage threshold due to a braking energy that is too
high, the monitoring for overvoltage in the DC bus ("OU", error number 0x007b000e) is
activated.
Apart from the threshold of the I2xt utilisation (see above), there is the switching threshold
of the brake transistor. The switching threshold of the brake transistor is set via the mains
selection in code C00173. The switching threshold can further be directly influenced by the
user via C00174.
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Temperature model
temperature model U DC_act

I Br = -------------------
-
J C00129
I2xt
IBr
C00129
)  Error message:
C00138
C00130
C00131 C00572 C00574
"Brake resistor I2xt overload"
IOn = 1
IOff = 0
[5-6] Signal flow for monitoring the brake resistor
The monitoring calculates the braking current IBr from the current DC-bus voltage UDC_act
and the brake resistor parameterised in C00129 (see above). The monitoring can also be
activated on the basis of a value entered in C00129, although no brake resistor is
connected.
During the calculation, the thermal utilisation of the brake resistor on the basis of the
following parameters is taken into consideration:
 Resistance value C00129
 Continuous power C00130
 Thermal capacity C00131
In the Lenze setting these parameters are preset with the corresponding power-adapted
Lenze brake resistor.
With code C00133 the calculated utilisation of the brake resistor in [%] is shown. A
utilisation of 100 % corresponds to the continuous power of the brake resistor against the
maximum permissible temperature limit.
174 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Braking operation
5.11 Braking operation
 Stop!
If the connected brake resistor is smaller than required, the brake chopper can be
destroyed!
For appropriate protective measures, see
Avoiding a thermal overload of the brake resistor ( 176)
 We recommend to use the brake chopper (braking transistor) integrated in the

controller independently of the operating mode for braking. Connect the required
brake resistor to controller terminals RB1 and RB2.
 For a DC-bus connection with other devices, we recommend to connect the
regenerative power supply module to terminals +UG and –UG.
For installing the regenerative power supply module, follow the instructions in the
hardware manual.
 Note!
If none of these measures are taken, e.g. the overvoltage deactivation ("OU")
may respond in case of low deceleration times during regenerative operation,
see Error messages of the operating system ( 298).
Under C00175 you can optionally select the stopping of the ramp function
generator in the function block "L_NSet_1" and the QSP ramp for overvoltage to
prevent an overvoltage deactivation in case of low deceleration times.
 Tip!
• All controller instructions required are stored in electronic form on the data
carrier supplied together with your 8400 frequency inverter.
Parameter setting
C00129 •
C00130
C00131
C00133
C00173
C00174
C00175
C00572
C00574
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Braking operation
5.11.1 Selecting the voltage source for braking
The voltage source for braking is selected under C00173 (mains voltage) and C00174
(brake transistor threshold reduction). When the brake chopper threshold is exceeded in
the DC bus, the brake transistor will be switched on or the ramp function generator will be
stopped by L_NSet_1 and QSP (depending on the setting under C00175).
Mains voltage C00173 Effective brake chopper threshold

0 3ph 400V / 1ph 230V 725V / 380V - value under C00174 (0...150V)
5.11.2 Avoiding a thermal overload of the brake resistor
 Parameterisation of an error response under C00574 and evaluation of the

parameterised error message in the application or within the machine control system.
(see 5.10.3. Monitoring of the brake resistance by I²xt)
 External interconnection using the thermal contact on the brake resistor (e.g. supply
interruption via the mains contactor and activation of the mechanical brakes).
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I/O terminals
6 I/O terminals
This chapter informs about the function and the possible parameter settings of the
controller's input and output terminals.
The parameters are set in the »Engineer« on the Terminal assignment tab. Here, analog
terminals" and "digital terminals" are distinguished in the Pin connections list field:
Analog inputs ( 179)

Analog outputs ( 183)
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I/O terminals
Digital inputs ( 187)
Digital outputs ( 197)
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I/O terminals
Analog inputs
6.1 Analog inputs
The controller has four analog inputs for detecting two current and two voltage signals:
 Voltage signals in the ± 10 V range
The voltage signal can be e.g. an analog speed setpoint or the signal of an external
sensor (temperature, pressure, etc.).
 Current signals in the 0/+ 4 ... + 20 mA range
For open-circuit monitoring, the current signal can be evaluated with regard to "Life
Zero" or "Dead Zero":
– 0 ... 20 mA, without open-circuit monitoring
– 4 ... 20 mA, with open-circuit monitoring
 In addition, offset and gain can be parameterised
 Diagnostics options
– The monitored input can be queried with a status signal
– The input values of the system block are displayed in the Engineer / keypad
 Note!
To avoid undefined states, free input terminals of the controller must be
assigned as well, e.g. by applying 0 V to the terminal.
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I/O terminals
Analog inputs
6.1.1 Terminal assignment/electrical data
X3
A2I A2U A1I A1U AR

O2I O2U O1I O1U GA
Terminal Use Electrical data
X3/A1U Voltage input Level: - 10 V ... + 10 V
X3/A2U Resolution: 10 Bit + sign bit
(Error: 1 Digit ≡ 0.1 %, related to the final
value)
Scaling: When C00034 = "0":
± 10 V ≡ ± 214 ≡ 16384 ≡ ± 100 %
Conversion rate: 1 kHz *)
Input resistance > 80 kΩ
Input voltage in case of open Display 0 (V < 0.2 V, absolute)
circuit
Sampling frequency 1 kHz (1 ms)
(processing cycle)
Accuracy ± 0.1 V
Electric strength of external ± 15 V, permanent
voltage
Limit frequency 315 Hz at -3 dB
Temperature influence ± 0.5 % or ± 1 mV/K
(Tamb = - 10° C ... + 55° C)
X3/A1I Current input Level: • 0 ... + 20 mA
X3/A2I • + 4 ... + 20 mA (life zero)
Resolution: 10 Bit
value)
Switching hysteresis: 1 % (at 20 mA)
Scaling: When C00034 = "1":
0 mA ... + 20 mA = 0 ... + 214
When C00034 = "2":
+ 4 mA ... + 20 mA = 0 ... + 214
Conversion rate: 1 kHz *)
Input resistance 215 Ω
Input voltage in case of open Display 0 (I < 0.1 mA)
circuit
Sampling frequency 1 kHz (1 ms)
(processing cycle)
Accuracy ± 0.1 mA
Electric strength of external ± 7 V, permanent
voltage
Temperature influence ± 0.5 % or ± 1 mV/K,
(Tamb = - 10° C ... + 55° C)
X3/GA GND, reference potential of analog signals
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I/O terminals
Analog inputs
*) In order to filter out short-time interferences from the analog signal characteristic, the analog input value is measured four times within the conversion
rate (1 kHz = 1 ms). Then, the mean value is calculated. The mean value corresponds to the process signal at the output of the system block. In addition,
the voltage input is equipped with a low-pass filter (3 dB limit frequency, f = 470 Hz for voltage input, f = 250 Hz for current input)
6.1.2 Parameter setting
Short overview of parameters for the analog inputs:
C00026/1 Analog input 1: Offset
C00026/2 Analog input 2: Offset
C00027/1 Analog input 1: Gain
C00027/2 Analog input 2: Gain
C00034/1 Configuration of analog input 1, evaluation of current or voltage
C00034/2 Configuration of analog input 2, evaluation of current or voltage
C00598/1 Resp. to open circuit AIN1
C00598/2 Resp. to open circuit AIN2
C02732/1 Analog input 1: Dead band (in preparation)
C00028/1 Analog input 1: Voltage input signal
C00028/2 Analog input 2: Voltage input signal
C00029/1 Analog input 1: Current input signal
C00029/2 Analog input 2: Current input signal
C00033/1 Analog input 1: AIN1_nIn_a
C00033/2 Analog input 2: AIN2_nIn_a
6.1.3 Using the analog input as current input
 The current source must be connected to the X3/A1I or X3/A2I plug connector.
 Use C00034 (subcode /1 or /2), selection "1" or "2" to reconfigure the analog input to
be a current input.
 Tip!
The selection "2" serves to implement a 4 ...20 mA current loop, e.g. for speed
setpoint selection.
Open-circuit monitoring
Use C00598/1 to set an error response to an open circuit for the 4 ...20 mA current loop.
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I/O terminals
Analog inputs
6.1.4 System block "LS_AnalogInput"
The system block LS_AnalogInput displays the analog inputs in the FB editor.
LS_AnalogInput ?
C00034/1
X3 C00028/1 C00027/1 C00033/1
A2I A2U A1I A1U AR

0 C00026/1
A
1 nIn1_a
2 D
C00029/1
bCurrentErrorIn1
O2I O2U O1I O1U GA

C00034/2
C00028/2 C00027/2 C00033/2
0 C00026/2
A
1 nIn2_a
2 D
C00029/2
bCurrentErrorIn2
Output Value/meaning
Data type
nIn1_a Analog input 1

±214 ≡ ±10 V for use as voltage input
+214 ≡ +20 mA for use as current input
nIn2_a Analog input 2
±214 ≡ ±10 V for use as voltage input
+214 ≡ +20 mA for use as current input
bCurrentErrorIn1 Status signal "Current input error"
BOOL • Only when analog input 1 is used as current input.
• Application: Cable-breakage monitoring of the 4 ...20 mA circuit.
True |IAIN1| < 4 mA
bCurrentErrorIn2 Status signal "Current input error"
BOOL • Only when analog input 2 is used as current input.
• Application: Cable-breakage monitoring of the 4 ...20 mA circuit.
True |IAIN2| < 4 mA
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I/O terminals
Analog outputs
6.2 Analog outputs
The controller is equipped with four analog outputs.

 Two outputs provide an analog current signal (O1I, O2I)
 Two outputs provide an analog voltage signal (O1U, O2U)
 The output values of the system block are displayed in the Engineer / keypad
 Note!
Initialisation behaviour:
• After mains switching up to the start of the application, the analog outputs
remain set to 0 V.
Exception handling:
• In case of a critical exception in the application (e.g. reset), the analog outputs
are set to 0 V.
X3
A2I A2U A1I A1U AR
O2I O2U O1I O1U GA

X3/O1U Voltage output Level: 0 ... +10 V
X3/O2U (max. 2 mA)
Resolution: 10 Bit
value)
Scaling: ±10 V ≡ ±214 ≡ 16384 ≡ ±100 %
Processing cycle 1 kHz (1 ms)
Limit frequency 315 Hz at -3 dB
(Tamb = - 10° C ... + 55° C)
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I/O terminals
Analog outputs

X3/O1I Current output Level: 0 ... +20 mA
X3/O2I Resolution: 10 Bit
value)
Scaling: ±20 mA ≡ ±214 ≡ 16384 ≡ ±100 %
Processing cycle 1 kHz (1 ms)
(Tamb = - 10° C ... + 55° C)
X3/GA Reference potential (analog ground)
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I/O terminals
Analog outputs
Short overview of parameters for the analog outputs:
C00434/1 Analog output 1: Gain of the voltage signal at nOut1U_a
C00434/2 Analog output 2: Gain of the current signal at nOut1I_a
C00434/3 Analog output 1: Gain of the voltage signal at nOut2U_a
C00434/4 Analog output 2: Gain of the current signal at nOut2I_a
C00435/1 Analog output 1: Offset of the voltage signal at nOut1U_a
C00435/1 Analog output 2: Offset of the current signal at nOut1I_a
C00435/1 Analog output 1: Offset of the voltage signal at nOut2U_a
C00435/1 Analog output 2: Offset of the current signal at nOut2I_a
C00436/1 Analog output 1: Output of voltage signal at the O1U terminal of the device
C00436/2 Analog output 2: Output of voltage signal at the O2U terminal of the device
C00437/1 Analog output 1: Output of current signal at the O1I terminal of the device
C00437/2 Analog output 1: Output of current signal at the O2I terminal of the device
C00439/1 Analog output 1: nOut1U_a; Input of voltage signal from application
C00439/2 Analog output 2: nOut2U_a; Input of voltage signal from application
C00439/3 Analog output 3: nOut1I_a; Input of current signal from application
C00439/4 Analog output 4: nOut2I_a; Input of current signal from application
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I/O terminals
Analog outputs
6.2.3 System block "LS_AnalogOutput"
The system block LS_AnalogOutput forms the interface to the analog outputs in the FB
editor.
LS_AnalogOutput ?
C00439/1 C00434/1 C00436/1
C00435/1
nOut1U_a
C00439/3 C00434/3 C00437/1

C00435/3
nOut1I_a X3
A2I A2U A1I A1U AR

C00439/2 C00434/2 C00436/2
C00435/2
nOut2U_a
O2I O2U O1I O1U GA

C00439/4 C00434/4 C00437/2
C00435/4
nOut2I_a
Input Information/possible settings

Data type
nOut1U_a Analog output 1

INT • Scaling: ±214 ≡ 16384 ≡ ±10 V
nOut2U_a Analog output 2
INT • Scaling: ±214 ≡ 16384 ≡ ±20 mA
nOut1I_a Analog output 1
INT • Scaling: ±214 ≡ 16384 ≡ ±10 V
nOut2I_a Analog output 2
INT • Scaling: ±214 ≡ 16384 ≡ ±20 mA
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I/O terminals
Digital inputs
6.3 Digital inputs
The terminals DI1 ... DI7 of the plug connector X5 serve to detect digital signals.
All digital inputs can be set with a debounce time. See code C02830.
Setting the parameters of code C00115 enables you to evaluate the following digital input
signals at the terminals DI1/DI2 and DI6/DI7:
 Level evaluation for static input signals (DigIn)
 Detection of the input frequency (FrqIn)
 Detection and conditioning of two unipolar input frequencies (FrqIn2) to form one
bipolar frequency
 Frequency counter (CntIn)
 Evaluation of the speed feedback (HTL encoder) for the motor control (speed-controlled
operation)
Control input RFR of terminal strip X5 for controller enable is permanently connected to
the device control.
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I/O terminals
Digital inputs
DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR 24I 24E
X5
GI
X5/DI1 Digital input 1 ... 7 LOW level: 0 ... +5 V
.. HIGH level: +15 ... +30 V
X5/DI7
Input current: 8 mA per input (at 24 V)
Electric strength of external Max. ± 30 V, permanent
voltage
Input impedance: 3.3 kΩ (2.5 Ω ... 6 kΩ)
Max. input frequency: 100 kHz (DI1/DI2)
10 kHz (DI6/DI7)
Processing cycle: 1 ms (can be changed by filtering via the
software)
X5/24E External supply of DC 19.2 ... 28.8 V, IEC 61131-2, SELV/PELV
the device and the Current consumption ≈ 0.6 A
following terminals: In case of polarity reversal: No function and no destruction
• DI1 ..... DI7
• RFR, and
• control board and
bus module
X5/24I Internal supply of the Max. output current: 50 mA
terminals
• DI1 ..... DI7
• RFR
X5/RFR Controller enable See digital inputs
X5/GIO Reference potential (digital ground)
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I/O terminals
Digital inputs
Short overview of parameters for the digital inputs:
C00011 Reference speed of the drive
C00114 Inversion of the digital input
C00115/1 Function DI1 /DI2, 100 kHz
C00115/2 Function DI6/DI7, 10 kHz
C00420 Encoder increments at FreqIn12
C02830/1 ... /7 DI1 ... DI7: debounce time
C02843 FreqIn12: Gain
C00443/1 /2 Status: DIx terminal level / DIx output level
C02840 Status: Function
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I/O terminals
Digital inputs
6.3.3 System block "LS_DigitalInput"
The system block LS_DigitalInput displays the digital inputs in the FB editor.
 When C00115/1 = 0 ... 4, the processing functions DigIn, FrqIn, FrqIn1, FrqIn2 and
CountIn are assigned to the input signals at DI1 and DI2.
 When C00115/2 = 0 ... 4, the processing functions DigIn, FrqIn, FrqIn1, FrqIn2 and
CountIn are assigned to the input signals at DI6 and DI7.
 The two other processing functions DigIn are permanently assigned to the digital input
terminals DI3 ... DI5 of the terminal strip X5.
X5 C00115, C00115, value:

Subcode: 0 1 2 3 4
DI1 1 DigIn FrqIn FrqIn2, FrqIn1 CountIn
DI2 DigIn DigIn 2-track Direction DigIn
evaluation
DI3 - independent of C00115, permanent assignment:
DI4 DigIn
DI5
DI6 2 DigIn FrqIn FrqIn2, FrqIn1 CountIn
DI7 DigIn DigIn 2-track Direction DigIn
evaluation
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I/O terminals
Digital inputs
LS_DigitalInput ?
DigIn
C00115/1
C00443/1 C00114 C00443/2
X5 C02830 bInx
DigIn 0 (x: DI1 ... DI7)
1
DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR 24I 24E
1
FrqIn 0 0 t
FrqIn1
FrqIn
FrqIn2 C00011 C02842 C02843
CntIn nFreqIn12_a
10kHz
C00443 C00420
DigIn nFreqIn12_v
DigIn
DigIn
FrqIn1
C00011 C02842 C02843
nFreqIn12_a
10kHz
C00115/2 1
0 C00420
GI
DigIn nFreqIn12_v
DigIn
FrqIn C00443 MCTRL_Speedfeedback
FrqIn1 FrqIn2
FrqIn2 C00443/1 C00011 C02842 C02843
CntIn 10kHz
nFreqIn12_a
10kHz
C00443/1
C00420
nFreqIn12_v
MCTRL_Speedfeedback
CountIn
bCountIn1_LoadStartValue C02841/1
bCountIn1_ResetCompare wCountIn1_HW
wCountIn1_LW
bCountIn1_Compare
10kHz
C02840/1 dwCountIn1_LoadStartValue
C02840/2 dwCountIn1_CompareValue
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I/O terminals
Digital inputs
General digital inputs

 Processing function DigIn ⏐ DigIn
When C00115/1 = 0 this processing function can be used at the terminals DI1 and DI2.
When C00115/2 = 0 this processing function can be used at the terminals DI6 and DI7.
As a total, 7 digital inputs DigIn1 ... DigIn7 can be parameterised. The debounce time
C02830/1...7 and the terminal polarity C00114 can be set for each processing function. The
status can be queried via code C00443 at the input and output of the processing function.
DigIn
C00443/1 C00114 C00443/2
C02830 bInx
1
0 (x: DI1 ... DI7)
0 0 t 1
X = 1 ... 7 (for DI1 ... DI7)
bIn1 Digital input DI1

C00443/1 | BOOL
...
bln7 Digital input DI7
C00443/7 | BOOL
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I/O terminals
Digital inputs
Frequency inputs
 General information
 Note!
• Ensure that the maximum input frequency of the following inputs is not
exceeded during operation of the motor control with speed feedback:
– DI1 / DI2 ---> 100 kHz
– DI6 / DI7 ---> 10 kHz
• If the encoder signal is used as an actual speed value:
Number of encoder pulses / revolution ≤ 8192!
Example for DI7 / DI7 (corresponding to the above note):

• Number of encoder increments:
1500rpm 512 pulses / motor revolution
Input frequency = ------------------------ × 512pulses
60s • Reference speed C00011:
1500 rpm
= 12800 ( pulses ⁄ s ) • Speed setpoint:
= 12,8 kHz 100 %
Result:
• The speed is too high or
• the number of increments is too high
The frequency inputs available in the system block serve to detect

– HTL encoders with any number of increments.
– single or two-track signals. Single-track signals can be evaluated with or without
rotation direction signal.
 Processing function FrqIn⏐DigIn

When C00115/1 = 1, the processing function "FrqIn" at the terminal DI1 can be used.
When C00115/2 = 1, the processing function "FrqIn" at the terminal DI6 can be used.
FrqIn
C00011 C02842 C02843
nFreqIn12_a
10kHz
C00443 C000420
nFreqIn12_v
Data type
nFreqIn12_a Output frequency as %-scaled analog signal

INT
nFreqIn12_v Output frequency as inc/ms speed signal

INT
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I/O terminals
Digital inputs
 Processing function FrqIn1⏐Direction

When C00115/1 or C00115/2 = 3, DI1, DI2, DI6 and DI7 can be configured so that a single-
track encoder signal can be evaluated. With this configuration, DI1/DI6 evaluates the
rotating direction of the encoder (0: clockwise direction of rotation) and DI2/DI7 the
rotational speed.
FrqIn1
C00011 C02842 C02843
nFreqIn12_a
10kHz
1
0 C00420
DigIn nFreqIn12_v
C00443 MCTRL_Speedfeedback
Data type

INT

INT
 Processing function FrqIn2 (two-track)

When C00115/1 or C00115/2 = 2, a two-track encoder can be connected to the terminals
DI1/DI2 or DI6/DI7.
FrqIn2
C00443/1 C00011 C02842 C02843
10kHz
nFreqIn12_a
10kHz
C00443/1
C00420
nFreqIn12_v
MCTRL_Speedfeedback
Data type

INT

INT
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I/O terminals
Digital inputs
Counter input
 Processing function CountIn
 Note!
• Parameterise the "Starting value of the counting block ≤ comparison value"
(otherwise the counter will be kept on its starting value since comparison
takes place permanently, see explanation below).
• It is possible to measure very high pulse frequencies at the inputs DI1/DI2 or
DI6/DI7 if a corresponding function (FreqIn, HTL encoder input, counter) is set
for these inputs. Then the sampling takes place within a few μs instead of the
otherwise usual sampling rate of 1 kHz (1 ms).
• Observe the maximum input frequencies of the above-mentioned inputs.
With the configuration C00115/1 or C00115/2 = 4, quick edges are counted at the terminal
DI1 or DI6. Here, a 32-bit counter counts up to a comparison value and then sets an output
bit.
CountIn
bCountIn1_LoadStartValue C02841/1
bCountIn1_ResetCompare wCountIn1_HW
wCountIn1_LW
bCountIn1_Compare
10kHz
C02840/1 dwCountIn1_LoadStartValue
C02840/2 dwCountIn1_CompareValue
wCountIn1_HW Counter, high word as non-standardised signal

C02841/1 | WORD
wCountIn1_LW Counter, low word as non-standardised signal

C02841/1 | WORD
wCountIn1_Compare Comparison value, see following description

BOOL
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I/O terminals
Digital inputs
The following temporal characteristic shows the counting process depending on the
signals of the interfaces described before:
[6-1] Transient characteristic of a quick counter block, sampling cycle = 1 ms
The starting value is loaded if "value = 0". When the comparison value
dwCountin1_CompareValue, code C02840/2, is reached or exceeded, the counter returns
to its starting value. Starting value and comparison value are 32-bit parameters, the
maximum input range of which is 0 ... 231 - 1. The counter content can be picked off at the
interface of the LS_DigitalInput as a 16-bit value without sign for the HIGH and LOW word
each. This serves to directly connect the current counter contents on the CAN bus. When
the comparison value is reached, bit bCount1_Compare changes its signal status from LOW
to HIGH. The signal is then reset via an edge at the bCount1_ResetCompare. An edge at the
bCountIn1_LoadStartValue input loads the current counter content of the LOW and HIGH
word to the value in the dwCountIn1_StartValue parameter.
196 L Firmware 02.00 - DMS EN 3.0 - 05/2009

I/O terminals
Digital outputs
6.4 Digital outputs
The controller is provided with

 three parameterisable digital outputs, terminal strip "X4"
 a relay output, terminal strip "X101"
 an output to control a brake ("high-current output"), terminal strip "X107".
 Note!
Initialisation behaviour:
• After mains switching up to the start of the application, the digital output
remains set to FALSE.
Exception handling:
• In case of a critical exception in the application (e.g. reset), the digital output
is set to FALSE considering the terminal polarity parameterised in C00118.
Operating cycle diagnosis
• Code C00445 serves to evaluate the mechanical wear and thus the exchange
of the relay.
X4
GO DO3 DO2 DO1 24O
X101
COM
X107
BD2 BD1 GB 24B
NC
NO

X4/DO1 Digital output 1 LOW level: 0 ... +5 V
... HIGH level: +15 ... +30 V
X4/DO3
Output current: max. 50 mA per output (external resistance
> 480 Ω at 24 V)
Processing cycle: 1 ms
X4/24E External 24 V voltage supply for, among other things, the digital outputs
X4/GIO Reference potential (digital ground)
X101/COM Relay output, Potential-free two-way switch
common contact AC 250 V / 3 A
X101/NC Relay output, NC DC 24 V / 2 A ... 240 V / 0.16 A
contact
X101/NO Relay output, NO
contact
X107/BD1 Brake, positive
connection
X107/BD2 Brake, negative
connection
X107/GB Brake, reference
potential
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I/O terminals
Digital outputs
 Tip!
DC-injection braking allows the drive to be quickly braked to a standstill without
the need to use an external brake resistor.
DC-injection braking ( 153)
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I/O terminals
Digital outputs
Short overview of parameters for the digital outputs:
C00118 Inversion of the output logic
C00423 Filter time / delay time
C00177 /2 Status: Switching cycles, output relay
C00444 Status: Digital outputs
C00445 Status: Switching operations of the relay up to that moment
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I/O terminals
Digital outputs
6.4.3 System block "LS_DigitalOutput"
In the FB editor, the system block LS_DigitalOutput is the interface to the digital output at
the front of the controller.
LS_DigitalOutput ?
C00444/1 C00423/3 C00118 C00444/2 X4
Bit 1 C00423/4 Bit 1 Bit 1
GO DO3 DO2 DO1 24O

bOut1 0
0 t 1
C00444/1 C00423/5 C00118 C00444/2

Bit 2 C00423/6 Bit 2 Bit 2
bOut2 0
0 t 1
C00444/1 C00423/7 C00118 C00444/2

Bit 3 C00423/8 Bit 3 Bit 3
bOut3 0
0 t 1
C00444/1 C00423/9 C00118

Bit 4 C00423/10 Bit 4 X107
BD2 BD1 GB 24B

bOutHC 0
0 t 1
C00444/1 C00423/1 C00118 C00444/2

Bit 0 C00423/2 Bit 0 Bit 0 C00445 X101
0
bRelay
COM
0 t 1
NC
NO
Input Information/possible settings

bOut1 Digital output 1

C00444/1 | BOOL ..
.. Digital output 3
bOut3
C00444/1 | BOOL
bOutHC Output for brake control

C00444/1 | BOOL
bRelay Relay output, potential-free two-way switch

C00444/1 | BOOL
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I/O terminals
Terminal pre-assignment
6.5 Terminal pre-assignment
6.5.1 Application "Actuating drive - speed"
 Tip!
In the description of the technology application Actuating drive - speed you are
informed
• which signals have been pre-assigned to the terminals in the Lenze setting and
• how to assign different signals to the terminals.
6.5.1.1 Connection diagram in the Lenze setting
C0007 = 10 (terminals 0)
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
24I A1U Speed setpo
Controller enable RFR A1I
Fixed setpoint 1 DI1 A2U
Fixed setpoint 2 DI2 A2I
DC brake DI3 GA
ction of rotation CCw DI4 O1U Actual spee
DI5 O1I
DI6 O2U
DI7 O2I
GI
X107 X4
24B 24O
GB DO1 DriveReady
BD1 DO2
BD2 DO3
GO
CG
CH
CL
X1
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I/O terminals
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
24I A1U Speed setpoint
Quickstop DI3 GA
ction of rotation Ccw DI4 O1U Actual speed valu
DI5 O1I
DI6 O2U
DI7 O2I
GI
X107 X4
24B 24O
GB DO1 DriveReady
BD1 DO2
BD2 DO3
GO
CG
CH
CL
X1
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
Direction of rotation Ccw DI1 A2U
DC brake active DI2 A2I
Motor Speed higher DI3 GA
potentiometer Speed lower DI4 O1U Actual speed valu
DI5 O1I
DI6 O2U
DI7 O2I
GI
X107 X4
24B 24O
GB DO1 DriveReady
BD1 DO2
BD2 DO3
GO
CG
CH
CL
X1
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I/O terminals
C0007 = 20 (keypad)
Engineer: Keypad:
X101 All parameters
COM
NC Par1 8400 HighLineC
DriveFail NO
User - Menu
Quick commissioning
External
supply X5 X3
+ 24E AR Terminal Go to param
24 V DC = Logbook
24I A1U
Controller enable Keypad Quick commissioning
RFR A1I Quick commissioning
DI1 A2U SAVE
DI2 A2I
DI3 GA
DI4 O1U Actual speed value Par1 Quick commissioning
DI5 O1I
DI6 O2U Terminals
DI7 Keypad
O2I
GI
SAVE
X107 X4
24B 24O
GB DO1 DriveReady
BD1 DO2 C2/1
C7
BD2 DO3 C728
GO C11
C12
C13
CG
CH
CL
C15
X1 C16
C22
C87
C89
C39/1
C727/3
C727/4
C51
C54
C0007 = 21 (PC)
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
24I A1U
DI1 A2U
DI2 A2I
DI3 GA
DI4 O1U Actual speed valu
DI5 O1I
DI6 O2U
DI7 O2I
GI
X107 X4
24B 24O
GB DO1 DriveReady
BD1 DO2
BD2 DO3
GO
CG
CH
CL
X1
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I/O terminals
C0007 = 30 (CAN)
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
Quickstop DI1 A2U
DI2 A2I
Manual pos. direction DI3 GA
Jog neg. direction DI4 O1U Actual speed value
DI5 O1I
DI6 O2U
DI7 O2I
GI
X107 X4
24B 24O
GB DO1 DriveReady
BD1 DO2
BD2 DO3
GO
CG
CH
CL
X1 DriveControlStatus
MotorSpeedAct
MotorSpeedSet
CanOut1 CanOut2 / 3
CanIn1 CanIn2 / 3
MainSetValue
CANDriveControl
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I/O terminals
C0007 = 40 (MCI)
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
Quickstop DI1 A2U
DI2 A2I
DI5 O1I
DI6 O2U
DI7 O2I
GI
X107 X4
24B 24O
GB DO1 DriveReady
BD1 DO2
BD2 DO3
GO
CG
CH
CL
MotorSpeedAct
MotorSpeedSet
MciOut 4 ...16
MciIn 3 ...16
MainSetValue
MciDriveControl
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I/O terminals
6.5.2 Application "Table positioning"
 Tip!
In the description of the technology application Table positioning you are informed
• which signals have been pre-assigned to the terminals in the Lenze setting and
• how to assign different signals to the terminals.
Control source: Terminals 0, C7 = 10
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
DI1 A2U
DI2 A2I
Limit switch pos. direction DI3 GA
neg. direction DI4 O1U Actual speed value (V)
Bit 2 DI5 O1I Actual speed value (I)
Profile no. 0 ... 3 Bit 1 DI6 Actual motor current value (V
O2U
Start profile generation DI7 O2I Actual motor current value (I
GI
MBrakeReleaseOut
X107 X4
= + 24B 24O
GB DO1 DriveReady
+ BD1 DO2 Load mechanicals in target p
BD2 DO3 Home position known
GO
CG
CH
CL
X1
206 L Firmware 02.00 - DMS EN 3.0 - 05/2009

I/O terminals
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
DI1 A2U
DI2 A2I
DI3 GA
Bit 3 DI4 O1U
Profile no. 0 ... 7 Bit 2 DI5 O1I Actual speed value (I)
Bit 1 DI6 O2U Actual motor current value (V
GI
MBrakeReleaseOut
X107 X4
= + 24B 24O
GB DO1 DriveReady
Home position known
M BD2 DO3
GO
CG
CH
CL
X1
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
Limit switch pos. direction DI1 A2U
neg. direction DI2 A2I
DI3 GA
Bit 3 DI4 O1U Actual speed value (V)
GI
MBrakeReleaseOut
X107 X4
= + 24B 24O
GB DO1 DriveReady
Home position known
M BD2 DO3
GO
CG
CH
CL
X1
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I/O terminals
Control source: Keypad, C7 = 20

Engineer: Keypad:
X101 All parameters
COM
DriveFail NO
User - Menu
Quick commissioning
External
supply X5 X3
24 V DC = Logbook
24I A1U
DI1 A2U SAVE
DI2 A2I
DI3 GA
DI4 O1U Actual speed value (V) Par1 Quick commissioning
DI5 O1I Actual speed value (I)
DI6 O2U Actual motor current value (V) Terminals
DI7 Actual motor current value (I) Keypad
O2I
GI
MBrakeReleaseOut SAVE
X107 X4
= + 24B 24O
GB DO1 DriveReady
BD1 DO2 Load mechanicals in target position C2/1
+ C7
Home position known
M BD2 DO3
GO
C728
C11
C12
C13
CG
CH
CL
C15
X1 C16
C22
C87
C89
C39/1
C727/3
C727/4
C51
C54
Control source: PC, C7 = 21
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
24I A1U
DI1 A2U
DI2 A2I
DI3 GA
DI4 O1U Actual speed value (V)
DI6 O2U Actual motor current value (V
DI7 O2I Actual motor current value (I
GI
MBrakeReleaseOut
X107 X4
= + 24B 24O
GB DO1 DriveReady
Home position known
M BD2 DO3
GO
CG
CH
CL
X1
208 L Firmware 02.00 - DMS EN 3.0 - 05/2009

I/O terminals
Control source: CAN, C7 = 30
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
DI1 A2U
DI2 A2I
Reference switch status DI5 O1I Actual speed value (I)
Quickstop DI6 O2U Actual motor current value (V
GI
MBrakeReleaseOut
X107 X4
= + 24B 24O
GB DO1 DriveReady
Imax status
M BD2 DO3
GO CanDriveControl
MainSetValue
DriveControlStatus
CG
CH
CL
MotorSpeedAct
X1 MotorSpeedSet
CAN1_In
CAN1_Out
CAN2/3_In/Out
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I/O terminals
Control source: MCI, C7 = 40
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
DI1 A2U
DI2 A2I
Reference switch DI5 O1I Actual speed value (I)
GI
MBrakeReleaseOut
X107 X4
= + 24B 24O
GB DO1 DriveReady
Imax status
M BD2 DO3
GO MciDriveControl
MainSetValue
DriveControlStatus
CG
CH
CL
MotorSpeedAct
X1 MotorSpeedSet
Mci1_In
Mci1_Out
Mci2/3_In/Out
210 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Encoder evaluation
7 Encoder evaluation
 Danger!
• To avoid interferences when using an encoder only use shielded motor and
encoder cables.
• Observe the maximum input frequencies of the digital inputs Digital
inputs ( 187)
 Note!
In the Lenze setting (e.g. when the device is delivered), the open-circuit
monitoring of the encoder (C00586) is activated.
When does the open-circuit monitoring system respond?

The open-circuit monitoring system responds if
 an open circuit occurs in the encoder cable.
 an extreme overload (e.g. blocked motor shaft) occurs during the start-up phase of the
motor
 the motor is highly dynamically reversed.
Which measured values lead to an actuation of the open-circuit monitoring system?

The following measured values checked for plausibility lead to an actuation of the open-
circuit monitoring system:
1. If the total deviation between actual speed and setpoint speed is higher than f = 40 Hz
for a time > 0.1 s .
2. If the actual speed detected is f = 0 Hz or n = 0 rpm and the Imax controller or the torque
limitation for servo control is active for t ≥ 0.1 s.
3. If the sign of the injected frequency and the actual speed is not the same, the Imax
controller is active and this status is active for 0.1 s. Usually this is the case when the A/
B tracks are reversed.
Selecting the response to an open circuit in the encoder cable

If required, the following reactions can be parameterised under C00586:
 "Fault", operating status change through pulse inhibit of the power output stage, see
Device state machine ( 56) (Lenze setting)
 "No reaction", reaction deactivated
 "Warning", operating status of controller remains unchanged. Only a message will be
indicated, see Device state machine ( 56).
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Encoder evaluation
Parameter setting for the motor encoder
7.1 Parameter setting for the motor encoder
For speed monitoring the feedback signal can be supplied via an HTL encoder at the digital
input terminals (DI1/DI2 or DI6/DI7).
A click on the "Encoder/feedback system" button, see , opens a dialog which serves to
select the encoder system and set the number of encoder increments.
 Tip!
The "Encoder/feedback system" button  can be found via the following path:
• Select the "Application parameters" tab
• Click the motor pictograph --> the parameter dialog containing the
corresponding button opens, see below screenshot.
Parameter setting
C00006 Set this code to a motor control operating mode with feedback
C00115/1 Set this code to 2, 3 or 4
C00115/2 Lenze recommendation: Set "3"
• Value "3":
Enables two-track encoder evaluation with correct direction of rotation detection.
• Value "2" or "4":
For single-track evaluation, make sure that the sign is correct. Otherwise, the motor may
overspeed.
The output signals bIn1 and bIn2 at System block "LS_DigitalInput" ( 190) automatically
change to FALSE.
C00420/1 Encoder increments (e.g. 256 pulses/revolution) at the terminals
C00420/2 • X4/DI1 or X4/DI2
• X4/DI6 or X4/DI7
C00425/1 Scan time of encoder,
C00425/2 only relevant, if edge counting has been selected with C00496 = 3
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Encoder evaluation
Parameter setting for the motor encoder
C00490 Source of feedback signal for position control
C00495 Source of feedback signal for speed control
C00496 Selection of encoder evaluation method
C00497/1 Filter time of speed measuring device
C00497/2
C01206/1 Mounting direction of motor and encoder
C01206/2
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Encoder evaluation
Encoder evaluation method
7.2 Encoder evaluation method
Depending on the encoder used, the following table specifies which evaluation method
should be selected under code C00496:
Setting Method Description

C00496 = 0 High-resolution • Method for speed measurement with automatic scan time setting
method for encoders (0.5 … 500 ms)
with a high number • Evaluation with automatic scan time minimisation for an optimum
of increments dynamic performance
• Particularly suited for high-resolution encoders (≥ 1024 inc) with good
signal quality, i.e.
– good scanning ratio 1:1
– exactly 90°-phase offset between track A and B (error ≤ ± 10°)
• Not suited for encoders with poor signal quality
• Wiring according to EMC (e.g. motor and encoder cable shielding) is
required
C00496 = 1 Low-resolution • Exact method for speed measurement with automatic scan time setting
method (StateLine) (0.5 … 500 ms) for low-resolution encoders in the range of 4 …. 128
for encoders with a increments
low number of • Evaluation with automatic scan time minimisation for an optimum
increments dynamic performance
• Method is also suited for encoders with poor signal quality, e.g. for
encoders with high error rate in scanning ratio and phase offset.
• This method requires an equidistant period length per encoder
increment.
required
C00496 = 2 Combined method • Combination of methods C00496 = 0 and C00496 = 1 for high-precision
for all increments speed measurement for encoders with any number of increments
(Lenze setting) (4 … 1024 increments).
• Low input frequencies at DIGIN 1/2: Use low-resolution method ( C00496
= 1)
• High input frequencies at DIGIN 1/2: Use high-resolution method (
C00496 = 0)
• This method is suited for encoders with average to good signal quality
• Evaluation with automatic scan time minimisation for an optimum
dynamic performance
• This method requires an equidistant period length per encoder
increment.
required
C00496 = 3 Edge counting • Method with adjustable scan time (fixed scan time can be set under
C00425/1)
• Speed measurement by means of the edges of tracks A and B measured
per scanning interval
• Integrated correction algorithm for EMC interference
• Limited suitability for systems with unshielded encoder and/or motor
cable
• Limited suitability for encoders with poor signal quality, i.e. high error
rate in scanning ratio and phase offset.
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Encoder evaluation
Encoder evaluation method
 Tip!
• Recommended setting of code C00496 = 2.
• For dynamic applications (e.g. servo control mode), use the methods set with
C00496 = 0, 1, 2.
• For dynamic speed control or positioning processes, use an HTL encoder with
1024 increments.
• The wiring diagram and the assignment of the input terminal can be found in
the 8400 Hardware Manual.
• The Hardware Manual is available in electronic form on the CD supplied with
the 8400 frequency inverter.
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Encoder evaluation
Encoders with HTL level at X4/DI1 or X4/DI2
7.3 Encoders with HTL level at X4/DI1 or X4/DI2
 Note!
At the digital terminal X4/DI1 or X4/DI2, only encoders with HTL level can be
used.
Even if the operating mode without encoder feedback is selected, the actual
speed value (C00051) will be calculated, if
• an encoder is connected, and
• an encoder has been selected under code C00495 ("speed encoder selection")
with the value "1".
7.3.1 Signal flow
Encoder interface
bSetMotorPostionRef
C833/68
C490 dnMotorPosRefValue
C833/6
0
1 dnMotorPosAct
2
10 kHz
DIGIN 6/7 C495

C497/1 dnMotorPosAct_a
C496 C497/2 nMotorSpeedAct
0
1 C51/0
100 kHz 2
DIGIN 1/2 Motor encoder

selection
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Encoder evaluation
Encoders with HTL level at X4/DI1 or X4/DI2
Low speeds (except for edge counting)

For the methods with C00496 = 0, 1 or 2, the minimum speed that can be measured
depends on the encoder PPR.
The quantisation error
 is independent of the encoder PPR
 exclusively depends on the encoder quality (encoder errors)
 is minimally 0.5 rpm.
For a maximum dynamic performance, the scan time is automatically kept at the
minimum value required through internal arithmetic operations.
Number of encoder increments Minimum speed [rpm]

C00420/1
8 16
16 8
32 4
64 2
128 1
256 0.5
≥ 512 0.25
Low speeds with edge counting

With edge counting (C00496 = 3) , the minimum speed that can be measured and the
quantisation error of the speed measurement depend on
 the adjustable scan time and
 the encoder resolution.
Select the scan time according to accuracy and dynamic requirements:
Scan time [ms]

Encoder resolution (increments) 1 2 5 10 20 50 100 200 500 1000
8 1875 938 375 188 93.8 37.5 18.8 9.4 3.8 1.9
16 938 469 188 94 46.9 18.8 9.4 4.7 1.9 0.9
32 469 234 94 46.9 23.4 9.4 4.7 2.3 0.9 0.5
64 234 117 46.9 23.4 11.7 4.7 2.3 1.2 0.5 0.2
128 117 58.6 23.4 11.7 5.9 2.3 1.2 0.6 0.2 0.12
256 58.6 29.3 11.7 5.9 2.9 1.2 0.6 0.3 0.12 0.06
512 29.3 14.6 5.9 2.9 1.5 0.6 0.3 0.15 0.06 0.03
1024 14.6 7.3 2.9 1.5 0.7 0.3 0.15 0.07 0.03 0.01
all values in [1/min]
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Encoder evaluation
Encoder with HTL level at X4/DI6 or X4/DI7
7.4 Encoder with HTL level at X4/DI6 or X4/DI7
7.4.1 Signal flow
C420/2 C497/2
C425/2
nFreqIn67_a
10 kHz
DIGIN 6/7
Low speeds with edge counting

The speed measurement is evaluated at terminals X4/DI6 and X4/DI7 via edge counting
with a fixed, adjustable scan time.
With edge counting, the minimum speed that can be measured and the quantisation error
of the speed measurement depend on
 the adjustable scan time and
 the encoder resolution.
Select the scan time according to accuracy and dynamic requirements:
Scan time [ms]

Encoder resolution (increments) 1 2 5 10 20 50 100 200 500 1000
8 1875 938 375 188 93.8 37.5 18.8 9.4 3.8 1.9
16 938 469 188 94 46.9 18.8 9.4 4.7 1.9 0.9
32 469 234 94 46.9 23.4 9.4 4.7 2.3 0.9 0.5
64 234 117 46.9 23.4 11.7 4.7 2.3 1.2 0.5 0.2
128 117 58.6 23.4 11.7 5.9 2.3 1.2 0.6 0.2 0.12
256 58.6 29.3 11.7 5.9 2.9 1.2 0.6 0.3 0.12 0.06
512 29.3 14.6 5.9 2.9 1.5 0.6 0.3 0.15 0.06 0.03
1024 14.6 7.3 2.9 1.5 0.7 0.3 0.15 0.07 0.03 0.01
Maximum speeds with edge counting

Due to the lower input frequency (max. 10 kHz) compared to terminals X4/DI1 and X4/DI2,
operation at maximum speed at the input terminals X4/DI6 and X4/DI7 is limited, see
Digital inputs ( 187).
Number of encoder increments Maximum speed that can be measured [rpm]

C00420/1
8 No restrictions
16 37500
32 18750
64 9375
128 4688
256 2344
512 1172
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System bus "CAN on board"
8 System bus "CAN on board"

The controller has an integrated CANopen system bus interface ("CAN on board") for
process and parameter data exchange between different devices and the connection of
additional modules such as distributed terminals, keypads and input devices ("HMIs") as
well as external controls.
 In the »Engineer« parameter list and in the keypad, category CAN, you can find the
parameters relevant for the CANopen system bus interface classified in different
subcategories.
 Note!
Information on CAN communication modules and
CANopen system bus interfaces of other Lenze
controllers can be found on the Lenze homepage
and in the "CAN" communication manual
available in the Lenze library.
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Features
8.1 Features
For many years, the system bus (CAN) based on the CANopen communication profile has
been integrated in Lenze inverters. Due to the lower number of data objects available, the
functionality and compatibility of the previous system bus are lower as compared to
CANopen. For parameter setting, two parameter data channels are always available to the
user while CANopen provides only one active parameter channel.
The system bus (CANopen) has the following features:
 The system bus (CAN) provides full compatibility with CANopen DS301, V4.02.
 The NMT slave function Heartbeat (DS301, V4.02) is supported.
 2 server SDO channels with 1 to 8 bytes
– Because of the 2 server SDO channels, the address range from 1 to 63 is available.
 Number of parameterisable PDO channels:
– Max. 3 transmit PDOs (TPDOs) with 1 ... 8 bytes (adjustable)
– Max. 3 receive PDOs (RPDOs) with 1 ... 8 bytes (adjustable)
 All PDO channels are functionally equivalent.
 Sync signal generation
 Monitoring of the RPDOs for data reception
 Telegram counters for SDOs and PDOs
 CAN bus status diagnostics
 Generation of a CAN reset node NMT telegram at master configuration
 All "CAN on board" functions can be parameterised via codes.
 Adjustable error response to ...
– physical CAN errors (frame, bit, ACK error)
– bus-stop, bus working
– absent PDOs
 Sending and receiving PDOs (time-, event-, sync-controlled)
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Features
CANopen-specific functions
 Object directory (all mandatory functions, optional functions, indexes)
 Boot-up telegram generation
 Emergency telegram generation
 Abort codes
 Heartbeat function (producer and consumer protocol)
 Response to sync telegrams (transmit/receive data; for HighLine and also
synchronisation to device-internal time base)
Protocols
Standard PDO protocol Write and read
SDO protocols SDO download
• "Initiate SDO download"
• "Download SDO segment"
SDO upload
• "Initiate SDO upload"
• "Upload SDO segment"
Abort SDO transfer
SDO block download
• "Initiate block download"
• "Download block"
• "End download block"
SDO block upload
• "Initiate block upload"
• "Upload block"
• "End upload block"
NMT protocols Start remote node (master and slave)
Stop remote node (slave)
Enter pre-operational (slave)
Reset node (slave and local device)
Reset communication protocol (slave)
Heartbeat producer protocol Producers and consumers
• StateLine: Up to 7 heartbeat producers can be monitored.
• HighLine: Up to 15 heartbeat producers can be monitored.
Emergency
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General data and application conditions
8.2 General data and application conditions
Range Values
Communication profile CANopen, DS301 V4.02
Communication medium DIN ISO 11898
Network topology Line terminated at both ends
Adjustable node address 1 ... 63 (adjustable via DIP switch or code)
Max. number of nodes 63
Baud rate [kbps] • 50
• 125
• 250
• 500
• 800 (only with HighLine)
• 1000 (only with HighLine)
Adjustable via DIP switch or code
Process data • Max. 3 transmit PDOs (TPDOs) with 1 ... 8 bytes (adjustable)
• Max. 3 receive PDOs (RPDOs) with 1 ... 8 bytes (adjustable)
Transfer mode for TPDOs • With change of data
• Time-controlled, 1 to x ms
• After the reception of 1 to 240 sync telegrams
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Communication time
8.3 Communication time
 Tip!
The communication time is the time between the start of a request and the arrival
of the corresponding response.
The CAN communication times depend on:
• Processing time in the frequency inverter
• Telegram run time (baud rate / telegram length)
• Bus load (especially if the bus is charged with PDOs and SDOs at a low baud rate)
Processing time in the 8400 frequency inverter

No dependencies exist between parameter data and process data.
 Parameter data:
– Approx. 5 ms (typical)
– For parameters concerning the motor control (e.g. C00011), the processing time may
be up to 30 ms.
 Process data: 1 ms
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Possible settings via DIP switch
8.4 Possible settings via DIP switch
O
The following can be set via the front panel DIP
switches:
N d c b a 64 32 16 8 4 2 1
 Bus terminating resistor

0 Baud CAN Address
Position: 
Switch position:  Baud rate
ON Area: "Baud"
Positions: "a" to "d"
OFF  Node address
Area: "CAN Address"
Positions: "1" to "64"
[8-1] DIP switch
Lenze setting: All DIP switches are in the "OFF" position
 Note!
• The DIP switch settings are accepted if at least one DIP switch setting for the
node address (1 ... 63) is unequal zero when the device or the 24 V supply is
switched on.
• If the DIP switch setting is zero when the device or the 24 V supply is switched
on, the setting of the baud rate and node address are read out of the
parameter set/parameter.
 Tip!
The current DIP switch settings are displayed in code C00349.
Bit 15 indicates that the setting of the DIP switches has been accepted when the
device or the 24 V supply has been switched on.
8.4.1 Activation of the bus terminating resistor
The CAN bus must be terminated between CAN low and CAN high at the first and last
physical node each by a resistor (120 Ω). The 8400 frequency inverter is provided with an
integrated bus terminating resistor, which can be activated via the unlabelled DIP switch.
Switch position ():
 OFF = bus terminating resistor is inactive
 ON = bus terminating resistor is active
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CAN signalling on the controller front panel
8.4.2 Setting the baud rate
The baud rate can be set via code C00351 or with the DIP switches a to d:
DIP switch positions Baud rate Information

d c b a
OFF OFF ON ON 50 kbps
OFF OFF ON OFF 125 kbps
OFF OFF OFF ON 250 kbps
OFF OFF OFF OFF 500 kbps
ON ON ON OFF 800 kbps • Baud rates are not available for
8400 StateLine. The positions of the DIP
OFF ON OFF OFF 1000 kbps
switches c and d have no effect.
• Baud rates are only valid for
8400 HighLine.
8.4.3 Setting the node address
 The node address can be set via code C00350 or with the DIP switches 1 to 64.
 The labelling on the housing corresponds to the values of the individual DIP switches
for determining the node address.
 Valid address range: 1 to 63
 Note!
• The addresses of the nodes must differ from each other.
• All DIP switches 1 ... 64 = OFF (Lenze setting):
– At switching on, the settings under code C00350 (node address) and
C00351 (baud rate) will become active.
Example: Setting of the node address 23
DIP switch 64 32 16 8 4 2 1
Switch position OFF OFF ON OFF ON ON ON
Value 0 0 16 0 4 2 1
Node address = Sum of the values = 16 + 4 + 2 + 1 = 23
8.5 CAN signalling on the controller front panel
CAN-RUN
 CAN-RUN:
CAN-ERROR Signals the CANopen state
 CAN-ERROR:
Signals a CANopen error
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CAN signalling on the controller front panel
Frequency of the display CAN signalling and meaning

Permanently red CAN-Run: -, CAN-Error: bus off
Flashes Automatic detection of baud rate is active
Green blinks every 0.2 s CAN-Run: pre-operational, CAN-Error: -
Green blinks every 0.2 s CAN-Run: pre-operational, CAN-Error: warning limit reached
Red blinks 1 time, 1 s off
Green blinks every 0.2 s CAN-Run: pre-operational, CAN-Error: node guard event
Red blinks 2 times, 1 s off
Permanently green CAN-Run: operational, CAN-Error: -
Permanently green CAN-Run: operational, fault: warning limit reached

Permanently green CAN-Run: operational, CAN-Error: node guard event

Permanently green CAN-Run: operational, CAN-Error: sync message error

Green blinks every 1 s CAN-Run: stopped, CAN-Error: -
Green blinks every 1 s CAN-Run: stopped, CAN-Error: warning limit reached

Green blinks every 1 s CAN-Run: stopped, CAN-Error: node guard event

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General information on data transfer
8.6 General information on data transfer
All Lenze drive and automation systems are equipped with an integrated system bus
interface for the networking of control components on field level.
Via the system bus interface, for instance process data and parameter values can be
exchanged between the nodes. In addition, the interface enables the connection of
additional modules such as distributed terminals, keypads and input devices or external
controls and host systems.
The system bus interface transfers CAN objects following the CANopen communication
profile (CiA DS301, version 4.02) developed by the umbrella organisation of CiA (CAN in
Automation) in conformity with the CAL (CAN Application Layer).
8.6.1 Structure of the CAN data telegram
Control field CRC delimit. ACK delimit.

Start RTR bit CRC sequence ACK slot End
Identifier User data (0 … 8 bytes)

Network management
Process data
Parameter data
1 bit 11 bits 1 bit 6 bits 15 bits 1 bit 1 bit 1 bit 7 bits
9400CAN016
[8-2] Basic structure of the CAN telegram
 Tip!
Identifier and user data are described in detail in the following chapters. The other
signals refer to the transfer characteristics of the CAN telegram. These instructions
do not describe them in detail. For more information, please go to the homepage
of the CAN user organisation CiA (CAN in Automation) http://www.can-cia.org .
Node address (node ID)

Each node of the system bus network must be assigned to a node address (also called node
ID) within the valid address range (1 to 63) for unambiguous identification.
 A node address may not be assigned more than once within a network.
 The node address of the drive can be configured using the DIP switches or code C00350.
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Identifier
The principle of the CAN communication is based on a message-oriented data exchange
between a transmitter and many receivers. All nodes can transmit and receive quasi-
simultaneously.
The identifier, also called COB-ID (Communication Object Identifier), is used to control
which node is to receive a sent message. In addition to the addressing, the identifier
contains information on the priority of the message and the type of the user data.
The identifier consists of a basic identifier and the node address of the node to be
addressed:
Identifier (COB-ID) = basic identifier + node address (node ID)
Exception: For process data, heartbeat/emergency objects, NMT telegrams and sync
telegrams, the identifier is assigned freely by the user (e.g. manually or automatically via
the network configurator) or it is firmly allocated.
Identifier assignment
The CAN bus system is message-oriented. Each message has an unambiguous identifier.
For CANopen, node-oriented transfer is achieved by the fact that there is only one
transmitter for each message.
The identifier assignment is specified in the CANopen protocol.
In accordance with the CANopen specification, the basic identifier is preset in the factory
to the following values:
Object Direction Lenze-Base-ID CANopen-Base-ID

from the to the drive dec hex dec hex
drive
NMT 0 0 0 0
1)
Sync 128 80 128 80
1)
Emergency X 128 80 128 80
PDO1 TPDO1 X 384 180 384 180
(Process data channel 1) RPDO1 X 512 200 512 200
PDO2 TPDO2 X 640 280 640 280
PDO3 TPDO3 X 768 300 896 380
SDO1 TSDO1 X 1408 580 1408 580
(Parameter data channel 1) RSDO1 X 1536 600 1536 600
SDO2 TSDO2 X 1472 5C0 1472 5C0
Heartbeat X 1792 700 1792 700
Boot-up X 1792 700 1792 700
1) If you set the sync transmit/receive identifier manually, observe the use of the emergency telegram, since it has the same
COB-ID.
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User data
The nodes communicate with each other by exchanging data telegrams via the CAN bus.
The user data range of the CAN telegram contains network management data, parameter
data or process data:
 Network management data (NMT data)
– Control information on start, stop, reset, etc. of communication to certain or all
nodes of the CAN network.
 Process data (PDO, Process Data Objects)
– Process data are transferred via the process data channel.
– Process data can be used to control the frequency inverter.
– Process data are not saved on the frequency inverter, e.g. as parameter sets.
– Process data are transferred between host system and frequency inverters to ensure
a continuous exchange of current input and output data.
– Process data usually are unscaled/scalable raw data
– Process data are, for instance, setpoints and actual values.
– The exact meaning of the PDO file contents is determined via the function block
editor (FB interconnection) in the I/O level of the 8400 frequency inverter or via the
PDO mapping.
 Parameter data (SDO, Service Data Objects)
– Parameter data are the CANopen indexes or, in case of Lenze devices, the codes.
– Parameters are, for instance, used for one-off plant setting during commissioning or
when the material is changed on a production machine.
– Parameter data are transmitted as SDOs via the parameter data channel. They are
acknowledged by the receiver, i.e. the transmitter gets a feedback about the
transmission being successful or not.
– The parameter data channel enables access to all Lenze codes and CANopen indexes.
– Parameter changes can be saved in the parameter set of the frequency inverter.
– In general, the parameter transfer is not time-critical.
– Parameter data are, for instance, operating parameters, diagnostic information and
motor data as well as control information on the interconnection of function blocks
in the I/O level of the 8400 frequency inverter.
8.6.2 Communication phases of the CAN network (NMT)
Regarding communication, the drive distinguishes between the following states:
Status Explanation
"Initialisation" Initialisation starts when the frequency inverter is switched on. In this phase,
(Initialisation) the drive does not take part in the bus data transfer.
Furthermore, it is possible in each NMT status to restart the entire
initialisation or parts of it by transferring different telegrams (see "Status
transitions"). In this case, all CAN-relevant parameters are overwritten with
their default values.
After initialisation has been completed, the drive is automatically set to the
"pre-operational" status.
"Pre-operational" The drive can receive parameter data.
(before being ready for operation) Process data are ignored.
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Status Explanation
"Operational" The drive can receive parameter data and process data.
(ready for operation)
"Stopped" Only network management telegrams can be received.
(stopped)
Communication object Initialisation Pre-operational Operational Stopped

PDO X
SDO X X
Sync X X
Emergency X X
Boot-up X
NMT X X X
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Status transitions
(1)
Initialisation
(2)
(14) (11)
Pre-Operational
(7)
(10)
(13) (4) (5)
Stopped
(3) (6)
(12) (8) (9)

Operational
E82ZAFU004
[8-3] Status transitions in the CAN network (NMT)
Status transition Command Network status Effects on process/parameter data after status change
after change
(1) - Initialisation Initialisation starts automatically when the mains is
switched on.
During initialisation, the drive does not take part in the
data transfer.
After the initialisation is completed, the node sends a
boot-up message with an individual identifier and
automatically changes to the "pre-operational" status.
(2) - Pre-operational In this phase, the master determines the way in which
the frequency inverter(s) takes/take part in the
communication.
From that moment on, the master changes the states for the whole network. A target address, which is part of the
NMT command, specifies the receiver(s). If the 8400 frequency inverter has been configured to be a master, the
status automatically changes to "operational" after the waiting time (C00356/1) has elapsed, and the NMT
command 0x0100 CAN start remote node ( 233) is sent to all nodes.
(3), (6) 0x01 xx Operational Network management telegrams, sync, emergency,
process data (PDOs) and parameter data (SDOs) are
active (corresponds to "start remote node")
Optional:
When the status is changed, event and time-controlled
process data (PDOs) are sent once.
(4), (7) 0x80 xx Pre-operational Network management telegrams, sync, emergency and
parameter data (SDOs) are active (corresponds to "enter
pre-operational state")
(5), (8) 0x02 xx Stopped Only network management telegrams can be received.
(9) 0x81 xx Initialisation Initialisation of all CAN-relevant parameters (CiA DS 301)
with the stored values (corresponds to "reset node")
(10)
(11)
(12) 0x82 xx Initialisation of all CAN-relevant parameters (CiA DS 301)
with the stored values (corresponds to "reset
(13)
communication")
(14)
xx = 0x00: With this assignment, all devices connected are addressed by the telegram. The status can be changed for all devices at the
same time.
xx = node ID: If a node address is indicated, the status will only be changed for the device addressed.
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Network management (NMT)

The network management telegram contains the identifier (always "0") and the command,
which is included in the user data and consists of the command byte and the node address:
COB-ID = 0
NMT-Master 0 1 2 NMT-Slave
command specifier Node-ID
cs
Request Indication
[8-4] Telegram for changing the communication phases
CS Service
1 Start_Remote_Node
2 Stop_Remote_Node
128 Enter_Preoperational-State
129 Reset_Node
130 Reset_Communication
The change-over of the communication phases for the entire network is carried out by one
node, the network master. The network master can also be a frequency inverter, see CAN
start remote node ( 233).
With a certain delay after power-on, a telegram is sent once that changes the status of the
whole drive system to "operational". The delay time can be set under code C00356/1.
 Note!
A change in master/slave operation will only become effective
• after power-on of the frequency inverter
or
• if the NMT telegram reset_node or reset_communication is sent to the
frequency inverter.
As an alternative to the NMT telegram reset_node, the controller command
C00002/26 = 1: "On / Activate" can be used for reinitialising the CAN-specific
device parameters.
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8.6.3 CAN start remote node
If the initialisation of the system bus and the associated status change from "pre-
operational" to "operational" is not effected by a superimposed host system, the frequency
inverter can instead be defined to be a "quasi" master to execute this task.
The configuration is carried out via code C00352.
By means of the NMT telegram "start remote node", the frequency inverter sets all nodes
to the "operational" NMT status (broadcast telegram).
The master function is only required for the initialisation phase of the drive system. The
master's boot-up time for the initialisation phase can be set under C00356/1.
Data can only be exchanged via process data objects if the status is "operational".
 Note!
After receipt of a reset node command, the frequency inverter designated to be
the master does not send a "reset node NMT" to all devices, but only the "start
remote node NMT".
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Process data transfer
8.7 Process data transfer
[8-5] PDO data transfer from / to the higher-level host system
Definitions
 Process data telegrams between host and drive are distinguished as follows:
– Process data telegrams to the drive (RPDO)
– Process data telegrams from the drive (TPDO)
 The CANopen process data objects are designated as seen from the node's view:
– Receive PDO (RPDOx): process data object received by a node
– Transmit PDO (TPDOx): process data object sent by a node
8.7.1 Available process data objects
The following process data object are available:

 3 RPDOs
 3 TPDOs
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8.7.2 Transmission type
Process data objects can be transmitted in an event-controlled or time-controlled manner.

The below table shows that it is possible to combine the different methods by means of
logic operations (AND, OR):
 Event-controlled
The PDO is sent when a special device-internal event has occurred, for instance when
the data contents of the TPDO have changed or when a transmission cycle time has
elapsed
 Synchronous transmission
A TPDO (or RPDO) is transmitted (or received) after the device has received a sync
telegram (COB-ID 0x80).
 Cyclic transmission
The cyclic transmission of PDOs takes place when the transmission cycle time has
elapsed.
 Polled via RTR
A TPDO is transmitted when another device requests it by means of a data request
telegram (RTR remote transmit request). For this purpose, the data requester (e.g. the
master) sends the data request telegram with the COB-ID of the TPDO requested to be
sent. The receiver recognises the RTR and transmits the corresponding PDO.
Transmission type PDO transmission Logic combination of

different
cyclic synchronous Event-controlled
transmission types
0 X X AND
1...240 X -
254, 255 X X or
Transmission type Description

0 Event-controlled:
The PDO is transmitted on an event-controlled basis with every sync (e.g. when a bit change
occurs in the PDO).
1...240 Sync-controlled (with response):
• Selection n = 1: The PDO is transmitted with every sync.
• Selection 1 < n ≤ 240: The PDO is transmitted with every n-th sync.
241 ... 251 Reserved
252, 253 RTR controlled
254, 255 Event-controlled with cyclic transmission:
If this value is entered, the PDO transmission is event-controlled or cyclic.
(Note: The values "254" and "255" have the same meaning).
For a cyclic transmission, a cycle time must be entered for the respective PDO. In this case,
cyclic transmission takes place in addition to event-controlled transmission.
The transmission type for each PDO can be selected freely and independently of the
settings for other PDOs:
 Code C00322 for TPDOx
 Code C00323 for RPDOx
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8.7.3 Cyclic process data objects
With cyclic transmission, one or several PDOs are sent or received at fixed intervals. The
synchronisation of cyclic process data is described in the following.
 Note!
• The transmission type for TPDOs can be set under
– I-180x/2 (CANopen)
– C00322 (code)
• The transmission type for RPDOs can be set under
– I-140x/2 (CANopen)
– C00323 (code)
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Synchronisation of PDOs with sync-controlled transmission

A special telegram, the sync telegram, is used to enable the frequency inverters to read or
accept the synchronous process data.
The sync telegram is the trigger point for the transmission of process data from the
frequency inverters to the master and for the acceptance of process data from the master
by the frequency inverters.
For sync-controlled process data processing, the sync telegram must be generated
accordingly.
“Sync” “Sync”
TPDOx RPDOx
1. 2. 3. 4.
Cycle time
9400CAN018
[8-6] Sync telegram
1. After the sync telegram has been received, the frequency inverters send the
synchronous process data to the master (TPDOs). The master reads them as
process input data.
2. When the transmission process has been completed, the frequency inverters
receive the process output data from the master (RPDOs).
All further telegrams (e.g. parameters or event-controlled process data) are
accepted non-cyclically by the frequency inverters when the transmission is
completed. The non-cyclic data are not represented in the above illustration. They
must be taken into account when dimensioning the cycle time.
3. The data are accepted by the frequency inverters with the following sync telegram.
 Tip!
The response to a sync telegram is determined by the selected transmission type.
8.7.4 Event-controlled process data objects
The transmission of PDOs, the transport type of which is set to event-controlled reception/
transmission via codes C00322 and C00323, takes place when an event occurs, i.e. when
there is a change in the user data or when the adjusted time has elapsed.
8.7.5 Identifiers of the process data objects
Code C00353 serves to define whether ...
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 the identifiers of the PDOs are to be assigned according to a CANopen definition or

 the identifiers of the PDOs are to be assigned according to a Lenze definition or
 an individual setting is to be made.
Button Function
C00353/1: "0", Addresses of CAN-IN1 and CAN-OUT1 are determined by C00350 + Lenze-
COB-ID = C0350 + Lenze-Base-ID Base-ID.
C00353/1: "1", Addresses of CAN-IN1 and CAN-OUT1 are determined by C00350 +
COB-ID = C0350 + CANopen-Base-ID CANopen-Base-ID.
C00353/1: "2", Address of CAN-IN1 is determined by C00354/1.
COB-ID = individual setting Address of CAN-OUT1 is determined by C00354/2.
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Basic identifier for individual identifier assignment

For individual identifier assignment, values in the range from 385 ... 1407 are to be used as
basic identifiers for all process data input and output objects.
The identifier is calculated as follows:
Identifier = basic identifier (385 ... 1407) + value of C00354/x
In the Lenze setting, the following basic identifiers of the PDOs are preset:
PDO Basic identifier

dec hex
PDO1
RPDO1 512 0x200
TPDO1 385 0x181
PDO2
RPDO2 640 0x280
TPDO2 641 0x281
PDO3
RPDO3 768 0x300
TPDO3 769 0x301
8.7.6 Assignment of the process data objects
The following process data objects can be used in the frequency inverters of the 8400
series:
Receive PDOs (RPDOs) Transmit PDOs (TPDOs)

LP_CanIn1 LP_CanOut1
Each process data object provides 4 words (2 bytes/word). The information of the first
word each is always available in a bit-decoded form (bits 0 ... 15).
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8.7.6.1 PDO mapping
B00
B01
C00401/1 (LP_CanIn1) B02
/3 (LP_CanIn2)
/5 (LP_CanIn3) B03
/2 (LP_CanOut1) B04
/4 (LP_CanOut2) B05
/6 (LP_CanOut3)
B06
B07
w1 WORD
to 1 B08
Bit
B09
B10
B11
B12
B13
C00408/1 (LP_CanIn1) B14
/2 (LP_CanIn2)
/3 (LP_CanIn3) B15
CAN-Bus
w1
CanIn
C00409/1 (LP_CanIn1 w1) C00866/1 (LP_CanIn1 w1) C00868/1 (LP_CanOut1 w1)
/5 (LP_CanIn2 w1) /5 (LP_CanIn2 w1) /5 (LP_CanOut2 w1)
w2

w3

w4

[8-7] PDO mapping
Codes Description
C00401/1...6 Inversion of the control and status bits of CAN port blocks LP_CanIn1...3 and LP_CanOut1...3
C00408/1...3 Selection of the mapping source for port blocks LP_CanIn1...3
C00409/1...12 Mapping for port blocks LP_CanIn1...3
• Subcodes /4, /8 and /12 are used for the statistic mapping. For this, there is no value
available.
C00866/1...12 Display of the 16-bit input values of the CAN interface
C00868/1...12 Display of the 16-bit output values of the CAN interface
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8.7.6.2 Port blocks LP_CanIn1 ... LP_CanIn3
[8-8] Port blocks LP_CanIn1 ... LP_CanIn3
The process data transmitted from the drive to the CAN bus can be processed by a
maximum of three process data objects (RPDOs): LP_CanIn1 ... LP_CanIn3.
The process data object LP_CanIn1 provides a total of four words, the first being defined as
the control word (wCtrl). The information of the control word is also available for the
application in a bit-decoded form (bCtrl1_B0 ... bCtrl1_B15).
dnIn34_p is in preparation for 8400-StateLine devices.
Except for the designation "control word", the same applies to the two other process data
objects (LP_CanIn2 and LP_CanIn3).
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 Note!
The first word "wCtrl" is only designated as control word. It is not firmly assigned
to the device control and can be used as you choose, if required.
In the Lenze standard application (C00007 = "CAN control"), it is assigned as
control word.
RPDO Word 1 Word 2 Word 3 Word 4

LP_CanIn1 wCtrl / bCtrl1_b0 ... bCtrl1_b15 wIn2 wIn3 wIn4
LP_CanIn2 wIn1 / bIn1_b0 ... bIn1_b15
LP_CanIn3
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8.7.6.3 Port blocks LP_CanOut1 ... LP_CanOut3
[8-9] Port blocks LP_CAN1-OUT ... LP_CAN3-OUT
The process data transmitted from the drive to the CAN bus can be processed by a
maximum of three process data objects (TPDOs): LP_CanOut1 ... LP_CanOut3.
The process data object LP_CanOut1 provides a total of four words, the first being defined
as the status word (wState).
 Note!
The first word "wState" is only designated as status word. It is not firmly
assigned to the device control and can be used as you choose, if required.
In the Lenze standard application (C00007 = "CAN control"), it is assigned as
status word.
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The first process data word of the objects LP_CanOut1 ... LP_CanOut3 results from the
linkage of "wState"/"wOut1" with the binary outputs B00 ... B15 via an OR function. When
using the first data word, consider that the data word to be sent via the CAN bus will also
be influenced by changing its binary outputs.
The example of the TPDO LP_CanOut1 clarifies this:
LP_CAN-OUT1 ?
bState_B00
bState_B01
bState_B14
bState_B15
wState
Bit 15 0 Bit 15 0
wOut2 X1
Bit 15 0
wOut3
Bit 15 0 CAN
wOut4
Bit 15 0
[8-10] Logic combination of the output signals in the port block LP_CanOut1
RPDO Word 1 Word 2 Word 3 Word 4

LP_CanOut1 wState / bState1_b0 ... bState1_b15 wOut2 wOut3 wOut4
LP_CanOut2 wOut1 / bOut1_b0 ... bOut1_b15
LP_CanOut3
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8.7.6.4 Port blocks LP_MciIn and LP_MciOut
[8-11] Port blocks LP_MciIn ... LP_MciOut
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Parameter data transfer
8.8 Parameter data transfer
[8-12] Parameter data transfer via the available parameter data channels
Parameters are values stored in codes on Lenze controllers.

Two parameter data channels are available for parameter setting, enabling the
simultaneous connection of different devices for configuration purposes.
Parameter data are transmitted via the system bus as SDOs (Service Data Objects) and
acknowledged by the receiver. The SDO enables read and write access to all device
parameters and to the CANopen object directory integrated in the device. Indices (e.g.
0x1000) ensure access to device parameters and functions included in the object directory.
To transfer SDOs, the information contained in the user data must comply with the CAN
SDO protocol.
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8.8.1 Identifiers of the parameter data objects
In the Lenze setting, the basic identifiers of the SDOs are preset according to the
"Predefined Connection Set".
The identifiers of the parameter data objects SDO1 and SDO2 result from the basic
identifier and the node address set under code C00350:
Identifier = basic identifier + node address
Object Direction Lenze-Base-ID CANopen-Base-ID

from the to the drive dec hex dec hex
drive
SDO1 TSDO1 X 1408 580 1408 580
SDO2 TSDO2 X 1472 5C0 1472 5C0
Heartbeat X 1792 700 1792 700
Boot-up X 1792 700 1792 700
 Note!
Observe that the parameter data channels 1 and 2 are active in the factory
setting.
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8.8.2 User data
Structure of the user data of the parameter data telegram
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte Low word High word
Low byte High byte Low byte High byte
Error code
 Note!
For the user data, the Motorola format is used.
Parameter data telegram examples ( 254)
The following commands can be sent or received for writing and reading the parameters:
Command Meaning
Write request Send parameter to drive
Write response Acknowledgement, frequency inverter response to write request
Read request Request to read a parameter from the frequency inverter
Read response Response to the read request with current value
Error response The frequency inverter signals a communication error
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Command
The command contains the services for writing and reading parameters and information
about the user data length:
Command Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Command specifier (cs) Toggle (t) Length e s
Write request 0 0 1 0 00 = 4 bytes 1 1

Write response 0 1 1 0 01 = 3 bytes 0 0
10 = 2 bytes
Read request 0 1 0 0 11 = 1 byte 0 0
Read response 0 1 0 0 1 1
Error response 1 0 0 0 0 0 0 0
e: expedited (shortened block service)

s: segmented (normal block service)
 CANopen specification DS301,V4.02

Here, further commands are defined (e.g. segmented transfer).
The following information is contained or must be entered in the command:
Command 4 byte data 2 byte data 1 byte data Block

5th ... 8th byte 5th and 6th byte 5th byte e s
Write request 0x23 (35) 0x2B (43) 0x2F (47) 0x21 (33)
Write response 0x60 (96) 0x60 (96) 0x60 (96) 0x60 (96)
Read request 0x40 (64) 0x40 (64) 0x40 (64) 0x40 (64)
Read response 0x43 (67) 0x4B (75) 0x4F (79) 0x41 (65)
Error response 0x80 (128) 0x80 (128) 0x80 (128) 0x80 (128)
"Error response" command: In the event of an error, the addressed node generates an
"error response". This telegram always contains the value "6" in data 4 and an error code in
data 3.
Error codes ( 253)
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Addressing by means of index and subindex

The parameter or the Lenze code is addressed via these two bytes according to the formula:
Index = 24575 - (Lenze code number)
Example:
The acceleration time (code C00012) is to be addressed. This code has the subindex 0 (no
subindex).
Calculation:
 Index:
– Decimal: 24575 - 12 = 24563
– Hexadecimal: 0x5FFF - 0xC = 0x5FF3
 Subindex: 0x00
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Data 1 ... Data 4

Maximally 4 bytes are available for parameter value entries. They are assigned as follows:
Length of the parameter value depending on the data format

Parameter value 00 00 00
(1 byte)
Parameter value (2 bytes) 00 00
Low byte High byte
Parameter value (4 bytes)
Low word High word
Low byte High byte Low byte High byte
 Note!
The parameters of the 8400 frequency inverters with the "%" unit have two
decimal positions. Before or after the CAN data transfer, these values must be
multiplied or divided by the factor "100" to transmit the parameters completely.
This conversion must be guaranteed by the SDO transmitter.
Example:
The parameter to be transmitted via the CAN bus has the percent value "123.45" (e.g.
C00039/1 "Fixed setpoint JOG1").
Calculation:
Value to be transmitted = scaling factor x value(Engineer)
Data (1 ... 4) = 100 x 123.45 = 12345 (0x3039)
Structure of the data telegram:
X
Command Index Index Subindex Data 1 Data 2 Data 3 Data 4
0xD8 0x5F 0x01 0x39 0x30 0x00 0x00
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Error messages
Command Index Index Subindex Error code
0x80 Low byte High byte Low word High word
(128) Low byte High byte Low byte High byte
 Byte 1:
The entry 0x80 (128) in the command byte indicates that an error has occurred.
 Bytes 2 to 4:
These bytes contain the index (bytes 2 and 3) and the subindex (byte 4) of the code, in
which the error occurred.
 Bytes 5 to 8:
The error code is entered in the data bytes 5 to 8. The error code structure is inverse to the
read direction.
Error codes ( 253)
Example:
Representation of the error code "0x06 04 00 41" in the bytes 5 to 8
Command Index Index Subindex 0x41 0x00 0x04 0x06
0x80 Low byte High byte Low word High word
(128) Low byte High byte Low byte High byte
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8.8.3 Error codes
The error codes are standardised acc. to DS301, V4.02.
Error code Explanation

0x0503 0000 Toggle bit not changed
0x0504 0000 SDO protocol expired
0x0504 0001 Invalid or unknown client/server command specifier
0x0504 0002 Invalid block size (only block mode)
0x0504 0003 Invalid sequence number (only block mode)
0x0504 0004 CRC error (only block mode)
0x0504 0005 Not sufficient memory
0x0601 0000 Object access not supported
0x0601 0001 Attempt to read a write-only object
0x0601 0002 Attempt to write to a read-only object
0x0602 0000 Object not listed in object directory
0x0604 0041 Object not mapped to PDO
0x0604 0042 Number and length of objects to be transferred longer than PDO length.
0x0604 0043 General parameter incompatibility
0x0604 0047 General internal device incompatibility
0x0606 0000 Access denied because of hardware error
0x0607 0010 Unsuitable data type, unsuitable service parameter length
0x0607 0012 Unsuitable data type, service parameter length exceeded
0x0607 0013 Unsuitable data type, service parameter length not long enough
0x0609 0011 Subindex does not exist
0x0609 0030 Parameter value range exceeded
0x0609 0031 Parameter values too high
0x0609 0032 Parameter values too low
0x0609 0036 Maximum value falls below minimum value
0x0800 0000 General error
0x0800 0020 Data cannot be transferred/stored for application.
0x0800 0021 Data cannot be transferred/stored for application due to local control.
0x0800 0022 Data cannot be transferred/stored for application due to current device status.
0x0800 0023 Dynamic generation of object directory failed or no object directory available (e.g. object
directory generated from file, generation not possible because of a file error).
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8.8.4 Parameter data telegram examples
8.8.4.1 Read parameters

The heatsink temperature of the frequency inverter with the node address "5" (43 °C, code
C00061) is to be read.
 Identifier calculation
Identifier SDO1 to frequency inverter Calculation

1536 + node address 1536 + 5 = 1541 (0x0605)
 "Read request" command (request to read a parameter from the frequency inverter)
Command Value
Read request 0x40
 Index calculation
Index Calculation
Index = 24575 - code number 24575 - 61 = 24514 (0x5FC2)
 Telegram to drive
X
Identifier Command Index Index Subindex Data 1 Data 2 Data 3 Data 4

Low byte High byte
0x605 0x40 0xC2 0x5F 0x00 0x00 0x00 0x00 0x00
 Response telegram from drive (if data have been correctly transmitted)
X

Low byte High byte
0x585 0x4B 0xC2 0x5F 0x00 0x2B 0x00 0x00 0x00
Explanation of the response telegram:

 Identifier:
SDO1 from frequency inverter (= 1408) + node address = 1413 (0x585)
 Command:
"Read response" (response to the read request) = 0x4B (C00039/1 has a length of 2
bytes)
 Index of read request: 0x5FC2
 Subindex: 0x00
 Data 1 ... 4: 0x00 00 00 2B = 43 [°C]
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8.8.4.2 Write parameters
Task
In the frequency inverter with the node address 2, the rated current of the connected
motor is to be entered with Ir = 10.20 A (code C00088).
 Identifier calculation

1536 + node address 1536 + 5 = 1538 (0x0602)
 "Write request" command (send parameters to drive)
Command Value
Write request 0x23
 Index calculation
Index Calculation
Index = 24575 - code number 24575 - 88 = 24487 (0x5FA7)
 Subindex: 0
 Calculation of motor current entry
Data 1 ... 4 Calculation

Value for motor current, (data type U16; display factor 1/100) 10.20 x 100 = 1020 (0x03 FC)
 Telegram to drive
X

Low byte High byte
0x602 0x2B 0xA7 0x5F 0x00 0xFC 0x03 0x00 0x00
 Response telegram from drive (if data have been correctly transmitted)
X

Low byte High byte
0x582 0x60 0xA7 0x5F 0x00 0x00 0x00 0x00 0x00
Explanation of the response telegram:

 Identifier:
SDO1 from frequency inverter (= 1408) + node address = 1410 (0x582)
 Command:
"Write response" (acknowledgement, response of the frequency inverter without data)
= 0x60
 Index / subindex same as in the request telegram
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8.8.4.3 Read block parameters

The software version (code C00099) is to be read from the parameter set of the frequency
inverter with node address 12.
The data type of the software version is "visible string", 0-terminated. The content of the
code has a length of 12 ASCII characters (including the 0-termination) and is transmitted
in the form of separate segments (blocks). Within the user data, each block occupies a
maximum data width of 7 bytes.
The following describes the data transfer step by step:
 Read request to the frequency inverter
– Identifier

1536 + node address 1536 + 12 = 1548 (0x60C)
– "Read request" command (request of code C00099)

X

Low byte High byte
0x60C 0x40 0x9C 0x5F 0x00 0x00 0x00 0x00 0x00
1st byte: 0x40 "read request" (request to read code C00099 from the frequency inverter)
2nd/3rd. byte: Index high/low byte: 24575 - 99 = 24476 (0x5F9C)
4th byte: Code C00099 has no subindex (entry: 0x00).
 Response of the frequency inverter
– Identifier
Identifier SDO1 from frequency inverter Calculation

1408 + node address 1408 + 12 = 1420 (0x58C)
– Response including the block length (11 characters)

X

Low byte High byte
0x58C 0x41 0x9C 0x5F 0x00 0x0C 0x00 0x00 0x00
1st byte: 0x41 "read response". The entry 0x41 indicates the block telegram.
2nd/3rd byte: Index/subindex same as in the request telegram
5th byte: 0x0C (= 12), data length 12 characters
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 Note!
In the following, the toggle bit is marked with an asterisk (*). It is always in the 4th
place.
• Influence of the toggle bit on the request command
– The individual blocks are toggled one after another, i.e. the request with
command 0x60 (= 0b0110*0000) is executed before command 0x70 (=
0b0111*0000), which then is followed by 0x60 again, etc.
• Influence of the toggle bit on the transmission command
– The first response of the frequency inverter in the command byte is
0b0000* 0000 if the bytes 2 to 8 are completely filled with data and further
telegrams will follow.
– The second response of the frequency inverter in the command byte is
0b0001* 0000 if the bytes 2 to 8 are completely filled with data and further
telegrams will follow, etc.
• Influence of the end bit and residual data length on the transmission
command "0b000(0/1)* nnn1"
– The last response of the frequency inverter is indicated by setting an "end
bit" (bit 0 = 1).
The three following bits (n) indicate the number of bytes which do not contain
any data anymore.
 Request of the 1st data block

X

Low byte High byte
0x060C 0x60 0x00 0x00 0x00 0x00 0x00 0x00 0x00
1st byte: 0x60, "read segment request"

 Response: Transmit 1st data block
X

Low byte High byte
0x058C 0x00 0x30 0x31 0x2E 0x30 0x30 0x2E 0x30

0asc 1asc .asc 0asc 0asc .asc 0asc
2nd byte to 8th byte, ASCII format: 01.00.0
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 Request of the 2nd data block

X

Low byte High byte
0x060C 0x70 0x00 0x00 0x00 0x00 0x00 0x00 0x00
1st byte: 0x70 (toggle)

 Response: Transmit 2nd data block with end identifier
X

Low byte High byte
0x058C 0x17 0x30 0x2E 0x30 0x30 0x00 0x00 0x00

0asc .asc 0asc 0asc - - -
Command byte: 0x17 (00010111bin ):

 High nibble: Bit 0 = 1 (toggle bit)
 Low nibble: Bit 0 = 1 (end of transmission), bit 1 ... 3 = 011bin (3 bytes do not contain any
data)
The result of the data block transfer is: 01.00.00.00
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Monitoring
8.9 Monitoring
8.9.1 Integrated error detection
If a node detects an error it rejects the CAN telegram bits received so far and sends an error
flag. The error flag consists of 6 consecutive bits with the same logic value.
The following errors are detected:
Bit error
The sending node follows the transmission on the bus and interrupts the transmission if it
receives a different logic value than the value transmitted. With the next bit, the sending
node starts the transmission of an error flag.
In the arbitration phase, the transmitter only detects a bit error if a dominantly sent bit is
received as recessive bit. In the ACK slot as well, the dominant overwriting of a recessive bit
is not indicated as a bit error.
Stuff-bit error
If more than 5 consecutive bits have the same logic value before the ACK delimiter in the
CAN telegram, the previously transmitted telegram will be rejected and an error flag will
be sent with the next bit.
CRC error
If the received CRC checksum does not correspond to the checksum calculated in the CAN
chip, the CAN controller will send an error flag after the ACK delimiter and the previously
transmitted telegram will be annulled.
Acknowledgement error
If the sent ACK slot recessively sent by the transmitting node is not dominantly overwritten
by a receiver, the transmitting node will cancel the transmission. The transmitting node
will annul the transmitted telegram and will send an error flags with the next bit.
Format error
If a dominant bit is detected in the CRC delimiter, in the ACK delimiter or in the first 6 bits
of the EOF field, the received telegram will be rejected and an error flag will be sent with
the next bit.
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Monitoring
8.9.2 Heartbeat protocol
Heartbeat Producer 8 .... 1 Heartbeat Consumer

0 s
Request Indication
Heartbeat Heartbeat
Producer Consumer
Time Time
8 .... 1
0 s
Request Indication
EMERGENCY Heartbeat
Event
E82ZAFU009
[8-13] Heartbeat protocol
The heartbeat producer cyclically sends a heartbeat message to one or several heartbeat
consumers.
The consumers monitor whether the message is received within the "heartbeat consumer
time". If this is not the case, an error message, referred to as "heartbeat event", will be
generated.
If the "heartbeat event" occurs, the node changes from the "operational" state to the "pre-
operational" state" (Lenze setting).
The heartbeat monitoring only starts when the first heartbeat telegram of a monitored
node has been successfully received and the "pre-operational" NMT status has been
assumed.
 With StateLine devices, up to 7 heartbeat producers can be monitored.
 With HighLine devices, up to 15 heartbeat producers can be monitored.
The settings can be selected under the codes C00381 (CAN heartbeat producer time) and
C00385 (CAN node address of heartbeat producer).
 Tip!
Observe the notes concerning the object I-1017.
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Monitoring
8.9.3 Emergency
"Emergency" is sent once to the master when the error status changes due to the
occurrence or elimination of an internal frequency inverter error.
The emergency telegram sent on the CAN bus has the following structure:
 1st/2nd byte: Emergency error code
 3rd byte: Error register object I-1001
 4th to 8th byte: Field for manufacturer-specific error message
– Emergency error code I-1000: Lenze error number
– All other emergency error codes have the value "0"
Emergency error codes Cause Entry in the error register (I-1001)

0000 • One of several errors eliminated xx
• Elimination of one single error 00
(afterwards no more errors)
1000 Standard device in TRIP, message, warning, 01
FAIL, or QSP
3100 Supply voltage of standard device faulty or 01
failed
8100 Communication error (warning) 11
8130 Life guard error or heartbeat error 11
All numbers are hexadecimal values

Example:
 Byte 1 / 2: 0x00 / 0x10 (generic error)
 Byte 3: 0x01 (error register contents)
 Byte 4: 0x00 (reserved)
 Bytes 5 ... 8: Error messages of the operating system
Corresponding "no errors" message: 0x00000000.

A detailed description can be found in the CAN specification DS301V402.
8.9.4 Heartbeat commissioning example
 Note!
The boot-up telegram counts as the first heartbeat telegram!
A heartbeat consumer (8400 frequency inverter, node 2) is to be monitored by an 8400

frequency inverter (node 1) used as a heartbeat producer.
The heartbeat producer is to send a heartbeat telegram to the heartbeat consumer every
10 ms. The heartbeat consumer monitors the arrival of the heartbeat telegram.
If an error occurs, a response is to be triggered in the frequency inverter.
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Monitoring
For this purpose, carry out the following commissioning step:

 Set the "heartbeat producer time" (transmission cycle) for node 1 in C00381.
– In this example, a cycle of 10 ms is to be set.
– ID 702: Response message from the producer (node 1) to the consumer (node 2),
"operational" (0xT0)
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Implemented CANopen objects
8.10 Implemented CANopen objects
Lenze devices can both be parameterised with Lenze codes and manufacturer-
independent "CANopen objects". A completely CANopen-compliant communication can
only be achieved by using CANopen objects for parameter setting. The CANopen objects
described in this chapter are defined in the CAN specification DS301 V4.02.
Many CANopen objects can be mapped on Lenze codes. In the following table, the
corresponding Lenze codes are listed in the column "Relationship to Lenze codes".
 Note!
Some of the terms used here derive from the CANopen protocol.
Overview of CANopen indices and their relationship to Lenze codes
CANopen object Relationship to Lenze

code
Index Subindex Name
I-1000 0 Device type -
I-1001 0 Error register -
I-1003 Pre-defined error field
0 Number of errors -
1...10 Standard error field -
I-1005 0 COB-ID SYNC message C00367
C00368
I-1006 0 Communication cycle period C00369
I-1017 0 Producer heartbeat time C00381
I-1018 Identity object
0 Highest subindex supported -
1 Vendor ID -
2 Product code -
3 Revision number -
4 Serial number -
I-1200 SDO1 server parameter
1 COB-ID client −> server (rx) -
2 COB-ID server −> client (tx) -
1 COB-ID client −> server (rx) -
2 COB-ID server −> client (tx) -
I-1400 RPDO1 communication parameter
1 COB-ID used by RPDO C00355/1
2 Transmission type C00323/1
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code
Index Subindex Name
I-1600 RPDO1 mapping parameter
0 Number of mapped application objects in PDO -
1...4 Application object 1 ... 4 C00409/1...4
C00866/1...4
C00866/5...8
C00866/9...12
I-1800 TPDO1 communication parameter
1 COB-ID used by TPDO C00355/2
3 Inhibit time -
5 Event timer C00356/5
C00369
3 Inhibit time -
C00369
3 Inhibit time -
C00369
I-1A00 TPDO1 mapping parameter
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code
Index Subindex Name
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I-1000
Index Name:
I-1000 Device type
Subindex Default setting Display range (min. value | unit | max. value) Access Data type
0: Device type 0 0 4294967295 ro U32
The CANopen index I-1000 specifies the profile for this device. Furthermore, additional
information defined in the device profile itself can be stored here.
8th byte 7th byte 6th byte 5th byte

Data 4 Data 3 Data 2 Data 1
High word Low word
High byte Low byte High byte Low byte
Additional information Device profile number
[8-1] Data telegram assignment
In case of 8400 series frequency inverters, the four bytes contain the following values:
 5th and 6th byte: The data content is 0x0000, i.e. no profile definition.
 7th byte: The data content specifies the device type: Here the value is 0x00 for
frequency inverter.
 8th byte: The data content is 0x00.
The data content for the 8400 frequency inverter thus is: 00 00 00 00
I-1001
Index: Name:
I-1001 Error register
0: Error register - 0 255 ro U8
Error register
The error status in the data byte (U8) is bit coded. The following error states are coded in
the data byte (U8):
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Error status
0 0 0 0 0 0 0 0 No error
0 0 0 0 0 0 0 1 Device error message
0 0 0 1 0 0 0 1 Communication error
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I-1003
Index: Name:
I-1003 Pre-defined error field
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Number of errors 0 0 255 rw U8
1 ... 10: Standard error field - 0 4294967295 ro U32
Error history
This object indicates that an error has occurred in the module and in the standard device.
Subindex Meaning
0 Number of saved error messages
1...10 Display of the error list
The error messages (U32) consist of a 16-bit error code and a manufacturer-specific
information field comprising 16 bits.
 Note!
The values in the "standard error field" under subindex 1 ... 10 will be deleted if
the subindex "number of recorded errors" is overwritten with the value "0".
Emergency Cause Entry in the

error codes error register
(I-1001)
0x0000 One of several errors eliminated 0xXX
Elimination of one single error 0x00
(afterwards no more errors)
0x1000 Standard device is in error status (error response "fault", "message", 0x01
"warning", "error", "quick stop by trouble", or "system error")
0x3100 Supply voltage of standard device faulty or failed 0x01
0x8100 Communication error (warning) 0x11
0x8130 Life guard error or heartbeat error 0x11
0x8150 Collision of COB-IDs: An ID parameterised for reception is also used 0x11
for transmission.
0x8210 PDO length shorter than expected 0x11
0x8220 PDO length longer than expected 0x11
0x8700 Monitoring of the sync telegram 0x11
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I-1005
Index: Name:
I-1005 COB-ID SYNC message
0: COB-ID SYNC message 0x0000 0080 0 4294967295 rw U32
or
0x8000 0080
This object can be used to activate the generation of sync telegrams and to write the
identifier value.
 This object relates to codes C00367 and C00368.
Creating sync telegrams

Sync telegrams are created by setting bit 30 (see below) to "1". The time between the sync
telegrams can be set using the object I-1006.
Writing identifiers
To receive PDOs, the value 0x80 must be entered in the 11-bit identifier in the Lenze setting
(and according to CANopen specification) . This means that all modules are by default set
to the same sync telegram.
 If sync telegrams are only to be received by certain communication modules, their
identifiers can be entered with values up to and including 0x07FF.
 The identifier may only be changed when the communication module does not send
any sync telegram (bit 30 = "0").
 How to change the identifier:
– Deactivate identifier (set bit 30 to "0").
– Change identifier.
– Activate identifier (set bit 30 to "1").

Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
X 0/1 Extended identifier* 11-bit identifier

* The extended identifier is not supported. Bit 11 ... bit 29 must be set to "0".
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I-1006
Index: Name:
I-1006 Communication cycle period
0: Communication cycle period 0 μs 0 μs 65535000 rw U32
Setting the sync telegram cycle time.

 The cycle time can be selected as "1000" or as an integer multiple of it.
 If "0 μs" is set (Lenze setting), no sync telegrams are created.
 This object relates to code C00369.
I-1014
Index: Name:
I-1014 COB-ID EMCY
0: COB-ID EMCY 0x80 + node ID 0 4294967295 rw U32
When communication errors occur and are acknowledges or when internal errors occur in
the communication module or controller (e.g. "fault"), the system bus sends an error
message. The telegram is sent once for every error. This function can be activated or
deactivated with bit 31.

0/1 0 Extended identifier* 11-bit identifier

Bit Setting
Bit 31 0 Emergency object is valid.
1 Emergency object is invalid.
 Note!
The identifier can only be changed in the "emergency object invalid" status
(bit 31 = 1).
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I-1017
Index: Name:
I-1017 Producer heartbeat time
0: Producer heartbeat time 0 0 ms 65535 rw U32
Time interval for sending the heartbeat telegram to the consumer(s).Heartbeat protocol
( 260)
 The parameterised time is rounded down to an integer multiple of 5 ms.

 The heartbeat telegram is automatically sent as soon as a time > 0 ms is entered. In this
case, the "node guarding" monitoring function is deactivated.
 This object relates to code C00381.
I-1018
Index: Name:
I-1018 Identity object
0: Highest subindex supported see below 0 4294967295 ro U32
1: Vendor ID
2: Product code
3: Revision number
4: Serial number
Subindex Meaning
1 Manufacturer's identification number
• The identification number allocated to Lenze by the organisation "CAN in
Automation e. V." is "0x0000003B".
2 Product code
0x84001 8400 BaseLine
0x84002 8400 StateLine
0x84003 8400 HighLine
3 Main and subversion of firmware
4 Serial number
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I-1200
Index: Name:
0: Highest subindex supported 2 2 2 ro U8
1: COB-ID client -> server (rx) node ID + 0x600 0 4294967295 ro U32
2: COB-ID server -> client (tx) node ID + 0x580 0 4294967295 ro U32
Identifiers for SDO server channel 1 (basic SDO channel).

 According to DS301 V4.02, the basic SDO channel can neither be changed nor
deactivated.
Subindex Meaning
1 Specification of receive identifier
• For SDO server channel 1: node address (C00350) + 0x600
2 Specification of send identifier
• For SDO server channel 1: node address (C00350) + 0x580

0 0 Extended identifier* 11-bit identifier

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I-1201
Index: Name:
0: Highest subindex supported 3 - (read access only) ro U8
1: COB-ID client -> server (rx) 0x80000000 0 4294967295 rw U32
2: COB-ID server -> client (tx) 0x80000000 0 4294967295 rw U32
Identifiers for SDO server channel 2.

 The SDO server parameter is only valid, if bit 31 is set to "0" for both transmission
directions (subindex 1 and 2).
 In the Lenze setting, the SDO server channels 2 are deactivated (bit 31 = "1").
 The identifier may only be changed when the SDO is invalid (bit 31 = "1").
Subindex Meaning
1 Specification of receive identifier
2 Specification of send identifier

0/1 0 Extended identifier* 11-bit identifier

Bit Setting
Bit 31 0 SDO is valid.
1 SDO is invalid.
How to change the identifier:

1. Deactivate identifier (set bit 31 to "1").
2. Change identifier.
3. Activate identifier (set bit 31 to "0").
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Example
Parameter data channel 2 of the controller with node address 4 shall be activated.
 For this, bit 31 must be set to "0" (≡ "SDO is valid") in subindices 1 and 2 of the object I-
1201.
 The master must send the two "write request" commands to the nodes via the basic
SDO channel.
Identifier calculation
 Identifier (COB-ID) = basic identifier + node address (node ID)
 Basic identifier SDO2 from master to drive: 1600 (0x640)
 Identifier = 0x640 + 0x4 = 0x644
 Basic identifier SDO2 from drive to master: 1472 (0x5C0)
 Identifier = 0x5C0 + 0x4 = 0x5C4
Resulting data (data 1 ... data 4)

0 0 Extended identifier = 0 11-bit identifier = 0x644

0x00 0x00 0x06 0x44
[8-6] Data telegram assignment for subindex 1

0 0 Extended identifier = 0 11-bit identifier = 0x5C4

0x00 0x00 0x05 0xC4
[8-7] Data telegram assignment for subindex 2
User data assignment
0x23 0x01 0x12 0x01 0x44 0x06 0x00 0x00
[8-8] User data assignment for writing to subindex 1
0x23 0x01 0x12 0x02 0xC4 0x05 0x00 0x00
[8-9] User data assignment for writing to subindex 2
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I-1400
Index: Name:
1: COB-ID used by RPDO 0x200 + node ID 0 4294967295 rw U32
2: Transmission type 254 0 255 rw U8
3: Inhibit time - - (not used for RPDOs) rw U16
4: Compatibility entry - - (reserved, read or write access leads to error message rw U8
0x06090011)
5: Event timer - - (not used for RPDOs) rw U16
Communication parameter for receiving process data via RPDO1
Subindex Meaning Code

0 "5" is permanently set. -
• Max. 5 subindicesare supported.
1 RPDO1 identifier C00355/1
• According to the "Predefined Connection Set", the
basic setting is: Identifier = 0x200 + node ID
2 RPDO transmission type according to DS301 V4.02 C00323/1
Transmission type ( 235)

0/1 0/1 Extended identifier* 11-bit identifier


Description of subindex 1
Bit no. Value Explanation

0...10 0/1 11-bit identifier
(11 ... 28)* 0 *) The extended identifier (29 bits) is not supported. Any of these bits must be "0".
29* 0
30 0 RTR to this PDO possible (cannot be set)
1 RTR to this PDO not possible (Lenze)
31 0 PDO active
1 PDO not active
[8-11] I-1400 ... I-1402, subindex 1
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PDO transmission Transmission type Explanation

X X n = 1 ... 240 When a value n is entered, this PDO
will be accepted with every nth SYNC.
X n = 254 PDO will be accepted immediately.
[8-12] I-1400 ... I-1402, subindex 2
I-1401
Index: Name:
0x06090011)

 For data telegram assignment and description of subindices 1 and 2, see object I-1400.

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I-1402
Index: Name:
0x06090011)

 For data telegram assignment and description of subindices 1 and 2, see object I-1400.

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I-1600
Index: Name:
0: Number of mapped application 0 0 8 rw U8
objects in PDO
1 ... 4: Application object 1 ... 4 0 0 4294967295 rw U32
The object I-1600 serves to receive parameter data as RPDO1.

 This object relates to codes C00409/1...4 and C00866/1...4.
Subindex Meaning
0 Number of mapped objects
1...4 Mapping entries 1 ... 4 for RPDO1
• The 4th mapping entry is used for the statistic mapping. For this, there is no value
available.

Bit 31 ... bit 16 Bit 15 ... bit 8 Bit 7 ... bit 0
Index Subindex Length
IEC 61131 process data words are mapped. Only whole bytes can be mapped (1-byte/
mapping entry).
PDO mapping ( 240)
I-1601
Index: Name:
objects in PDO

Subindex Meaning
available.
 For data telegram assignment, see object I-1600.
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I-1602
Index: Name:
objects in PDO

Subindex Meaning
available.
 For data telegram assignment, see object I-1600.
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I-1800
Index: Name:
1: COB-ID used by TPDO 0x180 + node ID 0 4294967295 rw U32
3: Inhibit time 0 ms 0 0.1 ms 65535 rw U16
4: Reserved - - (reserved, read or write access leads to error message rw U8
0x06090011)
5: Event timer 0 ms 0 ms 65535 rw U16
Communication parameter for sending process data via TPDO1

1 TPDO1 identifier C00355/2
2 TPDO transmission type according to DS301 V4.02 C00322/1
3 Minimum time between sending two identical TPDOs -
(see DS301 V4.02).
5 Cycle time for PDO transmission with transmission type C00356/5
"254". C00369

0/1 0/1 Extended identifier* 11-bit identifier


Bit no. Value Explanation

0...10 0/1 11-bit identifier
(11 ... 28)* 0 *) The extended identifier (29 bits) is not supported. Any of these bits must be "0".
29* 0
30 0 RTR to this PDO possible (cannot be set)
1 RTR to this PDO not possible (Lenze)
31 0 PDO active
1 PDO not active
[8-15] I-1800 ... I-1803, subindex 1
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PDO transmission Transmission type Explanation

X X n = 1 ... 240 When a value n is entered, this PDO
will be accepted with every nth SYNC.
X n = 252 On sync, the PDO is filled with new
data, but only sent on RTR.
X n = 254, 255 Event-controlled or cyclic
[8-16] I-1800 ... I-1803, subindex 2
 Note!
The delay time can only be changed when the PDO is not active (see subindex 1,
bit 31 = 1).
The entered value multiplied by 0.1 gives the delay time in [ms]. Only integers will be
considered, i.e. fractional numbers will be rounded down to integers.
Example:
 Entered value: 26
 Calculated time = 26 x 0.1 [ms] = 2.6 [ms]  delay time = 2 [ms}
For cyclic operation (transmission type 254), the cycle time for sending the process data
object on the CAN bus can be set under subindex 5:
The entered value corresponds to the time in [ms].
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I-1801
Index: Name:
0x06090011)

(see DS301 V4.02).
"254". C00369
 For data telegram assignment and description of subindices, see object I-1800.

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I-1802
Index: Name:
0x06090011)

(see DS301 V4.02).
"254". C00369
 For data telegram assignment and description of subindices, see object I-1800.

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I-1A00
Index: Name:
objects in PDO
The object I-1A00 serves to send parameter data as TPDO1.

 This object relates to code C00868/1...4.
Subindex Meaning
1...4 Mapping entries 1 ... 4 for TPDO1
available.

Bit 31 ... bit 16 Bit 15 ... bit 8 Bit 7 ... bit 0
Index Subindex Length
IEC 61131 process data words are mapped. Only whole bytes can be mapped (1-byte/
mapping entry).
PDO mapping ( 240)
I-1A01
Index: Name:
objects in PDO

Subindex Meaning
available.
 For data telegram assignment, see object I-1A00.
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I-1A02
Index: Name:
objects in PDO

Subindex Meaning
available.
 For data telegram assignment, see object I-1A00.
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Error management
Basics on error handling in the controller
9 Error management
9.1 Basics on error handling in the controller
Many functions are integrated in the controller which detect errors and thus
 protect the device against damage or overload, e.g. short circuit detection, Ixt overload
detection, overtemperature detection, etc.
 detect a maloperation by the user, e.g. memory module missing, communication
module required and missing, etc.
 output a warning signal if desired, e.g. if the speed is too high or too low, etc.
Depending on the importance, this error detection in the device responds very fast (e.g.
short circuit detection < 1 ms) or in a slower cycle (e.g. temperature monitoring approx.
100 ms).
It is possible to configure some of the device errors with regard to their effect on the
behaviour of the controller, e.g. for missing CAN telegrams when the controller is
controlled via the CAN bus:
All functions provided with an error detection (e.g. the motor control) supply information
to an error handler which is processed every 1 ms and which evaluates all the information.
During this evaluation
 the state-determining error is generated
 the current error is generated
 the controller is set to the respective error status (e.g. TroubleQSP).
These two types of error information serve to diagnose errors systematically and contain
the following information:
1. the error type, e.g. warning
2. the subject area concerned, e.g. CAN
3. the error identification number within the subject area
Together all types of information form the real error number which is unique in the whole
device system.
In addition to the control of the device state by the error handler, a logbook function
records the errors and their history Logbook ( 292)
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Error management
AutoFailReset function
9.2 AutoFailReset function
The AutoFailReset function serves to reset the latching errors "Fault", "TroubleQSP" and the
"WarningLocked" warning automatically.
The "latching" term means that the effect on the controller remains active even after the
error cause has been removed.
To reset latching errors and warnings, the following options are available:
 Manual reset
– with device command C00002/19 (active by a low-high edge)
– by a Low/High edge at the "bResetFail" input of the "LS_DriveInterface" system block
(the "FailReset" control bit in the control word must be parameterised with the value
"1".
 Automatic reset
– using the AutoFailReset function.
C00184 Repetition time of the error reset processes
C00185 Time left until the next error reset process
C00186 Max. number of error reset processes
C00187 Current number of error reset processes carried out ineffectively
C00188 Configuration of the AutoFailReset function
• 0: Off
• 1: Fault + TroubleQSP
• 2: WarningLocked
• 3: All locking
C00189 Response after max. number of error reset processes has been reached
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Error management
Drive diagnostics with the »Engineer«
9.3 Drive diagnostics with the »Engineer«
With an online connection to the controller, you can use the »Engineer« to diagnose the
connected controller and get a clear visualisation of important controller states:
The online connection with the »Engineer« can be made via the following device
interfaces:
 CAN interface X1
Diagnostics via CAN which is available as onboard bus
 Diagnostic interface X6
We recommend this diagnostic connection when the CAN interface X1 is used for
process communication.
[9-1] "Diagnostics" tab, screenshot for online connection to the frequency inverter
 Use the Reset error button to acknowledge an existing error message if the cause of the
error has been eliminated.
 Via the Logbook button you can have the logbook of the controller displayed,
Logbook ( 292) .
 The Device state button serves to display the state machine. The current device status
is indicated by a field highlighted in blue.
 The Monitoring... button serves to set the monitoring functions (configuration of the
error type).
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Error management
 If you click the Drive control button, a table appears providing information on the bit
assignment of the following control-relevant words:
– MCI control word C00136/1
– CAN control word C00136/2
– Cause of controller inhibit C00158
– Cause of quick stop C00159
– Status word C00150
– Extended status word C00155
 The Device information button serves to retrieve information needed for service
purposes, e.g. firmware data or serial numbers of individual controller components.
 How to diagnose a drive with the »Engineer«:

1. Select the 8400 StateLine controller to be diagnosed in the Project view.
2. Click the icon or select the command OnlineGo online to build up an online
connection with the controller.
3. Select the Diagnostics tab.
• With an online connection, the Diagnostics tab displays current status
information about the controller.
[9-2] Device state
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Error management
[9-3] Drive control
[9-4] Device information
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Error management
Drive diagnostics via keypad/bus system
9.4 Drive diagnostics via keypad/bus system
Keypad display of the controller status
 When the keypad is connected to the diagnostic

interface X6 at the front of the controller, the status of
the controller is displayed via different symbols on the
LDC display in the area n.
Symbol Meaning Note

 Controller is switched on. SwitchedON ( 62)
 Controller is enabled.
 Application in the controller is stopped.
 Quick stop is active
 Controller is inhibited. The power outputs are inhibited.
 Controller is ready to switch on. ReadyToSwitchON ( 60)
 Speed controller 1 in the limitation. The drive is torque-controlled.
 Set current limit has been exceeded in motor
or generator mode.
 Pulse inhibit is active The power outputs are inhibited.
 System fault is active
 Fault Fault ( 65)
 Trouble Trouble ( 64)
 TroubleQSP TroubleQSP ( 63)
 Warning is active Warning ( 62)
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Error management
Drive diagnostics via keypad/bus system
Display parameters
The parameters listed in the following tables serve to query current states and actual
values of the controller for diagnostic purposes, e.g. by using the keypad, a bus system or
the »Engineer« (with an online connection to the controller).
 These parameters are listed in the »Engineer« parameter list and the keypad in the
Diagnostics category.
 A detailed description of these parameters can be found in the chapter "Parameter
reference" ( 598).
Parameter Display
C00183 Device state
C00168 Error number
C00051 Actual speed value
C00052 Motor voltage
C00054 Motor current
C00057/1 Maximum torque
C00057/2 Torque at maximum current
C00059 Motor - number of pole pairs
C00061 Heatsink temperature
C00062 Temperature inside the controller
C00063 Motor temperature
C00064 Device utilisation
C00065 Ext. 24-V voltage
C00066 Thermal motor load (I2xt)
C00178 Time the controller was enabled (elapsed-hour meter)
C00179 Power-up time (power-on time meter)
Identification data
The parameters listed in the following table belong to the Identification  Controller
category of the »Engineer« parameter list and the keypad and serve to display the
identification data of the controller:
Parameter Display
C00099 Firmware version
C00200 Firmware product type
C00201 Firmware - compilation date
C00203/1...9 HW product types
C00204/1...9 HW serial numbers
C00205/1...6 HW descriptions
C00206/1...6 HW manufacturing data
C00208/1...6 HW manufacturer
C00209/1...6 HW countries of origin
C00210/1...6 HW versions
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Error management
Logbook
9.5 Logbook
The integrated logbook function of the controller chronologically logs important events
within the system and plays an important role for troubleshooting and controller
diagnostics.
Events that can be logged

The following events can be logged in the logbook:
 Error messages of the operating system ( 298)
 Error messages generated by the application

 Loading/saving of parameter sets, loading of the Lenze setting (in preparation)
 Transmitting the firmware to the controller (in preparation)
 Switching on/off of the controller
Information saved
For each event, the following information is saved in the logbook:
 Type of response to the event (e.g. fault, warning or information)
 Subject area that activated the event (e.g. CAN or USER).
 Event
 Value of power-on time meter
 Selected process values (analog % signals, binary signals)
Memory depth
Maximum number of logbook entries: 14 (extension in preparation)
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Error management
Logbook
9.5.1 Functional description
The structure of the logbook corresponds to a ring buffer:

• As long as free logbook memory locations are available, the
entries will be saved at the next free memory location.
n • If all memory locations are occupied, the oldest entry will be
n-1 deleted to save a new entry.
n-2 • If the same error occurs frequently (e.g. during commissioning of
the device), the 14-line ring buffer of the logbook soon would
overflow. To prevent this, the logbook can be configured in such
a way that identical errors do not cause a new line entry, but a
counter for this type of error is counted up instead. The time
entered for the error always is the time of the first occurrence. A
new logbook line will only be generated if a different error occurs.
↓ : Current event
[9-5] Ring buffer structure
In the event of a supply voltage failure, the logbook is saved and reloaded automatically
when the controller is switched on. This ensures that the error history of the device does
not get lost. For this reason it is very important to act with caution when deleting the
logbook entries.
9.5.2 Filtering logbook entries
 Note!
Events with the "No response" setting are not entered into the logbook.
Before the logbook logs new entries in the ring buffer, the entries are filtered by a
parameterisable filter.
This filter can be used to exclude events with a certain error response (fault, warning,
information, etc.) from entry into the logbook.
 The filter parameters are set under C00169 by means of a bit mask:
Meaning:
Bit 7 Bit 0
 Reserved  Warning Locked
 Fault  Warning
 Trouble  Information
7 6 5 4 3 2 1 0  TroubleQSP (quick stop  Reserved
by trouble)
[9-6] Bit mask for event-type filter
 Example: Bit 6 must be set to "1" to exclude all events with "Information" response
from entry into the logbook:
Meaning:
Bit 7 Bit 0
 Reserved  Warning Locked
0 1 0 0 0 0 0 0  Fault  Warning
 Trouble  Information
7 6 5 4 3 2 1 0  TroubleQSP (quick stop  Reserved
by trouble)
[9-7] Example: Bit mask for excluding events with "Information" response
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Error management
Logbook
9.5.3 Reading out logbook entries
With an online connection, the existing logbook entries can easily be displayed in the
»Engineer«. Alternatively, the logbook entries can also be read out via the corresponding
parameters (e.g. using the keypad).
 How to display logbook entries in the »Engineer«:

1. Go to the Project view and select the 8400 StateLine controller the logbook entries
of which are to be read.
2. Click the icon or select the command OnlineGo online to build up an online
connection with the controller.
3. Select the Diagnostics tab from the Workspace.
4. Click Logbook.
• The Logbook dialog box appears:
• Click Delete to delete an entry from the logbook.

• Click Export to export the entries from the logbook into a *.log file.
• Activating the Hide system messages checkbox hides all "Information" system
messages in the logbook.
5. Click Previous to close the Logbook dialog box.
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Monitoring
9.6 Monitoring
The controller is provided with various monitoring functions which protect the drive
against impermissible operating conditions:
[9-8] Monitoring configuration
 If a monitoring function responds,

– an entry will be made into the Logbook of the controller,
– the response (troubleQSP, warning, fault, etc.) selected for the monitoring function
will be activated,
– the status of the internal device control changes according to the selected response,
controller inhibit is set, and the "DRIVE ERROR" LED on the front of the controller goes
on:
Response Entry in the Display in Pulse inhibit Controller Acknowledge LED

logbook C00168 inhibit ment "DRIVE ERROR"
required
None Off
Fault ; ; ; ; ;
Trouble ; ; ; ;
(after 0.5 s)
TroubleQSP ; ; ;
Warning locked ; ; ;
Warning ; ;
Information ; Off
System error ; ; ; ; Mains
switching
is required!
See also: LED status displays ( 55)

Device states ( 56)
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Monitoring
9.6.1 Setting the error response
When a monitoring function responds, the response set for this monitoring function
(troubleQSP, warning, fault, etc.) will be activated.
 For many monitoring functions the response can be individually parameterised via
parameters.
 Tip!
The table in chapter "" contains the error messages for which the response can be
set "Overview of the error messages of the operating system" entnehmen ( 303) .
Warning thresholds
Some of the monitoring functions are activated if a defined warning threshold (e.g.
temperature) has been exceeded.
 The corresponding preset threshold values can be changed via the following
parameters:
C00120 Mot. overload protection (I²xt)
C00121 Motor temp. warning threshold
C00122 Heatsink temp. warn. threshold
C00123 Device util. warning threshold
C00126 CPU temp. warning threshold
C00127 Mot. overload warning threshold
C00128 Therm. motor time constant
C00132 Max. temperature of brake resistor
C00174 Undervoltage (LU) threshold
C00185 Mains recov. detect. threshold
C00570 Warning thres. brake chop.
C00572 Warn. thr. brake resist. overl.
C00576 Speed monitoring tolerance
C00596 Threshold max. speed reached
C00599 Motor phase failure threshold
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Monitoring
9.6.2 Monitoring of the device utilisation
The following subcodes of code C00064 serve to display the device utilisation (i x t) in [%]:
 Subcode 1: Display of the higher of the two values from subcode 1 and 2.
 Subcode 2
– If the device utilisation is > 160%: Display of the device utilisation over the last 15 s
– If the device utilisation ≤ 160%: display "0")
 Subcode 3: Device utilisation over the last 180 s
If the value displayed in C00064 exceeds the threshold set in C00123, the fault message
"OC5: Ixt overload" is output and the fault response set in C00604 is executed (default
setting: "Warning").
9.6.3 Mains phase failure monitoring
Under load, the mains input of a controller supplied by three-phases can be destroyed if the
device is only supplied by two phases (e.g. if a mains phase fails).
The controller is equipped with a so-called mains phase failure detection which identifies
the described error case and responds as set by the user:
 The error message "Su02" is indicated (mains voltage switched off).
 The error response set under C00565 becomes active (Lenze setting: "Warning").
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Error management
Error messages of the operating system
9.7 Error messages of the operating system
This chapter describes all error messages of the controller operating system and possible
causes & remedies.
 Tip!
Each error message is also saved in the logbook in chronological order. Logbook
( 292)
9.7.1 Error number
9.7.1.1 Structure of the error number (bit coding)

If an error occurs in the controller, the logbook saves a 32-bit value in the error format
which contains the following information:
 Reserved
0 1 2 3  Error type
Bit 31 30 29 26 25 16 15 0
 Error subject area
 Error ID
[9-9] Structure of the error number
9.7.1.2 Error type

Bit 31 30 29 26 25 16 15 0
The error type is dynamically assigned by the operating system.
Bit 29 Bit 28 Bit 27 Bit 26 Meaning

0 0 0 0 0: No response ("no reaction")
0 0 0 1 1: Fault - pulse inhibit ("Fault")
0 0 1 0 2: Trouble
0 0 1 1 3: Quick stop by trouble ("TroubleQSP")
0 1 0 0 4: Warning locked
0 1 0 1 5: Warning
0 1 1 0 6: Information
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9.7.1.3 Error subject area
Bit 31 30 29 26 25 16 15 0
The subject area indicates the internal "function unit" of the controller in which the error
has occurred:
Subject area Meaning

dec hex
111 6F Supply voltage
119 77 Temperature
123 7B Motor management / encoder
125 7D Analog I/O integrated
127 7F Extension module slot1
131 83 CAN integrated (general)
135 87 CAN process data object (PDO)
140 8C Device configuration
144 90 Parameter set
145 91 Device firmware (internal error)
400 190 Device hardware is defect
980 3D4 User error, see System block LS_SetError_1 ( 312)
981 3D5
982 3D6
983 3D7
9.7.1.4 Error ID
Bit 31 30 29 26 25 16 15 0
16-bit value (0 ... 65535) for error identification.
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Error management
9.7.1.5 Example for bit coding of the error number

C00168 displays the error number "298057739".
 This decimal value corresponds to the following bit sequence:
0 1 2 3
Bit 31 30 29 26 25 16 15 0
00010001110001000000000000001011
Assignment Information Meaning in the example

Reserved Assigned with 0b00
00
Error type 4: Warning locked

0100
Subject area 452: Current

0111000100
Error ID 11: "Short circuit" (OC1)

0000000000001011
 The bit-by-bit representation of the error number (divided into nibbles)

0001⏐0001⏐1100⏐0100⏐0000⏐0000⏐0000⏐1011
corresponds to the hexadecimal value of "0x11C4000B"
 The error number "298057739" thus means:
In the subject area "current" an overcurrent has been detected. A "warning" has been
output as a response to the error and this warning has to be reset separately when the
error has been eliminated.
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9.7.2 Reset of error message
An error message with the response "Fault", "Trouble", "TroubleQSP" or "Warning locked"
must be explicitly reset (acknowledged) after the cause of the error has been eliminated.
 To reset (acknowledge) a pending error message, execute the controller command

C00002/19 = "1".
 Tip!
With an online connection to the controller, use the Diagnostics tab of the
»Engineer« and click Error message reset to reset a pending error message.
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Error management
9.7.3 Error messages of positioning control
If the FB is in the error state, the output bError is set to TRUE and an error number is output
at wErrorNumber, additionally the event is entered in the logbook of the controller.
 The meanings of the error numbers output at wErrorNumber are listed in the below
table:
wErrorNumber Symbolic name Meaning

0 NoError Information: no error
400 PosLimitSwitch Positive limit switch triggered.
401 NegLimitSwitch Negative limit switch triggered.
402 PosPositionLimit Positive software limit position reached.
403 NegPositionLimit Negative software limit position reached.
404 FollowErrWarning Following error warning limit reached/exceeded.
405 FollowErrFail Following error limit reached/exceeded.
406 HomePosError Discrete positioning requested and home position unknown.
407 Initialization Information: system initialisation active.
408 UserQuickstop User quick stop 1 (QSP) triggered.
409 MaxVelConflict Incorrect parameterisation of maximum speed.
410 DriveNotReady Information: drive is not ready.
411 VisuQuickstop User quick stop 2 (QSP) triggered.
412 InitError Error during system initialisation.
413 ParameterSaveError Internal error
414 SwapPositionMode Internal error
415 XYPosChangeLimit Internal error
416 PosToExtNoSpeed Internal error
417 InvalidSoftwareLimits Incorrect parameterisation of software limit positions.
418 XTpPositionOutOfLimit Internal error
419 StateBusError Internal error
420 PosProfilerFail Error in kinematic parameters for profile generation.
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9.7.4 Overview of the error messages of the operating system
The following table contains all error messages of the controller operating system with the
preset error responses and - if available – the parameters for setting the error response in
alphabetical order.
 Tip!
If you click the cross-reference in the last column "Detailed information", you get
to the detailed description of the corresponding error message in the following
chapter "Cause & possible remedies" ( 305) .
Subject Error ID Error number Abbreviat Error text CAN- Response can
Emergency
area no. (without error type) ion error code be set in
111 2 0x006f0002 Su02 Mains voltage is switched off 0x3000 C00565/0
119 1 0x00770001 OH Heatsink overtemperature 0x4000 C00582/0
119 15 0x0077000f OH3 Motor temperature (X106) enabled 0x4000 C00585/0
119 50 0x00770032 OC5 Ixt overload 0x2000 C00604/0
123 1 0x007b0001 Maximum torque reached 0xF000 C00608/0
123 14 0x007b000e OU DC bus overvoltage 0x3100 C00601/1
123 15 0x007b000f LU DC bus undervoltage 0x3100 C00600/1
123 17 0x007b0011 OC2 Earth fault power section 0x2000 C00602/0
123 30 0x007b001e Maximum current reached 0x2000 C00609/0
123 32 0x007b0020 NMAX Maximum speed limit reached 0xF000 C00579/0
123 57 0x007b0039 ID1 Error - motor data identification 0xF000 -
123 65 0x007b0041 I2xt overload - brake resistor 0xF000 C00574/0
123 93 0x007b005d Output frequency limited 0xF000 C00567/0
123 94 0x007b005e Switching frequency reduction 0xF000 C00590/0
123 95 0x007b005f Maximum speed for Fchop 0xF000 C00588/0
123 105 0x007b0069 OC6 I2xt overload - motor 0x2000 C00606/0
123 145 0x007b0091 LP1 Motor phase failure 0x3000 C00597/0
123 200 0x007b00c8 Speed limit - feedback system 0xF000 C00607/0
123 205 0x007b00cd SD3 Open circuit - feedback system 0xF000 C00586/0
125 1 0x007d0001 An01 AIN1_I < 4 mA 0xF000 C00598/1
127 2 0x007f0002 CE04 MCI communication error 0x7000 C01501/1
127 15 0x007f000f CE0F MCI control word 0xF000 C00594/2
131 0 0x00830000 CE4 CAN Bus Off 0x8000 C00592/2
131 6 0x00830006 CA06 CAN CRC error 0x8000 C00592/1
131 7 0x00830007 CA07 CAN Bus Warn 0x8000 C00592/3
131 8 0x00830008 CA08 CAN Bus Stopped 0x8000 C00592/4
131 11 0x0083000b CA0b CAN Bus Live Time 0x8130 -
131 15 0x0083000f CA0F CAN control word 0xF000 C00594/1
135 1 0x00870001 CE1 CAN RPDO1 0x8100 C00593/1
135 2 0x00870002 CE2 CAN RPDO2 0x8100 C00593/2
135 3 0x00870003 CE3 CAN RPDO3 0x8100 C00593/3
140 13 0x008c000d MCI1 Module is missing/incompatible 0x7000 C01501/2
144 1 0x00900001 PS01 No memory module 0x6300 -
144 2 0x00900002 PS02 Par.set invalid 0x6300 -
144 3 0x00900003 PS03 Par.set device invalid 0x6300 -
144 4 0x00900004 PS04 Par.set Mci invalid 0x6300 -
144 7 0x00900007 PS07 Par. memory module invalid 0x6300 -
144 8 0x00900008 PS08 Par. device invalid 0x6300 -
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Subject Error ID Error number Abbreviat Error text CAN- Response can
Emergency
area no. (without error type) ion error code be set in
144 9 0x00900009 PS09 Par.format invalid 0x6300 -
145 25 0x00910019 dF25 CU RCOM error 0x6100 -
145 35 0x00910023 RST AutoTrip reset 0xF000 C00189/0
145 50 0x00910032 dF50 Retain error 0x6100 -
400 16 0x01900010 dH10 Heatsink fan failure 0x5000 C00566/0
980 freely config. 0x03d4ffff US01 User-specific error with 0xF000 C00581/1
LS_SetError
981 freely config. 0x03d5ffff US02 0xF000 C00581/2
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9.7.5 Cause & possible remedies
This chapter contains all error messages of the controller operating system in numerical
order of the error numbers. The list provides detailed information on the response to the
error message as well as information on the cause & possible remedies.
 Tip!
A list of all error messages of the controller operating system in alphabetical order
can be found in the previous chapter "Overview of the error messages of the
operating system" ( 303).
Subject area Function Remedy by

the user
No. Name
111 Supply voltage Errors related to the supply voltage of the device Yes
119 Temperature Errors that occur for temperature reasons Yes
123 Motor management / An error occurred in connection with the motor control or encoder evaluation Yes
encoder
125 Analog I/O integrated An error occurred at the analog inputs Yes
127 Extension module slot 1 The fieldbus module has reported an error or an error exists in connection with the Yes: with fieldbus
plugged module errors
No: with internal
errors
131 CAN integrated (general) Errors related to general CAN functions Yes
135 CAN process data object Errors that are explicitly related to the CAN-PDOs (process data objects) Yes
(PDO)
140 Device configuration Errors related to the compatibility with the assembled single components (fieldbus Yes: only with
module, safety module, and other) modules plugged
by the user or
with a memory
module
144 Parameter set Errors that occur in connection with the parameter set or the parameter set memory Yes if the memory
(memory module) module in
question is
missing or
incompatible
145 Device firmware (internal Internal error of the device firmware cannot be remedied by the user No
error)
184 MotionControlKernel Error in profile generation, brake control, positioning (basic functions) Yes
400 Device hardware is defect Error caused by internal hardware defect has been detected No
444 Profibus fieldbus Error in connection with the fieldbus communication Yes
980 US01: User error 1 Error generated by the user through function block yes, is generated
by the user
981 US02: User error 2 through function
982 US03: User error 3 block
983 US04: User error 4
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Error management
Table of single errors
Subject area Error no. Error cause Error Remedy by the user
response
No. Name
111 Supply voltage 7274498 Su02: Mains voltage switched off C00565 This is no real error but an information.
The mains voltage has been switched off.
111 Supply voltage 7274499 Su03: Too frequent mains switching 1: Fault - The error must be acknowledged.
Too frequent mains switching of the power pulse inhibit The minimum waiting time between
section. ("Fault") two mains switching processes is
The device recognises if the power section is approximately three seconds.
switched on and off too frequently.
To protect internal charging connections from
destruction, the device reports this error and
prevents the controller inhibit. All other
functions are active.
111 Supply voltage 7274500 Su04: CU insufficiently supplied 1: Fault - The error must be acknowledged.
The supply voltage of the control electronics is pulse inhibit With internal supply voltage via the
too low (V < 19 V). ("Fault") power electronics, the controller must
Note: The supply voltage can be read out under be replaced.
code C00065. With external supply voltage, check
the correct connection and/or the
stability of the supply voltage.
119 Temperature 7798784 OH4: Heatsink temp. > shutdown temp. - 5 ° C C00582 Prevent further heating, i.e. reduce
The heatsink temperature has risen to within motor load or set controller inhibit so
5 ° C of the temperature where the motor will be that the heatsink can cool down again.
switched off.
119 Temperature 7798785 OH1: Heatsink overtemperature 1: Fault - Check control cabinet temperature.
The heatsink temperature is higher than the pulse inhibit Clean filter.
fixed limit temperature (90 ° C). ("Fault") Clean controller.
Maybe the ambient temperature of the If required, clean or replace the fan
controller is too high or the fan or its ventilation Provide for sufficient cooling of the
slots are dirty. device.
119 Temperature 7798799 OH3: Motor temperature (X106) triggered C00585 Check motor temperature monitoring.
The motor temperature monitoring function at Provide for sufficient cooling of the
the plug connector X106, terminal T1 /T2, has motor.
tripped. Possible causes: Check terminals for open circuit or
1.) The motor is overheated so that the thermal loose contact.
contact integrated in the motor has been
switched.
2.) There is an open circuit or loose contact at the
terminals mentioned under 1.).
119 Temperature 7798834 OC5: Ixt overload C00604 as to 1.) check and, if required, correct
The Ixt overload check has tripped due to dimensioning of the device and the
1.) wrong dimensioning of the device with motor load with regard to technical
regard to its motor load or data
2.) the non-compliance of the load cycles as to 2.) reduce load cycles of the
motor.
as to 2.) reduce load cycles of the
motor.
123 Motor 8060929 OT1: Maximum torque reached C00608 Reduction of the motor load
management / The device indicates that the maximally possible
encoder torque at the motor shaft has been reached.
(Display see C00057 )
123 Motor 8060942 OU: DC bus overvoltage 2: Trouble Reduction of the load in generator
management / The device has detected an overvoltage in the DC mode.
encoder bus. To protect the device hardware, the inverter Use of a brake resistor
control is switched off. Use of a regenerative power supply
Depending on the configuration of the auto- module.
start lock function, C00142 serves to set that, if Layout of a DC-bus connection.
the this error has been tripped, the controller
only starts after the controller inhibit is
switched.
If this error message remains active longer than
the time set in C00601, a "Fault" is tripped.
123 Motor 8060943 LU: DC bus undervoltage 2: Trouble Switch on mains supply or ensure
management / The device has detected an undervoltage in the sufficient supply via DC bus.
encoder DC bus. The inverter control is switched off since If required, adapt C00142.
the drive characteristics of the motor control
cannot be ensured anymore due to the DC-bus
undervoltage. The configuration of the auto-
start lock function C00142 serves to set that,
after this error has tripped, the controller only
starts after the controller inhibit is switched.
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response
No. Name
123 Motor 8060944 OC1: Power section - short circuit 1: Fault - Checking the motor connections and
management / The device has recognised a short circuit of the pulse inhibit the corresponding plug connector at
encoder motor phases. To protect the device electronics, ("Fault") the device.
the inverter control is switched off. Compliance with the permissible
Mostly, incorrectly executed motor connections combinations of device and motor
are the cause. power.
If the device is inappropriately dimensioned with Do not set the dynamics of the current
regard to the motor load and the current limitation controller too high.
limitation in the controller (Imax controller) is set
incorrectly, this error message may also occur
see also the chapter "Motor control - defining
current limitations"
123 Motor 8060945 OC2: Power section - earth fault 1: Fault - Checking the motor connections and
management / The device has recognised an earth fault at one pulse inhibit the corresponding plug connector at
encoder of the motor phases. To protect the device ("Fault") the device.
electronics, the inverter control is switched off. Use of the motor filters, cable lengths,
Mostly, incorrectly executed motor connections and cable types recommended by
are the cause. Lenze.
If motor filter, motor cable length, and cable type
(shielding capacity) are dimensioned incorrectly,
this error message may occur due to leakage
currents to PE.
123 Motor 8060958 OC10: Maximum current reached 1: Fault - Check and, if required, correct
management / The device indicates that the maximum device pulse inhibit dimensioning of the load with regard
encoder current has been reached. ("Fault") to the installed device power.
The maximum device current is the double value
of the rated device current (display in C00098).
123 Motor 8060959 OC17: Clamp sets pulse inhibit C00569/1 Check and, if required, correct
management / Due to a short overcurrent, the inverter was dimensioning of the load with regard
encoder switched off for a short time (clamp to the installed device power.
disconnection). Reduce the dynamics of the setpoint
change or speed control.
123 Motor 8060960 OS1: Maximum speed limit reached C00579 Limitation of the setpoint selection to
management / The device has recognised that the maximum maximum values.
encoder speed has been reached. If required, set the parameters for the
limit values with C00909 and C00910.
123 Motor 8060985 ID1: Motor data identification error 4: Warning Checking the motor connections and
management / The device has detected an error during the locked the corresponding plug connector at
encoder motor data identification. the device and, if required, the motor
Causes: terminal box.
a) Interruption of the motor cable Correction of the start parameters for
b) Disconnection of the power section during the the identification (motor nameplate
identification data)
c) Implausible settings of the start parameters Stable power supply of the device
123 Motor 8060986 ID3: CINH motor data identification 4: Warning Do not set controller inhibit during the
management / The device has detected controller inhibit during locked motor data identification.
encoder the motor data identification. Do not execute any device function
This cancels the identification process. The Lenze which may activate controller inhibit.
setting of the motor data is used.
123 Motor 8060987 ID4: Resistance identification error 5: Warning Enter sensible values for cable cross-
management / The device has recognised that an error has section and motor cable length.
encoder occurred in the calculation of the motor cable
resistance.
Cause:
The parameters for cable cross-section and cable
length are implausible.
123 Motor 8060999 OC11: Clamp operation active 5: Warning Reduction of the dynamics of the
management / The device reports that the overcurrent setpoint generation or motor load.
encoder limitation "CLAMP" is activated.
A permanent clamp operation causes an
overload disconnection.
123 Motor 8061018 OC13: Maximum current for Fch exceeded 1: Fault - Background:
management / The device has detected a motor current which pulse inhibit If a permanent switching frequency
encoder exceeds the maximum current limit at ("Fault") inverter is set, a certain limit arises for
permanent switching frequency of the inverter. the maximum current, depending on
the setting. If this current limit is
exceeded due to a load impulse or
overload, an error message is
displayed
Observance of the maximum current

setting depending on the set
switching frequency of the inverter.
If required, reduction of the load
requirement or setting of the dynamic
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response
No. Name
123 Motor 8061021 OT2: Speed controller output limited C00567 Compliance with the load
management / The output of the speed controller has reached requirements
encoder the internal limit value. In this state, the speed If required, correction of dimensioning
controller is not able to correct the system or reduction of the dynamics of the
deviation anymore. setpoint generation
(only with closed loop or vector control ) For details see motor control
123 Motor 8061022 FCH1: Switching frequency reduction C00590 Compliance with the load
management / Load-dependent switching frequency reduction requirements
encoder If required, correction of dimensioning
or reduction of the dynamics of the
setpoint generation
For details see motor control
123 Motor 8061023 FCH2: Maximum speed for Fchop C00588 Correct selection of the maximum
management / Maximum speed for chopper frequency has been speed depending on the switching
encoder reached. frequency.
The maximum speed has been exceeded For details see Limiting maximum
depending on the switching frequency. output frequency
123 Motor 8061024 OC14: Direct-axis current controller limitation C00570/1 Compliance with the load
management / The limitation of the direct-axis current requirements, if required, correction of
encoder controller is active dimensioning or reduction of the
dynamics of the setpoint generation
123 Motor 8061025 OC15: Cross current controller limitation C00570/2 Compliance with the load
management / The limitation of the cross current controller is requirements, if required, correction of
encoder active dimensioning or reduction of the
Check parameter setting of the
current controller with regard to the
motor controllers (e.g. reduce Vp)
123 Motor 8061026 OC16: Torque controller limitation C00570/3 Compliance with the load
management / Actuator limitation according to speed controller requirements, if required, correction of
encoder dimensioning or reduction of the
123 Motor 8061027 FC1: Field controller limitation C00570/4 Compliance with the load
management / The output of the field controller has reached its requirements, if required, correction of
encoder maximum limit value. The drive is at the torque dimensioning or reduction of the
limit in the field weakening range. setpoint from the field weakening
range.
123 Motor 8061033 OC6: I2xt overload - motor C00606 Compliance with the load
management / Thermal overload of the motor requirements, if required, correction of
encoder dimensioning. With control type
VFCplus:
Check of the Vmin boost, see C00016
For details see Setting Vmin boost
123 Motor 8061073 LP1: Motor phase failure C00597 Checking the motor connections and
management / Motor phase failure - power section the corresponding plug connector at
encoder This error message is displayed if a motor phase the device and, if required, the motor
carries less current of one half-wave than set in terminal box.
C00599. Check the trigger threshold C00599.
123 Motor 8061128 SD10: Speed limit for feedback system C00607 Reduce speed of the rotation shaft /
management / Maximally permissible speed of the feedback feedback system.
encoder system has been reached nEncoder ≤ (fmax x 60) / encoder
increments
At fmax = 10 kHz
123 Motor 8061133 SD3: Feedback system open circuit C00586 Check wiring of the feedback system
management / and its terminals.
encoder
125 Analog I/O 8192001 An01: AIN1 I < 4 mA C00598/1 Check wiring of the analog input
integrated terminal for open circuit.
Check minimum current values of the
signal sources.
127 Extension module 8323074 CE04: MCI communication error C00150/1
slot 1
127 Extension module 8323087 CE0F: MCI control word C00594/2 Cause or signal source which sets the
slot 1 "SetFail" (bit 14) of the wMciCtrl control word of "SetFail" bit (bit 14) has been detected
the LS_DriveInterface is set. at the bus (e.g. PROFIBUS).
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response
No. Name
131 CAN integrated 8585216 CE4: CAN Bus Off C00592/2 Check wiring and bus terminating
(general) Bus is switched off resistor.
The device has detected a CAN bus off state. Too Check the identical baud rate of each
many faulty telegrams are located on the bus. node.
Check the bus for electrical
interferences which can be caused by
switching or plugging operation.
131 CAN integrated 8585222 CA06: CAN Message Error C00592/1 A faulty CAN telegram has been
(general) General CAN message error detected.
131 CAN integrated 8585223 CA07: CAN Bus Warning C00592/3 Check wiring and bus terminating
(general) If the counter for incorrectly transmitted or resistor.
received CAN telegrams has a value > 96, see Check the identical baud rate of each
C00372/1 ... /2 node.
Check the bus for electrical
Note: The C00345 code shows the current CAN interferences which can be caused by
error status. switching or plugging operation.
131 CAN integrated 8585224 CA08: CAN Bus Stopped C00592/4 Check NMT master
(general) The device has received a CAN-Stopped-NMT
telegram
131 CAN integrated 8585231 CA0F: CAN control word C00594/2 Cause or signal source which sets the
(general) "SetFail" (bit 14) of the wCANCtrl control word of "SetFail" bit (bit 14) has been detected
the LS_DriveInterface is set. at the bus (e.g. CAN).
135 CAN process data 8547361 CE1: CAN RPDO1 C00593/1 Check the COB-IDs.
object (PDO) CAN Receive PDO1 has no reception during the Check the transmission of PDOs to this
time set in C00357/1. Receive object.
Adapt time setting for CAN Receive
135 CAN process data 8547362 CE2: CAN RPDO2 C00593/2 PDOx in C00357/x.
object (PDO) CAN Receive PDO2 has no reception during the
time set in C00357/2.
135 CAN process data 8547363 CE3: CAN RPDO3 C00593/3
object (PDO) CAN Receive PDO3 has no reception during the
time set in C00357/3.
140 Device 9175053 MCI1: Module missing/incompatible C01501/2 Check connection between the
configuration The optional communication module has been communication module and standard
removed or there is a connection problem or device.
incompatibility with the standard device. Check if the module is plugged in
correctly.
In case of an incompatibility, either the
module or the software of the
standard device is out of date. In this
case, please contact Lenze.
144 Parameter set 9437185 PS01: No memory module 5: Warning Please plug in memory module or
Memory module is not plugged in. ensure that the module is snapped
Memory module is either not available or not into place.
snapped into place correctly.
144 Parameter set 9437186 PS02: Par. set invalid 1: Fault - Please ensure during the saving
Parameter set storage is invalid due to pulse inhibit process that the voltage supply is
incomplete saving of the parameter set (e.g. by ("Fault") maintained and the module continues
voltage failure or removal of the memory to be plugged into the memory
module during the saving process). location.
144 Parameter set 9437187 PS03: Par. set device invalid 1: Fault - When the memory modules are
An incompatibility of the parameter set is caused pulse inhibit exchanged, observe the downward
e.g. when the memory module of an 8400 ("Fault") compatibility:
HighLine is plugged into an 8400 StateLine or the - OK: StateLine V2.0 to StateLine V3.0
parameter set in the memory module has a - OK: StateLine V2.0 to HighLine V2.0.
higher version than expected by the standard - Not OK: HighLine Vx.x to StateLine
device. Vx.x
- Not OK: StateLine V3.0 to StateLine
<V3.0
144 Parameter set 9437188 PS04: Par. set Mci invalid 1: Fault - When the memory modules are
Parameter set Mci is invalid. pulse inhibit exchanged, observe the downward
An incompatibility of the parameter set is caused ("Fault") compatibility.
e.g. when the MCI module parameters in the ---> see remedy for PS03
memory module do not match the plugged MCI
module.
144 Parameter set 9437191 PS07: Par.set mem. module invalid 1: Fault - Internal error
Parameter set of memory module is invalid pulse inhibit Please contact Lenze.
The error occurs while loading the parameter set. ("Fault")
The memory module plugged in the device lacks
a code or a code is incorrect.
144 Parameter set 9437192 PS08: Par. set device invalid 1: Fault - Internal error
Parameter set of the device is invalid. pulse inhibit Please contact Lenze.
One code in the device is incorrect.
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Error management
response
No. Name
144 Parameter set 9437193 PS09: Par.set invalid 1: Fault - Internal error
Code format is invalid pulse inhibit Please contact Lenze.
145 Device firmware 9502744 dF18: BU RCOM error 1: Fault - Internal error
(internal error) Error - RCOM power section pulse inhibit Please contact Lenze.
("Fault")
145 Device firmware 9502745 dF25: CU RCOM error 1: Fault - Internal error
(internal error) Error - RCOM control section pulse inhibit Please contact Lenze.
("Fault")
145 Device firmware 9502753 dF21: BU Watchdog 1: Fault - Internal error
(internal error) Watchdog power section pulse inhibit Please contact Lenze.
("Fault")
145 Device firmware 9502755 df10: Auto Trip Reset C00189 Check the error cause due to which the
(internal error) Too frequent auto trip reset auto trip reset is activated. Remove
the error cause and carry out the error
reset manually.
145 Device firmware 9502770 dF50: Retain error 1: Fault - The device must be returned to Lenze.
(internal error) Error while accessing retain data pulse inhibit Carry out mains switching after a
Internal hardware error or after a firmware ("Fault") firmware download.
download no mains switching has been carried
out.
400 Device hardware 26214409 dH09: EEPROM power section 1: Fault - The device must be returned to Lenze.
is defect Power section EEPROM error, internal hardware pulse inhibit
error. ("Fault")
400 Device hardware 26214416 dH10: Fan failure C00566 1.) Check fan for short circuit or, if
is defect Failure of the device fan required,
1.) The short-circuit check of the fan connection 2.) clean fan
terminals has tripped or
2.) the speed monitoring of the fan has tripped.
400 Device hardware 26214505 dH69: adjustment fault 1: Fault - The device must be returned to Lenze.
is defect Adjustment data error - power section pulse inhibit
("Fault")
444 PROFIBUS 29131056 Profibus Watchdog C13880/1 Check cables and terminations,
fieldbus Monitoring time exceeded cable breakage or
failure of the DP master
444 PROFIBUS 29131057 Profibus
fieldbus Leave Data_Exchange status
444 PROFIBUS 29131058 Profibus Watchdog
fieldbus DP-V1 MSC2 monitoring time exceeded
444 PROFIBUS 29119793 Memory Exchange module
fieldbus No access to EEPROM, internal error
fieldbus Read error on EEPROM, internal error
fieldbus Write error on EEPROM, internal error
444 PROFIBUS 29123616 Fault Exchange module
fieldbus Lenze setting loaded, internal error
444 PROFIBUS 29122577 Fault Exchange module
fieldbus Restart after watchdog reset, internal error
444 PROFIBUS 29110528 Connection to 8400 standard device lost, Exchange module
fieldbus internal error
444 PROFIBUS 29122817 Software error, internal error Exchange module
fieldbus
444 PROFIBUS 29122576 CPU watchdog reset, internal error Exchange module
fieldbus
444 PROFIBUS 29122816 Software error, internal error Exchange module
fieldbus
980 US01: User error 1 (C00581/1 US01: User error 1 C00581/1 Defined by the user
x User error 1 of the LS_SetError_1
0x0400000)
+
(980 x
0x10000) +
(C00161/1)
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Error management
response
No. Name
0x0400000)
+
(981 x
0x10000) +
(C00161/2)
0x0400000)
+
(982 x
0x10000) +
(C00161/3)
0x0400000)
+
(983 x
0x10000) +
(C00161/4)
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Error management
System block LS_SetError_1
9.8 System block LS_SetError_1
This function block serves to assign up to four user-defined events to one response each.
The resulting error number has the following specifications:
 Error type can be set via C00581 Error type ( 298)
 Subject area number 980 ... 983 ("user error")

 Error_ID can be set via C00161 Error ID ( 299)
 Available function blocks: 1
LS_SetError_1 ?
C00581 / 1 ... 4
Fault 1 11
bSetError1
10 0
bSetError2
Trouble
3 8
bSetError3
TroubleQSP
4 5
bSetError4
Warning 7 9
Inputs
Identifier/data type Information/possible settings

bSetError1 ... bSetError4 Input
BOOL
Parameter
Identifier/data type Possible settings Information

Index
C00161 /1 ... 4 0 ... 65535 Error ID
C00581 /1 ... 4 Response
0 ... 6 0: No response
1: Pulse inhibit fault
2: Trouble
3: Quick stop fault
4: Warning locked
5: Warning
6: Information
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Error management
Drive diagnostics & fault analysis
9.9 Drive diagnostics & fault analysis
9.9.1 Maloperation of the drive
Maloperation Cause Remedy

Motor does not DC-bus voltage is too low Check mains voltage
rotate Note:
red LED is blinking every second,
display in keypad: LU
Controller is inhibited Deactivate controller inhibit
Note: Note: Controller inhibit can be set via several
green LED is blinking, sources !
display in keypad: 
Automatic start is inhibited LOW/HIGH edge at RFR
(C00142 = 0) If required, correct starting condition with
C00142
DC-injection braking (DCB) is active Deactivate DC injection brake
Mechanical motor brake is not released Release mechanical motor brake manually or
electrically
Quick stop (QSP) is active Deactivate quick stop
Note: Keypad display: 
Setpoint = 0 Select setpoint
JOG frequency = 0 at activated JOG setpoint Select JOG setpoint with C00037 .... C00039
Trouble is active Clear fault
With C00006 = 4, "vector control" has been Identify motor parameters (C00002/23)
set, but no motor parameter identification
has been carried out
Assignment of several mutually exclusive Correct configuration in C00701
functions with a signal source in C00701
Motor rotates Motor cable is defective Check motor cable
irregularly
Maximum motor current in motor or Adapt settings to the application with
generator mode is set too low C00022 or C00023.
Motor is underexcited or overexcited Check parameter setting with C00006,
C00015 , C00016
Rated motor data (stator resistance, speed, • Manual adaptation of the motor data
current, frequency, voltage) and cos ϕ and/ with C00084, C00087, C00088, C00089,
or magnetising inductance is not adapted to C00090, C00091, C00092
the motor data or
• Identify motor parameters with C00002/
23
Motor windings are wired incorrectly Reverse from star connection to delta
connection
Motor consumes too Umin boost selected too great Correct setting with C00016
much current
V/f base frequency has been selected too low Correct setting with C00015
Rated motor data (stator resistance, speed, • Manual adaptation of the motor data
current, frequency, voltage) and cos ϕ and/ with C00084, C00087, C00088, C00089,
or magnetising inductance is not adapted to C00090, C00091, C00092
the motor data or
• Identify motor parameters with C00002/
23
Motor parameter Motor is too small compared to the rated Use device with lower rated power
identification is device power (>1 : 3)
aborted with error
DC injection brake (DCB) is active via Deactivate DC injection brake
LP1
terminal
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Error management
Maloperation Cause Remedy

Drive behaviour with different Optimise or manually adapt vector control
vector control is not
Identify motor parameters with C00002/23
satisfactory
Torque dip in field Motor is overloaded Check motor load
weakening range
Motor windings are wired incorrectly Reverse from star connection to delta
or connection
motor stalling when
being operated in the
field weakening V/f reference point is set too high Correct setting with C00015
range
Override point of field weakening is set too Correct setting with C00080
low
Mains voltage is too low Increase mains voltage
An asynchronous • The motor phases are interchanged Check the phase position of the motor cable
motor with feedback Thus the rotating field of the motor is not If possible
rotates without identical anymore with the rotating field of
control and with too operate the motor with deactivated
the feedback system.
low speed feedback (C00025 = 6) and check direction of
The drive (V/f characteristic control rotation of the motor
C00006 = 7) shows the following behaviour:
– The motor rotates faster by the value set
in C00074 than the speed setpoint. After
controller enable, the controller does
not stop when the speed setpoint = 0 or
at quick stop (QSP).
– The motor current to be set depends
among other things from the set value
of the Vmin boost and can rise up to Imax.
This may cause the fault message "OC5: Ixt
overload".
Motor phase (LP1) Monitoring is not active (C00597 = 0) Activate monitoring with C00597 = 1
monitoring does not
respond if the motor
phases are
interrupted
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Error management
9.9.2 Operation without mains supply
The following codes have the value "0" if the mains supply is switched off and the external
24 V supply of the controller is switched on:
 C00050
 C00051
 C00052
 C00053
 C00054
 C00058
 C00061
 C00064 /1 ... /3
 C00066
 C00177 /1
 C00178 /0 /1
 C00308
 C00310
 C00725
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Fieldbus interface
10 Fieldbus interface
The 8400 frequency inverters can participate in the data transfer of an available fieldbus
system thanks to pluggable communication modules.
The main advantages of a communication module are
 to parameterise,
 control, and
 diagnose the drive system via the bus.
The following fieldbuses are supported by the 8400 frequency inverter:
 PROFIBUS DPV1 - slave
 Ethernet non-real-time
– ProfiNet IO V2 (in preparation)
– Powerlink BasicMode (in preparation)
 Ethernet real-time
– Ethernet POWERLINK (in preparation)
– EtherCat (in preparation)
The selection list for the control module includes the "control via MCI" option for every
technology application which provides a quick and easy way of setting up a control for the
drive controller via the fieldbus interface.
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Fieldbus interface
10.1 Process data transfer
 The process data serve to control the controller. Thus the transfer of the process data is
time-critical.
 The processing cycle is 1 ms, independent of the prevailing plugged-in bus system and
type of frequency inverter.
 The process data transfer is carried out cyclically between the master system and the
controllers.
Current input and output data are permanently exchanged.
16 words per direction are exchanged with the 8400 HighLine frequency inverter.
 The process data can directly be accessed by the master computer at the bus system.
The process data are accessed via the port blocks LP_MciIn and LP_MciOut (see function
block interconnection of the Engineer).
These port blocks are also called process data channels.
 The process data are not saved in the controller.
Field bus
Communication module
MCI interface
LP_MciIn ? LP_MciOut ?
wCtrl wState
B0 B0
B1 B1
B2 B2
B3 8400
B14
Application
B15 B15
FB interconnection
wIn2 wOut3
wIn3 wOut4
wIn4 wOut5
wIn5 wOut6
[10-1] Outer and inner data transfer between bus system, controller, and function block interconnection
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Fieldbus interface
Voltage supply
Depending on the complexity and functional range of the fieldbus, the communication
modules are supplied by the standard device or an external 24 supply at the module.
The external 24 V voltage supply of the communication module is required if the supply of
the standard device fails but the communication via the bus is to continue.
Parameter setting of the communication modules

All codes which must be parameterised for establishing the fieldbus communication are
saved in the memory module of the controller.
The archived data can be addressed by all bus systems supported by the controller.
Hotplug
The communication module (MCI module) can be plugged in/out while the controller is
switched on. When the module is plugged in, it is automatically detected and checked for
plausibility regarding the function and version.
Fieldbus-specific device profiles and PDO mapping

When specific bus systems are used, the controller is to behave according to a defined,
manufacturer-spanning standard. The following definitions have been made for this:
 Definitions of the device state machine (e.g. DSP402, DriveCOM, ProfiDrive etc.)
 Definition of the bit assignment of control and status words
 Definition of signal scaling (on a limited scale)
 Definition of parameter scaling (on a limited scale)
 Definition of the process data mapping
These device profiles are not mapped in the communication module since some definitions
have a strong effect on the device-internal behaviour and the device profiles are not
uniform regarding this matter.
 The task of the communication modules is
– to address parameters (SDOs),
– to transfer PDOs and
– the signal mapping of the PDOs.
 The process data objects are interpreted in the controller (e.g. the meaning of the
control word bits or the speed setpoint selection) and can either be parameterised by
predefined use of the PDOs and through PDO mapping or freely configured by a
function block editor.
318 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Technology applications (TAs)
Introduction
11 Technology applications (TAs)
11.1 Introduction
A technology application is a drive solution based on the experience and know-how of

Lenze in which function blocks interconnected to a signal flow form the basis for
implementing typical drive tasks.
Please note that the StateLine and HighLine device types differ with regard to the number,
functional range, and flexibility of the technology applications offered.
This chapter describes the management and details of the technology applications of the
8400 HighLine frequency inverter.
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Introduction
11.1.1 Overview
Technology application/application ranges Availability

TA "Actuating drive – speed" ( 319)
• General drive for speed control of • 8400 StateLine
– Conveyor drives (connected in a system) • 8400 HighLine
– Extruders
– Test benches
– Vibrators
– Travelling drives
– Presses
– Machine tools
– Dosing machines
TA "Actuating drive – torque"
• Slave drives for material transport In preparation
– Chain conveyors
– S-shaped frame structures
– Bilateral tandem drives
• Test facilities
– Test benches for tensile stress
– Motor test benches
– Brake test facilities
• Support of higher-level technology solutions for e.g.
traction-controlled winders
TA "Electronic gearbox"
• Slitters In preparation
• Calender drives
• Line drives
• Conveying belts
• Vibrators
• Roller mills
• Stretching machines
• Wire drawing machines
TA "Table positioning" ( 391)
Note: This TA requires an external sequence control.
• Transport units • 8400 HighLine
• Rotary tables
• Storage and retrieval units
• Feed drives
• Dosing machines
• Hoists
 Tip!
More technology applications are in preparation
320 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Introduction
11.1.2 Purpose of the technology applications
The stepped 8400 frequency inverter drive system provides solutions for simple to complex
application cases - depending on the experience and knowledge about drives and drive
tasks on the part of the user.
Some drive tasks are similar in practice so that a few modifications of the corresponding
technology applications can provide the required result very quickly.
On the one hand a great scope of standard drive tasks for frequency inverters is covered by
the technology applications offered by Lenze, and on the other hand, the user is relieved
from time-consuming programming activities.
Other important features of technology applications are:
 Direct implementation of drive tasks without recreating a function block
interconnection inside the device
 Operation via keypad and/or operation via convenient operator dialogs in the
«Engineer»
 Commissioning via few operating and diagnosing parameters (local keypad operation)
 Achieving a transparency as high as possible via the integrated functionality of the
device by representing signal flow diagrams
 Provision of a basic functionality suitable and often sufficient for many applications
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Introduction
11.1.3 Application cases for a technology application
 You should use a technology application if

– the task can be solved completely or to a great extent by the basic functionality of
the technology application.
– the end customer does not want to create the comprehensive core functions of the
corresponding technology on his own.
– the creation time for a project is to be reduced by using the ready-made technology
application
– the end customer wants to build upon the know-how of Lenze.
 Do not use technology applications if
– the task is very complex, especially if detailed user knowledge is required to
implement the core functionality.
– the use of a technology application significantly surpasses the required functional
range of the application.
– the end customer does not want to use ready-made functions of Lenze. In such cases,
individual drive solutions with 8400 HighLine frequency inverters can be
implemented by using the free function block interconnection. Here, the technology
applications integrated in the device can be used as a basis which can be adapted to
the requirements by alteration or expansion.
322 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Software structure of the application function at a glance
11.2 Software structure of the application function at a glance
Parameterisation Parameterisation
..............
............... Signal
.............. outputs
Signal
inputs
Motion
STOP
PID
Setpoint process
generator ç è
M controller
n
0 t
Drive Motor
control control
[11-1] Software structure of the application function
The device comes integrated with technology applications (actuating drive speed, table
positioning, etc.). These technology applications provide the main signal flow for
implementing a general or particular drive task in the form of a function block
interconnection of diverse function blocks (application level).
The technology application is provided with an input interface for connecting the control
signal sources (e.g. main setpoint) and an interface for controlling the device outputs.
The control signals and device outputs are connected to the technology application in the
I/O level.
Within the technology application, the main setpoint path affects the motion control
kernel which generates control signals for the motor control and the state control of the
controller.
Both the control inputs and the control outputs and the entire technology application are
provided with parameters for
 setting / parameterising internal functions
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 323

 displaying actual values

 connecting the FBs in the I/O level
All these parameters can be addressed via the diagnostic interface or fieldbuses connected.
The parameters are set e.g. via a keypad or diagnostics / user interfaces in the Engineer.
324 L Firmware 02.00 - DMS EN 3.0 - 05/2009

11.2.1 How to use the technology applications
1. Select the required technology application on the "Application parameters" tab of the
Engineer or on the keypad with code C0005, e.g. C0005 = 1000: "actuating drive –
speed".
– When the technology application is selected, a device function and its terminal
assignment is preconfigured.
– In the technology application, all function blocks and their parameters are set so that
additional programming activities or adaptations for this standard function do not
occur.
2. Motor settings are required if the motor is no power-adapted standard motor:
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3. Select the signal source for control signals

– The origin of the main setpoint as a reference value for a controlled process is of
particular importance. Therefore, the origin of this signal source is set first. On the
"Application parameters" tab (or using code C0007) the main setpoint can, for
instance, be defined as constant value via a digital input (terminal control) or as
process value via a fieldbus (CAN, PROFIBUS, etc.).
– To commission the selected technology application, the signal sources acting on the
process must be considered. The signal sources are, for instance, analog main
setpoint and, if required, additional analog setpoint, analog actual PID value and
digital control signals. For selection, click the button for the main setpoint (here:
analog input 1) and select the required signal from the list of possible signals. As an
option, this setting can also be made via the keypad or the function block
interconnection in the FB editor (see marking):
[11-2] Signal sources of the TA "Actuating drive - speed", path: "Application parameters" tab --> "Signal flow" button
– Proceed accordingly for other possible signal sources.
326 L Firmware 02.00 - DMS EN 3.0 - 05/2009

– The I/O interconnection of the FB editor shows the individual control signals which
act on the technology application (in this example TA "Actuating drive - speed"):
[11-3] Interconnection of the signal sources, marking: analog input 1 as main setpoint
4. Switch-on and commissioning

– The technology applications can be operated to a certain extent directly at the
frequency inverter via the keypad.
– More comprehensive operating and diagnostic processes are made via the
«Engineer» operating software on the PC. Special operator dialogs serve to guide you
comfortably through the menus available.
 Tip!
Operation and commissioning with the keypad is described in the Hardware
Manual of the 8400 frequency inverter. The CD supplied with the device contains
the Hardware Manual as PDF file.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 327

Introduction to the LS_MotionControlKernel system block
11.3 Introduction to the LS_MotionControlKernel system block
PID Drive-
Main set Setpoint Process Control
value generator controller
M
Additional
setpoint Motion-
Outputs
Control-
Kernel
Actual PID MotionControlKernel
value Profilgen ManualJog
n ç è
Motor
Digital
control
n
control M
t t
signals
Brake
Status
machine
(basic drive
functions) v
Machinepar
i
[11-4] MotionControlKernel (MCK)
Depending on the device type, the 8400 frequency inverters are provided with a different
number of integrated technology applications, see Overview ( 320).
Each technology application is represented as an application block in the so-called I/O level
of the FB Editor. The application block is interconnected with the system blocks, which are
among other things connected with the peripheral control elements (e.g. setpoint
potentiometers) and devices (e.g. encoders). Each application block itself is a function block
interconnection which can be viewed in the application level of the FB Editor.
Within this function block interconnection the LS_MotionControlKernel system block is
used, which is placed between the setpoint generation (e.g. ramp generator, PID process
controller, etc.) and the motor control.
This system block contains diverse standard functions or basic drive functions that does
not have to be created by a single function block interconnection, thus minimising the
expense and complexity for the performance of standard functions.
In the MotionControlKernel for instance there is an automatic holding brake control which,
depending on the speed setpoint and several other internal digital control signals,
activates the holding brake. By the integrated automatic brake operation the user does not
have to manage these control signals.
Further standard functions integrated in the system block are for example
 Manual jog, e.g. for manual setting-up operation
 Homing for positioning functions of the drive
 Position profile generator for positioning functions of the drive
328 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Introduction to the LS_MotionControlKernel system block
As no technology application with position-controlled movements of the motor shaft is

integrated in the 8400Stateline, the MotionControlKernel only contains the functions
 Automatic holding brake operation
 Manual jog
Integration of the LS_MotionControlKernel in the signal flow

If the main signal flow of the technology application is considered, the
LS_MotionControlKernel FB is placed between the functions constituting the actual
technology application. For speed-controlled applications like "TA actuating drive speed"
this is for example
 Motor potentiometer (L_MPot)
 Main setpoint generator (L_NSet)
 Process controller (L_PCtrl)
 Motor control (LS_MotorInterface)
 Drive control (LS_DriveInterface)
For a potentially free function block interconnection in the 8400 HighLine frequency
inverter, the deletion or change of the signal flow configuration means the loss of the
standard functions integrated in the LS_MotionControlKernel and the corresponding user
interfaces in the Engineer.
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11.3.1 Selection of the application and the control mode
330
Introduction to the LS_MotionControlKernel system block | Selection of the application and the control
The technology application is activated via the parameter C00005 and adapted to the corresponding drive task. For setting the
parameters the optional keypad or the Engineer PC program can be used - the PC provides user interfaces that are very easy to
operate.
For the selection of the control mode the parameter C00007 is used. The technology application for instance can be carried out by
using the control terminals of the controller via CAN or simply via the keypad without external components.
Firmware 02.00 - DMS EN 3.0 - 05/2009
L
L
Introduction to the LS_MotionControlKernel system block | Selection of the application and the control
Firmware 02.00 - DMS EN 3.0 - 05/2009

 Input signals (process setpoints) and digital control signals for the TA
 Trimming of the input signals via offset and gain
 Additional functions of the motor potentiometer and the PID process controller
 Main setpoint generator (fixed setpoints, ramp generator limitations, arithmetic of the additional setpoint)
 Drive control and motor control
 MotionControlKernel
 Optional "General purpose functions", parallel to the main signal flow
331
11.3.2 Communication of the user interfaces to the application block
332
Introduction to the LS_MotionControlKernel system block | Communication of the user interfaces to

The user interfaces in the Engineer communicate with the application block in the I/O level of the device. If the application level is
activated in the FB editor, a detailed insight into the function block interconnection on the individual functions of the technology
application is provided.
User interface in the Engineer (signal flow):

Firmware 02.00 - DMS EN 3.0 - 05/2009
L
Introduction to the LS_MotionControlKernel system block | Communication of the user interfaces to
Application block in the I/O level:
L Firmware 02.00 - DMS EN 3.0 - 05/2009 333
Basic drive functions in the MCK
12 Basic drive functions in the MCK

Basic drive functions described in this chapter:
Holding brake control ( 335)
 Tip!
Detailed information about the system block LS_MotionControlKernel, which
provides the internal interfaces for the MotionControlKernel (MCK) in the FB
Editor, can be found in the chapter "Function library". ( 587)
334 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Holding brake control
12.1 Holding brake control
This basic function serves to control a holding brake with low rate of wear.
 Danger!
Please note that the holding brake is an important element of the safety concept
of the entire machine.
Thus, proceed very carefully when commissioning this system part!
 Stop!
Holding brakes on Lenze motors are not intended for braking during operation.
The increased wear caused by braking during operation can destroy the motor
holding brake!
 Note!
• If an electrically holding (self-releasing) brake is to be controlled instead of an
electrically released (self-holding) brake, the trigger signal must be inverted!
Functional settings ( 340)
• For detailed information about the assembly and electrical installation of the
motor holding brake, please see the documentation for the motor holding
brake.
Intended use
Motor holding brakes are used to lock axes if the controller is inhibited or in case of "mains
off" system status. This is not only important for vertical axes but also for e.g. horizontal
axes which may cause various problems if the motion is not controlled.
Examples:
 Loss of the reference information after mains OFF and further spinning of the drive.
 Collision with other moving machine parts.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 335

12.1.1 Internal interfaces
The system block LS_MotionControlKernel provides the following internal interfaces for
the basic function "Holding brake control" in the FB Editor:
Inputs

bBrkRelease Releasing/applying the brake in connection with the selected operating mode
C00833/80 | BOOL
False Apply brake.
• During automatic operation, the internal brake logic controls of
the brake.
True Release brake.
• During automatic operation, the internal brake logic is
deactivated and the brake is released. If the brake control has
inhibited the controller, this inhibit is deactivated again.
nBrkTorqueAdd_a Additive torque value in [%] for torque precontrol on starting
C00830/68 | INT • For SC (servo control) mode
• 100 % ≡ maximum torque (C00057)
Torque precontrol during starting ( 348)
Outputs
Data type
bBrkReleaseOut Trigger signal for switching element holding brake control via a digital output
BOOL • Use bit 0 under C02582 to activate inverted switching element triggering.
False Apply brake.
True Release brake.
bBrkReleased Brake control status signal with consideration of the application and release time of
BOOL the brake
False Brake applied (when the brake application time has elapsed).
True Brake released (when the brake release time has elapsed).
 Stop!
The digital outputs are not suitable for the "direct" control of a holding brake!
• Connect the digital output connected to the trigger signal bBrkReleaseOut
with a relay or power contactor which switches the brake supply.
• When a power contactor is used, the response and release time of the earth
contact is added to the response and release time of the brake.
336 L Firmware 02.00 - DMS EN 3.0 - 05/2009

 Danger!
A faultless brake control function requires a correct setting of the different
deceleration times in the following parameters!
A wrong setting of the delay times can cause a faulty control of the brake!
 How to get to the parameterisation dialog for the holding brake control:
1. On the FB Editor tab:
Open the parameter list for the system block LS_MotionControlKernel in the
application level.
2. In the Parameter list... dialog box, change to the Holding brake control tab.
Parameterisation dialog in the »Engineer«
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 337

Short overview of parameters for holding brake control:

Value Unit
C02580 Holding brake: operating mode Brake control off

C02581/1 Holding brake: switching threshold 5.00 %
C02581/2 Holding brake: hysteresis for release 1.00 %
C02581/3 Holding brake: hysteresis for brake application 1.00 %
C02582 Holding brake: setting 0
C02589/1 Holding brake: application time 100 ms
C02589/2 Holding brake: release time 100 ms
C02589/3 Holding brake: waiting time status 100 ms
C02593/1 Holding brake: actual value monitoring 0.000 ms
C02593/2 Holding brake: application delay 0.000 ms
C02610/1 MCK: holding brake ramp time synchr. 2.000 s
C02607 Holding brake: status -
C00830/68 MCK: nBrkTorqueAdd_a - %
C00833/80 MCK: bBrkRelease -
12.1.2.1 Operating mode

For different applications and tasks, different operating modes are available under
C02580. The selected operating mode determines whether the holding brake control is
used and how the holding brake will be switched.
Mode 0: Brake control off

In this mode, brake control is switched off (not active).
 The trigger signal bBrkReleaseOut for the holding brake control switching element is set
to FALSE.
 The status signal bBrkReleased is set to FALSE.
 Note!
In the Lenze setting, the mode 0 is preset to get into a safe state after the mains
is switched on.
338 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Mode 11: Manual control

In this mode, brake release and brake application can be directly controlled via the input
bBrkReleaseBrake without special logic or automatic.
 Setting pulse inhibit or controller inhibit has no influence on the trigger signal
bBrkReleaseOut for the holding brake control switching element.
 After brake activation and elapse of the brake application time, the controller is
inhibited automatically by the basic function "holding brake control".
 Tip!
You can you the mode 11 to easily check if the brake switches correctly.
Mode 12: Automatic control

In this mode, the brake is controlled automatically.
 If the requested speed setpoint reaches a parameterisable upper speed threshold that
allows traversing of the drive, the brake will be released and operation enabled.
 On the other hand, if speed setpoint and actual speed fall below a parameterisable
lower speed threshold, the brake will be applied under consideration of different time
parameters.
 The brake will also be activated automatically if quick stop is activated in the drive, e.g.
by a device command or as response to an error, and in the event of controller inhibit
or pulse inhibit.
 After automatic brake activation and elapse of the brake application time, the
controller is inhibited automatically by the basic function "holding brake control".
 Tip!
The 2/12 mode is the common mode to control the brake.
In this mode, the input bBrkReleaseBrake should be permanently set to FALSE
unless manual release is required.
When bBrkReleaseBrake = TRUE, the brake is permanently released and the
automatic control cannot apply the brake.
Related topics:
TroubleQSP ( 63)
Response to pulse inhibit ( 346)
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12.1.2.2 Functional settings

Under C02582, the following bit-coded functional settings can be selected:
Bit Option Information

Bit 0 Control inverted Activation of inverted control
• "1" ≡ Inverted logic of trigger signal for holding brake control
switching element
Bit 1 nAct < nMin at CInh Brake response in case of pulse inhibit
• "1" ≡ With pulse inhibit, the actual speed value is monitored. The
holding brake is applied when the actual speed reaches the
"Application" threshold value.
• Note: This function is used to avoid the wear of the holding brake
of a drive with horizontal travel path when the controller is
inhibited and rotation occurs.
Bit 2 Inverted precontrol Precontrol inversion
• "1" ≡ The direction of the precontrol value before setting the
release signal of the holding brake is inverted.
Bit 3 Horizontal/winding technology Direction of the axis
• "1" ≡ The direction of the axis is horizontal or rotary. The
gravitational acceleration does not cause any movement.
• "0" ≡ The direction of the axis is vertical. The gravitational
acceleration does not cause any movement.
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
Related topics:
Response to pulse inhibit ( 346)
Torque precontrol during starting ( 348)
340 L Firmware 02.00 - DMS EN 3.0 - 05/2009

12.1.2.3 Time response of the brake (time diagram)
Firmware 02.00 - DMS EN 3.0 - 05/2009
0 1 2 3 4 5
n
nSet

nAct nSet nAct
nSetSync t

TOffDelay TOffDelay TOffDelay TOffDelay TOffDelay TnAct

TOn TOff TOn TOff TOn
L
bBRKReleaseOut
closed released released
t
bBRKReleased

CINH
n C02581/1: Switching threshold  Speed setpoint reaches upper switching threshold, release process starts.
o C02581/2: Hysteresis for release  Speed setpoint reaches lower switching threshold, application delay starts.

p C02581/3: Hysteresis for application
q C02593/2: Application delay  After the application delay, the speed threshold is no longer below the lower switching threshold, therefore,
r C02610/1: Ramp time for setpoint speed approaching no application process is started.
s C02589/1: Application time  After the application delay, speed threshold and actual value are below the switching threshold, the
t C02589/2: Release time application process starts.

u C02593/1: Actual value monitoring time  After the application delay, the actual value is not yet below the lower switching threshold, the actual value
v Time slot for magnetising/precontrol monitoring time starts.
CINH = controller inhibit
 After the actual value monitoring time, the actual value is still not yet below the lower switching threshold,
the application process starts.
[12-1] Time diagram
341
12.1.2.4 Switching thresholds
 Stop!
Do not set the lower speed threshold for brake application too high to prevent
an excessive wear of the brake!
 Note!
For the speed comparison, only the absolute motor speed value is considered,
the direction of rotation is not taken into account.
Upper speed threshold for brake release:

Switching threshold (C02581/1) + hysteresis for release (C02581/2)
Lower speed threshold for brake application:

Switching threshold (C02581/1) - hysteresis for application (C02581/3)
 Tip!
The lower speed threshold for brake application should be set to approximately
5 ... 20 % of the maximum speed to minimise the wear of the brake and provide for
an optimum brake reaction by a low grinding of the brake.
342 L Firmware 02.00 - DMS EN 3.0 - 05/2009

12.1.2.5 Closing and opening time
 Danger!
A wrong setting of the closing and opening times can cause a faulty control of
the brake!
• If the closing time is set too low, the controller is inhibited and the drive
becomes torqueless before the brake is closed completely.
 Every mechanical holding brake comes

bBRKReleaseOut
with a construction-conditioned
t
closing and opening time which must
I BRK be considered by the holding brake
control and is set under C02589.
 The closing and opening time of the
t Lenze holding brake is given in the

supplied operating instructions in the
CINH "Technical data" chapter.
 Closing and opening time that are set
t
n C02589/1: Closing time
o C02589/2: Opening time
too high do not affect safety but may
CINH = controller inhibit cause long delays in cyclic brake
applications.
[12-2] Definition of the closing and opening time taking the PM brake as an example
 Tip!
The closing and opening times do not only vary between the brake types but are
also dependent on the basic conditions in the plant:
• Parameters of the hardware (cable length, temperature, height of supply
voltage, etc.)
• Contact elements used (brake module or contactor at the digital output)
• Type of overvoltage limitation/suppressor circuit
For optimisation purposes, detect in individual cases the response times by
measurement.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 343

[12-3] Oscillogram 1: Current characteristic for the application of a mechanical holding brake (application time: 10.7 ms)
[12-4] Oscillogram 2: Current characteristic for the release of a mechanical holding brake (application time: 36.8 ms)
344 L Firmware 02.00 - DMS EN 3.0 - 05/2009

12.1.2.6 Motor magnetising time (only with asynchronous motor)
 When an asynchronous motor is used,

bBRKReleaseOut first a magnetic field required for the
t
holding torque is created (which is
I BRK
already available when a synchronous
motor is used) after the controller
inhibit is deactivated.
t  The motor is internally magnetised for
200 ms by precontrolling the lower
CINH
speed threshold. The release time set
t under C02589/2 is considered here.
n Motor magnetising time
CINH = controller inhibit
[12-5] Considering the motor magnetising time taking the PM brake as an example
12.1.2.7 Actual value monitoring

If an actual value monitoring time > 0 s is selected under C02593/1 the actual speed time
monitoring is active.
 The monitoring time starts when the speed setpoint has reached the lower switching
threshold and the actual speed is still above this threshold. (See Time diagram, case .)
 If the actual speed is still above the threshold when the monitoring time has expired,
the brake will be automatically applied in the automatic brake control mode (mode 12).
 Note!
In the Lenze setting, the actual speed time monitoring is deactivated (C02593/
1 = "0 s"), i.e. the brake will only be applied when the actual speed has reached
the lower switching threshold.
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12.1.2.8 Process when brake is released

1. The controller inhibit is deactivated.
2. The magnetic field required for the holding torque is created in the motor (is already
available when a synchronous machine is used).
3. For brake release, the bBRKReleaseOut output is set to TRUE.
4. After the brake opening time has elapsed:
– The bBRKReleased output is set to TRUE.
– The drive synchronises to the already accelerated speed setpoint.
12.1.2.9 Process when brake is closed

1. The motor is decelerated by the "Quick stop" function or by "DC-injection braking",
either directly requested by the user or as response to an error.
2. If the speed setpoint and the actual speed have fallen below the lower speed threshold
or only the speed setpoint has fallen below the lower speed threshold and the actual
value monitoring time has expired:
– The bBRKReleaseOut output is set to FALSE to close the brake.
– The elapse of the brake closing time starts.
3. After the brake closing time has elapsed:
– The bBRKReleased output is reset to FALSE.
– Controller inhibit is set.
12.1.2.10 Response to pulse inhibit

Setting the pulse inhibit causes a load-controlled coasting of the motor until the pulse is
enabled again. In the enabled controller, the pulse can be inhibited e.g. due to a DC
overvoltage, DC undervoltage or the "Safe torque off" request.
The brake response to pulse inhibit can be parameterised under C02582.
 Stop!
For parameterising the response to pulse inhibit under C02582, the energy
conditions of the machine should be evaluated first.
The energy stored in the machine can be considerably higher than the
permissible switching energy and thus lead to the destruction of the brake if
applied directly!
346 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Activate brake immediately when pulse is inhibited

If bit 1 is set to "0" under C02582 (Lenze setting), the brake will be immediately applied
when the pulse is inhibited to avoid damage to the mechanical components.
Especially when hoist drives are used and the pulse of the frequency inverter is inhibited,
it is essential that the brake is applied immediately for safety reasons!
Only activate brake below threshold for brake activation

If bit 1 is set to "1" under C02582, the brake will remain released until the lower speed
threshold is reached to avoid an excessive wear of the brake.
 The braking action only takes places through the friction in the load mechanics.
 Only when the motor speed has reached the threshold for brake activation, the brake
will be closed.
During uncritical operation (horizontal loading condition), delayed brake application may
be required to protect the brake in case of high centrifugal masses.
The command for brake application depends on two conditions:
1. On the settings selected under C02582, in particular:
– Bit 1 = response to pulse inhibit
– Bit 3 = direction of the axis
2. The signal of the rotary transducer which provides for the brake activation when the set
threshold has been fallen below.
Related topics:
Switching thresholds ( 342)
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 347

12.1.2.11 Torque precontrol during starting

The motor is precontrolled by selecting the lower speed threshold for applying the brake.
When the upper speed threshold for brake release is reached, the motor is precontrolled for
200 ms with the lower threshold before the brake switches to the release mode.
 Via the input nBrkTorqueAdd_a you can select an additive torque in [%].
 The direction of the precontrol value can be inverted by setting bit 2 under C02582.
 If bit 3 is set to "0" under C02582 (hoist application), a quadrant-related precontrol
method (precontrol in motor mode and operation in generator mode during lowering)
will be used.
Related topics:
Switching thresholds ( 342)
348 L Firmware 02.00 - DMS EN 3.0 - 05/2009

TA "Actuating drive – speed"
Brief description of the function
13 TA "Actuating drive – speed"
13.1 Brief description of the function
13.1.1 Basic signal flow
PID Drive
Main Setpoint process control
setpoint generator controller
M
Additional
setpoint Motion
Outputs
Control
Kernel
PID Motion-Control-Kernel
actual value LS_Stop LS_ManualJog
internal
n status machine ç è
Motor
Digital
control
n
control M
t t
signals
LS_Brake
Status
machine
(basic drive
functions) v
[13-1] Basic signal flow
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13.1.2 Brief description of the properties
 Configurable input signals for terminal or bus control

 Free configuration of output signals
 Via code C00007, predefined process data connection to the fieldbus
 Offset, gain, and negation of main setpoint, additional setpoint, actual process
controller value
 Up to 15 fixed setpoints for speed and ramp time
 Adjustable setpoint ramp times
 Freely selectable, variable ramp shape
 Automatic brake control (function depends on the device type)
 Quick stop (QSP) with adjustable ramp time
 Motor potentiometer (MPot, can be switched on/off)
 Process controller
 Load monitoring (in preparation)
 Integrated general-purpose function blocks
 Interface to the safety module (optional)
 Integration of encoder feedback
350 L Firmware 02.00 - DMS EN 3.0 - 05/2009

13.1.3 Functions of the TA "Actuating drive-speed"
The 8400 frequency inverters are provided with the following functions:
Function StateLine HighLine

Connection of the device I/Os • Can be selected via preconfigured connections (C00007) to the device
inputs and outputs
• Free configuration
Signal flow generation, • Can be selected via preconfigured technology applications (C00005)
ca be changed in the FB editor • Can be changed via the "general-purpose" functions
FB editor, I/O level Yes, can be edited
FB editor, application level For diagnostics purposes For diagnostics purposes and free
function changes
Motor control types
• Open loop operation Yes Yes
• Closed loop operation Yes Yes
Feedback operation No Yes
Speed setpoint selection via jerk- Yes Yes
reduced ramp characteristic
Number of fixed setpoints 15 15
Number of ramp times 15 15
Different comparison functions for Yes Yes
actual speed with digital feedback
Reversal of CW/CCW rotation via Yes Yes
digital signal
Set/reset error Yes Yes
Diagnostics of the digital and analog Yes Yes
inputs and outputs
Configurable connection of the Yes Yes
control and status signals
Integrated automatic brake Yes Yes
operation
Can be expanded by function block In the I/O level possible Yes
interconnection
Blocking speeds Yes Yes
Motor potentiometer function Yes Yes
PID process controller Yes Yes
Brake handling No Yes
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13.1.4 Selecting the control source
[13-2] Selection of the control source on the "Application parameters" tab
After selecting the application under code C00005 (e.g. "actuating drive - speed"), the
control source for the application is selected under code C00007. Each selection goes along
with a predefined control configuration for the application.
The following control sources are available (see arrow):
1. Terminal control
– Selection 10, terminals 0 (Lenze setting)
This selection enables simple drive control via the digital and analog device control
connections (e.g. using the setpoint box available in the Lenze accessories program,
see www.Lenze.com ---> Home/Services&Downloads/Teachware).
– Selection 12, terminals 2
2. Control via keypad / PC
– Selection 20, keypad
– Selection 21, PC
3. Control via the CAN on board
– Selection 30, hand-remote control for CAN (in preparation)
4. Control via the fieldbus, e.g. PROFIBUS
– Selection 40, hand-remote control for MCI (in preparation)
352 L Firmware 02.00 - DMS EN 3.0 - 05/2009

The device inputs and device outputs referred to as system blocks at Lenze provide the
interface of the application to the peripherals of the controller. They include digital and
analog input and output interfaces (e. g. "LS_DigitalInput") and communication interfaces
(e.g. "LP_CanOut1" for CAN or "LP_MciOut" for PROFIBUS as external fieldbus):
X3
LS_DigitalInput LA_NCtrl LS_DigitalOutput
X3 O1U
AR
O1I
A1U
O2U
A1I
O2I
A2U
LS_AnalogInput LS_AnalogOutput
A2I
GA
X4
24O
+ X5 DO1
= 24E
DO2
24I LS_ParFix LP_CanOut
DO3
RFR
GO
DI1
DI2
LS_ParFree_a
DI3
DI4
DI5
DI6
LP_CanIn
DI7
GI
n System blocks on the device input side

o Connections between the device application and the input and output interfaces, pre-assignment through
selection with C00007 ≥ 10
p Technology application, selection with C00005
q System blocks on the device output side
[13-3] Schematic structure of an application solution
The interfaces are preconfigured under code C00007. For each configuration of C00007 ≥
10, the input and output interfaces for the application have been pre-assigned.
For information on the input and output pre-assignments for the different control sources,
please see the chapters :
Overview of terminal assignment ( 354)
Terminal pre-assignment in detail ( 357)
The pre-assignment as seen from the application's view is described in the chapter
Pre-assignment of the application block LA_NCtrl ( 368).
If the described pre-assignment of the application block is inappropriate for the drive task,
an individual configuration, e.g. by means of the FB editor or the "Terminal assignment"
tab, can be carried out. The configuration tables stored in the drive contain a selection of
the most frequently used signals, so that it is possible to carry out a quick commissioning
with only few operator control actions:
User-defined terminal assignment ( 368)
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Terminal assignment in the Lenze setting
13.2 Terminal assignment in the Lenze setting
For each control mode, there exists a clear assignment between the control connections
available on the device peripherals and the control signals provided by the device software.
This assignment is referred to as terminal assignment.
13.2.1 Overview of terminal assignment
 Input connections for terminal control
Connecti C0007 = 10 C0007 = 12 C0007 = 14 C0007 = 16

on (terminals 0) (terminals 2) (terminals 11) (terminals 16)
Digital input terminals
X5/RFR Controller enable
LA_NCtrl: bFailReset
X5/DI1 Fixed setpoint 1 Change of direction of Fixed setpoint 1
LA_NCtrl: bJogSpeed1 rotation LA_NCtrl: bJogSpeed1
LA_nCtrl:bSetSpeedCcw
X5/DI2 Fixed setpoint 2 Activate DC brake Fixed setpoint 2
LA_NCtrl: bJogSpeed2 LA_NCtrl: bSetDCBrake LA_NCtrl: bJogSpeed2
X5/DI3 Activate DC brake Quick stop Motor potentiometer, CW rotation quick stop
LA_NCtrl: bSetDCBrake LA_NCtrl: bSetQuickstop speed higher LA_nCtrl: bRLQCw
bMPotUp
X5/DI4 Change of direction of rotation Motor potentiometer, CCW rotation quick stop
LA_NCtrl: bSetSpeedCcw speed lower LA_nCtrl: bRLQCcw
bMPotDown
X5/DI5 - - - -
X5/DI6
X5/DI7
Analog input terminals

X3/A1U Speed setpoint (scaling: 10V = 100% ⋅ [C0011])
X3/A1I LA_NCtrl: nMainSetValue_a
X3/A2U - - - -
X3/A2I
 Output connections for terminal control
Connecti C0007 = 10 C0007 = 12 C0007 = 14 C0007 = 16

Digital output terminals
X4/DO1 Drive is ready to start
LA_nCtrl:bDriveReady
X4/DO2 - - - -
X4/DO3
X107/BD1
X107/BD2 -
X101/NO Fault
LA_nCtrl:bDriveFail
Analog output terminals

X3/O1U Actual speed (scaling: 10V = 100% ⋅ [value under C0011])
LA_nCtrl:nMotorSpeedAct_a
X3/O1I - - - -
X3/O2U
X3/O2I
354 L Firmware 02.00 - DMS EN 3.0 - 05/2009

 Input connections of the other control sources
Connecti C0007 = 20 (keypad) C0007 = 21 (PC) C0007 = 30 (CAN) C0007 = 40 (MCI)

on
LA_NCtrl: bFailReset
X5/DI1 - - Quick stop
LA_NCtrl: bSetQuickstop
X5/DI2 - -
X5/DI3 Manual jog, positive direction
LA_NCtrl: bMANJogPos
X5/DI4 Manual jog, negative direction
LA_NCtrl: bMANJogNeg
X5/DI5 - -
X5/DI6
X5/DI7

X3/A1U - - Additional speed setpoint
X3/A1I ((scaling: 10V = 100% ⋅ [C0011])
LA_NCtrl: nAuxSetValue_a
X3/A2U - - - -
X3/A2I
 Output connections of the other control sources

on
LA_nCtrl:bDriveReady
X4/DO2 - - - -
X4/DO3
X107/BD1
X107/BD2 -
X101/NO Fault
LA_nCtrl:bDriveFail

X3/O1U Actual speed (scaling: 10V = 100% ⋅ [value under C0011])
LA_nCtrl:nMotorSpeedAct_a
X3/O1I - - - -
X3/O2U
X3/O2I
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 Bus communication, assignment of data words per port
Data words C0007 = 30 (CAN) C0007 = 40 (MCI)

Connection to plug connector X1 Connection to communication module
(e.g. PROFIBUS, X201 (9-pole SubD socket)
TPDO1 LP_CanOut1 LP_MciOut
wState Status word for CAN control Status word for fieldbus control
wDriveControlStatus wDriveControlStatus
wOut2 Actual speed (scaling: 16384 = 100% ⋅ [value under C0011])
nMotorSpeedAct_a
wOut3 Resulting overall setpoint (scaling: 16384 = 100% ⋅ [value under C0011])
nMotorSpeedSet_a
wOut4 - -
wOut5 ... wOut16 (only MCI) -
TPDO2 / TPDO3 LP_CanOut2 /3 -

wOut1 -
wOut2
wOut3
wOut4
RPDO1 LP_CanIn1 LP_MciIn

wCtrl CAN control word Fieldbus control word
wCanDriveControl wMciDriveControl
wIn2 Speed setpoint (scaling: 16384 = 100% ⋅ [value under C0011])
nMainSetValue_a
wIn3 - -
wIn4 - -
wIn5 ... wIn16 (only MCI) -
RPDO2 / RPDO3 LP_CanIn2 / LP_CAnIn3 -

wIn1 -
wIn2
wIn3
wIn4
 Tip!
The pre-configurations of the control and status words are the same for every
fieldbus system:
Control word and status word of the controller ( 73)
Status word for TA "Speed closed-loop control" ( 75)
356 L Firmware 02.00 - DMS EN 3.0 - 05/2009

13.2.2 Terminal pre-assignment in detail
 C0007 = 10 (terminals 0)
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
24I A1U Speed setpo
DC brake DI3 GA
ction of rotation CCw DI4 O1U Actual spee
DI5 O1I
DI6 O2U
DI7 O2I
GI
X107 X4
24B 24O
GB DO1 DriveReady
BD1 DO2
BD2 DO3
GO
CG
CH
CL
X1
Connection Assignment Connection Assignment

X101/NC-NO LA_nCtrl:bDriveFail
X5/RFR LA_NCtrl: bFailReset X3/A1U LA_NCtrl: nMainSetValue_a

(10V = 100% ⋅ [value under
X5/DI1 LA_NCtrl: bJogSpeed1 X3/A1I C0011])
X5/DI2 LA_NCtrl: bJogSpeed2 X3/A2U -
X5/DI3 LA_NCtrl: bSetDCBrake X3/A2I
X5/DI4 LA_NCtrl: bSetSpeedCcw X3/O1U LA_nCtrl:nMotorSpeedAct_a
C0011])
X5/DI5 - X3/O1I -
X5/DI6 - X3/O2U -
X5/DI7 - X3/O2I -
X107/BD1 - X4/DO1 LA_nCtrl:bDriveReady

X107/BD2 - X4/DO2 -
X4/DO3 -
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 357

 C0007 = 12 (terminals 2)
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
Quickstop DI3 GA
ction of rotation Ccw DI4 O1U Actual speed valu
DI5 O1I
DI6 O2U
DI7 O2I
GI
X107 X4
24B 24O
GB DO1 DriveReady
BD1 DO2
BD2 DO3
GO
CG
CH
CL
X1


X5/DI3 LA_NCtrl: bSetQuickstop X3/A2I
X5/DI4 LA_NCtrl: bSetSpeedCcw X3/O1U LA_nCtrl:nMotorSpeedAct_a
C0011])
X5/DI5 - X3/O1I -
X5/DI6 - X3/O2U -
X5/DI7 - X3/O2I -

X107/BD2 - X4/DO2 -
X4/DO3 -
358 L Firmware 02.00 - DMS EN 3.0 - 05/2009

 C0007 = 14 (terminals 11)
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
Direction of rotation Ccw DI1 A2U
DC brake active DI2 A2I
Motor Speed higher DI3 GA
potentiometer Speed lower DI4 O1U Actual speed val
DI5 O1I
DI6 O2U
DI7 O2I
GI
X107 X4
24B 24O
GB DO1 DriveReady
BD1 DO2
BD2 DO3
GO
CG
CH
CL
X1


X5/DI1 LA_NCtrl: bSetSpeedCcw X3/A1I C0011])
X5/DI2 LA_NCtrl: bSetDCBrake X3/A2U -
X5/DI3 LA_NCtrl: bMPOTUp X3/A2I
X5/DI4 LA_NCtrl: bMPOTDown X3/O1U LA_nCtrl:nMotorSpeedAct_a
C0011])
X5/DI5 - X3/O1I -
X5/DI6 - X3/O2U -
X5/DI7 - X3/O2I -

X107/BD2 - X4/DO2 -
X4/DO3 -
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 359

 C0007 = 16 (terminals 16)
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
Cw rotation quick stop DI3 GA
Ccw rotation quick stop DI4 O1U Actual speed valu
DI5 O1I
DI6 O2U
DI7 O2I
GI
X107 X4
24B 24O
GB DO1 DriveReady
BD1 DO2
BD2 DO3
GO
CG
CH
CL
X1


X5/DI3 LA_nCtrl: bRLQCw X3/A2I
X5/DI4 LA_nCtrl: bRLQCcw X3/O1U LA_nCtrl:nMotorSpeedAct_a
C0011])
X5/DI5 - X3/O1I -
X5/DI6 - X3/O2U -
X5/DI7 - X3/O2I -

X107/BD2 - X4/DO2 -
X4/DO3 -
360 L Firmware 02.00 - DMS EN 3.0 - 05/2009

 C0007 = 20 (keypad)
Engineer: Keypad:
X101 All parameters
COM
DriveFail NO
User - Menu
Quick commissioning
External
supply X5 X3
24 V DC = Logbook
24I A1U
DI1 A2U SAVE
DI2 A2I
DI3 GA
DI4 O1U Actual speed value Par1 Quick commissioning
DI5 O1I
DI6 O2U Terminals
DI7 Keypad
O2I
GI
SAVE
X107 X4
24B 24O
GB DO1 DriveReady
BD1 DO2 C2/1
C7
BD2 DO3 C728
GO C11
C12
C13
CG
CH
CL
C15
X1 C16
C22
C87
C89
C39/1
C727/3
C727/4
C51
C54


X5/DI1 - X3/A1I C0011])
X5/DI2 - X3/A2U -
X5/DI3 - X3/A2I
X5/DI4 - X3/O1U LA_nCtrl:nMotorSpeedAct_a
C0011])
X5/DI5 - X3/O1I -
X5/DI6 - X3/O2U -
X5/DI7 - X3/O2I -

X107/BD2 - X4/DO2 -
X4/DO3 -
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 361

 C0007 = 21 (PC)
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
24I A1U
DI1 A2U
DI2 A2I
DI3 GA
DI4 O1U Actual speed valu
DI5 O1I
DI6 O2U
DI7 O2I
GI
X107 X4
24B 24O
GB DO1 DriveReady
BD1 DO2
BD2 DO3
GO
CG
CH
CL
X1

X5/RFR LA_NCtrl: bFailReset X3/A1U -

X5/DI1 - X3/A1I
X5/DI2 - X3/A2U -
X5/DI3 - X3/A2I
X5/DI4 - X3/O1U LA_nCtrl:nMotorSpeedAct_a
C0011])
X5/DI5 - X3/O1I -
X5/DI6 - X3/O2U -
X5/DI7 - X3/O2I -

X107/BD2 - X4/DO2 -
X4/DO3 -
362 L Firmware 02.00 - DMS EN 3.0 - 05/2009

 C0007 = 30 (CAN)
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
Quickstop DI1 A2U
DI2 A2I
DI5 O1I
DI6 O2U
DI7 O2I
GI
X107 X4
24B 24O
GB DO1 DriveReady
BD1 DO2
BD2 DO3
GO
CG
CH
CL
MotorSpeedAct
MotorSpeedSet
CanOut1 CanOut2 / 3
CanIn1 CanIn2 / 3
MainSetValue
CANDriveControl

X5/RFR LA_NCtrl: bFailReset X3/A1U LA_NCtrl: nAuxSetValue_a

X5/DI1 LA_NCtrl: bSetQuickstop X3/A1I C0011])
Activation of addition:
C00190=1 (NOUT = NSET+NADD)
X5/DI2 - X3/A2U -
X5/DI3 LA_NCtrl: bMANJogPos X3/A2I
X5/DI4 LA_NCtrl: bMANJogNeg X3/O1U LA_nCtrl:nMotorSpeedAct_a
C0011])
X5/DI5 - X3/O1I -
X5/DI6 - X3/O2U -
X5/DI7 - X3/O2I -

X107/BD2 - X4/DO2 -
X4/DO3 -
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 363

 C0007 = 40 (MCI)
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
Quickstop DI1 A2U
DI2 A2I
DI5 O1I
DI6 O2U
DI7 O2I
GI
X107 X4
24B 24O
GB DO1 DriveReady
BD1 DO2
BD2 DO3
GO
CG
CH
CL
MotorSpeedAct
MotorSpeedSet
MciOut 4 ...16
MciIn 3 ...16
MainSetValue
MciDriveControl

X5/RFR LA_NCtrl: bFailReset X3/A1U LA_NCtrl: nAuxSetValue_a

X5/DI1 LA_NCtrl: bSetQuickstop X3/A1I C0011])
C00190=1 (NOUT = NSET+NADD)
X5/DI2 - X3/A2U -
X5/DI3 LA_NCtrl: bMANJogPos X3/A2I
X5/DI4 LA_NCtrl: bMANJogNeg X3/O1U LA_nCtrl:nMotorSpeedAct_a
C0011])
X5/DI5 - X3/O1I -
X5/DI6 - X3/O2U -
X5/DI7 - X3/O2I -

X107/BD2 - X4/DO2 -
X4/DO3 -
364 L Firmware 02.00 - DMS EN 3.0 - 05/2009

13.2.3 User-defined terminal assignment
What is a user-defined terminal assignment?

Depending on the scope of the customer-specific drive task, more or less changes will have
to be made in the existing Lenze configuration. When the interconnection is changed, the
terminal assingment usually has to be changed as well.
A terminal assignment differing from the Lenze configuration is a user-defined terminal
assignment.
Which tools can be used to change the terminal assignment?

As configuration tools, both the keypad and the »Engineer« can be used. How to change
terminal assignments using the configuration tools is described in the sections
Changes with the keypad ( 366)
Changes with the »Engineer« ( 367)
We recommend to use the »Engineer« for the implementation of comprehensive user-

defined drive solutions.
 Tip!
For a detailed description of the use of the FB editor in the »Engineer«, please see
the chapter
Working with the FB Editor ( 442)
Selecting an appropriate Lenze configuration

Select the described technology application for your drive task under C00005 and a control
mode under code C00007. In this way, you will get an application for which the signal flow,
the block interconnections, and the terminal assignment are available (see Schematic
structure of an application solution ( 353)).
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 365

Changes with the keypad

Based on this interconnection, the terminal assignment can now be changed using the
codes indicated in the following illustration:
 C00700: Analog input signals of the application block
 C00701: Digital input signals of the application block
 C00620: Analog input signals of system and port blocks
 C00621: Digital input signals of system and port blocks
C00700 C00620
C00701 C00621
Application
Input port Output port
Analog inputs Inputs Outputs Analog Outputs
LS_DigitalInput LS_DigitalOutput
Digital Inputs Digital Outputs
[13-4] Terminal assignment of the input and output signals
Furthermore, you can see from the illustration that, according to the source/drain
principle, the signals on the input side of the application are assigned to the outputs of the
input system blocks. On the output side of the application, the inputs of the output system
blocks are assigned to the outputs of the application.
Accordingly, it is possible to assign e.g. a signal on an input terminal to several inputs of the
application block. On the other hand, it is not possible to distribute an application block
input to several input terminals.
In the example, see illustration [13-5], both inputs (bJogSpeed1 and bJogSpeed2) are
connected to one source (digital input 1, DigIn_bIn1). This can also be seen from the extract
of the parameter list. Furthermore you can see that for each application block input
(subcode of code C00701) only one source can be entered.
[13-5] Example of the source/drain principle
366 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Changes with the »Engineer«

Whereas with the keypad the indicated codes must be parameterised, with the
»Engineer«, corresponding dialogs are available that make the implementation of changes
much easier.
It is possible to change terminal assignments
 graphically in the FB editor.
For this, observe the instructions for Working with the FB Editor.
 by entering the changes on the "Terminal assignment" tab.
The terminal assignments can be found on the "Terminal assignment" tab in the
»Engineer«, divided into digital and analog terminals:
The same example as used for the keypad is used to show how to change the terminal
assignment with the »Engineer«:
The input mask shown on the left opens
for the digital input signals.
For further selections for digital input 1,
DI1, you can click on the button pointed to
with the arrow.
The below dialog opens
The dialog provides a selection of the

signal drains that can be connected with
the signal source "Digital input 1",
terminal X5/DI1.
In our example, an additional checkmark
must be set for the input "bJogSpeed2".
After confirmation with "OK", the
configuration can be directly displayed in
the FB editor.
[13-6] Example of terminal configuration via the »Engineer«
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 367

13.2.4 Pre-assignment of the application block LA_NCtrl
Input connections
 Terminal control
Code Input Code C00007, value:

LA_NCtrl: 10 (terminals 0) 12 (terminals 2) 14 (terminals 11) 16 (terminals 16)
700/1 wCANDriveControl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl
700/2 wMCIDriveControl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl
701/2 bFailReset LS_DigitalInput:bCInh LS_DigitalInput:bCInh LS_DigitalInput:bCInh LS_DigitalInput:bCInh
701/3 bSetQuickstop - LS_DigitalInput:bIn3 - LS_DigitalInput:bIn3
701/4 bSetDCBrake LS_DigitalInput:bIn3 - LS_DigitalInput:bIn2 -
701/5 bRFG_0 - - - -
700/3 nTorqueMotLim_a LS_ParFree_a:nPar3_a LS_ParFree_a:nPar3_a LS_ParFree_a:nPar3_a LS_ParFree_a:nPar3_a
700/4 nTorqueGenLim_a LS_ParFree_a:nPar4_a LS_ParFree_a:nPar4_a LS_ParFree_a:nPar4_a LS_ParFree_a:nPar4_a
701/8 bSetSpeedCcw LS_DigitalInput:bIn4 LS_DigitalInput:bIn4 LS_DigitalInput:bIn1 LS_DigitalInput:bIn4
701/34 bRLQCw LS_ParFix:bTrue LS_ParFix:bTrue LS_ParFix:bTrue LS_ParFix:bTrue
700/7 nMainSetValue_a LS_AnalogInp.:nIn1_a LS_AnalogInp.:nIn1_a LS_AnalogInp.:nIn1_a LS_AnalogInp.:nIn1_a
700/8 nAuxSetValue_a - - -
701/9 bJogSpeed1 LS_DigitalInput:bIn1 LS_DigitalInput:bIn1 - LS_DigitalInput:bIn1
701/10 bJogSpeed2 LS_DigitalInput:bIn2 LS_DigitalInput:bIn2 - LS_DigitalInput:bIn2
701/31 bMPotEnable - - LS_ParFix:bTrue -
701/18 bMPotUp - - LS_DigitalInput:bIn3 -
701/19 bMPotDown - - LS_DigitalInput:bIn4 -
701/21 bManJogPos - - - -
701/22 bManJogNeg - - - -
 Other control sources
Code Input Code C00007, value:

LA_NCtrl: 20 (keypad) 21 (PC) 30 (CAN) 40 (MCI)
700/1 wCANDriveControl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl LS_CanIn1:wCtrl LS_ParFix:wDriveCtrl
700/2 wMCIDriveControl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl LP_MciIn:wCtrl
701/2 bFailReset LS_DigitalInput:bCInh LS_DigitalInput:bCInh LS_DigitalInput:bCInh LS_DigitalInput:bCInh
701/3 bSetQuickstop LS_Keypad:bSetQuickstop - LS_DigitalInput:bIn1 LS_DigitalInput:bIn1
701/4 bSetDCBrake LS_Keypad:bSetDCBrake LS_ParFree_b:bPar3 LS_CanIn1:bCtrl1_B11 LS_MciIn1:bCtrl1_B11
701/5 bRFG_0 - - LS_CanIn1:bCtrl1_B8 LS_MciIn1:bCtrl1_B8
700/3 nTorqueMotLim_a LS_Keypad:nTorqueMotLim LS_ParFree_a:nPar3_a LS_ParFree_a:nPar3_a LS_ParFree_a:nPar3_a
700/4 nTorqueGenLim_a LS_Keypad:nTorqueGenLim LS_ParFree_a:nPar4_a LS_ParFree_a:nPar4_a LS_ParFree_a:nPar4_a
701/8 bSetSpeedCcw LS_Keypad:bSetSpeedCcw LS_ParFree_b:bPar4 LS_CanIn1:bCtrl1_B15 LS_MciIn1:bCtrl1_B15
701/34 bRLQCw LS_ParFix:bTrue LS_ParFix:bTrue LS_ParFix:bTrue LS_ParFix:bTrue
700/7 nMainSetValue_a LS_Keypad:nMainSetValue LS_ParFree_a:nPar1_a LS_CanIn1:wCtrl LS_MciIn1:wCtrl
700/8 nAuxSetValue_a - - LS_AnalogInp.:nIn1_a LS_AnalogInp.:nIn1_a
701/9 bJogSpeed1 LS_Keypad:bJogSpeed1 LS_ParFree_b:bPar1 LS_CanIn1:bCtrl1_B12 LS_MciIn1:bCtrl1_B12
701/10 bJogSpeed2 LS_Keypad:bJogSpeed2 LS_ParFree_b:bPar2 LS_CanIn1:bCtrl1_B13 LS_MciIn1:bCtrl1_B13
701/31 bMPotEnable LS_Keypad:bMPotEnable - - -
701/18 bMPotUp LS_Keypad:bMPotUp - - -
701/19 bMPotDown LS_Keypad:bMPotDown - - -
701/21 bManJogPos - - LS_DigitalInput:bIn3 LS_DigitalInput:bIn3
701/22 bManJogNeg - - LS_DigitalInput:bIn4 LS_DigitalInput:bIn4
368 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Output connections
Code Output Code C00007, output LA_NCtrl, value:

10 (terminals 0) 12 (terminals 2) 14 (terminals 11) 16 (terminals 16)
620/1 LS_AnalogOutput: nMotorSpeedAct_a
nOut1_a
621/1 LS_DigitalOutp.:bRelay bDriveFail
621/2 LS_DigitalOutp.:bOut1 bDriveReady
Code Output Code C00007, output LA_NCtrl, value:

20 (keypad) 21 (PC) 30 (CAN) 40 (MCI)
620/1 LS_AnalogOutput: nMotorSpeedAct_a nMotorSpeedAct_a nMotorSpeedAct_a nMotorSpeedAct_a
nOut1_a
620/2 LP_CanOut1:wState - - wDriveControlStatus -
620/3 LP_CanOut1:wOut2 - - nMotorSpeedAct_a -
620/4 LP_CanOut1:wOut3 - - nMotorSpeedSet_a -
620/22 - - - - wDriveControlStatus
620/23 - - - - nMotorSpeedAct_a
620/24 - - - - nMotorSpeedSet_a
620/14 LS_DisFree_a:bDis1_a nMotorSpeedAct_a nMotorSpeedAct_a LP_CanOut1:wOut2 -
620/15 LS_DisFree_a:bDis2_a nMotorSpeedSet_a nMotorSpeedSet_a - -
620/18 LS_DisFree:wDis1 - wDriveControlStatus LP_CanOut1:wState -
621/1 LS_DigitalOutp.:bRelay bDriveFail bDriveFail bDriveFail bDriveFail
621/2 LS_DigitalOutp.:bOut1 bDriveReady bDriveReady bDriveReady bDriveReady
621/21 LS_DisFree_b:bDis1 bDriveReady bDriveReady - -
621/22 LS_DisFree_b:bDis2 bDriveFail bDriveFail - -
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 369

13.2.5 Quick commissioning
Only a few parameters need to be adapted for the drive. Afterwards, the technology
application can be immediately controlled via the digital and analog inputs of the
controller.
 Tip!
For initial commissioning of the frequency inverter, the "Actuating drive - speed"
technology application is preconfigured to terminal control in the Lenze setting.
Commissioning step Action

Select technology application Enter TA
• C0005: Select TA "Actuating drive – speed" (-->1000)
Set motor Enter motor type (includes all motor nameplate data):
• C0086: Enter motor type
• C00173: Enter UG limit (mains voltage)
Enter control parameters (only if required):
• C0070: Gain Vp of the speed controller
• C0071: Reset time Tn of the speed controller
Connect I/Os Enter the I/O connection
• C0007: Selection from table (-->terminals, 10)
Parameterise application Set speed setpoint
• C0011: Define reference speed in [rpm ]
• C0012: Set acceleration time in [s]
• C0013: Set deceleration time in [s]
• C0105: Set QSP deceleration time in [s]
• Further codes, e.g. jog values, TI times, brake management, etc.
Save and test Save parameters:
• Save all parameters (-->C0002/11 = 1)
Further parameters can be used to assign the selected values and the display of the actual
values to other interfaces.
370 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Commissioning with PC tool

When the device is commissioned using the »Engineer«, commissioning is guided by
means of dialogs and graphical user interfaces.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 371

After the TA "Actuating drive – speed" has been selected, the following signal flow is set:
Description of the signal flow
13.2.6
372 Firmware 02.00 - DMS EN 3.0 - 05/2009 L
13.2.7 Interface description of the TA "Actuating drive - speed"
13.2.7.1 Control words
?
 wCANDriveControl (16-bit word)
wDriveControlStatus control word for control via CAN
wStateDetermFailNoLow  wMCIDriveControl (16-bit word)
wStateDetermFailNoHigh
control word for control via fieldbus
Instead of the terminal control (Lenze setting), the bus control can also be selected as
signal source for control signals. The 8400 HighLine is provided with CAN as system bus on
board. Other bus systems, as e.g. PROFIBUS, can be adapted via pluggable communication
modules.
The editor of the »Engineer« serves to connect the port blocks of the communication
technology used to the TA. According to the process data mapping set, their outputs
provide the control word.
 When a communication module is used, a port block LP_MCIIn/-Out is connected with
the wMCIDriveControl input.
 When the on-board CAN is used, the signal (16 bits) is transferred from the port block
LP_CanIn1 to the input wCANDriveControl:
LP_CanIn1 ? ?
wCtrl wDriveControlStatus
wIn2 wStateDetermFailNoLow
wIn3 wStateDetermFailNoHigh
LS_ParFix ?
bTrue
wDriveCtrl
[13-1] Control of the 8400 HighLine via the on-board CAN
The bit assignment of the control words is identical for both "communication connections"
Control word and status word of the controller ( 73).
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 373

13.2.7.2 Setting controller inhibit
?
There are several options to inhibit the
wDriveControlStatus controller:
wStateDetermFailNoLow  Terminal 28 (RFG)
This signal acts fail-safe and always
inhibits the controller.
bDriveFail
FALSE : controller inhibit is active
 Control parameter C002/16.
0: controller inhibit is active
 bCinh at the control input of the
application
TRUE: controller inhibit is active
As long as one of these controller inhibit sources is set, the drive remains in the controller
inhibited status.
The reason for the "controller is inhibited" status can be detected via the C0158 parameter.
When controller inhibit is set, the drive loses its torque, the machine is coasting.
When the controller inhibit request is reset, the drive synchronises to the actual speed. For
this purpose,
 an automatic flying restart function of the device is activated, if required
 the actual speed value is read out from the encoder system (only for feedback
operation)
 for vector control without feedback the actual speed from the motor model of the
motor control is used for synchronisation.
13.2.7.3 Resetting an error
A pending error can be reset by a LOW-

HIGH edge of this digital control signal if
the cause of the fault has been eliminated.
bDriveFail
If the fault still exists, the error status
CInhActive remains unchanged.
bQSPlsActive In the Lenze setting, this input is assigned
to the digital input LS_DigitalInput-bCInh
(controller inhibit). This means that
switching the controller inhibit also
acknowledges the error.
374 L Firmware 02.00 - DMS EN 3.0 - 05/2009

13.2.7.4 Executing quick stop (QSP)
The quick stop function is activated via

this control signal. TRUE = quick stop is
active. Here, the drive ramps down the
bDriveFail QSP ramp C0105 to speed = 0 and
bDriveReady
 keeps the motor at n = 0 if closed loop
bCInhActive is active
bQSPlsActive  sets pulse inhibit if auto-DCB is
activated ( C00019 )
13.2.7.5 bSetDCBrake
The bSetDCBrake control signal brakes the

drive to standstill.
CInhActive
TRUE = SetDCBrake is active.
bQSPlsActive
 Standstill ramps can be adjusted.
bSpeedCcw
 Braking process: DC-injection braking.
bSpeedActCompare
Advantage of the DC-injection braking:

The DC-injection braking provides the opportunity to influence the braking time by
changing the motor current or braking torque.
The braking effect stops when the rotor is at standstill.
 Note!
Holding braking is not possible when using this braking mode.
13.2.7.6 bRFG_Stop
When bRFG_Stop = TRUE, the momentary

actual setpoint is "frozen".
bQSPlsActive
The speed, for instance, of a running ramp
bSpeedCcw process is immediately kept constant
bSpeedActCompare
when bRFG_Stop is activated. At the same
time, the acceleration/deceleration jumps
bOverloadActive
to the value "0".
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 375

13.2.7.7 bRFG_0
When bRFG_0 = TRUE, the setpoint

generator leads its currently generated
bSpeedCcw speed value to zero via the ramps
parameterised.
bSpeedActCompare
bOverloadActive
bUnderloadActive
13.2.7.8 nVoltageAdd_a
An additional setpoint for the motor

voltage can be set at the nVoltageAdd_a
process input.
bSpeedCcw
If there are, for instance, different loads at
bSpeedActCompare
the motor output end, it is possible to
bOverloadActive apply a voltage boost at the starting time.
Scaling:
214 = 16384 = 1000 V
If the signal is negative, the voltage is
reduced
 Danger!
Too high values may cause the motor to heat up due to the resulting current.
376 L Firmware 02.00 - DMS EN 3.0 - 05/2009

13.2.7.9 Torque limit value
These input signals are directly transferred

to the motor control to limit the
controller's maximum torque in motor and
bOverloadActive generator mode.
bUnderloadActive
bImaxActive
bSpeedSetReached
Negative values at these inputs are interpreted as "0" and act according to the following
table:
Input Description
TorqueMotLim_a Internal limitation of the torque at 199.99% (upper limit)
The drive cannot supply a higher torque in motor mode than set here 100%
= Mmax from C00057
TorqueGenLim_a Internal limitation of the torque 199.99% (lower limit)
The drive cannot supply a higher torque in generator mode than set here
100% = Mmax from C00057
CAUTION:
The values applied at these inputs (any polarity) are internally interpreted as absolute values.
TorqueGenLim M
TorqueMotLim
MN
-nN nN n
-MN
TorqueMotLim
TorqueGenLim
[13-2] Torque limits in motor and generator mode
13.2.7.10 CW/CCW rotation change-over
This control signal serves to change the

direction of rotation of the drive to CCW
rotation.
bImaxActive
When the signal is TRUE and the main
bSpeedSetReached
setpoint is positive, the motor shaft
bSpeedActEqSet rotates CCW
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13.2.7.11 Main setpoint and additional setpoint
The two inputs nMainSetValue and

nAuxSetValue form the main and
bSpeedActEqSet additional speed setpoint.
nMotorCurrent_a For a simple signal adaptation of a
nMotorSpeedSet_a
setpoint generator, both input signals are
internally provided with a
nMotorSpeedAct_a parameterisable offset and gain factor.
Scaling:
214 = 16384 = 100 % of C00011
The L_NSet_1 function block acts as the speed setpoint generator.
This FB includes
 fixed setpoints
 ramp function generator
 additional ramp function generator
 blocking speed areas
 setpoint limitation
 linear / S-shaped ramps
 arithmetic function for additional setpoint
The main setpoint is changed into a speed setpoint in the setpoint generator (FB L_Nset)
via a ramp function generator with linear or S-shaped ramps.
Downstream to the ramp function generator, an additional setpoint can be linked
arithmetically.
Upstream to the ramp function generator, a blocking speed masking function and a
setpoint MinMax limitation are effective.
The additional setpoint can be superimposed via ramp times of a second ramp function
generator.
For a detailed description see L_NSet_1.
Alternatively to the input signal nMainSetValue_a, the main setpoint can also be
generated by a motor potentiometer function.
For this purpose, this function is activated via the parameter C00806 = 1 and the inputs
bMPOTup and bMPOTdown serve to set the setpoint.
The behaviour of the motor potentiometer when the drive system is switched on can be set
via the parameters C008006 ... C00806.
378 L Firmware 02.00 - DMS EN 3.0 - 05/2009

13.2.7.12 Fixed speeds and ramp times
These control inputs serve to select fixed

setpoints and ramp times from tables
within the setpoint generator.
nMotorSpeedSet_a
The JOG values are set relatively in % of the
nMotorSpeedAct_a
reference speed C0011. The digital control
nMotorTorqueAct_a signals bJogSpeed1…bJogSpeed8 serve to
switch off the main setpoint and activate
the JOG setpoint at the same time. A total
of 15 JOG setpoints can be selected.
The JOG values are enabled according to the following decoding scheme:
bJogSpeed 8 bJogSpeed 4 bJogSpeed 2 bJogSpeed 1

Main setpoint o o o o
anJogSetValue[1] o o o 1
anJogSetValue[2] o o 1 o
anJogSetValue[3] o o 1 1
anJogSetValue[4] o 1 o o
anJogSetValue[5] o 1 o 1
anJogSetValue[6] o 1 1 o
anJogSetValue[7] o 1 1 1
anJogSetValue[8] 1 o o o
anJogSetValue[9] 1 o o 1
anJogSetValue[10] 1 o 1 o
anJogSetValue[11] 1 o 1 1
anJogSetValue[12] 1 1 o o
anJogSetValue[13] 1 1 o 1
anJogSetValue[14] 1 1 1 o
anJogSetValue[15] 1 1 1 1
0 = FALSE
1 = TRUE
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13.2.7.13 Ramp generator L_NSet
nMotorVoltage_a
bBrakeReleaseOut
bBrakeReleased
To prevent setpoint step-changes in the speed setpoint, a ramp generator L_Nset_1 is

located in the main signal flow.
This FB prepares the main speed setpoint for the following signal processing via ramp
function generators or fixed speeds.
The main setpoint is changed into a speed setpoint in the setpoint generator (FB L_Nset)
via a ramp function generator with linear or S-shaped ramps.
Downstream to the ramp function generator, an additional setpoint can be linked
arithmetically.
Upstream to the ramp function generator, a blocking speed masking function and a
setpoint MinMax limitation are effective.
The additional setpoint can be superimposed via ramp times of a second ramp function
generator.
A detailed description can be found in the function library, see ramp generator.
Inversion of main setpoint

The main setpoint can be inverted via the bSetInv input (i.e. the sign of the input value is
changed).
Acceleration and deceleration times for the main setpoint path

The main setpoint is led via a ramp function generator. This serves to convert input step
changes into a ramp.
The acceleration and deceleration time refer to a change of the speed from 0 to nmax
(0 % .... 100 %). The calculation of the times Tir (C00012)and Tif (C00013) to be set is
described in the NSET function block description.
Additional acceleration and deceleration times

Additional acceleration and deceleration times for the ramp function generator of the
main setpoint (NSET-N/JOG setpoint) can be called from the memory via the NSET-TI*x
inputs, e.g. to change the acceleration speed of the drive from a certain speed on. For this
purpose, these inputs must be assigned to a signal source. Maximally 15 additional
acceleration and deceleration times can be programmed.
380 L Firmware 02.00 - DMS EN 3.0 - 05/2009

S-shaped ramp function generator characteristic

For the ramp function generator of the main setpoint you can select two different
characteristics under C00134:
 Linear characteristic for all acceleration processes requiring a constant acceleration
 S-shaped characteristic for all acceleration processes requiring a jerk-free acceleration.
Additional setpoint
An additional analog setpoint (bipolar) can be linked via the input or another signal source.
The additional setpoint (display in C0049) is first internally transferred to the NSET
function block via an analog-value selector. Here, the additional setpoint is first led via an
inversion option. This inversion option is deactivated. Then a ramp function generator
follows (acceleration and deceleration times via C0220/C0221), before the additional
setpoint is linked with the main setpoint in the arithmetic block. The additional setpoint
can be e.g. used as a correcting signal for grinding machines (for control of a constant
circumferential speed while the grinding disk diameter reduces).
If you want to use the additional setpoint, set code C00190 to the required arithmetic
function. In the Lenze setting, code C00190 is parameterised to 0. Thus, the additional
setpoint is switched off.
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13.2.7.14 Motor potentiometer function
The standard application has an

integrated motor potentiometer. This
function can be switched on/off via the
nGPArithmetikOut_a parameter C00806.
nGPMulDivOut_a
When the function is switched on, the
nGPDigitalDelayOut motor potentiometer is connected to the
main setpoint path and thus acts as signal
source for the main speed setpoint.
This setpoint can be ramped up and down
by means of the digital control inputs
bMPOTUp and bMPOTDown via a
parameterisable ramp time.
13.2.7.15 Process controller adaptation
This input signal serves to adapt the

proportional gain of the integrated PID
process controller.
bFreeConfigOut1
See function block L_PCTRL
bFreeConfigOut2
13.2.7.16 Actual process controller value
This input signal serves to supply the

actual value of the process factor to be
controlled to the integrated PID process
bFreeConfigOut1 controller.
bFreeConfigOut2 For a simple signal adaptation of a sensor
signal, the input signal is internally
provided with a parameterisable offset
and gain factor.
382 L Firmware 02.00 - DMS EN 3.0 - 05/2009

13.2.7.17 Forced release of holding brake
 Danger!
This higher-priority input acts in parallel to the integrated brake control, i.e. if
this input is TRUE, the brake will be released even if the integrated automatic
brake operation function wants to close the brake.
The actuating drive - speed technology

application is provided with an integrated
nGPCompareOut automatic brake operation function which
can be switched off/on via C02580.
nGPSignalOut1
nGPSignalOut2
nGPSignalOut3
For the forced release of the brake, the bBrakeRelease control input can be set to TRUE.
13.2.7.18 Manual jog
The inputs bMANJogPos/Neg serve to

nGPSignalOut1
traverse the drive in manual mode in
nGPSignalOut2 positive / negative direction of rotation.
nGPSignalOut3 The parameters C01231 serve to set the
nGPSignalOut4
speed of the manual jog mode.
nGPSignalOut1_a
LS_MotionControlKernel ( 587)
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13.2.7.19 General purpose functions
In many applications the controller is to

take over further drive-based functions
nGPSignalOut4 and e.g. scale sensor signals or control
actuators.
nGPSignalOut1_a
nGPSignalOut2_a
For this purpose, this standard application
is provided with integrated and freely
nGPSignalOut3_a
usable function blocks (see below). The
nGPSignalOut4_a inputs and outputs of these function
blocks are available at the signal interface
of the standard application.
These functions are provided with FB
inputs (named with xGPxxx in the input
name) at the input interface of the
application and FB outputs (also renamed)
at the output interface of the application.
Integrated and freely usable function blocks:
Function block Information

L_AnalogSwitch ( 499) Signal switch
L_Arithmetik ( 502) Arithmetic function
L_MulDiv ( 541) Multiplication division
L_DigitalDelay ( 522) Digital delay
L_DigitalLogic ( 524) Programmable logic
L_Compare ( 504) Comparator
L_DFlipFlop ( 520) Flip flop
L_Counter ( 518) Counter
384 L Firmware 02.00 - DMS EN 3.0 - 05/2009

13.2.7.20 Status word
?
 wDriveControlStatus (16-bit word)
wDriveControlStatus status for control via CAN or fieldbus
wStateDetermFailNoLow
To control the TA via a bus (CAN on board or fieldbus), the current status of the device has
to be queried. Depending on the process data mapping set, the information is transmitted
as status word via the bus system.
 When a communication module is used, a port block (LP_MciOut or LP_CanOut) is
connected to the output wMCIDriveControlStatus.
 When the CAN on board is used, the signal (16 bits) is led from the
wCANDriveControlStatus output to the LP_CANxxx port block:
? LP_CANOut1 ?
wDriveControlStatus wOut1
wStateDetermFailNoLow wOut2
[13-3] Status enquiry when the 8400 HighLine is controlled via the on-board CAN
ExampleController status word (C00150) for application "Speed closed-loop control"

( 75)
13.2.7.21 wCurrentFailNumber
?
Displays the current error number which is
wDriveControlStatus structured as follows:
wStateDetermFailNoLow  Bit 0 .. 15 (error number or error ID)
wStateDetermFailNoHigh  Bit 16..25 (subject area no. or domain)
 Bit 26..29 (error type)
 Bit 30..31 (reserved)
Error number ( 298)
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13.2.7.22 bDriveReady
Display:
bDriveFail Drive is ready to process setpoints.
bDriveReady No error occurred.
bCInhActive
13.2.7.23 bDriveFail
An error occurred.
wStateDetermFailNoHigh The error type is as follows:
bDriveFail Trouble, TroubleQSP
bDriveReady
13.2.7.24 bCInhActive
Display:
bDriveReady Controller inhibit is activated
bDriveFail
CInhActive
bQSPlsActive
bSpeedCcw
13.2.7.25 bQSPIsActive
Display:
bDriveFail Quick stop is activated
CInhActive
bQSPlsActive
bSpeedCcw
bSpeedActCompare
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13.2.7.26 bSpeedCcw
Display:
CInhActive Direction of motor rotation with regard to
bQSPlsActive
actual speed value.
bSpeedCcw
TRUE: motor rotates anti-clockwise (as
viewed looking onto the motor shaft)
bSpeedActCompare
bOverloadActive
13.2.7.27 bSpeedActCompare
TRUE: The actual speed value is lower than

the value set in C00024
bQSPlsActive
bSpeedCcw
bSpeedActCompare
bOverloadActive
bUnderloadActive
13.2.7.28 bOverLoadActive / bUnderLoadActive
In preparation
bSpeedActCompare
bOverloadActive
bUnderloadActive
bImaxActive
13.2.7.29 bImaxActive
TRUE: The controller operates at the

maximum current limit
bUnderloadActive
bImaxActive
bSpeedSetReached
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13.2.7.30 bSpeedSetReached, bSpeedActEqSet
 bSpeedSetReached
signal = TRUE:
bImaxActive
speed setpoint reached.
bSpeedSetReached
 bSpeedSetReached
bSpeedActEqSet
signal = TRUE:
actual speed value has reached the
setpoint within a hysteresis band
13.2.7.31 nMotorCurrent_a
Output of the actual motor current value

bSpeedActEqSet Scaling:
nMotorCurrent_a 214 = 16384 = value of C00022
nMotorSpeedSet_a
nMotorSpeedAct_a
nMotorTorqueAct_a
13.2.7.32 nMotorSpeedSet_a, nMotorSpeedAct_a
 nMotorSpeedSet_a:
resulting total speed setpoint.
nMotorCurrent_a
nMotorSpeedSet_a
 nMotorSpeedAct_a:
actual speed value
nMotorSpeedAct_a
nMotorTorqueAct_a
nDCVoltage_a
13.2.7.33 nMotorTorqueAct_a
Current actual torque value

nMotorSpeedAct_a
nMotorTorqueAct_a
nDCVoltage_a
nMotorVoltage_a
bBrakeReleaseOut
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13.2.7.34 nDCVoltage_a
Actual DC-bus voltage

nMotorTorqueAct_a Scaling:
nDCVoltage_a 214 = 16384 = 100 % = 1000 V
nMotorVoltage_a
bBrakeReleaseOut
bBrakeReleased
13.2.7.35 nMotorVoltage_a
Currently applied motor voltage

nDCVoltage_a Scaling:
nMotorVoltage_a 214 = 16384 = 100 % = 1000 V
bBrakeReleaseOut
bBrakeReleased
nGPAnalogSwitchOut_a
13.2.7.36 bBrakeReleaseOut, holding brake control
This output serves to control a holding

brake.
nMotorVoltage_a
bBrakeReleaseOut
This output signal is affected by the
integrated automatic brake operation
bBrakeReleased function and via the input for the forced
nGPAnalogSwitchOut_a brake release.
nGPArithmetikOut_a
13.2.7.37 bBrakeReleasedbBrakeReleased, holding brake status signal
This output signal displays the brake

status.
bBrakeReleaseOut
bBrakeReleased
As the delay times of the holding brake
(magnetising and release times of the
brake) are considered in the automatic
nGPArithmetikOut_a brake operation, the "brake is released"
information cannot be derived from the
nGPMulDivOut_a
bBrakeReleaseOut signal but is displayed
by this output.
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13.2.7.38 General purpose outputs
bBrakeReleased
nGPArithmetikOut_a
nGPMulDivOut_a
nGPDigitalDelayOut
nGPLogicOut
nGPCompareOut
nGPSignalOut1
nGPSignalOut2
nGPSignalOut3
nGPSignalOut4
nGPSignalOut1_a
nGPSignalOut2_a
nGPSignalOut3_a
nGPSignalOut4_a
 nGPArtithmetikOut_a
 nGPMulDivOut_a
 bGPDigitalDelayOut
 bGPLogicOut
 bGPCompareOut
 bGPSignalOut1
 bGPSignalOut2
 bGPSignalOut3
 bGPSignalOut4
 nGPSignalOut1_a
 nGPSignalOut2_a
 nGPSignalOut3_a
 nGPSignalOut4_a
390 L Firmware 02.00 - DMS EN 3.0 - 05/2009

TA "Table positioning"
14 TA "Table positioning"
14.1 Brief description of the function
14.1.1 Brief description of the properties
With the "Table positioning" technology application a great number of functions for
motion control of a single axis can be carried out:
 Manual jog
 Retracting the limit switch
 Reference setting/homing in 18 different modes (in preparation)
 Positioning (absolute, relative)
 Continuous travel (speed mode)
 Speed override
 Acceleration override
 Profile sequence block control
 Travel block restart within the profile (online profile start)
 Specification of target position via process signal interface (e. g. via fieldbus)
Further functions
 Up to 15 travel sets can be set via parameters
 Parameterisation of the profile data in physical units or relative values
 Adjustable torque limitation
 Linear and S-shaped ramps
 Software limit position monitoring
 Following error monitoring (with static limits)
 Brake control/automatic brake control
 Enable of individual functions via control word
 Status and diagnostic displays
 Change-over of operating modes "manual jog", "Homing", "Speed follower",
"Positioning"
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0
wMckState1
1 wMckState2
wMcKActOperationMode
bHomeDone
bHomePosAvailable
bProfileDone
bProfileBusy
bAccelerating
bConstantDuty
bDecelerating
bDwellTime
bInTarget
wActProfileNo
wActPosMode
dnTargetPos_p
dnSetPos_p
2
 Cross-application inputs and outputs, for description see LA_TabPos application block
 Inputs and outputs, see Interface description ( 415)
 Cross-application inputs and outputs, for description see General purpose functions
392 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Inputs

wInMckPosCtrl_1 Positioning control word 1 / positioning control word 2
wInMckPosCtrl_2 Via these control words the LS_MotionControlKernel system block can be controlled
WORD
wMckOperationMode Selection of the operating mode of the MotionControlKernel system block.

WORD
bPosCtrlOn True Position control on

BOOL
bLimitSwitchPos Input for limit switch (positive)

BOOL Connecting and retracting limit switches
False Limit switch reached
bLimitSwitchNeg Input for limit switch (negative)
BOOL Connecting and retracting limit switches
False Limit switch reached
bReleaseLimitSwitch Retracting the limit switches
BOOL
True Retracting from the activated limit switch in the corresponding
clearance direction until the limit switch is released (no longer
activated).
bManJogPos Manual jog
BOOL bManJogPos = TRUE: manual jog right
bManJogNeg bManJogNeg = TRUE: manual jog left
BOOL
bManJogPos AND bManJogNeg = TRUE: no change to the previous state
bManJogPos AND bManJogNeg = FALSE: stop manual jog
bManEnable2ndSpeed True Activation of the 2. manual speed
BOOL
bEnableSpeedOverride True Activate speed override

BOOL
bEnableAccOverride True Activate acceleration override

BOOL
bHomeStartStop Homing start

BOOL • Only in connection with controller enable.
True Start homing
False Abort homing and direct drive to standstill via the stop profile.
bHomeSetPosition Setting the home position manually
BOOL
True The position specified via input dnSetPos_p is saved as home
position.
bHomeResetPosition Resetting the home position
BOOL
True The internally saved home position is reset, so that the "Reference is
not known" status is available again.
bHomeMark Input for reference switch
BOOL Use of a reference switch
False Reference switch reached.
bPosSetProfilePostion True The target position set in the driving record is overwritten as follows:
BOOL Selection of the driving record via
bPosSetActualPostion wPosFrofileNo
BOOL • bPosSetProfilePostion: Enter dnPosProfilePosition_p as position
value into the travel profile
• bPosSetActualPostion: Enter current actual position as position
value in the travel profile
bPosExecute FALSE --> Start of the profile generation
BOOL TRUE
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bPosFinishTarget FALSE --> A previously interrupted positioning process (interruption by
BOOL TRUE PosStop , device error, etc.) is continued by travelling to the original
target.
bPosDisableFollowProfile True Switch-off of the profile linkage
BOOL The evaluation of the sequence profile number set in the driving
record is disabled.
bPosStop True Stop positioning / cancel profile
BOOL
wPosProfileMode "Override" of the positioning modes:

WORD • 1 = absolute (shortest path)
• 2 = continuous
• 3 = relative
• 4 = absolute, Cw
• 5 = absolute, Ccw
The selection of one of the values mentioned has a higher priority
than the positioning mode set by C01300. The value set in C1300 is
not overwritten.
If wPosProfileMode = 0 is selected, the value set in C1300 applies.
wPosFrofileNo Profile number (1 ... 15)
WORD Selection of the driving record
dnPosProfilePosition_p Profile position in [Inc] to be accepted
DINT By means of this input the position within the positioning profiles can be changed.
For this the position value in Inc is applied to this input, and the profile number is
specified in the control word. The data are accepted in the profiles if a data
acceptance bit is set in the control word.
394 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Outputs
Status messages:
Identifier/data type Value/meaning
wMckState1 See L_MckState function block
wMckState2
WORD
wMckActOperationMode
WORD
bHomeDone True Homing completed

BOOL
bHomePosAvailable True Home position known

BOOL
bProfileDone True Profile generation completed

BOOL
bProfileBusy True Profile generation active

BOOL
bAccelerating True Acceleration process active

BOOL
bConstantDuty True Constant travel phase active

BOOL
bDecelerating True Braking process active

BOOL
bDwellTime True Settling time of the mechanical load system has elapsed
BOOL
bInTarget True Actual position of the mechanical load system is in the target
BOOL position window
wActProfileNo Current profile number (1 ... 15)
WORD
wActPosMode Current positioning mode

WORD
dnTargetPos_p Current target position which is to be approached

DINT
denSetPos_p Current set position (which approaches the target position

DINT during the profile generation)
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14.1.2 Selecting the control source
[14-1] Selection of the control source on the "Application parameters" tab
By selecting the control source it is defined how the technology application set is to be
controlled. The following options are provided (see arrow):
1. Terminal control
– Selection 10, terminals 0 (Lenze setting)
This selection enables simple drive control via the digital and analog device control
connections (e.g. using the setpoint box available in the Lenze accessories program,
see www.Lenze.com ---> Home/Services&Downloads/Teachware).
2. Control via keypad / PC
– Selection 20, keypad
– Selection 21, PC
3. Control via the CAN on board
– Selection 30, hand-remote control for CAN (in preparation)
4. Control via the fieldbus, e.g. PROFIBUS
– Selection 40, hand-remote control for MCI (in preparation)
396 L Firmware 02.00 - DMS EN 3.0 - 05/2009

The device inputs and device outputs referred to as system blocks at Lenze provide the
interface of the application to the peripherals of the controller. They include digital and
analog input and output interfaces (e. g. "LS_DigitalInput") and communication interfaces
(e.g. "LP_CanOut1" for CAN or "LP_MciOut" for PROFIBUS as external fieldbus):
X3
LS_DigitalInput LA_NCtrl LS_DigitalOutput
X3 O1U
AR
O1I
A1U
O2U
A1I
O2I
A2U
A2I
GA
X4
24O
+ X5 DO1
= 24E
DO2
24I LS_ParFix LP_CanOut
DO3
RFR
GO
DI1
DI2
LS_ParFree_a
DI3
DI4
DI5
DI6
LP_CanIn
DI7
GI

o Connections between the device application and the input and output interfaces, pre-assignment through
selection with C00007 ≥ 10
p Technology application, selection with C00005
[14-2] Schematic structure of an application solution (here with terminal control)
The interfaces are preconfigured under code C00007. For each configuration of C00007 ≥
10, the input and output interfaces for the application have been pre-assigned.
For information on the input and output pre-assignments for the different control sources,
please see the chapters :
Overview of terminal assignment ( 398)
Terminal pre-assignment in detail ( 401)
The pre-assignment as seen from the application's view is described in the chapter
Pre-assignment of the LA_TabPos application block ( 410).
If the described pre-assignment of the application block is inappropriate for the drive task,
an individual configuration, e.g. by means of the FB editor or the "Terminal assignment"
tab, can be carried out. The configuration tables stored in the drive contain a selection of
the most frequently used signals, so that it is possible to carry out a quick commissioning
with only few operator control actions:
User-defined terminal assignment ( 409)
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14.2 Terminal assignment in the Lenze setting
14.2.1 Overview of terminal assignment
 Input connections for terminal control
Connecti C0007 = 10 C0007 = 12 C0007 = 14 C0007 = 16

LA_TabPos: bFailReset
X5/DI1 - - Positive limit switch -
LA_TabPos:
bLimitSwitchPos
X5/DI2 - - Negative limit switch -
LA_TabPos:
bLimitSwitchNeg
X5/DI3 Positive limit switch - - Manual homing in positive
LA_TabPos: direction
bLimitSwitchPos LA_TabPos: bManJogPos
X5/DI4 Negative limit switch Positioning profile, array-bit, valency: 4 Manual homing in negative
LA_TabPos: LA_TabPos: bPosProfileNo_4 direction
bLimitSwitchNeg LA_TabPos: bManJogNeg
X5/DI5 Positioning profile, array-bit, valency: 2
LA_TabPos: bPosProfileNo_2
X5/DI6 Positioning profile, array-bit, valency: 1
LA_TabPos: bPosProfileNo_1
X5/DI7 Start of the profile generation
LA_TabPos: bPosExecute

X3/A1U Speed setpoint (scaling: 10V = 100% ⋅ [C0011])
X3/A1I LA_TabPos: nMainSetValue_a
X3/A2U - - - -
X3/A2I
 Output connections for terminal control
Connecti C0007 = 10 C0007 = 12 C0007 = 14 C0007 = 16

LA_TabPos:bDriveReady
X4/DO2 Position target reached
LA_TabPos:bInTarget
X4/DO3 Home position known
LA_TabPos:bHomePosAvailable
X107/BD1 Brake released
LA_TabPos:bMBrakeReleaseOut
X107/BD2 Brake feedback
X101/NO Fault
LA_TabPos:bDriveFail

X3/O1U Actual speed value (scaling: 10V = 100% ⋅ [C0011])
LA_TabPos:nMotorSpeedAct_a
X3/O1I
X3/O2U Actual current
LA_TabPos:nMotorCurrent_a
X3/O2I
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 Input connections of the other control sources

on
LA_TabPos: bFailReset
X5/DI1 -
X5/DI2 - -
X5/DI3 Positive limit switch
LA_TabPos: bLimitSwitchPos
X5/DI4 Negative limit switch
LA_TabPos: bLimitSwitchNeg
X5/DI5 Home position
LA_TabPos: bHomeMark
X5/DI6 Quick stop
LA_TabPos: bSetQuickstop
X5/DI7 LP_CanOut1: bState_B7 LP_MciOut: bState_B7

X3/A1U - - Speed setpoint (scaling: 10V = 100% ⋅ [C0011])
X3/A1I LA_TabPos: nMainSetValue_a
X3/A2U - - - -
X3/A2I
 Output connections of the other control sources

on
LA_TabPos:bDriveReady
X4/DO2 Target position reached
LA_TabPos:bInTarget
X4/DO3 Home position is known Torque limit reached
LA_TabPos:bHomePosAvailable LA_TabPos:bImaxActive
X107/BD1 Brake is released
LA_TabPos:bMBrakeReleaseOut
X107/BD2 Brake feedback
X101/NO Fault
LA_TabPos:bDriveFail

X3/O1U Actual speed value (scaling: 10V = 100% ⋅ [C0011])
X3/O1I
X3/O2U Actual current
LA_TabPos:nMotorCurrent_a
X3/O2I
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 399

 Bus communication, assignment of data words per port
Data words C0007 = 30 (CAN) C0007 = 40 (MCI)

Connection to plug connector X1 Connection to communication module
(e.g. PROFIBUS, X201 (9-pole SubD socket)
TPDO1 LP_CanOut1 LP_MciOut
wState - -
wOut2 LA_TabPos:nGPSignalOut1_a
wOut3 - -
wOut4 - -
wOut5 (only MCI) Actual speed value
(scaling: 16384 = 100% ⋅ [value under C0011])
wOut6 ... wOut16 (only MCI) -
TPDO2 / TPDO3 LP_CanOut2 /3 -

wOut1 -
wOut2
wOut3
wOut4
RPDO1 LP_CanIn1 LP_MciIn

wCtrl -
wIn2 Speed override (scaling: 16384 = 100% ⋅ [value under C0011])
LA_TabPos: nSpeedOverride_a
wIn3 - -
wIn4 - -
wIn5 ... wIn16 (only MCI) -
RPDO2 / RPDO3 LP_CanIn2 / LP_CAnIn3 -

wIn1 -
wIn2
wIn3
wIn4
400 L Firmware 02.00 - DMS EN 3.0 - 05/2009

14.2.2 Terminal pre-assignment in detail
 C0007 = 10 (terminals 0)
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
DI1 A2U
DI2 A2I
O2U
GI
MBrakeReleaseOut
X107 X4
= + 24B 24O
GB DO1 DriveReady
BD2 DO3 Home position known
GO
CG
CH
CL
X1

X101/NC-NO LA_TabPos:bDriveFail
X5/RFR LA_TabPos: bFailReset X3/A1U LA_TabPos: nMainSetValue_a

X5/DI1 - X3/A1I C0011])
X5/DI2 - X3/A2U -
X5/DI3 LA_TabPos: bLimitSwitchPos X3/A2I
X5/DI4 LA_TabPos: bLimitSwitchNeg X3/O1U LA_TabPos:nMotorSpeedAct_a
X5/DI5 LA_TabPos: bPosProfileNo_2 X3/O1I
X5/DI6 LA_TabPos: bPosProfileNo_1 X3/O2U LA_TabPos:nMotorCurrent_a
X5/DI7 LA_TabPos: bPosExecute X3/O2I
X107/BD1 LA_TabPos:bMBrakeReleaseOut X4/DO1 LA_TabPos:bDriveReady

X107/BD2 - X4/DO2 LA_TabPos:bInTarget
X4/DO3 LA_TabPos:bHomePosAvailable
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 401

 C0007 = 12 (terminals 2)
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
DI1 A2U
DI2 A2I
DI3 GA
Bit 3 DI4 O1U
GI
MBrakeReleaseOut
X107 X4
= + 24B 24O
GB DO1 DriveReady
Home position known
M BD2 DO3
GO
CG
CH
CL
X1


X5/DI1 - X3/A1I C0011])
X5/DI2 - X3/A2U -
X5/DI3 - X3/A2I
X5/DI4 LA_TabPos: bPosProfileNo_4 X3/O1U LA_TabPos:nMotorSpeedAct_a

402 L Firmware 02.00 - DMS EN 3.0 - 05/2009

 C0007 = 14 (terminals 11)
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
Limit switch pos. direction DI1 A2U
neg. direction DI2 A2I
DI3 GA
Bit 3 DI4 O1U Actual speed value (V)
GI
MBrakeReleaseOut
X107 X4
= + 24B 24O
GB DO1 DriveReady
Home position known
M BD2 DO3
GO
CG
CH
CL
X1


X5/DI1 LA_TabPos: bLimitSwitchPos X3/A1I C0011])
X5/DI2 LA_TabPos: bLimitSwitchNeg X3/A2U -
X5/DI3 - X3/A2I
X5/DI4 LA_TabPos: bPosProfileNo_4 X3/O1U LA_TabPos:nMotorSpeedAct_a

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 403

 C0007 = 16 (terminals 16)
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
DI1 A2U
DI2 A2I
Jog neg. direction DI4 O1U Actual speed value (V)
O2U
GI
MBrakeReleaseOut
X107 X4
= + 24B 24O
GB DO1 DriveReady
Home position known
M BD2 DO3
GO
CG
CH
CL
X1


X5/DI1 - X3/A1I C0011])
X5/DI2 - X3/A2U -
X5/DI3 LA_TabPos: bManJogPos X3/A2I
X5/DI4 LA_TabPos: bManJogNeg X3/O1U LA_TabPos:nMotorSpeedAct_a

404 L Firmware 02.00 - DMS EN 3.0 - 05/2009

 C0007 = 20 (keypad)
Engineer: Keypad:
X101 All parameters
COM
DriveFail NO
User - Menu
Quick commissioning
External
supply X5 X3
24 V DC = Logbook
24I A1U
DI1 A2U SAVE
DI2 A2I
DI3 GA
DI4 O1U Actual speed value (V) Par1 Quick commissioning
DI6 O2U Actual motor current value (V) Terminals
DI7 Actual motor current value (I) Keypad
O2I
GI
MBrakeReleaseOut SAVE
X107 X4
= + 24B 24O
GB DO1 DriveReady
BD1 DO2 Load mechanicals in target position C2/1
+ C7
Home position known
M BD2 DO3
GO
C728
C11
C12
C13
CG
CH
CL
C15
X1 C16
C22
C87
C89
C39/1
C727/3
C727/4
C51
C54


X5/DI1 - X3/A1I C0011])
X5/DI2 - X3/A2U -
X5/DI3 - X3/A2I
X5/DI4 - X3/O1U LA_TabPos:nMotorSpeedAct_a
X5/DI5 - X3/O1I
X5/DI6 - X3/O2U LA_TabPos:nMotorCurrent_a
X5/DI7 - X3/O2I

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 405

 C0007 = 21 (PC)
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
24I A1U
DI1 A2U
DI2 A2I
DI3 GA
DI4 O1U Actual speed value (V)
DI6 O2U Actual motor current value (V
GI
MBrakeReleaseOut
X107 X4
= + 24B 24O
GB DO1 DriveReady
Home position known
M BD2 DO3
GO
CG
CH
CL
X1

X5/RFR LA_TabPos: bFailReset X3/A1U -

X5/DI1 - X3/A1I
X5/DI2 - X3/A2U -
X5/DI3 - X3/A2I
X5/DI4 - X3/O1U LA_TabPos:nMotorSpeedAct_a
X5/DI5 - X3/O1I
X5/DI6 - X3/O2U LA_TabPos:nMotorCurrent_a
X5/DI7 - X3/O2I

406 L Firmware 02.00 - DMS EN 3.0 - 05/2009

 C0007 = 30 (CAN)
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
DI1 A2U
DI2 A2I
Reference switch status DI5 O1I Actual speed value (I)
GI
MBrakeReleaseOut
X107 X4
= + 24B 24O
GB DO1 DriveReady
Imax status
M BD2 DO3
GO CanDriveControl
MainSetValue
DriveControlStatus
CG
CH
CL
MotorSpeedAct
X1 CAN1_In MotorSpeedSet
CAN1_Out
CAN2/3_In/Out

X5/RFR LA_TabPos: bFailReset X3/A1U LA_TabPos: nAuxSetValue_a

X5/DI1 - X3/A1I C00190=1 (NOUT = NSET+NADD)
X5/DI2 - X3/A2U -
X5/DI5 LA_TabPos: bHomeMark X3/O1I
X5/DI6 LA_TabPos: bSetQuickstop X3/O2U LA_TabPos:nMotorCurrent_a
X5/DI7 LP_CanOut1: bState_B7 X3/O2I

X4/DO3 LA_TabPos:bImaxActive
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 407

 C0007 = 40 (MCI)
X101
COM
NC
DriveFail NO
External
supply X5 X3
+ 24E AR
24 V DC =
DI1 A2U
DI2 A2I
Reference switch DI5 O1I Actual speed value (I)
Quickstop DI6 O2U Actual motor current value (V)
DI7 O2I Actual motor current value (I)
GI
MBrakeReleaseOut
X107 X4
= + 24B 24O
GB DO1 DriveReady
+ BD1 DO2 Load mechanicals in target position
Imax status
M BD2 DO3
GO MciDriveControl
MainSetValue
DriveControlStatus
CG
CH
CL
MotorSpeedAct
X1 MotorSpeedSet
Mci1_In
Mci1_Out
Mci2/3_In/Out

X5/RFR LA_TabPos: bFailReset X3/A1U LA_TabPos: nAuxSetValue_a

X5/DI1 - X3/A1I C00190=1 (NOUT = NSET+NADD)
X5/DI2 - X3/A2U -
X5/DI5 LA_TabPos: bHomeMark X3/O1I
X5/DI6 LA_TabPos: bSetQuickstop X3/O2U LA_TabPos:nMotorCurrent_a
X5/DI7 LP_MciOut: bState_B7 X3/O2I

X4/DO3 LA_TabPos:bImaxActive
408 L Firmware 02.00 - DMS EN 3.0 - 05/2009

14.2.3 User-defined terminal assignment
A terminal assignment differing from the Lenze setting is a user-defined terminal

assignment. Depending on the drive task, the terminal assignment may differ more or less
from the Lenze setting. This affects both the number and location of the system blocks
used and the system block interconnections. In an extreme case, the following circuit
diagram will be available at the beginning of your work, i.e. there are neither any system
blocks nor any signal combinations:
X3
LA_NCtrl
X3 O1U
AR
O1I
A1U
O2U
A1I
O2I
A2U
A2I
GA
X4
24O
X5
+ DO1
= 24E
DO2
24I
DO3
RFR
GO
DI1
DI2
DI3
DI4
DI5
DI6
DI7
GI

o Connections between the device application and the input and output interfaces, C00007 = 0
p Device application, selection with C00005
The following system blocks and port

blocks can be used on the device input side
n and on the device output side q :
 System blocks
Selection with button
 Port blocks
Selection with button
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 409

14.2.4 Pre-assignment of the LA_TabPos application block
Input connections
Input Code C00007, value:

LA_TabPos: 10 (terminals 0) 2 (terminals 2) 14 (terminals 11) 16 (terminals 16)
wCANDriveControl LS_ParFix:wDriveCtrl
wMCIDriveControl
bCInh -
bFailReset LS_DigitalInput:bCInh
bSetQuickstop -
nTorqueMotLim_a LS_ParFree_a:nPar3_a
nTorqueGenLim_a LS_ParFree_a:nPar4_a
bSetSpeedCcw -
nMainSetValue_a LS_AnalogInput:nIn1_a
nAuxSetValue_a -
bJogSpeed1
bJogSpeed2
bMPotEnable
bMPotUp
bMPotDown
wMckOperationMode LSParFree:wPar1
bMckOperationMode_1 -
bMckOperationMode_2
bMckOperationMode_4
bMckOperationMode_8
bPosCtrlOn LS_ParFix:bTrue
nPosCtrlOutLimit_a LS_ParFix:nPos100_a
nPosCtrlAdapt_a LS_ParFix:nPos100_a
bLimitSwitchPos LS_DigitalInput:bIn3 - LS_DigitalInput:bIn1 LS_DigitalInput:bIn3
bLimitSwitchNeg LS_DigitalInput:bIn4 - LS_DigitalInput:bIn2 LS_DigitalInput:bIn4
bReleaseLimitSwitch -
bManJogPos
bManJogNeg
bManEnable2ndSpeed
bEnableSpeedOverride
nSpeedOverride_a
bEnableAccOverride
nAccOverride_a
bHomeStartStop
bHomeSetPosition
bHomeResetPosition
bHomeMark
bPosSetProfilePosition
bPosSetActualPosition
bPosExecute LS_DigitalInput:bIn7
bPosFinishTarget -
bPosDisableFollowProfile
bPosStop
wPosProfileMode LSParFree:wPar2
wPosProfileNo LSParFree:wPar3
410 L Firmware 02.00 - DMS EN 3.0 - 05/2009


LA_TabPos: 10 (terminals 0) 2 (terminals 2) 14 (terminals 11) 16 (terminals 16)
bPosProfileNo_1 LS_DigitalInput:bIn6
bPosProfileNo_2 LS_DigitalInput:bIn5
bPosProfileNo_4 - LS_DigitalInput:bIn4
LS_DigitalInput:bIn4
bPosProfileNo_8 -
dnPosProfilePosition_p

LA_TabPos: 20 (keypad) 21 (PC) 30 (CAN) 40 (MCI)
wCANDriveControl LS_ParFix:wDriveCtrl
wMCIDriveControl
bCInh - LS_ParFree_b:bPar3 LP_CanIn1.bCtrl1_B3 LP_MciIn1.bCtrl1_B3
bFailReset - LP_CanIn1.bCtrl1_B11 LP_MciIn1.bCtrl1_B11
bSetQuickstop LS_Keypad:bSetQuickstop LS_ParFree_b:bPar5 LS_DigitalInput:bIn6
nTorqueMotLim_a LS_Keypad:nTorqueMotLim LS_ParFree_a:nPar3_a LS_ParFree_a:nPar3_a
nTorqueGenLim_a LS_Keypad:nTorqueGenLim LS_ParFree_a:nPar4_a LS_ParFree_a:nPar4_a
bSetSpeedCcw LS_Keypad:bSetSpeedCcw LS_ParFree_b:bPar4
nMainSetValue_a LS_Keypad:nMainSetValue LS_ParFree_a:nPar1_a LS_AnalogInput:nIn1_a
nAuxSetValue_a LS_ParFree_a:nPar2_a -
bJogSpeed1 LS_Keypad:bJogSpeed1 LS_ParFree_b:bPar1
bJogSpeed2 LS_Keypad:bJogSpeed2 LS_ParFree_b:bPar2
bMPotEnable LS_Keypad:bMPotEnable LS_ParFree_b:bPar6
bMPotUp LS_Keypad:bMPotUp LS_ParFree_b:bPar7
bMPotDown LS_Keypad:bMPotDown LS_ParFree_b:bPar8
wMckOperationMode - LS_ParFree_b:bPar9
bMckOperationMode_1 LS_ParFree:wPar4 LP_CanIn1.bCtrl1_B0 LP_MciIn1.bCtrl1_B0
bMckOperationMode_2 LS_ParFree:wPar5 LP_CanIn1.bCtrl1_B1 LP_MciIn1.bCtrl1_B1
bMckOperationMode_4 LS_ParFree_b:bPar12 LP_CanIn1.bCtrl1_B2 LP_MciIn1.bCtrl1_B2
bMckOperationMode_8 LS_ParFree_b:bPar13 -
bPosCtrlOn LS_ParFix:bTrue
nPosCtrlOutLimit_a LS_ParFix:nPos100_a
nPosCtrlAdapt_a LS_ParFix:nPos100_a
bLimitSwitchPos - LS_ParFree_b:bPar14 LS_DigitalInput:bIn3
bLimitSwitchNeg LS_ParFree_b:bPar15 LS_DigitalInput:bIn4
bReleaseLimitSwitch LS_ParFree_b:bPar16
bManJogPos LS_ParFree_b:bPar17 LP_CanIn1.bCtrl1_B13 LP_MciIn1.bCtrl1_B13
bManJogNeg LS_ParFree_b:bPar18 LP_CanIn1.bCtrl1_B12 LP_MciIn1.bCtrl1_B12
bManEnable2ndSpeed LS_ParFree_b:bPar19
bEnableSpeedOverride LS_ParFree_b:bPar20 LP_CanIn1.bCtrl1_B9 LP_MciIn1.bCtrl1_B9
nSpeedOverride_a LS_ParFree_a:nPar5_a LP_CanIn1.wIn2 LP_MciIn1.wIn2
bEnableAccOverride LS_ParFree_b:bPar21
nAccOverride_a LS_ParFree_a:nPar6_a
bHomeStartStop LS_ParFree_b:bPar22
bHomeSetPosition LS_ParFree_b:bPar23 LP_CanIn1.bCtrl1_B10 LP_MciIn1.bCtrl1_B10
bHomeResetPosition LS_ParFree_b:bPar24
bHomeMark LS_ParFree_b:bPar25 LS_DigitalInput:bIn5
bPosSetProfilePosition LS_ParFree_b:bPar26
bPosSetActualPosition LS_ParFree_b:bPar27
bPosExecute LS_ParFree_b:bPar28 LP_CanIn1.bCtrl1_B8 LP_MciIn1.bCtrl1_B8
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 411


LA_TabPos: 20 (keypad) 21 (PC) 30 (CAN) 40 (MCI)
bPosFinishTarget LS_ParFree_b:bPar29
bPosDisableFollowProfile LS_ParFree_b:bPar30
bPosStop LS_ParFree_b:bPar31
wPosProfileMode LS_ParFree:wPar2
wPosProfileNo LS_ParFree:wPar3
bPosProfileNo_1 - - LP_CanIn1.bCtrl1_B4 LP_MciIn1.bCtrl1_B4
bPosProfileNo_2 LP_CanIn1.bCtrl1_B5 LP_MciIn1.bCtrl1_B5
dnPosProfilePosition_p LS_ParFree_p:dnPar1_p LP_CanIn1.dnIn34_p LP_MciIn1.dnIn34_p
412 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Output connections
Output Code C00007, output LA_TabPos, value:

10 (terminals 0) 12 (terminals 2) 14 (terminals 11) 16 (terminals 16)
wDriveControlStatus -
bDriveFail LS_DigitalOutput:bRelay
bDriveReady LS_DigitalOutput:bOut1
bCInhActive -
bQSPIsActive
bSpeedCcw
bSpeedActCompare
bImaxActive
bSpeedSetReached
nMotorCurrent_a LS_AnalogOutput:nOut2V_a
LS_AnalogOutput:nOut2I_a
nMotorSpeedSet_a -
nMotorSpeedAct_a LS_AnalogOutput:nOut1V_a
nMotorTorqueAct_a -
nDCVoltage_a
nMotorVoltage_a -
bMBrakeReleaseOut LS_DigitalOutput:bOutHC
bMBrakeReleased -
wMckState1
wMckState2
wMckActOperationMode
bHomeDone
bHomePosAvailable LS_DigitalOutput: bOut3
bProfileDone -
bProfileBusy
bAccelerating
bConstantDuty
bDecelerating
bDwellTime
bInTarget LS_DigitalOutput: bOut2
wActProfileNo -
wActPosMode
dnTargetPos_p LS_DisFree_p:dnDis1_p
dnSetPos_p LS_DisFree_p:dnDis2_p
bGPSignalOut1 -
bGPSignalOut2
nGPSignalOut1_a
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 413

Output Code C00007, output LA_TabPos, value:

20 (keypad) 21 (PC) 30 (CAN) 40 (MCI)
wDriveControlStatus LS_DisFree:wDis1 -
wStateDetermFailNoLow - LS_DisFree:wDis2
wStateDetermFailNoHigh LS_DisFree:wDis3
bDriveFail LS_DigitalOutput:bRelay LS_DigitalOutput:bRelay LS_DigitalOutput:bRelay
LS_DisFree_b:bDis2 LP_CanOut1.bState_B0 LP_MciOut1.bState_B0
bDriveReady LS_DigitalOutput:bOut1 LS_DigitalOutput:bOut1 LS_DigitalOutput:bOut1
LS_DisFree_b:bDis1 LP_CanOut1:bState_B4 LP_MciOut1:bState_B4
bCInhActive - LS_DisFree_b:bDis3 LP_CanOut1.bState_B3 LP_MciOut1.bState_B3
bQSPIsActive LS_DisFree_b:bDis4 LP_CanOut1.bState_B14 LP_MciOut1.bState_B14
bSpeedCcw LS_DisFree_b:bDis5
bSpeedActCompare LS_DisFree_b:bDis6 LP_CanOut1.bState_B11 LP_MciOut1.bState_B11
bImaxActive LS_DisFree_b:bDis7 LS_DigitalOutput: bOut3
bSpeedSetReached LS_DisFree_b:bDis8
nMotorCurrent_a LS_AnalogOutput:nOut2V_a
nMotorSpeedSet_a LS_DisFree.nDis2_a LS_DisFree_a:nDis2_a -
nMotorSpeedAct_a LS_AnalogOutput:nOut1V_a LS_AnalogOutput:nOut1V_ LS_AnalogOutput:nOut1V_
LS_AnalogOutput:nOut1I_a a a
LS_DisFree_a:nDis1_a LS_AnalogOutput:nOut1I_a LS_AnalogOutput:nOut1I_a
LP_CanOut1.wState LP_MciOut1.wState
nMotorTorqueAct_a - LS_DisFree_a:nDis3_a
nDCVoltage_a LS_DisFree_a:nDis4_a
nMotorVoltage_a LS_DisFree_a: nDis5_a
bMBrakeReleaseOut LS_DigitalOutput:bOutHC
bMBrakeReleased LS_DisFree_b:bDis9
wMckState1 LS_DisFree:wDis4
wMckState2 LS_DisFree: wDis5
wMckActOperationMode LS_DisFree: wDis6 LS_DisFree.wDis1
bHomeDone LS_DisFree_b:bDis10
bHomePosAvailable LP_CanOut1.bState_B10 LP_MciOut1.bState_B10
bProfileDone LS_DisFree_b:bDis11
bProfileBusy LS_DisFree_b:bDis12 LP_CanOut1.bState_B9 LP_MciOut1.bState_B9
bAccelerating LS_DisFree_b:bDis13 -
bConstantDuty LS_DisFree_b:bDis15
bDecelerating LS_DisFree_b:bDis14
bDwellTime LS_DisFree_b:bDis16
bInTarget LS_DigitalOutput: bOut2 LP_CanOut1.bState_B8 LP_MciOut1.bState_B8
LS_AnalogOutput.bOut2 LS_AnalogOutput.bOut2
wActProfileNo LS_DisFree: wDis7 LS_DisFree.wDis3
wActPosMode LS_DisFree: wDis8 LS_DisFree.wDis2
dnTargetPos_p LS_DisFree_p:dnDis1_p -
dnSetPos_p LS_DisFree_p:dnDis2_p LP_CanOut1.dnOut34_p LP_MciOut1.dnOut34_p
bGPSignalOut1 LP_CanOut1.bState_B1 LP_MciOut1.bState_B1
bGPSignalOut2 LP_CanOut1.bState_B2 LP_MciOut1.bState_B2
nGPSignalOut1_a LP_CanOut1.wOut2 LP_MciOut1.wOut2
414 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Interface description
14.3 Interface description
14.3.1 Control words of the MotionControlKernel
wMckState1
wDriveControlStatus
wMckState2
The positioning control which is carried out within the application by the
LS_MotionControlKernel system block, can be activated via the two control words
wMotionCtrl1 and wMotionCtrl2. The control words together form a 32-bit control double
word by means of which the entire MotionControlKernel is controlled. [14-1]
All motion profiles in the different operating modes can be operated via this interface.
For this several possibilities are provided:
1. Direct control via a fieldbus system
For this, the two control words can be activated via a port block by the fieldbus. In
addition to some other signals (e. g. limit switches, speed override, which are connected
to digital I/Os of the controller), by this all control signals can be activated via the bus
(CAN, PROFIBUS, etc.).
2. Alternatively, the individual control bits or bit fields (e.g. profile number) can be
changed for control. For this purpose, these control bits and bit fields are available at
the input interface of the application.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 415

The following table shows the meaning of the individual bits
Bit Designation Description

0 ... 3 OpMode_Bit 0 ... 3 Operating mode Bit 3 Bit 2 Bit 1 Bit 0
Follow speed / position 0 0 0 0
Homing 0 0 0 1
Manual jog 0 0 1 0
Positioning 0 0 1 1
Stop 0 1 0 0
All others in preparation
4 ManJogPos Manual jog: manual jog right

5 ManJogNeg Manual jog: manual jog left
6 ManExecute2ndSpee TRUE: start of the 2nd manual mode traversing speed
d
7 ReleaseLimitSwitch TRUE: retracting the hardware limit switch activated
8 HomStartStop Homing: Start/stop of the homing process
9 HomSetPos Homing: setting of the home position
10 HomResetPos Homing: resetting of the home position
11 EnableSpeedOverride TRUE: activation of the speed override
12 EnableAccOverride TRUE: activation of the acceleration override
13 DisableS_Shape TRUE: deactivation of the profile rounding
14 PosTeachSetPos Latching of a position on the MCK into the profile with the corresponding profile no.
15 PosTeachActPos Latching of the current position into the profile with the corresponding profile no.
16 PosExecute TRUE: edge starts
17 PosFinishTarget Finish profile travel
18 PosDisableFollowPro TRUE: do not traverse sequence profile
file
19 PosStop TRUE: abort of the current profile
20 ... PosModeBit0 ... 3 Positioning mode Bit 3 Bit 2 Bit 1 Bit 0
23
Absolute (shortest path) 0 0 0 1
Continuous 0 0 1
Relative 0 0 1 1
Absolute, Cw 0 1 0 0
Absolute, Ccw 0 1 0 1
24 ... ProfileNo_Bit0 ... 7 Profile Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
31
Profile 1 0 0 0 0 0 0 0 0
Profile 2 0 0 0 0 0 0 0 1
... ...
Profile 15 0 0 0 0 1 1 1 1
All others in
preparation
[14-1] Control double word for activating the MotionControlKernels
416 L Firmware 02.00 - DMS EN 3.0 - 05/2009

14.3.2 Specifying an operating mode
wMckState1
wMckState2
bHomeDone
Via the control word wMckCtrl1, or alternatively via the bits, the operating mode of the
MCK can be set, see
Within the application the L_MckCtrl1Interface_1 function block collects the information
of the control word and that of the control bits and transmits it to the MCK as 32-bit
control word. By default, this FB is set in a manner that the "Following", "Homing", "Manual
jog", and "Positioning" operating modes are set automatically by setting the profile
numbers 1 ... 3.
L_MckCtrlInterface ( 530)
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14.3.3 Control bits and process words for the motor control (MCTRL)
Activation of the position control:

bPosCtrlOn = TRUE
bHomeDone
bHomePosAvailable
 How to specify the position controller gain:

1. Input nPosCtrlAdapt_a = 100 %
2. Check whether nPosCtrlOutLimit = 100 %
3. Output of the position controller limitation = 100 %
Kp-position controller = (value in parameter C00254 ) x (0 .... 100 .... 200) %
Limit of position controller output: (0 .... 100 .... 200) %
418 L Firmware 02.00 - DMS EN 3.0 - 05/2009

14.3.4 Connecting and retracting limit switches
 Stop!
For a reliable detection of the travel limit ranges via the limit switches it is
necessary that the triggering signal FALSE is available at the FB input
bLimitSwitchPos or bLimitSwitchNeg for at least one request cycle!
bProfileDone
bProfileBusy
bAccelerating
The travel range limits are monitored by limit switches via the inputs bLimitSwitchPos and
bLimitSwitchNeg.
The two inputs respond to the FALSE status (fail-safe) and are to be connected to the
corresponding digital inputs to which the limit switches are connected.
 Via an internal system interface an error is triggered and entered in the logbook of the
controller; the drive can only be traversed again if the error has been acknowledged.
The error response is set via C00595/1 /2.
 The limit switches can be retracted by means of the functions "Manual jog" or "Retract
limit switches".
 If the limit switches are connected to decentralised terminals, the FB inputs can be
connected to the decentralised terminal via a bus system (e. g. system bus).
 Note!
The inputs bLimitSwitchPos and bLimitSwitchNeg cannot be deactivated!
If the travel range limits are not to be monitored (e. g. in the case of a rotary axis),
simply set both inputs permanently to TRUE.
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14.3.4.1 Retracting the limit switches

Via the input bReleaseLimitSwitch you activate the "Retract limit switch" function to retract
a limit switch that is operated.
 The function can only be activated if a limit switch has been approached or
overtravelled.
 If the input bReleaseLimitSwitch is set to TRUE, the retracting direction is traversed until
the axis has reached the permissible travel range again (the limit switch has been
cleared again).
 For the "Retract limit switch" function the same profile parameters are used as for the
"Manual jog" function.
Permissible travel range

 If software limit positions are set, the retracting process is carried out up to the
corresponding software limit position.
 If no software limit positions are set, the retracting process is carried out until the limit
switch is cleared again.
Jamming of the limit switch

If the limit switch is jammed, the following happens:
 If software limit positions are set, the retracting process is carried out up to the
opposite software limit position.
– For instance, if the positive limit switch is approached and jammed, retracting is
carried out to the negative software limit position.
 If no software limit positions are set, retracting is carried out up to the opposite limit
switch.
420 L Firmware 02.00 - DMS EN 3.0 - 05/2009

14.3.5 Manual jog
 Stop!
If the reference is not known, or if no software limit positions are set, the drive
may run into a mechanical limit during manual jog, and machine parts can be
destroyed or damaged!
bConstantDuty
bDecelerating
bDwellTime
Via the inputs bManualJogPos and bManualJogPos the drive can be traversed manually
("Inching mode"):
bManualJogPos bManualJogNeg Function

False False No response
False True Manual homing in negative direction
True False Manual homing in positive direction
True True No response
 According to the setting of the software limit positions and the reference, the axis is
movedSequence block control.
Case 1: reference known

If the reference is known and the software limit positions are set, i. e. at least one software
limit position is set > 0, a positioning process to the corresponding software limit position
is carried out by manual jog.
 If the manual jog is not aborted before, the axis adopts the position set via the software
limit positions and the message "Warning NegPositionLimit" or "Warning
PosPositionLimit" is displayed.
 The internal state machine is in the "DiscreteMotion" state; in this state it is not
possible to overtravel the software limit positions set.
Case 2: reference not known

If the reference is not known, the travel range limits are only monitored via the limit
switches (if connected).
 If manual jog is stopped manually by resetting bManualJogNeg or bManualJogPos, the
drive is brought to standstill within the deceleration time set for manual jog.
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Manual jog to hardware limit position (limit switch)

If a limit switch is approached during manual jog, the FB error "CK01: positive HW limit
switch" or "CK02: negative HW limit switch" is detected.
 The drive is brought to standstill within the deceleration time set for the stop profile,
and the internal state machine changes to the "Error" status.
 According to the configuration of the error, a corresponding response of the drive
system results.
 Note!
If the response TRIP or Fail-QSP has been set for the error, the drive is brought to
standstill within the deceleration time set for quick stop (QSP).
• The internal Sequence block control changes to the "Errorstop" status.
• In this case, observe that the quick stop function (QSP) of the controller has
individual parameters for the ramp time (C00105).
Smooth start-up and quick stop of the drive

The acceleration and deceleration for manual jog can be set separately via C01232/1 or
C01232/2, enabling a smooth start-up and a quick stop of the drive:
v [m/s]
C01232/1 C01232/2
t [s]
bManualJogPos
TRUE
FALSE
t [s]
ç è
n Smooth start-up by slow acceleration (C08801)
o Quick stop by quick deceleration (C08802)
[14.1] Example: Different settings for acceleration and deceleration
 A quick deceleration ( C01232/2) decreases the time from letting go of the "jog key" to
the point where the drive actually stops, so that the drive by this can be positioned
better "by eye" and the desired stop position is not overtravelled.
422 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Further functions for manual jog

 Manual jog
 Danger!
The function "HW limit switch off at manual jog !" may damage the mechanical
system.
In specific applications or during commissioning of a system it may be required to traverse

the drive manually without monitoring the HW limit switches. This is only possible for the
Manual jog operating mode by configuring the HW limit switch monitoring with C01230.
 Manual jog with automatic start of a second speed after an operating time has elapsed.
If this function is activated with C01230, an automatic start of a second manual speed is
carried out after a waiting time has elapsed C01235/1 when the manual jog function is
operated. By this for instance a longer distance can be covered more quickly during manual
jog if manual jog is being operated for a time that exceeds the waiting time and a higher
speed is parameterised for the second manual speed.
 Manual jog with intermediate stop 1 ... 4
If the intermediate stops 1 ... 4 are switched on via C01230 and the home position is
known, an automatic stop in the intermediate stop positions 1 ... 4 is effected during
manual jog. Traversing is continued by "letting go" and activating the signals
bManualJogPos/Neg. again
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14.3.6 Acceleration and speed override
bInTarget
wMckState1
wMckState2
An "Override" is the change of profile parameters and their acceptance during the
positioning process.
 In this case the traversing profile has to be adapted accordingly, so that positioning is
carried out exactly to the target position defined, even if for example a change in speed
occurs during the positioning process ("Speed override"):
v [m/s]

Dt
t [s]
n Speed is reduced during the positioning process.

o In order to reach the position defined, the missing area has to be "attached" to the profile.
p Due to the speed reduction the positioning process takes longer (Δt).
[14.2] Override (here: speed override)
 The override for speed, acceleration, and S-ramp time affects all motion profiles that
are controlled by the internal profile generator:
– Manual jog
– Retracting the limit switches
– Homing
– Point-to-point positioning
 Note!
The override has no impact on:
• Synchronising processes
• Setpoint controls via external setpoints
• Abort via input bPosStop
• Speed setpoint selection in case of error (e. g. "Fail-QSP")
424 L Firmware 02.00 - DMS EN 3.0 - 05/2009

14.3.6.1 Speed override

If the input bExecuteVelOverride is set to TRUE, a speed override according to the override
value applied to the input nVelOverride_a is carried out.
 Note!
The online change of the speed takes effect from the profile start until the
deceleration phase starts. A change of the deceleration phase thus cannot be
effected by a speed override!
 If the input bExecuteVelOverride is reset to FALSE, the speeds which were defined via
the profile parameters are traversed again. The acceleration/deceleration from the
speed defined by override to the speed set in the profile in this case is carried out
immediately.
 The override value nVelOverride_a is a percentage value relating to the value Vmax
specified in the machine parameters.
– nVelOverride_a = 0 ... 16384 ≡ 0 ... 100 % Vmax
– Values at the input nVelOverride_a > 16384 are ignored.
– If the override value nVelOverride_a is "0", the drive is brought to standstill from the
current travelling speed.
14.3.6.2 Acceleration override

If the input bExecuteAccOverride is set to TRUE, an acceleration override according to the
override value applied to the input nAccOverride_a is carried out.
 Note!
The online change of the acceleration takes effect from the profile start until the
deceleration phase starts. A change of the deceleration phase thus cannot be
effected by an acceleration override!
 If the input bExecuteAccOverride is reset to FALSE, the accelerations which were defined
via the profile parameters are traversed again. The acceleration from the acceleration
defined by override to the acceleration set in the profile in this case is carried out
immediately.
 The override value nAccOverride_a is a percentage value relating to the value amax
specified in the machine parameters.
– nAccOverride_a = 0 ... 16384 ≡ 0 ... 100 % amax
– Values at the input nAccOverride_a > 16384 are ignored.
– If the override value nAccOverride_a is "0", the acceleration is reduced to "0", so that
no movement takes place anymore.
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14.3.7 Homing
Start of the homing or direct setting of the

home position:
wMckState2
bHomeStartStop = TRUE
During the whole homing process this
dnTargetPos_p signal has to remain set. Otherwise, i. e. in
dnSetPos_p the case of FALSE, the reference run is
aborted, and the drive brakes to standstill
with the acceleration set.
Sequence of a reference run

1. Start of the movement with starting acceleration (C01225/1) and starting speed
(C01224/1)
2. Detection of a "pre-switch off", e. g. bHomingMark
3. Braking to search speed (C01224/1) with search acceleration (C01225/1)
 Note!
By setting a low search speed and a high search acceleration it is achieved that
• braking to the search speed is effected quickly
• the position detection (at low search speed) is exact.
4. If the home position is known now, the actual calculation of the home position is
carried out, taking the following into consideration:
– Home position
The home position is the position that is to be set as "HomePosition" after the
homing process has been completed
– Reference dimension offset
This is a offset distance by which the drive traverses after finding the home position
with search speed. At the end of this movement the home position is set.
5. If required, a positioning movement can be carried out by entering a sequence profile
number (C01228) immediately after the homing procedure has been completed.
 Note!
This positioning movement is carried out in the "Homing" operating mode.
If a sequence profile (e. g. "3") is selected for homing, which has a sequence
profile number itself (e. g. "5"), this profile ("5") is not started automatically.
426 L Firmware 02.00 - DMS EN 3.0 - 05/2009

 bHomeSetPosition = TRUE:
"Flying" homing, i. e. the position
adopted at the time of activation is set
wMckState2 as home position.
Furthermore a desired home position
dnTargetPos_p
value becomes the new
dnSetPos_p "HomePosition" after reading in at
dnPosProfilePosition.
 bHomeResetPosition = TRUE:
"Flying" homing: – The home position is deleted
By means of the "flying" homing, the home – The controller is no longer
position of a mechanical system can be set referenced.
or deleted during a running movement. – bHomePosAvailable = FALSE
There will be no jerk or compensation
movement.
The measuring system in the machine is selected by means of homing and the 0 position
is set within the possible physical travel range:
-10 10 20 30 40 50 60
0-Position
[14.3] Homing (selection of 0 position)
The zero position (home) can be defined by a reference run or by setting a home position:
 If a reference run is carried out, the drive follows a previously selected path to find the
home position.
 When the reference is set, it is selected manually when the drive stands still.
 Tip!
A reference run is mainly used for systems with feedback via encoders, resolvers, or
single-turn absolute value encoders, as in the case of these systems the home
position is lost when the supply voltage is switched off.
Usually the reference is set only once during commissioning or in the event of
service (e. g. if drive components are replaced), and it is only used for systems with
feedback via absolute value encoders.
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14.3.7.1 Homing modes ( C1221)

For the reference run (home position search) different modes can be selected, which are
explained in detail in the following sections.
 According to the mode selected, the following input signals are evaluated for the
reference search:
Input Function
bHomingMark Reference switch
bHomingTPReceived Input for signal "Touch probe detected"
bLimitSwitchPos Positive limit switch
bLimitSwitchNeg Negative limit switch
 Abbreviations used for the homing modes:
Abbreviation Meaning
cw Movement in positive direction
ccw Movement in negative direction
Ln Negative travel range limit switch
Lp Positive travel range limit switch
MP Positive edge of the encoder zero pulse
Rn Negative edge of the reference switch
TP Touch probe detected
Trq_LIM Torque limit value reached
 Note!
In specific homing modes, for the search of the limit switch a change-over to a
higher speed is carried out than for approaching the reference switch/touch
probe sensor. By this the homing time can be reduced, and accuracy can be
increased.
Mode 6: cw_Rn_cw_TP
Functional sequence:
1. Movement in positive direction
2. Negative edge of bHomingMark enables home position detection.
3. The following positive edge of the touch probe sensor is the home position.
bHomingMark bHomingTPReceived
Reference position
428 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Mode 7: ccw_Rn_ccw_TP
1. Movement in negative direction
2. Negative edge of bHomingMark enables home position detection.
bHomingTPReceived bHomingMark
Reference position
Mode 8: cw_TP
bHomingTPReceived
Reference position
Mode 9: ccw_TP
bHomingTPReceived
Reference position
Mode 10: cw_Lp_ccw_TP

2. Reversing in the case of a positive edge of the positive travel range limit switch.
bLimitSwitchNeg bHomingTPReceived bLimitSwitchPos
Reference position
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Mode 11: ccw_Ln_cw_TP

2. Reversing in the case of a positive edge of the negative travel range limit switch.
bLimitSwitchNeg bHomingTPReceived bLimitSwitchPos
Reference position
Mode 12: cw_Lp

2. Positive edge of the travel range limit switch sets home position.
bLimitSwitchNeg bLimitSwitchPos
Reference position
 Note!
In this mode for the home position search the mechanical load system can also
exit the travel range limit switch.
Then a return travel to the home position which was set with the positive edge
of the travel range limit switch is carried out. By this, possibly the mechanical
system remains on a limit switch operated.
It is recommended to set a reference offset to clear the travel range limit switch.
430 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Mode 13: ccw_Ln

2. Positive edge of the travel range limit switch sets home position
bLimitSwitchNeg bLimitSwitchPos
Reference position
 Note!
In this mode for the home position search the mechanical load system can also
exit the travel range limit switch.
Then a return travel to the home position which was set with the positive edge
of the travel range limit switch is carried out. By this, possibly the mechanical
system remains on a limit switch operated.
It is recommended to set a reference offset to clear the travel range limit switch.
Mode 14: cw_Trq_Lim

1. Movement in positive direction with a reduced torque.
2. The home position is set if it is detected that the torque limit is exceeded over a defined
length of time ("Homing on positive stop").
– If no reference offset is set, this position is the home position.
– If a reference offset is set, traversing takes place around this offset with the correct
sign, and at the end of this travel way the home position is set.
Reference position
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Mode 15: ccw_Trq_Lim

1. Movement in negative direction with a reduced torque.
2. The home position is set if it is detected that the torque limit is exceeded over a defined
length of time ("Homing on positive stop").
– If no reference offset is set, this position is the home position.
– If a reference offset is set, traversing takes place around this offset with the correct
sign, and at the end of this travel way the home position is set.
Reference position
Mode 100: Set_Ref_directly

This input brings about the setting of a home position without movement of the axis.
Setting the home position manually
432 L Firmware 02.00 - DMS EN 3.0 - 05/2009

14.3.7.2 Use of a reference switch

In the homing modes with a reference switch the reference switch status is measured via
the input bHomingMark.
 This input responds to the FALSE status (fail-safe) and is to be connected to the
corresponding digital input to which the reference switch is connected.
14.3.7.3 Use of a touch probe sensor (in preparation)
 Note!
A high-precision homing or positioning with touch probe (TP) is in preparation.
In order to be able to use a TP sensitive homing mode even without the
availability of the high TP precision, a signal at the digital input D3 is
automatically interpreted as TP sensor signal.
14.3.7.4 Setting the homing speed

In specific homing modes, for the search of the limit switch a change-over to a higher speed
is carried out than for approaching the reference switch or touch probe sensor. By this the
homing times can be reduced, and accuracy can be increased.
Further parameters for homing
C01224/2 Low speed
C01225/2 Acceleration / deceleration at low speed
C01224/1 High speed
C01225/2 Acceleration / deceleration at high speed
C01227/1 Offset position
C01226/1 S-ramp time
C01222 Homing torque limit
C01223 Blocking time
14.3.7.5 Homing start

By setting the input bHomingStart to TRUE, you start homing in the homing mode set in
C01221/1.
 Via the status outputs bHomingBusy, bHomingDone and bHomePositionAvailable the
current status of the reference search is shown.
 If the input bHomingStart is reset to FALSE during homing, the reference run is
cancelled, and the drive is brought to standstill.
 A reference run can only be started in the "Homing" operating mode.
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14.3.7.6 Setting the home position manually

If the homing mode 100: Set_Ref_directly" is selected in C01221/1, the home position can
be set manually via the input bHomeStartStop during the drive is at standstill. The current
actual position is set as home position (C01227/2).
14.3.7.7 Resetting the home position

By setting the input bResetHomePosition to TRUE, the "Home position known" status can
be reset.
 The status outputs bHomingDone and bHomePositionAvailable are reset to FALSE.
14.3.7.8 "Home position set once" status

At the output bHomingDone the TRUE status shows that a reference run has taken place at
least once.
 In contrast to the output bHomePositionAvailable, the output bHomingDone even
remains on TRUE if a travel command has been executed, which caused a reset of the
home position.
434 L Firmware 02.00 - DMS EN 3.0 - 05/2009

14.3.8 StartStop and profile number for controlling the profile generation
For this see table

Control double word for activating the
MotionControlKernels ( 416)
Positioning modes
Mode Rotary axis Linear axis Information on touch

probe
1 Absolute The axis is traversed to an The axis is traversed to an The touch probe path is
absolute position. absolute position. always interpreted as a
distance with the correct
sign and is triggered via a
digital input at the FB.
2 Relative The axis is traversed by a The axis is traversed by a The touch probe path is
distance. distance. always interpreted as a
distance with the correct
sign and is triggered via a
3 CW* The axis is only moved in Error message The touch probe path is
positive direction. always interpreted as a
The position selection is distance with the correct
absolute. sign and is triggered via a
The touch probe
movement is carried out
in CW direction.
4 CCW* The axis is only moved in Error message The touch probe path is
negative direction. always interpreted as a
The position selection is distance with the correct
absolute. sign and is triggered via a
The touch probe
movement is carried out
in CCW direction.
* In preparation!
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14.3.9 Possible motion profiles
The following representation shows different motion profiles that can be traversed with
the L_MCPositioner FB:
v v
0 1

t t
v v
2 3

t t
v v
4 5

t t
v
6

t
[14.4] Possible motion profiles
Function
 Asymmetrical trapezoidal profile with S-shaped ramps
 Asymmetrical trapezoidal profile with linear ramps
 Rounding of the profile with S-shaped ramps, where vprofile1 > vprofile2 or vend1 = vprofile2
 Rounding profile with S-shaped ramps, where vprofile1 < vprofile2
 Profile linkage
 Profile linkage
 Profile linkage with speed override in profile 2
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S-ramp time for jerk limitation
14.4 S-ramp time for jerk limitation
The maximum jerk is defined by the selection of an S-ramp time tjerk_max, after which the
max. acceleration (amax) only is reached.
 The actual jerk time tjerk is reduced according to the actual acceleration Acc:
V

Vel

t
a
a max
Acc
t jerk_max t jerk_max
t jerk_max t jerk_max t
Dec
a max
t jerk t jerk t jerk t jerk
Jerk
t
1 2 3 4 5 6 7 8 9
n Without jerk limitation
o With jerk limitation
1. Standstill
2. Acceleration with set jerk limitation 6. Deceleration with set jerk limitation
3. Acceleration according to acceleration profile (Acc) 7. Deceleration according to deceleration profile
(Dec)
4. Reduce acceleration (jerk limitation) 8. Reduce deceleration (jerk limitation)
5. Traversing with Vel according to speed profile 9. Standstill (position target reached)
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S-ramp time for jerk limitation
 Note!
If disproportionately high S-ramp times are set for low acceleration times, this
may result in an incorrect profile generation.
Example: v = 100 mm/s, a = 1000 mm/s2

 tacc = 0.1 s
 tjerk_max = 1 s
Therefore only set plausible S-ramp times; they should not exceed half the value
of tacc.
14.4.1 Switching off the S-ramp time
By setting the input bDisableSRamp to TRUE, an S-ramp time that may have been set in the
profile parameters is ignored, and traversing is carried out with linear ramps.
 A deactivation of the S-ramp time before that start of a profile with S-ramp time causes
a linear ramp generation.
 A deactivation of the S-ramp time during a traversing process, however, is not accepted
immediately in the profile generator, but the profile generator checks automatically
when an online change of the ramp form can be carried out and then initiates it
automatically.
 Note!
Thus it is possible to start a travel profile with S-ramp time and then deactivate
the S-ramp time, e. g. to traverse with a linear characteristic after reaching the
profile speed.
It is also possible to change the ramp form during the braking phase, so that first
a deceleration is initiated with a linear ramp, but when the position target is
reached the S-ramp is traversed again.
438 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Limiting the torque
14.5 Limiting the torque
Via the inputs nTorqueMotLim C00728/1 and nTorqueMotGen_a the torque can be
reduced.
 The value nTorqueMotLim C00728/1 is a percentage value relating to the maximum
torque of the axis (C00057).
– nTorqueLim_a = 0 ... 16384 ≡ 0 ... 100 % Mmax
– Values at the input nTorqueLim_a > 16384 are ignored.
 Note!
In homing modes 14 and 15 ("Homing on positive stop") the setting of this input
is ineffective.
14.5.1 "Home position known" status
At the output bHomePositionAvailable the TRUE status shows that the controller (still)
knows the home position.
 The output bHomePositionAvailable is reset to FALSE if a travel command has been
executed, which caused a reset of the home position, or if the home position was reset
manually via the input bResetHomePosition.
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Limiting the torque
14.5.2 "Position target reached" status
In C01245/1 you can define a window by means of which it is checked whether the target
position has been reached.
 If the current position is within this window, the output bInTarget is set to TRUE.
 Due to the symmetrical structure of the window around the target position odd values
in C01245/1 are rounded down to even values (see o).
 Note!
• The target position including the window has to be within the maximum
traversing range.
• Observe the following if you use bInTarget as step enabling condition within
a sequencer:
Also after a new profile has been started, bInTarget can already be in the TRUE
status, as the change to FALSE is only carried out when the window is exited
again.
C01245/1 = 120 C01245/1 = 81

120 [unit] 80 [unit]
Target window Target window
60 [unit] 60 [unit] 40 [unit] 40 [unit]
Target position Target position
[14.5] Symmetrical division of the window around the target position
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Limiting the torque
14.5.3 "Transient phenomenon completed" status
At the output bDwellTime it is shown by the TRUE status that the settling time specified in
C01244/1 has elapsed after completion of the setpoint generation.
Like this mechanical transient phenomena of the tool when it reaches the target position
can be taken into consideration.
 The settling time starts to elapse when the setpoint has reached the target position
(output bProfileDone = TRUE).
 After the settling time has elapsed, the output bDwellTime is set to TRUE and is
automatically reset to FALSE if a new positioning process starts.
Dwell time
v [m/s]
t [s]
bProfileDone
TRUE
FALSE
t [s]
bDwellTime
TRUE
FALSE
t [s]
n Actual value profile
o Setpoint profile
[14.6] Definition of the settling time
14.5.4 Sequence block control
A special feature is the automatic step enable to sequence profiles with and without
rounding speed.
 For this the profile number of the desired sequence profile (1 … 15) is simply set in the
profile parameters of a profile.
 If the profile is traversed, an automatic start of the sequence profile set is carried out
when the final speed is reached.
– Like this profile chains can be defined without additional control processes.
– When the profile parameter Vend = "0" is set, there is no velocity changeover,
however, if Vend <> "0" is set, a velocity changeover takes place.
 This function can be performed in all positioning modes.
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Working with the FB Editor
Basics
15 Working with the FB Editor

The function block editor (in the following called "FB Editor") is available in the »Engineer«
for the device versions "StateLine" and "HighLine".
The FB Editor serves, for example, to:
 execute an online monitoring of the technology application running in the device (e.g.
for diagnostic purposes).
 reconfigure the I/O interconnection of the technology application.
 implement an individual drive solution for the "HighLine" version.
 Note!
The illustrations of the FB Editor user interface and the dialog boxes in this
documentation are based on the »Engineer« V2.10.
15.1 Basics
Using the function block interconnection, any signal interconnections can be

implemented. Diverse FBs are available for digital signal processing, signal conversion and
logic modules.
For special tasks it has proved of value to use the integrated technology applications as a
basis for modifications or extensions of the available FB interconnections. Moreover, the
experienced user has the opportunity to implement own drive solutions independent of
the predefined technology applications by using the "free interconnection".
For this purpose, the FB Editor provides the following functions:
 Copying & pasting of interconnection elements (also device-independent)
 Export & import of the interconnection
 Comparison of two interconnections (also online <-> offline comparison)
 Overview window and zoom functions
 Comments on the signal flow
 Online monitoring
The option to mask out non-used inputs and outputs of modules is also sensible to
minimise the complexity of the FB interconnection and to adapt the clarity of the
interconnection to the customers need.
All graphical information of the FB interconnection view (positions of the FBs, line or flag
presentation of the connection, visibility of the inputs/outputs) are saved with the
parameter set in the memory module of the controller and can be uploaded anytime into
the FB Editor of the »Engineer« even if the Engineer project is not available.
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Basics
15.1.1 Basic components of a drive solution
A drive solution consists of the following basic components:

 Signal sources (for control and setpoint signals)
 Signal flow of the technology application
 Signal outputs (for status and actual value signals)
..............
...............
.................
Signal Signal
inputs Actuating drive-speed outputs
Motion
STOP
PID
Setpoint Process
generator ç è
M controller
n
0 t
Drive Motor
control control
[15-1] Basic components of a drive solution
Regarding the 8400 device series, these three components are available for the FB
interconnection and classified as follows:
Module type Name Task Example

Function block L_name General function block for free L_Compare_1
interconnection (only HighLine) L_PCTRL_1
System block LS_name Signal interface to inverter-internal LS_DigitalInput
functions LS_AnalogOutput
Port block LP_name • Process data communication via a LP_CanIn1/-Out1
fieldbus using a communication module LP_CanIn2/-Out2
• Process data communication via CAN on LP_CanIn3/-Out3
board LP_MciIn/ -Out
Application block LA_name Block for a technology application LA_NCtrl
Further information on the individual modules can be obtained from the following
subchapters!
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Basics
15.1.1.1 What is a function block?

A function block (FB) can be compared with an integrated circuit that contains a specific
control logic and delivers one or several values when being executed.
 The function blocks are classified alphabetically in a "function library".
 Each function block has a unique identifier and a processing number which defines the
position at which the function block is calculated during runtime.
n Name of the function block

o Processing number
p Button for opening the online help for the function block
q Another available function block of the same type (numbering in ascending order)
[15-2] Information on a function block in the FB Editor
 Tip!
A detailed description of all available function blocks can be found in the main
chapter "Function library". ( 494)
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Basics
15.1.1.2 Parameterisable function blocks

Some function blocks have parameters which serve to change particular settings during
operation, if required, or which display actual values & status information.
 The symbol in the head of the module, a double-click on the module, or the
Parameter... command in the context menu of the module serve to open the
parameterisation dialog or the parameter list for the module.
Example
Parameterisation dialog for the FB L_DigitalDelay_2:
15.1.1.3 What is a system block?

System blocks are a special variant of a function block. They partly activate real hardware,
e. g. the digital and analog inputs/outputs and the motor control.
n Name of the system block

o Button for opening the online help for the system block
p Button for opening the parameterisation dialog or the parameter list for the system block
[15-3] Example: System block "LS_MotorInterface" for mapping the motor control
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Basics
15.1.1.4 What is a port block?

All input/output ports of the application can be inserted in the interconnection in the form
of port blocks in order to get access to the associated element variables.
n Name of the port block

o Button for opening the online help for the port block
p Button for opening the parameterisation dialog or the parameter list for the port block
[15-4] Example: Input port "LP_CanIn1" and output port "LP_CanOut1"
Input/output ports enable, for instance, the data exchange in an interconnection or with a
master control via a corresponding transmission medium (e.g. system bus).
15.1.1.5 What is an application block?

The application block contains the interconnection of the selected technology function.
 On the I/O level, the application block only provides the inputs and outputs of the
technology function.
 On the application level, the interconnection of the technology function is shown in
detail.
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Basics
15.1.2 Conventions used for input/output identifiers
This chapter describes the conventions used for the identifiers of the inputs/outputs of the
blocks. The conventions ensure a uniform and consistent terminology and make reading
and comprehending the interconnection and application easier.
 Tip!
The conventions used by Lenze are based on the "Hungarian Notation". This
ensures that the most significant characteristics of the corresponding input/
output (e.g. the data type) can be instantly recognised from its identifier.
An identifier consists of
 a data type entry
 an identifier (the "proper" name of the input/output)
 an (optional) signal type specification
Data type entry

The data type entry provides information about the data type of the corresponding input/
output:
Data type entry Meaning Resolution Value range

b BOOL 1 bit 0 ≡ FALSE / 1 ≡ TRUE
dn DINT 32 bits -2147483647 ... 2147483647
n INT 16 bits -32767 ... 32767
w WORD 16 bits 0 ... 65535
Identifier
The identifier is the proper name of the input/output and should indicate the application
or function.
 Identifiers always start with a capital letter.
 If an identifier consists of several "words", then each "word" must start with a capital
letter.
 All other letters are written in lower case.
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Basics
Signal type entry

In general, it is possible to assign a certain signal type to the inputs and outputs of the
Lenze function blocks. There are e.g. digital, scaled, position, acceleration and speed
signals.
 A corresponding ending (preceded by an underscore) is added to the identifier of the
corresponding input/output to indicate the signal type.
Signal type entry Meaning Resolution Value range

& port symbol
in the FB Editor
_a  Analog/scaled 16 bits ± 199.99 %

_v / Angular velocity 16 bits ± 30000.0 min-1
_p / Position 32 bits -231 ... 231-1 increments
 Digital (BOOL) 8 bits 0 ≡ FALSE; 1 ≡ TRUE
- Other (WORD) 16 bits 0 ... 65535
15.1.3 Scaling of physical units
With regard to the parameter setting & configuration of the controller it is very helpful to
know the signal types and their scaling listed in the following table, which are used to
process physical values (e.g. an angular velocity or position) in the function block
interconnection.
Signal type entry Meaning Scaling

& port symbol
in the FB Editor external value ≡ internal value
_a  Analog/scaled 100 % ≡ 214 ≡ 16384
_v / Angular velocity 15000 rpm ≡ 214 ≡ 16384
_p / Position 1 encoder revolution ≡ 216 increments
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User interface
15.2 User interface
 How to access the FB Editor:

1. Go to Project View and select the 8400 controller.
2. Go to Workspace and select the FB Editor tab.
The FB Editor displays the wiring of the technology function selected in C00005.
The interconnection of the I/Os of the controller depend on the control mode
selected in C00007.
The user interface of the FB Editor includes the following control and function elements:
 Toolbar  Search function  Level selection  Editor view/overview

 Drawing area  Context menu  Status bar Not shown:
Overview window
 Tip!
Go to the »Engineer« toolbar and click the icon to hide the Project View and the
Message Window. This increases the Workspace available for the FB Editor. A
renewed click on the symbol shows the Project View and the Message Window
again.
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User interface
15.2.1 Toolbar
The FB Editor is provided with an individual toolbar in the upper position which in the
following text is called FB Editor toolbar.
 Click an icon to execute the corresponding function.
Symbol Function
Insert function block or system block
Inserting a function block ( 464)
Inserting a system block ( 466)
Inserting a port block ( 468)
Adjusting online and offline interconnection ( 487)
Acknowledge error in the interconnection / reload interconnection
Correct interconnection
Start online monitoring
Interrupt online monitoring
Close online monitoring
Enlarge view of interconnection
Reduce view of interconnection
Enlarge cutout of interconnection
Show total interconnection in the drawing area
Show print view
Printing the interconnection ( 488)
Search function ( 451)
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User interface
15.2.2 Search function
Use the search function to get quickly to a certain module of the interconnection.
 The list field of the search function contains all function blocks, system blocks, and port
blocks of the interconnection:
 When you select a module in the list field, this module is zoomed in and selected at the
same time (the following example shows the LS_DigitalInput system block):
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User interface
 Tip!
You can also enter any search text in the input field.
• If you click the icon, the cutout is moved to the object which contains this
search text.
• Another click on the icon leads to a new search. Thus, you can navigate
successively to all objects which contain the entered search text.
• The search text does not consider case sensitivity.
15.2.3 Level selection
Go to the list field Level selection and select the interconnection level to be displayed.
"I/O interconnection" level

This level displays only the I/O interconnection of the currently selected technology
application for a better overview.
 Details of the application are masked out in this level.
 The interconnection of the I/Os of the controller with the inputs and outputs of the
application in detail depends on the control mode selected in C00007.
 The parameterisation dialogs on the Application parameter tab correspond to the
application block displayed in this level.
[15-5] Schematic diagram of "I/O interconnection"
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User interface
"Application interconnection" level

This level displays the interconnection of the application selected in C00005 in detail. All
function blocks used in the application and the system blocks which provide the interfaces
to the drive and motor interface and to the MotionControlKernel (MCK) are displayed with
their connections.
 The interconnection of the I/Os of the controller with the inputs and outputs of the
application is masked out in this level.
[15-6] Schematic diagram of "Application interconnection"
"Free interconnection" level

This level serves to implement an individual drive solution for the HighLine version.
 Note!
When you select the "Free interconnection" level for the first time, you are
prompted to confirm whether the interconnection from the I/O level and the
application level are to be combined and copied into this level.
When you confirm this confirmation prompt with Yes, the I/O level and the
application level are not available anymore. This action can only be undone by
resetting the application to a predefined Lenze application! Reset changed
interconnection ( 486)
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User interface
15.2.4 Editor view/overview
Use the list field at the top right to change from the Editor to the overview and vice versa.
The overview shows all function blocks used of the interconnection in the upper list field
in the order of their processing. The lower list field shows all used system blocks.
 The processing order of the function blocks can be optimised manually or according to
an automatically generated selection. Changing the processing order ( 481)
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User interface
15.2.5 Context menu
You can open a context menu via the right mouse button for each object (function block,
system block, line, comment, etc.) and for the drawing area:
 The contents of the context menu depend on the type of object you click on.
 Example: Context menu for a function block:
15.2.6 Status bar
The status bar of the FB Editor shows, among other things, information about the system
load and the error status of the interconnection:
Symbol Meaning
 System load
Here: out of the available computing time of 610 μs, 226 μs are required by the application.
 Error status of the interconnection

The interconnection has no errors and no warnings
The interconnection has errors and/or warnings
 Communication status
Offline
Online
Communication error
 Adjustment status
Offline and online interconnection match
Offline and online interconnection are different
 Update rate for monitoring values
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User interface
15.2.7 Overview window
The overview window shows the drawing area in a reduced view. The overview window
serves to e.g. move quickly through a more complex interconnection.
 How to show the monitor window:

Go to the Context Menu of the drawing area and select the Overview Window.
• If you execute this command again, the overview window is hidden again.
 The green frame in the overview window indicates the interconnection cutout that is
currently displayed in the drawing area.
 Use the mouse pointer to shift and resize the cutout to be displayed.
 How to shift the cutout presented in the drawing area:

1. Position the mouse pointer to the green frame in the overview window.
• The mouse pointer symbol becomes a positioning cross.
2. Click left mouse button and shift the green frame to its new position by keeping
the mouse button pressed, so that the desired cutout of the interconnection is
displayed in the drawing area.
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User interface
 How to redefine the cutout to be presented:

In the overview window draw a frame around the area of the interconnection
which is to be presented in the drawing window by keeping the left mouse button
pressed:
• The aspect ratio of the frame is automatically adapted to the aspect ratio of the
drawing area.
• According to the size of the frame that is drawn, also the presentation size of
the objects in the drawing area changes.
 Tip!
Go to the FB Editor toolbar and click the icon to adapt the view size so that all
objects included in the interconnection are visible in the drawing area.
Automatic scroll ("AutoScroll function")
If you reach a window limitation in the drawing area when shifting an object or in
the overview window when shifting the green frame, and if you then shortly hold
the mouse pointer in this position, an automatic scrolling into the corresponding
direction is carried out:
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Using the FB-Editor as "Viewer"
15.3 Using the FB-Editor as "Viewer"
The main purpose of the FB Editor is the individual configuration of the selected
technology application. However, you can also use the FB Editor to
 make a diagnosis of the application (when an online connection has been established),
 get a better understanding for the operating mode of the application,
 use the interconnection as an alternative parameterisation access.
Diagnostics of the application

When an online connection to the controller has been established, the current values are
displayed at the inputs and outputs of the objects.
 Process-scaled signals can be scaled in a "user-defined" way for easy diagnostics in the
FB Editor. Change online display format ( 461)
Getting a better understanding for the operating mode of the application

Make yourself familiar with the signal flow of the interconnection to get a better
understanding of the operating mode of the application or individual functional areas.
 The " symbol in the head of the block or the Help command in the context menu for
the block serve to open the online help for the block.
Using the interconnection as an alternative parameterisation access
 The symbol in the head of the module, a double-click on the module, or the
Parameter... command in the context menu of the module serve to open the
parameterisation dialog or the parameter list for the module.
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15.3.1 Following connections of inputs and outputs
In addition to the Search function you can use the context menu of inputs and outputs to
follow connections and quickly reach certain signals.
 How to navigate from one output to another connected input:

1. Open the context menu (right mouse button) of the port symbol at the output.
• The context menu for the port symbol contains all inputs which are connected
to the output:
2. Select input in the context menu to which you want to navigate.

• As a result, the selected input is displayed in the centre of the drawing area (in
this example: nGPAnalogSwitchOut_a):
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 How to navigate from one input to another connected output:

If the input is connected to a flag:
• Double-click the flag:
If the input is connected to a line:

1. Open the context menu (right mouse button) of the port symbol at the output:
2. Select output in the context menu.

• Since an output can only be connected to an input, the context menu contains
only an output.
The output is displayed in the centre of the drawing area.
15.3.2 Keyboard commands for navigation
Keyboard command Function

<Picture> Scroll up
<Picture> Scroll down
<Shift> + <picture> Scroll to the left
<Shift> + <picture> Scroll to the right

<POS1> Scroll to the left edge of the interconnection
<END> Scroll to the right edge of the interconnection
<Ctrl> + <Pos1> Scroll to the left upper corner of the interconnection
<Ctrl> + <End> Scroll to the right lower corner of the interconnection
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15.3.3 Change online display format
For online monitoring in the FB Editor the display format of the input and output data of a
block can be adapted individually. Process-scaled signals can be scaled in a "user-defined"
way for easy diagnostics in the FB Editor. Thus, the display of these signals gets a process
reference.
 How to change the data display format of block inputs/outputs:

1. Go to the context menu of the block and select the Online display format
command.
• Tip: You can call the context menu of a block by clicking with the right mouse
button on the header of the block.
• The Display format dialog box is displayed:
2. Select the inputs/outputs from the list the display format of which is to be
changed.
• Note: In the Global format setting list field the "---" entry must be selected so
that the display format can be changed.
• If you click further inputs/outputs while pressing <Ctrl> they are added to an
already existing selection (multi-selection).
• The <Shift> key serves to select a related area of inputs/outputs.
• More functions:
Display masked out connections
Display additional information
Select all inputs/outputs
Reset all format information
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3. Click the symbol to edit the display format of the selected inputs/outputs.
• The Edit display format dialog box is displayed:
4. Go to the Format displayed list field and select the "User-defined" entry.
5. Go to the Format template list field and select "No template".
6. Select the required scaling, unit, number of decimal positions, and sign handling.
7. Press OK to accept the settings and close the Edit display format dialog box.
• The Display format dialog box now displays the text "User-defined" for the
changed inputs/outputs in the Format column.
After all required formats have been changed:
8. Press Back to close the Display format dialog box.
• For online monitoring, the changed format is used.
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Reconfiguring the predefined interconnection
15.4 Reconfiguring the predefined interconnection
How to proceed:
1. Insert additionally required objects into the interconnection.
2. Hide unneeded inputs/outputs of function blocks and system blocks to obtain a clearly
arranged interconnection.
3. Arrange the objects in the drawing area in a reasonable manner.
4. Establish the connections required for the desired function.
5. If required, change (optimise) the processing order of the function blocks.
 Tip!
Detailed information on the individual steps can be obtained from the following
subchapters!
 Note!
With the "StateLine" version, the interconnection shown in the application level
cannot be edited.
15.4.1 Insert/delete objects
Objects can be inserted in the interconnection via the FB Editor toolbar and the context
menu of the drawing area. The following subchapters provide detailed information on how
to insert/delete the different objects.
Symbol Function
Inserting a function block ( 464)
Inserting a system block ( 466)
Inserting a port block ( 468)
Inserting a comment ( 470)
 Tip!
Use the context menu of the drawing area to insert a function block, system block,
port block or comment directly to the current position of the mouse pointer in the
drawing area.
If you insert an object via the corresponding icon in the FB Editor toolbar, the object
is always placed at the top left corner in the drawing area.
Interconnection elements cannot only be copied within the same interconnection
but also across all devices within the same project, as long as the devices stem from
the same product family. Copying interconnection elements (across all devices)
( 483)
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15.4.1.1 Inserting a function block
 Note!
In the FB Editor, function blocks are only available in the "Application
interconnection" level!
 How to insert a function block into the interconnection:

1. Click the icon in the FB editor toolbar.
• The Insert Function Block dialog box appears:
2. Unless it is already displayed, select the Function Blocks tab.
• All function blocks available are displayed in the Search results list field.
• A preview of the selected function block is displayed.

• A detailed description of all available function blocks can be found in the main
chapter "Function library". ( 494)
3. If required, define search criterions to accordingly narrow down the function blocks
available:
• Block name:
String which must be contained in the name of the function block.
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4. After changing the search criteria, press the Find button to update the selection.
• Then, only the function blocks complying with the features set in the search
criteria are shown in the Search Results list field.
• If no search criteria are set, all function blocks available are shown.
5. Select the function block to be inserted in the Search results list field.
6. Press Insert button.
• The dialog box is closed and the selected function block is inserted into the
interconnection.
Context menu for the function block

If you right-click on the header of a function block, a context menu opens via which you can
execute the following functions in addition to the general processing functions (Copy,
Insert, Delete):
Command Function
Center Move the visible cutout of the drawing area so that the block is centred.
Connector visibilities... Define visible inputs and outputs of the block.

Changing connector visibilities ( 473)
Online display format... Adapt the display format of the input and output data of the block
individually for online monitoring.
Change online display format ( 461)
Parameter... Open the parameter list/parameterisation dialog for the block.
• Only if function block is parameterisable.
Help Show online help for the block.
Related topics
Deleting objects that are no longer required ( 472)
Arranging objects in the drawing area ( 474)
Creating/deleting connections ( 475)
Changing the processing order ( 481)
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15.4.1.2 Inserting a system block

A system block is inserted similarly to the way a function block is inserted.
 How to insert a system block into the interconnection:

1. Click the icon in the FB editor toolbar.
• The Insert Function Block dialog box appears:
2. Unless it is already displayed, select the System Blocks tab.
• All system blocks available are displayed in the Search results list field.
• A preview of the selected function block is displayed.

3. If required, define Search criterions to accordingly narrow down the system blocks
available:
• Block name:
String which must be contained in the name of the system block.
• Then, only the system blocks complying with the features set in the search
criteria are shown in the Search Results list field.
• If no search criteria are set, all system blocks available are shown.
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5. Select the system block to be inserted in the Search results list field.
• The dialog box is closed and the selected system block is inserted into the
interconnection.
Context menu for the system block

If you right-click on the header of a system block, a context menu opens via which you can
Insert, Delete):
Command Function

Related topics
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15.4.1.3 Inserting a port block

All input/output ports defined for the application on the Ports tab can be inserted into the
interconnection in the form of port blocks in order to get access to the associated element
variables.
 Tip!
You can change between the Ports and FB Editor tabs at any time to define new
ports and afterwards insert them into the interconnection.
 How to insert a port block into the interconnection:

1. Click the icon in the FB Editor toolbar.
• The Insert port block dialog box appears.
• All port blocks available are displayed in the Search results list field.
• A preview of the selected port block is displayed.

2. If required, define search criterions to accordingly narrow down the port blocks
available:
• Block name:
String which must be contained in the name of the port block.
• Then, only the port blocks complying with the features set in the search criteria
are shown in the Search Results list field.
• If no search criteria are set, all port blocks available are shown.
4. Select the port block to be inserted in the Search results list field.
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• The dialog box is closed and the selected port block is inserted into the
interconnection.
Context menu for the port block

If you right-click on the header of a port block, a context menu opens via which you can
Insert, Delete):
Command Function

Related topics
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15.4.1.4 Inserting a comment

Comments can be inserted at any position in the drawing area.
As of the »Engineer« V2.10, the interior colour and text alignment of a comment can be
changed via a properties dialog. Now the sizes of comments can also be changed using the
mouse pointer. When using different interior colours you can use comments to graphically
arrange areas that belong together in terms of function or separate them from other areas:
[15-7] Example: Graphical arrangement of FBs by means of two comments that overlap.
 Note!
The term "Arrangement" does not mean a logical arrangement of the function
blocks. The comments are only graphical presentation elements of the FB Editor.
 How to insert a new comment into the interconnection:

1. Move the mouse pointer to the (free) position in the drawing area where the
comment is to be inserted.
2. Go to the Context menu (right mouse key) and select the New comment command.
• The Properties dialog box is displayed:
3. Enter the required comment into the text field.

4. Optional: Change preset interior colour.
• For this purpose, click the left Change... button to open the Colour dialog box to
select another interior colour.
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5. Optional: Change preset text alignment.

• For this purpose, click the right Change... button to open the Text alignment
dialog box to select another text alignment.
6. Press OK to close the Properties dialog box and insert the comment.
• After being inserted, the corner points of the comment are shown:
7. Optional: Change size of the comment.

• For this purpose click one of the corner points with the left mouse button and
enlarge the comment to the required size with the mouse button pressed.
8. Optional: Drag comment.

• For this purpose click the comment with the left mouse button and move the
comment to the required position with the mouse button pressed.
 Tip!
The Properties dialog box for a comment already available can be opened by
double-clicking the comment.
Related topics
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15.4.1.5 Deleting objects that are no longer required

Objects that are no longer required can be easily deleted again. "Delete" only means that
the object is removed from the drawing area. If you have deleted an object from the
drawing area, you can reinsert it any time into the interconnection.
 Note!
Deleting an object cannot be undone.
Together with the object, all available connections to this object are deleted.
 How to delete objects that are no longer required:

1. Select objects to be deleted.
• You can select a single object by clicking the header of the object.
• You can select objects that are placed together by drawing a frame around these
objects while keeping the mouse button pressed.
• If you click the header of further objects while pressing <Ctrl>, these will be
added to an already existing selection (multi-selection).
• All selected objects are highlighted by a light green header.
2. Press <Del>.
Related topics
Deleting connections that are no longer required ( 480)
472 L Firmware 02.00 - DMS EN 3.0 - 05/2009

15.4.2 Changing connector visibilities
Inputs and outputs that are not connected can be hidden for each block. This serves to
reduce the dimension of the block. The interconnection becomes clearer.
 How to define the visible inputs and outputs:

1. Go to the context menu of the block and select the Connector visibilities command.
• The Define Visible Inputs and Outputs for Function Blocks is displayed:
• All visible connections have a checkmark.

• In case of a block that is inserted anew, all inputs and outputs are visible at first.
• Inputs and outputs with a light grey checkbox are already connected and thus
cannot be hidden.
2. By setting/removing the checkmarks or via the buttons you can define the visible
inputs and outputs.
3. Press OK to accept the selected definition and close the dialog box.
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15.4.3 Arranging objects in the drawing area
All objects can be freely arranged in the drawing area by dragging with the mouse.
We recommend to make an arrangement in which the required connections between the
inputs and outputs can be created easily. A division into functional areas may also be
sensible to get a better understanding of the application.
Objects which are already connected, can also be dragged to another (free) position in the
drawing area. The available connections will be automatically re-routed after dragging.
 How to drag an object:

1. Click the header of the object (and keep the button pressed).
2. Keep the button pressed and drag the object to the required position in the
drawing area.
• Via <Esc> you can cancel this action.
 How to drag several objects at the same time:

1. Select the objects to be dragged.
• You can easily select objects that are placed together by drawing a frame
around these objects while keeping the mouse button pressed.
2. Keep the mouse button pressed on the header of one of the selected objects and
drag it to the required position in the drawing area.
 Note!
A red header indicates that the object overlaps with other objects in the drawing
area!
Arrange the objects so that no overlap occurs.
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15.4.4 Creating/deleting connections
After adding objects and arranging them in a reasonable manner within the drawing area,
you can create the connections between the available objects which are required for the
desired function.
A connection always has a direction and therefore always has a source and a target.
 An output represents a possible source /B5/4B " /B25B "
in the interconnection. E&Z E4VS E,Q E2XW
 An input represents a possible target in

E&FZ E&Z&FZ E,Q
the interconnection.
Permissible/impermissible connections
Several connections can lead from one output.
 Therefore it is always possible to start a /B5/4B " /B25B "
new connection from an output. E&Z E4VS E,Q E2XW
E&FZ E&Z&FZ E,Q
However, maximally one connection may end in an input.
 Therefore it is only possible to start a /B5/4B " /B25B "
new connection from an input if there E&Z E4VS E,Q E2XW

is no connection already ending in this
input. E&FZ E&Z&FZ E,Q
Only inputs/outputs of the same signal type can be connected.
 Thus, a connection between different /B'7B " /B25B "
port symbol cannot be established. Q,QBD Q2XWBD E,Q E2XW
E,Q
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Connection types
Connections can either be created by means of connection lines or port identifiers ("flags")
[15-8] Example 1: Connection via connection line
[15-9] Example 2: Connection via flags
 Tip!
The commands Show as flag or Show as line in the context menu of a connection
serve to change the representation of the connection at any time.
When an output is connected to several inputs via flags, three points are displayed
("...") at the output instead of the concrete input identifier. The context menu of the
port symbol shows all inputs which are connected to the output.
476 L Firmware 02.00 - DMS EN 3.0 - 05/2009

15.4.4.1 Creating a connection using the connection line
 How to create a connection using the connection line:

1. Click the port symbol from which the new connection is to be started.
• It is only possible to start a new connection from an input if there is no
connection already ending in this input.
• If you then move the mouse pointer away from the port symbol, a new
connection is "drawn" from this port symbol.
2. Click the port symbol where the connection is to end.
• Thereupon the corresponding connection is routed automatically if the
connection is permissible.
 Tip!
If you move the mouse pointer across the port symbol while drawing a new
connection, you can see whether the connection is permissible or not from the
colour of the drawn line and from the mouse pointer symbol.
• Permissible connection:
• Impermissible connection (different port symbol):
The command Show as flag in the context menu of a line serves to change the
representation of the connection at any time.
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15.4.4.2 Creating a connection using port identifiers
 How to create a connection with port identifiers:

1. Click the port identifier.
• The selected port is highlighted in light green:
2. Drag the port segment to the required port while keeping the left mouse button
pressed:
After releasing the mouse button, the connection via port identifiers (flags) is
created. The corresponding port identifier consists of the block name and the name
of the input/output:
 Tip!
The command Show as line in the context menu of a flag serves to change the
representation of the connection at any time.
478 L Firmware 02.00 - DMS EN 3.0 - 05/2009

15.4.4.3 Creating a connection via connection dialog

You can also create connections by means of a selection dialog instead of dragging by
mouse. This especially makes sense if there is a great distance between the ports to be
connected in the drawing area.
 How to create a connection using the selection dialog:

1. Right-click the port identifier or click the port symbol from which the connection is
to start.
• The context menu for the port is displayed.
2. Go to the context menu for the port and select the Add/change connection...
command.
• The Add/change connection dialog box is displayed:
• In a tree structure all inputs and outputs of the application are shown to which
a connection is permissible.
• You can enter an optional text into the Filter input field to reduce the selection
to the blocks or ports which contain the entered text.
• If you activate the Show hidden ports control field, the hidden ports for system
and function blocks are shown as well.
3. Select the port where the connection is to end from the tree structure.
4. Activate the Add connection as flag control field if a port identifier (flag) is to be
inserted instead of a connection line.
5. Press OK to create the connection to the selected port and close the dialog box.
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15.4.4.4 Deleting connections that are no longer required
 How to delete connection lines:

1. Select connection lines to be deleted.
• Select a single connection line by directly clicking on the connection line with
the right mouse button.
• If you click further connection lines while pressing <Ctrl> they are added to an
• All connection lines are highlighted in red.
2. Press <Del>.
 How to delete port identifiers/flags:

1. Select the port identifiers to be deleted.
• Select a single port identifier by directly clicking on the port identifier with the
left mouse button.
• If you click further port identifiers while pressing <Ctrl> they are added to an
• All selected port identifiers are highlighted by a light green header.
2. Press <Del>.
Related topics
480 L Firmware 02.00 - DMS EN 3.0 - 05/2009

15.4.5 Changing the processing order
If you insert a function block into the interconnection, an order index is automatically
assigned to this function block. By means of this order index it is defined in which order the
individual function blocks are calculated at runtime.
 The first function block inserted contains the order index "1", the next function block
inserted contains the order index "2", etc.
 The respective order index is displayed in the header of the function block in the
rectangle after the block name.
[15-10] Example: Function blocks with order index
 Note!
When a function block is shifted, its order index is maintained.
The processing order influences the result!
• In certain cases it may be sensible to change the processing order, but if you
select an unfavourable processing order, errors may arise!
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 How to change the processing order manually:

1. Use the list field at the top right to change from the Editor to the overview.
• The overview displays all function blocks of the interconnection in the order of
their processing
• In the first "Order" column the order index of each function block is listed.
2. Unless already selected, select the entry "Manual selection" in the Optimisation...
list field.
3. Select the function block which is to receive a different position within the
processing order.
• If you click further function blocks while pressing <Ctrl> they are added to an
• The <Shift> key serves to select a related area of function blocks.
4. Move the function block(s) to the desired position using the and buttons.
• The button serves to exchange two selected function blocks with regard to
their order.
5. Repeat steps 3 and 4 until the required processing order has been established.
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Changing the processing order according to an automatically generated selection

In addition to the manual selection, the Optimisation... list field also offers two options for
an automatic adaptation of the processing order:
 Signal flow: The processing order is optimised according to the signal flow.
 Topology: The processing order is optimised according to the x/y arrangement of the
function blocks in the FB Editor.
As long as an automatic adaptation has been selected, a manual change of the processing
order is not possible.
15.4.6 Copying interconnection elements (across all devices)
Interconnection elements can be copied across the devices within the project if the devices
belong to the same product family (e.g. Inverter Drives 8400).
All types of blocks and comments can be copied to the clipboard via the Copy command or
the <Ctrl>+<c> shortcut and then be inserted into the FB interconnection of the same or
another project device of the same product family using the Insert command or the
<Ctrl>+<v> shortcut.
 During the copy process into the clipboard, existing connections between copied blocks
are copied as well, and the layout is kept too. Moreover, the separate technical objects
(e.g port definition) are copied. Selected connections cannot be copied on their own.
 The Insert command is available if the clipboard is not empty and if it was copied from
a device of the same product family. Within this product family, all device types (e.g.
8400 xxxxLine Vxx.xx) are permitted.
 After the Insert command has been selected, a dialog box is displayed which serves to
select which elements are to be inserted from the clipboard and how to solve name
conflicts, if any.
 After inserting the elements, they are marked in the target interconnection in order to
be repositioned or deleted again to undo the insertion.
 Inserting from the clipboard can be repeated. The originally copied contents of the
clipboard remains unchanged when it is inserted.
 How to copy one or several interconnection elements:

1. Select the objects to be copied.
• You can easily select elements that are placed together by drawing a frame
around these elements while keeping the mouse button pressed.
2. Go to the context menu and select the Copy command (or <Ctrl>+<c>).
• The selected elements are copied into the clipboard of the FB Editor.
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3. If the elements are to be copied into a function block interconnection of another

project device, change to the corresponding interconnection via the project view.
4. Go to the context menu and select the Insert command (or <Ctrl>+<v>).
5. Go to the Insert FB interconnection dialog box and select the elements to be
inserted from the clipboard.
• Detailed information on this dialog box can be obtained from the following
subchapter "Insert options for copied elements". ( 485)
6. Click Insert to insert the selected elements into the target interconnection as
defined.
• Only possible if at least one element in the list has been selected for insertion.
• Insertion is also possible via the <Enter> button if at least one element is
selected in the list for insertion.
• The original layout and the relative position of the inserted blocks to each other
are maintained.
• When copying across the devices, you also insert the corresponding separate
technical objects (e.g. port definition).
• The inserted elements are deleted from the list. If the list is empty, the dialog
box is closed and the connections are inserted depending on the selected
option.
7. If there are still elements to be entered in the list, repeat steps 5 and 6 until all
elements are inserted as intended.
8. Press Close to stop the insertion and close the dialog box.
• You can also use <Esc> or <Enter> to close the dialog box if "Insert" is not active.
• The elements inserted into the target interconnection so far are maintained.
• The connections for the blocks inserted so far are inserted depending on the
selected option.
484 L Firmware 02.00 - DMS EN 3.0 - 05/2009

15.4.6.1 Insert options for copied elements

If interconnection elements have been copied to the clipboard, the »Engineer« will display
a list of all elements contained in the clipboard when selecting the command Insert in the
Insert FB interconnection dialog box:
The list shows the elements which can be added to the target interconnection, and the
elements which cannot be added.
 In the "Selection" column, you can check/uncheck the elements to be added.
 Connections are only inserted when the dialog box is closed, which applies to all
modules inserted so far. They are displayed as lines or flags, like in the original, but re-
routed.
 The symbols in the Toolbar serve to execute the following functions:
Symbol Function
Add the selected elements to the interconnection
Show the elements to be added but are marked with an error or warning.
Show the elements not to be added and marked with an error or warning.
Show blocks
Show connections
Show parameters
Show comments
Show system elements
Show all
Print view
Print list
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 The buttons serve to execute the following functions:
Button Function
Insert Add elements selected in the list to the target interconnection
• Only possible if at least one element in the list has been selected for insertion.
• Insertion is also possible via the <Enter> button if at least one element is selected in the
list for insertion.
• The original layout and the relative position of the inserted blocks to each other are
maintained.
• When copying across the devices, you also insert the corresponding separate technical
objects (e.g. port definition).
• The added elements are simultaneously deleted from the list. The connections are added
depending on the selected option.
Close Close dialog box.
• You can also use <Esc> or <Enter> to close the dialog box if "Insert" is not active.
• The elements inserted into the target interconnection so far are maintained.
• The connections for the blocks inserted so far are inserted depending on the selected
option.
15.4.7 Reset changed interconnection
If you only made changes on the I/O level, you can reset them by selecting a predefined
control scheme in C00007. If you have also made changes on the application level, you
must first reset the changed application to a predefined application in C00005.
 How to reset the application interconnection to a predefined application:

1. Go to the Application parameters tab.
2. Select the required application in the Application list field.
 How to reset the I/O interconnection to a predefined control scheme:

1. Go to the Application parameters tab.
2. Select the required control scheme in the Control source list field.
486 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Adjusting online and offline interconnection
15.5 Adjusting online and offline interconnection
If the »Engineer« detects that online and offline interconnection differ from each other,
the Adjust interconnection dialog box is displayed with various options for the adjustment:
 Tip!
The dialog box can also be opened via the symbol in the FB Editor toolbar.
Button Function
Accepting the interconnection from Add the interconnection in the device to the FB Editor. The interconnection
the device existing in the FB Editor will be overwritten by this action.
Transferring the interconnection to Transfer the offline interconnection which is currently not visible in the FB
the device Editor to the device. The interconnection existing in the device will be
overwritten by this action.
Showing differences Showing differences between online and offline interconnection.
Cancel Close the Adjust interconnection dialog box without making an adjustment.
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Printing the interconnection
15.6 Printing the interconnection
The interconnection can be printed for documentation purposes, optionally on one page,
on four pages, or not scaled.
 Tip!
By clicking the icon in the FB Editor toolbar, you can get a print view before
printing.
 How to print the interconnection:

1. Click the icon in the FB Editor toolbar.
• The Circuit print size dialog box is displayed.
2. Select the desired size and press OK.
• The standard dialog box Print appears.
3. Press OK to start the printing process.
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Comparing interconnections
15.7 Comparing interconnections
The comparison operation serves to compare FB interconnections of 8400 devices within

the project. An offline<>online comparison and the comparison of two online devices are
possible.
 Note!
Only applications can be compared which have been enabled in the FB Editor!
Block positions, line representations, and connector visibilities are not
compared.
 How to compare two FB interconnections:

1. Select the command Application dataCompare FB interconnections....
• The Compare FB interconnections dialog box is displayed:
2. Select the interconnections to be compared in the project view represented on the

left and right.
• In order to execute a comparison with an online device, select "Online" in one of
the two upper list fields. Then all available online devices are displayed for
selection.
• If you select "Online" in one of the two upper list fields, you can also compare
the interconnections of two available online devices.
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3. Click Compare.
• If the comparison was executed successfully, the comparison result is displayed
as a list (see the following section).
• If a comparison of the selected interconnections is not possible, a corresponding
message is displayed.
4. In order to stop the comparison operation and close the dialog box: Press
Back.
Representation of the comparison result

The comparison result is displayed in the form of a list in the FB interconnection comparison
dialog box:
 The symbols in the Toolbar serve to show or hide different details and export and print
the shown list.
Symbol Function
Only show differences
• Button can only be activated in expert mode.
Show blocks
Show connections
Show processing order
Show properties of blocks and connections

• Function is only available in expert mode.
Show comments
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Symbol Function
Show block parameters
Show application parameters
Show all
Show general information
Show summary
Activate expert mode

• In the expert mode, also non-functional differences are shown.
Apply filter
• Only show list entries which contain the text entered in the input field.
Export shown list as comma-separated list (*.csv)
Print view
Print list
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Copying interconnection
15.8 Copying interconnection
In contrast to copying/inserting selected interconnection elements via the clipboard, the

function described in this chapter serves to replace the current FB interconnection of a
device completely by the FB interconnection of another project device.
 Note!
The complete FB interconnection can only be copied between devices of the
same device type and version (e.g. 8400 HighLine C V1.0).
A complete interconnection comprises:

 Function blocks (use and parameter values)
 System blocks (application and parameter values)
 Port blocks (use and parameter values)
 Connections
 Comments
 Interconnection layout (arrangement of the modules)
 Port definition of the ports used in the FB interconnection
 How to copy the complete interconnection into another project device:

1. Select the application with the FB interconnection to be copied in the project view.
2. Select the command Application dataCopy FB interconnections....
3. Go to project view and select the application which is to be inserted into the copied
FB interconnection.
4. Select the command Application dataAdd FB interconnection....
• The command can only be activated if an FB interconnection has been copied
from a device of the same device type and version.
• After the command has been executed, the module assembly is compared. If
there are relevant deviations, the insertion is refused and a corresponding
message is displayed.
• If an insertion is possible, you are asked if the FB interconnection is to be
inserted.
5. Confirm the question if the copied FB interconnection is to be inserted with Yes.
• After the insertion, an update of the project is required.
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Export/import of the interconnection
15.9 Export/import of the interconnection
The interconnection existing in the project can be exported to a file for reuse/transfer to
other devices.
 Note!
The file can only be imported to devices of the same device type and version (e.g.
8400 HighLine C V1.0).
 How to export the interconnection from the project to a file:

1. Go to the Project view in the context menu of the controller and select the Export
FB interconnection... command.
2. Enter the memory location and the file name for the interconnection to be
exported in the Export FB interconnection dialog box.
3. Click Save to export the interconnection and close the dialog box.
 How to import the interconnection from a file to the project:

1. Go to the Project view in the context menu of the controller and select the Import
FB interconnection... command.
2. Select the file with the interconnection to be imported in the Import FB
interconnection dialog box.
3. Click Open to import the interconnection and close the dialog box.
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Function library
16 Function library
Overview of function blocks available
Function block Number Runtime Function

L_Absolut 2 2 μs ... converts a bipolar input signal into a unipolar output
signal.
L_AddSub 1 3 μs ... adds / subtracts the input signals.
L_AnalogSwitch 5 2 μs ... switches between two analog input signals.
L_And 3 2 μs ... ANDs three binary signals.
L_And5 2 2 μs ... ANDs five binary signals.
L_Arithmetik 5 7 μs ... combines two analog signals arithmetically.
L_ArithmetikPhi 3 7 μs ... combines two angle signals arithmetically.
L_Compare 5 5 μs ... compares two analog signals and can be used e.g. to
implement a trigger.
L_ComparePhi 5 5 μs ... compares two angle signals.
L_ConvBitsToWord 3 3 μs ... converts 16 bit input values of "BOOL" type into one output
value of "WORD" type.
L_ConvDIntToWords 3 3 μs ... converts one input value of "DINT" type into two output
values of "WORD" type.
L_ConvUnitsToIncr 3 3 μs Description in preparation
L_ConvWordsToDInt 3 3 μs ... converts two input values of "WORD" type into an output
value of "DINT" type.
L_ConvWordToBits 3 3 μs ... converts one input value of "WORD" type into the
corresponding 16 bit output values.
L_Counter 3 3 μs ... is a digital upcounter and downcounter.
L_DFlipFlop 2 3 μs ... provides two stable states depending on the input signals.
L_DigitalDelay 3 2 μs ... delays binary signals.
L_DigitalLogic 2 2 μs ... provides a binary output signal which is generated by the
logic combination of three input signals.
L_DigitalLogic5 2 2 μs ... provides a binary output signal which is generated by the
logic combination of five input signals.
L_DT1 1 3 μs ...differentiates signals. The function block can, for instance,
be used to apply an acceleration (dv/dt).
L_GainOffset 3 3 μs Description in preparation
L_GainOffsetP 3 3 μs
L_GainOffsetPhiP 2 3 μs
L_JogCtrlExtension 1 5 μs Description in preparation
L_Limit 2 3 μs ... limits signals to adjustable value ranges.
L_LimitPhi 3 3 μs Description in preparation
L_MckCtrlInterface 1 5 μs ...serves to control the MotionControlKernel system block.
L_MckStateInterface 1 5 μs ...provides information about the status signalling of the
MotionControlKernel FB.
L_MPot 1 10 μs ... replaces a hardware motor potentiometer as setpoint
source.
L_MulDiv 2 4 μs ... multiplies the analog input signal with a factor.
L_Mux 1 3 μs ... one of eight input signals is selected and applied to the
output.
L_Negation 2 2 μs ... converts analog input signals.
L_NLim 2 3 μs Description in preparation
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Function library
Function block Number Runtime Function

L_Not 7 2 μs ... converts digital input signals.
L_Nset 1 50 μs ... contains a ramp generator with comprehensive
parameterisation and control options to condition a setpoint
signal.
L_OffsetGain 3 4 μs Description in preparation
L_OffsetGainP 3 17 μs ... for setting the offset and gain of analog input signals.
L_OffsetGainPhiP 2 17 μs ... for setting the offset and gain for angle signals.
L_Or 3 2 μs ... ORs three binary signals.
L_Or5 2 2 μs ... ORs five binary signals.
L_PCTRL 1 20 μs ... is a PID controller and can be used for various control tasks.
L_PhaseIntK 2 5 μs ... integrates a speed to an angle.
L_PT1 3 3 μs ... filters and delays analog signals.
L_RLQ 1 3 μs ... links a selected direction of rotation to the QSP function
with wire-break protection.
L_RSFlipFlop 2 3 μs ... saves a binary input information element and resets it on
command..
L_SampleHold 2 3 μs ... saves a value.
L_SignalMonitor_a 1 15 μs ... serves to output analog output signals of other FBs, SBs or
LAs.
L_SignalMonitor_b 1 3 μs ... serves to output binary output signals of other FBs, SBs or
LAs.
L_SQrt 1 3 μs Description in preparation
L_Transient 4 3 μs ... Evaluation of digital signal edges and conversion into
timed pulses.
Overview of system blocks available
System block Function

LS_AnalogInput Interface for the analog inputs
Analog inputs ( 179)
LS_AnalogOutput Interface for the analog outputs
Analog outputs ( 183)
LS_DataAccess Description in preparation
LS_DeviceMonitor Description in preparation
LS_DigitalInput Interface for the digital inputs
Digital inputs ( 187)
LS_DigitalOutput Interface for the digital outputs
Digital outputs ( 197)
LS_DisFree ... shows any number of 16-bit process data signals on
display codes.
LS_DisFree_a ... shows four analog process signals in percent on display
codes.
LS_DisFree_b ... shows eight boolean process signals on display codes
represented in bits.
LS_DisFree_p Description in preparation
LS_DriveInterface Interface for drive control (DCTRL)
Drive control (DCTRL) ( 54)
LS_Keypad Keypad control
LS_MotionControlKernel Interface for the MotionControlKernel
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Function library
System block Function

LS_MotorInterface Interface for the motor control (MCTRL)
Motor control (MCTRL) ( 83)
LS_ParFix ... provides two permanent parameter setting values for the
interconnection in the application.
LS_ParFree ... provides four WORD signals.
LS_ParFree_a ... provides four analog signals.
LS_ParFree_b ... provides 16 digital signals.
LS_ParFree_p Description in preparation
LS_ParFree_v ... provides four speed signals.
LS_PulseGenerator ... provides nine fixed frequencies and one configurable
frequency.
LS_SetError ...serves to activate parameterisable reactions to user-
defined events.
Error management ( 285)
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Function library
Function blocks | L_Absolut
16.1 Function blocks
16.1.1 L_Absolut
Function blocks: L_Absolute_1 L_Absolute_2

Runtime: 2 μs
This FB converts a bipolar input signal into a unipolar output signal.
L_Absolut_ ?
nIn1_a nOut_a
Inputs

Data type
nIn1_a Input signal

INT
Outputs
Data type
nOut_a Output signal

INT
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Function library
Function blocks | L_AddSub
16.1.2 L_AddSub
Function blocks: L_AddSub_1

Runtime: 3 μs
This FB is provided with two adding inputs and one subtracting input.
L_AddSub_ ?
nIn1_a nOut_a
+ +
nIn2_a + -
nIn3_a
Inputs

Data type
nIn1_a Input signal 1

INT This input is added
INT This input is added
INT This input is subtracted
Outputs
Data type

INT Out = In1 + In2 - In3
498 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
Function blocks | L_AnalogSwitch
16.1.3 L_AnalogSwitch
Function blocks: L_AnalogSwitch_1 L_AnalogSwitch_2 L_AnalogSwitch_3 L_AnalogSwitch_4 L_AnalogSwitch_5

Runtime: 2 μs
This function block switches between two analog input signals. The switching is controlled
via a boolean input signal.
L_AnalogSwitch_ ?
nIn1_a 0
nOut_a
nIn2_a
1
bSet
Inputs

Data type

INT
INT
bSet Selection of the input signal for the output to nOut_a
BOOL False nIn1_a
True nIn2_a
Outputs
Data type

INT
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 499

Function library
Function blocks | L_And
16.1.4 L_And
Function blocks: L_And_1 L_And_2 L_And_3

Runtime: 2 μs
This FB implements the ANDing of the input signals.
L_And_ ?
bIn1
bIn2 bOut
bIn3
&
Inputs

Data type
bIn1 Input signal

bIn2
bIn3
BOOL
Outputs
Data type
bOut Output signal

BOOL
Function
Inputs Output
bIn3 bIn2 bIn1 bOut
False False False False
False False True False
False True False False
False True True False
True False False False
True False True False
True True False False
True True True True
[16-1] Truth table of the FB L_And
500 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
Function blocks | L_And5
16.1.5 L_And5
Function blocks: L_And5_1 L_And5_2

Runtime: 2 μs
This FB implements the ANDing of the input signals.
L_And5_ ?
bIn1
bIn2
bIn3 bOut
bIn4 &
bIn5
Inputs

Data type
bIn1 Input signal

...
bIn5
BOOL
Outputs
Data type
bOut Output signal

BOOL
Function
Inputs Output
bIn5 bIn4 bIn3 bIn2 bIn1 bOut
False False False False False False
False False False False True False
False False False True False False
False False False True True False
False False True False False False
... False
True True True False True False
True True True True False False
True True True True True True
[16-2] Truth table of the FB L_And5
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 501

Function library
Function blocks | L_Arithmetik
16.1.6 L_Arithmetik
Function blocks: L_Arithmetik_1 L_Arithmetik_2 L_Arithmetik_3 L_Arithmetik_4 L_Arithmetik_5

Runtime: 7 μs
This FB can combine two analog signals arithmetically.

 The arithmetic function is selected via the Function parameter.
 All internal intermediate results and the value output at the nOut_a output are
internally limited to ±32767.
L_Arithmetik_ ?
byFunction
nIn1_a ± 32767
x
+ - * nOut_a
nIn2_a y / x/(1-y)
Inputs

Data type

INT
INT
Outputs
Data type

INT • Internal limitation to ±32767
Parameter
Parameter Possible settings Information

C00338 (L_Arithmetik_1) Function selection
C00339 (L_Arithmetik_2) 0 nOut_a = nIn1_a
C00650/1 (L_Arithmetik_3)
C00650/2 (L_Arithmetik_4) 1 nOut_a = nIn1_a + nIn2_a
C00650/3 (L_Arithmetik_5)
2 nOut_a = nIn1_a – nIn2_a
3
nOut_a = nIn1_a ⋅ nIn2_a
----------------------------------------
16384
4 nIn1_a When the denominator has the value
nOut_a = --------------------- ⋅ 164 "0", it will be set to "1".
nIn2_a
5 nIn1_a
nOut_a = ---------------------------------------- ⋅ 16384
16384 – nIn2_a
502 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
Function blocks | L_ArithmetikPhi
16.1.7 L_ArithmetikPhi
Function blocks: L_ArithmetikPhi_1 L_ArithmetikPhi_2 L_ArithmetikPhi_3

Runtime: 7 μs
This FB can combine two angle signals arithmetically.

 The arithmetic function is selected via the Function parameter.
 All internal intermediate results and the value provided at the dnOut_p output are
internally limited to ±2147483647 (= 231 - 1).
L_ArithmetikPhi_ ?
byFunction
dnIn1_p ± 2147483647
x
dnOut_p
+ -
dnIn2_p y
Inputs

Data type
dnIn1_p Input signal 1

DINT
DINT
Outputs
Data type
dnOut_p Output signal

DINT • Internal limitation to ±2147483647
Parameter

C01010/1 Function selection
(L_ArithmetikPhi_1)
0 dnOut_p = dnIn1_p
C01010/2
(L_ArithmetikPhi_2) 1 dnOut_p = dnIn1_p + dnIn2_p
C01010/3 2 dnOut_p = dnIn1_p - dnIn2_p
(L_ArithmetikPhi_3)
3 dnOut_p = dnIn1_p * dnIn2_p
4 dnOut_p = dnIn1_p / dnIn2_p
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 503

Function library
Function blocks | L_Compare
16.1.8 L_Compare
Function blocks: L_Compare_1 L_Compare_2 L_Compare_3 L_Compare_4 L_Compare_5

Runtime: 5 μs
This FB compares two analog signals and can be used e.g. to implement a trigger.
 Comparison operation , hysteresis  and window size  can be parameterised.
L_Compare_ ?
f =0
1 2 2 1
nIn1_a
bOut
nIn2_a
Inputs

Data type

INT
INT
Outputs
Data type
bOut Status signal "Comparison statement is true"

BOOL True The statement of the selected comparison mode is true.
Parameter

C00680 (L_Compare_1) Function selection 
C00685 (L_Compare_2) 1 nIn1 = nIn2
C00690 (L_Compare_3)
C00693/1 (L_Compare_4) 2 nIn1 > nIn2
C00693/2 (L_Compare_5) 3 nIn1 < nIn2
4 |nIn1| = |nIn2|
5 |nIn1| > |nIn2|
6 |nIn1| < |nIn2|
504 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library

C00681 (L_Compare_1) 0.00 % 100.00 Hysteresis 
C00686 (L_Compare_2) • Lenze setting: 0.00 %
C00694/1 (L_Compare_4)
C00682 (L_Compare_1) 0.00 % 100.00 Window size 
C00687 (L_Compare_2) • Lenze setting: 0.00 %
16.1.8.1 Function 1: nIn1 = nIn2

Selection: Function = 1
 This function compares two signals with regard to equality. It can, for instance, provide
the comparison "actual speed equals setpoint speed " (nact = nset).
 Use Window ( ) to set the window within which the equality is to apply.
 Use Hysteresis ( ) to set a hysteresis if the input signals are not stable and the output
oscillates.
bOut 1 2 2 1
TRUE
FALSE
nIn2_a nIn1_a
[16-3] Function 1: Switching performance
nIn1_a
1
2
nIn2_a
2
1
t
bOut
TRUE
FALSE
t
[16-4] Function 1: Example
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 505

Function library
16.1.8.2 Function 2: nIn1 > nIn2

 This function serves, for instance, to implement the comparison "actual speed is higher
than a limit value" (nact > nx) for one direction of rotation.
bOut 1
TRUE
FALSE
nIn1_a
nIn2_a
[16-5] Function 2: Switching performance (: Hysteresis)
Functional sequence
1. If the value at nIn1_a exceeds the value at nIn2_a, bOut changes from FALSE to TRUE.
2. Only if the signal at nIn1_a falls below the value of nIn2_a - hysteresis again, bOut
changes back from TRUE to FALSE.
nIn1_a
nIn2_a
t
bOut
TRUE
FALSE
t
[16-6] Function 2: Example, (: Hysteresis)
506 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
16.1.8.3 Function 3: nIn1 < nIn2

 This function serves, for instance, to implement the comparison "actual speed is lower
than a limit value" (nact < nx) for one direction of rotation.
bOut 1
TRUE
FALSE
nIn1_a
nIn2_a
[16-7] Function 3: Switching performance, (: Hysteresis)
Functional sequence
1. If the value at nIn1_a falls below the value at nIn2_a, bOut changes from FALSE to
TRUE.
2. Only if the signal at nIn1_a exceeds the value of nIn2_a - hysteresis again, bOut changes
back from TRUE to FALSE.
nIn1_a
1
nIn2_a
t
bOut
TRUE
FALSE
t
16.1.8.4 Function 4: |nIn1| = |nIn2|

 This function serves, for instance, to implement the comparison "nact = 0".
 This function is similar to function 1. However, the amount of the input signals is
generated before signal processing (no sign).
Function 1: nIn1 = nIn2
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 507

Function library
16.1.8.5 Function 5: |nIn1| > |nIn2|

 This function serves, for instance, to implement the comparison "|nact| > |nx|"
independently of the direction of rotation.
Function 2: nIn1 > nIn2
16.1.8.6 Function 6: |nIn1| < |nIn2|

 This function serves to implement the comparison "|nact| < |nx|" independently of the
direction of rotation.
Function 3: nIn1 < nIn2
508 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
Function blocks | L_ComparePhi
16.1.9 L_ComparePhi
Function blocks: L_ComparePhi_1 L_ComparePhi_2 L_ComparePhi_3 L_ComparePhi_4 L_ComparePhi_5

Runtime: 5 μs
This FB compares two angle signals.

 Comparison operation , hysteresis  and window size  can be parameterised.
L_ComparePhi_ ?
f =0
1 2 2 1
dnIn1_p
bOut
dnIn2_p
Inputs

Data type

DINT
DINT
Outputs
Data type
bOut Status signal "Comparison statement is true"

BOOL True The statement of the selected comparison mode is true.
Parameter

C01670/1 (L_ComparePhi_1) Function selection 
... 1 dnIn1 = dnIn2
C01670/5 (L_ComparePhi_5)
2 dnIn1 > dnIn2
3 dnIn1 < dnIn2
4 |dnIn1| = |dnIn2|
5 |dnIn1| > |dnIn2|
6 |dnIn1| < |dnIn2|
C01671/1 (L_ComparePhi_1) 0.00 incr 100.00 Hysteresis 
... • Lenze setting: 0.00 %
C01672/1 (L_ComparePhi_1) 0.00 incr 100.00 Window size 
... • Lenze setting: 0.00 %
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 509

Function library
16.1.9.1 Function 1: dnIn1 = dnIn2

 This function compares two signals with regard to equality. It can, for instance, provide
the comparison "actual speed equals setpoint speed " (nact = nset).
 Use Window ( ) to set the window within which the equality is to apply.
 Use Hysteresis ( ) to set a hysteresis if the input signals are not stable and the output
oscillates.
bOut 1 2 2 1
TRUE
FALSE
dnIn2_p dnIn1_p
[16-9] Function 1: Switching performance
dnIn1_p
1
2
dnIn2_p
2
1
t
bOut
TRUE
FALSE
t
[16-10] Function 1: Example
510 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
16.1.9.2 Function 2: dnIn1 > dnIn2

 This function serves, for instance, to implement the comparison "actual speed is higher
than a limit value" (nact > nx) for one direction of rotation.
bOut 1
TRUE
FALSE
dnIn1_p
dnIn2_p
[16-11] Function 2: Switching performance (: Hysteresis)
Functional sequence
1. If the value at dnIn1_p exceeds the value at dnIn2_p, bOut changes from FALSE to TRUE.
2. Only if the signal at dnIn1_p falls below the value of dnIn2_p - hysteresis again, bOut
dnIn1_p
dnIn2_p
t
bOut
TRUE
FALSE
t
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 511

Function library
16.1.9.3 Function 3: dnIn1 < dnIn2

 This function serves, for instance, to implement the comparison "actual speed is lower
than a limit value" (nact < nx) for one direction of rotation.
bOut 1
TRUE
FALSE
dnIn1_p
dnIn2_p
[16-13] Function 3: Switching performance, (: Hysteresis)
Functional sequence
1. If the value at dnIn1_p falls below the value at dnIn2_p, bOut changes from FALSE to
TRUE.
2. Only if the signal at dnIn1_p exceeds the value of dnIn2_p - hysteresis again, bOut
dnIn1_p
1
dnIn2_p
t
bOut
TRUE
FALSE
t
16.1.9.4 Function 4: |dnIn1| = |dnIn2|

 This function serves, for instance, to implement the comparison "nact = 0".
Function 1: dnIn1 = dnIn2
512 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
16.1.9.5 Function 5: |dnIn1| > |dnIn2|

 This function serves, for instance, to implement the comparison "|nact| > |nx|"
independently of the direction of rotation.
Function 2: dnIn1 > dnIn2
16.1.9.6 Function 6: |dnIn1| < |dnIn2|

 This function serves to implement the comparison "|nact| < |nx|" independently of the
direction of rotation.
Function 3: dnIn1 < dnIn2
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 513

Function library
Function blocks | L_ConvBitsToWord
16.1.10 L_ConvBitsToWord
Function blocks: L_ConvBitsToWord_1 L_ConvBitsToWord_2 L_ConvBitsToWord_3

Runtime: 3 μs
This FB converts 16 bit input values of "BOOL" type into one output value of "WORD" type.
L_ConvBitsToWord_ ?
bBit0
0 WORD
wOut
bBit1
1
bBit2
2
bBit12
12
bBit13
13
bBit14
14
bBit15
15
Inputs

Data type
bBit0 Input signal

...
bBit15
BOOL
Outputs
Data type
wOut Output signal

WORD
514 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
Function blocks | L_ConvDIntToWords
16.1.11 L_ConvDIntToWords
Function blocks: L_ConvDIntToWords_1 L_ConvDIntToWords_2 L_ConvDIntToWords_3

Runtime: 3 μs
This FB converts an input value of "DINT" type into two output values of "WORD" type.
L_ConvDIntToWords_ ?
wOutLWord
dnInput_p
DInt WORD wOutHWord
Inputs

Data type
dnInput_p Input signal

DINT
Outputs
Data type
wOutLWord Output signal Low Word

WORD
wOutHWord Output signal High Word
WORD
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 515

Function library
Function blocks | L_ConvWordsToDInt
16.1.12 L_ConvWordsToDInt
Function blocks: L_ConvWordsToDInt_1 L_ConvWordsToDInt_2 L_ConvWordsToDInt_3

Runtime: 3 μs
This FB converts two input values of "WORD" type into an output value of "DINT" type.
L_ConvWordsToDInt_ ?
wInLWord
dnOut_p
wInHWord WORD DInt
Inputs

Data type
wInLWord Input signal Low Word

WORD
wInHWord Input signal High Word
WORD
Outputs
Data type

DINT
516 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
Function blocks | L_ConvWordToBits
16.1.13 L_ConvWordToBits
Function blocks: L_ConvWordToBits_1 L_ConvWordToBits_2 L_ConvWordToBits_3

Runtime: 3 μs
This FB converts one input value of "WORD" type into the corresponding 16 bit output
values.
L_ConvWordToBits_ ?
bBit0
wInput
WORD 0
bBit1
1
bBit2
2
bBit12
12
bBit13
13
bBit14
14
bBit15
15
Inputs

Data type
wInput Input signal

WORD
Outputs
Data type
bBit0 Output signal

...
bBit15
BOOL
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 517

Function library
Function blocks | L_Counter
16.1.14 L_Counter
Function blocks: L_Counter_1 L_Counter_2 L_Counter_3

Runtime: 3 μs
This FB is a digital up/downcounter which is limited to the input value wCmpVal.
L_Counter_ ?
C01100
bClkUp wOut
bClkDown
wLdVal CNT bEqual
bLoad
wCmpVal
Inputs

Data type
bClkUp Clock input

BOOL • With each edge, the module counts up by "1".
• Only FALSE/TRUE edges are evaluated
Note: The static state "1" is not permissible at this input.
bClkDown Clock input
BOOL • With each edge, the module counts down by "1".
• Only FALSE/TRUE edges are evaluated
Note: The static state "1" is not permissible at this input.
wnLdVal Starting value
WORD • Assigned value is internally interpreted as "INT" data type (-32767 ... +32767), i.e.
the most significant bit determines the sign.
bLoad Load input
BOOL • The input has the highest priority.
True Accept starting value wnLdVal.
wCmpVal Comparison value
WORD • Assigned value is internally interpreted as "INT" data type (-32767 ... +32767), i.e.
the most significant bit determines the sign.
Outputs
Data type
bEqual True Comparison value reached

BOOL
wOut Counter content
WORD • Internal limitation to ± 32767
• The most significant bit determines the sign!
518 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
Function blocks | L_Counter
Parameter

C01100/1 (L_Counter_1) Function selection
C01100/2 (L_Counter_2) 0 No function
C01100/3 (L_Counter_3)
1 AutoReset
2 Manual reset
Function
 | Counter content | ≥ | wCmpVal |,
– The bEqual output is set to TRUE.
– During the next clock cycle, the counter is reset to the wLdVal value and the bEqual
output is set to FALSE.
 | Counter content | = | wCmpVal |
– The counter stops.
– Edges at bClkUp and bClkDown are ignored.
 if bLoad = TRUE
– The counter is set to the wLdVal value.
– Edges at bClkUp and bClkDown are not ignored anymore.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 519

Function library
Function blocks | L_DFlipFlop
16.1.15 L_DFlipFlop
Function blocks: L_DFlipFlop_1 L_DFlipFlop_2

Runtime: 1 μs 3 μs
The function mode of the module as described in section Function of the D-FlipFlop ( 521).
 Additional, inverted output
L_DFlipFlop_ ?
bD 1D bOut
Q
bClk
C1
bClr bNegOut
Q
Inputs

Data type
bD Data input
BOOL
bClk Clock input
BOOL • Only FALSE/TRUE edges are evaluated
bClr Reset input
BOOL True • The bOut output is set to FALSE.
• The bNegOut output is set to TRUE.
Outputs
Data type
bOut Output signal

BOOL
bNegOut Output signal, inverted
BOOL
520 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
Function blocks | L_DFlipFlop
Function of the D-FlipFlop

 If input Clr = FALSE:
A signal edge at the bClk input serves to apply the static input signal bD to the output bOut
and kept there:
bD
TRUE
FALSE
t
bClk
TRUE
FALSE
t
bOut
TRUE
FALSE
t
 If the input Clr = TRUE:

Due to the priority bClr > bClk, bD the bOut output signal can be set any time to the FALSE
state by the input signal Clr = TRUE.
The output signal is kept in this state independent of the other input signals.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 521

Function library
Function blocks | L_DigitalDelay
16.1.16 L_DigitalDelay
Function blocks: L_DigitalDelay_1 L_DigitalDelay_2 L_DigitalDelay_3

Runtime: 2 μs
This FB delays binary signals.

 ON and OFF delay can be parameterised separately.
L_DigitalDelay_ ?
DelayTime
bIn bOut
0 t
Inputs

Data type
bIn Input signal

BOOL
Outputs
Data type
bOut Output signal (time-delayed input signal)

BOOL
Parameter

C00720/1 (L_DigitalDelay_1) 0.000 s 3600.000 ON delay
C00721/1 (L_DigitalDelay_2) • Lenze setting: 0.000 s
C00721/3 (L_DigitalDelay_3)
C00720/2 (L_DigitalDelay_1) 0.000 s 3600.000 OFF delay
C00721/2 (L_DigitalDelay_2) • Lenze setting: 0.000 s
C00721/4 (L_DigitalDelay_3)
522 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
Function blocks | L_DigitalDelay
Functional sequence
bIn
TRUE
FALSE
t
bOut
TRUE
FALSE
t
wDelayTime wDelayTime
wDelayTime
0
t
 = internal timing element
1. A FALSE-TRUE edge at bIn resets the internal timer () for the ON delay and starts it.
2. Âfter the defined ON delay, the input signal bIn is output at bOut.
3. A TRUE-FALSE edge at bIn resets the internal timer () for the OFF delay and starts it.
4. After the defined OFF delay, the input signal bIn is output at bOut.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 523

Function library
Function blocks | L_DigitalLogic
16.1.17 L_DigitalLogic
Function blocks: L_DigitalLogic_1 L_DigitalLogic_2

Runtime: 2 μs
This FB provides a binary output signal which is generated by the logic combination of the
input signals. It is also possible to define a constant binary value that is independent of the
input signals.
 Definition of a constant binary value
 Logical ANDing of the inputs
 Logical ORing of the inputs
 Output depending on the combination of the input signals
L_DigitalLogic_ ?
0 C00822
1 C00820
0
bIn1 1
bIn2
& 2 bOut
3
bIn3
4
>1
C00823
C00821
bln 1 2 3
0 0 0 1
0 0 1 2
0 1
... 0 3
...
1 1 1 8
Inputs

Data type
bIn1 Input signal 1

BOOL
bIn2 Input signal 2
BOOL
bIn3 Input signal 3
BOOL
Outputs
Data type
bOut Output signal

BOOL
524 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
Function blocks | L_DigitalLogic
Parameter

C00820 (L_DigitalLogic_1) Function selection
C00822 (L_DigitalLogic_2) 0 "0" Constant value "FALSE"
1 "1" Constant value "TRUE"
2 bOut = bIn1 ∧ bIn2 ∧ bIn3 AND operation
3 bOut = bIn1 ∨ bIn2 ∨ bIn3 OR operation
4 bOut = f (truth table) The output value depends on the

parameterised truth table
C00821 (L_DigitalLogic_1) See truth table Truth table
C00823 (L_DigitalLogic_2) Each of the eight output values can
be assigned to a binary value.
Truth table for C00820 = 4 / C00822 = 4
Subcode of bIn3 bIn2 bIn1 Output signal

C00821 (L_DigitalLogic_1) bOut
C00823 (L_DigitalLogic_2)
1 False False False FALSE / TRUE
2 False False True FALSE / TRUE
3 False True False FALSE / TRUE
4 False True True FALSE / TRUE
5 True False False FALSE / TRUE
6 True False True FALSE / TRUE
7 True True False FALSE / TRUE
8 True True True FALSE / TRUE
Example
If for the signal combination bln1 = FALSE, bln2 = FALSE and bln3 = TRUE the output signal
bOut shall be TRUE, for this function subcode 5 of the parameter C00821 (L_DigitalLogic_1)
/ C00823 (L_DigitalLogic_2) must be set to "TRUE":
Subcode of bIn3 bIn2 bIn1 Output signal

C00821 (L_DigitalLogic_1) bOut
C00823 (L_DigitalLogic_2)
5 True False False True
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 525

Function library
Function blocks | L_DigitalLogic5
16.1.18 L_DigitalLogic5
Function blocks: L_DigitalLogic5_1 L_DigitalLogic5_2

Runtime: 2 μs
This FB provides a binary output signal which is generated by the logic combination of the
input signals. It is also possible to define a constant binary value that is independent of the
input signals.
 Definition of a constant binary value
 Output depending on the combination of the input signals
L_DigitalLogic5_ ?
0 C00826
1 C00824
C00827 0
C00825
1
bln 1 2 3 4 5 bOut
bIn1 2
bIn2
0 0 0 0 0 1
bIn3
0 0 0 0 1 2
0 0 0 1 0 3
bIn4 ... ... ...
bIn5
1 1 1 1 1 32
Inputs

Data type
bIn1 Input signal 1 ... 5

BOOL
...
bIn5
BOOL
Outputs
Data type
bOut Output signal

BOOL
Parameter

C00824 (L_DigitalLogic5_1) Function selection
C00826 (L_DigitalLogic5_2) 0 "0" Constant value "FALSE"
1 "1" Constant value "TRUE"
2 bOut = f (truth table) The output value depends on the
parameterised truth table
C00825 (L_DigitalLogic5_1) See truth table Truth table
C00827 (L_DigitalLogic5_2) Each of the eight output values can
be assigned to a binary value.
526 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
Function blocks | L_DigitalLogic5
Truth table for C00824 = 4 / C00826 = 4
Subcode of bIn5 bIn4 bIn3 bIn2 bIn1 Output signal

C00825 (L_DigitalLogic5_1) bOut
C00827 (L_DigitalLogic5_2)
1 False False False False False FALSE / TRUE
2 False False False False True FALSE / TRUE
3 False False False True False FALSE / TRUE
... FALSE / TRUE
30 True True True False True FALSE / TRUE
31 True True True True False FALSE / TRUE
32 True True True True True FALSE / TRUE
Example
If for the signal combination bln1 = TRUE, bln2 = FALSE, bln3 = TRUE, bIn4 = TRUE and bIn5
= TRUE the output signal bOut shall be TRUE, for this function subcode "30" of the
parameter C00825 (L_DigitalLogic5_1) / C00827 (L_DigitalLogic5_2) must be set to
"TRUE":
Subcode of bIn5 bIn4 bIn3 bIn2 bIn1 Output signal

C00825 (L_DigitalLogic5_1) bOut
C00827 (L_DigitalLogic5_2)
30 True True True False True True
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Function library
Function blocks | L_DT1
16.1.19 L_DT1
Function blocks: L_DT1_1

Runtime: 3 μs
This FB differentiates signals. The function block can, for instance, be used to apply an
acceleration (dv/dt).
L_DT1_ ?
C00253 C00251 C00252
±32767
nIn_a nOut_a
Inputs

Data type
nIn_a Input signal

INT
Outputs
Data type

INT
Parameter

C00251 10 ms 5000 Time constant Tn
• Lenze setting: 1000 ms
C00252 -320.00 320.00 Gain factor Vp
• Lenze setting: 1.00
C00253 Selection of sensitivity
Note: The most significant bit determines • Depending on the selection, the
the sign of the value, the remaining bits number of more significant bits is
determine the numerical value. evaluated.
• Lenze setting: 15 bit
1 15 Bit Bit 0 ... bit 14 are evaluated
528 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
Function blocks | L_Limit
16.1.20 L_Limit
Function blocks: L_Limit_1 L_Limit_2

Runtime: 3 μs
This FB limits scaled analog input signals to a value range the upper and lower limit of
which can be set via parameters.
L_LIM_ ?
nMaxLimit
nIn_a nOut_a
nMinLimit
Inputs

Data type
nIn_a Input signal

INT • Scaling: 16384 ≡ 100 %
Outputs
Data type

INT • Scaling: 16384 ≡ 100 %
Parameter

C00630/1 (L_Limit_1) -199.99 % 199.99 Upper limit
C00630/3 (L_Limit_2) • Lenze setting: 100.00 %
C00630/2 (L_Limit_1) -199.99 % 199.99 Lower limit
C00630/4 (L_Limit_2) • Lenze setting: -100.00 %
 Tip!
Always set the lower limit lower than the upper limit, otherwise value "0" is
provided at the nOut_a output.
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Function library
Function blocks | L_MckCtrlInterface
16.1.21 L_MckCtrlInterface
Function blocks: L_MckCtrlInterface_1

Runtime: 5 μs
This FB serves to control the LS_MotionControlKernel system block.

 The FB L_MckCtrlInterface is connected upstream of the LS_MotionControlKernel
system block (see Fig. [16-15] ). Its two control word outputs provide the input
information for the system block.
 The control can be performed using
– directly selected control words, e.g. via a co-ordinating control also connected to the
fieldbus. For this purpose, the control word inputs can be connected directly with the
fieldbus interface LP_MciIn or LP_CanIn.
– individually selected bit signals, which are ORed with the control word.
LS_MotionControlKernel LS_MotorInterface
bPosCtrlOn bPosCtrlOn
bDeltaPosOn bDeltaPosOn
dnDeltaPos_p dnDeltaPos_p
dnPosSetValue_p dnPosSetValue_p
bPosDerivativeOn bPosDerivativeOn
bMotorRefOffsetOn bMotorRefOffsetOn
dnMotorRefOffset_p dnMotorRefOffset_p
bQspOn bQspOn
nPWMAngleOffset_a nPWMAngleOffset_a
bSpeedCtrllOn bSpeedCtrllOn
nSpeedCtrlI_a nSpeedCtrlI_a
nSpeedSetValue_a nSpeedSetValue_a
L_MckCtrlInterface bTorquemodeOn bTorquemodeOn
nTorqueSetValue_a nTorqueSetValue_a
wInMckPosCtrl_1 wOutMckPosCtrl_1 bDcBrakeOn bDcBrakeOn
wMotionCtrl_1 wMotionCtrl_1
wOutMckPosCtrl_2
wMotionCtrl_2 wMotionCtrl_2
L_MckStateInterface
wInMckPosState_1
wInMckPosState_2
[16-15] Detail of the interconnection architecture for the "table positioning" technology application
 The input signals are ORed and written to the output of the FB after a plausibility check
has been executed. The result of the plausibility check is provided by the output word
wFailState (status of the output word: C01299 ).
 In the event of implausibility, the current state of the control word outputs remains
unchanged. The input data causing this result are ignored and the output bFail is set to
TRUE.
 Check of
– the profile numbers 1 ... 15, otherwise invalid ProfilNo
– the operation modes 0 ... 3, otherwise invalid OpMode
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Function library
L_MckCtrlInterface ?
15 0 wOutMckPosCtrl_1
wInMckPosCtrl_1 15 0
³1 ?
15 0
wOperationMode
bOperationMode_1
bOperationMode_2
bOperationMode_4 ³1 ?
bOperationMode_8
bManJogPos
bManJogNeg C01299
bManJogExecute2ndVel
bReleaseLimitSwitch
15 x wFailState
bHomingStartStop 2 1 0
bHomingSetPos
bHomingResetPos
bEnableValOverride bFail
bEnableAccOverride
bDisableSShaping 15 0
bPosTeachSetPos
bPosTeachActPos
wInMckPosCtrl_2 ³1 ³1 ?
bPosExecute
15 0
bPosExecuteFinish
bPosDisableFollowProfile
bPosStop 15 0 ³1 ?
wPosMode
wProfileNo
bProfileNo_1
bProfileNo_2
³1 ?
bProfileNo_4 15 0 wOutMckPosCtrl_2
bProfileNo_8
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Function library
Inputs

Data type
wInMckPosCtrl_1 See description of the MCK control words

wInMckPosCtrl_2
WORD
wOperationMode Selection of the operating mode of the MotionControlKernel system block.

WORD
bManJogPos bManJogPos = TRUE: manual jog right

bManJogNeg bManJogNeg = TRUE: manual jog left
BOOL bManJogPos AND bManJogNeg = TRUE: no change to the previous state
bManJogPos AND bManJogNeg = FALSE: stop manual jog
bManJogExecute2ndVel True Start of the second manual speed
BOOL
bReleaseLimitSwitch Retracting from the activated hardware limit switch in opposite

BOOL direction
bHomingStartStop Homing: Start / Stop of the homing process
BOOL
bHomingSetPos Homing: Setting of the home position

BOOL
bHomingResetPos Homing: Resetting of the home position

BOOL
bEnableVelOverride True Activation - speed override

BOOL
bEnableAccOverride True Activation - acceleration override

BOOL
bDisableSShaping True Deactivation - profile rounding

BOOL
bPosExecute FALSEÊTRUE Edge starts a new traversing task

BOOL
bPosExecuteFinish FALSEÊTRUE Complete interrupted profile

BOOL
bPosDisableFollowProfile True Do not travel sequence profile

BOOL
bPosStop True Cancel the current profile

BOOL
wPosMode Positioning mode (bit 0 ... bit 3)

WORD
bPosTeachSetPos Latching a position at MCK into the profile with the corresponding
BOOL profile number
bPosTeachActPos Latching the current position into the profile with the corresponding
BOOL profile number
wProfileNo Profile number
WORD
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Function library
Outputs
Data type
wOutMckPosCtrl_1 See description of the MCK control words

wOutMckPosCtrl_2
WORD
wFailState Result of plausibility check, see C01299

WORD
Bit 0 Operation mode
Bit 1 Positioning mode
Bit 2 Profile number
bFail TRUE: • Plausibility check error or
BOOL • control information error (in this case after ORing the individual
signals with the control words)
Parameter

C01299 Value is bit-coded: Display of error status
Bit 0 InvalidOperationMode Invalid operating mode selection
• "1" ≡ The selected operating mode
is not defined/invalid.
Bit 1 InvalidPosMode Invalid positioning mode selection
• "1" ≡ The selected positioning
mode is not defined/invalid.
Bit 2 InvalidProfileNo Invalid profile number selection
• "1" ≡ The selected profile number
refers to a profile data set that
does not exist.
Bit 3 Reserved
...
Bit 7
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Function library
Description of the additional functions

In addition to ORing the discrete input signals with the control word inputs, this function
block provides the following functions:
 Assignment of the LS_MotionControlKernel system block operating modes for a
maximum of four positioning profiles, see C01298
The following operating modes are available
– 0: no change, the operating mode set by other means is valid
– 1: Speed follower operation
– 2: Homing
– 3: Manual JOG
– 4: Positioning
 Switching on/off of "Pos-Start-Stop" with one control bit ("Pos-Execute"), see C01297
If positioning is set as the MCK operating mode and the function is activated, the "Pos-
Execute" control bit has the following effect:
Signals at the input Signals in the control word to the MCK

bPosExecute = TRUE bPosExecute = TRUE
bPosStop = FALSE
bHomingStartStop remains unchanged
bPosExecute = FALSE bPosExecute = FALSE
bPosStop = TRUE
bHomingStartStop remains unchanged
 Switching on/off of "Homing-Start-Stop" with one control bit ("Pos-Execute"), see

C01297
If positioning is set as the MCK operating mode and the function is activated, the "Pos-
Execute" control bit has the following effect:
Signals at the input Signals in the control word to the MCK

bPosExecute = TRUE bPosExecute = TRUE
bPosStop = FALSE
bHomingStartStop = TRUE
bPosExecute = FALSE bPosExecute = FALSE
bPosStop remains unchanged
bHomingStartStop = FALSE
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Function library
Function blocks | L_MckStateInterface
16.1.22 L_MckStateInterface
Function blocks: L_MckStateInterface_1

Runtime: 5 μs
This FB provides information about the status signalling of the LS_MotionControlKernel

system block.
L_MckStateInterface ?
wInMckPosState_1 15 0
15 3 2 10 wOperationMode
bAccelerating
bDelcelerating
bConstantSpeedDuty
bSShaping
bBusy
bDone
bHomingPosAvailable
bHomingDone
wInMckPosState_2 15 0
bDwellTime
bInTarget
bPosDone
15 7 6 5 4 3 2 10 wActProfileNo
15 3 2 10 wActPosMode
Inputs

Data type
wInMckPosState_1 Inputs for accepting the status words from the SB LS_MotorControlKernel.
wInMckPosState_2
WORD
Outputs
Data type
wOperationMode Active setpoint-generating state of the SB LS_MotorControlKernel.

WORD The bits from B0 ... B3 are described.
wActProfileNo Current traversing profile number
wActPosMode Current positioning mode
bAccelerating True Acceleration phase is active
BOOL
bDecelerating True Braking phase is active

BOOL
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Function library
Function blocks | L_MckStateInterface
Data type
bConstantSpeedDuty True Constant phase is active

BOOL
bSShaping True Profile rounding is active

BOOL
bBusy True Setpoint generation is active

BOOL
bDone True Target position setpoint is approached

BOOL
bHomingPosAvailable True Home position is known.

BOOL
bHomingDone True Homing process has been executed

BOOL
bDwellTime True Settling in target position is active

BOOL
bInTarget True Actual target position value is in the target window

BOOL
bPosDone True Profile target position has been approached

BOOL
536 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
Function blocks | L_MPot
16.1.23 L_MPot
Function blocks: L_MPot_1

Runtime: 10 μs
This FB replaces a hardware motor potentiometer and can be used as an alternative

setpoint source which is controlled via two inputs.
 The signal is output via a ramp function generator with linear ramps.
 The acceleration and deceleration times are set via parameters.
 Constant ramping even with speed limit values changed online.
 The motor potentiometer function can be switched on/off online.
L_MPot_1 ?
C00806
bEnable 1
nln_a
C00805 C00802
bUp
C00804 C00800 0
nOut_a
bInAct
CTRL 1
bDown
C00803
C00801
retain
data
Inputs

Data type
bEnable Switch over motor potentiometer function

BOOL bEnable input and C00806 code are ORed.
True Motor potentiometer function is active, setpoint can be changed via
bUp and bDown.
• With switching to TRUE, the value applied to nIn_a is
automatically transferred to the motor potentiometer.
False The value applied to nIn_a is output at nOut_a.
nln_a When bEnable = FALSE, the analog input signal nIn_ is switched to the nOut_a
INT output.
bUp Approaching of the upper speed limit value set in C00800.
BOOL True The nOut_a output signal runs to its upper limit value (nHighLimit).
• If the bDown input is simultaneously set to TRUE, the nOut_a
output signal is not changed.
bDown Approaching of the lower speed limit value set in C00801.
BOOL True The nOut_a output signal runs to its lower limit value (nLowLimit).
• If the bUp input is simultaneously set to TRUE, the nOut_a output
signal is not changed.
bInAct Deactivate motor potentiometer function
BOOL • This input has the highest priority.
• When the motor potentiometer is deactivated, the nOut_a output signal follows
the function set with code C00804.
True Motor potentiometer function is deactivated.
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Function library
Outputs
Data type

INT
Parameter

C00800 -199.99 % 199.99 Upper limit
• Lenze setting: 100.00 %
C00801 -199.99 % 199.99 Lower limit
• Lenze setting: -100.00 %
C00802 0.1 s 6000.0 Acceleration time
• Lenze setting: 10.0 s
C00803 0.1 s 6000.0 Deceleration time
C00804 Inactive function
• Selection of response when
deactivating the motor
potentiometer via the input
bInAct.
• Lenze setting: 0
0 No further action; nOut_a retains its
value.
1 The motor potentiometer returns to
0 % within the deceleration time Tif
2 The motor potentiometer runs to
the lower limit value (C00801)
within the deceleration time Tif
3 The motor potentiometer output Important for the emergency stop
immediately changes to 0 % function
4 The motor potentiometer output
immediately changes to the lower
limit value (C00801)
5 The motor potentiometer runs to
the upper limit value (C00800)
within the acceleration time Tir
C00805 Init function
0 The output value being output • Selection of response when
during mains power-off is saved switching on the device.
non-volatilely in the internal • Lenze setting: 0
memory of the controller. It will be
reloaded during mains power-on.
1 The lower limit value (C00801) is
loaded during mains power-on.
2 An output value = 0 % is loaded
during mains power-on.
C00806 Use of the motor potentiometer
0 No • When switching to 1: YES, the
value applied to nIn_a is
1 Yes automatically transferred to the
motor potentiometer.
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Function library
16.1.23.1 Activation & control of motor potentiometer

When bInAct is set to FALSE, the motor potentiometer is activated.
 The currently active function depends on the current output signal nOut_a, the limit
values set and the control signals at bUp and bDown.
 When the nOut_a output signal is outside the limits set, the output signal runs to the
next limit with the Ti times set. This process is independent of the control signals at
bUp and bDown.
 When the nOut_a output signal is inside the limits set, the output signal changes
according to the control signals at bUp and bDown.
nOut_a
nHighLimit
wTir
wTir wTif
0
t
wTir
nLowLimit
bUp
TRUE
FALSE
t
bDown
TRUE
FALSE
t
[16-16] Example: Control of the motor potentiometer
bUp bDown bInact Function

False False False The nOut_a output signal remains unchanged.
True False The nOut_a output signal runs to its upper limit value (nHighLimit).
False True The nOut_a output signal runs to its lower limit value (nLowLimit).
True True The nOut_a output signal remains unchanged.
- - True The motor potentiometer function is deactivated. The nOut_a
output signal responds according to the function selected via
Function.
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Function library
16.1.23.2 Deactivation of motor potentiometer

When the motor potentiometer is deactivated by setting bInAct to TRUE, the nOut_a
output signal responds according to the function selected via Function.
nOut_a
nHighLimit
wTif
0 1 wTir
wTif
nLowLimit
wTif wTir
0
t
bUp
TRUE
FALSE
t
bDown
TRUE
FALSE
t
bInAct
TRUE
FALSE
t
 When the motor potentiometer is deactivated, nOut_a is reduced to 0 % with the deceleration time wTif.
 If it is activated again, nOut_a is increased again to nLowLimit with the acceleration time wTir.
[16-17] Example: Deactivation of the motor potentiometer when the Function = 1 has been selected
540 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
Function blocks | L_MulDiv
16.1.24 L_MulDiv
Function blocks: L_MulDiv_1 L_MulDiv_2

Runtime: 4 μs
This FB multiplies the analog input signal with a factor.

 The value of the factor is determined by a quotient consisting of numerator  and
denominator .
 The value output at nOut_a is limited to ± 199.99 %.
L_MulDiv_ ?
0
1
+/- 199,99%
nIn_a nOut_a
Inputs

Data type
nIn1 Input signal

INT
Outputs
Data type
nOut_a Product value (result of the multiplication)

INT • Internal limitation to ± 32767
Parameter

C00699/1 (L_MulDiv_1) Counter 
0
C00679/1 (L_MulDiv_2) nOut_a = nIn_a × ----

C00699/2 (L_MulDiv_1) Denominator 
C00679/2 (L_MulDiv_2)
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Function library
Function blocks | L_Mux
16.1.25 L_Mux
Function blocks: L_Mux_1

Runtime: 3 μs
This FB provides one of the eight input signals dnIn1_p ... dnIn8_p at the output dnOut_p.
The selection is made through the signal at the input wInSelect.
L_MUX_ ?
wInSelect 1...8
dnIn1_p 1
dnIn2_p 2
dnIn3_p 3
dnIn4_p 4 dnOut_p
dnIn5_p 5
dnIn6_p 6
dnIn7_p 7
dnIn8_p 8
Inputs

Data type
wInSelect Input signal

WORD 1...8 • The values "1" ... "8" select the input signal to be applied to the
output.
• Values from"1" ... "8" set the dnOut_p output to "0".
dnIn1_p Input signal
DINT
...
dnIn8_p
DINT
Outputs
Data type

DINT
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Function library
Function blocks | L_Negation
16.1.26 L_Negation
Function blocks: L_Negation_1 L_Negation_2

Runtime: 2 μs
This FB converts the sign of the input signal, i.e. the input signal is multiplied by the value
-1 and is then output.
 With the value - 32768 at the nIn_a input, the value + 32767 is provided at the nOut_a
output.
L_Nagation_ ?
nIn_a nOut_a
x (-1)
Inputs
Data type
nIn_a Input signal

INT
Outputs
Data type

INT
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Function library
Function blocks | L_Not
16.1.27 L_Not
Function blocks: L_Not_1 L_Not_2 L_Not_3 L_Not_4 L_Not_5 L_Not_6 L_Not_7

Runtime: 2 μs
This FB negates a signal of BOOL data type.
L_Not_ ?
bIn bOut
1
Inputs
Data type
bIn Input signal

BOOL
Outputs
Data type
bOut Result of the NOT operation

BOOL
Function
bIn bOut
False True
True False
544 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
Function blocks | L_NSet
16.1.28 L_NSet
Function blocks: L_NSet_1

Runtime: 50 μs
This FB is used for general signal processing of process values and is provided with the
following functions:

– With linear ramps for main and additional setpoint path
– With S-shaped ramp (PT1 rounding)
– Setting and holding
 Internal limitation of the input signal
 3 adjustable blocking zones
 Arithmetic function
 15 fixed setpoints (JOG setpoints)
 15 acceleration and deceleration times
L_NSet ?
nCInhVal_a
bRfgStop C00134
bRfg0 C00182 C00190
bNSetInv C00635 C00632 ±32767
nNSet_a anJogSetValue(0)
C00636 C00633
+ - * nNOut_a
....(1)
1
/ x/(1-y)
DMUX
bJog1 ....(15)
bJog2
0 C00142
bJog4
0
15 JOG 0...15
C00012 bRfgIEq0
bJog8
3 C00013
adnTi (0)
wState
nSetValue_a
DMUX
bTI1
bTI2
0 adnTi (15)
0
bTI4
15 TI 0...15
bTI8
3 C00220
nSet_a C00221
bLoad
bNAddInv
nNAdd_a
1
CINH
bExternalCINH
Inputs

Data type
nCInhVal_a Main setpoint signal which is to be accepted by the main setpoint integrator when
INT the controller is inhibited.
bRfgStop Holding (freezing) of the current value of the main setpoint integrator
BOOL True The current value of the main setpoint integrator is held.
bRfg0 Leading the main setpoint integrator to 0 within the current Ti times
BOOL True The current value of the main setpoint integrator is led to "0" within
the Ti time set.
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Function library

Data type
bNSetInv Signal inversion for the main setpoint

BOOL True Main setpoint signal is inverted.
nNset_a Main setpoint signal
INT • Other signals are also permitted
bJog1 ... bJog8 Selection inputs for fixed change-over setpoints (JOG setpoints) for the main
BOOL setpoint
• Selection inputs are binary coded.
bTI1 ... bTI8 Selection inputs for alternative acceleration/deceleration times for the main
BOOL setpoint
• Selection inputs are binary coded.
nSet_a Starting value which is loaded into the main setpoint integrator by setting bLoad to
INT TRUE.
bLoad Control of both ramp function generators in special situations, e.g. QSP
BOOL True The nSet_a input signal is loaded into the main setpoint integrator
and the additional setpoint integrator is set to "0".
bAddInv Signal inversion for the additional setpoint
BOOL True Additional setpoint signal is inverted.
nNAdd_a Additional setpoint signal
INT • Other signals are also permitted
bExternalCINH Additional load input for the main setpoint integrator and the additional setpoint
BOOL integrator
True The main setpoint integrator is set to the value applied at
nCInhVal_a.
The additional setpoint integrator is set to "0".
Application example for the additional load function ( 554)
Outputs
Data type
nNOut_a Speed setpoint output signal

INT • 16384 ≡ 100 %
bRfgIEqO Status signal "setpoint = 0"
BOOL
wState Bit-coded status word
WORD • Bits that are not listed are reserved for future extensions.
Bit 0 No blocking zone active
Bit 1 Blocking zone 1 active
Bit 4 Jog in blocking zone
Bit 5 MaxLimit active
Bit 6 MinLimit active
nSetValue_a The speed setpoint has reached the target value.
INT • 16384 ≡ 100 %
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Function library
Parameter

C00012 0.000 s 999.900 Acceleration time Tir for the main
setpoint
C00013 0.000 s 999.900 Deceleration time Tif for the main
setpoint
C00039/1..15 -199.99 % 199.99 Fixed setpoints (JOG setpoints)
C00101/1..15 0.000 s 999.900 Alternative acceleration times (Tir)
for the main setpoint
C00103/1..15 0.000 s 999.900 Alternative deceleration times (Tif)
for the main setpoint
C00134 Activates ramp rounding with PT1
behaviour for the main setpoint
0 Off
• The S-ramp time is set under
1 PT1 behaviour C00182.
• Lenze setting: 0 (deactivated)
C00182 0.01 s 50.00 S-ramp time PT1
C00190 Selection of the arithmetic function
for combining main and additional
nNout_a = setpoint
0 X y is not processed
1 x+y
2 x-y
3 x*y
4 x / |y|
5 x / (100 % - y)
C00220 0.000 s 999.900 Acceleration time Tir for the
additional setpoint
C00221 0.000 s 999.900 Deceleration time Tif for the
additional setpoint
C00241 0.00 % 100.00 Hysteresis window for zero detection
of speed output setpoint (output
bRfgIEqO)
C00632/1...3 0.00 % 199.99 Maximum limit values for the speed
blocking zones
• Selection of the maximum limit
values for the blocking zones in
which the speed must not be
constant.
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Function library

C00633/1...3 0.00 % 199.99 Minimum limit values for the speed
blocking zones
• Selection of the minimum limit
values for the blocking zones in
which the speed must not be
constant.
C00634 Status (bit-coded)
Bit 0 No blocking zone active • Bits that are not listed are
reserved for future extensions.
Bit 4 Jog in blocking zone
Bit 5 MaxLimit active
Bit 6 MinLimit active
C00635 -199.99 % 199.99 nMaxLimit
• Maximum speed setpoint for
speed setpoint limitation
C00636 -199.99 % 199.99 nMinLimit
• Minimum speed setpoint for
speed setpoint limitation
16.1.28.1 Main setpoint path

 The signals in the main setpoint path are limited to a value range of ±32767.
 The signal at nNSet_a is first led via the JOG selection function.
 A selected JOG value switches the nNSet_a input inactive. Then, the subsequent signal
conditioning operates with the JOG value.
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Function library
16.1.28.2 JOG setpoints

In addition to the direct main setpoint selection via the input nNSet_a, so-called JOG
setpoints can be set under C00039/1...15.
 The JOG setpoints are binary-coded and can be called using the bJog1 ... bJog8 selection
inputs so that 15 options are available:
Selection inputs Main setpoint

bJog8 bJog4 bJog2 bJog1 used
False False False False nNset_a

False False False True C00039/1
False False True False C00039/2
False False True True C00039/3
False True False False C00039/4
False True False True C00039/5
False True True False C00039/6
False True True True C00039/7
True False False False C00039/8
True False False True C00039/9
True False True False C00039/10
True False True True C00039/11
True True False False C00039/12
True True False True C00039/13
True True True False C00039/14
True True True True C00039/15
 The number of selection inputs to be assigned depends on the number of JOG setpoints
required:
Number of JOG setpoints required Number of selection inputs to be assigned (bJog1 ... bJog8)
1 At least 1
2...3 At least 2
4...7 At least 3
8...15 4
16.1.28.3 Setpoint inversion

The output signal of the JOG function is led via an inverter.
The sign of the setpoint changes if bNSetInv is set to TRUE.
16.1.28.4 Value range of the input signal

The value range of the input signal can be limited by using the following parameters:
 C00635: MaxLimit (default setting: +199.99 %)
 C00636: MinLimit (default setting: -199.99 %)
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Function library
16.1.28.5 Skip frequency function

With speed-variable drives and linearly increasing speed setpoints, the frequency or speed
range is passed through in equal time segments. During the acceleration phase, speed
segments may exist which must be bridged quickly (e.g. bridging of self-resonant
frequency). The skip frequency function serves to mark a zone in which the speed is kept to
the start level. If the speed setpoint leaves this zone, the drive will be accelerated to the
final level.
 Note!
• Skip frequencies only affect main setpoints.
• It is not possible to exclude "0" speed if there is a sign reversal of the speed
setpoint.
M M
1
MN MN
nN n nN n
Definition of the blocking zones

The subcodes of codes C00632 and C00633 can be used to define three zones which are to
be skipped by the output setpoint and which are to be passed as fast as possible by the
ramp function generator:
 C00632/1 ... 3: Maximum values of the zones [1 ... 3]
 C00633/1 ... 3: Minimum values of the zones [1 ... 3]
The entry of identical limit values deactivates a blocking zone.
Overlapping of blocking zones

If blocking zones overlap, the lowest and highest value of the overlapping zones form a
new zone.
In this case, the status display (output wState or display parameter C00634) only indicates
one zone (the lower of the two original zones).
Abutting blocking zones

If two blocking zones abut (e.g. 20 ... 30 % and 30 ... 40 %), the limit value between the two
zones (in this example 30 %) is also passed through.
The same applies to a limit range of 0 ... xx %. During zero crossing of the speed setpoint,
"0" speed is output as setpoint. It is possible to exclude "0" speed. However, in this case, the
output speed will remain on the upper limit value when the input setpoint becomes "0".
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Function library
 Tip!
As described above, the acceleration phase starts after the blocking zones have
been passed through. The ramp function generator integrated in the L_Nset
function block limits the progression of the speed. For this reason, the time values
set for the integrated ramp function generator should be as low as possible
whereas the setpoint for the L_NSet function block should be generated by a ramp
function generator with higher time values (e.g. L_MPot function block).
16.1.28.6 Ramp function generator for the main setpoint

The setpoint is now led via a ramp function generator with linear characteristic. The ramp
function generator converts setpoint step-changes at the input into a ramp.
RFG-OUT
100 %
w2
w1 t ir t ir
0%
t
Tir Tir
w1, w2 = change of the main setpoint as a function of tir and tif

RFG-OUT = output of the ramp function generator
[16-18] Acceleration and deceleration times
 tir and tif are the desired times for changing between w1 and w2.
 S-ramps are possible by selecting S-ramp times.
 The tir/tif values are converted into the required Ti times according to the following
formula:
100 % 100 %
T ir = t ir ⋅ ---------------------- T if = t if ⋅ ----------------------
w2 – w1 w2 – w1
Setting and selection of Ti times

Via parameters, you can select 16 different Tir and Tif times each for the ramp generator.
 The selection is made via the binary coded selection inputs bTI1 ... bTI8:
Selection inputs used used

bTI8 bTI4 bTI2 bTI1 Acceleration time Deceleration
time
False False False False C00012 C00013
False False False True C00101/1 C00103/1
False False True False C00101/2 C00103/2
False False True True C00101/3 C00103/3
False True False False C00101/4 C00103/4
False True False True C00101/5 C00103/5
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Function library
Selection inputs used used

bTI8 bTI4 bTI2 bTI1 Acceleration time Deceleration
time
False True True False C00101/6 C00103/6
False True True True C00101/7 C00103/7
True False False False C00101/8 C00103/8
True False False True C00101/9 C00103/9
True False True False C00101/10 C00103/10
True False True True C00101/11 C00103/11
True True False False C00101/12 C00103/12
True True False True C00101/13 C00103/13
True True True False C00101/14 C00103/14
True True True True C00101/15 C00103/15
Function
 When the controller is inhibited (CINH), the ramp function generator accepts the value
applied at nCInhVal_a and transfers it to the downstream function. This function has
priority over all other functions.
 bRfgStop = TRUE
– The ramp function generator is stopped. Changes at the input of the ramp function
generator have no effect on the output signal.
 bRfg0 = TRUE
– The ramp function generator runs to 0 along its deceleration ramp.
 Furthermore it is possible to load the ramp function generator online with a defined
value. For this purpose, bLoad must be set to TRUE. As long as this input is set, the value
at nSet_a is transferred to the ramp function generator and provided at the output.
Priorities:
CINH bLoad bRfg0 bRfgStop Function

False False False False RFG follows the input value via the ramps set
False False False True The value at the RFG output is held
False False True False RFG runs to 0 within the deceleration time set
False False True True
False True False False RFG accepts the value at nSet_a and provides it at its
output
False True False True
False True True True
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Function library
CINH bLoad bRfg0 bRfgStop Function

True False False False RFG accepts the value at nCInhVal_a and provides it
at its output
True False False True
True False True False
True False True True
True True False False
True True False True
True True True False
True True True True
16.1.28.7 S-shaped ramp

A PT1 element is connected downstream of the linear ramp function generator. This
arrangement implements an S-shaped ramp for a nearly jerk-free acceleration and
deceleration.
 The PT1 element is switched on/off via the input bSShapeActive.
 The corresponding S-ramp time can be set under C00182.
16.1.28.8 Arithmetic combination

The arithmetic block arithmetically combines the main setpoint and the additional
setpoint. The arithmetic combination is selected via the code C00190.
Value in C00190 Function Example

0 nNout_a = x
(y is not processed)
1 nNout_a = x + y
2 nNout_a = x - y
3 nNout_a = x ⋅y x ⋅ y-
nNOut_a = ---------------
16384
4 nNout_a = x / |y| x
nNOut_a = ----- ⋅ 164
y
5 nNout_a = x / (100 % - y) x
nNOut_a = ------------------------- ⋅ 16384
16384 – y
16.1.28.9 Additional setpoint

 Use nNAdd_a to combine an additional setpoint (e.g. a correcting signal) with the main
setpoint.
 Use bNAddInv to invert the input signal before it affects the ramp function generator.
The ramp function generator has a linear characteristic. Its Ti times can be set under
C00220 (acceleration time) and C00221 (deceleration time).
 When bLoad is set to TRUE, the ramp function generator is set to 0 and held there
without considering the Ti times. The same applies when the controller is inhibited.
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Function library
16.1.28.10 Application example for the additional load function

The motor control system of the drive is provided with a function that automatically
adapts the ramp function generator to ensure a "jerk-free" setpoint injection. For this
purpose there is a control signal and an output signal. System block "LS_MotorInterface"
In case of speed-controlled drive tasks the output signal provides the current actual speed
value (e.g. with pulse inhibit, flying restart, controller inhibit). If the motor control is in this
state, the main setpoint generator must be adapted to the current actual value so that no
setpoint jerk can occur. This happens automatically if you connect the output signals of the
motor control to the inputs bExternalCINH and nCInhValue_a.
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Function library
Function blocks | L_OffsetGainP
16.1.29 L_OffsetGainP
Function blocks: L_OffsetGainP_1 L_OffsetGainP_2 L_OffsetGainP_3

Runtime: 17 μs
This FB is used to set the offset and gain of analog input signals. Usually, the FB is
connected directly downstream of the analog input terminals.
 The internal calculations (addition and subtraction) are carried out with 32 bits without
overflow/underflow.
 Gain of lower input variables with a factor 0 ... ±100 .
 The value provided at the nOut_a output is internally limited to ±199.99 %.
L_OffsetGainP_1 ?
C00696 C00670
± 199.99%
nIn_a nOut_a
L_OffsetGainP_2 ?
C00697 C00671
± 199.99%
nIn_a nOut_a
L_OffsetGainP_3 ?
C00698 C00672
± 199.99%
nIn_a nOut_a
Inputs

Data type
nIn_a Input signal

INT
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Function library
Function blocks | L_OffsetGainP
Outputs
Data type

INT • Internal limitation to ±199.99 %
Parameter

C00670 (L_OffsetGainP_1) -100.0000 100.0000 Gain factor
C00671 (L_OffsetGainP_2) • High gain factor for further
C00672 (L_OffsetGainP_3) processing of smallest input
signals.
• Please observe the difference
with regard to the gain factors of
other blocks in percent
(±199.99 % ≈ 2).
C00696 (L_OffsetGainP_1) -199.99 % 199.99 Offset
C00697 (L_OffsetGainP_2) • Lenze setting: 0.00 %
C00698 (L_OffsetGainP_3)
Function
nOut_a = ( nIn_a + Offset ) ⋅ Gain factor
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Function library
Function blocks | L_OffsetGainPhiP
16.1.30 L_OffsetGainPhiP
Function blocks: L_OffsetGainPhiP_1 L_OffsetGainPhiP_2

Runtime: 17 μs
This FB is used to set the offset and gain of analog input signals. Usually, the FB is
connected directly downstream of the analog input terminals.
 The internal calculations (addition and subtraction) are carried out with 32 bits without
overflow/underflow.
 Gain of lower input variables with a factor 0 ... ±100 .
 The value provided at the dnOut_p output is internally limited to
±231 (= ±2147483648).
L_OffsetGainPhiP_ ?
C00673/2 C00674/2
C00673/1 C00674/1
± 2147483648
dnIn_p dnOut_p
Inputs

Data type
dnIn_p Input signal

DINT
Outputs
Data type

DINT • Internal limitation to -231 ... +231
Parameter

C00673/1 -2147483647 Incr. 2147483647 Offset
(L_OffsetGainPhiP_1) • Lenze setting: 0 incr.
C00673/2
(L_OffsetGainPhiP_2)
C00674/1 -2147483647 2147483647 Gain factor
(L_OffsetGainPhiP_1) • Lenze setting: 65536
C00674/2
(L_OffsetGainPhiP_2)
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Function library
Function blocks | L_OffsetGainPhiP
Function
dnOut_p = ( dnIn_p + Offset ) ⋅ Gain factor
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Function library
Function blocks | L_Or
16.1.31 L_Or
Function blocks: L_Or_1 L_Or_2 L_Or_3

Runtime: 2 μs
This FB implements the ORing of the inputs signals.
L_Or_ ?
bIn1
bIn2 bOut
bIn3 1
Inputs

Data type
bIn1 Input signal

bIn2
bIn3
BOOL
Outputs
Data type
bOut Output signal

BOOL
Function
Inputs Output
bIn3 bIn2 bIn1 bOut
False False False False
False False True True
False True False True
False True True True
True False False True
True False True True
True True False True
True True True True
[16-19] Truth table of the FB L_Or
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Function library
Function blocks | L_Or5
16.1.32 L_Or5
Function blocks: L_Or5_1 L_Or5_2

Runtime: 2 μs
This FB implements the ORing of the inputs signals.
L_Or5_ ?
bIn1
bIn2
bIn3
bIn4 ³1 bOut
bIn5
Inputs

Data type
bIn1 Input signal

...
bIn5
BOOL
Outputs
Data type
bOut Output signal

BOOL
Function
Inputs Output
bIn5 bIn4 bIn3 bIn2 bIn1 bOut
False False False False False False
False False False False True True
False False False True False True
False False False True True True
False False True False False True
... True
True True True False True True
True True True True False True
True True True True True True
[16-20] Truth table of the FB L_Or5
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Function library
Function blocks | L_PhaseIntK
16.1.33 L_PhaseIntK
Function blocks: L_PhaseIntK_1 L_PhaseIntK_2

Runtime: 5 μs
The FB can integrate a speed or velocity to an angle (path). In addition, the FB can recognise
a relatively covered distance.
 The integrator can take max. ±32000 encoder revolutions.
 Functional range:
– Constant input value
– Input value with sign reversal
– Calculation of the output signal
L_PHINTK_ ?
IntervalTime byMode
TASK dnCmp
nIn_v dnOut_p
bStatus
bLoad
dnSet_p
Inputs

Data type
nIn_v Selection of the actual speed

INT • 16384 ≡ 15000 rpm
bLoad Load angle integrator with starting value and reset status signal
BOOL True Angle integrator is loaded with the value at dnSet_p and bStatus is
reset to FALSE.
dnSet_p Starting value for angle integrator
DINT
Outputs
Data type
dnOut_p Angle output signal

DINT • 65536 [inc] ≡ 1 encoder revolution
• Overflow is possible (display via bStatus)
bStatus Status signal "Overflow occurred/distance processed"
BOOL • Status signal can be reset via bLoad.
True Overflow has occurred or distance is processed.
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Function library
Parameter

C01150/1 (L_PhaseIntK_1) Function
C01150/2 (L_PhaseIntK_2) 0 bLoad input is status-controlled • Lenze setting: 0
(TRUE signal)
1 bLoad input is edge-controlled
(FALSE-TRUE edge)
2 bLoad input is status-controlled
(TRUE signal), sign reversal
C01151/1 (L_PhaseIntK_1) 0 2000000000 Comparison value
C01151/2 (L_PhaseIntK_2) • Lenze setting: 0
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Function library
16.1.33.1 Function at constant input value

Selection:
• byMode = 0 (status-controlled)
• byMode = 1 (edge-controlled)
dnOut_p
+32767
(+) dnCmp
0
t
(-) dnCmp
-32767
bStatus
TRUE
FALSE
t
[16-21] Switching performance at overflow in positive direction

(+) variable with positive value
(-) variable with negative value
 When byMode = 0, the bLoad input is status-controlled, i.e. in case of a TRUE signal, the
integrator is loaded with the value at dnSet_p and the bStatus output is set to FALSE.
 When byMode = 1, the bLoad input is edge-controlled, i.e. in case of a FALSE-TRUE edge
the integrator is loaded with the value at dnSet_p and then immediately continues to
integrate, the bStatus output is set to FALSE.
 A positive signal at nIn_v is incremented (the counter content is increased with every
function call).
 A negative signal at nIn_v is decremented (the counter content is reduced with every
function call).
 dnOut_p outputs the counter content of the bipolar integrator.
– If the counter content exceeds the value of +32767 encoder revolutions (corresponds
to +2147483647 inc), an overflow occurs and the counting process continues at the
value of -32768 encoder revolutions.
– If the counter content falls below the value of -32768 encoder revolutions
(corresponds to -2147483648 inc), an overflow occurs and the counting process
starts at the value of +32767 encoder revolutions.
 bStatus is set to TRUE if the value set in dnCmp is reached.
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Function library
16.1.33.2 Function at input value with sign reversal

Selection: byMode = 2
dnOut_p
(+) dnCmp
0
0
t
(-) dnCmp
bStatus
TRUE
FALSE
t
 Sign reversal
[16-22] Switching performance in case of sign reversal of the input signal

(+) variable with positive value
(-) variable with negative value
 sign reversal of the value at nIn_v
 When byMode = 2, the bLoad input is status-controlled, i.e. in case of a TRUE signal, the
integrator is loaded with the value at dnSet_p and the bStatus output is set to FALSE.
 A positive signal at nIn_v is incremented (the counter content is increased with every
function call).
 A negative signal at nIn_v is decremented (the counter content is reduced with every
function call).
 dnOut_p outputs the counter content of the bipolar integrator.
– If the counter content exceeds a positive value set in dnCmp, the counter content is
subtracted by the value of dnCmp and for the time of one task cycle, bStatus is set to
TRUE.
– If the counter content falls below a negative value set in dnCmp, the counter content
is added by the value of dnCmp and for the time of one task cycle, bStatus is set to
TRUE.
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Function library
16.1.33.3 Calculation of the output signal

The output value at dnOut_p can be detected according to the following formula:
dnOut_p [inc] = nIn_v [rpm] ⋅ t [s] ⋅ 65535 [inc/rev.]
t = integration time
16384 ≡ 15000 rpm
1 inc ≡ 1
Example
You want to determine the counter content of the integrator at a certain speed at the input
and a certain integration time t.
Given values:
 nIn_v = 1000 rpm ≈ integer value 1092
 Integration time t = 10 s
 Starting value of the integrator = 0
Solution:
 Conversion of the input signal at nIn_v:
1000 rpm = 1000 rev.

-----------------------
60 s
 Calculation of the output value:
1000 rev. 65535 inc

dnOut_p = ----------------------- ⋅ 10 s ⋅ ------------------------- = 10922666 inc
60 s rev.
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Function library
Function blocks | L_PCTRL
16.1.34 L_PCTRL
Function blocks: L_PCTRL_1

Runtime: 20 μs
This FB is a PID controller and can be used for various control tasks (e.g. as dancer position
controller, tension controller, or pressure controller).
The FB is provides with the following functions:
 Adjustable control algorithm (P, PI, PID)
 Ramp function generator for preventing setpoint step-changes at the input
 Limitation of the controller output
 Factorisation of the output signal
 Vp adaptation
 Integral action component can be switched off
L_PCTRL ?
nAdapt_a
nNSet_a 0|1|4|5
2|3
Vp C00222 C00242
C00242 C00225 C00227
Tn C00223
Kd C00224 0|5
1|3 nOut_a
nSet_a
1|2|3|4 C00245
0|2|4|5
C00231
C00233 C00226 C00228
nAct_a 0 bSetEqAct
1
1
nPIDOut2_a
bInAct nPIDOut_a
C00243
bIOff nInfluenceOut_a
nInflu_a
bActivateRamp
C00244
bISet
nISet_a
Inputs

Data type
nAdapt_a Adaptation of the gain Vp set under C00222 in percent

INT • Scaling: 16384 ≡ 100 %
• Internal limitation to ± 199.99 %
• Changes can be done online.
• Display parameter: C00830/62
nNset_a Speed setpoint
INT • Scaling: 16384 ≡ 100 %
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Function library

Data type
nSet_a Sensor and process setpoint for operating modes 2, 4 and 5

INT • Scaling: 16384 ≡ 100 %
nAct_a Speed or actual sensor value (actual process value)
INT • Scaling: 16384 ≡ 100 %
bIOff Switch off I-component of process controller
BOOL • Changes can be done online.
True I-component of the process controller is switched off.
bInAct Deactivate process controller temporarily
BOOL • Changes can be done online.
Note: This input is not connected with the application NCTRL.
True Process controller is deactivated, the internal PID-component is
switched off.
nInflu_a Limitation of the influencing factor in percent
INT • nInflu_a serves to limit the influencing factor of the PID controller contained in
the FB to a required value (- 199.99 % ... + 199.99 %).
• Scaling: 16384 ≡ 100 %
bActivateRamp Activate ramp for influencing factor
BOOL • Display parameter: C00833/106
True Influencing factor of the PID controller is ramped up to the nInflu_a
value.
False Influencing factor of the PID controller is ramped down to "0".
bISet Accept I component nISet_a in PID controller
BOOL True The value at the input nISet_a is accepted in the PID controller.
nISet_a Selection of I component of PID controller
INT • With a TRUE signal at bISet, the assigned value is accepted in the PID controller.
• Scaling: 16384 ≡ 100 %
Outputs
Data type

INT • Scaling: 16384 ≡ 100 %
bActEqSet Status output "Setpoint and actual value are identical"
INT True Setpoint and actual value are identical, i.e. no system deviation
available.
nPIDOut2_a PID controller output without influencing factor nInflu_a
INT • The inputs bActivateRamp and nInflu_a do not have any effect here, the limited
PID output value influenced by the internal ramp times is output.
• There is no connection with the additive input nNSet_a.
• Scaling: 16384 ≡ 100 %
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Function library
Data type
nPIDOut_a PID controller output with influencing factor nInflu_a

INT • There is no connection with the additive input nNSet_a.
• Scaling: 16384 ≡ 100 %
• Display parameter: C00245
nInfluenceOut_a Current influencing factor ("ramp status") on the PID output value
INT • Scaling: 16384 ≡ 100 %
Parameter

C00222 0.1 0.1 500.0 Gain Vp
C00223 20 ms 6000 Reset time Tn
C00224 0.0 0.1 5.0 Differential component Kd
C00225 -199.99 % +199.99 Maximum value of the PID operating
range
C00226 -199.99 % +199.99 MinLimit
• Minimum value of the PID
operating range
C00227 0.000 s 999.999 Acceleration time for the ramp at the
PID output (should be set as steep as
possible)
C00228 0.000 s 999.999 Deceleration time for the ramp at the
PID output
C00231/1 (Pos. Maximum) 0.00 % 199.99 Operating range
C00231/2 (Pos. Minimum) • Determination of the operating
C00231/3 (Neg. Minimum) range for the PID process
C00231/4 (Neg. Maximum) controller by limiting the input
signal nSet_a.
• Lenze setting: No limitation (-
199.99 % ... +199.99 %)
C00233 Root function
• Lenze setting: Off
Off The actual value at nAct_a is used as
it is.
On The actual value at nAct_a is square-
rooted.
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Function library

C00242 Operating mode
0 Off The input setpoint nNSet_a is output
without any changes at the output
nOut_a.
1 nNSet + nNSet_PID nNSet_a and nAct_a are used as PID
input values. The input setpoint
nNSet_a is added to the value output
by the PID element.
2 nSet_PID nSet_a and nAct_a are used as PID
input values. The input nNSet_a is
not considered.
3 nNSet_PID nNSet_a and nAct_a are used as PID
input values. The input nSet_a is not
considered.
4 nNSet + nSet_PID nSet_a and nAct_a are used as PID
input values. The setpoint nNSet_a is
added to the output value of the PID
component.
5 nNSet || nSet_PID nSet_a and nAct_a are used as PID
input values. The setpoint nNSet_a is
output at the output nOut_a . The
PID output value is output at the
output nPIDOut_a.
C00243 0.000 s 999.999 Influence acceleration time
• Acceleration time Tir for the
influencing factor.
C00244 0.000 s 999.999 Influence deceleration time
• Deceleration time Tif for the
influencing factor.
C00245 -199.99 % +199.99 Display of PID output value
nPIDOut_a
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Function library
16.1.34.1 Control characteristic

The PI algorithm is active in the Lenze setting.
Gain (P component)
The input value is controlled by a linear characteristic. The slope of the characteristic is
determined by the controller gain Vp.
The controller gain Vp is set under C00222.
 The controller gain can be adapted via the input nAdapt_a (also possible in online
mode).
 The input value nAdapt_a has a directly effect on the controller gain:
P = nAdapt_a ⋅ C00222
Example: With the parameterised controller gain Vp = 2.0 and nAdapt_a = 75 %, the
resulting gain factor is as follows:
75 [%]
P = ------------------- ⋅ 2.0 = 1.5
100 [%]
Integral action component (I component)

The I component can be selected via the input nISet_a. With a TRUE signal at bISet, the
assigned value is accepted in the PID controller.
 Setting the adjustment time Tn to the maximum value of "6000 ms" deactivates the I
component.
 The I component of the controller can also be deactivated by setting the input bIOff to
TRUE.
 The I component can be switched on and off online.
Adjustment time
The adjustment time Tn is set under C00223.
Differential component Kd (D component)

The differential component Kd is set under C00224.
 The setting "0.0 s" deactivates the D component (Lenze setting). In this way, the PID
controller becomes a PI controller or P controller, if the I component has been
deactivated as well.
570 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
16.1.34.2 Ramp function generator

The PID output is led via a ramp function generator with linear characteristic. This serves
to transfer setpoint step-changes at the PID output into a ramp which should be as steep
as possible.
RFG-OUT
100 %
w2
w1 t ir t if
0%
t
Tir T if
w1, w2 = change of the main setpoint as a function of tir and tif

RFG-OUT = output of the ramp function generator
[16-23] Acceleration and deceleration times
 tir and tif are the desired times for changing between w1 and w2.
 The ramps for acceleration and deceleration can be set individually.
– C00227: acceleration time tir
– C00228: deceleration time tif
 The tir/tif values are converted into the required Ti times according to the following
formula:
100 % 100 %
T ir = t ir ⋅ ---------------------- T if = t if ⋅ ----------------------
w2 – w1 w2 – w1
 The ramp function generator is immediately set to "0" by setting bInAct to TRUE.
16.1.34.3 Operating range of the PID process controller

The value range of the input signal nSet_a and thus the operating range of the PID process
controller can be limited with the following parameters:
 C00231/1: pos. maximum (default setting: 199.99 %)
 C00231/2: pos. minimum (default setting: 0.00 %)
 C00231/3: neg. minimum (default setting: 0.00 %)
 C00231/4: neg. maximum (default setting: 199.99 %)
16.1.34.4 Evaluation of the output signal

After the limitation, the output signal is evaluated with the influencing factor nInflu_a.
The evaluation is activated/suppressed along a ramp when the input bActivateRamp is set
to TRUE. The ramp times are set with the parameters "Influence acceleration time"
(C00243) and "Influence deceleration time" (C00244).
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Function library
16.1.34.5 Deactivation of the process controller

Setting the input bInAct to TRUE deactivates the process controller. As a result, the PID
output, the I component, and the ramp function generator are reset to "0". A setpoint
defined in operating modes 1 + 4 via the input nNSet_a, however, will still be output.
572 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
Function blocks | L_PT1
16.1.35 L_PT1
Function blocks: L_PT1_1 L_PT1_2 L_PT1_3

Runtime: 1 μs 3 μs 3 μs
This FB filters and delays analog signals.

 The filter time constant T can be set via parameters.
 The gain is defined with Vp = 1.
L_PT1_ ?
nDelayTime
nIn_a nOut_a
Inputs

Data type
nIn_a Input signal

INT
Outputs
Data type
nOut Output signal

INT
Parameter

C00249 (L_PT1_1) 0.01 s 50.00 Filter time constant
C00250/1 (L_PT1_2) • When 0.01 s is set, the filter is not
C00250/2 (L_PT1_3) active.
Function
Vp = 1
T t
[16-24] Filter time constant T of the first-order delay element
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Function library
Function blocks | L_RLQ
16.1.36 L_RLQ
Function blocks: L_RLQ_1

Runtime: 3 μs
This FB links a selected direction of rotation to the QSP function with wire-break
protection.
L_RLQ_1 ?
Init = 1
Init = 0
bCw
bCcw & 0
& S bCwCcw
FALSE 1
0
1 R bQsp
TRUE 1
Inputs

Data type
bCw Input
BOOL • TRUE = CW rotation
bCCw Input
BOOL • TRUE = CCW rotation
Outputs
Data type
bQSP Output signal for QSP (quick stop)

BOOL
bCwCcw Output signal for CW/CCW rotation
BOOL • TRUE = CCW rotation
Function
Inputs Outputs Notes

bCw bCCw bCwCcw bQSP
True True False True Only if both inputs are TRUE at the moment of switch-on, the
outputs are in these states!
--> see also FB_Grafik (above), "Init" = 1.
If one of the inputs has the TRUE state, the following truth table applies:
False False False True see also FB_Grafik with symbolism "Init" = 0
True False False False
True True X (save)
[16-25] Truth table of the FB L_RLQ, 0 = FALSE, 1 = TRUE
574 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
Function blocks | L_RSFlipFlop
16.1.37 L_RSFlipFlop
Function blocks: L_RSFlipFlop_1 L_RSFlipFlop_2

Runtime: 3 μs
The functionality of this FB corresponds to an RS-FlipFlop:

 An input signal at bSet serves to set the bOut output permanently.
 An input signal at bReset serves to reset the output.
 Additional, inverted output bNegOut
L_RSFlipFlop_ ?
bSet bOut
1S Q
bReset bNegOut
1R Q
Inputs

Data type
bSet Setting input

BOOL True • The bOut output is set to TRUE.
• The bNegOut output is set to FALSE.
bReset Reset input
BOOL True • The bOut output is set to FALSE.
• The bNegOut output is set to TRUE.
Outputs
Data type
bOut Output signal

BOOL
bNegOut Output signal, inverted
BOOL
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Function library
Function blocks | L_SampleHold
16.1.38 L_SampleHold
Function blocks: L_SampleHold_1 L_SampleHold_2

Runtime: 3 μs
This FB can save a signal.

 The saved value is also available after mains switching.
L_SampleHold_ ?
nIn_a
nOut_a
bLoad
S&H
Inputs

Data type
nIn_a Input signal

INT
bLoad Save input signal
BOOL False The last-valid value at nIn is saved and output to nOut. A signal
change at nIn does not cause a change at nOut.
True The nOut output provides dnIn.
Outputs
Data type
nOut Output signal

INT
Function
 When bLoad = TRUE, the nIn_a signal is switched to nOut_a.
 When bLoad = FALSE, the last-valid value is saved and output at nOut_a. A signal
change at nIn_a does not cause a change at nOut_a.
Behaviour after mains switching

The last-loaded value is permanently stored after switching of the supply voltage and
reloaded after restart.
 In order that the saved value is not immediately overwritten with the current input
signal at nIn after restart, bLoad must be set to FALSE at restart.
576 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
Function blocks | L_SignalMonitor_a
16.1.39 L_SignalMonitor_a
Function blocks: L_SignalMonitor_a

Runtime: 15 μs
This FB serves to output four analog signals which can be selected from a list of 16-bit
analog output signals of all FBs available in the device.
 Offset and gain of the source signals are adjustable.
L_SignalMonitor_a ?
C410/1 C413/1 C413/2
nOut/1_a
C410/2 C413/3 C413/4
nOut/2_a
C410/3 C413/5 C413/6
nOut/3_a
C410/4 C413/7 C413/8
nOut/4_a
Outputs
Data type
nOut1_a Output signal

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Function library
Function blocks | L_SignalMonitor_a
Parameter

C00410/1 Selection of signal source
... 0 Not connected
C00410/4
1000 LA_nCtrl_wDriveControlStatus
1001 LA_nCtrl_wFailNumber
1002 LA_nCtrl_nMotorCurrent_a
... ...
42017 LA_nCtrl_In_nPIDSerValue_a
C00413/1 -199.99 % +199.99 Offset
C00413/3
C00413/5
C00413/7
C00413/2 -199.99 % +199.99 gain
C00413/4
C00413/6
C00413/8
578 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
Function blocks | L_SignalMonitor_b
16.1.40 L_SignalMonitor_b
Function blocks: L_SignalMonitor_b

Runtime: 3 μs
This FB serves to output four binary signals which can be selected from a list of 16-bit
binary output signals of all FBs available in the device.
 Inversion of the output signal
L_SignalMonitor_b ?
C412: 7 6 5 4 3 2 1 0
x x x x 0/1
C412: 0 bOut1
1
C411/1 1
0
1
C412: 1 bOut2
C411/2
1
1
0
1
C412: 2 bOut3
1
C411/3 1
0
1
C412: 3 bOut4
1
C411/4 1
0
1
Outputs
Data type
bOut1 Output signal

... FALSE / TRUE
bOut4
BOOL
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Function library
Function blocks | L_SignalMonitor_b
Parameter

C00411/1 Selection of signal source
... 0 Not connected
C00411/4
1000 LA_nCtrl_bDriveReady
1001 LA_nCtrl_bDriveFail
1002 LA_nCtrl_bCInhActive
.. ...
42033 LA_NCtrl_bPIDIOff
C00412 Inversion
Bit 0 bOut1 inverted • Bit set = inversion active
Bit 1 bOut2 inverted

Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
580 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
Function blocks | L_Transient
16.1.41 L_Transient
Function blocks: L_Transient_1 L_Transient_2 L_Transient_3 L_Transient_4

Runtime: 3 μs
This FB serves to evaluate digital signal edges and convert them into timed, retriggerable
pulses.
 The edge evaluation can be parameterised:
– Function 0: Evaluate rising signal edges
– Function 1: Evaluate falling signal edges
– Function 2: Evaluate rising and falling signal edges
L_TRANS_ ?
Function wPulseTime
bIn bOut
0 t
Inputs

Data type
bIn Input for edge evaluation

BOOL • Function depends on the edge evaluation selected under C01140.
Outputs
Data type
bOut Output (retriggerable)

BOOL
Parameter

C01140/1 (L_Transient_1) Function
... • Selection of edge evaluation
C01140/4 (L_Transient_4) 0 Rising edge Lenze setting
1 Falling edge
2 Both edges
C01141/1 (L_Transient_1) 0.001 s 60.000 Pulse duration
... • Lenze setting: 0.001 s
C01141/4 (L_Transient_4)
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Function library
 Note!
When the interval time of the task is set to >1 ms and the pulse duration is not
an integer multiple of the interval time, the pulse duration is automatically
prolonged to the next integer multiple of the interval time.
16.1.41.1 Function 0: Evaluate rising signal edges

Setting: C01140 = 0
bIn
TRUE
FALSE
t
bOut
TRUE
FALSE
t
wPulseTime wPulseTime wPulseTime
[16-26] Switching performance when rising edges are evaluated
Functional sequence
1. A FALSE-TRUE edge at the bIn input sets the bOut output to TRUE.
2. After the pulse time set under C01141, the output bOut is reset to FALSE unless a
further FALSE-TRUE edge has occurred at the input bIn.
– In case of another FALSE-TRUE edge at the input bIn, the pulse time restarts to elapse,
i.e. the output bOut can be retriggered.
582 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
16.1.41.2 Function 1: Evaluate falling signal edges

Setting: C01140 = 1
bIn
TRUE
FALSE
t
bOut
TRUE
FALSE
t
[16-27] Switching performance when falling edges are evaluated
Functional sequence
1. A TRUE-FALSE edge at the bIn input sets the bOut output to TRUE.
further TRUE-FALSE edge has occurred at the input bIn.
– In case of another TRUE-FALSE edge at the input bIn, the pulse time restarts to elapse,
16.1.41.3 Function 2: Evaluate rising and falling signal edges

Setting: C01140 = 2
bIn
TRUE
FALSE
t
bOut
TRUE
FALSE
t
[16-28] Switching performance when rising and falling edges are evaluated
Functional sequence
1. A signal change (FALSE-TRUE or TRUE-FALSE edge) at the bIn input sets the bOut output
to TRUE.
further FALSE-TRUE edge has occurred at the input bIn.
– In case of another signal change at the input bIn, the pulse time restarts to elapse,
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Function library
System blocks | LS_DisFree
16.2 System blocks
16.2.1 LS_DisFree
This system block serves to display any 16-bit process signal on display codes.
LS_DisFree ?
wDis01
C481/1
wDis02
C481/2
wDis03
C481/3
wDis04
C481/4
Inputs

Data type
wDis01 ... wDis04 Input

WORD
Parameter

C00481/1 ... 4 0x0000 0xFFFF General 16-bit signal
• Read only
584 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
System blocks | LS_DisFree_a
16.2.2 LS_DisFree_a
This system block serves to display four percentage values of analog process signals on
display codes.
LS_DisFree_a ?
nDis01
C482/1
nDis02
C482/2
nDis03
C482/3
nDis04
C482/4
Inputs

Data type
nDis01_a ... nDis04_a Input

INT
Parameter

C00482/1 ... 4 - 199.99 % + 199.99 % Process signal
• Read only
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Function library
System blocks | LS_DisFree_b
16.2.3 LS_DisFree_b
This system block serves to display eight boolean process signals on a bit-standardised
display code.
LS_DisFree_b ?
bDis01
C480 Bit 0
bDis02
C480 Bit 1
bDis03
C480 Bit 2
bDis04
C480 Bit 3
bDis05
C480 Bit 4
bDis06
C480 Bit 5
bDis07
C480 Bit 6
bDis08
C480 Bit 7
Inputs

Data type
bDis01 ... nDis08 Input

BOOL
Parameter

C00480 0 1 Process signal
• Bit-coded display
586 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
System blocks | LS_MotionControlKernel
16.2.4 LS_MotionControlKernel
The system block LS_MotionControlKernel provides the interface for the

MotionControlKernel with the basic drive functions in the FB Editor.
LS_MotionControlKernel ?
bPosCtrlOn bPosCtrlOn_
bDeltaPosOn bDeltaPosOn_
dnDeltaPos_p dnDeltaPos_p_
dnPosSetValue_p dnPosSetValue_p_
bPosDerivativeOn bPosDerivativeOn_
bMotorRefOffsetOn bMotorRefOffsetOn_
dnMotorRefOffset_p dnMotorRefOffset_p_
bQspOn bQspOn_
nPWMAngleOffset_a nPWMAngleOffset_a_
bSpeedCtrlIOn bSpeedCtrlIOn_
nSpeedCtrlI_a nSpeedCtrlI_a_
nSpeedSetValue_a nSpeedSetValue_a_
bTorqueModeOn bTorqueModeOn_
nTorqueSetValue_a nTorqueSetValue_a_
bDcBrakeOn bDcBrakeOn_
nSpeedSet_v nSpeedSet_v
nSpeedOverride_a dnPosTarget_p
nAccOverride_a wMotionState
wMotionCtrl wAuxState1
wAuxCtrl1 wAuxState2
wAuxCtrl2 bPosBusy
bLimitSwitchPos bPosDone
bLimitSwitchNeg bHomDone
bHomMark bHomAvailable
bBrkRelease bBrkReleaseOut
bBrkStartTorqueDir bBrkReleased
nBrkTorqueAdd_a
bBrkApplied
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Function library
Inputs

Data type
bPosCtrlOn True Position control on

BOOL
bDeltaPosOn To position the motor shaft, the position control within the motor control can both
BOOL operate with a position setpoint (position / [Inc])
and alternatively with a speed setpoint (Nsoll/[% of C11]) and a following error input
(difference between setpoint and actual position /[Inc])
This signal serves to switch over between both methods
Usually, the signal in Lenze applications is TRUE.
True Control to following error
dnDeltaPos_p Following error input
DINT
dnPosSetValue_p Absolute position setpoint see bDeltaPosOn

DINT
bPosDerivativeOn Feedforward control of the speed controller through differentiation of the position
BOOL setpoint.
For highly dynamic controls a feedforward control of the speed controller can be
switched on. For this, the absolute position setpoint is differentiated and fed after
the speed controller.
True Feedforward control of the speed controller is switched on
bMotorRefOffsetOn A High edge at this input affects the internal position integrators in the MCK and the
BOOL motor control so that the value dnMotorRefOffset_p is added to the current
integrator value as offset value.
True dnMotorRefOffset_p is added as offset value
dnMotorRefOffset_p Position offset [Inc] to affect the current actual position of the motor control by
DINT offset addition.
bQspOn True Initiate quick stop
BOOL
nPWMAngleOffset_a Angular offset input

INT 0 .. 199.99%
bSpeedCtrlIOn True FALSE/TRUE edge
BOOL
nSpeedCtrlI_a I-component of the speed controller

INT This input serves to directly set the I-component of the speed controller (e.g. to
automatically provide a minimum torque statically when a load is lifted).
nSpeedSetValue_a Main setpoint of speed
INT
bTorquemodeOn True Switch on torque-controlled operation

BOOL
nTorqueSetValue_a Torque setpoint

INT
bDcBrakeOn True Activate DC-injection braking

BOOL
nSpeedAdd_v Additive speed setpoint

INT
nSpeedOverride_a Speed override

INT
nAccOverride_a Acceleration override

INT
wMotionCtrl Positioning control word 1

WORD This control word serves to control the MCK
wAuxCtrl1 Additional control word 1
WORD
588 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library

Data type
wAuxCtrl2 Additional control word 2

WORD
bLimitSwitchPos Input for limit switch (positive)

BOOL
bLimitSwitchNeg Input for limit switch (negative)

BOOL
bHomMark True Pre-switch-off mark

BOOL
bBrkRelease True Manual brake release, also forced release

BOOL
bBrkStartTorqueDir True Feedforward control direction for holding brake operation

BOOL
nBrkTorqueAdd_a Additive feedforward control torque

INT
bBrkApplied Feedback signal - switching state of holding brake

BOOL
True Brake is controlled (waiting times expired
Outputs
Data type
bPosCtrlOn_ True Position control on

BOOL
bDeltaPosOn_ True Control to following error

BOOL
dnDeltaPos_p_ Following error input

DINT
dnPosSetValue_p_ Absolute position setpoint

DINT
bPosDerivativeOn_ True Differentiation of the position setpoint

BOOL
bMotorRefOffsetOn_ True Add error offset to integrators

BOOL
dnMotorRefOffset_p_ Error offset

DINT
bQspOn_ True Initiate quick stop

BOOL
nPWMAngleOffset_a_ Angular offset input

INT
bSpeedCtrlIOn_ True Set I-component of the speed controller

BOOL
nSpeedCtrlI_a_ I-component of the speed controller

INT
nSpeedSetValue_a_ Main setpoint of speed

INT
bTorqueModeOn_ True Switch on torque-controlled operation

BOOL
nTorqueSetValue_a_ Torque setpoint

INT
bDcBrakeOn_ True Activate DC-injection braking

BOOL
nSpeedSet_v Speed setpoint selection

INT
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Function library
Data type
dnPosTarget_p Target position

DINT
wMotionState MCK status word

WORD
wAuxState1 Additional status word 1

WORD
wAuxState2 Additional status word 2

WORD
bPosBusy Profile is active

BOOL
bPosDone Set position approached

BOOL
bHomDone Homing executed

BOOL
bHomAvailable Home position known

BOOL
bBrkReleaseOut Trigger signal for switching element holding brake control via a digital output
BOOL • Use bit 0 under C02582 to activate inverted switching element triggering.
False Apply brake.
True Release brake.
bBrkReleased Brake control status signal with consideration of the application and release time of
BOOL the brake
False Brake applied (when the brake application time has elapsed).
True Brake released (when the brake release time has elapsed).
590 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
System blocks | LS_ParFix
16.2.5 LS_ParFix
This system block provides the user with fixed values which can be used in the
interconnection for parameterisation purposes.
LS_ParFix ?
bTrue
nPos100_a
%
nNeg100_a
%
nPos199_99_a
%
nNeg199_99_a
%
w65535
wDriveCtrl
Outputs

Data type
The output values are fixed and can therefore not be parameterised.
bTrue 1 ≡ TRUE
BOOL
nPos100_a 16384 ≡ + 100 %
INT
nNeg100_a - 16384 ≡ - 100 %
INT
nPos199_99_a 32767 ≡ + 199.99 %
INT
nNeg199_99_a - 32767 ≡ - 199.99 %
INT
w65535 65535 ≡ 0xFFFF
WORD
wDriveCtrl 9 ≡ 0x0009
WORD • Bit 0, SwitchOn = TRUE
• Bit 3, EnableOperation = TRUE
• All others: FALSE
See also:
Control word and status word of the controller ( 73)
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Function library
System blocks | LS_ParFree
16.2.6 LS_ParFree
This system block provides 4 WORD signals which can be parameterised separately in HEX
format by the user.
LS_ParFree ?
wPar01
wPar02
wPar03
wPar04
Outputs

Data type
wPar1 ... wPar4 Output

WORD
Parameter

C00471/1...4 0x0000 0xFFFF Selection of words to be output
592 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
System blocks | LS_ParFree_a
16.2.7 LS_ParFree_a
This system block provides 4 analog signals which can be parameterised separately by the
user.
LS_ParFree_a ?
nPar01_a
%
nPar02_a
%
nPar03_a
%
nPar04_a
%
Outputs

Data type
nPar01_a ... nPar04_a Output

INT
Parameter

C00472/1...4 -199.99 % +199.99 Selection of analog signals to be
output
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Function library
System blocks | LS_ParFree_b
16.2.8 LS_ParFree_b
This system block provides 16 digital signals which can be parameterised separately by the
user.
LS_ParFree_b ?
bPar01
bPar02
bPar03
bPar04
bPar05
bPar06
bPar07
bPar08
bPar09
bPar10
bPar11
bPar12
bPar13
bPar14
bPar15
bPar16
ü
Outputs

Data type
bPar01 ... bPar16 Output

BOOL
Parameter

C00470 Selection of signal levels to be output
0 "FALSE" signal is output • Bit 0 ... 15 = bPar01 ... bPar16
1 "TRUE" signal is output
594 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
System blocks | LS_ParFree_v
16.2.9 LS_ParFree_v
This system block provides 4 speed signals which can be parameterised separately by the
user.
LS_ParFree_v ?
nPar01_v
rpm
nPar02_v
rpm
nPar03_v
rpm
nPar04_v
rpm
Outputs

Data type
nPar01_v ... nPar04_v Output

INT
Parameter

C00473/1...4 -32767 Incr./ms +32767 Selection of speed signals to be
output
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 595

Function library
System blocks | LS_PulseGenerator
16.2.10 LS_PulseGenerator
This system block creates ten different frequencies by an internal pulse generator and
provides these at the output of the FB.
 9 fixed frequencies
 1 variable output frequency with adjustable pulse / dead time.
LS_PulseGenerator ?
b100Hz
b10Hz
b2Hz
b1Hz
G b1HzFlash
b2HzFlash
bSingleFlash1
bSingleFlash2
bDoubleFlash
C00400/1
C00400/2
G bSquareWave
Outputs
Data type
b100Hz Output frequency

BOOL • Rectangular signal 100 Hz
b1HzFlash Output signal
BOOL • 80 ms-pulse, repetition rate every second
b2HzFlash Output signal
BOOL • 80 ms-pulse, repetition rate every 0.5 seconds
bSingleFlash1 Output signal
BOOL • 80 ms-pulse, repetition rate every 1.25 seconds
bSingleFlash2 Output signal
BOOL • 80 ms-pulse, repetition rate every 2 seconds
bDoubleFlash Output signal
BOOL • 80 ms-double pulse, repetition rate every 1,25 seconds
bSquareWave Output frequency
BOOL • Variable output frequency can be set with C00400
596 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function library
System blocks | LS_PulseGenerator
Parameter

C00400/1 0 ms 60000 Length of LOW level (dead time)
• For output bSquareWave
C00400/2 0 ms 60000 Length of HIGH level
• For output bSquareWave
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Parameter reference
17 Parameter reference
All parameters for controller parameter setting and monitoring are stored under so-called
"codes".
 The codes are numbered and indicated by the prefix "C" before the code, e.g. "C00002".
 For the sake of clarity, some codes contain "subcodes" for saving parameters. This
Manual uses a slash "/" as a separator between code and subcode, e.g. C00118/3".
 The terms "code" and "subcode" generally correspond to the terms "index" and
"subindex" and "parameter" and "subparameter".
 Codes can be used to implement the following functions when working with the 8400
frequency inverters:
– Selection of setpoints, e.g. acceleration time.
– Display of actual values, e.g. actual motor current.
– Configuration of signal connections, e.g. assigning the digital input terminals to the
control inputs of the technology application.
– Configuration of monitoring systems, e.g. selection of error reactions and trigger
thresholds.
Parameters that are only available as of a certain software version are provided with a
corresponding not ("as of version xx.xx.xx") in the parameter description.
The parameter descriptions are based on software version V02.00.00
 Tip!
For quick reference of a parameter with a certain name, simply use the index of the
online documentation. The index always contains the corresponding code in
parentheses after the name.
For general information on how to read and change parameters, please see the
online documentation for the »Engineer«.
598 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
Structure of the parameter descriptions
17.1 Structure of the parameter descriptions
Each parameter is described in the Parameter list in the form of a table which consists of
the following three areas:
Table header
The table header contains the following general information:
 Parameter number (Cxxxxx)
 Parameter name (display text in »Engineer» and keypad)
 Data type
 Parameter index in decimal and hexadecimal notation for access via a fieldbus (e.g.
CAN system bus).
 Tip!
The parameter index is calculated as follows:
• Index [dec] = 24575 - code
• Index [hex] = 0x5FFF - code
Example for code C00005:
• Index [dec] = 24575 - 5 = 24570
• Index [hex] = 0x5FFF - 0x{5} = 0x5FFA
Table contents
The table contains further general explanations & notes on the parameter and the possible
settings, which are represented in different ways depending on the parameter type:
 Parameters with read-only access
 Parameters with write access
Table footer
The table footer contains the Parameter attributes.
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Parameter reference
17.1.1 Data type
The parameters can be of the following data types:
Data type Meaning

INTEGER_8 8-bit value with sign
UNSIGNED_8 8-bit value without sign
FLOATING_POINT 32-bit floating point number
VISIBLE_STRING String of characters from printable characters
OCTET_STRING String of characters from any characters
BITFIELD_8 8-bit value, bit-coded
17.1.2 Parameters with read-only access
Parameters for which the "write access" attribute has not been set, can only be read. They
cannot be changed by the user.
Description structure
Parameter | Name: Data type: _______

Cxxxxx | _____________ Index: _______
Description
Display range (min. value | unit | max. value)
; Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Representation in the »Engineer«

The »Engineer« displays these parameters with a grey background or, with an online
connection, with a pale-yellow background:
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Parameter reference
17.1.3 Parameters with write access
Only parameters with a check mark (;) in front of the "write access" attribute can be
changed by the user. The Lenze setting for these parameters is printed in bold.
 The settings can either be selected from a selection list or the values can be entered
directly.
 Values outside the valid setting range are represented in red in the »Engineer«.
17.1.3.1 Parameters with setting range

Cxxxxx | _____________ Index: _______
Description
Setting range (min. value | unit | max. value) Lenze setting
; Read access ; Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1
Parameter setting in the »Engineer«

In the »Engineer«, parameters are set by entering the desired value into the input field:
17.1.3.2 Parameters with selection list

Cxxxxx | _____________ Index: _______
Description
Selection list (Lenze setting printed in bold)
1
2
3
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Parameter reference

In the »Engineer«, a list field is used for parameter setting:
17.1.3.3 Parameters with bit-coded setting

Cxxxxx | _____________ Index: _______
Description
Value is bit-coded:
Bit 0
...
Bit 31

The »Engineer« uses a dialog box for parameter setting in which the individual bits can be
set or reset. Alternatively, the value can be entered as a decimal or hexadecimal value:
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Parameter reference
17.1.3.4 Parameters with subcodes

Cxxxxx | _____________ Index: _______
Description
Setting range (min. value | unit | max. value)
Subcodes Lenze setting

Cxxxxx/1
Cxxxxx/2
Cxxxxx/3
Cxxxxx/4

The »Engineer« parameter list lists all subcodes separately. The parameters are set as
described in the previous chapters.
17.1.4 Parameter attributes
The parameter attributes are listed in the table footer:

Attribute Meaning
; Read access Read access to parameter possible.
; Write access Write access to parameter possible.
• Please also observe the following attributes:
; CINH Parameter value can only be changed when the controller is
inhibited.
; PLC STOP Parameter value can only be changed when the application is
stopped.
; No transfer Parameter is not transferred to controller when the command Download parameter set is
executed.
; COM Communication-relevant parameter
• This parameter is relevant for parameter data transfer via the (CAN) system bus.
; MOT Motor control parameters
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Parameter reference
Scaling factor
The "scaling factor" is important for parameter access via the bus system.
Signal type Scaling factor Resolution Value range

Analog (scaled) 100 16 bits signed ± 199.99 %
Angular velocity 1 16 bits signed ± 32767 incr./ms
Position in [units] 10000 32 bits signed ± 214748.3647 [units]
Digital (BOOL) 1 8 bits unsigned 0 ≡ FALSE; 1 ≡ TRUE
Time 1000 16 bits unsigned 0 ... 999.000 s
Selection value 1 16 bits unsigned 0 ... 65535
Example 1: The value "654" of the parameter C00028/1 (AIN1: input voltage) read via a bus
system must be divided by the corresponding scaling factor "100" to obtain the actual
display value "6.54 V".
Read value (via bus system)

----------------------------------------------------------------------- = Indicated value (Engineer)
Scaling factor
[17-1] Conversion formula for read access via bus system
Example 2: To set the parameter C00012 (acceleration time for main setpoint) via a bus
system to the value "123.45 %", the integer value "12345" must be transferred, i.e. the
value to be set must be multiplied by the corresponding scaling factor "100".
Value to be written (via bus system) = Value to be set ⋅ Scaling factor

[17-2] Conversion formula for write access via bus system
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Parameter reference
Parameter list
17.2 Parameter list
This chapter lists all parameters of the operating system in numerically ascending order.
 Note!
The parameter descriptions are based on software version V02.00.00.
C00002
Parameter | Name: Data type: UNSIGNED_8
C00002 | Controller commands Index: 24573d = 5FFDh
Note:
Before switching off the supply voltage after carrying out a device command, check whether the device command
has been carried out successfully via the status display under C00003!
Drive control (DCTRL): Device commands
Selection list
0 Off / ready
1 On / start
4 Action cancelled
5 No access
6 No access controller inhibit
20 20% working
40 40% working
60 60% working
80 80% working
Subcodes Lenze setting Information
C00002/1 0: Off / ready Load Lenze setting
• All parameters are reset to the Lenze setting.
• Only possible when the controller is inhibited.
C00002/2 0: Off / ready Reserved
C00002/6 0: Off / ready Load all parameter sets
• All parameter sets are loaded from the memory
module.
• Only possible when the controller is inhibited.
C00002/11 0: Off / ready Save all parameter sets
• All parameter sets are saved safe against mains
failure in the memory module.
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Parameter reference
Parameter list

C00002 | Controller commands Index: 24573d = 5FFDh

C00002/16 1: On / start Enable controller
"1" ≡ Enable controller
"0" ≡ Inhibit controller
C00002/17 0: Off / ready Activate quick stop
"1" ≡ Activate quick stop
"0" ≡ Deactivate quick stop
C00002/19 0: Off / ready Reset error
• After resetting the current error, further errors may be
pending, which also have to be reset.
• The status-determining error is displayed in C00168.
• The current error is displayed in C00170.
C00002/21 0: Off / ready Delete logbook
• All entries in the controller logbook are deleted.
• In the logbook, information on the error history is
saved.
C00002/23 0: Off / ready Identify motor parameter
• This device command is used to start the automatic
identification of the motor parameters.
• This device command is only executed when the
controller is in the "Switched On" state
• To execute the identification of the motor
parameters, the controller must be enabled after this
device command.
C00002/26 0: Off / ready CAN reset node
• Reinitialise "CAN on board" interface.
• Required when changing the baud rate, node address
or identifiers.
; Read access ; Write access CINH PLC STOP ; No transfer COM MOT Scaling factor: 1
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Parameter reference
Parameter list | C00003
C00003
C00003 | Status of last device command Index: 24572d = 5FFCh
Status of the device command carried out last (C00002).
Note:
Before switching off the supply voltage after carrying out a device command, check whether the device command
has been carried out successfully via the status display!
Drive control (DCTRL): Device commands
Selection list (read only) Information
0 Successful Device command was carried out successfully.
1 Command unknown Device command implausible or not known in the
system.
2 No access Access for requested device command not accepted.
3 Time-out Device command could not be carried out in the time
defined (time-out).
; Read access Write access CINH PLC STOP ; No transfer COM MOT Scaling factor: 1
C00005
C00005 | Application selection Index: 24570d = 5FFAh
Selection of the technology application

Selection list (Lenze setting printed in bold) Information
0 Wiring has changed This display appears if the FB interconnection has been
changed in the application level using the FB Editor.
1000 Actuating drive speed This technology application is used to solve speed-
controlled drive tasks, e.g. conveying belts.
2000 Table positioning This technology application is used to solve postion-
controlled drive tasks, which are usually controlled via a
higher-level control system using a fieldbus.
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Parameter reference
C00006
C00006 | Select motor control Index: 24569d = 5FF9h
Selection of the motor control mode (operating mode)

Motor control (MCTRL): Selection of control mode
2 SC: Servo control ASM This control type is used for the servo control of an
asynchronous motor.
• The control type requires a speed feedback via an
encoder mounted to the motor!
4 SLVC: Vector control This control type is used for sensorless vector control of
an asynchronous motor.
• The control type requires motor parameters to be set
as accurately as possible!
6 VFCplus: V/f linear This control type is used for the speed control of an
asynchronous motor via a linear V/f characteristic and is
the simplest control type.
• For setting the V/f characteristic, only the rated
frequency (C00089) and the rated voltage (C00090) of
the motor have to be entered.
7 VFCplus: V/f linear + encoder This control type is used for speed control of an
asynchronous motor via a linear V/f characteristic.
8 VFCplus: V/f quadr This control type is used for speed control of an
asynchronous motor via a square-law V/f characteristic.
9 VFCplus: V/f quadr + encoder This control type is used for speed control of an
asynchronous motor via a square-law V/f characteristic.
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Parameter reference
C00007
C00007 | Select control mode Index: 24568d = 5FF8h
With this parameter the control mode for the technology application selected under C00005 is defined, i.e. how the
inputs and outputs of the technology application are connected to the I/Os of the controller.
• How the inputs and outputs are connected in the individual control modes is described in the corresponding
technology application.
0 Wiring has changed This is displayed when the FB interconnection has been
changed in the I/O level via the FB Editor.
10 Terminals 0 The technology application is controlled via the digital
and analog input terminals of the controller.
12 Terminal 2 The technology application is controlled via the digital
14 Terminal 11 The technology application is controlled via the digital
20 Keypad The technology application is controlled via the keypad.
21 PC The technology application is controlled via the "Free
parameters" of the controller (PC control).
30 CAN The technology application is controlled by means of
CAN-PDOs via the system bus "CAN on board".
40 MCI The technology application is controlled by means of
MCI-PDOs via the MCI-interface of an attached
communication module (e.g. PROFIBUS).
C00008
C00008 | Original application|Control source Index: 24567d = 5FF7h
Display of the originally selected technology application and the originally selected control mode.
• This parameter shows the selection that was set with C00005 and C00007 before a change in the I/O level or the
application level was carried out.
• For purposes of diagnostics this display can be used to determine whether there is a standard signal
interconnection within the controller, or whether a change was carried out by the user.
0 Free|Free Application: Interconnection changed
I/O level: Interconnection changed
10 Free|Terminal0 Application: Interconnection changed
I/O level: "Terminals 0" control mode
20 Free|Keypad Application: Interconnection changed
I/O level: "Keypad" control mode
21 Free|PC Application: Interconnection changed
I/O level: "PC" control mode
30 Free|CAN Application: Interconnection changed
I/O level: "CAN" control mode
40 Free|MCI Application: Interconnection changed
I/O level: "MCI" control mode
1000 Speed|Free Application: Actuating drive - speed
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Parameter reference

C00008 | Original application|Control source Index: 24567d = 5FF7h
1010 Speed|Terminal0 Application: Actuating drive - speed

1020 Speed|Keypad Application: Actuating drive - speed
1021 Speed|PC Application: Actuating drive - speed
1030 Speed|CAN Application: Actuating drive - speed
1040 Speed|MCI Application: Actuating drive - speed
2000 TabPos|Free Application: Table positioning
2010 TabPos|Terminal0 Application: Table positioning
2020 TabPos|Keypad Application: Table positioning
2021 TabPos|PC Application: Table positioning
2030 TabPos|CAN Application: Table positioning
2040 TabPos|MCI Application: Table positioning
C00011
C00011 | Appl.: Reference speed Index: 24564d = 5FF4h
Setting the reference speed

• In the controller, all speed-related signals are processed to a reference variable in percent.
• Here, the reference speed corresponding to 100 % is set.
Note:
This is not a maximum limitation!
All percentage values in the controller can be in the range of 0 ... 199.99 %.
50 rpm 60000 1500 rpm
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Parameter reference
C00012
C00012 | Accel. time - main setpoint Index: 24563d = 5FF3h
FB L_NSet_1: Acceleration time of the ramp generator for the main speed setpoint
• This ramp generator is basically used for all speed-controlled technology applications.
0.000 s 999.999 2.000 s
C00013
C00013 | Decel. time - main setpoint Index: 24562d = 5FF2h
FB L_NSet_1: Deceleration time of the ramp generator for the main speed setpoint
• This ramp generator is basically used for all speed-controlled technology applications.
0.000 s 999.999 2.000 s
C00015
C00015 | VFC: V/f base frequency Index: 24560d = 5FF0h
V/f base frequency for VFCplus mode

• The motor voltage increases linearly with the frequency until the base frequency is reached. From this value on,
the motor voltage remains constant, the speed increases and the maximum torque decreases.
• After the motor to be used has been selected from the motor catalogue, the suitable value can be entered
automatically. An automatic detection via the motor parameter identification is possible as well.
7.5 Hz 2600.0 50.0 Hz
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT Scaling factor: 10
C00016
C00016 | VFC: Vmin boost Index: 24559d = 5FEFh
Boost of the V/f voltage characteristic within a small speed or frequency range for VFCplus mode
• This may increase the starting torque.
Motor control (MCTRL): Setting Vmin boost
0.00 % 100.00 1.60 %
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Parameter reference
C00018
C00018 | Switching frequency Index: 24557d = 5FEDh
Selection of the pulse width modulated switching frequency transferred from the inverter to the motor
• You can choose between a drive-optimised setting for good smooth-running characteristics and an inverter loss-
optimised setting (min. Pv).
• For these options, you can, in turn, choose between fixed and variable switching frequencies.
• When a variable switching frequency is selected, the switching frequency may change as a function of the load
and rotational frequency.
1 4 kHz var./drive-optimised
5 2 kHz constant/drive-optimised
11 4 kHz var./min. Pv
15 2 kHz constant/min. Pv
C00019
C00019 | Auto-DCB: Threshold Index: 24556d = 5FECh
Setpoint speed threshold for the automatic DC injection brake

• For speed setpoints with values below the thresholds a DC current is injected or the motor is not supplied with
current, depending on the setting.
0 rpm 60000 3 rpm
C00021
Parameter | Name: Data type: INTEGER_16
C00021 | Slip compensation Index: 24554d = 5FEAh
Slip compensation for VFCplus and SLVC modes

• An increase of the slip compensation causes a greater frequency and voltage increase when the machine is
loaded.
Motor control (MCTRL): Optimising the operational performance by slip compensation
-100.00 % 100.00 2.67 %
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Parameter reference
C00022
C00022 | Imax in motor mode Index: 24553d = 5FE9h
Maximum current in motor mode for all operating modes

0.00 a 655.35 47.00 A
C00023
C00023 | Imax in generator mode Index: 24552d = 5FE8h
Maximum current in generator mode for all operating modes

• 100 % ≡ Imax in motor mode (C00022)
0.00 % 100.00 100.00 %
C00024
C00024 | Comparison value N_Act Index: 24551d = 5FE7h
Threshold for the actual speed comparison

• This parameter serves to set a threshold that is compared with the actual speed value.
• When the value falls below this threshold, the bNactCompare output of the SB LS_DriveInterface switches to
TRUE.
• Switching hysteresis = +1 %
0.00 % 199.99 0.00 %
C00026
C00026 | AINx: Offset Index: 24549d = 5FE5h
Offset for analog inputs

I/O terminals
-199.99 % 199.99
C00026/1 0.00 % AIN1: offset
C00026/2 0.00 % AIN2: offset
C00027
C00027 | AINx: Gain Index: 24548d = 5FE4h
Gain for analog inputs

I/O terminals
-100.0000 100.0000
C00027/1 1.0000 AIN1: gain
C00027/2 1.0000 AIN2: gain
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Parameter reference
C00028
C00028 | AINx: Input voltage Index: 24547d = 5FE3h
Display of the input voltage at the analog inputs

I/O terminals
-10.00 V 10.00
Subcodes Information
C00028/1 AIN1: input voltage
C00028/2 AIN2: input voltage
C00029
C00029 | AINx: Input current Index: 24546d = 5FE2h
Display of the input current at the analog inputs

• When the corresponding analog input is configured for current measurement (C00034/x = 1 or 2).
• When C00034/x is set = 2 (4 ... 20 mA), 0 ... 16 mA is displayed.
I/O terminals
0.00 mA 20.00
C00029/1 AIN1: input current
C00029/2 AIN2: input current
C00033
C00033 | AINx: Output value Index: 24542d = 5FDEh
Display of the output value in percent of the analog input amplifier

• 100 % ≡ 16384 ≡ +10 V / +20 mA
I/O terminals
-199.99 % 199.99
C00033/1 AIN1: output value
C00033/2 AIN2: output value
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Parameter reference
C00034
C00034 | AINx: Configuration Index: 24541d = 5FDDh
Configuration of the analog inputs for current or voltage measurement

I/O terminals
Selection list Information
0 -10V..+10V Input signal is the voltage signal -10 V ... +10 V
• -10 V ... +10 V ≡ -100 % ... +100 %
1 0mA..20mA Input signal is the current signal 0 mA ... 20 mA
• 0 mA ... 20 mA ≡ 0 % ... +100 %
2 4mA..20mA Input signal is the current signal 4 mA ... 20 mA
• 4 mA ... 20 mA ≡ 0 % ... +100 %
• The current loop is monitored for open circuit
(I < 4 mA) by the device.
C00034/1 0: -10V..+10V AIN1: config.
C00034/2 0: -10V..+10V AIN2: config.
C00036
C00036 | DCB: Current Index: 24539d = 5FDBh
Current value in [%] for DC-injection braking

• 100 % ≡ Imax in motor mode (C00022)
0.00 % 200.00 50.00 %
C00039
C00039 | Fixed setpoint x (L_NSet_1 n-Fix) Index: 24536d = 5FD8h
FB L_NSet_1: Fixed speed setpoints (JOG values) for the setpoint generator
-199.99 % 199.99
C00039/1 40.00 % Fixed setpoint 1
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Parameter reference
C00050
C00050 | MCTRL: Speed setpoint Index: 24525d = 5FCDh
Display of the speed setpoint at the speed setpoint input of the motor control
-60000 rpm 60000
C00051
C00051 | MCTRL: Actual speed value Index: 24524d = 5FCCh
Display of the actual speed value of the motor shaft
Note:
The displayed value only corresponds to the real actual speed value of the motor shaft if an encoder is connected to
the motor and the evaluation of the feedback signal has been set correctly ("Closed loop" operation).
In case of operation without speed feedback, the signal is calculated from the motor control and thus may not
correspond to the real actual speed.
-60000 rpm 60000
C00052
C00052 | Motor voltage Index: 24523d = 5FCBh
Display of the current motor voltage/output voltage of the inverter

0 V 1000
C00053
C00053 | DC-bus voltage Index: 24522d = 5FCAh
Display of the current DC-bus voltage

0 V 1000
C00054
C00054 | Motor current Index: 24521d = 5FC9h
Display of the current motor current/output current of the inverter

0.00 a 300.00
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Parameter reference
C00056
C00056 | Torque Index: 24519d = 5FC7h
Display of the current torque

-65000.00 Nm 65000.00
C00056/1 Torque setpoint
• Only for SLVC and SC modes.
C00056/2 Actual torque
• Estimated actual torque for all operating modes.
C00057
C00057 | Maximum torque Index: 24518d = 5FC6h
Display of the maximum torque to be generated by the motor

• The maximum torque to be generated by the motor depends on various factors, e.g. on Imax in motor mode
(C00022) and the motor type used.
0.00 Nm 65000.00
C00058
C00058 | Output frequency Index: 24517d = 5FC5h
Display of the current output frequency

-1300.00 Hz 1300.00
C00059
C00059 | Appl.: Reference frequency C11 Index: 24516d = 5FC4h
Display of the field frequency which corresponds to the reference speed set in C00011.
0.00 Hz 1300.00
C00061
C00061 | Heatsink temperature Index: 24514d = 5FC2h
Display of the current heatsink temperature

-50 °C 150
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Parameter reference
C00064
C00064 | Device utilisation (Ixt) Index: 24511d = 5FBFh
Display of the device utilisation Ixt in different time resolutions

• If the value displayed here exceeds the threshold set in C00123, the fault message "OC5: Device overload (Ixt)"
is output and the fault response set in C00604 is executed (default setting: "Warning").
0.00 % 250.00
C00064/1 Device utilisation (Ixt)
• Maximum value of the pulse utilisation (C00064/2)
and permanent utilisation (C00064/3).
C00064/2 Device utilisation (Ixt) 15s
• Pulse utilisation over the last 15 seconds (only for
loads >160 %).
C00064/3 Device utilisation (Ixt) 3 min
• Permanent utilisation over the last 3 minutes.
C00065
C00065 | 24 V supply voltage Index: 24510d = 5FBEh
Display of the 24V supply voltage for the supply of the control electronics
Note:
The 24 V supply for the control electronics is either provided by an external supply or by the controller itself if it is
connected to the mains voltage.
0.0 V 3276.7
C00066
C00066 | Thermal motor load (I²xt) Index: 24509d = 5FBDh
Display of the thermal motor load being detected sensorless via a motor model
• If the value displayed here exceeds the threshold set in C00120, the fault message "OC6: Thermal motor overload
(I2xt)" is output and the fault response set in C00606 is executed (default setting: "Warning").
0.00 % 199.99
C00070
C00070 | Vp speed controller Index: 24505d = 5FB9h
Gain factor Vp of the speed controller for different operating modes

0.00 600.00
C00070/1 15.00 SLVC: Vp speed controller
C00070/2 6.00 SC: Vp speed controller
618 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00071
C00071 | Ti speed controller Index: 24504d = 5FB8h
Reset time Ti of the speed controller for different operating modes

0.0 ms 6000.0
C00071/1 100.0 ms SLVC: Ti speed controller
C00071/2 50.0 ms SC: Ti speed controller
C00072
C00072 | SC: Tdn speed controller Index: 24503d = 5FB7h
Differential time constant Tdn of the speed controller for SC (servo control) mode
0.00 ms 3.00 0.00 ms
C00073
C00073 | Imax/M controller gain Index: 24502d = 5FB6h
Gain factor Vp of certain controllers for different operating modes

0.00 16.00
C00073/1 0.25 VFC: Vp Imax controller
• After the motor to be used has been selected from the
motor catalogue, the suitable value can be entered
automaticaly.
C00073/2 1.25 SLVC: Vp torque controller
C00074
C00074 | Imax/M controller reset time Index: 24501d = 5FB5h
Reset time Ti of certain controllers for different operating modes

0 ms 9990
C00074/1 65 ms VFC: Ti Imax controller
C00074/2 30 ms SLVC: Ti torque controller
C00075
C00075 | Vp current controller Index: 24500d = 5FB4h
Gain factor Vp of the current controller for SC (servo control) mode and certain inverter functions (parameter
identification, flying restart circuit)
automaticaly.
0.00 V/A 500.00 7.00 V/A
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Parameter reference
C00076
C00076 | Ti current controller Index: 24499d = 5FB3h
Reset time Ti of the current controller for SC (servo control) mode and certain inverter functions (parameter
identification, flying restart circuit)
automaticaly.
0.00 ms 500.00 10.61 ms
C00077
C00077 | SC: Vp field controller Index: 24498d = 5FB2h
Gain factor Vp of the field controller for SC (servo control) mode

automaticaly.
0.00 500.00 12.80
C00078
C00078 | SC: Tn field controller Index: 24497d = 5FB1h
Reset time Tn of the field controller for SC (servo control) mode

automaticaly.
0.1 ms 6000.0 256.0 ms
C00079
C00079 | SC: Settings Index: 24496d = 5FB0h
Configuration of different options for SC (servo control) mode

Selection list
0 Off
1 On
C00079/1 0: Off SC: Current controller - feedforward control
• Feedforward control/decoupling network of the
current controller.
C00079/2 1: On SC: adapt. field weakening controller
• Speed-dependent adaptive field weakening
controller.
C00079/3 0: Off SC: n-Ctrl Anti-Wind-Up
• "Anti-wind-up" effect of the speed controller in case
of an output voltage limitation in the field weakening
range.
620 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00080
C00080 | Override point of field weakening Index: 24495d = 5FAFh
Shifting of the override point for the field weakening function

• In the VFCplus mode, the stall protection function or the max. permissible current in the field weakening range
can be adapted.
-500 Hz 500 0 Hz
C00081
C00081 | Rated motor power Index: 24494d = 5FAEh
This value can be obtained from the motor nameplate. After the motor to be used has been selected from the motor
catalogue, the suitable value can be entered automatically.
Note:
It is mandatory to give the rated motor power for the field-oriented operating modes (SLVC and SC).
0.00 kW 500.00 11.00 kW
C00082
C00082 | Motor rotor resistance Index: 24493d = 5FADh
After the motor to be used has been selected from the motor catalogue, the suitable value can be entered
0 mOhm 200000 276 mOhm
C00083
C00083 | Motor - rotor time constant Index: 24492d = 5FACh
Display of the rotor time constant of the motor

• This value is calculated from the rotor resistance and the rotor inductance (leakage and magnetising
inductance).
0 ms 32767
C00084
C00084 | Motor stator resistance Index: 24491d = 5FABh
0 mOhm 200000 330 mOhm
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 621

Parameter reference
C00085
C00085 | Motor stator leakage inductance Index: 24490d = 5FAAh
0.00 mH 650.00 3.50 mH
C00087
C00087 | Rated motor speed Index: 24488d = 5FA8h
Note:
It is mandatory to give the rated motor speed for the field-oriented operating modes (SLVC and SC).
50 rpm 60000 1460 rpm
C00088
C00088 | Rated motor current Index: 24487d = 5FA7h
0.20 a 320.00 21.00 A
C00089
C00089 | Rated motor frequency Index: 24486d = 5FA6h
Note:
It is mandatory to give the rated motor frequency for the field-oriented operating modes (SLVC and SC).
1 Hz 1000 50 Hz
C00090
C00090 | Rated motor voltage Index: 24485d = 5FA5h
0 V 1000 400 V
622 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00091
C00091 | Motor cosine phi Index: 24484d = 5FA4h
0.40 1.00 0.85
C00092
C00092 | Motor magnetizing inductance Index: 24483d = 5FA3h
0.0 mH 6500.0 81.0 mH
C00093
C00093 | Power section ID Index: 24482d = 5FA2h
Display of the identification of the detected power section for the frequency inverter
0 65535
C00095
C00095 | Motor magnetising current Index: 24480d = 5FA0h
0.00 a 320.00 8.50 A
C00097
C00097 | Rated motor torque Index: 24478d = 5F9Eh
Display of the rated motor torque

• The value displayed here is calculated from different parameters, e.g. the maximum current set in C00022.
0.00 Nm 65535.00
C00098
C00098 | Rated device current Index: 24477d = 5F9Dh
Display of the rated inverter current which is defined by the integrated power section.
0.0 a 6000.0
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 623

Parameter reference
C00099
Parameter | Name: Data type: VISIBLE_STRING
C00099 | Firmware version Index: 24476d = 5F9Ch
Display of the firmware version of the device as string

; Read access Write access CINH PLC STOP ; No transfer COM MOT
C00100
C00100 | Firmware version Index: 24475d = 5F9Bh
Display of the firmware version of the device, divided into subsections.

0 99
C00100/1 Firmware version primary status
C00100/2 Firmware version secondary status
C00100/3 Firmware version release
C00100/4 Firmware version build
C00101
C00101 | Add. acceleration time x Index: 24474d = 5F9Ah
FB L_NSet_1: Additional acceleration times for the main setpoint

• The additional acceleration times set here can be selected via the binary inputs bTI1 ... bTI8 of the L_NSet_1 FB.
0.000 s 999.999
C00101/1 0.000 s Additional acceleration time 1 ... 15
C00101/...
C00101/15
C00103
C00103 | Add. deceleration time x Index: 24472d = 5F98h
FB L_NSet_1: Additional deceleration times for the main setpoint

• The additional deceleration times set here can be selected via the binary inputs bTI1 ... bTI8 of the L_NSet_1 FB.
0.000 s 999.999
C00103/1 0.000 s Additional deceleration time 1 ... 15
C00103/...
C00103/15
C00105
C00105 | Deceleration time - quick stop Index: 24470d = 5F96h
The set deceleration time determines the ramp slope at quick stop
0.000 s 999.900 2.000 s
624 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00106
C00106 | Auto-DCB: hold time Index: 24469d = 5F95h
Hold time of the automatic DC injection brake

• The DC injection brake is applied for the time set here if the value falls below the speed setpoint set in C00019.
0.000 s 999.000 0.500 s
C00107
C00107 | DCB: hold time Index: 24468d = 5F94h
Maximum hold time of the manual DC injection brake

• In order not to overload the motor thermally, a time for automatic switch-off of the DC injection brake can be set
here.
0.000 s 999.000 999.000 s
C00114
C00114 | DI polarity Index: 24461d = 5F8Dh
Polarity of the digital inputs

• Every digital input of the device can be inverted with regard to polarity via this bit field.
I/O terminals
Setting range (min. hex value | max. hex value) Lenze setting
0x0000 0xFFFF 0x0000 (decimal: 0)
Value is bit-coded: (; = bit set) Information
Bit 0 Invert DI1 Inversion of digital input 1
Bit 7 Reserve
Bit 8 Reserve
Bit 9 Reserve
Bit 10 Reserve
Bit 11 Reserve
Bit 12 Reserve
Bit 13 Reserve
Bit 14 Reserve
Bit 15 Invert CInh Inversion of digital input CInh (controller inhibit)
; Read access ; Write access CINH PLC STOP No transfer COM MOT
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 625

Parameter reference
C00115
C00115 | Fct. DI 1/2 & 6/7 Index: 24460d = 5F8Ch
Function assignment of the digital inputs DI1/2 and DI6/7

I/O terminals
0 DI1(6)=In / DI2(7)=In DI1/6 = digital input
DI2/7 = digital input
1 DI1(6)=FreqIn / DI2(7)=In DI1/6 = single-track frequency input
2 DI1(6)&DI2(7)=FreqIn (2-track) DI1/6 und DI2/7 = two-track frequency input
3 DI1(6)=FreqIn / DI2(7)=direction DI1/6 = single-track frequency input
DI2/7 = direction
4 DI1(6)=CountIn / DI2(7)=In DI1/6 = counter input
C00115/1 0: DI1(6)=In / DI2(7)=In Function assignment of DI1 and DI2
C00115/2 0: DI1(6)=In / DI2(7)=In Function assignment of DI6 and DI7
C00117
C00117 | Status - brake output BD Index: 24458d = 5F8Ah
Status message of brake output

0 inactive Brake output is inactive
1 active Brake output is active
C00118
C00118 | DOx inversion Index: 24457d = 5F89h
Polarity of the digital outputs

• Every digital output of the device can be inverted with regard to polarity via this bit field.
I/O terminals
0x00 0xFF 0x00 (decimal: 0)
Bit 0 Relay inverted Relay inversion
Bit 1 DO1 inverted Inversion of digital output 1
Bit 4 High current inverted Inversion of high-current output
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
626 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00120
C00120 | Motor overload threshold (I²xt) Index: 24455d = 5F87h
Operating threshold for the error message "OC6: Motor overload (I²xt)"
• The response for reaching the threshold can be selected in C00606.
• The current thermal motor load is displayed in C00066.
0.00 % 250.00 100.00 %
C00123
C00123 | Device utilisat. threshold (Ixt) Index: 24452d = 5F84h
Operating threshold for the error message "OC5: Device overload (Ixt)"
• The current device utilisation is displayed in C00064.
0.00 % 200.00 100.00 %
C00129
C00129 | Brake resistance value Index: 24446d = 5F7Eh
As of version 02.00.00
Resistance value of the connected brake resistor
• The value to be entered can be obtained from the nameplate of the brake resistor.
0.0 Ohm 500.0 39.0 Ohm
C00130
C00130 | Rated brake resistor power Index: 24445d = 5F7Dh
Rated power of the connected brake resistor
0 w 65535 100 W
C00131
C00131 | Thermal capacity of brake resistor Index: 24444d = 5F7Ch
Thermal capacity of the connected brake resistor

0.0 kWs 6553.5 10.0 kWs
C00133
C00133 | Brake resistor utilisation Index: 24442d = 5F7Ah
Display of the utilisation of the connected brake resistor

0 % 65535
; Read access Write access CINH PLC STOP No transfer COM ; MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 627

Parameter reference
C00134
C00134 | Ramp rounding main setpoint Index: 24441d = 5F79h
Configuration of the ramp rounding for the main setpoint

0 Off Ramp rounding deactivated
1 PT1 behaviour Ramp rounding with PT1 behaviour
• The corresponding S-ramp time must be set in
C00182.
C00136
C00136 | Communication control words Index: 24439d = 5F77h
Control words of the communication interfaces

Display range (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded:
Bit 0 SwitchOn
Bit 1 DisableVoltage
Bit 2 SetQuickStop
Bit 3 EnableOperation
Bit 4 ModeSpecific_1
Bit 7 ResetFault
Bit 8 SetHalt
Bit 9 reserved_1
Bit 10 reserved_2
Bit 11 LenzeSpecific_1
Bit 14 SetFail
C00136/1 MCI control word
• Control word of the communication interface MCI
(communication module)
C00136/2 CAN control word
• Control word of the communication interface CAN
(CAN on board)
628 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00137
C00137 | Device state Index: 24438d = 5F76h
Display of the current device state

Selection list (read only)
0 FirmwareUpdate
1 Init
2 MotorIdent
3 ReadyToSwitchON
4 SwitchedON
5 OperationEnable
6 Warning
7 Trouble
8 Fault
9 TroubleQSP
10 SafeTorqueOff
11 SystemFail
12 reserved_1
13 reserved_2
14 reserved_3
15 reserved_4
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 629

Parameter reference
C00138
C00138 | Internal control signals Index: 24437d = 5F75h
Bit-coded display of internal control signals from different sources

Display area (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded:
Bit 0 Reserved
Bit 1 DisableVoltage
Bit 2 SetQuickStop
Bit 3 EnableOperation
Bit 4 InitFinishedOK
Bit 7 ResetFault
Bit 8 SetHalt
Bit 9 FirmwareUpdate
Bit 10 MotorIdent
Bit 11 SetMessage
Bit 12 SetIMP
Bit 13 SetSystemFail
Bit 14 SetFail
Bit 15 SetFailQSP
C00138/1 SYS control signals
C00138/2 MCK control signals
C00138/3 FWM control signals
C00142
C00142 | Auto-start option Index: 24433d = 5F71h
Setting of the "Auto-start" function

• When inhibit is activated, the motor can only start after the device state has changed.
Value is bit-coded: (; = bit set)
Bit 0 ; Inhibit when device is on
Bit 1 Inhibit at trouble
Bit 2 Inhibit at fault
Bit 3 ; Inhibit at undervoltage
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
630 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00144
C00144 | Switching freq. reduct. (temp.) Index: 24431d = 5F6Fh
Activation of the automatic switching frequency reductionat too high temperature

0 Off Automatic switching frequency reduction deactivated
1 On Automatic switching frequency reduction activated
C00150
C00150 | Status word Index: 24425d = 5F69h
Bit-coded device status word

0x0000 0xFFFF
Value is bit-coded: Information
Bit 0 FreeStatusBit0 Free status bit 0
Bit 1 PowerDisabled Power switched off
Bit 6 ActSpeedIsZero Current speed is 0
Bit 7 ControllerInhibit Controller is inhibited
Bit 8 StatusCodeBit0 Status code bit 0
Bit 12 Warning Warning
Bit 13 Trouble Fault
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 631

Parameter reference
C00155
C00155 | Status word 2 Index: 24420d = 5F64h
Bit-coded device status word2

0x0000 0xFFFF
Bit 0 Fail Fail
Bit 1 M_max Maximum torque
Bit 2 I_max Maximum current
Bit 3 PowerDisabled Power switched off
Bit 4 Ready Ready
Bit 5 ControllerInhibit Controller is inhibited
Bit 6 Trouble Fault
Bit 7 InitState InitState
Bit 8 CwCcw CW/CCW rotation
Bit 9 TroubleQSP Quick stop because of fault active
Bit 10 SafeTorqueOff Safe torque off
Bit 11 AplicationRunning Application is running
Bit 12 AplParSetBit0 Application parameter set - bit 0
Bit 13 AplParSetBit1 Application parameter set - bit 1
Bit 14 Quick stop Quick stop is active
Bit 15 Motorpar. Ident. Motor parameter identification active
632 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00158
C00158 | Cause of controller inhibit Index: 24417d = 5F61h
Bit-coded display of the cause/source of controller inhibit

0x0000 0xFFFF
Value is bit-coded:
Bit 0 Terminal controller enable
Bit 1 CAN control word
Bit 2 MCI control word
Bit 3 SwitchOn
Bit 4 Application
Bit 5 Controller command
Bit 6 Error response
Bit 7 Internal signal
Bit 8 Reserved
Bit 9 Reserved
Bit 10 AutoStartLock
Bit 11 Motorpar. Ident.
Bit 12 Automatic brake operation
Bit 13 DCB-IMP
Bit 14 Reserved
Bit 15 Reserved
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 633

Parameter reference
C00159
C00159 | Cause for quick stop QSP Index: 24416d = 5F60h
Bit-coded display of the cause/source of quick stop

0x0000 0xFFFF
Value is bit-coded:
Bit 0 Reserved
Bit 1 CAN control word
Bit 2 MCI control word
Bit 3 Reserved
Bit 4 Application
Bit 5 Controller command
Bit 6 Error response
Bit 7 Internal signal
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Operating system
Bit 11 Reserved
Bit 12 MCK
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
C00161
C00161 | LS_SetError_x: Error number Index: 24414d = 5F5Eh
LS_SetError_1-2 SB: Individual error number

0 65535
C00161/1 1 LS_SetError_1: error no.1
634 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00163
C00163 | Logbook - binary elements Index: 24412d = 5F5Ch
Selection of two binary signals that are to be logged in the logbook.

0 No signal
1 DI1: Input signal
2 DI2: Input signal
3 DI3: Input signal
4 DI4: Input signal
5 Controller inhibit signal
6 Digital counter: Comparison bit
7 CAN1 Input bit 0
8 CAN1 Input bit 1
9 CAN1 Input bit 2
10 CAN1 Input bit 3
11 CAN1 Input bit 4
12 CAN1 Input bit 5
13 CAN1 Input bit 6
14 CAN1 Input bit 7
15 CAN1 Input bit 8
16 CAN1 Input bit 9
17 CAN1 Input bit 10
23 CAN2 Input bit 0
24 CAN2 Input bit 1
25 CAN2 Input bit 2
26 CAN2 Input bit 3
27 CAN2 Input bit 4
28 CAN2 Input bit 5
29 CAN2 Input bit 6
30 CAN2 Input bit 7
31 CAN2 Input bit 8
32 CAN2 Input bit 9
39 CAN3 Input bit 0
40 CAN3 Input bit 1
41 CAN3 Input bit 2
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 635

Parameter reference

42 CAN3 Input bit 3

43 CAN3 Input bit 4
44 CAN3 Input bit 5
45 CAN3 Input bit 6
46 CAN3 Input bit 7
47 CAN3 Input bit 8
48 CAN3 Input bit 9
55 MCI Word 1 Input bit 0
636 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference


87 Position controller: Limit
88 Speed controller: Limit
89 Speed setpoint: Limit
90 Torque setpoint: Limit
91 Current setpoint: Limit
92 DC injection brake active
93 Quick stop is active
94 Pulse inhibit is active
95 Controller inhibit is active
96 Safe status active
97 Direction of rotation ccw
98 Actual speed = 0
99 L_Or_1: Out
100 L_DFlipFlop_1: Out
101 L_DigDelay_1: Out
102 L_Compare_1: Out
103 L_Compare_2: Out
104 L_NSet_1: Setpoint reached
105 L_DigitalLogic_1: Out
106 L_SignalMonitor_b: Out1
110 L_PCTRL_1: act=set
C00163/1 0: No signal Logbook binary element 1
C00163/2 0: No signal Logbook binary element 2
C00164
C00164 | Logbook - analog elements Index: 24411d = 5F5Bh
Selection of an analog signal that is to be logged in the logbook.

0 No signal
1 AIN1
2 CAN1 Control word
3 CAN1 Input word 2
4 CAN1 Input word 3
5 CAN1 Input word 4
6 CAN2 Input word 1
7 CAN2 Input word 2
8 CAN2 Input word 3
9 CAN2 Input word 4
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 637

Parameter reference

10 CAN3 Input word 1

14 Digital counter LowWord
15 Digital counter HighWord
16 MCI Word 1
17 MCI word 2
18 MCI Word 3
19 MCI Word 4
20 MCI Word 5
21 MCI Word 6
22 MCI Word 7
23 MCI Word 8
24 MCI Word 9
25 MCI Word 10
26 MCI Word 11
27 MCI Word 12
28 MCI Word 13
29 MCI Word 14
30 MCI Word 15
31 MCI Word 16
32 Current motor speed
33 Current motor torque
34 DC-bus voltage
35 Current motor current
36 Current motor voltage
37 Current motor frequency
38 Effective speed setpoint
39 Device utilisation
40 Motor utilisation
41 L_OffsetGainPar_1: Out
44 L_Aritmethik_1: Out
45 L_AnalogSwitch_1: Out
46 L_NSet_1: Out
47 L_MotorPoti_1: Out
48 L_PCTRL_1: Out
49 L_SignalMonitor_a: Out1
638 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

53 L_MulDiv_1: Out
54 L_NSet_1: Target setpoint
C00164/1 0: No signal Logbook analog element 1
C00165
C00165 | Error information Index: 24410d = 5F5Ah
Display of the error numbers divided into sectors in the case of an error
C00165/1 Status determ. error
C00165/2 Current error
C00166
C00166 | Error information text Index: 24409d = 5F59h
Display of details on the status determining and the currently pending error
C00166/1 Resp.status determ.error
• Response of the status determining error
C00166/2 Subj.area status determ.error
• Subject area of the status determining error
C00166/3 Mess.status determ.error
• Textual message of the status determining error
C00166/4 Resp.curr.error
• Response of the currently pending error
C00166/5 Subj.area curr. error
• Subject area of the currently pending error
C00166/6 Mess.curr.error
• Textual message of the currently pending error
C00167
Parameter | Name: Data type: OCTET_STRING
C00167 | Logbook data Index: 24408d = 5F58h
This code is for device-internal use only and must not be written to by the user!
C00168
C00168 | Status-determining error Index: 24407d = 5F57h
Display of the internal error number for the status-determining error

0 4294967295
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 639

Parameter reference
C00169
C00169 | Logbook setting Index: 24406d = 5F56h
Configuration which message types are to be logged in the logbook.

0x0000 0xFFFF 0x067E (decimal: 1662)
Value is bit-coded: (; = bit set)
Bit 0 Reserved
Bit 1 ; Log entry: Fault
Bit 2 ; Log entry: Trouble
Bit 3 ; Log entry: TroubleQuickstop
Bit 4 ; Log entry: WarningLocked
Bit 5 ; Log entry: Warning
Bit 6 ; Log entry: Information
Bit 7 Reserved
Bit 8 Reserved
Bit 9 ; Activation: Error counter
Bit 10 ; Activation: Log line refresh
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
C00170
C00170 | Current error Index: 24405d = 5F55h
Display of the internal error number for the currently pending error
0 4294967295
C00171
C00171 | Logbook access index Index: 24404d = 5F54h
C00173
C00173 | Mains voltage Index: 24402d = 5F52h
Selection of the mains voltage for operating the device.

0 3ph 400V / 1ph 230V 3-phase 400 V or 1-phase 230 V
; Read access ; Write access ; CINH PLC STOP No transfer COM MOT Scaling factor: 1
640 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00174
C00174 | Reduced brake chopper threshold Index: 24401d = 5F51h
The threshold from which on the brake chopper is controlled is reduced by the voltage value set here.
0 V 150 0 V
C00175
C00175 | Response for brake resistor control Index: 24400d = 5F50h
Selection of the response for brake resistor control
0 Brake resistor The brake resistor is used. When the threshold voltage
(C00174) is exceeded, the brake resistor is energised.
1 MCTRL_bHlgStop The "Ramp function generator stop" signal
(MCTRL_bHlgStop) is used. When the threshold voltage is
exceeded (C00174), the ramp function generator is
stopped.
2 Brake resistor and MCTRL_bHlgStop The brake resistor and the "Ramp function generator
stop" signal are used. When the threshold voltage is
exceeded (C00174), the brake resistor is energised and
the ramp function generator is stopped.
C00177
C00177 | Switching cycles Index: 24398d = 5F4Eh
Counter of different switching cycles and stressful situations

0 2147483647
C00177 /1 Number of mains switching cycles
C00177 /2 Number of switching cycles of the output relay
C00177 /3 Short circuit counter
C00177 /4 Earth fault counter
C00177 /5 "Clamp" counter
C00178
C00178 | Elapsed-hour meter Index: 24397d = 5F4Dh
Display of the operating hours in "seconds" unit

0 s 2147483647
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 641

Parameter reference
C00179
C00179 | Power-on time meter Index: 24396d = 5F4Ch
Display of the power-on time in "seconds" unit

0 s 2147483647
C00180
C00180 | Running time Index: 24395d = 5F4Bh
Display of different running times in "seconds" unit

0 s 2147483647
C00180/1 Running time - control card
C00180/2 Running time - heatsink fan
C00180/3 Running time - interior fan
C00182
C00182 | S-ramp time PT1 Index: 24393d = 5F49h
PT1 S-ramp time for the main setpoint ramp function generator
• Only effective with activated ramp rounding (C00134 = "1").
0.01 s 50.00 20.00 s
C00184
C00184 | AutoFailReset repetition time Index: 24391d = 5F47h
After the time set here, the error message of an occurred error will be reset automatically when the "AutoFailReset"
is configured accordingly in C00188.
1 s 600 3 s
C00185
C00185 | AutoFailReset residual runtime Index: 24390d = 5F46h
Display of the residual runtime of the "AutoFailReset" function

0 s 600
C00186
C00186 | Max. no. of AutoFailReset procedures Index: 24389d = 5F45h
Data of the maximum number of "AutoFailReset" procedures

1 16 4
642 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00187
C00187 | Current AutoFailReset procedures Index: 24388d = 5F44h
Data of the current number of "AutoFailReset" procedures

0 16
C00188
C00188 | Configuration AutoFailReset Index: 24387d = 5F43h
Setting which error messages are to be reset automatically.

0 Off No automatic error message reset
1 Fault + TroubleQSP Error messages with the response "Fault" and
"TroubleQSP" are reset automatically
2 WarningLocked Error messages with the response "WarningLocked" are
reset automatically
3 All locking All "locking" error messages are reset automatically
C00189
C00189 | Resp. too frequent AutoFailReset Index: 24386d = 5F42h
Response to exceeding the maximum number of "AutoFailReset" procedures set in C00186.

0 No Reaction
1 Fault
2 Trouble
3 TroubleQuickStop
4 WarningLocked
5 Warning
6 Information
C00190
C00190 | Setpoint arithmetic Index: 24385d = 5F41h
FB L_NSet_1: Selection of arithmetic

• For influencing the main setpoint (NSet) by an additive setpoint (NAdd).
0 NOut = NSet
1 NOut = NSet + NAdd
2 NOut = NSet - NAdd
3 NOut = (NSet * NAdd) / 100%
4 NOut = (NSet * 1%) / |NAdd|
5 NOut = (NSet * 100%) / (100% - NAdd)
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 643

Parameter reference
C00200
C00200 | Firmware product type Index: 24375d = 5F37h
Display of the firmware product type

C00201
C00201 | Firmware Index: 24374d = 5F36h
Display of the firmware data of the control card and the power section
C00201/1 Firmware type contr. card
C00201/2 Firmware version contr. card
C00201/3 Firmware comp.date contr. card
C00201/4 Firmware type power section
C00201/5 Firmware version power section
C00201/6 Firmware comp.date power section
C00203
C00203 | Product type code Index: 24372d = 5F34h
Display of the single device component types

C00203/1 Type: control card
C00203/2 Type: power section
C00203/3 Type: MCI module
C00203/4 Reserved
C00203/5 Type: memory module
C00203/6 Type: safety card
C00203/7 Type: standard device
C00203/8 Type: complete device
C00203/9 Reserved
C00204
C00204 | Serial number Index: 24371d = 5F33h
Display of the single device component serial numbers

C00204/1 Serial no.: control card
C00204/2 Serial no.: power section
C00204/3 Serial no.: MCI module
C00204/4 Reserved
C00204/5 Serial no.: memory module
C00204/6 Serial no.: safety card
C00204/7 Serial no.: standard device
C00204/8 Serial no.: complete device
C00204/9 Reserved
644 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00205
C00205 | Info Index: 24370d = 5F32h
C00206
C00206 | Production date Index: 24369d = 5F31h
C00210
C00210 | HW version Index: 24365d = 5F2Dh
C00220
C00220 | Accel. time - add. setpoint Index: 24355d = 5F23h
FB L_NSet_1: Acceleration time for the additional setpoint nNAdd_a

0.000 s 999.999 0.000 s
C00221
C00221 | Decel. time - add. setpoint Index: 24354d = 5F22h
FB L_NSet_1: Deceleration time for the additional setpoint nNAdd_a

0.000 s 999.999 0.000 s
C00222
C00222 | L_PCTRL_1: Vp Index: 24353d = 5F21h
FB L_PCTRL_1: Amplification factor Vp for the PID process controller

0.1 500.0 1.0
C00223
C00223 | L_PCTRL_1: Tn Index: 24352d = 5F20h
FB L_PCTRL_1: Reset time Tn for the PID process controller

20 ms 6000 400 ms
C00224
C00224 | L_PCTRL_1: Kd Index: 24351d = 5F1Fh
FB L_PCTRL_1: Derivative-action coefficient Kd for the PID process controller

0.0 5.0 0.0
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 645

Parameter reference
C00225
C00225 | L_PCTRL_1: MaxLimit Index: 24350d = 5F1Eh
FB L_PCTRL_1: Maximum output value of the PID process controller

-199.99 % 199.99 199.99 %
C00226
C00226 | L_PCTRL_1: MinLimit Index: 24349d = 5F1Dh
FB L_PCTRL_1: Minimum output value of the PID process controller

-199.99 % 199.99 -199.99 %
C00227
C00227 | L_PCTRL_1: Acceleration time Index: 24348d = 5F1Ch
FB L_PCTRL_1: Acceleration time for the output value of the PID process controller
0.000 s 999.999 0.010 s
C00228
C00228 | L_PCTRL_1: Deceleration time Index: 24347d = 5F1Bh
FB L_PCTRL_1: Deceleration time for the output value of the PID process controller
0.000 s 999.999 0.010 s
C00231
C00231 | L_PCTRL_1: Operating range Index: 24344d = 5F18h
FB L_PCTRL_1: Operating range for the PID process controller

0.00 % 199.99
C00231/1 199.99 % L_PCTRL_1: Pos. Maximum
C00231/2 0.00 % L_PCTRL_1: Pos. Minimum
C00231/3 0.00 % L_PCTRL_1: Neg. Minimum
C00231/4 199.99 % L_PCTRL_1: Neg. Maximum
646 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00233
C00233 | L_PCTRL_1: Root function Index: 24342d = 5F16h
FB L_PCTRL_1: Use of the root function at the actual value input

0 Off Root function inactive
• The actual value nAct_a is not changed for further
processing.
1 On Root function active
• The square root of the actual value nAct_a is taken for
further processing.
C00234
C00234 | Oscillation damping influence Index: 24341d = 5F15h

0.00 % 250.00 5.00 %
C00235
C00235 | Filter time - oscill. damping Index: 24340d = 5F14h

2 ms 250 32 ms
C00236
C00236 | Oscill. damping - field weaken. Index: 24339d = 5F13h
Oscillation damping for idling machines

0 40 14
C00241
C00241 | L_NSet_1: Hyst. NSet reached Index: 24334d = 5F0Eh
FB L_NSet_1: Hysteresis window for the zero detection of the speed output setpoint
• The speed threshold for the zero detection is 1 %
0.00 % 100.00 0.50 %
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 647

Parameter reference
C00242
C00242 | L_PCTRL_1: Operating mode Index: 24333d = 5F0Dh
FB L_PCTRL_1: Selection of the operating mode

• Depending on the selection, the blue switches in the displayed signal flow are set accordingly in the Engineer on
the Application parameters tab for the L_PCTRL_1 FB.
0 Off The input setpoint nNSet_a is output without any
changes at the output nOut_a.
1 nNSet + nNSet_PID nNSet_a and nAct_a are used as PID input values. The
input setpoint nNSet_a is added to the value output by
the PID element.
2 nSet_PID nSet_a and nAct_a are used as PID input values. The
input nNSet_a is not considered.
3 nNSet_PID nNSet_a and nAct_a are used as PID input values. The
input nSet_a is not considered.
4 nNSet + nSet_PID nSet_a and nAct_a are used as PID input values. The
setpoint nNSet_a is added to the output value of the PID
component.
5 nNSet || nSet_PID nSet_a and nAct_a are used as PID input values. The
setpoint nNSet_a is output at the output nOut_a . The
PID output value is output at the output nPIDOut_a.
C00243
C00243 | L_PCTRL_1: Influence acceleration time Index: 24332d = 5F0Ch
FB L_PCTRL_1: Acceleration time for showing the PID output value

0.000 s 999.999 5.000 s
C00244
C00244 | L_PCTRL_1: Influence deceleration time Index: 24331d = 5F0Bh
FB L_PCTRL_1: Deceleration time for masking out the PID output value
0.000 s 999.999 5.000 s
C00245
C00245 | L_PCTRL_1: PID output value Index: 24330d = 5F0Ah
FB L_PCTRL_1: Display of the output value of the PID process controller

-199.99 % 199.99
C00249
C00249 | L_PT1_1: Time constant Index: 24326d = 5F06h
FB L_PT1_1: Time constant Tn

1 ms 5000 2000 ms
648 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00250
C00250 | L_PT1 2-3: DelayTime Index: 24325d = 5F05h
FB L_PT1_2-3: Time constant Tn

1 ms 5000
C00250/1 2000 ms L_PT1_2: DelayTime
C00250/2 2000 ms L_PT1_3: DelayTime
C00251
C00251 | L_DT1_1: DelayTime Index: 24324d = 5F04h
FB L_DT1_1: Time constant Tn

10 ms 5000 1000 ms
C00252
C00252 | L_DT1_1: Gain Index: 24323d = 5F03h
FB L_DT1_1: Gain factor Vp

-320.00 320.00 1.00
C00253
C00253 | L_DT1_1: Sensitivity Index: 24322d = 5F02h
FB L_DT1_1: Selection of sensitivity

• Depending on the selection, the number of more significant bits is evaluated.
Note:
The most significant bit determines the sign of the value, the remaining bits determine the numerical value.
C00254
C00254 | Kp position controller Index: 24321d = 5F01h
Gain for following error compensation

0.00 1/s 500.00 0.00 1/s
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 649

Parameter reference
C00265
C00265 | SLVC: Tn torque controller Index: 24310d = 5EF6h
C00270
C00270 | SC: Freq. current setpoint filter Index: 24305d = 5EF1h
Frequency to be inhibited by the current setpoint filter for SC (servo control) mode.
40.0 Hz 1000.0 200.0 Hz
C00271
C00271 | SC: Width - current setp. filter Index: 24304d = 5EF0h
Frequency width of the current setpoint filter for SC (servo control) mode
• Width around the frequency to be inhibited (C00270).
0.0 Hz 500.0 0.0 Hz
C00272
C00272 | SC: Depth - current setp. filter Index: 24303d = 5EEFh
Damping of the current setpoint filter for SC (servo control) mode

0 db 100 0 db
C00273
C00273 | Moment of inertia Index: 24302d = 5EEEh
Moment of inertia for setpoint precontrol for SC (servo control) and SLVC (vector control) modes
0.00 kg cm^2 600000.00 0.00 kg cm^2
C00274
C00274 | SC: Max. acceleration change Index: 24301d = 5EEDh
Limitation of acceleration change for SC (servo control) mode

• Setting in % of M_Nenn per ms.
0.0 %/ms 400.0 400.0 %/ms
650 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00275
C00275 | Setpoint precontrol filtering Index: 24300d = 5EECh
Filter time of the setpoint precontrol for SC (servo control) and SLVC (vector control) modes
• The setpoint precontrol requires the entry of the moment of inertia in C00273.
0.0 ms 1000.0 1.0 ms
C00276
C00276 | SC: max. output voltage Index: 24299d = 5EEBh

80 % 99 95 %
C00280
C00280 | SC: Filter time const. DC detect. Index: 24295d = 5EE7h
Filter time constant for DC-bus voltage filtering

• The filter time constant is e.g. used for the field weakening control for SC (servo control) mode.
1 ms 1000 25 ms
C00290
C00290 | RCOM error counter Index: 24285d = 5EDDh
C00291
C00291 | Error type RCOM Index: 24284d = 5EDCh
C00296
C00296 | ICOM error number Index: 24279d = 5ED7h
C00297
C00297 | Counter Receive Error Isr Index: 24278d = 5ED6h
C00301
C00301 | DebugAccess Index: 24274d = 5ED2h
C00302
C00302 | Internal Commands Index: 24273d = 5ED1h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 651

Parameter reference
C00304
C00304 | Password1 Index: 24271d = 5ECFh
C00305
C00305 | Password2 Index: 24270d = 5ECEh
C00306
C00306 | Debug address Index: 24269d = 5ECDh
C00307
C00307 | Debug value Index: 24268d = 5ECCh
C00308
C00308 | PartitionOffset Index: 24267d = 5ECBh
C00309
C00309 | PartitionSel Index: 24266d = 5ECAh
C00310
C00310 | PartitionValue Index: 24265d = 5EC9h
C00311
C00311 | Runtime measurement Index: 24264d = 5EC8h
C00313
C00313 | LS_DataAccess: activation Index: 24262d = 5EC6h
C00314
C00314 | LS_DataAccess: address access Index: 24261d = 5EC5h
C00315
C00315 | SystemFail-Adr Index: 24260d = 5EC4h
C00316
C00316 | SystemFail-Info Index: 24259d = 5EC3h
652 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00317
C00317 | WatchdogTimeMax Index: 24258d = 5EC2h
C00320
C00320 | Debug information Index: 24255d = 5EBFh
C00321
C00321 | Main program runtime Index: 24254d = 5EBEh
Display of the current and the maximum runtime of the main program in the controller
0 ms 65535
C00321/1 0 ms Runtime of curr. main program
C00321/2 0 ms Max. runtime of main program
; Read access ; Write access CINH PLC STOP ; No transfer COM MOT Scaling factor: 1
C00322
C00322 | Transmission mode CAN TxPDOs Index: 24253d = 5EBDh
TPDO transmission type according to DS301 V4.02

• The types 0 (acyclic sync), 1-240 (cyclic sync), 254 (event-controlled manufacturer-specific; time elapsed or data
change), 255 (event-controlled device profile-specific) are supported.
• The basic setting for all PDOs is the event-controlled setting "254".
• Mapping of the CANopen objects I-1800/2 ... I-1802/2 (see DS301 V4.02).
0 255
C00322/1 254 CAN1 OUT transmission mode
; Read access ; Write access CINH PLC STOP No transfer ; COM MOT Scaling factor: 1
C00323
C00323 | Transmission mode CAN Rx PDOs Index: 24252d = 5EBCh
RPDO transmission type according to DS301 V4.02

• In the case of the RPDO serves as monitoring setting in the case of sync-controlled PDOs.
• The types 0 (acyclic sync), 1-240 (cyclic sync), 254 (event-controlled manufacturer-specific; every 1 ms by polling),
255 (event-controlled device profile-specific) are supported.
• The basic setting for all PDOs is the event-controlled setting "254".
• Mapping of the CANopen objects I-1400/2 ... I-1402/2 (see DS301 V4.02).
0 255
C00323/1 254 CAN1 IN transmission mode
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 653

Parameter reference
C00338
C00338 | L_Arithmetik_1: function Index: 24237d = 5EADh
FB L_Arithmetik_1: Selection of the internal arithmetic

0 nOut_a = nIn1_a
1 nOut_a = nIn1_a + nIn2_a
2 nOut_a = nIn1_a - nIn2_a
3 nOut_a = (nIn1_a * nIn2_a) / 100%
4 nOut_a = (nIn1_a * 1%) / |nIn2_a|
5 nOut_a = (nIn1_a * 100%) / (100% -
nIn2_a)
C00339
C00339 | L_Arithmetik_2: Function Index: 24236d = 5EACh
FB L_Arithmetik_2: Selection of the internal arithmetic

0 nOut_a = nIn1_a
3 nOut_a = (nIn1_a * nIn2_a) / 100%
4 nOut_a = (nIn1_a * 1%) / |nIn2_a|
5 nOut_a = (nIn1_a * 100%) / (100% -
nIn2_a)
C00345
C00345 | CAN error status Index: 24230d = 5EA6h

0 No Error
1 Warning ErrActive
2 Warning ErrPassive
3 Bus off
4 Reserved
5 Reserved
654 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00347
C00347 | CAN status HeartBeat producer Index: 24228d = 5EA4h
System bus "CAN on board": Heartbeat protocol

Selection list
0 Boot-up
4 Stopped
5 Operational
127 Pre-Operat.
250 Failed
255 NoResponse
C00347/1 Status node 1 ... 15
C00347/...
C00347/15
C00349
C00349 | CAN setting - DIP switch Index: 24226d = 5EA2h
DIP switch setting during last mains power-on

0x0000 0xFFFF
Value is bit-coded:
Bit 0 Node address 1
Bit 7 Baud rate 1
Bit 8 Baud rate 2
Bit 9 Baud rate 4
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 DIP switch at 24V-ON accepted
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 655

Parameter reference
C00350
C00350 | CAN node address Index: 24225d = 5EA1h
Setting of the node address via parameters

• The node address can only be parameterised if the node address "0" is set via the DIP switches.
• A change of the node address will only become effective after a CAN reset node.
1 63 1
C00351
C00351 | CAN baud rate Index: 24224d = 5EA0h
Setting of the baud rate via parameters

• The baud rate can only be parameterised if the baud rate "0" is set via the DIP switches.
• A change of the baud rate will only become effective after a CAN reset node.
0 500 kbps
1 250 kbps
2 125 kbps
3 50 kbps
4 1000 kbps
5 20kBit/s
C00352
C00352 | CAN Slave/Master Index: 24223d = 5E9Fh
The drive starts as CAN master after mains switching if the value "1" has been entered and saved here.
0 Slave
1 Master
C00353
C00353 | CAN IN/OUT COBID source Index: 24222d = 5E9Eh
Identifier allocation procedure for the CANx In/OUT process data

0 COBID = C0350 + LenzeBaseID COBID = device address + LenzeBaseID
1 COBID = C0350 + CANBaseID COBID = device address + CANBaseID (C00354/x)
2 COBID = C0354/x COBID = direct setting from C00354/x
C00353/1 1: COBID = C0350 + CANBaseID COBID source CAN1_IN/OUT
656 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00354
C00354 | COBID Index: 24221d = 5E9Dh
Setting of the default COBID according to CANopen

• A change of the COBID will only become effective after a CAN reset node.
Setting range (min. hex value | max. hex value)
0x00000000 0xFFFFFFFF
Bit 0 COBID Bit0 • Bit 0 ... 10: COB-ID
... ... • Bit 11 ... 30: reserved
• Bit 31: PDO invalid (is not transmitted)
Bit 31 PDO invalid
C00354/1 513 COBID CAN1_IN
C00354/2 385 COBID CAN1_OUT
; Read access ; Write access CINH PLC STOP No transfer ; COM MOT
C00355
C00355 | Active COBID Index: 24220d = 5E9Ch
Display of the COBID of the PDOs that is active in the CAN stack
0 2047
C00355/1 Active COBID CAN1_IN
C00355/2 Active COBID CAN1_OUT
; Read access Write access CINH PLC STOP ; No transfer ; COM MOT Scaling factor: 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 657

Parameter reference
C00356
C00356 | CAN time settings Index: 24219d = 5E9Bh
Different time settings for the CAN interface

0 ms 65000
C00356/1 3000 ms CAN delay during status change from "Boot-up" to
"Operational"
C00356/2 0 ms CAN2_OUT cycle time
C00356/4 0 ms CANx_OUT time "Operational" to "First transmission"
C00357
C00357 | CAN monitoring times Index: 24218d = 5E9Ah
Mapping of the RPDO event time (see DS301 V4.02)

• If a non-zero value is entered, the RPDO is expected after the time set has elapsed.
• If the RPDO is not received within the expected time, the response set in C00593/1...3 is effected.
0 ms 65000
C00357/1 3000 ms CAN1_IN monitoring time
C00358
C00358 | CANx_OUT data length Index: 24217d = 5E99h
Setting of the data length for TX PDOs

1 8
C00358/1 8 CAN1_OUT data length
658 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00359
C00359 | CAN status Index: 24216d = 5E98h

0 Operational
1 Pre-Operat.
2 Reserved
3 Reserved
4 BootUp
5 Stopped
6 Reserved
7 Reset
C00360
C00360 | CAN telegram counter Index: 24215d = 5E97h

0 65535
C00360/1 All PDOs/SDOs transmitted
C00360/2 All PDOs/SDOs received
C00360/3 CAN1_OUT telegram counter
C00360/6 SDO1 OUT telegram counter
C00360/7 SDO2 OUT telegram counter
C00360/8 CAN1_IN telegram counter
C00360/11 SDO1 IN telegram counter
C00360/12 SDO2 IN telegram counter
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 659

Parameter reference
C00364
C00364 | CAN MessageError Index: 24211d = 5E93h

0 No Error
1 StuffError
2 FormError
3 AckError
4 Bit1Error
5 Bit0Error
6 CRCError
7 Reserved
C00366
C00366 | CAN CAN1_OUT transmit at Sync Index: 24209d = 5E91h
In the Lenze setting "Yes", the device transmits CAN1_OUT after receipt of the sync telegram if the transmission
mode for CAN1_OUT is set to 1 ... 240 in C00322/1.
0 No
1 Yes
C00367
C00367 | CAN Sync-Rx identifier Index: 24208d = 5E90h
Identifier by means of which the sync slave is to receive sync telegrams.

• Mapping of the CANopen object I-1005 (see DS301 V4.02).
System bus "CAN on board": Sync telegram
1 255 128
C00368
C00368 | CAN Sync-Tx identifier Index: 24207d = 5E8Fh
Identifier by means of which the sync master is to transmit sync telegrams.

1 255 128
660 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00369
C00369 | CAN sync transmission cycle time Index: 24206d = 5E8Eh
Cycle during which the sync master is to transmit sync telegrams.

• If "0 ms" is set (Lenze setting), no sync telegrams are generated.
0 ms 65000 0 ms
C00372
C00372 | CAN_Tx_Rx_Error Index: 24203d = 5E8Bh

0 255
C00372/1 Tx_Error
C00372/2 Rx_Error
C00381
C00381 | CAN heartbeat producer time Index: 24194d = 5E82h
Time interval for the transmission of the heartbeat telegram to the consumer(s).
• The heartbeat telegram is sent automatically as soon as a time > 0 ms is set.
0 ms 65535 0 ms
C00385
C00385 | CAN node addr. HeartBeat producer Index: 24190d = 5E7Eh
The subcodes represent the nodes to be monitored by means of heartbeat.

0 127
C00385/1 0 CAN node address HeartBeat Producer 1 ... 15
C00385/...
C00385/15
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 661

Parameter reference
C00386
C00386 | CAN HeartBeat ConsumerTime Index: 24189d = 5E7Dh
The subcodes represent the nodes to be monitored by means of heartbeat.

0 ms 60000
C00386/1 0 ms ConsumerTime HeartBeat Producer 1 ... 15
C00386/...
C00386/15
C00400
C00400 | LS_PulseGenerator Index: 24175d = 5E6Fh
Time setting of the pulse to be output by the SB LS_PulseGenerator

0 ms 60000
C00400/1 1000 ms Length of LOW level (dead time)
C00400/2 1000 ms Length of HIGH level
C00401
C00401 | CANxInOut: Inversion Index: 24174d = 5E6Eh
Via these parameters, the control and status bits of the CAN port blocks can be inverted
0x0000 0xFFFF
Bit 0 Bit0 Bit set = bit is inverted
... ...
Bit 15 Bit15
C00401/1 0 Inversion of LP_CanIn1.bCtrl1_B0...15
C00401/2 0 Inversion of LP_CanOut1.bState1_B0...15
C00401/3 0 Inversion of LP_CanIn2.bIn1_B0...15
C00401/4 0 Inversion of LP_CanOut2.bOut1_B0...15
C00401/5 0 Inversion of LP_CanIn3.bIn1_B0...15
C00401/6 0 Inversion of LP_CanOut3.bOut1_B0...15
662 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00408
C00408 | LP_CanIn mapping selection Index: 24167d = 5E67h
Selection of the mapping source for port blocks LP_CanIn1...3
0 CanIn CanIn
1 Par.C409 Mapping configured in C00409
C00408/1 0: CanIn Mapping selection LP_CanIn1
C00409
C00409 | LP_CanIn mapping Index: 24166d = 5E66h
Mapping for port blocks LP_CanIn1...3
0 65535
C00409/1 0 LP_CanIn1.wCtrl
C00409/2 0 LP_CanIn1.wIn2
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 663

Parameter reference
C00410
C00410 | L_SignalMonitor_a par. Index: 24165d = 5E65h
FB L_SignalMonitor_a: Selection of the signal sources

0 Not connected
1003 LA_nCtrl_nMotorSpeedAct_a
1006 LA_nCtrl_nGPAnalogSwitchOut_a
1007 LA_nCtrl_nGPArithmetikOut_a
1008 LA_nCtrl_nGPMulDivOut_a
1009 LA_nCtrl_nGPSignalOut1_a
1013 LA_nCtrl_nMotorTorqueAct_a
1014 LA_nCtrl_nDCVoltage_a
1015 LA_nCtrl_nMotorVoltage_a
1016 LA_nCtrl_nMotorSpeedSet_a
1017 LA_nCtrl_wFailTypeDomain
1100 LA_TabPos_wDriveControlStatus
1101 LA_TabPos_wStateDetermFailNoLow
1102 LA_TabPos_wStateDetermFailNoHigh
1103 LA_TabPos_nMotorCurrent_a
1104 LA_TabPos_nMotorSpeedSet_a
1105 LA_TabPos_nMotorSpeedAct_a
1106 LA_TabPos_nMotorTorqueAct_a
1107 LA_TabPos_nDCVoltage_a
1108 LA_TabPos_nMotorVoltage_a
1109 LA_TabPos_wMckState1
1111 LA_TabPos_wMckActOperationMode
1112 LA_TabPos_wActProfileNo
1113 LA_TabPos_wActPosMode
1114 LA_TabPos_nGPAnalogSwitchOut_a
1115 LA_TabPos_nGPArithmetikOut_a
1116 LA_TabPos_nGPMulDivOut_a
1117 LA_TabPos_nGPSignalOut1_a
1121 LA_TabPos_wGPCounter1Out
1122 LA_TabPos_wFreeOut1
664 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

1126 LA_TabPos_nPosCtrlOutLimit_a
1127 LA_TabPos_nPosCtrlPAdapt_a
16000 AIN1_Out
16001 AIN2_Out
16002 CAN1_wCtrl
16003 CAN1_wIn2
16004 CAN1_wIn3
16005 CAN1_wIn4
16006 CAN2_wIn1
16007 CAN2_wIn2
16008 CAN2_wIn3
16009 CAN2_wIn4
16010 CAN3_wIn1
16011 CAN3_wIn2
16012 CAN3_wIn3
16013 CAN3_wIn4
16014 DIGIN_wCountIn1_LW
16015 DIGIN_wCountIn1_HW
16016 DIGIN_nFreqIn12_a
16017 DIGIN_nFreqIn12_v
16100 LS_DataAccess_Out1
16104 LP_MciIn_wCtrl
16105 LP_MciIn_wIn2
16106 LP_MciIn_wIn3
16107 LP_MciIn_wIn4
16108 LP_MciIn_wIn5
16109 LP_MciIn_wIn6
16110 LP_MciIn_wIn7
16111 LP_MciIn_wIn8
16112 LP_MciIn_wIn9
16113 LP_MciIn_wIn10
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 665

Parameter reference

16120 LS_Keypad_nTorqueMotLim_a
16121 LS_Keypad_nTorqueGenLim_a
16122 LS_Keypad_nMainSetValue_a
20000 C_Pos100_a
20001 C_Neg100_a
20002 C_Pos199_99_a
20003 C_Neg199_99_a
20004 C_65535
20005 C_wDriveCtrl
20010 nPar1_a
20011 nPar2_a
20012 nPar3_a
20013 nPar4_a
20014 nPar5_a
20015 nPar6_a
20016 nPar7_a
20017 nPar8_a
20018 nPar1_v
20019 nPar2_v
20020 nPar3_v
20021 nPar4_v
20022 nPar5_v
20023 nPar6_v
20024 nPar7_v
20025 nPar8_v
20026 wPar1
20027 wPar2
20028 wPar3
20029 wPar4
20030 wPar5
20031 wPar6
20032 wPar7
20033 wPar8
32000 MCTRL_nMotorSpeedAct_a
32001 MCTRL_nOutputSpeedCtrl_a
32002 MCTRL_nInputJerkCtrl_a
32003 MCTRL_nInputTorqueCtrl_a
32004 MCTRL_nMotorTorqueAct_a
32005 MCTRL_nActualFluxx_a
32006 MCTRL_nDCVoltage_a
32007 MCTRL_nStatorCurrentIS_a
32008 MCTRL_nEffCurrentIq_a
32009 MCTRL_nReaktCurrentId_a
666 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

32010 MCTRL_wMaxMotorSpeed
32011 MCTRL_wMaxMotorTorque
32012 MCTRL_nMotorVoltage_a
32013 MCTRL_nMotorFreqAct_a
32014 MCTRL_nEffSpeedSetValue_a
32015 MCTRL_nIxTRate_a
32016 MCTRL_nI2xTRate_a
32017 MCTRL_nOutputPosCtrl_a
32018 MCTRL_nHlgSetValue_a
32019 MCTRL_nMotorSpeedAct_v
32100 DCTRL_wDeviceStateWord
32101 DCTRL_wDeviceAuxStateWord
32102 DCTRL_wDetermFailNoLow
32103 DCTRL_wDetermFailNoHigh
32104 DCTRL_wFrei_2
32200 MCK_nSpeedSet_v
32201 MCK_nSpeedCtrlI_a
32202 MCK_nSpeedSetValue_a
32203 MCK_nTorqueSetValue_a
32204 MCK_wActProfileNo
32205 MCK_wFollowProfileNo
32206 MCK_wMotionState1
32208 MCK_wAuxState
32209 MCK_nPWMAngleOffset_a
32211 Reserved
34900 MCTRL_OszCh1
34901 MCTRL_OszCh2
34902 MCTRL_OszCh3
34903 MCTRL_OszCh4
34904 MCTRL_Status1
34905 MCTRL_Status2
34906 MCTRL_Status3
36000 L_Absolut _Out_1
36001 L_AddSub_Out_1
36002 L_OffsetGain_Out_1
36004 L_OffsetGainPar_1
36006 L_GainOffset_Out_1
36008 L_GainOffsetPar_1
36010 L_Negation_Out_1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 667

Parameter reference

36011 L_Aritmethik_Out_1
36013 L_AnalogSwitch_Out_1
36016 L_Limit_Out_1
36017 L_Limit_Out_2
36018 L_NSet_NOut_1
36019 L_MotorPoti_1_Out
36020 L_PCTRL_1_Out
36021 L_SigMonitor_a_Out1
36023 L_NLim_1_nOut_a
36024 L_Counter_1_wOut
36029 L_MulDiv_1_nOut_a
36030 L_NLim_1_wState
36031 L_NSet_1_wState
36032 L_NSet_1_nSetValue
36033 L_PT1_1_nOut_a
36035 L_AnalogSwitch_4_Out
36037 L_Aritmethik_3_Out
36054 L_Negation_2_Out
36064 L_SampleHold_1_nOut_a
36073 L_DT1_1_nOut_a
36074 L_ConvBitsToWord_1_wOut
668 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

36077 L_ConvDIntToWords_1_wOutLWord
36078 L_ConvDIntToWords_1_wOutHWord
36083 L_MckCtrlInterface_1_wOutMckPosCtrl_1
36085 L_MckCtrlInterface_1_wFailState
36086 L_MckStateInterface_1_wOperationMode
36087 L_MckStateInterface_1_wActProfileNo
36088 L_MckStateInterface_1_wActPosMode
36089 L_PosiShaftCtrlInterface_1_wOutMckPosCtrl_1
36091 L_PCTRL_1_nPIDOut2_a
36092 L_PCTRL_1_nPIDOut_a
36093 L_PCTRL_1_nInfluenceOut_a
42000 LA_nCtrl_In_wCANDriveControl
42001 LA_nCtrl_In_wCCMDriveControl
42002 LA_nCtrl_In_nTorqueMotLim
42003 LA_nCtrl_In_nTorqueGenLim
42004 LA_nCtrl_In_nPIDVpAdapt_a
42005 LA_nCtrl_In_nPIDActValue_a
42006 LA_nCtrl_In_nMainSetValue
42007 LA_nCtrl_In_nAuxSetValue
42008 LA_nCtrl_In_nGPAnalogSwitchIn1_a
42010 LA_nCtrl_In_nGPArithmetikIn1_a
42012 LA_nCtrl_In_nGPMulDivIn_a
42013 LA_nCtrl_In_nGPCompareIn1_a
42015 LA_nCtrl_In_nVoltageAdd_a
42016 LA_nCtrl_In_nPIDInfluence_a
42017 LA_nCtrl_In_nPIDSetValue_a
42018 LA_nCtrl_In_nPWMAngleOffset_a
42100 LA_TabPos_In_wCanDriveControl
42101 LA_TabPos_In_wMciDriveControl
42102 LA_TabPos_In_nTorqueMotLim_a
42103 LA_TabPos_In_nTorqueGenLim_a
42104 LA_TabPos_In_nMainSetValue_a
42105 LA_TabPos_In_nAuxSetValue_a
42106 LA_TabPos_In_wMckCtrl1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 669

Parameter reference

42108 LA_TabPos_In_wMckOperationMode
42109 LA_TabPos_In_wPosProfileMode
42110 LA_TabPos_In_wPosProfileNo
42111 LA_TabPos_In_nGPAnalogSwitchIn1_a
42113 LA_TabPos_In_nGPArithmetikIn1_a
42115 LA_TabPos_In_nGPMulDivIn_a
42116 LA_TabPos_In_nGPCompareIn1_a
42118 LA_TabPos_In_wGPCounter1LdVal
42119 LA_TabPos_In_wGPCounter1CmpVal
42120 LA_TabPos_In_nSpeedOverride_a
42121 LA_TabPos_In_nAccOverride_a
42122 LA_TabPos_In_wFreeIn1
C00410/1 0: Not connected Signal source for output nOut1_a
C00411
C00411 | L_SignalMonitor_b par. Index: 24164d = 5E64h
FB L_SignalMonitor_b: Selection of the signal sources

0 Not connected
1003 LA_nCtrl_bQSPIsActive
1004 LA_nCtrl_bSpeedCcw
1005 LA_nCtrl_bSpeedActCompare
1008 LA_nCtrl_bGPDigitalDelayOut
1009 LA_nCtrl_bGPLogicOut
1010 LA_nCtrl_bGPSignalOut1
1014 LA_nCtrl_bOverLoadActive
670 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

1015 LA_nCtrl_bBrakeReleaseOut
1016 LA_nCtrl_bBrakeReleased
1017 LA_nCtrl_bGPCompareOut
1018 LA_nCtrl_bUnderLoadActive
1019 LA_nCtrl_bImaxActive
1020 LA_nCtrl_bSpeedSetReached
1021 LA_nCtrl_bSpeedActEqSet
1022 LA_nCtrl_bGPDFlipFlopOut
1023 LA_nCtrl_bGPDFlipFlopNegOut
1100 LA_TabPos_bDriveFail
1101 LA_TabPos_bDriveReady
1102 LA_TabPos_bCInhActive
1103 LA_TabPos_bQSPIsActive
1104 LA_TabPos_bSpeedCcw
1105 LA_TabPos_bSpeedActCompare
1106 LA_TabPos_bImaxActive
1107 LA_TabPos_bSpeedSetReached
1108 LA_TabPos_bMBrakeReleaseOut
1109 LA_TabPos_bMBrakeReleased
1110 LA_TabPos_bHomeDone
1111 LA_TabPos_bHomePosAvailable
1112 LA_TabPos_bProfileDone
1113 LA_TabPos_bProfileBusy
1114 LA_TabPos_bAccelerating
1115 LA_TabPos_bConstantDuty
1116 LA_TabPos_bDecelerating
1117 LA_TabPos_bDwellTime
1118 LA_TabPos_bInTarget
1119 LA_TabPos_bGPDigitalDelayOut
1120 LA_TabPos_bGPLogicOut
1121 LA_TabPos_bGPCompareOut
1122 LA_TabPos_bGPSignalOut1
1126 LA_TabPos_bGPDFlipFlop_Out
1127 LA_TabPos_bGPDFlipFlop_NegOut
1128 LA_TabPos_bGPCounter1Equal
1129 LA_TabPos_bFreeOut1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 671

Parameter reference

16000 DigIn_bIn1
16001 DigIn_bIn2
16002 DigIn_bIn3
16003 DigIn_bIn4
16004 DigIn_bIn5
16005 DigIn_bIn6
16006 DigIn_bIn7
16008 DigIn_CInh
16009 DigIn_bCountIn1_Compare
16011 Ain_bCurrentErrorIn1
16013 CAN1_bCtrl1_B0
16029 CAN2_bIn1_B0
16030 CAN2_bIn1_B1
16031 CAN2_bIn1_B2
16032 CAN2_bIn1_B3
16033 CAN2_bIn1_B4
16034 CAN2_bIn1_B5
16035 CAN2_bIn1_B6
16036 CAN2_bIn1_B7
16037 CAN2_bIn1_B8
16038 CAN2_bIn1_B9
16039 CAN2_bIn1_B10
16040 CAN2_bIn1_B11
16041 CAN2_bIn1_B12
16042 CAN2_bIn1_B13
672 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

16043 CAN2_bIn1_B14
16044 CAN2_bIn1_B15
16045 CAN3_bIn1_B0
16046 CAN3_bIn1_B1
16047 CAN3_bIn1_B2
16048 CAN3_bIn1_B3
16049 CAN3_bIn1_B4
16050 CAN3_bIn1_B5
16051 CAN3_bIn1_B6
16052 CAN3_bIn1_B7
16053 CAN3_bIn1_B8
16054 CAN3_bIn1_B9
16055 CAN3_bIn1_B10
16056 CAN3_bIn1_B11
16057 CAN3_bIn1_B12
16058 CAN3_bIn1_B13
16059 CAN3_bIn1_B14
16060 CAN3_bIn1_B15
16061 MciIn_bCtrl_B0
16077 MciIn_bIn1_B0
16078 MciIn_bIn1_B1
16079 MciIn_bIn1_B2
16080 MciIn_bIn1_B3
16081 MciIn_bIn1_B4
16082 MciIn_bIn1_B5
16083 MciIn_bIn1_B6
16084 MciIn_bIn1_B7
16085 MciIn_bIn1_B8
16086 MciIn_bIn1_B9
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 673

Parameter reference

16087 MciIn_bIn1_B10
16093 LS_Keypad_bSetQuickstop
16094 LS_Keypad_bSetDCBrake
16095 LS_Keypad_bSetSpeedCcw
16096 LS_Keypad_bJogSpeed1
16098 LS_Keypad_bMPotEnable
16099 LS_Keypad_bMPotUp
16100 LS_Keypad_bMPotDown
20000 C_True
20001 bPar1
20002 bPar2
20003 bPar3
20004 bPar4
20005 bPar5
20006 bPar6
20007 bPar7
20008 bPar8
20009 bPar9
20010 bPar10
20011 bPar11
20012 bPar12
20013 bPar13
20014 bPar14
20015 bPar15
20016 bPar16
20017 bPar17
20018 bPar18
20019 bPar19
20020 bPar20
20021 bPar21
20022 bPar22
20023 bPar23
20024 bPar24
20025 bPar25
20026 bPar26
20027 bPar27
20028 bPar28
20029 bPar29
674 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

20030 bPar30
20031 bPar31
20032 bPar32
20033 b100Hz
20034 b10Hz
20035 b2Hz
20036 b1Hz
20037 b1HzFlash
20038 b2HzFlash
20039 bSingleFlash1
20040 bSingleFlash2
20041 bDoubleFlash
20042 bSquareWave
32000 MCTRL_bFanErr
32001 MCTRL_bHeatSinkWarning
32002 MCTRL_bLimPosCtrlOut
32003 MCTRL_bLimSpeedCtrlOut
32004 MCTRL_bLimSpeedSetVal
32005 MCTRL_bLimTorqueSetVal
32006 MCTRL_bLimCurrentSetVal
32007 MCTRL_bUVDetected
32008 MCTRL_bOVDetected
32009 MCTRL_bMotorPhaseFault
32010 MCTRL_bEncoderComFault
32011 MCTRL_bIxtOverload
32012 MCTRL_bI2xtOverload
32013 MCTRL_bIdentificationActive
32014 MCTRL_bFlyingSyncActive
32015 MCTRL_bMMax
32016 MCTRL_bNMaxFault
32017 MCTRL_bFChopReduced
32018 MCTRL_bMotorPTCFault
32019 MCTRL_bMotorTempFault
32020 MCTRL_bAutoGSBIsActive
32021 MCTRL_bBrakeChopperFault
32022 MCTRL_bQspIsActive
32023 MCTRL_bHlgLoad
32024 MCTRL_bHlgStop
32025 MCTRL_bImpSperreAktiv
32026 MCTRL_bClampActive
32027 MCTRL_bMainsErr
32028 MCTRL_bNmaxForFchop
32029 MCTRL_bShortCircuit
32030 MCTRL_bEarthFault
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 675

Parameter reference

32100 DCTRL_bInit
32101 DCTRL_bReady
32102 DCTRL_bReadyToSwitchOn
32103 DCTRL_bOperationEnable
32104 DCTRL_bWarning
32105 DCTRL_bTrouble
32106 DCTRL_bFail
32107 DCTRL_bSystemFail
32108 DCTRL_bSafeTorqueOff
32109 DCTRL_bIMPIsActive
32110 DCTRL_bCINHIsActive
32111 DCTRL_bSafetyIsActive
32112 DCTRL_bCwCcw
32113 DCTRL_bNactCompare
32200 MCK_bPosCtrlOn
32201 MCK_bSpeedCtrlIOn
32202 MCK_bTorquemodeOn
32203 MCK_bDcBrakeOn
32204 MCK_bBrkReleaseOut
32205 MCK_bBrkReleased
32206 MCK_bDeltaPosOn
32207 MCK_bPosDerivativeOn
32208 MCK_bMotorRefOffsetOn
32209 MCK_bQspOn
32210 MCK_bPosBusy
32211 MCK_bPosDone
32212 MCK_bHomDone
32213 MCK_bHomAvailable
32214 Reserved
32215 Reserved
32216 Reserved
32217 Reserved
32218 Reserved
36000 L_AND_Out_1
36001 L_AND_Out_2
36002 L_AND_Out_3
36003 L_OR_Out_1
36004 L_OR_Out_2
36005 L_OR_Out_3
36006 L_NOT_Out_1
36007 L_NOT_Out_2
36008 L_NOT_Out_3
36009 L_DFlipFlop_Out_1
36010 L_RLQ_1_Qsp
676 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

36011 L_RLQ_1_Ccw
36012 L_DigDelay_Out_1
36013 L_Compare_Out_1
36016 L_Nset_RfgEq0_1
36017 L_DigitalLogic_1_bOut
36018 L_Counter_1_bEqual
36019 L_SigMonitor_b_bOut1
36023 L_PCTRL_1_bActEqSet
36024 L_NLim_1_bLimitActive
36025 L_DFlipFlop_1_NegOut
36026 L_AND5_1_Out
36027 L_AND5_2_Out
36028 L_Compare_4_bOut
36035 L_DFlipFlop_2_bOut
36036 L_DFlipFlop_2_bNegOut
36037 L_DigDelay_2_Out
36042 L_DigitalLogic5_1_bOut
36045 L_OR5_1_Out
36046 L_OR5_2_Out
36047 L_NOT_4_Out
36048 L_NOT_5_Out
36049 L_NOT_6_Out
36050 L_NOT_7_Out
36055 L_PhaseIntK_1_bState
36059 L_RSFlipflop_1_bOut
36060 L_RSFlipflop_1_bNegOut
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 677

Parameter reference

36063 L_Transient_1_bOut
36067 L_ConvWordToBits_1_bBit0
678 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

36115 L_MckCtrlInterface_1_bFail
36116 L_MckStateInterface_1_bAccelerating
36117 L_MckStateInterface_1_bDecelerating
36118 L_MckStateInterface_1_bConstantSpeedDuty
36119 L_MckStateInterface_1_bSShaping
36120 L_MckStateInterface_1_bBusy
36121 L_MckStateInterface_1_bDone
36122 L_MckStateInterface_1_bHomingPosAvailable
36123 L_MckStateInterface_1_bHomingDone
36124 L_MckStateInterface_1_bDwellTime
36125 L_MckStateInterface_1_bInTarget
36126 L_MckStateInterface_1_bPosDone
36127 L_PosiShaftCtrlInterface_1_bQsp
36128 L_PosiShaftCtrlInterface_1_bRsp
36129 L_PosiShaftCtrlInterface_1_bTripSet
36130 L_PosiShaftCtrlInterface_1_bTripReset
36131 L_JogCtrlExtension_bRfgOut
36132 L_JogCtrlExtension_bJog1Out
42000 LA_NCtrl_bCInh
42001 LA_NCtrl_bFailReset
42002 LA_NCtrl_bSetQuickstop
42003 LA_NCtrl_bSetDCBrake
42004 LA_NCtrl_bRFG_Stop
42005 LA_NCtrl_bRFG_0
42007 LA_NCtrl_bSetSpeedCcw
42008 LA_NCtrl_bJogSpeed1
42012 LA_NCtrl_bJogRamp1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 679

Parameter reference

42017 LA_NCtrl_bMPOTInAct
42018 LA_NCtrl_bMPOTUp
42019 LA_NCtrl_bMPOTDown
42020 LA_NCtrl_bMBRKRelease
42021 LA_NCtrl_bMANJogPos
42022 LA_NCtrl_bMANJogNeg
42023 LA_NCtrl_bGPAnalogSwitchSet
42024 LA_NCtrl_bGPDigitalDelayIn
42025 LA_NCtrl_bGPLogicIn1
42028 LA_NCtrl_bGPDFlipFlopInD
42029 LA_NCtrl_bGPDFlipFlopInClk
42030 LA_NCtrl_bGPDFlipFlopInClr
42031 LA_NCtrl_bMPotEnable
42032 LA_NCtrl_bPIDEnableInfluenceRamp
42034 LA_NCtrl_bRLQCw
42035 LA_NCtrl_bRLQCcw
42100 LA_TabPos_In_bCInh
42101 LA_TabPos_In_bFailReset
42102 LA_TabPos_In_bSetQuickstop
42103 LA_TabPos_In_bSetSpeedCcw
42104 LA_TabPos_In_bJogSpeed1
42106 LA_TabPos_In_bMPotEnable
42107 LA_TabPos_In_bMPotUp
42108 LA_TabPos_In_bMPotDown
42109 LA_TabPos_In_bMBrakeRelease
42110 LA_TabPos_In_bPosCtrlOn
42111 LA_TabPos_In_bLimitSwitchPos
42112 LA_TabPos_In_bLimitSwitchNeg
42113 LA_TabPos_In_bReleaseLimitSwitch
42114 LA_TabPos_In_bManJogPos
42115 LA_TabPos_In_bManJogNeg
42116 LA_TabPos_In_bManEnable2ndSpeed
42117 LA_TabPos_In_bEnableSpeedOverride
42118 LA_TabPos_In_bEnableAccOverride
42119 LA_TabPos_In_bHomeStartStop
42120 LA_TabPos_In_bHomeSetPosition
42121 LA_TabPos_In_bHomeResetPosition
42122 LA_TabPos_In_bHomeMark
42123 LA_TabPos_In_bPosSetProfilePosition
42124 LA_TabPos_In_bPosSetActualPosition
680 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

42125 LA_TabPos_In_bPosExecute
42126 LA_TabPos_In_bPosFinishTarget
42127 LA_TabPos_In_bPosDisableFollowProfile
42128 LA_TabPos_In_bPosStop
42129 LA_TabPos_In_bGPAnalogSwitchSet
42130 LA_TabPos_In_bGPDigitalDelayIn
42131 LA_TabPos_In_bGPLogicIn1
42134 LA_TabPos_In_bGPDFlipFlop_InD
42135 LA_TabPos_In_bGPDFlipFlop_InClk
42136 LA_TabPos_In_bGPDFlipFlop_InClr
42137 LA_TabPos_In_bGPCounter1ClkUp
42138 LA_TabPos_In_bGPCounter1ClkDown
42139 LA_TabPos_In_bGPCounter1Load
42140 LA_TabPos_In_bMckOperationMode_1
42144 LA_TabPos_In_bPosProfileNo_1
42148 LA_TabPos_In_bFreeIn1
C00411/1 0: Not connected Signal source for output bOut1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 681

Parameter reference
C00412
C00412 | L_SignalMonitor_b: Inversion Index: 24163d = 5E63h
FB L_SignalMonitor_b: Inversion of the binary outputs

Bit 0 bOut1 inverted Bit set = inversion active
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
C00413
C00413 | L_SignalMonitor_a offs./gain Index: 24162d = 5E62h
FB L_SignalMonitor_a: Gain and offset of the analog signals

-199.99 % 199.99
C00413/1 0.00 % Offset for output nOut1_a
C00413/2 100.00 % Gain for output nOut1_a
C00420
C00420 | Encoder number of increments Index: 24155d = 5E5Bh
Indication of the encoder constant

1 Inc/rev. 8192
C00420/1 128 Inc/rev. Encoder increments at FreqIn12
C00420/2 128 Inc/rev. Encoder increments at FreqIn67
682 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00423
C00423 | DigOut: Delay times Index: 24152d = 5E58h
Delay times for the digital outputs

I/O terminals
0.000 s 65.000
C00423/1 0.000 s Relay ON delay
C00423/2 0.000 s Relay OFF delay
C00423/3 0.000 s DO1 ON delay
C00423/4 0.000 s DO1 OFF delay
C00423/5 0.000 s DO2 ON delay
C00423/7 0.000 s DO3 ON delay
C00423/9 0.000 s DO "High Current" ON delay
C00423/10 0.000 s DO "High Current" OFF delay
C00425
C00425 | Encoder sample time Index: 24150d = 5E56h
Encoder sample time for the digital inputs when configured as frequency inputs
I/O terminals
Selection list
0 1 ms
1 2 ms
2 5 ms
3 10 ms
4 20 ms
5 50 ms
6 100 ms
7 200 ms
8 500 ms
9 1000 ms
C00425/1 3: 10 ms Encoder sample time FreqIn12
• Only active if C00496 = 3)
C00425/2 3: 10 ms Encoder sample time FreqIn67
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 683

Parameter reference
C00434
C00434 | OxU/I: Gain Index: 24141d = 5E4Dh
Gain of the analog outputs

I/O terminals
-199.99 % 199.99
C00434/1 100.00 % O1U: gain
C00434/2 100.00 % O2U: Gain
C00434/3 100.00 % O1I: Gain
C00434/4 100.00 % O2I: Gain
C00435
C00435 | OxU/I: Offset Index: 24140d = 5E4Ch
Offset of the analog outputs

I/O terminals
-199.99 % 199.99
C00435/1 0.00 % O1U: offset
C00435/2 0.00 % O2U: Offset
C00435/3 0.00 % O1I: Offset
C00435/4 0.00 % O2I: Offset
C00436
C00436 | OxU: Voltage Index: 24139d = 5E4Bh
Display of the voltage at the analog outputs

I/O terminals
0.00 V 10.00
C00436/1 O1U: voltage
C00436/2 O2U: Voltage
C00437
C00437 | OxI: Current Index: 24138d = 5E4Ah
Display of the current at the analog outputs

I/O terminals
0.000 mA 20.000
C00437/1 O1I: Current
C00437/2 O2I: Current
684 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00439
C00439 | OxU/I: Input value Index: 24136d = 5E48h
Display of the input values for the analog outputs

I/O terminals
-199.99 % 199.99
C00439/1 O1U: input value
C00439/2 O2U: Input value
C00439/3 O1I: Input value
C00439/4 O2I: Input value
C00440
C00440 | LS_AnalogIn1: PT1 time constant Index: 24135d = 5E47h
PT1 time constant (S-ramp time) for the analog inputs

I/O terminals
0 ms 1000
C00440/1 10 ms PT1 smoothening AnalogIn1
C00440/2 10 ms PT1 smoothening AnalogIn2
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 685

Parameter reference
C00443
C00443 | DIx: level Index: 24132d = 5E44h
Bit-coded display of the level of the digital inputs

I/O terminals
0x0000 0xFFFF
Bit 0 DI1 Bit set = HIGH level
Bit 1 DI2
Bit 2 DI3
Bit 3 DI4
Bit 4 DI5
Bit 5 DI6
Bit 6 DI7
Bit 7 Reserve
Bit 8 Reserve
Bit 9 Reserve
Bit 10 Reserve
Bit 11 Reserve
Bit 12 Reserve
Bit 13 Reserve
Bit 14 Reserve
Bit 15 CINH
C00443/1 DIx: terminal level
C00443/2 DIx: output level
686 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00444
C00444 | DOx: level Index: 24131d = 5E43h
Bit-coded display of the level of the digital outputs

I/O terminals
0x0000 0xFFFF
Bit 0 Relay Bit set = HIGH level
Bit 1 DO1
Bit 2 DO2
Bit 3 DO3
Bit 4 High current
Bit 5 Reserve
Bit 6 Reserve
Bit 7 Reserve
Bit 8 Reserve
Bit 9 Reserve
Bit 10 Reserve
Bit 11 Reserve
Bit 12 Reserve
Bit 13 Reserve
Bit 14 Reserve
Bit 15 Reserve
C00444/1 DOx: input level
C00444/2 DOx: terminal level
C00445
C00445 | FreqInxx_nOut_v Index: 24130d = 5E42h
Display of the frequency input signals supplied into the application.

-32767 Incr./ms 32767
C00445/1 FreqIn12_nOut_v
C00445/2 FreqIn67_nOut_v
C00446
C00446 | FreqInxx_nOut_a Index: 24129d = 5E41h
Display of the frequency input signals supplied into the application.

-199.99 % 199.99
C00446/1 FreqIn12_nOut_a
C00446/2 FreqIn67_nOut_a
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 687

Parameter reference
C00455
C00455 | FB_call table Index: 24120d = 5E38h
C00456
C00456 | Editor level Index: 24119d = 5E37h
C00458
C00458 | SYS_call table Index: 24117d = 5E35h
C00465
C00465 | Keypad: Time-out welcome screen Index: 24110d = 5E2Eh
Time setting for the automatic change of the keypad display to the welcome screen
0 Never display welcome screen
5 5 rpm
15 15 rpm
30 30 rpm
60 60 rpm
C00466
C00466 | Keypad: default parameter Index: 24109d = 5E2Dh
Setting of the default parameters for the keypad

0 65535 51
C00467
C00467 | Keypad: default welcome screen Index: 24108d = 5E2Ch
Selection of the welcome screen for the keypad

0 Main menu
1 Parameter list
C00468
C00468 | Service code Index: 24107d = 5E2Bh
688 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00469
C00469 | Keypad: STOP key function Index: 24106d = 5E2Ah
Selection of the function for the STOP key on the keypad

0 No function STOP key has no function
1 Inhibit controller STOP key sets controller inhibit in the drive
2 Activate quick stop STOP key sets quick stop in the drive
C00470
C00470 | LS_ParFree_b Index: 24105d = 5E29h
SB LS_ParFree_b: Setting of the signal level to be output

Selection list
0 False
1 True
C00470/1 0: False Signal level for output bPar1 ... bPar32
C00470/...
C00470/32
C00471
C00471 | LS_ParFree Index: 24104d = 5E28h
SB LS_ParFree: Setting of the words to be output

0x0000 0xFFFF
Value is bit-coded:
Bit 0 Bit0
... ...
Bit 15 Bit15
C00471/1 0 Value for output wPar1 ... wPar8
C00471/...
C00471/8
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 689

Parameter reference
C00472
C00472 | LS_ParFree_a Index: 24103d = 5E27h
SB LS_ParFree_a: Setting of the analog signals to be output

-199.99 % 199.99
C00472/1 0.00 % Value for output nPar1_a
C00473
C00473 | LS_ParFree_v Index: 24102d = 5E26h
SB LS_ParFree_v: Setting of the speed signals to be output

-32767 Incr./ms 32767
C00473/1 0 incr./ms Values for output nPar1_v ... nPar8_v
C00473/...
C00473/8
C00474
C00474 | LS_ParFree_p Index: 24101d = 5E25h
SB LS_ParFree_p: Setting of the position signals to be output

-2147483647 Incr. 2147483647
C00474/1 0 incr. Values for output dnPar1_p ... dnPar8_p
C00474/...
C00474/8
690 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00480
C00480 | LS_DisFree_b Index: 24095d = 5E1Fh
SB LS_DisFree_b: Display of the input values

0x0000 0xFFFF
Bit 0 bDis1 Signal level input bDis1 ... bDis16
... ...
Bit 15 bDis16
C00481
C00481 | LS_DisFree Index: 24094d = 5E1Eh
SB LS_DisFree: Display of the input values

0x0000 0xFFFF
Value is bit-coded:
Bit 0 Bit0
... ...
Bit 15 Bit15
C00481/1 Input values wDis1 ... wDis8
C00481/...
C00481/8
C00482
C00482 | LS_DisFree_a Index: 24093d = 5E1Dh
SB LS_DisFree_a: Display of the input values

-199.99 % 199.99
C00482/1 Input values nDis1_a ... nDis8_a
C00482/...
C00482/8
C00483
C00483 | LS_DisFree_p Index: 24092d = 5E1Ch
SB LS_DisFree_p: Display of the input values

-2147483647 incr 2147483647
C00483/1 Input values dnDis1_p ... dnDis8_p
C00483/...
C00483/8
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 691

Parameter reference
C00488
C00488 | L_JogCtrlEdgeDetect Index: 24087d = 5E17h
FB L_JogCtrlExtension_1: Signal methodology
• Selection whether the corresponding function is to be activated by edge or level.
Selection list
0 Level
1 Edge
C00488/1 0: Level InputSens.SlowDown1
• Selection of edge or level for starting slow-down
function 1
C00488/2 0: Level InputSens.Stop1
• Selection of edge or level for stop function 1
function 2
function 3
C00490
C00490 | Position encoder selection Index: 24085d = 5E15h
Selection of the feedback system for the generation of the actual position on the load
0 No sensor No encoder available on the load
1 Sensor signal FreqIn12 Position encoder signal is fed via digital inputs DI1 and
DI2
2 Encoder signal FreqIn67 Position encoder signal is fed via digital inputs DI6 and
DI7
C00495
C00495 | Speed sensor selection Index: 24080d = 5E10h
Selection of the feedback system for the actual speed for motor control and display
0 No sensor No encoder available for the actual speed detection
1 Sensor signal FreqIn12 Speed encoder signal is fed via digital inputs DI1 and DI2
2 Sensor signal FreqIn67 Speed encoder signal is fed via digital inputs DI6 and DI7
692 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00496
C00496 | Encoder evaluation procedure Index: 24079d = 5E0Fh

0 High-resolution encoders High-precision procedure for high-resolution encoders
(>=512 increments)
1 Low-resolution encoders (StateLine) High-precision procedure for low-resolution encoders
(<=128 increments)
2 Comb. encoder procedure Combination of the first two procedures as a function of
the speed (recommended procedure)
3 Edge counting procedure Simple edge counting procedure with adjustable scan
time (C00425)
C00497
C00497 | Nact filter time constant Index: 24078d = 5E0Eh

0.0 ms 500.0
C00497/1 0.5 ms Encoder filter time FreqIn12
C00497/2 0.5 ms Encoder filter time FreqIn67
C00516
C00516 | Checksums Index: 24059d = 5DFBh
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 693

Parameter reference
C00517
C00517 | User menu Index: 24058d = 5DFAh
When a system is installed, parameters must be changed time and again until the system runs satsifactorily. The
user menu of a device serves to create a selection of frequently used parameters to be able to access and change
these parameters quickly.
• Format: <code number>,<subcode number>
• For setting "0.000" no entry is displayed in the user menu.
0.000 16000.000
C00517/1 51.000 C00051: Display of actual speed value
C00517/2 53.000 C00053: Display of DC-bus voltage
C00517/3 54.000 C00054: Display of motor current
C00517/4 61.000 C00061: Display of heatsink temperature
C00517/5 137.000 C00137: Display of device state
C00517/6 0.000 User menu: entry 6
C00517/8 11.000 C00011: Reference speed
C00517/9 39.001 C00039/1: Fixed setpoint 1
C00517/10 39.002 C00039/2: Fixed setpoint 2
C00517/11 12.000 C00012: Acceleration time - main setpoint
C00517/12 13.000 C00013: Deceleration time - main setpoint
C00517/13 15.000 C00015: V/f base frequency
C00517/14 16.000 C00016: Vmin boost
C00517/15 22.000 C00022: Imax in motor mode
C00517/16 120.000 C00120: Motor overload threshold (I2xt)
C00517/17 87.000 C00087: Rated motor speed
C00517/18 99.000 C00099: Display of firmware version
C00517/19 200.000 C00200: Display of firmware product type
694 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00560
C00560 | Fan switching status Index: 24015d = 5DCFh
Function status display of device fan

Selection list
0 Off
1 On
2 No fan
C00560/1 Switching status - internal fan
C00560/2 Switching status - heatsink fan
C00561
C00561 | Fan failure Index: 24014d = 5DCEh
Error status display of device fan

Selection list
0 No error
1 Fault
C00561/1 Failure of internal fan
C00561/2 Failure of heatsink fan
C00565
C00565 | Resp. to mains phase failure Index: 24010d = 5DCAh
Response to the failure of mains-phases

0 No Reaction
1 Fault
5 Warning
C00566
C00566 | Resp. to fan failure Index: 24009d = 5DC9h
Response to the detection of a fan failure

0 No Reaction
1 Fault
5 Warning
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 695

Parameter reference
C00567
C00567 | Speed controller resp. limited Index: 24008d = 5DC8h
Response for limitation of the speed controller output (bLimSpeedCtrlOut = TRUE)

0 No Reaction
1 Fault
5 Warning
C00569
C00569 | Resp. to peak current Index: 24006d = 5DC6h
Configuration of monitoring of the motor control (group 1)

Selection list
0 No Reaction
1 Fault
5 Warning
C00569/1 0: No Reaction Response for overcurrent detection and clamp operation
C00570
C00570 | Resp. to controller limitations Index: 24005d = 5DC5h

Selection list
0 No Reaction
1 Fault
5 Warning
C00570/1 0: No Reaction Response for limitation in the direct-axis current
controller
• e.g. for SC (servo control) mode
C00570/2 0: No Reaction Response for limitation in the cross-current controller
• e.g. for SC (servo control) mode
C00570/3 0: No Reaction Response for limitation of the torque setpoint
• Limitation of the speed controller output, the
differential setpoint precontrol, and of the additive
torque for SC (servo control) and SLVC (vector control)
modes.
C00570/4 0: No Reaction Response for limitation in the field controller
C00572
C00572 | Brake resistor overload threshold Index: 24003d = 5DC3h
Adjustable threshold for monitoring the brake resistor utilisation
0 % 100 100 %
696 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00574
C00574 | Resp. to brake resist. overtemp. Index: 24001d = 5DC1h
Response when reaching the threshold for the brake resistor utilisation set in C00572.
0 No Reaction
1 Fault
5 Warning
C00576
C00576 | SC: Field feedforward control Index: 23999d = 5DBFh
Point of action of the direct-axis current setpoint precontrol for an early reduction of the field current. In this way,
the acceleration behaviour can be improved in the field weakening range.
• The entry [%] refers to the slip of the asynchronous motor.
0 % 600 200 %
C00577
C00577 | SC: Vp field weaken. controller Index: 23998d = 5DBEh
Proportional gain of the field weakening controller

• When "0" is set, the P component of the controller is deactivated.
• The recommended setting is in the range between 0 and 0.0020
0.0000 2.0000 0.0010
C00578
C00578 | SC: Tn field weaken. controller Index: 23997d = 5DBDh
Time constant of the field weakening controller

• The recommended setting is in the range between 10 and 30 ms
0.1 ms 6000.0 20.0 ms
C00579
C00579 | Resp. to speed monitoring Index: 23996d = 5DBCh
Response for reaching the maximum actual speed limits

• These result from the max. input frequency of the digital inputs and the number of encoder increments.
0 No Reaction
1 Fault
5 Warning
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 697

Parameter reference
C00581
C00581 | Resp. LS_SetError_x Index: 23994d = 5DBAh
SB LS_SetError_1-2: Selection of the error responses for application error messages

• An application error message is tripped by a FALSE-TRUE edge at the binary inputs bSetError1...4.
Selection list
0 No Reaction
1 Fault
2 Trouble
3 TroubleQuickStop
4 WarningLocked
5 Warning
6 Information
C00581/1 0: No Reaction Resp. LS_SetError_1 bSetError1
C00582
C00582 | Resp. to heatsink temp. > shutdown temp. -5°C Index: 23993d = 5DB9h
Response when the heatsink temperature has reached the shutdown temperature threshold.
0 No Reaction
1 Fault
5 Warning
C00585
C00585 | Resp. to motor overtemp. PTC Index: 23990d = 5DB6h
Response to motor overtemperature

• The motor temperature is measured by means of a PTC thermistor at terminal X106.
0 No Reaction
1 Fault
5 Warning
698 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00586
C00586 | Resp. to encoder wire breakage Index: 23989d = 5DB5h
Response for a failure of the encoder feedback system or the encoder feedback system track due to an open circuit
0 No Reaction
1 Fault
5 Warning
C00588
C00588 | Resp. to max speed at switch. freq Index: 23987d = 5DB3h
Response for reaching the maximum speed for the set inverter switching frequency (C00018)
0 No Reaction
1 Fault
5 Warning
C00590
C00590 | Resp. to switch. frequency red. Index: 23985d = 5DB1h
Response to reduction of the inverter switching frequency (C00018)

0 No Reaction
1 Fault
5 Warning
C00592
C00592 | Resp. to CAN bus connection Index: 23983d = 5DAFh
Configuration of monitoring of the CAN interface (group 1)

Selection list
0 No Reaction
1 Fault
2 Trouble
3 TroubleQuickStop
4 WarningLocked
5 Warning
6 Information
C00592/1 0: No Reaction Response to incorrect telegram for CAN communication
C00592/2 0: No Reaction Response to "BusOff" (bus system switched off)
C00592/3 0: No Reaction Response to warnings of the CAN controller
C00592/4 0: No Reaction Response to communication stop of a CAN bus node
C00592/5 0: No Reaction Response to an event in the case of monitoring via
heartbeat protocol
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 699

Parameter reference
C00593
C00593 | Resp. to CANx_IN monitoring Index: 23982d = 5DAEh
Configuration of monitoring of the CAN interface (group 2)

Selection list
0 No Reaction
1 Fault
2 Trouble
3 TroubleQuickStop
4 WarningLocked
5 Warning
6 Information
C00593/1 0: No Reaction Response if the monitoring time set in C00357/1 for the
reception of the PDO CAN1_IN is exceeded.
C00594
C00594 | Resp. to control word error Index: 23981d = 5DADh
Configuration of monitoring of the device control

Selection list
0 No Reaction
1 Fault
2 Trouble
3 TroubleQuickStop
5 Warning
C00594/1 1: Fault Response if error bit 14 in the CAN control word is set.
C00594/2 1: Fault Response if error bit 14 in the MCI control word is set.
700 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00595
C00595 | MCK: Resp. to MCK error Index: 23980d = 5DACh
Configuration of monitoring of the MotionControlKernel

Selection list
0 No Reaction
1 Fault
3 TroubleQuickStop
4 WarningLocked
5 Warning
6 Information
C00595/1 3: TroubleQuickStop Response if the input bLimitSwitchPos for travel range
monitoring is set to FALSE (fail-safe) by the positive
hardware limit switch .
C00595/2 3: TroubleQuickStop Response if the input bLimitSwitchNeg for travel range
monitoring is set to FALSE (fail-safe) by the negative
hardware limit switch .
C00595/3 3: TroubleQuickStop Response for detection that the position is beyond the
positive software limit position (C01229/1).
C00595/4 3: TroubleQuickStop Response for detection that the position is beyond the
negative software limit position (C01229/2).
C00595/5 5: Warning Response if following error limit 1 is exceeded (C01215/
1)
C00595/6 5: Warning Response if following error limit 2 is exceeded (C01215/
2)
C00595/7 3: TroubleQuickStop Response if the maximum travel distance (display in
C01213/1) is exceeded
C00595/8 4: WarningLocked Response to start procedures with reference condition
when the reference is not set
C00595/9 4: WarningLocked Response to a non-supported positioning mode
C00595/10 4: WarningLocked Response to implausible profile set data
C00595/11 5: Warning Response to the selection of an invalid operating mode
of the MCK
C00595/12 4: WarningLocked Response to indicating an invalid profile data set
C00595/13 5: Warning Response to an error of the FB L_MckCtrlInterface_1
C00595/14 4: WarningLocked Response to a profile start with a target position outside
the software limit positions (C01229/1 and C01229/2).
C00597
C00597 | Resp. to motor phase failure Index: 23978d = 5DAAh
Response to motor phase failure

• If a phase current does not exceed the threshold set in C00599 over a period, the response set here is effected.
0 No Reaction
1 Fault
5 Warning
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 701

Parameter reference
C00598
C00598 | Resp. to open circuit AINx Index: 23977d = 5DA9h
Configuration of monitoring of the analog inputs

Selection list
0 No Reaction
1 Fault
2 Trouble
3 TroubleQuickStop
5 Warning
C00598/1 3: TroubleQuickStop Response to open circuit at AIN1 when being configured
as 4 ... 20 mA-current loop
C00598/2 3: TroubleQuickStop Response to open circuit at AIN2 when being configured
as 4 ... 20 mA-current loop
C00599
C00599 | Motor phase failure threshold Index: 23976d = 5DA8h
Threshold for motor phase failure monitoring

• 100 % ≡ rated inverter current (C00098)
• If a phase current does not exceed the threshold set here over a period, the response to motor phase failure set
in C00597 is effected.
1.00 % 100.00 5.00 %
C00600
C00600 | Resp. to DC-bus voltage Index: 23975d = 5DA7h

Selection list
1 Fault
2 Trouble
C00600/1 2: Trouble Response to undervoltage in the DC bus
C00601
C00601 | Delayed resp. fault: DC-bus overvoltage Index: 23974d = 5DA6h
Delay times for error responses

0.000 s 65.000
C00601/1 2.000 s Delay time for error activation "DC-bus overvoltage"
• In case of DC-bus overvoltage, an error is only
transmitted after this delay time has elapsed.
702 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00602
C00602 | Resp. to earth fault Index: 23973d = 5DA5h
Response to earth fault in the motor phase(s)

0 No Reaction
1 Fault
C00604
C00604 | Resp. to device overload (Ixt) Index: 23971d = 5DA3h
Response if the adjustable device utilisation threshold (C00123) is reached.

• The current device utilisation is displayed in C00064.
0 No Reaction
1 Fault
5 Warning
C00606
C00606 | Resp. to motor overload (I²xt) Index: 23969d = 5DA1h
Response if the adjustable motor overload threshold (C00120) is reached.

• The current thermal motor load is displayed in C00066.
0 No Reaction
1 Fault
5 Warning
C00607
C00607 | React. max. speed reached Index: 23968d = 5DA0h
Response if the maximum speed limit (C00909) is reached.

0 No Reaction
1 Fault
5 Warning
C00608
C00608 | Resp. to maximum torque Index: 23967d = 5D9Fh
Response if the maximum torque (C00057) is reached.

0 No Reaction
1 Fault
5 Warning
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 703

Parameter reference
C00609
C00609 | Resp. to maximum current Index: 23966d = 5D9Eh
Response if the maximum current (C00022, C00023) is reached.

0 No Reaction
1 Fault
5 Warning
C00610
C00610 | 16-bit connection table Index: 23965d = 5D9Dh
C00611
C00611 | Bool connection table Index: 23964d = 5D9Ch
C00612
C00612 | 32-bit connection table Index: 23963d = 5D9Bh
C00613
C00613 | Connect. table 16-bit AdditionalFBsHL Index: 23962d = 5D9Ah
C00615
C00615 | Connect. table Bool AdditionalFBsHL Index: 23960d = 5D98h
C00617
C00617 | Connect. table 32-bit AdditionalFBsHL Index: 23958d = 5D96h
704 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00620
C00620 | 16-bit system connection Index: 23955d = 5D93h
Connection parameters: 16-bit inputs

• Selection of the 16-bit output signals for connection with the 16-bit input signals.
• The selection list contains all 16-bit output signals which can be assigned to the 16-bit inputs mapped by the
subcodes.
0 Not connected
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 705

Parameter reference

16000 AIN1_Out
16001 AIN2_Out
16002 CAN1_wCtrl
16003 CAN1_wIn2
16004 CAN1_wIn3
16005 CAN1_wIn4
16006 CAN2_wIn1
16007 CAN2_wIn2
16008 CAN2_wIn3
16009 CAN2_wIn4
16010 CAN3_wIn1
16011 CAN3_wIn2
16012 CAN3_wIn3
16013 CAN3_wIn4
16105 LP_MciIn_wIn2
16106 LP_MciIn_wIn3
16107 LP_MciIn_wIn4
16108 LP_MciIn_wIn5
16109 LP_MciIn_wIn6
16110 LP_MciIn_wIn7
16111 LP_MciIn_wIn8
16112 LP_MciIn_wIn9
706 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

20000 C_Pos100_a
20001 C_Neg100_a
20002 C_Pos199_99_a
20003 C_Neg199_99_a
20004 C_65535
20005 C_wDriveCtrl
20010 nPar1_a
20011 nPar2_a
20012 nPar3_a
20013 nPar4_a
20014 nPar5_a
20015 nPar6_a
20016 nPar7_a
20017 nPar8_a
20018 nPar1_v
20019 nPar2_v
20020 nPar3_v
20021 nPar4_v
20022 nPar5_v
20023 nPar6_v
20024 nPar7_v
20025 nPar8_v
20026 wPar1
20027 wPar2
20028 wPar3
20029 wPar4
20030 wPar5
20031 wPar6
20032 wPar7
20033 wPar8
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 707

Parameter reference

32104 DCTRL_wFrei_2
32208 MCK_wAuxState
32211 Reserved
34900 MCTRL_OszCh1
34901 MCTRL_OszCh2
34902 MCTRL_OszCh3
34903 MCTRL_OszCh4
34904 MCTRL_Status1
34905 MCTRL_Status2
34906 MCTRL_Status3
708 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

36016 L_Limit_Out_1
36017 L_Limit_Out_2
36018 L_NSet_NOut_1
36020 L_PCTRL_1_Out
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 709

Parameter reference

710 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

C00620/1 1003: LA_nCtrl_nMotorSpeedAct_a LS_AnalogOutput: nOut1_a (V)
C00620/2 0: Not connected LP_CanOut1:wState
C00620/3 0: Not connected LP_CanOut1:wOut2
C00620/4 0: Not connected LP_CanOut1:wOut3
C00620/5 0: Not connected LP_CanOut1: wOut4
C00620/14 0: Not connected LS_DisFree_a:nDis1_a
C00620/18 0: Not connected LS_DisFree:wDis1
C00620/22 0: Not connected LP_MciOut:wState
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 711

Parameter reference

C00620/23 0: Not connected LP_MciOut:wOut2

C00620/24 0: Not connected LP_MciOut:wOut3
C00620/25 0: Not connected LP_MciOut: wOut4
C00620/38 0: Not connected LS_AnalogOutput: nOut2_a (V)
C00620/39 0: Not connected LS_AnalogOutput: nOut1_a (I)
C00620/40 0: Not connected LS_AnalogOutput: nOut2_a (I)
C00620/41 0: Not connected LS_DisFree_a: nDis5_a
C00620/45 0: Not connected LS_DisFree: wDis5
712 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00621
C00621 | Bool system connection Index: 23954d = 5D92h
Connection parameters: Binary inputs

• Selection of the binary output signals for connection with the binary input signals.
• The selection list contains all binary output signals which can be assigned to the binary inputs mapped by the
subcodes.
0 Not connected
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 713

Parameter reference

16000 DigIn_bIn1
16001 DigIn_bIn2
16002 DigIn_bIn3
16003 DigIn_bIn4
16004 DigIn_bIn5
16005 DigIn_bIn6
16006 DigIn_bIn7
16008 DigIn_CInh
714 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

16029 CAN2_bIn1_B0
16030 CAN2_bIn1_B1
16031 CAN2_bIn1_B2
16032 CAN2_bIn1_B3
16033 CAN2_bIn1_B4
16034 CAN2_bIn1_B5
16035 CAN2_bIn1_B6
16036 CAN2_bIn1_B7
16037 CAN2_bIn1_B8
16038 CAN2_bIn1_B9
16039 CAN2_bIn1_B10
16040 CAN2_bIn1_B11
16041 CAN2_bIn1_B12
16042 CAN2_bIn1_B13
16043 CAN2_bIn1_B14
16044 CAN2_bIn1_B15
16045 CAN3_bIn1_B0
16046 CAN3_bIn1_B1
16047 CAN3_bIn1_B2
16048 CAN3_bIn1_B3
16049 CAN3_bIn1_B4
16050 CAN3_bIn1_B5
16051 CAN3_bIn1_B6
16052 CAN3_bIn1_B7
16053 CAN3_bIn1_B8
16054 CAN3_bIn1_B9
16055 CAN3_bIn1_B10
16056 CAN3_bIn1_B11
16057 CAN3_bIn1_B12
16058 CAN3_bIn1_B13
16059 CAN3_bIn1_B14
16060 CAN3_bIn1_B15
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 715

Parameter reference

16077 MciIn_bIn1_B0
16078 MciIn_bIn1_B1
16079 MciIn_bIn1_B2
16080 MciIn_bIn1_B3
16081 MciIn_bIn1_B4
16082 MciIn_bIn1_B5
16083 MciIn_bIn1_B6
16084 MciIn_bIn1_B7
16085 MciIn_bIn1_B8
16086 MciIn_bIn1_B9
20000 C_True
20001 bPar1
20002 bPar2
20003 bPar3
20004 bPar4
20005 bPar5
20006 bPar6
20007 bPar7
20008 bPar8
20009 bPar9
20010 bPar10
20011 bPar11
716 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

20012 bPar12
20013 bPar13
20014 bPar14
20015 bPar15
20016 bPar16
20017 bPar17
20018 bPar18
20019 bPar19
20020 bPar20
20021 bPar21
20022 bPar22
20023 bPar23
20024 bPar24
20025 bPar25
20026 bPar26
20027 bPar27
20028 bPar28
20029 bPar29
20030 bPar30
20031 bPar31
20032 bPar32
20033 b100Hz
20034 b10Hz
20035 b2Hz
20036 b1Hz
20037 b1HzFlash
20038 b2HzFlash
20039 bSingleFlash1
20040 bSingleFlash2
20041 bDoubleFlash
20042 bSquareWave
32000 MCTRL_bFanErr
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 717

Parameter reference

32015 MCTRL_bMMax
32100 DCTRL_bInit
32101 DCTRL_bReady
32106 DCTRL_bFail
32112 DCTRL_bCwCcw
32209 MCK_bQspOn
32210 MCK_bPosBusy
32211 MCK_bPosDone
718 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

32212 MCK_bHomDone
32214 Reserved
32215 Reserved
32216 Reserved
32217 Reserved
32218 Reserved
36000 L_AND_Out_1
36001 L_AND_Out_2
36002 L_AND_Out_3
36003 L_OR_Out_1
36004 L_OR_Out_2
36005 L_OR_Out_3
36006 L_NOT_Out_1
36007 L_NOT_Out_2
36008 L_NOT_Out_3
36010 L_RLQ_1_Qsp
36011 L_RLQ_1_Ccw
36026 L_AND5_1_Out
36027 L_AND5_2_Out
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 719

Parameter reference

36045 L_OR5_1_Out
36046 L_OR5_2_Out
36047 L_NOT_4_Out
36048 L_NOT_5_Out
36049 L_NOT_6_Out
36050 L_NOT_7_Out
720 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 721

Parameter reference

722 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 723

Parameter reference

C00621/1 1001: LA_nCtrl_bDriveFail LS_DigitalOutput:bRelay
C00621/2 1000: LA_nCtrl_bDriveReady LS_DigitalOutput:bOut1
C00621/3 0: Not connected LS_DigitalInput: bCountIn1_Reset
C00621/4 0: Not connected LS_DigitalInput:
bCountIn1_LoadStartValue
C00621/5 0: Not connected LP_CanOut1: bState_B0
C00621/9 0: Not connected LP_CanOut1:bState_B4
C00621/21 0: Not connected LS_DisFree_b:bDis1
C00621/29 0: Not connected LP_CanOut2: bOut1_B0
724 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference


C00621/61 0: Not connected LP_MciOut: bState_B0
C00621/77 0: Not connected LP_MciOut: bOut2_B0
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 725

Parameter reference


C00621/93 0: Not connected LS_SetError_1_bSetError1
C00621/97 0: Not connected LS_DigitalInput: bCountIn6_Reset
C00621/98 0: Not connected LS_DigitalInput:
bCountIn6_LoadStartValue
C00621/99 0: Not connected LS_DigitalOutput: bOut2
C00621/100 0: Not connected LS_DigitalOutput: bOut3
C00621/101 0: Not connected LS_DigitalOutput: bOut HighCurrent
C00621/102 0: Not connected Ls_DisFree_b: bDis9
C00621/110 0: Not connected Reserved
726 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00622
C00622 | Sys. conn. angle Index: 23953d = 5D91h
Connection parameters: 32-bit inputs

• Selection of the 32-bit output signals for connection with the 32-bit input signals.
subcodes.
0 Not connected
1100 LA_TabPos_dnTargetPos_p
1101 LA_TabPos_dnSetPos_p
1102 LA_TabPos_dnFreeOut1_p
1103 LA_TabPos_dnFreeOut2_p
1104 LA_TabPos_dnPosAct_p
1105 LA_TabPos_dnDeltaPosAct_p
16000 CAN1_dnIn34_p
16001 CAN2_dnIn34_p
16002 CAN3_dnIn34_p
16003 LP_MciIn_dnIn34_p
20000 dnPar1_p
20001 dnPar2_p
20002 dnPar3_p
20003 dnPar4_p
20004 dnPar5_p
20005 dnPar6_p
20006 dnPar7_p
20007 dnPar8_p
32000 MCTRL_dnMotorPosAct_p
32001 MCTRL_dnMotorDeltaPosAct_p
32200 MCK_dnPosTarget_p
32201 MCK_dnPosSetValue_p
32202 MCK_dnDeltaPos_p
32203 MCK_dnMotorRefOffset_p
36040 L_ArithmetikPhi_1_Out_p
36046 L_GainOffsetParPhi_1_Out_p
36047 L_GainOffsetParPhi_2_Out_p
36050 L_LimitPhi_1_Out_p
36060 L_OffsetGainParPhi_1_Out_p
36061 L_OffsetGainParPhi_2_Out_p
36066 L_PhaseIntK_1_dnOut_p
36067 L_PhaseIntK_2_dnOut_p
36072 L_Sqrt_1_Out_p
36073 L_Mux_1_Out_p
36074 L_ConvWordsToDInt_1_dnOut_p
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 727

Parameter reference

C00622 | Sys. conn. angle Index: 23953d = 5D91h
36077 L_ConvUnitsToIncr_1_dnOut_p
42100 LA_TabPos_In_dnPosProfilePosition
42101 LA_TabPos_In_dnFreeIn1_p
42102 LA_TabPos_In_dnFreeIn2_p
C00622/1 0: Not connected LS_DisFree_p:dnDis1_p
C00622/2 0: Not connected LS_DisFree_p:dnDis2_p
C00622/3 0: Not connected LS_DisFree_p: dnDis3_p
C00622/9 0: Not connected LP_CanOut1: dnOut34_p
C00622/12 0: Not connected LP_MciOut: dnOut34_p
C00630
C00630 | L_Limit 1-2 Min/Max Index: 23945d = 5D89h
FB L_Limit_1-2: Setting of the limits

-199.99 % 199.99
C00630/1 -199.99 % L_Limit_1: Min.Limit
C00630/2 199.99 % L_Limit_1: Max.Limit
C00630/3 -199.99 % L_Limit_2: Min.Limit
C00630/4 199.99 % L_Limit_2: Max.Limit
728 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00631
C00631 | L_LimitPhi 1-3 Min/Max Index: 23944d = 5D88h
FB L_LimitPhi_1-3: Setting of the limits

-2147483647 Incr. 2147483647
C00631/1 -2147483647 incr. L_LimitPhi_1: Min.Limit
C00631/2 2147483647 incr. L_LimitPhi_1: Max.Limit
C00632
C00632 | L_NSet_1: Max.SkipFrq. Index: 23943d = 5D87h
FB L_NSet_1: Maximum limit values for the speed blocking zones

• Selection of the maximum limit values for the blocking zones in which the speed must not be constant.
0.00 % 199.99
C00632/1 0.00 % L_NSet_1: blocking speed 1 max
C00633
C00633 | L_NSet_1 Min.SkipFrq. Index: 23942d = 5D86h
FB L_NSet_1: Minimum limit values for the speed blocking zones

• Selection of the minimum limit values for the blocking zones in which the speed must not be constant.
0.00 % 199.99
C00633/1 0.00 % L_NSet_1: blocking speed 1 min
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 729

Parameter reference
C00634
C00634 | L_NSet_1: wState Index: 23941d = 5D85h
FB L_NSet_1: Bit-coded status display

0x0000 0xFFFF
Bit 0 No blocking zone active "1" ≡ No blocking zone set for constant speeds
Bit 1 Blocking zone 1 active "1" ≡ Suppression of constant speed characteristics
within the limits of blocking zone 1
Bit 4 Jog in blocking zone "1" ≡ A ramp is used to keep the speed setpoint within a
speed blocking zone
Bit 5 MaxLimit active "1" ≡ Speed setpoint is at the maximum speed limit
Bit 6 MinLimit active "1" ≡ Speed setpoint is at the minimum speed limit
Bit 7 Reserved
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
C00635
C00635 | L_NSet_1: nMaxLimit Index: 23940d = 5D84h
FB L_NSet_1: Maximum speed setpoint for speed setpoint limitation

-199.99 % 199.99 199.99 %
C00636
C00636 | L_NSet_1: nMinLimit Index: 23939d = 5D83h
FB L_NSet_1: Minimum speed setpoint for speed setpoint limitation

-199.99 % 199.99 -199.99 %
C00637
C00637 | L_NSet_1: Blocking zone output Index: 23938d = 5D82h
FB L_NSet_1: Display of the speed setpoint after blocking zone function processing
-199.99 % 199.99
730 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00638
C00638 | L_NSet_1: Ramp rounding output Index: 23937d = 5D81h
FB L_NSet_1: Display of the speed setpoint after PT1 filter function processing
-199.99 % 199.99
C00639
C00639 | L_NSet_1: Addit. value output Index: 23936d = 5D80h
FB L_NSet_1: Display of the additional speed setpoint after ramp generator processing
-199.99 % 199.99
C00640
C00640 | L_NSet_1: nNOut_a Index: 23935d = 5D7Fh
FB L_NSet_1: Display of the generated main speed setpoint at the output nNOut_a
-199.99 % 199.99
C00650
C00650 | L_Arithmetik 3-5: Fct. Index: 23925d = 5D75h
FB L_Arithmetik_3-5: Selection of the internal arithmetic

Selection list
0 nOut_a = nIn1_a
3 nOut_a = (nIn1_a * nIn2_a) / 100%
4 nOut_a = (nIn1_a * 1%) / |nIn2_a|
5 nOut_a = (nIn1_a * 100%) / (100% -
nIn2_a)
C00650/1 0: nOut_a = nIn1_a L_Arithmetik_3: Function
C00670
C00670 | L_OffsetGainP_1: Gain Index: 23905d = 5D61h
FB L_OffsetGainP_1: Gain as multiplier of input signal + offset

-100.0000 100.0000 1.0000
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 731

Parameter reference
C00671
C00671 | L_OffsetGainP_2: Gain Index: 23904d = 5D60h

-100.0000 100.0000 1.0000
C00672
C00672 | L_OffsetGainP_3: Gain Index: 23903d = 5D5Fh

-100.0000 100.0000 1.0000
C00673
C00673 | L_OffsetGainPhiP 1-2: Offset Index: 23902d = 5D5Eh
FB L_OffsetGainPhiP_1-2: Phase offset (acts additively to the phase input signal)

-2147483647 Incr. 2147483647
C00673/1 0 incr. L_OffsetGainPhiP_1: Offset
C00673/2 0 incr. L_OffsetGainPhiP_2: Offset
C00674
C00674 | L_OffsetGainPhiP 1-2: Gain Index: 23901d = 5D5Dh
FB L_OffsetGainPhiP_1-2: Phase gain as multiplier of input signal + phase offset

-2147483647 2147483647
C00674/1 0 L_OffsetGainPhiP_1: Gain
C00674/2 0 L_OffsetGainPhiP_2: Gain
C00677
C00677 | L_GainOffsetP 1-3: Parameter Index: 23898d = 5D5Ah
FB L_GainOffsetP_1-3: Gain and offset

-199.99 % 199.99
C00677/1 100.00 % L_GainOffsetP_1: Gain
C00677/2 0.00 % L_GainOffsetP_1: Offset
732 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00678
C00678 | L_GainOffsetPhiP 1-2: Parameter Index: 23897d = 5D59h
FB L_GainOffsetPhiP_1-2: Gain and offset

-2147483647 2147483647
C00678/1 65536 L_GainOffsetPhiP_1: Gain
C00678/2 0 L_GainOffsetPhiP_1: Offset
C00678/3 65536 L_GainOffsetPhiP_2: Gain
C00678/4 0 L_GainOffsetPhiP_2: Offset
C00679
C00679 | L_MulDiv_2: Parameter Index: 23896d = 5D58h
FB L_MulDiv_2: Numerator and denominator

-32767 32767
C00679/1 0 L_MulDiv_2: numerator
C00679/2 10000 L_MulDiv_2: denominator
C00680
C00680 | L_Compare_1: Function Index: 23895d = 5D57h
FB L_Compare_1: Comparison function

• If the statement of the selected comparison operation is true, the binary output bOut is set to TRUE.
1 In1 = In2
2 In1 > In2
3 In1 < In2
4 |In1| = |In2|
5 |In1| > |In2|
6 |In1| < |In2|
C00681
C00681 | L_Compare_1: Hysteresis Index: 23894d = 5D56h
FB L_Compare_1: Hysteresis for the comparison function selected in C00680

0.00 % 100.00 0.50 %
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 733

Parameter reference
C00682
C00682 | L_Compare_1: Window Index: 23893d = 5D55h
FB L_Compare_1: Window for the comparison function selected in C00680

0.00 % 100.00 2.00 %
C00685
C00685 | L_Compare_2: Function Index: 23890d = 5D52h

1 In1 = In2
2 In1 > In2
3 In1 < In2
4 |In1| = |In2|
5 |In1| > |In2|
6 |In1| < |In2|
C00686
C00686 | L_Compare_2: Hysteresis Index: 23889d = 5D51h

0.00 % 100.00 0.50 %
C00687
C00687 | L_Compare_2: Window Index: 23888d = 5D50h

0.00 % 100.00 2.00 %
C00690
C00690 | L_Compare_3: Fct. Index: 23885d = 5D4Dh

1 In1 = In2
2 In1 > In2
3 In1 < In2
4 |In1| = |In2|
5 |In1| > |In2|
6 |In1| < |In2|
734 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00691
C00691 | L_Compare_3: Hysteresis Index: 23884d = 5D4Ch

0.00 % 100.00 0.00 %
C00692
C00692 | L_Compare_3: Window Index: 23883d = 5D4Bh

0.00 % 100.00 0.00 %
C00693
C00693 | L_Compare 4-5: Fct. Index: 23882d = 5D4Ah
FB L_Compare_4-5: Comparison function

Selection list
1 In1 = In2
2 In1 > In2
3 In1 < In2
4 |In1| = |In2|
5 |In1| > |In2|
6 |In1| < |In2|
C00693/1 1: In1 = In2 L_Compare_4: function
C00693/2 1: In1 = In2 L_Compare_5: function
C00694
C00694 | L_Compare 4-5: Hysteresis Index: 23881d = 5D49h
FB L_Compare_4-5: Hysteresis for the comparison function selected in C00693

0.00 % 100.00
C00694/1 0.00 % L_Compare_4: hysteresis
C00694/2 0.00 % L_Compare_5: hysteresis
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 735

Parameter reference
C00695
C00695 | L_Compare 4-5: Window Index: 23880d = 5D48h
FB L_Compare_4-5: Window for the comparison function selected in C00693

0.00 % 100.00
C00695/1 0.00 % L_Compare_4: window
C00695/2 0.00 % L_Compare_5: window
C00696
C00696 | L_OffsetGainP_1: offset Index: 23879d = 5D47h
FB L_OffsetGainP_1: Offset (acts additively to the input signal)

-199.99 % 199.99 0.00 %
C00697

-199.99 % 199.99 0.00 %
C00698

-199.99 % 199.99 0.00 %
C00699
C00699 | L_MulDiv_1: parameter Index: 23876d = 5D44h
FB L_MulDiv_1: Numerator and denominator

-32767 32767
C00699/1 0 L_MulDiv_1: numerator
C00699/2 10000 L_MulDiv_1: denominator
736 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00700
C00700 | LA_NCtrl: analog connection list Index: 23875d = 5D43h
Connection parameters for "Actuating drive - speed" application: 16-bit inputs

• Selection of the 16-bit output signals for connection with the 16-bit input signals
subcodes.
0 Not connected
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 737

Parameter reference

16000 AIN1_Out
16001 AIN2_Out
16002 CAN1_wCtrl
16003 CAN1_wIn2
16004 CAN1_wIn3
16005 CAN1_wIn4
16006 CAN2_wIn1
16007 CAN2_wIn2
16008 CAN2_wIn3
16009 CAN2_wIn4
16010 CAN3_wIn1
16011 CAN3_wIn2
16012 CAN3_wIn3
16013 CAN3_wIn4
16105 LP_MciIn_wIn2
16106 LP_MciIn_wIn3
16107 LP_MciIn_wIn4
16108 LP_MciIn_wIn5
16109 LP_MciIn_wIn6
16110 LP_MciIn_wIn7
16111 LP_MciIn_wIn8
16112 LP_MciIn_wIn9
738 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

20000 C_Pos100_a
20001 C_Neg100_a
20002 C_Pos199_99_a
20003 C_Neg199_99_a
20004 C_65535
20005 C_wDriveCtrl
20010 nPar1_a
20011 nPar2_a
20012 nPar3_a
20013 nPar4_a
20014 nPar5_a
20015 nPar6_a
20016 nPar7_a
20017 nPar8_a
20018 nPar1_v
20019 nPar2_v
20020 nPar3_v
20021 nPar4_v
20022 nPar5_v
20023 nPar6_v
20024 nPar7_v
20025 nPar8_v
20026 wPar1
20027 wPar2
20028 wPar3
20029 wPar4
20030 wPar5
20031 wPar6
20032 wPar7
20033 wPar8
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 739

Parameter reference

32104 DCTRL_wFrei_2
32208 MCK_wAuxState
32211 Reserved
34900 MCTRL_OszCh1
34901 MCTRL_OszCh2
34902 MCTRL_OszCh3
34903 MCTRL_OszCh4
34904 MCTRL_Status1
34905 MCTRL_Status2
34906 MCTRL_Status3
740 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

36016 L_Limit_Out_1
36017 L_Limit_Out_2
36018 L_NSet_NOut_1
36020 L_PCTRL_1_Out
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 741

Parameter reference

742 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

C00700/1 20005: C_wDriveCtrl LA_NCtrl: wCANDriveControl
(input for control word from CAN to
device control)
C00700/2 20005: C_wDriveCtrl LA_NCtrl: wMCIDriveControl
(input for control word from
communication interface to device
control)
C00700/3 20012: nPar3_a LA_NCtrl: nTorqueMotLim_a
(input for maximum torque in motor
mode)
C00700/4 20013: nPar4_a LA_NCtrl: nTorqueGenLim_a
(input for maximum torque in generator
mode)
C00700/5 0: Not connected LA_NCtrl: nPIDVpAdapt_a
(input for adaptation of PID controller
gain)
C00700/6 0: Not connected LA_NCtrl: nPIDActValue_a
(input for actual PID controller value)
C00700/7 16000: AIN1_Out LA_NCtrl: nMainSetValue_a
(input for main speed setpoint)
C00700/8 0: Not connected LA_NCtrl: nAuxSetValue_a
(input for additional speed setpoint)
C00700/9 0: Not connected LA_NCtrl: nGPAnalogSwitchIn1_a
(input for analog-value selector analog
signal 1)
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 743

Parameter reference

C00700/10 0: Not connected LA_NCtrl: nGPAnalogSwitchIn2_a

signal 2)
C00700/11 0: Not connected LA_NCtrl: nGPArithmetikIn1_a
(input for arithmetic function analog
signal 1)
C00700/12 0: Not connected LA_NCtrl: nGPArithmetikIn2_a
signal 2)
C00700/13 0: Not connected LA_NCtrl: nGPMulDivIn_a
(input for analog signal for
muliplication/division)
C00700/14 0: Not connected LA_NCtrl: nGPCompareIn1_a
(input for comparison operation analog
signal 1)
C00700/15 0: Not connected LA_NCtrl: nGPCompareIn2_a
signal 2)
C00700/16 0: Not connected LA_NCtrl: nVoltageAdd_a
(input for additive voltage boost)
C00700/17 0: Not connected LA_NCtrl: nPIDInfluence_a
(input for influence signal of PID
controller correcting variable)
C00700/18 0: Not connected LA_NCtrl: nPIDSetValue_a
(input for PID controller setpoint)
C00700/19 0: Not connected LA_NCtrl: nPWMAngleOffset_a
(input for pulse width modulation phase
offset)
C00701
C00701 | LA_NCtrl: digital connection list Index: 23874d = 5D42h
Connection parameters for "Actuating drive - speed" application: Binary inputs

• Selection of the binary output signals for connection with the binary input signals
subcodes.
0 Not connected
744 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 745

Parameter reference

16000 DigIn_bIn1
16001 DigIn_bIn2
16002 DigIn_bIn3
16003 DigIn_bIn4
16004 DigIn_bIn5
16005 DigIn_bIn6
16006 DigIn_bIn7
16008 DigIn_CInh
16029 CAN2_bIn1_B0
16030 CAN2_bIn1_B1
16031 CAN2_bIn1_B2
16032 CAN2_bIn1_B3
16033 CAN2_bIn1_B4
16034 CAN2_bIn1_B5
16035 CAN2_bIn1_B6
16036 CAN2_bIn1_B7
16037 CAN2_bIn1_B8
16038 CAN2_bIn1_B9
16039 CAN2_bIn1_B10
16040 CAN2_bIn1_B11
16041 CAN2_bIn1_B12
16042 CAN2_bIn1_B13
746 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

16043 CAN2_bIn1_B14
16044 CAN2_bIn1_B15
16045 CAN3_bIn1_B0
16046 CAN3_bIn1_B1
16047 CAN3_bIn1_B2
16048 CAN3_bIn1_B3
16049 CAN3_bIn1_B4
16050 CAN3_bIn1_B5
16051 CAN3_bIn1_B6
16052 CAN3_bIn1_B7
16053 CAN3_bIn1_B8
16054 CAN3_bIn1_B9
16055 CAN3_bIn1_B10
16056 CAN3_bIn1_B11
16057 CAN3_bIn1_B12
16058 CAN3_bIn1_B13
16059 CAN3_bIn1_B14
16060 CAN3_bIn1_B15
16077 MciIn_bIn1_B0
16078 MciIn_bIn1_B1
16079 MciIn_bIn1_B2
16080 MciIn_bIn1_B3
16081 MciIn_bIn1_B4
16082 MciIn_bIn1_B5
16083 MciIn_bIn1_B6
16084 MciIn_bIn1_B7
16085 MciIn_bIn1_B8
16086 MciIn_bIn1_B9
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 747

Parameter reference

20000 C_True
20001 bPar1
20002 bPar2
20003 bPar3
20004 bPar4
20005 bPar5
20006 bPar6
20007 bPar7
20008 bPar8
20009 bPar9
20010 bPar10
20011 bPar11
20012 bPar12
20013 bPar13
20014 bPar14
20015 bPar15
20016 bPar16
20017 bPar17
20018 bPar18
20019 bPar19
20020 bPar20
20021 bPar21
20022 bPar22
20023 bPar23
20024 bPar24
20025 bPar25
20026 bPar26
20027 bPar27
20028 bPar28
20029 bPar29
748 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

20030 bPar30
20031 bPar31
20032 bPar32
20033 b100Hz
20034 b10Hz
20035 b2Hz
20036 b1Hz
20037 b1HzFlash
20038 b2HzFlash
20039 bSingleFlash1
20040 bSingleFlash2
20041 bDoubleFlash
20042 bSquareWave
32000 MCTRL_bFanErr
32015 MCTRL_bMMax
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 749

Parameter reference

32100 DCTRL_bInit
32101 DCTRL_bReady
32106 DCTRL_bFail
32112 DCTRL_bCwCcw
32209 MCK_bQspOn
32210 MCK_bPosBusy
32211 MCK_bPosDone
32212 MCK_bHomDone
32214 Reserved
32215 Reserved
32216 Reserved
32217 Reserved
32218 Reserved
36000 L_AND_Out_1
36001 L_AND_Out_2
36002 L_AND_Out_3
36003 L_OR_Out_1
36004 L_OR_Out_2
36005 L_OR_Out_3
36006 L_NOT_Out_1
36007 L_NOT_Out_2
36008 L_NOT_Out_3
36010 L_RLQ_1_Qsp
750 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

36011 L_RLQ_1_Ccw
36026 L_AND5_1_Out
36027 L_AND5_2_Out
36045 L_OR5_1_Out
36046 L_OR5_2_Out
36047 L_NOT_4_Out
36048 L_NOT_5_Out
36049 L_NOT_6_Out
36050 L_NOT_7_Out
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 751

Parameter reference

752 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 753

Parameter reference

754 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

C00701/1 0: Not connected LA_NCtrl: bCInh
(control input for setting controller
inhibit)
C00701/2 16008: DigIn_CInh LA_NCtrl: bFailReset
(control input for error
acknowledgement)
C00701/3 0: Not connected LA_NCtrl: bSetQuickstop
(control input for quick stop request)
C00701/4 16002: DigIn_bIn3 LA_NCtrl: bSetDCBrake
(control input for DC-injection braking
request)
C00701/5 0: Not connected LA_NCtrl: bRFG_Stop
(control input for stopping the speed
ramp function generator)
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 755

Parameter reference

C00701/6 0: Not connected LA_NCtrl: bRFG_0

(control input for setting the speed ramp
function generator to 0)
C00701/7 0: Not connected Reserved
C00701/8 16003: DigIn_bIn4 LA_NCtrl: bSetSpeedCcw
(control input for change of direction of
rotation)
C00701/9 16000: DigIn_bIn1 LA_NCtrl: bJogSpeed1
(selection input for fixed setpoints)
C00701/10 16001: DigIn_bIn2 LA_NCtrl: bJogSpeed2
C00701/11 0: Not connected LA_NCtrl: bJogSpeed4
C00701/12 0: Not connected LA_NCtrl: bJogSpeed8
C00701/13 0: Not connected LA_NCtrl: bJogRamp1
(selection input for additional
acceleration/deceleration times)
C00701/17 0: Not connected LA_NCtrl: bMPOTInAct
(control input for deactivation of motor
potentiometer)
C00701/18 0: Not connected LA_NCtrl: bMPOTUp
(control input for motor potentiometer
ramp-up)
C00701/19 0: Not connected LA_NCtrl: bMPOTDown
ramp-down)
C00701/20 0: Not connected LA_NCtrl: bMBRKRelease
(control input for manual holding brake
release request)
C00701/21 0: Not connected LA_NCtrl: bMANJogPos
(control input for manual jog in positive
direction request)
C00701/22 0: Not connected LA_NCtrl: bMANJogNeg
(control input for manual jog in negative
direction request)
C00701/23 0: Not connected LA_NCtrl: bGPAnalogSwitchSet
(control input for analog-value selector
change-over)
C00701/24 0: Not connected LA_NCtrl: bGPDigitalDelayIn
(input for digital signal with time delay)
C00701/25 0: Not connected LA_NCtrl: bGPLogicIn1
(input signal 1 for digital logic)
756 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference


C00701/28 0: Not connected LA_NCtrl: bGPDFlipFlopInD
(control input for DFlipFlop setting
signal)
C00701/29 0: Not connected LA_NCtrl: bGPDFlipFlopInClk
(control input for DFlipFlop clock signal)
C00701/30 0: Not connected LA_NCtrl: bGPDFlipFlopInClr
(control input for DFlipFlop reset signal)
C00701/31 0: Not connected LA_NCtrl: bMPotEnable
(control input for activation of motor
potentiometer)
C00701/32 0: Not connected LA_NCtrl: bPIDEnableInfluenceRamp
(control input for activation of influence
of output correcting variable of PID
controller)
C00701/33 0: Not connected LA_NCtrl: bPIDIOff
(control input for deactivation of PID
controller I component)
C00701/34 20000: C_True LA_NCtrl: bRLQCw
(control input for activation of CW
direction of rotation of speed setpoint)
C00701/35 0: Not connected LA_NCtrl: bRLQCcw
(control input for activation of CCW
direction of rotation of speed setpoint)
C00705
C00705 | LA_NCtrl_Out: analog signal list Index: 23870d = 5D3Eh
C00706
C00706 | LA_NCtrl_Out digital signal list Index: 23869d = 5D3Dh
C00710
C00710 | LA_TabPos: Analog connection list Index: 23865d = 5D39h
Connection parameters for "Table positioning" application: 16-bit inputs

• Selection of the 16-bit output signals for connection with the 16-bit input signals
subcodes.
0 Not connected
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 757

Parameter reference

16000 AIN1_Out
16001 AIN2_Out
16002 CAN1_wCtrl
16003 CAN1_wIn2
16004 CAN1_wIn3
16005 CAN1_wIn4
16006 CAN2_wIn1
758 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

16007 CAN2_wIn2
16008 CAN2_wIn3
16009 CAN2_wIn4
16010 CAN3_wIn1
16011 CAN3_wIn2
16012 CAN3_wIn3
16013 CAN3_wIn4
16105 LP_MciIn_wIn2
16106 LP_MciIn_wIn3
16107 LP_MciIn_wIn4
16108 LP_MciIn_wIn5
16109 LP_MciIn_wIn6
16110 LP_MciIn_wIn7
16111 LP_MciIn_wIn8
16112 LP_MciIn_wIn9
20000 C_Pos100_a
20001 C_Neg100_a
20002 C_Pos199_99_a
20003 C_Neg199_99_a
20004 C_65535
20005 C_wDriveCtrl
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 759

Parameter reference

20010 nPar1_a
20011 nPar2_a
20012 nPar3_a
20013 nPar4_a
20014 nPar5_a
20015 nPar6_a
20016 nPar7_a
20017 nPar8_a
20018 nPar1_v
20019 nPar2_v
20020 nPar3_v
20021 nPar4_v
20022 nPar5_v
20023 nPar6_v
20024 nPar7_v
20025 nPar8_v
20026 wPar1
20027 wPar2
20028 wPar3
20029 wPar4
20030 wPar5
20031 wPar6
20032 wPar7
20033 wPar8
760 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

32104 DCTRL_wFrei_2
32208 MCK_wAuxState
32211 Reserved
34900 MCTRL_OszCh1
34901 MCTRL_OszCh2
34902 MCTRL_OszCh3
34903 MCTRL_OszCh4
34904 MCTRL_Status1
34905 MCTRL_Status2
34906 MCTRL_Status3
36016 L_Limit_Out_1
36017 L_Limit_Out_2
36018 L_NSet_NOut_1
36020 L_PCTRL_1_Out
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 761

Parameter reference

762 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 763

Parameter reference

C00710/1 0: Not connected LA_TabPos: wCanDriveControl
(input for control word from CAN to
device control)
C00710/2 0: Not connected LA_TabPos: wMciDriveControl
(input for control word from
communication interface to device
control)
C00710/3 0: Not connected LA_TabPos: nTorqueMotLim_a
(input for maximum torque in motor
mode)
C00710/4 0: Not connected LA_TabPos: nTorqueGenLim_a
(input for maximum torque in generator
mode)
C00710/5 0: Not connected LA_TabPos: nMainSetValue_a
(input for main speed setpoint)
C00710/6 0: Not connected LA_TabPos: nAuxSetValue_a
(input for additional speed setpoint)
C00710/7 0: Not connected LA_TabPos: wMckCtrl1
(input for MCK control word 1)
C00710/8 0: Not connected LA_TabPos: wMckCtrl2
(input for MCK control word 2)
C00710/9 0: Not connected LA_TabPos: wMckOperationMode
(input for selection of MCK operating
mode)
C00710/10 0: Not connected LA_TabPos: wPosProfileMode
(input for selection of MCK positioning
mode in positioning mode)
C00710/11 0: Not connected LA_TabPos: wPosProfileNo
(input for MCK positioning profile
number in positioning mode)
C00710/12 0: Not connected LA_TabPos: nGPAnalogSwitchIn1_a
signal 1)
C00710/13 0: Not connected LA_TabPos: nGPAnalogSwitchIn2_a
signal 2)
C00710/14 0: Not connected LA_TabPos: nGPArithmetikIn1_a
signal 1)
C00710/15 0: Not connected LA_TabPos: nGPArithmetikIn2_a
signal 2)
764 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

C00710/16 0: Not connected LA_TabPos: nGPMulDivIn_a

(input for analog signal for
muliplication/division)
C00710/17 0: Not connected LA_TabPos: nGPCompareIn1_a
signal 1)
C00710/18 0: Not connected LA_TabPos: nGPCompareIn2_a
signal 2)
C00710/19 0: Not connected LA_TabPos: wGPCounter1LdVal
(input for load value for counter module
1)
C00710/20 0: Not connected LA_TabPos: wGPCounter1CmpVal
(input for comparison value for counter
module 1)
C00710/21 0: Not connected LA_TabPos: nSpeedOverride_a
(input for speed override)
C00710/22 0: Not connected LA_TabPos: nAccOverride_a
(input for acceleration override)
C00710/23 0: Not connected LA_TabPos: wFreeIn1
(input for user signal 1)
C00710/27 0: Not connected LA_TabPos: nPosCtrlOutLimit
(input for correcting variable limitation
of position controller)
C00710/28 0: Not connected LA_TabPos: nPosCtrlPAdapt
(input for adaptation of position
controller gain)
C00711
Connection parameters for "Table positioning" application: Binary inputs

• Selection of the binary output signals for connection with the binary input signals
subcodes.
0 Not connected
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 765

Parameter reference

766 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

16000 DigIn_bIn1
16001 DigIn_bIn2
16002 DigIn_bIn3
16003 DigIn_bIn4
16004 DigIn_bIn5
16005 DigIn_bIn6
16006 DigIn_bIn7
16008 DigIn_CInh
16029 CAN2_bIn1_B0
16030 CAN2_bIn1_B1
16031 CAN2_bIn1_B2
16032 CAN2_bIn1_B3
16033 CAN2_bIn1_B4
16034 CAN2_bIn1_B5
16035 CAN2_bIn1_B6
16036 CAN2_bIn1_B7
16037 CAN2_bIn1_B8
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 767

Parameter reference

16038 CAN2_bIn1_B9
16039 CAN2_bIn1_B10
16040 CAN2_bIn1_B11
16041 CAN2_bIn1_B12
16042 CAN2_bIn1_B13
16043 CAN2_bIn1_B14
16044 CAN2_bIn1_B15
16045 CAN3_bIn1_B0
16046 CAN3_bIn1_B1
16047 CAN3_bIn1_B2
16048 CAN3_bIn1_B3
16049 CAN3_bIn1_B4
16050 CAN3_bIn1_B5
16051 CAN3_bIn1_B6
16052 CAN3_bIn1_B7
16053 CAN3_bIn1_B8
16054 CAN3_bIn1_B9
16055 CAN3_bIn1_B10
16056 CAN3_bIn1_B11
16057 CAN3_bIn1_B12
16058 CAN3_bIn1_B13
16059 CAN3_bIn1_B14
16060 CAN3_bIn1_B15
16077 MciIn_bIn1_B0
16078 MciIn_bIn1_B1
16079 MciIn_bIn1_B2
16080 MciIn_bIn1_B3
16081 MciIn_bIn1_B4
768 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

16082 MciIn_bIn1_B5
16083 MciIn_bIn1_B6
16084 MciIn_bIn1_B7
16085 MciIn_bIn1_B8
16086 MciIn_bIn1_B9
20000 C_True
20001 bPar1
20002 bPar2
20003 bPar3
20004 bPar4
20005 bPar5
20006 bPar6
20007 bPar7
20008 bPar8
20009 bPar9
20010 bPar10
20011 bPar11
20012 bPar12
20013 bPar13
20014 bPar14
20015 bPar15
20016 bPar16
20017 bPar17
20018 bPar18
20019 bPar19
20020 bPar20
20021 bPar21
20022 bPar22
20023 bPar23
20024 bPar24
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 769

Parameter reference

20025 bPar25
20026 bPar26
20027 bPar27
20028 bPar28
20029 bPar29
20030 bPar30
20031 bPar31
20032 bPar32
20033 b100Hz
20034 b10Hz
20035 b2Hz
20036 b1Hz
20037 b1HzFlash
20038 b2HzFlash
20039 bSingleFlash1
20040 bSingleFlash2
20041 bDoubleFlash
20042 bSquareWave
32000 MCTRL_bFanErr
32015 MCTRL_bMMax
770 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

32100 DCTRL_bInit
32101 DCTRL_bReady
32106 DCTRL_bFail
32112 DCTRL_bCwCcw
32209 MCK_bQspOn
32210 MCK_bPosBusy
32211 MCK_bPosDone
32212 MCK_bHomDone
32214 Reserved
32215 Reserved
32216 Reserved
32217 Reserved
32218 Reserved
36000 L_AND_Out_1
36001 L_AND_Out_2
36002 L_AND_Out_3
36003 L_OR_Out_1
36004 L_OR_Out_2
36005 L_OR_Out_3
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 771

Parameter reference

36006 L_NOT_Out_1
36007 L_NOT_Out_2
36008 L_NOT_Out_3
36010 L_RLQ_1_Qsp
36011 L_RLQ_1_Ccw
36026 L_AND5_1_Out
36027 L_AND5_2_Out
36045 L_OR5_1_Out
36046 L_OR5_2_Out
36047 L_NOT_4_Out
36048 L_NOT_5_Out
36049 L_NOT_6_Out
36050 L_NOT_7_Out
772 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 773

Parameter reference

774 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 775

Parameter reference

C00711/1 0: Not connected LA_TabPos: bCInh
(control input for setting controller
inhibit)
C00711/2 0: Not connected LA_TabPos: bFailReset
(control input for error
acknowledgement)
C00711/3 0: Not connected LA_TabPos: bSetQuickstop
(control input for quick stop request)
776 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

C00711/4 0: Not connected LA_TabPos: bSetSpeedCcw

(control input for negation of speed
direction)
C00711/5 0: Not connected LA_TabPos: bJogSpeed1
(control input for fixed speed selection
valency 1)
C00711/6 0: Not connected LA_TabPos: bJogSpeed2
(control input for fixed speed selection
valency 2)
C00711/7 0: Not connected LA_TabPos: bMPotEnable
(control input for activation of motor
potentiometer)
C00711/8 0: Not connected LA_TabPos: bMPotUp
ramp-up)
C00711/9 0: Not connected LA_TabPos: bMPotDown
ramp-down)
C00711/10 0: Not connected LA_TabPos: bMBrakeRelease
(control input for manual holding brake
release request)
C00711/11 0: Not connected LA_TabPos: bPosCtrlOn
(control input for activation of position
controller)
C00711/12 0: Not connected LA_TabPos: bLimitSwitchPos
(input for positive hardware limit switch
signal)
C00711/13 0: Not connected LA_TabPos: bLimitSwitchNeg
(input for negative hardware limit switch
signal)
C00711/14 0: Not connected LA_TabPos: bReleaseLimitSwitch
(control input for hardware limit switch
retracting request)
C00711/15 0: Not connected LA_TabPos: bManJogPos
(control input for manual jog in positive
direction request)
C00711/16 0: Not connected LA_TabPos: bManJogNeg
(control input for manual jog in negative
direction request)
C00711/17 0: Not connected LA_TabPos: bManEnable2ndSpeed
(control input for activation of the
second manual speed for manual jog)
C00711/18 0: Not connected LA_TabPos: bEnableSpeedOverride
(control input for activation of speed
override)
C00711/19 0: Not connected LA_TabPos: bEnableAccOverride
(control input for activation of
acceleration override)
C00711/20 0: Not connected LA_TabPos: bHomeStartStop
(control input for start/stop homing)
C00711/21 0: Not connected LA_TabPos: bHomeSetPosition
(control input for setting the home
position)
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 777

Parameter reference

C00711/22 0: Not connected LA_TabPos: bHomeResetPosition

(control input for reset of "Home position
known")
C00711/23 0: Not connected LA_TabPos: bHomeMark
(input for pre-stop signal for homing)
C00711/24 0: Not connected LA_TabPos: bPosSetProfilePosition
(control input for accepting the profile
position in the profile data set)
C00711/25 0: Not connected LA_TabPos: bPosSetActualPosition
(control input for accepting the current
position in the profile data set)
C00711/26 0: Not connected LA_TabPos: bPosExecute
(control input for positioning start)
C00711/27 0: Not connected LA_TabPos: bPosFinishTarget
(control input for completion of
positioning to target position)
C00711/28 0: Not connected LA_TabPos: bPosDisableFollowProfile
(control input for suppression of
sequence profile linkage)
C00711/29 0: Not connected LA_TabPos: bPosStop
(control input for interruption of profile
generation by ramp-down procedure)
C00711/30 0: Not connected LA_TabPos: bGPAnalogSwitchSet
(control input for analog-value selector
change-over)
C00711/31 0: Not connected LA_TabPos: bGPDigitalDelayIn
(input for digital signal with time delay)
C00711/32 0: Not connected LA_TabPos: bGPLogicIn1
C00711/35 0: Not connected LA_TabPos: bGPDFlipFlop_InD
(control input for DFlipFlop setting
signal)
C00711/36 0: Not connected LA_TabPos: bGPDFlipFlop_InClk
(control input for DFlipFlop clock signal)
C00711/37 0: Not connected LA_TabPos: bGPDFlipFlop_InClr
(control input for DFlipFlop reset signal)
C00711/38 0: Not connected LA_TabPos: bGPCounter1ClkUp
(control input for up-counting counter
module 1)
C00711/39 0: Not connected LA_TabPos: bGPCounter1ClkDown
(control input for down-counting
counter module 1)
C00711/40 0: Not connected LA_TabPos: bGPCounter1Load
(control input for load value acceptance
in counter module 1)
C00711/41 0: Not connected LA_TabPos: bMckOperationMode_1
(control input for MCK operating mode
changeover valency 1)
778 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference


C00711/45 0: Not connected LA_TabPos: bPosProfileNo_1
(control input for selection of profile
number valency 1)
number valency 2)
number valency 4)
number valency 8)
C00711/49 0: Not connected LA_TabPos: bFreeIn1
(input for binary user signal 1)
C00712
C00712 | LA_TabPos: Connection list phi Index: 23863d = 5D37h
C00715
C00715 | LA_TabPos_Out: analog signal list Index: 23860d = 5D34h
C00716
C00716 | LA_TabPos_Out: Digital signal list Index: 23859d = 5D33h
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 779

Parameter reference
C00717
C00717 | LA_TabPos_Out: Signal list phi Index: 23858d = 5D32h
C00720
C00720 | L_DigitalDelay_1 delay Index: 23855d = 5D2Fh
FB L_DigitalDelay_1: ON and OFF delay time

0.000 s 3600.000
C00720/1 0.000 s L_DigitalDelay_1: on delay
C00720/2 0.000 s L_DigitalDelay_1: off delay
C00721
C00721 | L_DigitalDelay 2, 3 delay Index: 23854d = 5D2Eh
FB L_DigitalDelay_2-3: ON and OFF delay time

0.000 s 3600.000
C00725
C00725 | Current switching frequency Index: 23850d = 5D2Ah
Display of the current switching frequency

• In C00018 you can choose between a drive-optimised setting for good smooth-running characteristics and an
inverter loss-optimised setting (min. Pv).
• For these options, you can, in turn, choose between fixed and variable switching frequencies.
• When a variable switching frequency is selected in C00018, the switching frequency may change as a function
of the load and rotational frequency.
780 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

C00725 | Current switching frequency Index: 23850d = 5D2Ah

14 Reserved
C00726
C00726 | Current limit values Index: 23849d = 5D29h
C00727
C00727 | Keypad digital values Index: 23848d = 5D28h
Executing control commands when operating via keypad

0 1
C00727/1 0 "1" ≡ request quick stop
C00727/2 0 "1" ≡ request DC-injection braking
C00727/3 0 "1" ≡ request reversal
C00727/4 0 "1" ≡ request fixed speed setpoint 1 anfordern
C00727/5 0 "1" ≡ request fixed speed setpoint 2 anfordern
C00727/6 0 "1" ≡ motor potentiometer: request activation
C00727/7 0 "1" ≡ motor potentiometer: request pos. acceleration
C00727/8 0 "1" ≡ motor potentiometer: request neg. acceleration
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 781

Parameter reference
C00728
C00728 | Keypad analog values Index: 23847d = 5D27h
Selection of different setpoints when operating via keypad

-199.99 % 199.99
C00728/1 100.00 % Torque limit in motor mode
C00728/2 100.00 % Torque limit in generator mode
C00728/3 0.00 % Setpoint speed
C00750
C00750 | Select. of BU oscillos. channels Index: 23825d = 5D11h
C00800
C00800 | L_MPot_1: Upper limit Index: 23775d = 5CDFh
FB L_MPot_1: Upper limit of the motor potentiometer function

-199.99 % 199.99 100.00 %
C00801
C00801 | L_MPot_1: Lower limit Index: 23774d = 5CDEh
FB L_MPot_1: Lower limit of the motor potentiometer function

-199.99 % 199.99 -100.00 %
C00802
C00802 | L_MPot_1: Acceleration time Index: 23773d = 5CDDh
FB L_MPot_1: Acceleration time of the motor potentiometer function

0.1 s 6000.0 10.0 s
C00803
C00803 | L_MPot_1: Deceleration time Index: 23772d = 5CDCh
FB L_MPot_1: Deceleration time of the motor potentiometer function

0.1 s 6000.0 10.0 s
782 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00804
C00804 | L_MPot_1: Inactive function Index: 23771d = 5CDBh
FB L_MPot_1: Selection of the response when deactivating the motor potentiometer via the bInAct input
0 Retain value Keep output value
1 Deceleration to 0 Deceleration via ramp to 0
2 Deceleration to lower limit Deceleration via ramp to lower limit (C00801)
3 Without ramp to 0 Jump to 0
4 Without ramp to lower limit Jump to lower limit (C00800)
5 Acceleration to upper limit Acceleration via ramp to upper limit (C00800)
C00805
C00805 | L_MPot_1: Init fct. Index: 23770d = 5CDAh
FB L_MPot_1: Selection of the response when switching on the device

0 Load last value
1 Load lower limit
2 Load 0
C00806
C00806 | L_MPot_1: Use Index: 23769d = 5CD9h
FB L_MPot_1: Use of the motor potentiometer

0 No The motor potentiometer is not used.
• The analog value applied to the nIn_a input is looped
through without any changes to the nOut_a output.
1 Yes The motor potentiometer is used.
• The analog value applied at the nIn_a input is led via
the motor potentiometer and provided at the nOut_a
output.
C00807
C00807 | L_NLim_1 Max.SkipFrq. Index: 23768d = 5CD8h
FB L_NLim_1: Maximum skip frequencies

0.00 % 199.99
C00807/1 0.00 % Maximum skip frequency for zone 1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 783

Parameter reference
C00808
C00808 | L_NLim_1 Min.SkipFrq. Index: 23767d = 5CD7h
FB L_NLim_1: Minimum skip frequencies

0.00 % 199.99
C00808/1 0.00 % Minimum skip frequency for zone 1
C00809
C00809 | L_NLim_2 Max.SkipFrq. Index: 23766d = 5CD6h
FB L_NLim_2: Maximum skip frequencies

0.00 % 199.99
C00810
C00810 | L_NLim_2 Min.SkipFrq. Index: 23765d = 5CD5h
FB L_NLim_2: Minimum skip frequencies

0.00 % 199.99
C00820
C00820 | L_DigitalLogic_1: Fct. Index: 23755d = 5CCBh
FB L_DigitalLogic_1: Selection of the internal logic interconnection

0 bOut = 0
1 bOut = 1
2 bOut = bIn1 AND bIn2 AND bIn3
3 bOut = bIn1 OR bIn2 OR bIn3
4 bOut = f (truth table) The truth table parameterised in C00821 is used.
784 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00821
C00821 | L_DigitalLogic_1: truth table Index: 23754d = 5CCAh
FB L_DigitalLogic_1: Parameterisation of the truth table

Selection list
0 False
1 True
C00821/1 0: False bOut for bIn1=0 / bIn2=0 / bIn3=0
C00822
C00822 | L_DigitalLogic_2: Function Index: 23753d = 5CC9h
FB L_DigitalLogic_2: Selection of the internal logic interconnection

0 bOut = 0
1 bOut = 1
2 bOut = bIn1 AND ... bIn3
3 bOut = bIn1 OR ... bIn3
C00823
C00823 | L_DigitalLogic_2: Truth table Index: 23752d = 5CC8h
FB L_DigitalLogic_2: Parameterisation of the truth table

Selection list
0 False
1 True
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 785

Parameter reference
C00824
C00824 | L_DigitalLogic5_1: Function Index: 23751d = 5CC7h
FB L_DigitalLogic5_1: Selection of the internal logic interconnection

0 bOut = 0
1 bOut = 1
C00825
C00825 | L_DigitalLogic5_1: Truth table Index: 23750d = 5CC6h
FB L_DigitalLogic5_1: Parameterisation of the truth table

Selection list
0 False
1 True
C00825/1 0: False bOut for bIn1=0 / bIn2=0 / bIn3=0 / bIn4=0 / bIn5=0
786 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference


C00826
C00826 | L_DigitalLogic5_2: Function Index: 23749d = 5CC5h
FB L_DigitalLogic5_2: Selection of the internal logic interconnection

0 bOut = 0
1 bOut = 1
C00827
FB L_DigitalLogic5_2: Parameterisation of the truth table

Selection list
0 False
1 True
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 787

Parameter reference


C00830
C00830 | 16bit input analog Index: 23745d = 5CC1h
Display in percent of 16-bit input values of different blocks

-199.99 % 199.99
C00830/1 L_Absolut_1: nIn_a
C00830/2 L_AddSub_1: nIn1_a
C00830/5 L_OffsetGain_1: nIn_a
C00830/6 L_OffsetGain_1: nOffset_a
C00830/7 L_OffsetGain_1: nGain_a
C00830/8 L_Negation_1: nIn_a
C00830/9 L_GainOffset_1: nIn_a
C00830/10 L_GainOffset_1: nGain_a
C00830/11 L_GainOffset_1: nOffset_a
C00830/12 L_Arithmetik_1: nIn1_a
C00830/14 L_AnalogSwitch_1: nIn1_a
C00830/16 L_Compare_1: nIn1_a
C00830/18 Reserved
C00830/19 Reserved
C00830/20 MCTRL: nPosCtrlPAdapt_a
C00830/21 MCTRL: nPosCtrlOutLimit_a
C00830/22 MCTRL: nSpeedSetValue_a
C00830/23 MCTRL: nSpeedLowLimit_a
C00830/24 MCTRL: nSpeedCtrlI_a
C00830/25 MCTRL: nSpeedCtrlPAdapt_a
C00830/26 Reserved
788 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

C00830/27 MCTRL: nTorqueSetValue_a

C00830/28 MCTRL: nTorqueGenLimit_a
C00830/29 MCTRL: nTorqueMotLimit_a
C00830/30 Reserved
C00830/31 MCTRL: nVoltageAdd_a
C00830/32 MCTRL: nPWMAngleOffset_a
C00830/33 L_NSet_1: nCInhVal_a
C00830/34 L_NSet_1: nNSet_a
C00830/35 L_NSet_1: nSet_a
C00830/36 L_NSet_1: nNAdd_a
C00830/37 DCTRL: wCANControl
C00830/38 DCTRL: wCCMControl
C00830/39 L_NLim_1: nIn_a
C00830/40 Reserved
C00830/51 Reserved
C00830/52 Reserved
C00830/56 L_OffsetGainP_1: nIn_a
C00830/61 L_PCTRL_1: nAct_a
C00830/62 L_PCTRL_1: nAdapt_a
C00830/63 L_PCTRL_1: nSet_a
C00830/64 L_PCTRL_1: nInflu_a
C00830/65 MCK: nSpeedCtrlI_a
C00830/66 MCK: nPWMAngleOffset_a
C00830/67 Reserved
C00830/68 MCK: nBrkTorqueAdd_a
C00830/69 MCK: nTorqueSetValue_a
C00830/70 Reserved
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 789

Parameter reference

C00830/71 Reserved
C00830/72 MCK: nSpeedSetValue_a
C00830/73 MCK: wAuxCtrl1
C00830/74 MCK: wMotionCtrl
C00830/75 MCK: nSpeedOverride_a
C00830/76 MCK: nAccOverride_a
C00830/77 MCK: nSpeedAdd_v
C00830/79 Reserved
C00830/81 L_MPot_1: nIn_a
C00830/82 L_MulDiv_1: nIn_a
C00830/83 LS_DataAccess: wIn1
C00830/87 L_PT1_1: nIn_a
C00830/88 MCTRL: nSpeedHighLimit_a
C00830/89 L_PCTRL_1: nNSet_a
C00831
C00831 | 16bit input common Index: 23744d = 5CC0h
Decimal/hexadecimal/bit-coded display of 16-bit input values of different blocks

0x0000 0xFFFF
Value is bit-coded:
Bit 0 Bit0
... ...
Bit 15 Bit15
790 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference


C00831/18 Reserved
C00831/19 Reserved
C00831/26 Reserved
C00831/30 Reserved
C00831/40 Reserved
C00831/51 Reserved
C00831/52 Reserved
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 791

Parameter reference


C00831/67 Reserved
C00831/70 Reserved
C00831/71 Reserved
C00831/79 Reserved
C00831/87 L_PT1_1: nIn_a
C00832
C00832 | 16bit input velocity Index: 23743d = 5CBFh
Display of 16-bit input values of different blocks in [rpm]

-32767 rpm 32767
792 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference


C00832/18 Reserved
C00832/19 Reserved
C00832/26 Reserved
C00832/30 Reserved
C00832/40 Reserved
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 793

Parameter reference


C00832/51 Reserved
C00832/52 Reserved
C00832/67 Reserved
C00832/70 Reserved
C00832/71 Reserved
C00832/79 Reserved
C00832/87 L_PT1_1: nIn_a
794 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00833
C00833 | 8bit input Index: 23742d = 5CBEh
Display of the signal status of the binary inputs of different blocks

Selection list
0 False
1 True
C00833/1 L_And_1: bIn1
C00833/2 L_And_1: bIn2
C00833/3 L_And_1: bIn3
C00833/4 L_DFlipFlop_1: bD
(set input)
C00833/5 L_DFlipFlop_1: bClk
(clock input)
C00833/6 L_DFlipFlop_1: bClr
(reset input)
C00833/7 L_Not_1: bIn
C00833/8 L_Or_1: bIn1
C00833/9 L_Or_1: bIn2
C00833/10 L_Or_1: bIn3
C00833/11 L_RLQ_1: bCw
(CW rotation)
C00833/12 L_RLQ_1: bCcw
(CCW rotation)
C00833/13 L_AnalogSwitch_1: bSet
(switch over analog values)
C00833/14 L_NSet_1: bRfgStop
(stop ramp function generator)
C00833/15 L_NSet_1: bRfg0
(reset ramp function generator)
C00833/16 L_NSet_1: bNSetInv
(invert speed setpoint)
C00833/17 L_NSet_1: bJog1
C00833/21 L_NSet_1: bTi1
(selection input for additional acceleration/deceleration
times)
C00833/22 L_NSet_1: bTi2
times)
C00833/23 L_NSet_1: bTi4
times)
C00833/24 L_NSet_1: bTi8
times)
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 795

Parameter reference

C00833/25 L_NSet_1: bLoad

(load ramp function generator)
C00833/26 L_NSet_1: bExternalCINH
(set controller inhibit externally)
C00833/27 MCTRL: bPosCtrlOn
(activate position controller)
C00833/28 MCTRL: bSpeedInterpolatorOn
(activate speed interpolator)
C00833/29 MCTRL: bTorqueInterpolatorOn
(activate torque interpolator)
C00833/30 MCTRL: bTorquemodeOn
(activate torque setpoint)
C00833/31 MCTRL: bSpeedCtrlIOn
(load speed controller I component)
C00833/32 MCTRL: bAutoBoostOn
(activate automatic voltage boost)
C00833/33 MCTRL: bQSPOn
(quick stop)
C00833/34 MCTRL: bDcBrakeOn
(DC-injection braking)
C00833/35 MCTRL: bDeltaPosOn
(activate evaluation of external following error)
C00833/36 DCTRL: bCINH
(inhibit controller)
C00833/37 DCTRL: bFailReset
(acknowledge error)
C00833/38 DCTRL: bStatus_B0
C00833/45 DCTRL: bFrei_1
C00833/49 L_And_2: bIn1
C00833/50 L_And_2: bIn2
C00833/51 L_And_2: bIn3
C00833/52 L_And_3: bIn1
C00833/53 L_And_3: bIn2
C00833/54 L_And_3: bIn3
C00833/55 L_Or_2: bIn1
C00833/56 L_Or_2: bIn2
C00833/57 L_Or_2: bIn3
C00833/58 L_Or_3: bIn1
796 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

C00833/59 L_Or_3: bIn2

C00833/60 L_Or_3: bIn3
C00833/61 L_Not_2: bIn
C00833/62 L_Not_3: bIn
C00833/63 L_DigitalLogic_1: bIn1
C00833/66 L_DigitalDelay_1: bIn
C00833/67 MCTRL: bPosDerivativeOn
(activate differentiation of position)
C00833/68 MCTRL: bMotorRefOffsetOn
(accept motor reference position)
C00833/69 Reserved
C00833/72 L_MPot_1: bUp
(ramp up)
C00833/73 L_MPot_1: bInAct
(start inactivation function)
C00833/74 L_MPot_1: bDown
(ramp down)
C00833/75 Reserved
C00833/76 L_PCTRL_1: bInAct
(deactivate controller)
C00833/77 L_PCTRL_1: bIOff
(switch off I component of controller)
C00833/78 MCK: bSpeedCtrlIOn
(load I component of speed controller)
C00833/79 MCK: bDcBrakeOn
(activate DC-injection braking)
C00833/80 MCK: bBrkRelease
(release holding brake)
C00833/81 MCK: bBrkStartTorqueDir
(change of direction torque precontrol)
C00833/82 MCK: bBrkApplied
(feedback signal - binary holding brake status)
C00833/83 MCK: bLimitSwitchPos
(input for positive hardware limit switch)
C00833/84 MCK: bLimitSwitchNeg
(input for negative hardware limit switch)
C00833/85 MCK: bPosCtrlOn
(activate position controller)
C00833/86 MCK: bDeltaPosOn
(activate evaluation of external following error)
C00833/87 MCK: bPosDerivativeOn
(activate differentiation of position)
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 797

Parameter reference

C00833/88 MCK: bMotorRefOffsetOn

(accept motor reference position)
C00833/89 MCK: bQspOn
(quick stop)
C00833/90 MCK: bTorquemodeOn
(activate torque control)
C00833/91 Reserved
C00833/92 MCK: bHomMark
(pre-stop signal - homing)
C00833/93 Reserved
C00833/94 Reserved
C00833/95 Reserved
C00833/96 Reserved
C00833/97 Reserved
C00833/98 Reserved
C00833/99 L_NSet_1: bNAddInv
(invert additional speed setpoint)
C00833/100 L_MPot_1: bEnable
(activate FB)
C00833/101 L_NLim_1: bEnable
(activate FB)
C00833/102 LS_DataAccess: bEnableIn1
(Lenze internally)
(Lenze internally)
(Lenze internally)
(Lenze internally)
C00833/106 L_PCTRL_1: bEnableInfluenceRamp
(activate influence ramp on correcting variable)
C00833/107 LS_SetError_2: bSetError1
(trigger application error 1)
C00833/111 L_JogCtrlExtension: bInputSel1
(binary selection of the function)
C00833/112 L_JogCtrlExtension: bInputSel2
(binary selection of the function)
C00833/113 L_JogCtrlExtension: bRfgIn
(set ramp function generator)
C00833/114 L_JogCtrlExtension: bJog1In
(activate fixed speed 1)
C00833/115 L_JogCtrlExtension: bJog2In
(activate fixed speed 2)
798 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

C00833/116 L_JogCtrlExtension: bSlowDown1

(ramp down speed)
C00833/117 L_JogCtrlExtension: bStop1
(stop speed)
C00833/118 L_JogCtrlExtension: bbSlowDown2
(ramp down speed)
(stop speed)
C00833/120 L_JogCtrlExtension: bSlowDown3
(ramp down speed)
(stop speed)
C00834
C00834 | 32bit input analog Index: 23741d = 5CBDh
Display of 32-bit input values of different blocks in [increments]

-2147483647 incr 2147483647
C00834/1 MCK: dnPosSetValue_p
C00834/2 MCK: dnMotorRefOffset_p
C00834/3 MCK: dnDeltaPos_p
C00834/4 MCTRL: dnDeltaPos_p
C00834/5 MCTRL: dnPosSetValue_p
C00834/6 MCTRL: dnMotorRefOffset_p
C00834/7 MCK: dnProfilePosition_p
C00835
C00835 | 16bit input analog AdditionalFBsHL Index: 23740d = 5CBCh
Display in percent of 16-bit input values of different blocks

-199.99 % 199.99
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 799

Parameter reference


C00835/16 L_Counter_2: wLdVal
C00835/17 L_Counter_2: wCmpVal
C00835/20 L_PhaseIntK_1: nIn_v
C00835/26 L_PT1_2: nIn_a
C00835/27 L_PT1_3: nIn_a
C00835/29 L_SampleHold_1: nIn_a
C00835/31 L_Mux_1: nSelect_a
C00835/36 L_DT1_1: nIn_a
C00835/39 L_GainOffsetPar_1: nIn_a
C00835/42 L_Limit_1: nIn_a
C00835/44 L_MckCtrlInterface_1: wOperationMode
C00835/45 L_MckCtrlInterface_1: wPosMode
C00835/46 L_MckCtrlInterface_1: wProfileNo
C00835/47 L_MckCtrlInterface_1: wInMckPosCtrl_1
C00835/49 L_MckStateInterface_1: wInMckPosState_1
C00835/51 L_PosiShaftCtrlInterface_1: wInPosiShaftCtrl_1
C00835/55 L_ConvWordToBits_1: wInput
800 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference


C00835/58 L_ConvWordsToDInt_1: wInLWord
C00835/59 L_ConvWordsToDInt_1: wInHWord
C00835/64 L_ConvUnitsToIncr_1: wInLWord
C00835/65 L_ConvUnitsToIncr_1: wInHWord
C00836
C00836 | 16bit input common AdditionalFBsHL Index: 23739d = 5CBBh
Decimal/hexadecimal/bit-coded display of 16-bit input values of different blocks

0x0000 0xFFFF
Value is bit-coded:
Bit 0 Bit0
... ...
Bit 15 Bit15
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 801

Parameter reference


C00836/26 L_PT1_2: nIn_a
C00836/27 L_PT1_3: nIn_a
C00836/36 L_DT1_1: nIn_a
802 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference


C00837
C00837 | 16bit input velocity AdditionalFBsHL Index: 23738d = 5CBAh
Display of 16-bit input values of different blocks in [rpm]

-32767 rpm 32767
C00837/26 L_PT1_2: nIn_a
C00837/27 L_PT1_3: nIn_a
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 803

Parameter reference

C00837 | 16bit input velocity AdditionalFBsHL Index: 23738d = 5CBAh

C00837/36 L_DT1_1: nIn_a
804 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00838
C00838 | 8bit input AdditionalFBsHL Index: 23737d = 5CB9h
Display of the signal status of the binary inputs of different blocks

• As addition for the parameter C00833.
Selection list
0 False
1 True
C00838/1 L_And_4: bIn1
C00838/2 L_And_4: bIn2
C00838/3 L_And_4: bIn3
C00838/4 L_And_4: bIn4
C00838/5 L_And_4: bIn5
C00838/6 L_And_5: bIn1
C00838/7 L_And_5: bIn2
C00838/8 L_And_5: bIn3
C00838/9 L_And_5: bIn4
C00838/10 L_And_5: bIn5
C00838/13 L_DFlipFlop_2: bD
(set input)
C00838/14 L_DFlipFlop_2: bClk
(clock input)
C00838/15 L_DFlipFlop_2: bClr
(reset input)
C00838/16 L_DigDelay_2: bIn
C00838/17 L_DigDelay_3: bIn
C00838/18 L_PhaseIntK_1: bLoad
(load integrator)
C00838/19 L_PhaseIntK_2: bLoad
(load integrator)
C00838/23 L_DigitalLogic5_1: bIn1
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 805

Parameter reference

C00838/33 L_NLim_2: bEnable

(activate FB)
C00838/34 L_Or_4: bIn1
C00838/35 L_Or_4: bIn2
C00838/36 L_Or_4: bIn3
C00838/37 L_Or_4: bIn4
C00838/38 L_Or_4: bIn5
C00838/39 L_Or_5: bIn1
C00838/40 L_Or_5: bIn2
C00838/41 L_Or_5: bIn3
C00838/42 L_Or_5: bIn4
C00838/43 L_Or_5: bIn5
C00838/44 L_Not_4: bIn
C00838/45 L_Not_5: bIn
C00838/46 L_Not_6: bIn
C00838/47 L_Not_7: bIn
C00838/48 L_RSFlipFlop_1: bSet
(set input)
C00838/49 L_RSFlipFlop_1: bReset
(reset input)
C00838/50 L_RSFlipFlop_2: bSet
(set input)
C00838/51 L_RSFlipFlop_2: bReset
(reset input)
C00838/52 L_SampleHold_1: bLoad
(save input signal)
C00838/53 L_SampleHold_2: bLoad
(save input signal)
C00838/54 L_Counter_2: bClkUp
(count up)
C00838/55 L_Counter_2: bClkDown
(count down)
C00838/56 L_Counter_2: bLoad
(load counter)
C00838/57 L_Counter_3: bClkUp
(count up)
C00838/58 L_Counter_3: bClkDown
(count down)
(load counter)
C00838/60 L_Transient_1: bIn
C00838/64 L_Counter_1: bCountUp
(count up)
C00838/65 L_Counter_1: bCountDown
(count down)
806 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference


(load counter)
C00838/67 L_ConvBitsToWord_1: bBit0
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 807

Parameter reference


C00838/115 MckCtrlInterface_1: bManJogPos
(positive manual jog)
C00838/116 MckCtrlInterface_1: bManJogNeg
(negative manual jog)
C00838/117 MckCtrlInterface_1: bManJogNeg
(activate second manual speed)
C00838/118 MckCtrlInterface_1: bReleaseLimitSwitch
(retract limit switch)
C00838/119 MckCtrlInterface_1: bHomingStartStop
(start/stop homing)
C00838/120 MckCtrlInterface_1: bHomingSetPos
(set home position)
C00838/121 MckCtrlInterface_1: bHomingResetPos
(reset home position)
C00838/122 MckCtrlInterface_1: bEnableVelOverride
(activate speed override)
C00838/123 MckCtrlInterface_1: bEnableAccOverride
(activate acceleration override)
C00838/124 MckCtrlInterface_1: bDisableSShaping
(deactivate S-shaping for profile ramps)
C00838/125 MckCtrlInterface_1: bPosExecute
(start positioning)
C00838/126 MckCtrlInterface_1: bPosExecuteFinish
(complete aborted positioning process)
C00838/127 MckCtrlInterface_1: bPosDisableFollowProfile
(deactivate sequence profiles)
C00838/128 MckCtrlInterface_1: bPosStop
(stop profile generation)
C00838/129 MckCtrlInterface_1: bPosTeachSetPos
(teach selected position in profile data set)
C00838/130 MckCtrlInterface_1: bPosTeachActPos
(teach actual position in profile data set)
C00838/131 MckCtrlInterface_1: bProfileNo_1
(binary profile selection - valency 1)
808 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

C00838/135 MckCtrlInterface_1: bOperationMode_1

(binary operating mode selection - valency 1)
C00839
Display of 32-bit input values of different blocks in [increments]

• As addition for parameter C00834.
-2147483647 incr 2147483647
C00839/1 L_ComparePhi_1: dnIn1_p
C00839/11 L_ArithmetikPhi_1: dnIn1_p
C00839/17 L_GainOffsetPhiP_1: dnIn_p
C00839/18 L_GainOffsetPhiP_2: dnIn_p
C00839/19 L_LimitPhi_1: dnIn_p
C00839/22 L_OffsetGainPhiP_1: dnIn_p
C00839/23 L_OffsetGainPhiP_2: dnIn_p
C00839/24 L_PhaseIntK_1: dnSet_p
C00839/25 L_PhaseIntK_2: dnSet_p
C00839/26 L_Mux_1: dnInput1_p
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 809

Parameter reference


C00839/34 L_Sqrt_1: dnInput_p
C00839/35 L_ConvDIntToWords_1: dnInput_p
C00840
C00840 | 16Bit-SysInput analog Index: 23735d = 5CB7h
Display in percent of 16-bit input values of different I/O level blocks

-199.99 % 199.99
C00840/1 LS_AnalogOutput:nOut1_a
C00840/2 LP_CanOut1:wState
C00840/3 LP_CanOut1:wOut2
C00840/5 LP_CanOut1: wOut4
C00840/14 LS_DisFree_a: wDis1_a
C00840/18 LS_DisFree:wDis1
C00840/22 LP_MciOut:wState
C00840/23 LP_MciOut:wOut2
C00840/25 LP_MciOut: wOut4
810 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

C00840 | 16Bit-SysInput analog Index: 23735d = 5CB7h

C00841
C00841 | 16Bit-SysInput common Index: 23734d = 5CB6h
Decimal/hexadecimal/bit-coded display of 16-bit input values of different I/O level blocks

0x0000 0xFFFF
Value is bit-coded:
Bit 0 Bit0
... ...
Bit 15 Bit15
C00841/1 LS_AnalogOutput:nOut1_a
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 811

Parameter reference

C00841 | 16Bit-SysInput common Index: 23734d = 5CB6h
C00843
C00843 | 8bit SysInput Index: 23732d = 5CB4h
Display of the signal status of the binary inputs of different I/O level blocks
Selection list
0 False
1 True
C00843/1 LS_DigitalOutput:bRelay
C00843/2 LS_DigitalOutput:bOut1
C00843/3 LS_DigitalInput: bCountIn1_Reset
C00843/4 LS_DigitalInput: bCountIn1_LoadStartValue
C00843/5 LP_CanOut1: bState_B0
C00843/9 LP_CanOut1:bState_B4
C00843/21 LS_DisFree_b:bDis1
812 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

C00843/29 LP_CanOut2: bOut1_B0
C00843/61 LP_MciOut: bState_B0
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 813

Parameter reference


C00843/77 LP_MciOut: bOut2_B0
C00843/93 LS_SetError_1_bSetError1
C00843/97 LS_DigitalInput: bCountIn6_Reset
C00843/98 LS_DigitalInput: bCountIn6_LoadStartValue
C00843/99 LS_DigitalOutput: bOut2
C00843/100 LS_DigitalOutput: bOut3
C00843/101 LS_DigitalOutput: bOut HighCurrent
C00843/102 Ls_DisFree_b: bDis9
814 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference


C00843/110 Reserved
C00844
Display of 32-bit input values of different I/O level blocks in [increments]

-2147483647 incr 2147483647
C00844/1 LS_DisFree_p:dnDis1_p
C00844/2 LS_DisFree_p:dnDis2_p
C00844/3 LS_DisFree_p: dnDis3_p
C00844/9 LP_CanOut1: dnOut34_p
C00844/12 LP_MciOut: dnOut34_p
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 815

Parameter reference
C00866
C00866 | CAN input words Index: 23709d = 5C9Dh
Display of the 16-bit input values of the CAN interface

0x0000 0xFFFF
Value is bit-coded:
Bit 0 Bit0
... ...
Bit 15 Bit15
C00866/1 LP_CanIn1: wCtrl
C00866/2 LP_CanIn1: wIn2
816 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00868
C00868 | CAN output words Index: 23707d = 5C9Bh
Display of the 16-bit output values of the CAN interface

0x0000 0xFFFF
Value is bit-coded:
Bit 0 Bit0
Bit 1 Bit1
Bit 2 Bit2
Bit 3 Bit3
Bit 4 Bit4
Bit 5 Bit5
Bit 6 Bit6
Bit 7 Bit7
Bit 8 Bit8
Bit 9 Bit9
Bit 10 Bit10
Bit 11 Bit11
Bit 12 Bit12
Bit 13 Bit13
Bit 14 Bit14
Bit 15 Bit15
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 817

Parameter reference
C00876
C00876 | MCI input words Index: 23699d = 5C93h
Display of the 16-bit input values from the communication module

0x0000 0xFFFF
Value is bit-coded:
Bit 0 Bit0
... ...
Bit 15 Bit15
C00876/1 LP_MciIn:wCtrl
C00876/2 LP_MciIn: wIn2
818 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00877
C00877 | MCI output words Index: 23698d = 5C92h
Display of the 16-bit output values to the communication module

0x0000 0xFFFF
Value is bit-coded:
Bit 0 Bit0
... ...
Bit 15 Bit15
C00890
C00890 | MCI_InOut: Inversion Index: 23685d = 5C85h
Via these parameters, the control and status bits of the MCI port blocks can be inverted
0x0000 0xFFFF
Bit 0 Bit0 Bit set = inversion active
... ...
Bit 15 Bit15
C00890/1 0 Inversion of LP_MciIn.wCtrl
C00890/2 0 Inversion of LP_MciOut.wState
C00890/3 0 Inversion of LP_MciIn.bIn2_B0...15
C00890/4 0 Inversion of LP_MciOut.bOut2_B0...15
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 819

Parameter reference
C00909
C00909 | Speed limitation Index: 23666d = 5C72h
Maximum positive/negative speed for all operating modes

0.00 % 175.00
C00909/1 120.00 % Max. pos. speed
C00909/2 120.00 % Max. neg. speed
C00910
C00910 | Frequency limitation Index: 23665d = 5C71h
Maximum positive/negative output frequency for all operating modes

0 Hz 1000
C00910/1 1000 Hz Max. pos. output frequency
C00910/2 1000 Hz Max. neg. output frequency
C00915
C00915 | Motor cable length Index: 23660d = 5C6Ch
Single motor cable length for calculating the motor cable resistance
• The calculated motor cable resistance is displayed in C00917.
0.0 m 1000.0 5.0 m
C00916
C00916 | Motor cable cross-section Index: 23659d = 5C6Bh
Motor cable cross-section of a phase/cable for calculating the motor cable resistance
• The calculated motor cable resistance is displayed in C00917.
0.50 mm^2 100.00 6.00 mm^2
C00917
C00917 | Motor cable resistance Index: 23658d = 5C6Ah
Display of the motor cable resistance of a motor cable phase

• The motor cable resistance is calculated based on the motor cable length set in C00915 and the motor cable
cross-section set in C00916.
0 mOhm 64000
C00922
C00922 | ICM_DiagnosticCounter Index: 23653d = 5C65h
820 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00966
C00966 | VFC: Time const. - slip compens. Index: 23609d = 5C39h
Filter time constant of the slip compensation for VFCplus mode

• The slip compensation time constant can be used to select the dynamic performance of the slip compensation
for non-feedback V/f characteristic control.
• The lower the selected time constant, the higher the dynamic performance of the slip compensation.
1 ms 6000 100 ms
C00971
C00971 | VFC: Limitation V/f +encoder Index: 23604d = 5C34h
Limitation of the output frequency of the slip regulator and limitation of the injected stator frequency for
VFCplus+encoder mode
0.00 Hz 100.00
C00971/1 10.00 Hz Maximum output/ correcting variable of the slip
regulator
• The slip regulator output is limited to the value in
motor mode and in generator mode set here.
• It is recommended to select 1 to 3-times the slip
frequency of the motor as limit value.
C00971/2 100.00 Hz Maximum frequency deviation between the rotational
frequency (speed) measured mechanically by the
encoder and the injected stator frequency.
• Through a limitation, you can e.g. avoid an
overcurrent interruption when traversing to a fixed
limit stop.
C00972
C00972 | VFC: Vp V/f +encoder Index: 23603d = 5C33h
Proportional gain of the slip regulator for VFCplus+encoder mode

• Select the gain depending on the drive system and the encoder resolution (range from 0.005 ... 5).
• High gain values require a high PPR count.
0.000 Hz/Hz 64.000 0.100 Hz/Hz
C00973
C00973 | VFC: Ti V/f +encoder Index: 23602d = 5C32h
Integral time constant of the slip regulator for VFCplus+encoder mode

• Usually, the time constant should be selected between 20 ms (high dynamic performance) and 200 ms (low
dynamic performance).
0.0 ms 6000.0 100.0 ms
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 821

Parameter reference
C00985
C00985 | SLVC: Field current controller gain Index: 23590d = 5C26h
Gain of the direct-axis current difference (Id) between setpoint and actual current for the voltage model of the SLVC
(vector control) mode
• The gain should be selected between 0 and 1 %.
0.00 % 10.00 0.50 %
C00986
C00986 | SLVC: Cross current controller gain Index: 23589d = 5C25h
Gain of the I-Q-difference for the voltage model of the SLVC (vector control) mode
0.00 % 10.00 0.00 %
C00990
C00990 | Flying restart fct: Activation Index: 23585d = 5C21h
Switch on /activate flying restart circuit for non-feedback drive systems

0 Off
1 On
C00991
C00991 | Flying restart fct: Process Index: 23584d = 5C20h
Selection of the starting value and the speed search range for the flying restart function
0 0...+n | Start: +10 Hz Search positive speed range (0 ... +n) with a start
frequency of +10 Hz
1 -n...0 | Start: -10 Hz Search negative speed range (-n ... 0) with a start
frequency of -10 Hz
2 -n...+n | Start: +10 Hz Search negative and positive speed range (-n ... n) with a
start frequency of +10 Hz
3 -n...+n | Start: -10 Hz Search negative and positive speed range (-n ... n) with a
start frequency of -10 Hz
4 -n...+n | Start: Cx992 Search negative and positive speed range (-n ... n) with
the start frequency set in C00992
C00992
C00992 | Flying restart: Start frequency Index: 23583d = 5C1Fh
Manual selection of the starting value for the flying restart function
• Only active if C00991 = 4
-200 Hz 200 5 Hz
822 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C00993
C00993 | Flying restart fct: Int. time Index: 23582d = 5C1Eh
C00994
C00994 | Flying restart fct: Current Index: 23581d = 5C1Dh
Current to be injected during the flying restart process

• 100 % ≡ rated motor current (C00081).
• The flying restart current should amount to 10 ... 25 % of the rated motor current.
0.00 % 100.00 25.00 %
C01010
C01010 | L_ArithmetikPhi 1-3: Function Index: 23565d = 5C0Dh
FB L_ArithmetikPhi_1-3: Selection of the internal arithmetic

Selection list
0 dnOut_p = dnIn1_p
1 dnOut_p = dnIn1_p + dnIn2_p
2 dnOut_p = dnIn1_p - dnIn2_p
3 dnOut_p = dnIn1_p * dnIn2_p
4 dnOut_p = dnIn1_p / dnIn2_p
C01010/1 0: dnOut_p = dnIn1_p L_ArithmetikPhi_1: Function
C01100
C01100 | Function L_Counter 1-3 Index: 23475d = 5BB3h
FB L_Counter_1-3: Selection of the reset function

Selection list
0 No function
1 Auto reset
2 Manual reset
C01100/1 0: Nop function L_Counter_1: Function
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 823

Parameter reference
C01120
C01120 | Sync signal source Index: 23455d = 5B9Fh
Selection of the signal source for device synchronisation
• Basically, only one source can synchronise the drive.
0 Off Synchronisation off
1 CAN on board Synchronisation via "CAN on board" system bus
Sync telegram
4 MCI Synchronisation via MCI (communication module)
C01121
C01121 | Sync cycle time setpoint Index: 23454d = 5B9Eh
Cycle time setpoint for device synchronisation
• Time at which the phase-locking loop (PLL) in the controller expects the synchronisation signal.
• The cycle time setpoint setting must correspond to the cycle of the corresponding synchronisation source.
Note: If the system bus (CANopen) is used for synchronisation, only select integer multiples of 1000 μs.
Example: For the system bus, 2 ms has been selected as interval between two synchronisation signals. If the system
bus is to be used as synchronisation source, a synchronisation cycle of 2000 μs must be selected in C01121.
1000 μs 20000 1000 μs
C01122
C01122 | Sync phase position Index: 23453d = 5B9Dh
Phase position for device synchronisation
• The phase position determines the zero time of the application referred to the synchronisation signal (bus cycle).
Since PDO processing is an integral part of the system part of the application, a change of the phase position also
changes the acceptance time of the PDOs.
• If "0" is set, the application will start at the same time as the synchronisation signal.
• If a value > 0 is set, the application will start by the set time earlier (the phase position has a negative effect) than
the sychronisation signal.
Example: If the phase position is set to 400 μs, the system part of the application starts 400 μs before the arrival of
the synchronisation signal.
0 μs 1000 0 μs
C01123
C01123 | Sync window Index: 23452d = 5B9Ch
Synchronisation window for device synchronisation
0 μs 10000 1000 μs
824 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C01124
C01124 | Sync correction increments Index: 23451d = 5B9Bh
Correction increment for device synchronisation
• If the cycle times of the synchronisation signal and the phase-locking loop (PLL) are different, this setting defines
the correction increments for the phase-locking loop.
1 25ns
2 50ns
3 75ns
4 100ns
C01140
C01140 | L_Transient 1-4: Function Index: 23435d = 5B8Bh
FB L_Transient_1-4: Selection of the edge evaluation

Selection list
0 High edge
1 Low edge
2 High and Low edge
C01140/1 0: High edge L_Transient_1: Function
C01141
C01141 | L_Transient 1-4 pulse duration Index: 23434d = 5B8Ah
FB L_Transient_1-4: Pulse duration

0.000 s 60.000
C01141/1 0.000 s L_Transient_1: Pulse duration
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 825

Parameter reference
C01150
C01150 | L_PhaseIntK: Function Index: 23425d = 5B81h
FB L_PhaseIntK_1-2: Integrator loading behaviour

0 Loading with level Load integrator with TRUE level at the input bLoad
1 Loading with edge Load integrator with FALSE-TRUE edge at the input bLoad
2 Loading with level + reset Load integrator when reaching the comparison value
(C01151) or with TRUE level at the input bLoad
C01150/1 0: Loading with level L_PhaseIntK_1: Function
C01150/2 0: Loading with level L_PhaseIntK_2: Function
C01151
C01151 | L_PhaseIntK: Compare Index: 23424d = 5B80h
FB L_PhaseIntK_1-2: Comparison value

0 2000000000
C01151/1 0 L_PhaseIntK_1: Compare
C01151/2 0 L_PhaseIntK_2: Compare
C01202
C01202 | Axis data: iM motor/process Index: 23373d = 5B4Dh
Gearbox factor - motor

• Entry of the gearbox factor as numerator/denominator ratio (numerator = motor speed and denominator =
output speed of gearbox) or from the number of teeth of the gearbox arrangement.
1 65535
C01202/1 1 iM: Numerator (motor speed Z2xZ4)
C01202/2 1 iM: Denominator (system speed Z1xZ3)
C01203
C01203 | Axis data: iG motor/pos. encoder Index: 23372d = 5B4Ch
Gearbox factor - position encoder

• Entry of the gearbox factor as numerator/denominator ratio, with numerator = motor speed and denominator
= position encoder speed.
1 65535
C01203/1 1 iG: Numerator (motor speed)
C01203/2 1 iG: Denominator (encoder speed)
826 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C01204
C01204 | Axis data: Feed constant Index: 23371d = 5B4Bh
The feed constant corresponds to the machine movement for one revolution of the gearbox output shaft.
• The value is entered in application units referred to one revolution.
0.0100 units/rev. 214748.3647 360.0000 units/rev.
C01205
C01205 | Axis data: Position resolution Index: 23370d = 5B4Ah
Display of the number of increments corresponding to one unit.

• 1 motor revolution ≡ 65536 increments
0.0000 incr/unit 214748.3647
C01206
C01206 | Axis data: Mounting direction Index: 23369d = 5B49h
Inversion for mirrored motor and encoder mounting

Selection list
0 not inverted
1 inverted
C01206/1 0: Not inverted Motor mounting direction
• Setting for motor mounting turned by 180°.
C01206/2 0: Not inverted Position encoder mounting direction
• Setting for position encoder system mounting turned
by 180°.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 827

Parameter reference
C01210
C01210 | Axis data: Current positions Index: 23365d = 5B45h
Display of current position data of the MotionControlKernel

-214748.3647 units 214748.3647
C01210/1 MCK: curr. feed
• Display of the current feed for positioning profiles as
a relative distance.
C01210/2 MCK: curr. set position
• Display of the current setpoint position calculated by
the MCK.
C01210/3 MCK: curr. actual position
• Display of the current actual position calculated by an
optional encoder system.
C01210/4 MCK: curr. following error
• Display of the current following error as a difference
between setpoint position and actual position.
C01210/5 MCK: position accuracy
• Display of the current positioning accuracy referred to
the actual number of increments of the position
encoder.
C01211
C01211 | Axis data: Speed Index: 23364d = 5B44h
Display of the current speed data

-214748.3647 units/s 214748.3647
C01211/1 Max. traversing speed 100%_C11
• Display of the maximum traversing speed based on
the reference speed set in C00011.
C01213
C01213 | MCK: max. travel distance Index: 23362d = 5B42h
Display of current position limits

-2147480000 units 2147480000
C01213/1 MCK: max. travel distance
• Display of the maximum distance to be traversed
referred to the 32-bit display area (max. 2147483647
increments).
828 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C01215
C01215 | Axis data: Following error Index: 23360d = 5B40h
Limits for following error monitoring

0.0000 units 214748.0000
C01215/1 0.0000 units MCK: following error limit 1
• First limit of the maximum following error for
monitoring and response activation.
C01215/2 0.0000 units MCK: following error limit 2
• Second limit of the maximum following error for
monitoring and response activation.
C01218
C01218 | MCK: PosFollower setting Index: 23357d = 5B3Dh
Settings for "Position follower" mode

0x00 0xFF 0x0C (decimal: 12)
Bit 0 Speed feedf. contr. value: "1" ≡ speed feedforward control value comes from main
nSpeedSetValue_a setpoint nSpeedSetValue_a
Bit 1 Speed feedf. contr. value: "1" ≡ speed feedforward control value comes from
nSpeedAddValue_v additive speed value nSpeedAddValue_v
Bit 2 ; HW limit switch on "1" ≡ travel range monitoring by means of hardware limit
switches is active. The error response can be
parameterised in C00595/1 and C00595/2.
Bit 3 ; SW limit switch on "1" ≡ travel range monitoring by means of parameterised
software limit positions is active. The error response can
be parameterised in C00595/3 and C00595/4.
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 829

Parameter reference
C01219
C01219 | MCK: Speed follower setting Index: 23356d = 5B3Ch
Settings for "Speed follower" mode

0x00 0xFF 0x0C (decimal: 12)
Bit 0 Reserved
Bit 1 Reserved
Bit 2 ; HW limit switch on "1" ≡ travel range monitoring by means of hardware limit
Bit 3 ; SW limit switch on "1" ≡ travel range monitoring by means of parameterised
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
C01221
C01221 | MCK: Ref mode Index: 23354d = 5B3Ah
Selection of the homing mode.

6 >_Rn_>_TP Positive direction - via home mark (neg. edge) -
continuing in positive direction - to TP
7 <_Rn_<_TP Negative direction - via home mark (neg. edge) -
continuing in negative direction - to TP
8 >_TP Positive direction - to TP
9 <_TP Negative direction - to TP
10 >_Lp_<_TP Positive direction - reversing on pos. limit switch - to TP
11 <_Ln_>_TP Negative direction - reversing on neg. limit switch - to TP
12 >_Lp Positive direction - to pos. limit switch
13 <_Ln Negative direction - to neg. limit switch
14 >_Mlim Positive direction to torque limit
15 <_Mlim Negative direction to torque limit
100 SetRef Direct acceptance and setting of the home position
• The measuring system is set when the drive is at
standstill based on the home position parameterised
in C01227/2.
C01222
C01222 | MCK: Ref. M limit mode 14/15 Index: 23353d = 5B39h
Torque limit for homing modes 14 and 15 (homing towards positive stop)
• 100 % ≡ maximum torque (C00057)
0.00 % 199.99 10.00 %
830 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C01223
C01223 | MCK: Ref waiting time mode 14/15 Index: 23352d = 5B38h
Blocking time for homing modes 14 and 15 (homing towards positive stop)
• The home position is set if the torque limit set in C01222 has been exceeded for the time defined here.
0 ms 65000 100 ms
C01224
C01224 | MCK: Ref speeds Index: 23351d = 5B37h
Speeds for reference search/homing

0.0000 unit/s 214748.3647
C01224/1 720.0000 unit/s MCK: ref starting speed
• Starting speed for approaching the pre-stop signals.
C01224/2 180.0000 unit/s MCK: ref search speed
• Search speed for detecting the reference initiator.
C01225
C01225 | MCK: Ref accelerations Index: 23350d = 5B36h
Accelerations for reference search/homing

0.0000 unit/s2 214748.3647
C01225/1 720.0000 unit/s2 MCK: ref starting accel.
• Starting acceleration for the starting speed ramps.
C01225/2 720.0000 unit/s2 MCK: ref search accel.
• Search acceleration for the search speed ramps.
C01226
C01226 | MCK: Ref S-ramp time Index: 23349d = 5B35h
S-ramp time for reference search/homing

• Setting "0 s" ≡ no rounding
0.000 s 10.000
C01226/1 0.000 s MCK: Ref S-ramp time
• S-ramp time for the starting and search speed ramps.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 831

Parameter reference
C01227
C01227 | MCK: Ref positions Index: 23348d = 5B34h
Positions for determining the zero position of the reference measuring system
-214748.3647 unit 214748.3647
C01227/1 0.0000 unit MCK: ref offset reference degree
• Relative traverse path by which the drive traverses
after detection of the reference initiator.
C01227/2 0.0000 unit MCK: ref home position
• Position with which setpoint and actual position are
loaded after completion of homing.
C01228
C01228 | MCK: Ref sequence profile Index: 23347d = 5B33h
Number of the sequence profile the absolute position of which will be approached after homing.
0 15 0
C01229
C01229 | MCK: Position limiting values Index: 23346d = 5B32h
Software limit position for limiting the valid traversing range

• The error response for leaving the valid traversing range can be parameterised in C00595/3 and C00595/4.
Note:
For limiting the traversing range by means of software limit positions, the home position must be known and the
positive software limit position must be higher than the negative software limit position!
-214748.3647 units 214748.3647
C01229/1 0.0000 units MCK: positive SW limit position
(positive travel range limit)
C01229/2 0.0000 units MCK: negative SW limit position
(negative travel range limit)
832 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C01230
C01230 | MCK: Manual jog setting Index: 23345d = 5B31h
Settings for "Manual jog" mode

Bit 0 Breakpoints 1..4 on "1" ≡ approach of the parameterised breakpoint in
manual jog direction
Bit 1 Enable 2nd speed "1" ≡ second manual speed can be activated via control
bit in the MCK control word
Bit 2 HW limit switch on "1" ≡ travel range monitoring by means of hardware limit
Bit 3 SW limit switch on "1" ≡ travel range monitoring by means of parameterised
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 ManualJog with DCBrake "1" ≡ deceleration for manual jog with DC-injection
braking of the motor
C01231
C01231 | MCK: Manual jog speeds Index: 23344d = 5B30h
Manual jog speeds

-214748.3647 units/s 214748.3647
C01231/1 360.0000 units/s Manual jog: speed 1
• Regular manual speed
C01231/2 720.0000 units/s Manual jog: speed 2
• Second manual speed (can be activated via MCK
control word)
C01232
C01232 | MCK: Manual jog accelerations Index: 23343d = 5B2Fh
Acceleration/deceleration for manual jog

-214748.3647 units/s2 214748.3647
C01232/1 720.0000 units/s2 Manual jog: Acceleration
• Acceleration for ramp-up to manual speed.
C01232/2 720.0000 units/s2 Manual jog: Deceleration
• Deceleration for manual speed ramp-down to
standstill.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 833

Parameter reference
C01233
C01233 | MCK: Manual jog S-ramp time Index: 23342d = 5B2Eh
S-ramp time for manual jog

0.000 s 10.000
C01233/1 0.000 s Manual jog: S-ramp time
• S-ramp time for the manual speed ramps.
C01234
C01234 | MCK: manual jog breakpoints Index: 23341d = 5B2Dh
Breakpoint positions for manual jog

• The drive stops at the parameterised positions if they are in manual jog direction and breakpoint approaching
has been switched on in C01230 via bit 0.
-214748.3647 unit 214748.3647
C01234/1 0.0000 unit Manual jog: breakpoint 1
C01235
C01235 | MCK: Manual jog waiting times Index: 23340d = 5B2Ch
Waiting times for manual jog

0.000 s 65.000
C01235/1 5.000 s Waiting time 2nd speed
• Time after which the drive accelerates from the first
manual speed (C01231/1) to the second manual
speed (C01231/2).
C01236
C01236 | MCK: Follower speeds Index: 23339d = 5B2Bh
Speeds for position follower

-214748.3647 units/s 214748.3647
C01236/1 360.0000 units/s PosFollower: sync. speed.
• Synchronisation speed for approaching the setpoint
position of the master.
834 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C01237
C01237 | MCK: Follower accelerations Index: 23338d = 5B2Ah
Accelerations for position follower

-214748.3647 units/s2 214748.3647
C01237/1 720.0000 units/s2 PosFollower: sync. accel.
• Acceleration for ramp-up to synchronisation speed.
C01237/2 720.0000 units/s2 PosFollower: sync. decel.
• Deceleration for synchronisation speed ramp-down
to standstill (to the setpoint position of the master).
C01238
C01238 | MCK: S-ramp times follower Index: 23337d = 5B29h
S-ramp times for position follower

0.000 s 10.000
C01238/1 0.000 s PosFollower: sync. S-ramp time
• S-ramp time for the synchronisation speed ramps.
C01239
C01239 | MCK: Interpolator cycle PosFollower Index: 23336d = 5B28h
Interpolator cycle for position follower

• Cycle time for the position interpolation of the position from the master.
0.000 ms 60.000 0.000 ms
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 835

Parameter reference
C01240
C01240 | MCK: Control word Index: 23335d = 5B27h
Bit-coded status of the MCK control word

• The MCK control word is used to control the functions of the MotionControlKernel.
Bit 0 OpMode_Bit0 Active operating mode - control bit 0
Bit 4 ManJogPos Control bit for manual jog in positive direction
Bit 5 ManJogNeg Control bit for manual jog in negative direction
Bit 6 ManExecute2ndSpeed Control bit for activation of second manual speed
Bit 7 ReleaseLimitSwitch Control bit for retracting the hardware limit positions
Bit 8 HomStartStop Control bit for start/stop homing
Bit 9 HomSetPos Control bit for setting of home position
• "0->1" ≡ sets position setpoint and actual position
value to the home position at the MCK.
• This function is independent of the operating modes.
Bit 10 HomResetPos Control bit for reset of home position
• "0->1" ≡ resets the information bit for the status
"Home position known" (home position not known).
• The position displays are not influenced by this.
Bit 11 EnableSpeedOverride Control bit for activation of speed override
• "1" ≡ activation of the override speed at the MCK for
acceptance in a running speed profile.
Bit 12 EnableAccOverride Control bit for activation of acceleration override
• "1" ≡ activation of the override acceleration at the
MCK for acceptance in a running speed profile.
Bit 13 DisableS_Shape Control bit for deactivation of S-shaping for speed
profiles
• "1" ≡ deactivates S-shaping for speed profiles
Bit 14 PosTeachSetPos Control bit for accepting the selected setpoint position in
the selected profile
• "0->1" ≡ accepts the setpoint position at the MCK in
the profile with the profile number defined via the
MCK control word.
Bit 15 PosTeachActPos Control bit for accepting the current actual position in
the selected profile
• "0->1" ≡ accepts the current actual position in the
profile with the profile number defined via the MCK
control word.
Bit 16 PosExecute Control bit for starting a positioning profile
• "0->1" ≡ starts a positioning profile selected via the
control word in the "Positioning" mode.
Bit 17 PosFinishTarget Control bit for completing processing of an interrupted
positioning profile
• "0->1" ≡ processing of a positioning profile which has
already been started and has been interrupted
because of a cancellation condition or a change of the
operating mode is completed in the "Positioning"
mode when the home position is known.
• Note: Completion of profile processing through this
control is based on the target position detected at the
profile start!
836 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

C01240 | MCK: Control word Index: 23335d = 5B27h
Bit 18 PosDisableFollowProfile Control bit for suppression of the sequence profile

• "1" ≡ positioning profiles the profile numbers of
which are entered in profile data sets for sequence
profiles are not started after comletion of the
corresponding profile.
Bit 19 PosStop Control bit for stopping the positioning profile
• "0->1" ≡ ("Positioning" mode): Interrupts a running
profile through deceleration along the set
deceleration ramp to standstill.
• "0->1" ≡ ("Stop" mode): Starts a new deceleration to
standstill with the parameterised stop ramp.
Bit 20 PosModeBit0 Active positioning mode - control bit 0
Bit 24 ProfileNo_Bit0 Active positioning profile number - control bit 0
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 837

Parameter reference
C01241
C01241 | MCK: Status word Index: 23334d = 5B26h
Bit-coded status of the MCK status word

• The MCK status word is used to output status messages of the MotionControlKernel.
Bit 0 ActOpModeBit00 Active operating mode - status bit 0
Bit 4 Busy Status bit - profile generation active
• "1" ≡ Internal profile generation is active. A speed
profile is being generated.
Bit 5 Done Status bit - profile generation completed
• "1" ≡ Generation of a speed profile with the selected
position has been completed.
Bit 6 AcceleratingActive Status bit - acceleration process for profile generation
active
• "1" ≡ Profile generation phase is in the acceleration
process.
Bit 7 ConstSpeedDuty Status bit - constant speed for profile generation active
• "1" ≡ Profile generation phase at constant speed
active.
Bit 8 DeceleratingActive Status bit - deceleration process for profile generation
active
• "1" ≡ Profile generation phase is in the deceleration
process.
Bit 9 S_ShapingActive Status bit - rounding for profile generation active
• "1" ≡ Rounding during acceleration/deceleration
active.
Bit 10 Pos. HW limit detected Status bit - positive hardware limit detected
• "1" ≡ Positive limit switch has triggered.
• Reset only possible via"Manual jog" mode!
Bit 11 Neg. HW limit detected Status bit - negative hardware limit detected
• "1" ≡ Negative limit switch has triggered.
• Reset only possible via"Manual jog" mode!
Bit 12 HomPosDone Status bit - homing completed
• "1" ≡ Homing has been completed.
Bit 13 HomPosAvailable Status bit - home position known
• "1" ≡ The home position has been detected and is
known in the drive.
Bit 14 Reserved
Bit 15 Reserved
Bit 16 DwellTime Status bit - transient effects in target position active
• "1" ≡ Dwell time after reaching the setpoint position
is active.
Bit 17 InTarget Status bit - actual position is in the target window
• "1" ≡ Dwell time has expired and current actual
position is in the set target window.
838 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

C01241 | MCK: Status word Index: 23334d = 5B26h
Bit 18 PosDone Status bit - positioning process completed

• "1" ≡ Positioning profile has been completed in the
"Positioning" mode. Setpoint position is in target.
Bit 19 Reserved
Bit 20 ActPosMode_Bit00 Active positioning mode - status bit 0
Bit 24 ActProfileNo_Bit00 Active positioning profile - status bit 0
C01242
C01242 | MCK: act. pos profile number Index: 23333d = 5B25h
Display of the current profile number of the active profile in the "Positioning" mode
0 255
C01243
C01243 | MCK: Current operating mode Index: 23332d = 5B24h
Display of the active operating mode of the MotionControlKernel

0 Speed follower Drive traverses according to a preselected speed setpoint
1 Homing Drive finds its reference measuring system by setting the
home position or homing
2 ManualJog Drive can be traversed manually via initiators, e.g. for
cleaning purposes or tool changes.
3 Positioning Drive traverses according to defined travel profiles and
motion processes
4 Stop Drive is decelerated to standstill along a parameterised
deceleration ramp
5 Position follower Drive traverses according to a preselected position
setpoint
15 StandBy Internal operating mode for quick stop and pulse inhibit
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 839

Parameter reference
C01244
C01244 | MCK: Target position detection Index: 23331d = 5B23h
Time parameter for detecting the target position
0 ms 60000
C01244/1 100 ms MCK: Dwell time - target position
• Time expiring after reaching the setpoint position for
positioning processes and enabling the actual
position detection in the target position window.
C01245
C01245 | MCK: Target position detection Index: 23330d = 5B22h
Position parameter for comparison with target positions
0.0000 units 214748.3647
C01245/1 1.0000 units MCK: Target position window
• Window around the target position for comparison
with the actual position to see whether the drive is in
target.
C01251
C01251 | MCK: accelerations stop Index: 23324d = 5B1Ch
Acceleration parameter for stop

-214748.3647 units/s2 214748.3647
C01251/1 720.0000 units/s2 Stop: decel.
• Deceleration for setpoint speed ramp-down to
standstill.
C01252
C01252 | MCK: S-ramp times stop Index: 23323d = 5B1Bh
S-ramp times for stop

0.000 s 10.000
C01252/1 0.000 s Stop: S-ramp time
• S-ramp time for setpoint speed ramp-down to
standstill.
840 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C01297
C01297 | Alternative function PosExecute Index: 23278d = 5AEEh
Selection of the alternative function for bit 16 (PosExecute) in the MCK control word
Bit 0 ; PosStop with PosExecute = FALSE "1" ≡ Stop positioning with PosExecute
• PosExecute="0" stops a running positioning process
by ramp-down to standstill.
Bit 1 ; HomingStartStop with PosExecute "1" ≡ Start/stop homing with PosExecute
• PosExecute="1" starts homing, PosExecute="0" stops
homing in the "Homing" mode.
Bit 2 SetProfilPosition with PosExecute "1" ≡ Teach set position with PosExecute
• PosExecute="0->1" accepts the setpoint position at
the MCK in the profile with the specified profile
number.
C01298
C01298 | MCK change of operating mode with profile no. Index: 23277d = 5AEDh
FB L_MckCtrlInterface_1: Assigning an operating mode to a profile

0 No change No change to another operating mode of the MCK
1 Follower Change to the "Speed follower" mode
2 Homing Change to the "Homing" mode
3 ManualJog Change to the "Manual jog" mode
4 Positioning Change to the "Positioning" mode
C01298/1 1: Follower MCK operating mode for profile no 0
• Selection of the operating mode for profile 0 at
L_MckCtrlInterface_1.
C01298/2 2: Homing MCK operating mode for profile no 1
C01298/3 3: ManualJog MCK operating mode for profile no 2
C01298/4 4: Positioning MCK operating mode for profile no 3...15
• Selection of the operating mode for profile 3 ... 15 at
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 841

Parameter reference
C01299
C01299 | MCKI: MCKInterface status Index: 23276d = 5AECh
FB L_MckCtrlInterface_1: Status messages

0x00 0xFF
Bit 0 InvalidOperationMode Invalid operating mode selection
• "1" ≡ The selected operating mode is not defined/
invalid.
Bit 1 InvalidPosMode Invalid positioning mode selection
• "1" ≡ The selected positioning mode is not defined/
invalid.
Bit 2 InvalidProfileNo Invalid profile number selection
• "1" ≡ The selected profile number refers to a profile
data set that does not exist.
Bit 3 Reserved
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
C01300
C01300 | Profile data: Positioning mode Index: 23275d = 5AEBh
Selection of the positioning mode for profiles 1 ... 15

1 Absolute (shortest path) Absolute positioning
• The profile position corresponds to the target
position.
2 Continuous Continuous positioning without approaching a target
position
3 Relative Relative positioning
• The profile position determines the distance to be
traversed.
C01300/1 1: absolute (beeline) Profiles 1 ... 15: Positioning mode
C01300/...
C01300/15
C01301
C01301 | Profile data: Position Index: 23274d = 5AEAh
Selection of the positions for profiles 1 ... 15

-214748.3647 unit 214748.3647
C01301/1 360.0000 unit Profiles 1 ... 15: Position
C01301/...
C01301/15
842 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C01302
C01302 | Profile data: Speed Index: 23273d = 5AE9h
Selection of the maximum speeds for profiles 1 ... 15

-214748.3647 unit/s 214748.3647
C01302/1 360.0000 unit/s Profiles 1 ... 15: Speed
C01302/...
C01302/15
C01303
C01303 | Profile data: Acceleration Index: 23272d = 5AE8h
Selection of the accelerations for profiles 1 ... 15

-214748.3647 unit/s2 214748.3647
C01303/1 720.0000 unit/s2 Profiles 1 ... 15: Acceleration
C01303/...
C01303/15
C01304
C01304 | Profile data: Deceleration Index: 23271d = 5AE7h
Selection of the decelerations for profiles 1 ... 15

-214748.3647 unit/s2 214748.3647
C01304/1 720.0000 unit/s2 Profiles 1 ... 15: Deceleration
C01304/...
C01304/15
C01305
C01305 | Profile data: Final speed Index: 23270d = 5AE6h
Selection of the final speeds for profiles 1 ... 15

• For profile linkage with overchange.
-214748.3647 unit/s 214748.3647
C01305/1 0.0000 unit/s Profiles 1 ... 15: Final speed
C01305/...
C01305/15
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 843

Parameter reference
C01306
C01306 | Profile data: S-ramp time Index: 23269d = 5AE5h
Selection of the S-ramp times for profiles 1 ... 15

• The maximum S-ramp time is the time in which the maximum acceleration or the maximum deceleration is
reached along a ramp (jerk limitation).
0.000 s 10.000
C01306/1 0.000 s Profiles 1 ... 15: S-ramp time
C01306/...
C01306/15
C01307
C01307 | Profile data: Sequence profile Index: 23268d = 5AE4h
Selection of the sequence profile numbers for profiles 1 ... 15

• For profile linkage
0 15
C01307/1 0 Profiles 1 ... 15: Sequence profile
C01307/...
C01307/15
C01501
C01501 | Resp. to communication error with MCI Index: 23074d = 5A22h
Configuration of monitoring functions for the communication module

Selection list
0 No Reaction
1 Fault
2 Trouble
3 TroubleQuickStop
4 WarningLocked
5 Warning
6 Information
C01501/1 0: No Reaction Resp. to MCI error 1
• Response to a communication error of the attached
C01501/2 0: No Reaction Resp. to MCI error 2
• Response to a missing or incompatible
844 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C01670
C01670 | L_ComparePhi: Function Index: 22905d = 5979h
FB L_ComparePhi_1-5: Selection of the comparison function

Selection list
1 In1 = In2
2 In1 > In2
3 In1 < In2
4 |In1| = |In2|
5 |In1| > |In2|
6 |In1| < |In2|
C01670/1 1: In1 = In2 L_ComparePhi_1: Function
C01671
C01671 | L_ComparePhi: Hysteresis Index: 22904d = 5978h
FB L_ComparePhi_1-5: Hysteresis for the comparison function

0 incr 1073741824
C01671/1 0 incr L_ComparePhi_1: Hysteresis
C01672
C01672 | L_ComparePhi: Window Index: 22903d = 5977h
FB L_ComparePhi_1-5: Window for the comparison function

0 incr 1073741824
C01672/1 0 incr L_ComparePhi_1: Window
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 845

Parameter reference
C01751
C01751 | Service code inverter charact. Index: 22824d = 5928h
C01752
C01752 | Service par. - TCR function Index: 22823d = 5927h
C01755
C01755 | Service par. - TCR factor Index: 22820d = 5924h
C01763
C01763 | Service code - clamp threshold Index: 22812d = 591Ch
C01764
C01764 | Service par. - clamp time Index: 22811d = 591Bh
C01765
C01765 | Service code - difference threshold UG Index: 22810d = 591Ah
C01770
C01770 | Filter time - earth fault detect. is running Index: 22805d = 5915h
C01902
C01902 | Diagnostics X6: max. baud rate Index: 22673d = 5891h
Maximally permissible baud rate in the standard device after determination of the baud rate at the diagnostic
interface X6
192 19.200 Bd
384 38.400 Bd
576 57.600 Bd
750 75.000 Bd
1152 115.200 Bd
1500 150.000 Bd
2500 250.000 Bd
3750 375.000 Bd
7500 750.000 Bd
846 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C01903
C01903 | Diagnostics X6: change baud rate Index: 22672d = 5890h
New baud rate determination at the diagnostic interface X6

0 Ignore changes
1 Negotiate baud rate
; Read access ; Write access CINH PLC STOP ; No transfer ; COM MOT Scaling factor: 1
C01905
C01905 | Diagnostics X6: act. baud rate Index: 22670d = 588Eh
Current baud rate at the diagnostic interface X6

0 Bd 3000000
C02580
C02580 | Holding brake: Operating mode Index: 21995d = 55EBh
Selection of the operating mode for holding brake control

Basic function "Holding brake control"
0 Brake control off No holding brake is used. The internal control system is
switched off.
11 Manually controlled The holding brake is released and applied via a control bit
in the MCK control word.
12 Autom. controlled The holding brake is released and applied automatically
via speed setpoint comparisons.
C02581
C02581 | Holding brake: Speed threshold Index: 21994d = 55EAh
Speed setpoint threshold and hysteresis for automatic holding brake control
0.00 % 199.99
C02581/1 5.00 % Holding brake: switching threshold
• Switching threshold of the speed setpoint from which
on the holding brake is released/applied
automatically.
C02581/2 1.00 % Holding brake: hyst.release
• Hysteresis for holding brake release.
• Release threshold = switching threshold + release
hysteresis
C02581/3 1.00 % Holding brake: hyst. close
• Hysteresis for holding brake application.
• Application threshold = switching threshold -
application hysteresis
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 847

Parameter reference
C02582
C02582 | Holding brake: Setting Index: 21993d = 55E9h
Activation of functional holding brake control options

Bit 0 Control inverted Activation of inverted control
• "1" ≡ Inverted logic of trigger signal for holding brake
control switching element
Bit 1 nAct < nMin at CInh Brake response in case of pulse inhibit
• "1" ≡ With pulse inhibit, the actual speed value is
monitored. The holding brake is applied when the
actual speed reaches the "Application" threshold
value.
• Note: This function is used to avoid the wear of the
holding brake of a drive with horizontal travel path
when the controller is inhibited and rotation occurs.
Bit 2 Inverted feedforward control Precontrol inversion
• "1" ≡ The direction of the precontrol value before
setting the release signal of the holding brake is
inverted.
Bit 3 Horizontal/winding technology Direction of the axis
• "1" ≡ The direction of the axis is horizontal or rotary.
The gravitational acceleration does not cause any
movement.
• "0" ≡ The direction of the axis is vertical. The
gravitational acceleration does not cause any
movement.
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
848 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C02589
C02589 | Holding brake: Time system Index: 21986d = 55E2h
Operating times of the holding brake

• The electromechanical delay times of the holding brake are specified in the data sheets or on the holding brake
nameplate.
0 ms 60000
C02589/1 100 ms Holding brake: closing time
• Time in which the holding brake is completely applied
from the beginning of control and in which the
controller is inhibted.
C02589/2 100 ms Holding brake: release time
• Time in which the holding brake is completely
released from the beginning of control.
C02589/3 100 ms Holding brake: waiting time status
• Time after which all transient reactions are
completed and the switching status of the holding
brake is stable. Beginning of monitoring the feedback
signal for the switching status of the holding brake.
C02593
C02593 | Holding brake: Activation time Index: 21982d = 55DEh
Time parameter for the delay of holding brake control control signals
0.000 s 3600.000
C02593/1 0.000 s Holding brake: actual value monitoring
• Time in which the actual value shall have reached the
threshold for brake application when the setpoint has
already reached the threshold.
• Time > 0 s: If the actual speed value has not reached
the threshold within the time for brake application,
the holding brake is applied by control.
• Time = 0 s: The brake is only applied by control when
the actual speed has reached the application
threshold.
C02593/2 0.000 s Holding brake: application delay
• Time by which the control process for holding brake
application is delayed. The time expires when the
speed setpoint has reached the switching threshold
for application.
• With positioning processes, a continuous application
and release of the holding brake can thus be
suppressed for the set time.
C02593/3 0.000 s Holding brake: reserved
C02593/4 0.000 s Holding brake: reserved
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 849

Parameter reference
C02607
C02607 | Holding brake: status Index: 21968d = 55D0h
Switching status of the holding brake control

0x0000 0xFFFF
Bit 0 Brake closed Holding brake is completely applied
Bit 1 Brake released Holding brake is completely released
Bit 2 Feedforward control active Feedforward control for holding of the load via the motor
is active before the holding brake releases.
Bit 3 Closing active The brake application time (C02589/1) expires
Bit 4 Forced release active In case of automatic operation of the holding brake
control, the brake is directly released via the MCK input
bBrkRelease = TRUE
Bit 5 Release active The brake application time (C02589/2) expires
Bit 6 Setpoint synchronisation active A speed setpoint at the MCK is approached along a
defined ramp after brake release
Bit 7 Reserved
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
C02610
C02610 | MCK: Accel./decel. times Index: 21965d = 55CDh
Ramp times for speed setpoint synchronisation

0.000 s 999.999
C02610/1 2.000 s MCK: holding brake ramp time synchr.
• Ramp time for approaching the speed setpoint at the
MCK after holding brake release.
C02610/2 2.000 s MCK: Setpoint - ramp time synchronisation
• Time for synchronisation ramps between setpoint
jumps occurring through the exceedance of
minimum and maximum speed setpoint limit ranges.
850 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
C02611
C02611 | MCK: Limitations Index: 21964d = 55CCh
Speed setpoint limits for the determination of limited validity ranges
Note:
Traversing with setpoints through arising blocking zones takes place along the ramp set in C02610/2.
0.00 % 199.99
C02611/1 199.99 % MCK: Pos. max. speed
• Upper limit of the speed setpoint limitation in
positive direction of rotation.
C02611/2 0.00 % MCK: Pos. min. speed
• Lower limit of the speed setpoint limitation in
positive direction of rotation.
C02611/3 0.00 % MCK: Neg. min. speed
• Lower limit of the speed setpoint limitation in
negative direction of rotation.
C02611/4 199.99 % MCK: Neg. max. speed
• Upper limit of the speed setpoint limitation in
negative direction of rotation.
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 851

Parameter reference
C02830
C02830 | DIx: Debounce time Index: 21745d = 54F1h
Debounce times for the digital inputs

I/O terminals
Selection list
0 0.00 ms
1 0.25 ms
2 0.50 ms
3 0.75 ms
4 1.00 ms
5 1.25 ms
6 1.50 ms
7 1.75 ms
8 2.00 ms
10 2.50 ms
12 3.00 ms
14 3.50 ms
16 4.00 ms
18 4.50 ms
20 5.00 ms
22 5.50 ms
24 6.00 ms
28 7.00 ms
32 8.00 ms
36 9.00 ms
40 10.0 ms
44 11.0 ms
48 12.0 ms
52 13.0 ms
56 14.0 ms
64 16.0 ms
72 18.0 ms
80 20.0 ms
88 22.0 ms
96 24.0 ms
104 26.0 ms
112 28.0 ms
120 30.0 ms
128 32.0 ms
852 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference

C02830 | DIx: Debounce time Index: 21745d = 54F1h

C02830/1 1 ms: 0.25 DI1: debounce time
C02830/5 1 ms: 0.25 DI5: Debounce time
C02840
C02840 | CountIn: Parameter Index: 21735d = 54E7h
Starting and comparison values for digital count inputs

I/O terminals
0 incr 2147483647
C02840/1 0 incr CountIn1: starting value
C02840/2 65535 incr CountIn1: comp. value
C02840/3 0 incr CountIn6: starting value
C02840/4 65535 incr CountIn6: comp. value
C02841
C02841 | CountInx: Counter content Index: 21734d = 54E6h
Display of the current counter content of the digital count inputs

I/O terminals
0 incr 2147483647
C02841/1 CountIn1: counter content
C02841/2 CountIn6: counter content
C02842
C02842 | FreqInxx: Offset Index: 21733d = 54E5h
Offset for digital frequency inputs

I/O terminals
-199.99 % 199.99
C02842/1 0.00 % FreqIn12: offset
C02842/2 0.00 % FreqIn67: offset
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 853

Parameter reference
C02843
C02843 | FreqInxx: Gain Index: 21732d = 54E4h
Gain for digital frequency inputs

I/O terminals
-199.99 % 199.99
C02843/1 100.00 % FreqIn12: gain
C02843/2 100.00 % FreqIn67: gain
C02994
C02994 | FB xy position Index: 21581d = 544Dh
C02995
C02995 | FB display input/output Index: 21580d = 544Ch
C02996
C02996 | FB display input output2 Index: 21579d = 544Bh
854 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
Table of attributes
17.3 Table of attributes
The table of attributes contains information required for a communication with the
controller via parameters.
How to read the table of attributes:
Column Meaning Entry

Code Parameter designation Cxxxxx
Name Parameter short text (display text) Text
Index dec Index under which the parameter is addressed. 24575 - Lenze code number Is only required for access via a bus
The subindex for array variables corresponds to the system.
hex Lenze subcode number. 5FFFh - Lenze code number
Data DS Data structure E Single variable

(only one parameter element)
A Array variable
(several parameter elements)
DA Number of array elements (subcodes) Number
DT Data type BITFIELD_8 1 byte bit-coded
BITFIELD_16 2 byte bit-coded
BITFIELD_32 4 byte bit-coded
INTEGER_8 1 byte with sign
UNSIGNED_8 1 byte without sign
VISIBLE_STRING ASCII string
Factor Factor for data transfer via a bus system, Factor 1 ≡ no decimal positions
depending on the number of decimal positions 10 ≡ 1 decimal position
100 ≡ 2 decimal positions
1000 ≡ 3 decimal positions
Access R Read access ; Reading permitted
w Write access ; Writing permitted
CINH Controller inhibit required ; Writing is only possible if controller inhibit is set
Code Name Index Data Access

dec hex DS DA DT Factor R w CINH
C00002 Controller commands 24573 5FFD A 32 UNSIGNED_8 1 ; ;
C00003 Status of the last device command 24572 5FFC E 1 UNSIGNED_8 1 ;
C00005 Application selection 24570 5FFA E 1 UNSIGNED_16 1 ; ;
C00006 Select motor control 24569 5FF9 E 1 UNSIGNED_8 1 ; ;
C00007 Select control mode 24568 5FF8 E 1 UNSIGNED_16 1 ; ;
C00008 Original application|Control source 24567 5FF7 E 1 UNSIGNED_16 1 ;
C00011 Appl.: Reference speed 24564 5FF4 E 1 UNSIGNED_16 1 ; ;
C00012 Accel. time - main setpoint 24563 5FF3 E 1 UNSIGNED_32 1000 ; ;
C00013 Decel. time - main setpoint 24562 5FF2 E 1 UNSIGNED_32 1000 ; ;
C00015 VFC: V/f base frequency 24560 5FF0 E 1 UNSIGNED_16 10 ; ;
C00016 VFC: Vmin boost 24559 5FEF E 1 UNSIGNED_16 100 ; ;
C00018 Switching frequency 24557 5FED E 1 UNSIGNED_8 1 ; ;
C00019 Auto-DCB: Threshold 24556 5FEC E 1 UNSIGNED_16 1 ; ;
C00021 Slip comp. 24554 5FEA E 1 INTEGER_16 100 ; ;
C00022 Imax in motor mode 24553 5FE9 E 1 UNSIGNED_16 100 ; ;
C00023 Imax in generator mode 24552 5FE8 E 1 INTEGER_16 100 ; ;
C00024 Comparison value N_Act 24551 5FE7 E 1 INTEGER_16 100 ; ;
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 855

Parameter reference
Table of attributes

C00026 AINx: Offset 24549 5FE5 A 2 INTEGER_16 100 ; ;
C00027 AINx: Gain 24548 5FE4 A 2 INTEGER_32 10000 ; ;
C00028 AINx: Input voltage 24547 5FE3 A 2 INTEGER_16 100 ;
C00029 AINx: Input current 24546 5FE2 A 2 INTEGER_16 100 ;
C00033 AINx: Output value 24542 5FDE A 2 INTEGER_16 100 ;
C00034 AINx: Configuration 24541 5FDD A 2 UNSIGNED_8 1 ; ;
C00036 DCB: current 24539 5FDB E 1 INTEGER_16 100 ; ;
C00039 Fixed setpoint x (L_NSet_1 n-Fix) 24536 5FD8 A 15 INTEGER_16 100 ; ;
C00050 MCTRL: Speed setpoint 24525 5FCD E 1 INTEGER_32 1 ;
C00051 MCTRL: Actual speed value 24524 5FCC E 1 INTEGER_32 1 ;
C00052 Motor voltage 24523 5FCB E 1 UNSIGNED_16 1 ;
C00053 DC-bus voltage 24522 5FCA E 1 UNSIGNED_16 1 ;
C00054 Motor current 24521 5FC9 E 1 UNSIGNED_16 100 ;
C00056 Torque 24519 5FC7 A 2 INTEGER_32 100 ;
C00057 Maximum torque 24518 5FC6 E 1 UNSIGNED_32 100 ;
C00058 Output frequency 24517 5FC5 E 1 INTEGER_32 100 ;
C00059 Appl.: Reference frequency C11 24516 5FC4 E 1 UNSIGNED_32 100 ;
C00061 Heatsink temperature 24514 5FC2 E 1 INTEGER_16 1 ;
C00064 Device utilisation (Ixt) 24511 5FBF A 3 INTEGER_16 100 ;
C00065 Supply voltage 24V 24510 5FBE E 1 INTEGER_16 10 ;
C00066 Thermal motor load (I²xt) 24509 5FBD E 1 INTEGER_16 100 ;
C00070 Vp speed controller 24505 5FB9 A 2 UNSIGNED_16 100 ; ;
C00071 Ti speed controller 24504 5FB8 A 2 UNSIGNED_16 10 ; ;
C00072 SC: Tdn speed controller 24503 5FB7 E 1 UNSIGNED_16 100 ; ;
C00073 Imax/M controller gain 24502 5FB6 A 2 UNSIGNED_16 100 ; ;
C00074 Imax/M controller reset time 24501 5FB5 A 2 UNSIGNED_16 1 ; ;
C00075 Vp current controller 24500 5FB4 E 1 UNSIGNED_16 100 ; ;
C00076 Ti current controller 24499 5FB3 E 1 UNSIGNED_16 100 ; ;
C00077 SC: Vp field controller 24498 5FB2 E 1 UNSIGNED_16 100 ; ;
C00078 SC: Tn field controller 24497 5FB1 E 1 UNSIGNED_16 10 ; ;
C00079 SC: Settings 24496 5FB0 A 3 UNSIGNED_8 1 ; ;
C00080 Override point of field weakening 24495 5FAF E 1 INTEGER_16 1 ; ;
C00081 Rated motor power 24494 5FAE E 1 UNSIGNED_16 100 ; ;
C00082 Motor rotor resistance 24493 5FAD E 1 UNSIGNED_32 1 ; ;
C00083 Motor rotor time constant 24492 5FAC E 1 UNSIGNED_16 1 ;
C00084 Motor stator resistance 24491 5FAB E 1 UNSIGNED_32 1 ; ;
C00085 Motor stator leakage inductance 24490 5FAA E 1 UNSIGNED_16 100 ; ;
C00087 Rated motor speed 24488 5FA8 E 1 UNSIGNED_16 1 ; ;
C00088 Rated motor current 24487 5FA7 E 1 UNSIGNED_16 100 ; ;
C00089 Rated motor frequency 24486 5FA6 E 1 UNSIGNED_16 1 ; ;
C00090 Rated motor voltage 24485 5FA5 E 1 UNSIGNED_16 1 ; ;
C00091 Motor cosine phi 24484 5FA4 E 1 UNSIGNED_8 100 ; ;
C00092 Motor magnetizing inductance 24483 5FA3 E 1 UNSIGNED_16 10 ; ;
C00093 Power section ID 24482 5FA2 E 1 UNSIGNED_16 1 ;
C00095 Motor magnetising current 24480 5FA0 E 1 UNSIGNED_16 100 ; ;
C00097 Rated motor torque 24478 5F9E E 1 UNSIGNED_32 100 ;
C00098 Rated device current 24477 5F9D E 1 UNSIGNED_16 10 ;
C00099 Firmware version 24476 5F9C E 1 VISIBLE_STRING ;
C00100 Firmware version 24475 5F9B A 4 UNSIGNED_8 1 ;
C00101 Add. acceleration time x 24474 5F9A A 15 UNSIGNED_32 1000 ; ;
C00103 Add. deceleration time x 24472 5F98 A 15 UNSIGNED_32 1000 ; ;
856 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
Table of attributes

C00105 Deceleration time - quick stop 24470 5F96 E 1 UNSIGNED_32 1000 ; ;
C00106 Auto-DCB: hold time 24469 5F95 E 1 UNSIGNED_32 1000 ; ;
C00107 DCB: hold time 24468 5F94 E 1 UNSIGNED_32 1000 ; ;
C00114 DI polarity 24461 5F8D E 1 UNSIGNED_16 ; ;
C00115 Fct. DI 1/2 & 6/7 24460 5F8C A 2 UNSIGNED_8 1 ; ;
C00117 Status - brake output BD 24458 5F8A E 1 UNSIGNED_8 1 ;
C00118 DOx inversion 24457 5F89 E 1 UNSIGNED_8 ; ;
C00120 Motor overload threshold (I²xt) 24455 5F87 E 1 INTEGER_16 100 ; ;
C00123 Device utilisat. threshold (Ixt) 24452 5F84 E 1 INTEGER_16 100 ; ;
C00129 Brake resistance value 24446 5F7E E 1 UNSIGNED_16 10 ; ;
C00130 Rated brake resistor power 24445 5F7D E 1 UNSIGNED_16 1 ; ;
C00131 Thermal capacity of brake resistor 24444 5F7C E 1 UNSIGNED_16 10 ; ;
C00133 Brake resistor utilisation 24442 5F7A E 1 UNSIGNED_16 1 ;
C00134 Ramp rounding - main setpoint 24441 5F79 E 1 UNSIGNED_8 1 ; ;
C00136 Communication control words 24439 5F77 A 2 UNSIGNED_16 ;
C00137 Device state 24438 5F76 E 1 UNSIGNED_16 1 ;
C00138 Internal control signal 24437 5F75 A 3 UNSIGNED_16 ;
C00142 Auto-start option 24433 5F71 E 1 UNSIGNED_8 ; ;
C00144 Switching freq. reduct. (temp.) 24431 5F6F E 1 UNSIGNED_8 1 ; ;
C00150 Status word 24425 5F69 E 1 UNSIGNED_16 ;
C00155 Status word 2 24420 5F64 E 1 UNSIGNED_16 ;
C00158 Cause of controller inhibit 24417 5F61 E 1 UNSIGNED_16 ;
C00159 Cause of quick stop QSP 24416 5F60 E 1 UNSIGNED_16 ;
C00161 LS_SetError_x: Error number 24414 5F5E A 8 UNSIGNED_16 1 ; ;
C00163 Logbook - binary elements 24412 5F5C A 2 UNSIGNED_16 1 ; ;
C00164 Logbook - analog elements 24411 5F5B A 1 UNSIGNED_16 1 ; ;
C00165 Error information 24410 5F5A A 2 VISIBLE_STRING ;
C00166 Error information text 24409 5F59 A 6 VISIBLE_STRING ;
C00168 Status-determining error 24407 5F57 E 1 UNSIGNED_32 1 ;
C00169 Logbook setting 24406 5F56 E 1 UNSIGNED_16 ; ;
C00170 Current error 24405 5F55 E 1 UNSIGNED_32 1 ;
C00173 Mains voltage 24402 5F52 E 1 UNSIGNED_8 1 ; ; ;
C00174 Reduced brake chopper threshold 24401 5F51 E 1 UNSIGNED_8 1 ; ;
C00175 Response for brake resistor control 24400 5F50 E 1 UNSIGNED_8 1 ; ; ;
C00177 Switching cycles 24398 5F4E A 5 UNSIGNED_32 1 ;
C00178 Elapsed-hour meter 24397 5F4D E 1 UNSIGNED_32 1 ;
C00179 Power-on time meter 24396 5F4C E 1 UNSIGNED_32 1 ;
C00180 Running time 24395 5F4B A 3 UNSIGNED_32 1 ;
C00182 S-ramp time PT1 24393 5F49 E 1 INTEGER_16 100 ; ;
C00184 AutoFailReset repetition time 24391 5F47 E 1 UNSIGNED_16 1 ; ;
C00185 AutoFailReset residual runtime 24390 5F46 E 1 UNSIGNED_16 1 ;
C00186 Max. no. of AutoFailReset procedures 24389 5F45 E 1 UNSIGNED_8 1 ; ;
C00187 Current AutoFailReset procedures 24388 5F44 E 1 UNSIGNED_8 1 ;
C00188 Configuration AutoFailReset 24387 5F43 E 1 UNSIGNED_8 1 ; ;
C00189 Resp. too frequent AutoFailReset 24386 5F42 E 1 UNSIGNED_8 1 ; ;
C00190 Setpoint arithmetic 24385 5F41 E 1 UNSIGNED_8 1 ; ;
C00200 Firmware product type 24375 5F37 E 1 VISIBLE_STRING ;
C00201 Firmware 24374 5F36 A 6 VISIBLE_STRING ;
C00203 Product type code 24372 5F34 A 9 VISIBLE_STRING ;
C00204 Serial number 24371 5F33 A 9 VISIBLE_STRING ;
C00220 Accel. time - add. setpoint 24355 5F23 E 1 UNSIGNED_32 1000 ; ;
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 857

Parameter reference
Table of attributes

C00221 Decel. time - add. setpoint 24354 5F22 E 1 UNSIGNED_32 1000 ; ;
C00222 L_PCTRL_1: Vp 24353 5F21 E 1 INTEGER_16 10 ; ;
C00223 L_PCTRL_1: Tn 24352 5F20 E 1 UNSIGNED_16 1 ; ;
C00224 L_PCTRL_1: Kd 24351 5F1F E 1 UNSIGNED_16 10 ; ;
C00225 L_PCTRL_1: MaxLimit 24350 5F1E E 1 INTEGER_16 100 ; ;
C00226 L_PCTRL_1: MinLimit 24349 5F1D E 1 INTEGER_16 100 ; ;
C00227 L_PCTRL_1: acceleration time 24348 5F1C E 1 UNSIGNED_32 1000 ; ;
C00228 L_PCTRL_1: deceleration time 24347 5F1B E 1 UNSIGNED_32 1000 ; ;
C00231 L_PCTRL_1: Operating range 24344 5F18 A 4 INTEGER_16 100 ; ;
C00233 L_PCTRL_1: root function 24342 5F16 E 1 UNSIGNED_8 1 ; ;
C00234 Oscillation damping influence 24341 5F15 E 1 UNSIGNED_16 100 ; ;
C00235 Filter time - oscillation damping 24340 5F14 E 1 UNSIGNED_8 1 ; ;
C00236 Oscillation damping - field weakening 24339 5F13 E 1 UNSIGNED_8 1 ; ;
C00241 L_NSet_1: Hyst. NSet reached 24334 5F0E E 1 INTEGER_16 100 ; ;
C00242 L_PCTRL_1: operating mode 24333 5F0D E 1 UNSIGNED_8 1 ; ;
C00243 L_PCTRL_1: Acceleration time 24332 5F0C E 1 UNSIGNED_32 1000 ; ;
influence
C00244 L_PCTRL_1: Deceleration time 24331 5F0B E 1 UNSIGNED_32 1000 ; ;
influence
C00245 L_PCTRL_1: PID output value 24330 5F0A E 1 INTEGER_16 100 ;
C00249 L_PT1_1: Time constant 24326 5F06 E 1 UNSIGNED_16 1 ; ;
C00250 L_PT1 2-3: DelayTime 24325 5F05 A 2 INTEGER_16 1 ; ;
C00251 L_DT1_1: DelayTime 24324 5F04 E 1 INTEGER_16 1 ; ;
C00252 L_DT1_1: Gain 24323 5F03 E 1 INTEGER_16 100 ; ;
C00253 L_DT1_1: Sensibility 24322 5F02 E 1 UNSIGNED_8 1 ; ;
C00254 Kp position controller 24321 5F01 E 1 UNSIGNED_16 100 ; ;
C00270 SC: Freq. current setpoint filter 24305 5EF1 E 1 UNSIGNED_16 10 ; ;
C00271 SC: Width of the current setpoint filter 24304 5EF0 E 1 UNSIGNED_16 10 ; ;
C00272 SC: Depth of the current setpoint filter 24303 5EEF E 1 UNSIGNED_16 1 ; ;
C00273 Moment of inertia 24302 5EEE E 1 UNSIGNED_32 100 ; ;
C00274 SC: Max. acceleration change 24301 5EED E 1 UNSIGNED_16 10 ; ;
C00275 Setpoint precontrol filtering 24300 5EEC E 1 UNSIGNED_16 10 ; ;
C00276 SC: max. output voltage 24299 5EEB E 1 UNSIGNED_8 1 ; ;
C00280 SC: Filter time const. DC detect. 24295 5EE7 E 1 UNSIGNED_16 1 ; ;
C00321 Main program runtime 24254 5EBE A 2 UNSIGNED_16 1 ; ;
C00322 Transmission mode CAN TxPDOs 24253 5EBD A 3 UNSIGNED_8 1 ; ;
C00323 Transmission mode CAN Rx PDOs 24252 5EBC A 3 UNSIGNED_8 1 ; ;
C00338 L_Arithmetik_1: function 24237 5EAD E 1 UNSIGNED_8 1 ; ;
C00339 L_Arithmetik_2: function 24236 5EAC E 1 UNSIGNED_8 1 ; ;
C00345 CAN error status 24230 5EA6 E 1 UNSIGNED_8 1 ;
C00347 CAN status HeartBeat producer 24228 5EA4 A 15 UNSIGNED_8 1 ;
C00349 CAN setting - DIP switch 24226 5EA2 E 1 UNSIGNED_16 ;
C00350 CAN node address 24225 5EA1 E 1 UNSIGNED_8 1 ; ;
C00351 CAN baud rate 24224 5EA0 E 1 UNSIGNED_8 1 ; ;
C00352 CAN Slave/Master 24223 5E9F E 1 UNSIGNED_8 1 ; ;
C00353 CAN IN/OUT COBID source 24222 5E9E A 3 UNSIGNED_8 1 ; ;
C00354 COBID 24221 5E9D A 6 UNSIGNED_32 ; ;
C00355 Active COBID 24220 5E9C A 6 UNSIGNED_16 1 ;
C00356 CAN time settings 24219 5E9B A 5 UNSIGNED_16 1 ; ;
C00357 CAN monitoring times 24218 5E9A A 3 UNSIGNED_16 1 ; ;
C00358 CANx_OUT data length 24217 5E99 A 3 UNSIGNED_8 1 ; ;
C00359 CAN status 24216 5E98 E 1 UNSIGNED_8 1 ;
858 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
Table of attributes

C00360 CAN telegram counter 24215 5E97 A 12 UNSIGNED_16 1 ;
C00364 CAN MessageError 24211 5E93 E 1 UNSIGNED_8 1 ;
C00366 CAN CAN1_OUT transmit at Sync 24209 5E91 E 1 UNSIGNED_8 1 ; ;
C00367 CAN Sync-Rx identifier 24208 5E90 E 1 UNSIGNED_16 1 ; ;
C00368 CAN Sync-Tx identifier 24207 5E8F E 1 UNSIGNED_16 1 ; ;
C00369 CAN sync transmission cycle time 24206 5E8E E 1 UNSIGNED_16 1 ; ;
C00372 CAN_Tx_Rx_Error 24203 5E8B A 2 UNSIGNED_8 1 ;
C00381 CAN heartbeat producer time 24194 5E82 E 1 UNSIGNED_16 1 ; ;
C00385 CAN node addr. HeartBeat producer 24190 5E7E A 15 UNSIGNED_8 1 ; ;
C00386 CAN HeartBeat ConsumerTime 24189 5E7D A 15 UNSIGNED_16 1 ; ;
C00400 LS_PulseGenerator 24175 5E6F A 2 UNSIGNED_16 1 ; ;
C00401 CANxInOut: Inversion 24174 5E6E A 6 UNSIGNED_16 ; ;
C00408 LP_CanIn mapping selection 24167 5E67 A 3 UNSIGNED_8 1 ; ;
C00409 LP_CanIn mapping 24166 5E66 A 12 UNSIGNED_16 1 ; ;
C00410 L_SignalMonitor_a Par. 24165 5E65 A 4 UNSIGNED_16 1 ; ;
C00411 L_SignalMonitor_b Par. 24164 5E64 A 4 UNSIGNED_16 1 ; ;
C00412 L_SignalMonitor_b: Inversion 24163 5E63 E 1 UNSIGNED_8 ; ;
C00413 L_SignalMonitor_a offs./gain 24162 5E62 A 8 INTEGER_16 100 ; ;
C00420 Encoder number of increments 24155 5E5B A 2 UNSIGNED_16 1 ; ; ;
C00423 DigOut: Delay times 24152 5E58 A 10 UNSIGNED_16 1000 ; ;
C00425 Encoder sample time 24150 5E56 A 2 UNSIGNED_8 1 ; ; ;
C00434 OxU/I: Gain 24141 5E4D A 4 INTEGER_16 100 ; ;
C00435 OxU/I: Offset 24140 5E4C A 4 INTEGER_16 100 ; ;
C00436 OxU: Voltage 24139 5E4B A 2 INTEGER_16 100 ;
C00437 OxI: Current 24138 5E4A A 2 INTEGER_32 1000 ;
C00439 OxU/I: Input value 24136 5E48 A 4 INTEGER_16 100 ;
C00440 LS_AnalogIn1: PT1 time constant 24135 5E47 A 2 UNSIGNED_16 1 ; ;
C00443 DIx: level 24132 5E44 A 2 UNSIGNED_16 ;
C00444 DOx: level 24131 5E43 A 2 UNSIGNED_16 ;
C00445 FreqInxx_nOut_v 24130 5E42 A 2 INTEGER_16 1 ;
C00446 FreqInxx_nOut_a 24129 5E41 A 2 INTEGER_16 100 ;
C00465 Keypad: Time-out welcome screen 24110 5E2E E 1 INTEGER_32 1 ; ;
C00466 Keypad: Default parameter 24109 5E2D E 1 INTEGER_32 1 ; ;
C00467 Keypad: Default welcome screen 24108 5E2C E 1 INTEGER_32 1 ; ;
C00469 Keypad: STOP key function 24106 5E2A E 1 INTEGER_32 1 ; ; ;
C00470 LS_ParFree_b 24105 5E29 A 32 UNSIGNED_8 1 ; ;
C00471 LS_ParFree 24104 5E28 A 8 UNSIGNED_16 ; ;
C00472 LS_ParFree_a 24103 5E27 A 8 INTEGER_16 100 ; ;
C00473 LS_ParFree_v 24102 5E26 A 8 INTEGER_16 1 ; ;
C00474 LS_ParFree_p 24101 5E25 A 8 INTEGER_32 1 ; ;
C00480 LS_DisFree_b 24095 5E1F E 1 UNSIGNED_16 ;
C00481 LS_DisFree 24094 5E1E A 8 UNSIGNED_16 ;
C00482 LS_DisFree_a 24093 5E1D A 8 INTEGER_16 100 ;
C00483 LS_DisFree_p 24092 5E1C A 8 INTEGER_32 1 ;
C00488 L_JogCtrlEdgeDetect 24087 5E17 A 6 UNSIGNED_8 1 ; ;
C00490 Position encoder selection 24085 5E15 E 1 UNSIGNED_8 1 ; ;
C00495 Speed sensor selection 24080 5E10 E 1 UNSIGNED_8 1 ; ;
C00496 Encoder evaluation procedure 24079 5E0F E 1 UNSIGNED_8 1 ; ; ;
C00497 Nact filter time constant 24078 5E0E A 2 UNSIGNED_16 10 ; ;
C00517 User menu 24058 5DFA A 32 INTEGER_32 1000 ; ;
C00560 Fan switching status 24015 5DCF A 2 UNSIGNED_8 1 ;
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 859

Parameter reference
Table of attributes

C00561 Fan failure 24014 5DCE A 2 UNSIGNED_8 1 ;
C00565 Resp. to mains phase failure 24010 5DCA E 1 UNSIGNED_8 1 ; ;
C00566 Resp. to fan failure 24009 5DC9 E 1 UNSIGNED_8 1 ; ;
C00567 Speed controller resp. limited 24008 5DC8 E 1 UNSIGNED_8 1 ; ;
C00569 Resp. to peak current 24006 5DC6 A 1 UNSIGNED_8 1 ; ;
C00570 Resp. to controller limitations 24005 5DC5 A 4 UNSIGNED_8 1 ; ;
C00572 Brake resistor overload threshold 24003 5DC3 E 1 UNSIGNED_8 1 ; ;
C00574 Resp. to brake resist. overtemp. 24001 5DC1 E 1 UNSIGNED_8 1 ; ;
C00576 SC: Field feedforward control 23999 5DBF E 1 UNSIGNED_16 1 ; ;
C00577 SC: Vp field weakening controller 23998 5DBE E 1 UNSIGNED_16 10000 ; ;
C00578 SC: Tn field weakening controller 23997 5DBD E 1 UNSIGNED_16 10 ; ;
C00579 Resp. to speed monitoring 23996 5DBC E 1 UNSIGNED_8 1 ; ;
C00581 Resp. LS_SetError_x 23994 5DBA A 8 UNSIGNED_8 1 ; ;
C00582 Resp. to heatsink temp. > shutdown 23993 5DB9 E 1 UNSIGNED_8 1 ; ;
temp. -5°C
C00585 Resp. to motor overtemp. PTC 23990 5DB6 E 1 UNSIGNED_8 1 ; ;
C00586 Resp. to encoder wire breakage 23989 5DB5 E 1 UNSIGNED_8 1 ; ;
C00588 Resp. to max. speed at switch. 23987 5DB3 E 1 UNSIGNED_8 1 ; ;
frequency
C00590 Resp. to switch. frequency red. 23985 5DB1 E 1 UNSIGNED_8 1 ; ;
C00592 Resp. to CAN bus connection 23983 5DAF A 5 UNSIGNED_8 1 ; ;
C00593 Resp. to CANx_IN monitoring 23982 5DAE A 3 UNSIGNED_8 1 ; ;
C00594 Resp. to control word error 23981 5DAD A 2 UNSIGNED_8 1 ; ;
C00595 MCK: Resp. to MCK error 23980 5DAC A 14 UNSIGNED_8 1 ; ;
C00597 Resp. to motor phase failure 23978 5DAA E 1 UNSIGNED_8 1 ; ;
C00598 Resp. to open circuit AINx 23977 5DA9 A 2 UNSIGNED_8 1 ; ;
C00599 Motor phase failure threshold 23976 5DA8 E 1 INTEGER_16 100 ; ;
C00600 Resp. to DC bus voltage 23975 5DA7 A 1 UNSIGNED_8 1 ; ;
C00601 Delayed resp. fault: DC-bus 23974 5DA6 A 1 UNSIGNED_16 1000 ; ;
overvoltage
C00602 Resp. to earth fault 23973 5DA5 E 1 UNSIGNED_8 1 ; ;
C00604 Resp. to device overload (Ixt) 23971 5DA3 E 1 UNSIGNED_8 1 ; ;
C00606 Resp. to motor overload (I²xt) 23969 5DA1 E 1 UNSIGNED_8 1 ; ;
C00607 React. max. speed reached 23968 5DA0 E 1 UNSIGNED_8 1 ; ;
C00608 Resp. to maximum torque 23967 5D9F E 1 UNSIGNED_8 1 ; ;
C00609 Resp. to maximum current 23966 5D9E E 1 UNSIGNED_8 1 ; ;
C00620 16-bit system connection 23955 5D93 A 48 UNSIGNED_16 1 ; ;
C00621 Bool system connection 23954 5D92 A 110 UNSIGNED_16 1 ; ;
C00622 Angle system connection 23953 5D91 A 12 UNSIGNED_16 1 ; ;
C00630 L_Limit 1-2 Min/Max 23945 5D89 A 4 INTEGER_16 100 ; ;
C00631 L_LimitPhi 1-3 Min/Max 23944 5D88 A 6 INTEGER_32 1 ; ;
C00632 L_NSet_1: Max.SkipFrq. 23943 5D87 A 3 INTEGER_16 100 ; ;
C00633 L_NSet_1 Min.SkipFrq. 23942 5D86 A 3 INTEGER_16 100 ; ;
C00634 L_NSet_1: wState 23941 5D85 E 1 UNSIGNED_16 ;
C00635 L_NSet_1: nMaxLimit 23940 5D84 E 1 INTEGER_16 100 ; ;
C00636 L_NSet_1: nMinLimit 23939 5D83 E 1 INTEGER_16 100 ; ;
C00637 L_NSet_1: Output blocking zone 23938 5D82 E 1 INTEGER_16 100 ;
C00638 L_NSet_1: Output ramp rounding 23937 5D81 E 1 INTEGER_16 100 ;
C00639 L_NSet_1: Output add.value 23936 5D80 E 1 INTEGER_16 100 ;
C00640 L_NSet_1: nNOut_a 23935 5D7F E 1 INTEGER_16 100 ;
C00650 L_Arithmetik 3-5: Fct. 23925 5D75 A 3 UNSIGNED_8 1 ; ;
C00670 L_OffsetGainP_1: gain 23905 5D61 E 1 INTEGER_32 10000 ; ;
860 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
Table of attributes

C00671 L_OffsetGainP_2: gain 23904 5D60 E 1 INTEGER_32 10000 ; ;
C00672 L_OffsetGainP_3: gain 23903 5D5F E 1 INTEGER_32 10000 ; ;
C00673 L_OffsetGainPhiP 1-2: Offset 23902 5D5E A 2 INTEGER_32 1 ; ;
C00674 L_OffsetGainPhiP 1-2: Gain 23901 5D5D A 2 INTEGER_32 1 ; ;
C00677 L_GainOffsetP 1-3: Parameter 23898 5D5A A 6 INTEGER_16 100 ; ;
C00678 L_GainOffsetPhiP 1-2: Parameter 23897 5D59 A 4 INTEGER_32 1 ; ;
C00679 L_MulDiv_2: parameter 23896 5D58 A 2 INTEGER_16 1 ; ;
C00680 L_Compare_1: function 23895 5D57 E 1 UNSIGNED_8 1 ; ;
C00681 L_Compare_1: hysteresis 23894 5D56 E 1 INTEGER_16 100 ; ;
C00682 L_Compare_1: window 23893 5D55 E 1 INTEGER_16 100 ; ;
C00685 L_Compare_2: function 23890 5D52 E 1 UNSIGNED_8 1 ; ;
C00686 L_Compare_2: hysteresis 23889 5D51 E 1 INTEGER_16 100 ; ;
C00687 L_Compare_2: window 23888 5D50 E 1 INTEGER_16 100 ; ;
C00690 L_Compare_3: function 23885 5D4D E 1 UNSIGNED_8 1 ; ;
C00691 L_Compare_3: hysteresis 23884 5D4C E 1 INTEGER_16 100 ; ;
C00692 L_Compare_3: window 23883 5D4B E 1 INTEGER_16 100 ; ;
C00693 L_Compare 4-5: Fct. 23882 5D4A A 2 UNSIGNED_8 1 ; ;
C00694 L_Compare 4-5: Hysteresis 23881 5D49 A 2 INTEGER_16 100 ; ;
C00695 L_Compare 4-5: Window 23880 5D48 A 2 INTEGER_16 100 ; ;
C00696 L_OffsetGainP_1: Offset 23879 5D47 E 1 INTEGER_16 100 ; ;
C00699 L_MulDiv_1: Parameter 23876 5D44 A 2 INTEGER_16 1 ; ;
C00700 LA_NCtrl: Analog connection list 23875 5D43 A 19 UNSIGNED_16 1 ; ;
C00701 LA_NCtrl: Digital connection list 23874 5D42 A 35 UNSIGNED_16 1 ; ;
C00710 LA_TabPos: Analog connection list 23865 5D39 A 28 UNSIGNED_16 1 ; ;
C00711 LA_TabPos: Digital connection list 23864 5D38 A 56 UNSIGNED_16 1 ; ;
C00720 L_DigitalDelay_1 delay 23855 5D2F A 2 UNSIGNED_32 1000 ; ;
C00721 L_DigitalDelay 2,3 delay 23854 5D2E A 4 UNSIGNED_32 1000 ; ;
C00725 Current switching frequency 23850 5D2A E 1 UNSIGNED_8 1 ;
C00727 Keypad digital values 23848 5D28 A 8 UNSIGNED_8 1 ; ;
C00728 Keypad analog values 23847 5D27 A 3 INTEGER_16 100 ; ;
C00800 L_MPot_1: upper limit 23775 5CDF E 1 INTEGER_16 100 ; ;
C00801 L_MPot_1: lower limit 23774 5CDE E 1 INTEGER_16 100 ; ;
C00802 L_MPot_1: acceleration time 23773 5CDD E 1 UNSIGNED_16 10 ; ;
C00803 L_MPot_1: deceleration time 23772 5CDC E 1 UNSIGNED_16 10 ; ;
C00804 L_MPot_1: inactive function 23771 5CDB E 1 UNSIGNED_8 1 ; ;
C00805 L_MPot_1: Init fct. 23770 5CDA E 1 UNSIGNED_8 1 ; ;
C00806 L_MPot_1: Use 23769 5CD9 E 1 UNSIGNED_8 1 ; ;
C00807 L_NLim_1 Max.SkipFrq. 23768 5CD8 A 3 INTEGER_16 100 ; ;
C00808 L_NLim_1 Min.SkipFrq. 23767 5CD7 A 3 INTEGER_16 100 ; ;
C00809 L_NLim_2 Max.SkipFrq. 23766 5CD6 A 3 INTEGER_16 100 ; ;
C00810 L_NLim_2 Min.SkipFrq. 23765 5CD5 A 3 INTEGER_16 100 ; ;
C00820 L_DigitalLogic_1: Fct. 23755 5CCB E 1 UNSIGNED_8 1 ; ;
C00821 L_DigitalLogic_1: Truth table 23754 5CCA A 8 UNSIGNED_8 1 ; ;
C00822 L_DigitalLogic_2: Function 23753 5CC9 E 1 UNSIGNED_8 1 ; ;
C00823 L_DigitalLogic_2: truth table 23752 5CC8 A 8 UNSIGNED_8 1 ; ;
C00824 L_DigitalLogic5_1: Function 23751 5CC7 E 1 UNSIGNED_8 1 ; ;
C00825 L_DigitalLogic5_1: Truth table 23750 5CC6 A 32 UNSIGNED_8 1 ; ;
C00826 L_DigitalLogic5_2: Function 23749 5CC5 E 1 UNSIGNED_8 1 ; ;
C00827 L_DigitalLogic5_2: Truth table 23748 5CC4 A 32 UNSIGNED_8 1 ; ;
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 861

Parameter reference
Table of attributes

C00830 16bit input analog 23745 5CC1 A 89 INTEGER_16 100 ;
C00831 16bit input common 23744 5CC0 A 89 UNSIGNED_16 ;
C00832 16bit input velocity 23743 5CBF A 89 INTEGER_16 1 ;
C00833 8bit input 23742 5CBE A 121 UNSIGNED_8 1 ;
C00834 32Bit input analog 23741 5CBD A 7 INTEGER_32 1 ;
C00835 16Bit input analog additionalFBsHL 23740 5CBC A 69 INTEGER_16 100 ;
C00836 16bit input common AdditionalFBsHL 23739 5CBB A 69 UNSIGNED_16 ;
C00837 16bit input velocity AdditionalFBsHL 23738 5CBA A 69 INTEGER_16 1 ;
C00838 8bit input AdditionalFBsHL 23737 5CB9 A 138 UNSIGNED_8 1 ;
C00839 32bit input AdditionalFBsHL 23736 5CB8 A 37 INTEGER_32 1 ;
C00840 16Bit-SysInput analog 23735 5CB7 A 37 INTEGER_16 100 ;
C00841 16Bit-SysInput common 23734 5CB6 A 37 UNSIGNED_16 ;
C00843 8bit SysInput 23732 5CB4 A 110 UNSIGNED_8 1 ;
C00844 32bit SysInput 23731 5CB3 A 12 INTEGER_32 1 ;
C00866 CAN input words 23709 5C9D A 12 UNSIGNED_16 ;
C00868 CAN output words 23707 5C9B A 12 UNSIGNED_16 ;
C00876 MCI input words 23699 5C93 A 16 UNSIGNED_16 ;
C00877 MCI output words 23698 5C92 A 16 UNSIGNED_16 ;
C00890 MCI_InOut: Inversion 23685 5C85 A 4 UNSIGNED_16 ; ;
C00909 Speed limitation 23666 5C72 A 2 INTEGER_16 100 ; ;
C00910 Frequency limitation 23665 5C71 A 2 UNSIGNED_16 1 ; ;
C00915 Motor cable length 23660 5C6C E 1 UNSIGNED_16 10 ; ;
C00916 Motor cable cross-section 23659 5C6B E 1 UNSIGNED_16 100 ; ;
C00917 Motor cable resistance 23658 5C6A E 1 UNSIGNED_16 1 ;
C00966 VFC: Time const. - slip compens. 23609 5C39 E 1 UNSIGNED_16 1 ; ;
C00971 VFC: limitation V/f +encoder 23604 5C34 a 2 UNSIGNED_16 100 ; ;
C00972 VFC: Vp V/f +encoder 23603 5C33 E 1 UNSIGNED_16 1000 ; ;
C00973 VFC: Ti V/f +encoder 23602 5C32 E 1 UNSIGNED_16 10 ; ;
C00985 SLVC: Field current controller gain 23590 5C26 E 1 INTEGER_16 100 ; ;
C00986 SLVC: Cross current controller gain 23589 5C25 E 1 INTEGER_16 100 ; ;
C00990 Flying restart fct: activation 23585 5C21 E 1 UNSIGNED_8 1 ; ; ;
C00991 Flying restart fct: process 23584 5C20 E 1 UNSIGNED_16 1 ; ;
C00992 Flying restart: start frequency 23583 5C1F E 1 INTEGER_16 1 ; ;
C00994 Flying restart fct: current 23581 5C1D E 1 INTEGER_16 100 ; ;
C01010 L_ArithmetikPhi 1-3: Function 23565 5C0D a 3 UNSIGNED_8 1 ; ;
C01100 Function L_Counter 1-3 23475 5BB3 a 3 UNSIGNED_8 1 ; ;
C01120 Sync signal source 23455 5B9F E 1 UNSIGNED_8 1 ; ;
C01121 Sync cycle time setpoint 23454 5B9E E 1 UNSIGNED_16 1 ; ;
C01122 Sync phase position 23453 5B9D E 1 UNSIGNED_16 1 ; ;
C01123 Sync window 23452 5B9C E 1 UNSIGNED_16 1 ; ;
C01124 Sync correction increment 23451 5B9B E 1 UNSIGNED_8 1 ; ;
C01140 L_Transient 1-4: Function 23435 5B8B A 4 UNSIGNED_8 1 ; ;
C01141 L_Transient 1-4 pulse duration 23434 5B8A A 4 UNSIGNED_16 1000 ; ;
C01150 L_PhaseIntK: Function 23425 5B81 A 2 UNSIGNED_8 1 ; ;
C01151 L_PhaseIntK: Compare 23424 5B80 A 2 INTEGER_32 1 ; ;
C01202 Axis data: iM motor/process 23373 5B4D A 2 UNSIGNED_16 1 ; ;
C01203 Axis data: iG motor/position encoder 23372 5B4C A 2 UNSIGNED_16 1 ; ;
C01204 Axis data: Feed constant 23371 5B4B E 1 INTEGER_32 10000 ; ;
C01205 Axis data: Position resolution 23370 5B4A E 1 INTEGER_32 10000 ;
C01206 Axis data: Mounting direction 23369 5B49 A 2 UNSIGNED_8 1 ; ; ;
C01210 Axis data: Current positions 23365 5B45 A 5 INTEGER_32 10000 ;
862 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter reference
Table of attributes

C01211 Axis data: Speed 23364 5B44 A 1 INTEGER_32 10000 ;
C01213 MCK: max. travel distance 23362 5B42 A 1 INTEGER_32 1 ;
C01215 Axis data: Following error 23360 5B40 A 2 INTEGER_32 10000 ; ;
C01218 MCK: PosFollower setting 23357 5B3D E 1 UNSIGNED_8 ; ;
C01219 MCK: Speed follower Einstellung 23356 5B3C E 1 UNSIGNED_8 ; ;
C01221 MCK: Ref mode 23354 5B3A E 1 UNSIGNED_8 1 ; ;
C01222 MCK: Ref. M limit mode 14/15 23353 5B39 E 1 INTEGER_16 100 ; ;
C01223 MCK: Ref waiting time mode 14/15 23352 5B38 E 1 UNSIGNED_16 1 ; ;
C01224 MCK: Ref speeds 23351 5B37 A 2 INTEGER_32 10000 ; ;
C01225 MCK: Ref accelerations 23350 5B36 A 2 INTEGER_32 10000 ; ;
C01226 MCK: Ref S-ramp time 23349 5B35 A 1 UNSIGNED_16 1000 ; ;
C01227 MCK: Ref positions 23348 5B34 A 2 INTEGER_32 10000 ; ;
C01228 MCK: Ref sequence profile 23347 5B33 E 1 UNSIGNED_8 1 ; ;
C01229 MCK: position limiting values 23346 5B32 A 2 INTEGER_32 10000 ; ;
C01230 MCK: Manual jog setting 23345 5B31 E 1 UNSIGNED_8 ; ;
C01231 MCK: Manual jog speeds 23344 5B30 A 2 INTEGER_32 10000 ; ;
C01232 MCK: Manual jog accelerations 23343 5B2F A 2 INTEGER_32 10000 ; ;
C01233 MCK: Manual jog S-ramp time 23342 5B2E A 1 UNSIGNED_16 1000 ; ;
C01234 MCK: Manual jog breakpoint 23341 5B2D A 4 INTEGER_32 10000 ; ;
C01235 MCK: Manual jog waiting time 23340 5B2C A 1 UNSIGNED_16 1000 ; ;
C01236 MCK: Follower speeds 23339 5B2B A 1 INTEGER_32 10000 ; ;
C01237 MCK: Follower accelerations 23338 5B2A A 2 INTEGER_32 10000 ; ;
C01238 MCK: Follower S-ramp times 23337 5B29 A 1 UNSIGNED_16 1000 ; ;
C01239 MCK: Interpolator cycle - PosFollower 23336 5B28 E 1 UNSIGNED_32 1000 ; ;
C01240 MCK: Control word 23335 5B27 E 1 UNSIGNED_32 ;
C01241 MCK: Status word 23334 5B26 E 1 UNSIGNED_32 ;
C01242 MCK: Act. pos.profile number 23333 5B25 E 1 UNSIGNED_8 1 ;
C01243 MCK: Current operating mode 23332 5B24 E 1 UNSIGNED_8 1 ;
C01244 MCK: Target position detection 23331 5B23 A 1 UNSIGNED_16 1 ; ;
C01245 MCK: Target position detection 23330 5B22 A 1 INTEGER_32 10000 ; ;
C01251 MCK: Stop accelerations 23324 5B1C A 1 INTEGER_32 10000 ; ;
C01252 MCK: Stop S-ramp times 23323 5B1B A 1 UNSIGNED_16 1000 ; ;
C01297 Alternative function PosExecute 23278 5AEE E 1 UNSIGNED_8 ; ;
C01298 MCK change of operating mode with 23277 5AED A 4 UNSIGNED_8 1 ; ;
profile no.
C01299 MCKI: MCKInterface status 23276 5AEC E 1 UNSIGNED_8 ;
C01300 Profile data: Positioning mode 23275 5AEB A 15 UNSIGNED_8 1 ; ;
C01301 Profile data: Position 23274 5AEA A 15 INTEGER_32 10000 ; ;
C01302 Profile data: Speed 23273 5AE9 A 15 INTEGER_32 10000 ; ;
C01303 Profile data: Acceleration 23272 5AE8 A 15 INTEGER_32 10000 ; ;
C01304 Profile data: Deceleration 23271 5AE7 A 15 INTEGER_32 10000 ; ;
C01305 Profile data: Final speed 23270 5AE6 A 15 INTEGER_32 10000 ; ;
C01306 Profile data: S-ramp time 23269 5AE5 A 15 UNSIGNED_16 1000 ; ;
C01307 Profile data: Sequence profile 23268 5AE4 A 15 UNSIGNED_8 1 ; ;
C01501 Resp. to communication error with 23074 5A22 a 2 UNSIGNED_8 1 ; ;
MCI
C01670 L_ComparePhi: Function 22905 5979 A 5 UNSIGNED_8 1 ; ;
C01671 L_ComparePhi: Hysteresis 22904 5978 A 5 INTEGER_32 1 ; ;
C01672 L_ComparePhi: Window 22903 5977 A 5 INTEGER_32 1 ; ;
C01902 Diagnostics X6: Max. baud rate 22673 5891 E 1 UNSIGNED_16 1 ; ;
C01903 Diagnostics X6: change baud rate 22672 5890 E 1 UNSIGNED_8 1 ; ;
C01905 Diagnostics X6: act. baud rate 22670 588E E 1 UNSIGNED_32 1 ;
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 863

Parameter reference
Table of attributes

C02580 Holding brake: Operating mode 21995 55EB E 1 UNSIGNED_8 1 ; ;
C02581 Holding brake: Speed threshold 21994 55EA A 3 INTEGER_16 100 ; ;
C02582 Holding brake: Setting 21993 55E9 E 1 UNSIGNED_8 ; ;
C02589 Holding brake: Time system 21986 55E2 A 3 UNSIGNED_16 1 ; ;
C02593 Holding brake: Activation time 21982 55DE A 4 UNSIGNED_32 1000 ; ;
C02607 Holding brake: status 21968 55D0 E 1 UNSIGNED_16 ;
C02610 MCK: Accel./decel. times 21965 55CD A 2 UNSIGNED_32 1000 ; ;
C02611 MCK: Limitations 21964 55CC A 4 INTEGER_16 100 ; ;
C02830 DIx: debounce time 21745 54F1 A 7 UNSIGNED_8 1 ; ;
C02840 CountIn: Parameter 21735 54E7 A 4 UNSIGNED_32 1 ; ;
C02841 CountInx: Counter content 21734 54E6 A 2 UNSIGNED_32 1 ;
C02842 FreqInxx: offset 21733 54E5 A 2 INTEGER_16 100 ; ;
C02843 FreqInxx: gain 21732 54E4 A 2 INTEGER_16 100 ; ;
864 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Index
18 Index
Symbols Auto-DCB
"Actuating drive - speed" technology application 349 Hold time (C00106) 625
Threshold (C00019) 612
"Positioning" technology application 391
AutoFailReset repetition time (C00184) 642
Numerics AutoFailReset residual runtime (C00185) 642
16-bit connection table (C610) 704 Auto-start option (C00142) 630
16bit input analog (C00830) 788 Available process data objects 234
16bit input analog AdditionalFBsHL (C00835) 799 Axis data
Current positions (C01210) 828
16bit input common (C00831) 790
Feed constant (C01204) 827
16bit input common AdditionalFBsHL (C00836) 801
Following error (C01215) 829
16bit input velocity (C00832) 792
iG motor/position encoder (C01203) 826
16bit input velocity AdditionalFBsHL (C00837) 803 iM motor/process (C01202) 826
16bit SysInput analog (C00840) 810 Mounting direction (C01206) 827
16bit SysInput common (C00841) 811 Position resolution (C01205) 827
16-bit system connection (C00620) 705 Speed (C01211) 828
24 V supply voltage (C00065) 618
32-bit connection table (C612) 704 B
32bit input AdditionalFBsHL (C00839) 809 Basic drive functions 334
32bit input analog (C00834) 799 Basic functions 334
32bit SysInput (C00844) 815 Basic identifier for individual identifier assignment
382060 305 239
8bit input (C00833) 795 Basic signal flow 349
8bit input AdditionalFBsHL (C00838) 805 Bit error 259
8bit SysInput (C00843) 812 Bool connection table (C611) 704
Bool system connection (C00621) 713
A Brake control 335
Accel. time - add. setpoint (C00220) 645 Brake resistance value (C00129) 627
Accel. time - main setpoint (C00012) 611 Brake resistor overload threshold (C00572) 696
Acknowledgement error 259 Brake resistor utilisation (C00133) 627
Activation of the bus terminating resistor 224
Active COBID (C00355) 657 C
Add. acceleration time x (C00101) 624 C100 624
Add. deceleration time x (C00103) 624 C101 547, 624
AINx C1010 503, 823
Configuration (C00034) 615 C103 547, 624
Gain (C00027) 613 C105 624
Input current (C00029) 614 C106 625
Input voltage (C00028) 614 C107 625
Offset (C00026) 613 C11 610
Output value (C00033) 614 C1100 519, 823
Alternative function PosExecute (C01297) 841 C1120 824
Analog inputs 179 C1121 824
Analog outputs 183 C1122 824
Angle system connection (C00622) 727 C1123 824
Application C1124 825
Reference frequency C11 (C00059) 617
C114 625
Reference speed (C00011) 610
C1140 581, 825
Application conditions 222
C1141 581, 825
Application notes 21
C115 626
Application selection (C00005) 607
C1150 562, 826
Assignment of the process data objects 239
C1151 562, 826
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 865

Index
C117 626 C1304 843

C118 626 C1305 843
C12 547, 611 C1306 844
C120 627 C1307 844
C1202 826 C131 627
C1203 826 C133 627
C1204 827 C134 547, 628
C1205 827 C136 628
C1206 827 C137 629
C1210 828 C138 630
C1211 828 C142 630
C1213 828 C144 631
C1215 829 C15 611
C1218 829 C150 631
C1219 830 C1501 844
C1221 830 C155 632
C1222 830 C158 633
C1223 831 C159 634
C1224 831 C16 611
C1225 831 C161 634
C1226 831 C163 635
C1227 832 C164 637
C1228 832 C165 639
C1229 832 C166 639
C123 627 C167 639
C1230 833 C1670 509, 845
C1231 833 C1671 509, 845
C1232 833 C1672 509, 845
C1233 834 C168 639
C1234 834 C169 640
C1235 834 C170 640
C1236 834 C171 640
C1237 835 C173 640
C1238 835 C174 641
C1239 835 c175 641
C1240 836 C1751 846
C1241 838 C1752 846
C1242 839 C1755 846
C1243 839 C1763 846
C1244 840 C1764 846
C1245 840 C1765 846
C1251 840 C177 641
C1252 840 C1770 846
C129 627 C178 641
C1297 841 C179 642
C1298 841 C18 612
C1299 533, 842 C180 642
C13 547, 611 C182 547, 642
C130 627 C184 642
C1300 842 C185 642
C1301 842 C186 642
C1302 843 C187 643
C1303 843 C188 643
866 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Index
C189 643 C27 613

C19 612 C270 650
C190 547, 643 C271 650
C1902 846 C272 650
C1903 847 C273 650
C1905 847 C274 650
C2 605 C275 651
C200 644 C276 651
C201 644 C28 614
C203 644 C280 651
C204 644 C2830 852
C205 645 C2840 853
C206 645 C2841 853
C21 612 C2842 853
C210 645 C2843 854
C22 613 C29 614
C220 547, 645 C290 651
C221 547, 645 C291 651
C222 568, 645 C296 651
C223 568, 645 C297 651
C224 568, 645 C2994 854
C225 568, 646 C2995 854
C226 568, 646 C2996 854
C227 568, 646 C3 607
C228 568, 646 C301 651
C23 613 C302 651
C231 568, 646 C304 652
C233 568, 647 C305 652
C234 647 C306 652
C235 647 C307 652
C236 647 C308 652
C24 613 C309 652
C241 547, 647 C310 652
C242 569, 648 C311 652
C243 569, 648 C313 652
C244 569, 648 C314 652
C245 569, 648 C315 652
C249 573, 648 C316 652
C250 573, 649 C317 653
C251 528, 649 C320 653
C252 528, 649 C321 653
C253 528, 649 C322 653
C254 649 C323 653
C2580 847 C33 614
C2581 847 C338 502, 654
C2582 848 C339 502, 654
C2589 849 C34 615
C2593 849 C345 654
C26 613 C347 655
C2607 850 C349 655
C2610 850 C350 656
C2611 851 C351 656
C265 650 C352 656
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 867

Index
C353 656 C480 586, 691

C354 657 C481 584, 691
C355 657 C482 585, 691
C356 658 C483 691
C357 658 C488 692
C358 658 C490 692
C359 659 C495 692
C36 615 C496 693
C360 659 C497 693
C364 660 C5 607
C366 660 C50 616
C367 660 C51 616
C368 660 C516 693
C369 661 C517 694
C372 661 C52 616
C381 661 C53 616
C385 661 C54 616
C386 662 C56 617
C39 547, 615 C560 695
C400 597, 662 C561 695
C401 662 C565 695
C408 663 C566 695
C409 663 C567 696
C410 578, 664 C569 696
C411 580, 670 C57 617
C412 580, 682 C570 696
C413 578, 682 C572 696
C420 682 C574 697
C423 683 C576 697
C425 683 C577 697
C434 684 C578 697
C435 684 C579 697
C436 684 C58 617
C437 684 C581 698
C439 685 C582 698
C440 685 C585 698
C443 686 C586 699
C444 687 C588 699
C445 687 C59 617
C446 687 C590 699
C455 688 C592 699
C456 688 C593 700
C458 688 C594 700
C465 688 C595 701
C466 688 C597 701
C467 688 C598 702
C468 688 C599 702
C469 689 C6 608
C470 594, 689 C600 702
C471 592, 689 C601 702
C472 593, 690 C602 703
C473 595, 690 C604 703
C474 690 C606 703
868 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Index
C607 703 C70 618

C608 703 C700 737
C609 704 C701 744
C61 617 C705 757
C610 704 C706 757
C611 704 C71 619
C612 704 C710 757
C613 704 C711 765
C615 704 C712 779
C617 704 C715 779
C620 705 C716 779
C621 713 C717 780
C622 727 C72 619
C630 529, 728 C720 522, 780
C631 729 C721 522, 780
C632 547, 729 C725 780
C633 548, 729 C726 781
C634 548, 730 C727 781
C635 548, 730 C728 782
C636 548, 730 C73 619
C637 730 C74 619
C638 731 C75 619
C639 731 C750 782
C64 618 C76 620
C640 731 C77 620
C65 618 C78 620
C650 502, 731 C79 620
C66 618 C8 609
C670 556, 731 C80 621
C671 556, 732 C800 538, 782
C672 556, 732 C801 538, 782
C673 557, 732 C802 538, 782
C674 557, 732 C803 538, 782
C677 732 C804 538, 783
C678 733 C805 783
C679 541, 733 C806 538, 783
C680 504, 733 C807 783
C681 505, 733 C808 784
C682 505, 734 C809 784
C685 504, 734 C81 621
C686 505, 734 C810 784
C687 505, 734 C82 621
C690 504, 734 C820 525, 784
C691 505, 735 C821 525, 785
C692 505, 735 C822 525, 785
C693 504, 735 C823 525, 785
C694 505, 735 C824 526, 786
C695 505, 736 C825 526, 527, 786
C696 556, 736 C826 526, 787
C697 556, 736 C827 526, 527, 787
C698 556, 736 C83 621
C699 541, 736 C830 788
C7 609 C831 790
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 869

Index
C832 792 CAN heartbeat producer time (C00381) 661

C833 795 CAN IN/OUT COBID source (C00353) 656
C834 799 CAN input words (C00866) 816
C835 799 CAN MessageError (C00364) 660
C836 801 CAN monitoring times (C00357) 658
C837 803 CAN node addr. HeartBeat producer (C00385) 661
C838 805 CAN node address (C00350) 656
C839 809 CAN on board 219
C84 621 CAN output words (C00868) 817
C840 810 CAN slave/master (C00352) 656
C841 811 CAN start remote node 233
C843 812 CAN status (C00359) 659
C844 815 CAN status HeartBeat producer (C00347) 655
C85 622 CAN sync Rx identifier (C00367) 660
C866 816 CAN sync transmission cycle time (C00369) 661
C868 817 CAN sync Tx identifier (C00368) 660
C87 622 CAN telegram counter (C00360) 659
C876 818 CAN time settings (C00356) 658
C877 819 CAN_Tx_Rx_Error (C00372) 661
C88 622 CANx_OUT data length (C00358) 658
C89 622 CANxInOut
C890 819 Inversion (C00401) 662
C90 622 Cause of controller inhibit (C00158) 633
C909 820 Cause of quick stop QSP (C00159) 634
C91 623 Checksums (C516) 693
C910 820 COBID (C00354) 657
C915 820 COB-ID EMCY (I-1014) 269
C916 820 COB-ID SYNC message (I-1005) 268
C917 820 Communication control words (C00136) 628
C92 623 Communication cycle period (I-1006) 269
C922 820 Communication phases 229
C93 623 Communication time 223
C95 623 Comparing applications 489
C966 821 Comparing FB interconnections 489
C97 623 Comparing interconnections 489
C971 821 Comparison value N_Act (C00024) 613
C972 821 Configuration of AutoFailReset (C00188) 643
C973 821 Connect. table 16-bit AdditionalFBsHL (C613) 704
C98 623 Connect. table 32-bit AdditionalFBsHL (C617) 704
C985 822 Connect. table Bool AdditionalFBsHL (C615) 704
C986 822 Controller commands (C00002) 605
C99 624 Conventions used 19
C990 822 Conventions used for variable identifiers 447
C991 822 Copying complete interconnection 492
C992 822 Copying elements 483
C993 823 Copying FB interconnection 492
C994 823 Copying interconnection 492
CAN baud rate (C00351) 656 Copying interconnection elements 483
CAN CAN1_OUT transmit at sync (C00366) 660 Copying objects 483
CAN data telegram 227 Counter Receive Error Isr (C297) 651
CAN DIP switch setting (C00349) 655 CountIn
CAN error status (C00345) 654 Parameter (C02840) 853
CAN HeartBeat ConsumerTime (C00386) 662 CountInx
Counter content (C02841) 853
870 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Index
CRC error 259 Encoder sample time (C00425) 683

Current AutoFailReset procedures (C00187) 643 Error codes 253
Current error (C00170) 640 Error detection 259
Current limit values (C726) 781 Error information (C00165) 639
Current switching frequency (C00725) 780 Error information text (C00166) 639
Error messages 298
D Error messages (short overview) 303
Data type 600 Error number 298
Data type entry 447 Error register (I-1001) 266
DCB Error type RCOM (C291) 651
Current (C00036) 615
Hold time (C00107) 625 F
DC-bus voltage (C00053) 616 Fan failure (C00561) 695
Debug address (C306) 652 Fan switching status (C00560) 695
Debug information (C320) 653 FB display input output2 (C2996) 854
Debug value (C307) 652 FB display input/output (C2995) 854
DebugAccess (C301) 651 FB Editor 442
Decel. time - add. setpoint (C00221) 645 FB xy position (C2994) 854
Decel. time - main setpoint (C00013) 611 FB_call table (C455) 688
Deceleration time - quick stop (C00105) 624 Fct. DI 1/2 & 6/7 (C00115) 626
Delayed resp. to fault Feedback to Lenze 879
DC-bus overvoltage (C00601) 702 Feedforward control of torque 115, 124
Device state (C00137) 629 Fieldbus interface 316
Device type (I-1000) 266 Filter time - earth-fault detect. is running (C1770) 846
Device utilisat. threshold (Ixt) (C00123) 627 Filter time - oscill. damping (C00235) 647
Device utilisation (Ixt) (C00064) 618 Firmware (C00201) 644
DI polarity (C00114) 625 Firmware download function is active 57
Diagnostics X6 Firmware product type (C00200) 644
Changing the baud rate (C01903) 847 Firmware version (C00099) 624
Current baud rate (C01905) 847
Firmware version (C00100) 624
max. baud rate (C01902) 846
Fixed setpoint x (L_NSet_1 n-Fix) (C00039) 615
Digital input assignment 744
Flying restart fct.
Digital inputs 187
Activation (C00990) 822
Digital outputs 197 Current (C00994) 823
DigOut Int. time (C993) 823
Delay times (C00423) 683 Process (C00991) 822
DIP switch settings 224 Start frequency (C00992) 822
DIx Format error 259
Debounce time (C02830) 852 FreqInxx
Level (C00443) 686 Gain (C02843) 854
DOx Offset (C02842) 853
Level (C00444) 687 FreqInxx_nOut_a (C00446) 687
DOx inversion (C00118) 626 FreqInxx_nOut_v (C00445) 687
DRIVE ERROR-LED 55 Frequency limitation (C00910) 820
Drive interface 54 Function assignment 744
DRIVE READY-LED 55 Function block editor 442
Function L_Counter 1-3 (C01100) 823
E
Editor level (C456) 688 G
Elapsed-hour meter (C00178) 641 General data 222
E-mail to Lenze 879 gotolink parameter.fm
Emergency 261 c129 174
Encoder evaluation 211 c130 174
Encoder evaluation procedure (C00496) 693 c131 174
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 871

Index
c133 174 Imax in generator mode (C00023) 613

C173 173, 176 Imax in motor mode (C00022) 613
C174 173, 176 Imax/M controller gain (C00073) 619
c175 175, 176 Imax/M controller reset time (C00074) 619
C2 67 Info (C205) 645
C242 43
Insert options for copied elements 485
C5 42
Inserting complete interconnection from reference
c572 173
project 493
C574 173, 176
Inserting copied elements 485
C7 43
Inserting FB interconnection from reference project
C806 43
493
Integrated error detection 259
H
Internal Commands (C302) 651
Heartbeat protocol 260
Internal control signals (C00138) 630
Heatsink temperature (C00061) 617
Holding brake 335
J
Activation time (C02593) 849
Jerk limitation 437
Operating mode (C02580) 847
Setting (C02582) 848
Speed thresholds (C02581) 847
K
Status (C02607) 850 Keypad
Time system (C02589) 849 Default parameters (C00466) 688
Homing 427 Default welcome screen (C00467) 688
STOP key function (C00469) 689
HW version (C210) 645
Time-out - welcome screen (C00465) 688
I Keypad analog values (C00728) 782
Keypad digital values (C00727) 781
I-1000 266
Keypad LCD display 290
I-1001 266
Kp position controller (C00254) 649
I-1003 267
I-1005 268
L
I-1006 269
L_Absolut 497
I-1014 269
L_Absolute_1 497
I-1017 270
L_Absolute_2 497
I-1018 270
L_AddSub 498
I-1200 271
L_AddSub_1 498
I-1201 272
L_AnalogSwitch 499
I-1400 274
L_AnalogSwitch_1 499
I-1401 275
I-1402 276
I-1600 277
I-1601 277
I-1602 278
L_And 500
I-1800 279
L_And_1 500
I-1801 281
L_And_2 500
I-1802 282
L_And_3 500
I-1A00 283
L_And5 501
I-1A01 283
L_And5_1 501
I-1A02 284
L_And5_2 501
ICM_DiagnosticCounter (C922) 820
L_Arithmetik 502
ICOM error number (C296) 651
L_Arithmetik 3-5
Identifier 228
Fct. (C00650) 731
Identifier assignment 228
L_Arithmetik_1 502
Identifiers of the parameter data objects 247
Function (C00338) 654
Identifiers of the process data objects 237
L_Arithmetik_2 502
Identity object (I-1018) 270
872 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Index
Function (C00339) 654 L_Counter_1 518

L_Arithmetik_3 502 L_Counter_2 518
L_Arithmetik_4 502 L_Counter_3 518
L_Arithmetik_5 502 L_DFlipFlop 520
L_ArithmetikPhi 503 L_DFlipFlop_1 520
L_ArithmetikPhi 1-3 L_DFlipFlop_2 520
Function (C01010) 823 L_DigitalDelay 522
L_ArithmetikPhi_1 503 L_DigitalDelay 2,3 delay (C00721) 780
L_ArithmetikPhi_2 503 L_DigitalDelay_1 522
L_ArithmetikPhi_3 503 L_DigitalDelay_1 delay (C00720) 780
L_Compare 504 L_DigitalDelay_2 522
L_Compare 4-5 L_DigitalDelay_3 522
Fct. (C00693) 735 L_DigitalLogic 524
Hysteresis (C00694) 735 L_DigitalLogic_1 524
Window (C00695) 736 Fct. (C00820) 784
L_Compare_1 504 Truth table (C00821) 785
Fct. (C00680) 733 L_DigitalLogic_2 524
Hysteresis (C00681) 733 Function (C00822) 785
Window (C00682) 734 Truth table (C00823) 785
L_Compare_2 504 L_DigitalLogic5 526
Fct. (C00685) 734 L_DigitalLogic5_1 526
Hysteresis (C00686) 734 Function (C00824) 786
Window (C00687) 734 Truth table (C00825) 786
L_Compare_3 504 L_DigitalLogic5_2 526
Fct. (C00690) 734 Function (C00826) 787
Hysteresis (C00691) 735 Truth table (C00827) 787
Window (C00692) 735
L_DT1 528
L_Compare_4 504
L_DT1_1 528
L_Compare_5 504 DelayTime (C00251) 649
L_ComparePhi 509 Gain (C00252) 649
Function (C01670) 845 Sensitivity (C00253) 649
Hysteresis (C01671) 845 L_GainOffsetP 1-3
Window (C01672) 845 Parameter (C00677) 732
L_ComparePhi_1 509 L_GainOffsetPhiP 1-2
L_ComparePhi_2 509 Parameter (C00678) 733
L_ComparePhi_3 509 L_JogCtrlEdgeDetect (C00488) 692
L_ComparePhi_4 509 L_Limit 529
L_ComparePhi_5 509 L_Limit 1-2 Min/Max (C00630) 728
L_ConvBitsToWord 514 L_Limit_1 529
L_ConvBitsToWord_1 514 L_Limit_2 529
L_ConvBitsToWord_2 514 L_LimitPhi 1-3 Min/Max (C00631) 729
L_ConvBitsToWord_3 514 L_MckCtrlInterface 530
L_ConvDIntToWords 515 L_MckCtrlInterface_1 530
L_ConvDIntToWords_1 515 L_MckStateInterface 535
L_ConvDIntToWords_2 515 L_MckStateInterface_1 535
L_ConvDIntToWords_3 515 L_MPot 537
L_ConvWordsToDInt 516 L_MPot_1 537
L_ConvWordsToDInt_1 516 Acceleration time (C00802) 782
L_ConvWordsToDInt_2 516 Deceleration time (C00803) 782
L_ConvWordsToDInt_3 516 Inactive function (C00804) 783
L_ConvWordToBits 517 Init fct. (C00805) 783
L_ConvWordToBits_1 517 Lower limit (C00801) 782
L_ConvWordToBits_2 517 Upper limit (C00800) 782
L_ConvWordToBits_3 517 Use (C00806) 783
L_Counter 518 L_MulDiv 541
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 873

Index
L_MulDiv_1 541 L_Or5_2 560

Parameter (C00699) 736 L_PCTRL 566
L_MulDiv_2 541 L_PCTRL_1 566
Parameter (C00679) 733 Acceleration time (C00227) 646
L_Mux 542 Acceleration time influence (C00243) 648
L_Mux_1 542 Deceleration time (C00228) 646
L_Negation 543 Deceleration time influence (C00244) 648
L_Negation_1 543 Kd (C00224) 645
L_Negation_2 543 MaxLimit (C00225) 646
MinLimit (C00226) 646
L_NLim_1 Max.SkipFrq. (C00807) 783
Operating mode (C00242) 648
L_NLim_1 Min.SkipFrq. (C00808) 784
Operating range (C00231) 646
L_NLim_2 Max.SkipFrq. (C00809) 784
PID output value (C00245) 648
L_NLim_2 Min.SkipFrq. (C00810) 784 Root function (C00233) 647
L_Not 544 Tn (C00223) 645
L_Not_1 544 Vp (C00222) 645
L_Not_2 544 L_PhaseIntK 561
L_Not_3 544 Compare (C01151) 826
L_Not_4 544 Function (C01150) 826
L_Not_5 544 L_PhaseIntK_1 561
L_Not_6 544 L_PhaseIntK_2 561
L_Not_7 544 L_PT1 573
L_Nset 545 L_PT1 2-3
L_NSet_1 545 DelayTime (C00250) 649
Additional value output (C00639) 731 L_PT1_1 573
Blocking zone output (C00637) 730 Time constant (C00249) 648
Hyst. NSet reached (C00241) 647 L_PT1_2 573
Max.SkipFrq. (C00632) 729 L_PT1_3 573
nMaxLimit (C00635) 730 L_RLQ 574
nMinLimit (C00636) 730 L_RLQ_1 574
nNOut_a (C00640) 731
L_RSFlipFlop 575
Ramp rounding output (C00638) 731
L_RSFlipFlop_1 575
wState (C00634) 730
L_RSFlipFlop_2 575
L_NSet_1 Min.SkipFrq. (C00633) 729
L_SampleHold 576
L_OffsetGainP 555
L_SampleHold_1 576
L_OffsetGainP_1 555
L_SampleHold_2 576
Gain (C00670) 731
Offset (C00696) 736 L_SignalMonitor_a 577
L_OffsetGainP_2 555 L_SignalMonitor_a offset/gain (C00413) 682
Gain (C00671) 732 L_SignalMonitor_a par. (C00410) 664
Offset (C00697) 736 L_SignalMonitor_b 579
L_OffsetGainP_3 555 Inversion (C00412) 682
Gain (C00672) 732 L_SignalMonitor_b par. (C00411) 670
Offset (C00698) 736 L_Transient 581
L_OffsetGainPhiP 557 L_Transient 1-4
L_OffsetGainPhiP 1-2 Function (C01140) 825
Gain (C00674) 732 L_Transient 1-4 pulse duration (C01141) 825
Offset (C00673) 732 L_Transient_1 581
L_OffsetGainPhiP_1 557 L_Transient_2 581
L_OffsetGainPhiP_2 557 L_Transient_3 581
L_Or 559 L_Transient_4 581
L_Or_1 559 LA_NCtrl 368
L_Or_2 559 Analog connection list (C00700) 737
L_Or_3 559 Digital connection list (C00701) 744
L_Or5 560 LA_NCtrl_Out
L_Or5_1 560 Analog signal list (C705) 757
874 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Index
LA_NCtrl_Out digital signal list (C706) 757 LS_PulseGenerator (C00400) 662

LA_TabPos 410 LS_SetError 312
Analog connection list (C00710) 757 LS_SetError_1 312
Connection list phi (C712) 779 LS_SetError_2 312
Digital connection list (C00711) 765 LS_SetError_x
LA_TabPos_Out Error number (C00161) 634
Analog signal list (C715) 779
Digital signal list (C716) 779 M
Signal list phi (C717) 780 Main program runtime (C00321) 653
Layout of the safety instructions 21 Mains voltage (C00173) 640
LCD display (keypad) 290 Max. no. of AutoFailReset procedures (C00186) 642
LED status displays 55 Maximum torque (C00057) 617
Logbook - analog elements (C00164) 637 MCI input words (C00876) 818
Logbook - binary elements (C00163) 635 MCI output words (C00877) 819
Logbook access index (C171) 640 MCI_InOut
Logbook data (C167) 639 Inversion (C00890) 819
Logbook setting (C00169) 640 MCK
LP_CanIn mapping (C00409) 663 Acceleration/deceleration times (C02610) 850
LP_CanIn mapping selection (C00408) 663 Act. pos. profile number (C01242) 839
LP_CanIn1 ... LP_CanIn3 241 Control word (C01240) 836
LP_CanOut1 ... LP_CanOut3 243 Current operating mode (C01243) 839
LP_MciIn 245 Follower accelerations (C01237) 835
LP_MciOut 245 Follower speeds (C01236) 834
LS_AnalogIn1 Follower S-ramp times (C01238) 835
PT1 time constant (C00440) 685 Interpolator cycle - PosFollower (C01239) 835
Limitations (C02611) 851
LS_AnalogInput 182
Manual jog accelerations (C01232) 833
LS_AnalogOutput 186
Manual jog breakpoints (C01234) 834
LS_Brake 336
Manual jog setting (C01230) 833
LS_DataAccess Manual jog speeds (C01231) 833
Activation (C313) 652 Manual jog S-ramp time (C01233) 834
Address access (C314) 652 Manual jog waiting times (C01235) 834
LS_DigitalInput 190 Max. distance to be traversed (C01213) 828
LS_DigitalOutput 200 PosFollower setting (C01218) 829
LS_DisFree 584 Position limiting values (C01229) 832
LS_DisFree (C00481) 691 Ref accelerations (C01225) 831
LS_DisFree_a 585 Ref mode (C01221) 830
LS_DisFree_a (C00482) 691 Ref positions (C01227) 832
LS_DisFree_b 586 Ref sequence profile (C01228) 832
Ref speeds (C01224) 831
LS_DisFree_b (C00480) 691
Ref S-ramp time (C01226) 831
LS_DisFree_p (C00483) 691
Ref waiting time mode 14/15 (C01223) 831
LS_DriveInterface 70
Ref. M limit mode 14/15 (C01222) 830
LS_MotionControlKernel 587 Resp. MCK error (C00595) 701
LS_MotorInterface 163 Speed follower setting (C01219) 830
LS_ParFix 591 Status word (C01241) 838
LS_ParFree 592 Stop accelerations (C01251) 840
LS_ParFree (C00471) 689 Stop S-ramp times (C01252) 840
LS_ParFree_a 593 Target position detection (C01244) 840
LS_ParFree_a (C00472) 690 Target position detection (C01245) 840
LS_ParFree_b 594 MCK change of operating mode with profile no.
LS_ParFree_b (C00470) 689 (C01298) 841
LS_ParFree_p (C00474) 690 MCK control word 415
LS_ParFree_v 595 MCKI
MCKInterface status (C01299) 842
LS_ParFree_v (C00473) 690
LS_PulseGenerator 596
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 875

Index
MCTRL Port block LP_MciOut 245

Actual speed value (C00051) 616 Port blocks LP_CanIn1 ... LP_CanIn3 241
Speed setpoint (C00050) 616 Port blocks LP_CanOut1 ... LP_CanOut3 243
Moment of inertia (C00273) 650 Position encoder selection (C00490) 692
Monitoring 295 Power section ID (C00093) 623
Motor cable cross-section (C00916) 820 Power-on time meter (C00179) 642
Motor cable length (C00915) 820 Pre-defined error field (I-1003) 267
Motor cable resistance (C00917) 820 Printing the interconnection 488
Motor control 83 Process data objects, cyclic 236
Motor cosine phi (C00091) 623 Process data objects, event-controlled 237
Motor current (C00054) 616 Process data objects, identifiers 237
Motor holding brake 335 Processing time 223
Motor magnetising current (C00095) 623 Producer heartbeat time (I-1017) 270
Motor magnetising inductance (C00092) 623 Product type code (C00203) 644
Motor overload threshold (I²xt) (C00120) 627 Production date (C206) 645
Motor parameter identification is active 59 Profile data
Motor phase failure threshold (C00599) 702 Acceleration (C01303) 843
Motor rotor resistance (C00082) 621 Deceleration (C01304) 843
Motor rotor time constant (C00083) 621 Final speed (C01305) 843
Motor stator leakage inductance (C00085) 622 Position (C01301) 842
Motor stator resistance (C00084) 621 Positioning mode (C01300) 842
Motor voltage (C00052) 616 Sequence profile (C01307) 844
Speed (C01302) 843
N S-ramp time (C01306) 844
Nact filter time constant (C00497) 693

R
Network management (NMT) 232
Ramp rounding main setpoint (C00134) 628
Node address (node ID) 227
Rated brake resistor power (C00130) 627
Number of encoder increments (C00420) 682
Rated device current (C00098) 623
O Rated motor current (C00088) 622
Rated motor frequency (C00089) 622
Optimise response to setpoint changes 115, 124
Rated motor power (C00081) 621
Original application|Control source (C00008) 609
Rated motor speed (C00087) 622
Oscill. damping - field weakening (C00236) 647
Rated motor torque (C00097) 623
Oscillation damping influence (C00234) 647
Rated motor voltage (C00090) 622
Output frequency (C00058) 617
RCOM error counter (C290) 651
Override point of field weakening (C00080) 621
Reduced brake chopper threshold (C00174) 641
OxI
Current (C00437) 684 Reference project 493
OxU Reference setting 427
Voltage (C00436) 684 Reset of error message 301
OxU/I Resp. LS_SetError_x (C00581) 698
Gain (C00434) 684 Resp. to brake resist. overtemp. (C00574) 697
Input value (C00439) 685 Resp. to CAN bus connection (C00592) 699
Offset (C00435) 684 Resp. to CANx_IN monitoring (C00593) 700
Resp. to communication error with MCI (C01501) 844
P Resp. to control word error (C00594) 700
Parameterisable function blocks 445 Resp. to controller limitations (C00570) 696
PartitionOffset (C308) 652 Resp. to DC-bus voltage (C00600) 702
PartitionSel (C309) 652 Resp. to device overload (Ixt) (C00604) 703
PartitionValue (C310) 652 Resp. to earth fault (C00602) 703
Password1 (C304) 652 Resp. to encoder wire breakage (C00586) 699
Password2 (C305) 652 Resp. to fan failure (C00566) 695
PDO mapping 240 Resp. to heatsink temp. > shutdown temp. -5°C
Port block LP_MciIn 245 (C00582) 698
876 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Index
Resp. to mains phase failure (C00565) 695 Setpoint arithmetic (C00190) 643
Resp. to max. speed at switch. freq. (C00588) 699 Setpoint precontrol filtering (C00275) 651
Resp. to max. speed reached (C00607) 703 Setting the baud rate 225
Resp. to maximum current (C00609) 704 Setting the error response 296
Resp. to maximum torque (C00608) 703 Setting the node address 225
Resp. to motor overload (I²xt) (C00606) 703 Short overview of error messages 303
Resp. to motor overtemp. PTC (C00585) 698 Signal source assignment 744
Resp. to motor phase failure (C00597) 701 Signal type entry 448
Resp. to open circuit AINx (C00598) 702 Slip comp. (C00021) 612
Resp. to peak current (C00569) 696 SLVC
Resp. to speed controller limited (C00567) 696 Cross-current controller gain (C00986) 822
Resp. to speed monitoring (C00579) 697 Field controller gain (C00985) 822
Resp. to switching frequency reduction (C00590) 699 Tn torque controller (C265) 650
Resp. too frequent AutoFailReset (C00189) 643 Smooth start-up and quick stop of the drive 422
Response for brake resistor control (C00175) 641 Speed encoder selection (C00495) 692
RPDO1 communication parameter (I-1400) 274 Speed limitation (C00909) 820
RPDO1 mapping parameter (I-1600) 277 S-ramp time PT1 (C00182) 642
RPDO2 communication parameter (I-1401) 275 Status - brake output BD (C00117) 626
RPDO2 mapping parameter (I-1601) 277 Status displays 55
RPDO3 communication parameter (I-1402) 276 Status of last device command (C00003) 607
RPDO3 mapping parameter (I-1602) 278 Status transitions 231
Running time (C00180) 642 Status word (C00150) 631
Runtime measurement (C311) 652 Status word 2 (C00155) 632
Status-determining error (C00168) 639
S Stuff-bit error 259
Safety instructions 21 Switching cycles (C00177) 641
SC Switching freq. reduct. (temp.) (C00144) 631
Depth of current setpoint filter (C00272) 650 Switching frequency (C00018) 612
Field precontrol (C00576) 697 Sync correction increments (C01124) 825
Filter time const. DC detect. (C00280) 651 Sync cycle time setpoint (C01121) 824
Freq. current setpoint filter (C00270) 650 Sync phase position (C01122) 824
Max. acceleration change (C00274) 650 Sync signal source (C01120) 824
max. output voltage (C00276) 651 Sync window (C01123) 824
Settings (C00079) 620
Synchronisation of process data objects 237
Tdn speed controller (C00072) 619
SYS_call table (C458) 688
Tn field controller (C00078) 620
System blocks 584
Tn field weakening controller (C00578) 697
Vp field controller (C00077) 620 System bus 219
Vp field weakening controller (C00577) 697 System error messages 298
Width of current setpoint filter (C00271) 650 SystemFail-Adr (C315) 652
Scaling of physical units 448 SystemFail-Info (C316) 652
SDO1 server parameter (I-1200) 271
SDO2 server parameter (I-1201) 272 T
Select control mode (C00007) 609 Task selection 452
Select motor control (C00006) 608 Technology applications 319
Select. of BU oscillos. channels (C750) 782 Thermal capacity of brake resistor (C00131) 627
Serial number (C00204) 644 Thermal motor load (I²xt) (C00066) 618
Service code - clamp threshold (C1763) 846 Ti current controller (C00076) 620
Service code - difference threshold UG (C1765) 846 Ti speed controller (C00071) 619
Service code (C468) 688 Torque (C00056) 617
Service code inverter charact. (C1751) 846 Torque feedforward control 115, 124
Service par. - clamp time (C1764) 846 TPDO1 communication parameter (I-1800) 279
Service Par. TCR factor (C1755) 846 TPDO1 mapping parameter (I-1A00) 283
Service Par. TCR function (C1752) 846 TPDO2 communication parameter (I-1801) 281
TPDO2 mapping parameter (I-1A01) 283
Firmware 02.00 - DMS EN 3.0 - 05/2009 L 877

Index
TPDO3 communication parameter (I-1802) 282

TPDO3 mapping parameter (I-1A02) 284
Transmission mode CAN Rx PDOs (C00323) 653
Transmission mode CAN TxPDOs (C00322) 653
Transmission type 235
U
User data 229, 248
User menu (C00517) 694
V
VFC
Limitation V/f +encoder (C00971) 821
Ti V/f +encoder (C00973) 821
Time const. - slip compens. (C00966) 821
V/f base frequency (C00015) 611
Vmin boost (C00016) 611
Vp V/f +encoder (C00972) 821
Vp current controller (C00075) 619
Vp speed controller (C00070) 618
W
WatchdogTimeMax (C317) 653
878 L Firmware 02.00 - DMS EN 3.0 - 05/2009

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our product.
If you have suggestions for improvement, please e-mail us to:
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Thank you for your support.

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EDS84AVHCxx 13292591 EN 3.0 TD06

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Lenze SW 8400 Parameterisation

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Lenze SW 8400 Parameterisation

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EDS84AVHCxx

13292591 L-force Drives

8400 HighLine C Inverter Drives

Overview of technical documentation for Inverter Drives 8400

Project planning, selection & ordering Legend:

2 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 3

4 Drive control (DCTRL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

4 L Firmware 02.00 - DMS EN 3.0 - 05/2009

5 Motor control (MCTRL). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 5

6 I/O terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177

7 Encoder evaluation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

6 L Firmware 02.00 - DMS EN 3.0 - 05/2009

8 System bus "CAN on board" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 7

9 Error management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285

10 Fieldbus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316

8 L Firmware 02.00 - DMS EN 3.0 - 05/2009

11 Technology applications (TAs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319

12 Basic drive functions in the MCK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 9

13 TA "Actuating drive – speed" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349

10 L Firmware 02.00 - DMS EN 3.0 - 05/2009

13.2.7.28 bOverLoadActive / bUnderLoadActive . . . . . . . . . . . . . . . . . . . . . . . . . . . 387

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 11

14 TA "Table positioning" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391

12 L Firmware 02.00 - DMS EN 3.0 - 05/2009

15 Working with the FB Editor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 13

15.6 Printing the interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488

14 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16 Function library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 494

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 15

16.1.26 L_Negation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543

16 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.2.4 LS_MotionControlKernel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 587

17 Parameter reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 598

Your opinion is important to us. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 879

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 17

1 About this documentation

This software manual contains information on the parameterisation of the

Type Type designation From firmware version

1.1 Document history

18 L Firmware 02.00 - DMS EN 3.0 - 05/2009

1.2 Conventions used

1.3 Terminology used

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 19

20 L Firmware 02.00 - DMS EN 3.0 - 05/2009

1.4 Definition of the notes used

 Pictograph and signal word!

Pictograph Signal word Meaning

Pictograph Signal word Meaning

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 21

22 L Firmware 02.00 - DMS EN 3.0 - 05/2009

2.1 Functions of the frequency inverter

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 23

2.2 Device architecture

24 L Firmware 02.00 - DMS EN 3.0 - 05/2009

2.3 Communicating with the controller

The following interfaces/communication modules can be used to build up communication

2.3.1 Going online via diagnostic adapter

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 How to build up an online connection via the diagnostic adapter: