R911266833 - 01-AC Main Spindle Drives With SERCOS Interface

AC Main Spindle Drives
with SERCOS interface

Applications
DOK-DIAX01-MAIN****SER-ANW1-EN-P • 04.95
266833
About this documentation
Title AC Main Spindle Drives with SERCOS Interface
Type of documentation Applications
Document no. 209-0042-4114-01 EN
Replaces 209-0042-4114-00 EN
Internal file reference Mappe 7b
The purpose of this

documentation This document serves
• as an aid in commissioning an AC main spindle drive with SERCOS
interface
• as a summary of all relevant features for AC main spindle drives with
SERCOS interface
• to depict the functions integrated into the drive of an INDRAMAT AC main
spindle drive
This document
• references software versions HASE 0v1.6 and HASE 3v0.6
• refers to the SERCOS manual, edition dated January 1994. This manual is
absolutely necessary when generating the control program of the NC
control unit! (Reference source: Fördergemeinschaft SERCOS Interface
e.V., Im Mühlenfeld 28, 53123 Bonn, Germany, telephone
no. 0049/228/646670.
Copyright © INDRAMAT GmbH, 1992

Copying this document, and giving it to others and the use or communication
of the contents thereof without express authority, are forbidden. Offenders are
liable for the payment of damages. All rights are reserved in the event of the
grant of a patent or the registration of a utility model or design (DIN 34-1).
Published by INDRAMAT GmbH, Dept. ENA (MR)
Validity All rights are reserved with respect to the content of this documentation and
the availability of the product.
HSP mit SERCOS • 209-0042-4114-01 • 04.95 •

A Description of Main Drives with SERCOS
with RAC / KDA / TDA
Status: SERCOS-Update October/95
Software: HASE0v1.6 / HASE3v0.6
Page: 1 / 67
INDRAMAT/ENH HSP mit SERCOSinterf.DOC 209-0042-4114-01/4.95
Table of Contents
1 OVERVIEW..................................................................................................................................................................3
2 DIFFERENCES TO UNITS WITH ANALOGUE INTERFACE................................................................................5
3 CONNECTIONS...........................................................................................................................................................5
3.1 S IGNAL OUTPUTS X2...................................................................................................................................................5
3.2 C ONTROL INPUTS X2..................................................................................................................................................5
3.3 F IBER OPTICS CONNECTION .........................................................................................................................................6
4 LCD ...............................................................................................................................................................................7
5 COMMISSIONING ......................................................................................................................................................8
6 PARAMETERS ............................................................................................................................................................9
6.1 SERCOS CYCLE TIMES AND COMMUNICATIONS P ARAMETERS ...............................................................................10
6.2 C ONFIGURATION MODES ...........................................................................................................................................12
6.3 TELEGRAM CONFIGURATION .....................................................................................................................................13
6.4 TORQUE PARAMETERS ...............................................................................................................................................15
6.5 S PEED PARAMETERS..................................................................................................................................................16
6.6 P OSITION PARAMETERS .............................................................................................................................................18
6.7 DRIVE DIAGNOSTIC PARAMETERS..............................................................................................................................20
6.8 I.D. NUMBER LIST PARAMETER ..................................................................................................................................24
6.9 P ARAMETER FOR THE ALLOCATION OF REAL-TIME STATUS BITS ...............................................................................25
6.10 INFORMATION PARAMETER .....................................................................................................................................26
6.11 USER PARAMETER ...................................................................................................................................................28
6.11.1 Command value smoothing and command value ramps .................................................................................28
6.11.2 PI-speed controller..........................................................................................................................................29
6.11.3 Load gear parameters .....................................................................................................................................29
6.11.4 Position control parameters............................................................................................................................30
6.11.5 Function parameters .......................................................................................................................................30
6.12 MOTOR PARAMETERS ..............................................................................................................................................31
6.12.1 Non-changeable motor parameters.................................................................................................................31
6.12.2 First motor parameter set................................................................................................................................31
6.12.3 Second motor parameter set............................................................................................................................32
7 COMMANDS..............................................................................................................................................................34
7.1 S PINDLE REFERENCING AND POSITIONING ................................................................................................................34
7.2 P ARAMETER SET / GEAR SPEED CHANGE ...................................................................................................................35
7.3 DRIVE-CONTROLLED OSCILLATIONS .........................................................................................................................36
7.4 ADDITIONAL COMMANDS ..........................................................................................................................................36
8 A DESCRIPTION OF THE FUNCTIONS.................................................................................................................37
8.1 S PINDLE POSITIONING USING A MOTOR OR SPINDLE ENCODER ..................................................................................37
8.2 P OSITIONING TO HOMING SWITCH (BIT #6, PQFUNCT) ...........................................................................................37
8.2.1 Position cam standard bit #0, PQFUNCT = 0..................................................................................................38
8.2.2 Position cam special bit #0, PQFUNCT = 1 ....................................................................................................38
8.3 DRIVE-CONTROLLED HOMING ...................................................................................................................................39
8.4 GEAR SPEED CHANGE ................................................................................................................................................40
8.5 WINDING CHANGE .....................................................................................................................................................40
8.6 MASTER/SLAVE OPERATION .....................................................................................................................................41
9 ATTACHMENT..........................................................................................................................................................42
9.1 AN OVERVIEW OF THE FUNCTION PARAMETERS ........................................................................................................42
9.2 OVERVIEW OF THE RAC / KDA / TDA PARAMETERS ..............................................................................................45
9.3 P ARAMETER LIST OVERVIEW ....................................................................................................................................58
9.4 B EISPIEL AUSDRUCK DER ANTRIEBS-PARAMETER....................................................................................................62
9.5 EXAMPLE: P ARAMETER LIST AS ùù4 .........................................................................................................................67
Page: 2 / 67
1 Overview
This description is intended to clarify how main drives with SERCOS interface function. It addresses those readers
already familiar with the conventional Indramat main spindle drives. For those unfamiliar with the conventional
drives, we recommend that the applications descriptions found in document no 209-0041-4109-01 be read first.
All Indramat AC main spindle drives are also available with SERCOS. The main spindle units are available in
versions -L00 and -LP0.
The software used in all AS modules is the same for all drives.
HAuptantrieb (main drive) SERCOS = HASExVx.x.
Main drive types Software version AS-module n o. AS-module no.

main drive servo
TDA1.1 AS 74/xxx-xxx AS 76/xxx-xxx
KDA3.2 AS 34/xxx-xxx AS 36/xxx-xxx
RAC3.1 HASE0v1.6 _ AS 64/xxx-xxx AS 66/xxx-xxx
RAC2.2 AS 54/xxx-xxx AS 56/xxx-xxx
TDA1.3 AS 174/xxx-xxx AS 176/xxx-xxx

KDA3.3 AS 134/xxx-xxx AS 136/xxx-xxx
RAC3.5 HASE3v0.6_ AS 164/xxx-xxx AS 166/xxx-xxx
_ status: February 1995
The functions of HASE0v1.6 and HASE3v0.6 differ only slightly. These differences are described in the following
sections.
The user-specific parameters in SERCOS are exclusively the concern of the user (handling via the control unit). This
means that Indramat produces no customized AS modules.
The SERCOS version basically offers the same functions as the already familiar digital main drives. The position
control capability in the drive has been added. It makes it possible to cyclically input position command values to a
drive now functioning as a C or rotary axis.
This means that the following basic functions are present:
· torque control
· speed control
· position control, in particular for the C axis
· spindle positioning with encoder or reference cams
· gear speed changes with a two-step gear via the drive controller
· drive-activated coasting for gear speed changes
· winding changes
· four-step parameter set changeover
Page: 3 / 67
The cycle times for the drive equal 500 ms for the speed and 1 ms for position control. The power output element is
clocked with 2.0 kHz (exceptions: the RAC4.1/RAC4.3 can be switched with 4.0 kHz, and the RAC3.5 with 8/4
kHz).
Page: 4 / 67
2 Differences to units with analogue interface
The basic differences between units with SERCOS and those with analogue interface are described below:
· The built-in display is only used for diagnostic purposes and no longer for parametrization because this is
exclusively performed via the SERCOS required data channel. The arrow keys, however, can still be used to
select the measured values and place them on the analogue outputs.
· If the shift switch is on the left, then the software designation is displayed without impairing the function of the
unit. In other words, the motor continues to run!
· In place of the analogue or digital command value card, SERCOS interface DSH2 has been inserted into slot X4.
· An especially fitted CDR2 is used. It can be identified by connector X7 with three rows.
3 Connections
3.1 Signal outputs X2

Most of the inputs on connector X2 have no function because all the control commands are transmitted via the
SERCOS ring. Analogue ouputs M and N are still active, however.
Some of the signal outputs are assigned to the bits of class 3 diagnostics. They have the following definition:
Pin Definition class 3 diagnostics

bit
4 1 : READY (drive status, bit 15) -
5 1:n =n 0
actual command
6 1:n =0 1
actual
7 1 : in position (not in op. mode pos. control) 6
8 0 : 90%load -
9 0 : TEMPWARN (class 2 diagnostics, bit 1 or 2) -
10 0:n >n 5
command limit
13 0 : P >P 7
x
3.2 Control inputs X2

The following inputs at connector X2 are still active and need to be interconnected:
24Vext and 0Vext. If the outputs are not needed, we recommend interconnecting with 24Vint
and 0Vint.
AS start inhibit only with KDA and TDA
E-stop only with RAC
Page: 5 / 67
SPEED 1,SPEED 2,
SPEED CHANGE 1, for gear and winding changes
SPEED CHANGE 2
All other connector assignments, especially in the power on/off logic in RACs, are unchanged.
3.3 Fiber optics connection

The SERCOS interface in the KDA and TDA is mounted vertically and is accessible from the front. In the RACs, it
can be accessed from below. In addition to the fiber optic connections RX and TX, the SERCOS interface has two
light-emitting diodes and the two coding switches HIGH und LOW, at which drive addresses of 01 to 99 must be set.
If everything is running properly, then the green LED should light up. If there is no input signal, then the red LED is
lit up. The green LED flashes as long as no standard telegrams are received.
The connections are not labelled in the older units. Here is how to find oneÕs way:
The HIGH switch for the tens place of the drive address is situated closer to the LEDs than the LOW switch for the
unitÕs place.
The TX connection is closer to the LEDs than the RX connection.
The S1 switch on the SERCOS interface card can be reversed, as per inscription, to raise the level of the TX signal.
This is necessary if the trailing unit does not recognize the telegrams (red LED is lit up on the trailing unit). ãLowÒ
signifies a low signal level, while ãhighÒ signifies a high signal level. (An S2 jumper can be inserted on older DSH2
cards to achieve a higher signal level.)
Handling fiber optic cables: see applications description in doc. no. 209-0090-4101-01.
Page: 6 / 67
4 LCD
The current communications phase is displayed while communications is being set up. The regular diagnostics,
however, appear in phase 4.
The following messages have been added to a unit with SERCOS:
INIT The drive initializes after being activated. Communications with the drive is not possible as
long as this message is on the display.
INIT 0 The drive is in SERCOS communications phase 0.
NO DSH There is no DSH2 SERCOS communications card in slot X12.
NO DSH2 ãPosition controlÒ has been selected in an operating mode, but a

SERCOS communications card with DLMxxx software is in place. Only torque and speed
control are possible with DLMxxx software.
DSHFAULT The DSH2 SERCOS communications card in slot X12 is defective.
NO TORQ Drive is torque-free. Cause: bit #14 from master control word = 0.
The following has been added to the position control mode:
POS=CMD drive in position control, following distance < position window
POS*CMD drive in position control, following distance > position window
DEV>MAX excessive position deviation (following distance > monitoring window)
The diagnostics texts can also be read from the required data channel in parameter Diagnostics (S-0-0095).
Page: 7 / 67
5 Commissioning
The drive cannot function if it is not attached to a SERCOS ring.
With SYSDA, IndramatÕs SERCOS PC interface, commissioning without a control unit is possible.
In addition to general functions for parameter administration and service, SYSDA also offers extensive initial start-
up functions . Starting with the configuration of the SERCOS fiber optic cable ring, the user is taken step-by-step
through parametrization to a simple test start-up of the drive.
Parameter administration offers many possiblities with respect to filing, copying and the documentation of drive
parameters.
The hand-held terminal used in conjunction with SYSDA makes it possible to operate the drive in jog mode.
To further support the commissioning process, analogue outputs M and N are also available on the drive. These are
configured in the conventional manner with the use of the data entry keyboard.
The speed signal at the analogue output is always 10V = maximum speed of the motor (S-0-0113).
Page: 8 / 67
6 Parameters
The SERCOS interface works in accordance with the SERCOS specification. While, on the one hand, the SERCOS
specification clearly recognizes more parameters, functions and physical units than have been implemented in the
drive, there are, on the other, additional manufacturer-specific parameters for functions that are not generally defined.
As a result, except for the SERCOS communications parameters, most of the parameters existing in the drive are
explained in the following sections.
The user of the ãstandard unitsÒ should be familar with most of the parameters. They have now, however, received
different numbers and some have new names to correspond to the SERCOS standard.
Those parameters not mentioned either precisely conform to SERCOS, or have not been changed with respect to
"normal" units.
A number of parameters have four options. These options can be selected. A parameter exists, in that case, not only
under the number S-0-xxxx, but also under S-1-xxxx, S-2-xxxx and S-3-xxxx. These optional parameters essentially
correspond to parameter sets P,Q, R and S.
Example:
parameter set 0
see SERCOS
parameter name in
manual
German
page 5-69
S-0-0036 Velocity command value SERCOS page 5-69

I.D. number
SERCOS
parameter
The parameters with options are identified in the following sections with an asterisk (*). There is also anÒ xÒ in the
second place, where there could be a 0, 1, 2 or 3! Extreme caution is necessary when switching one of these
parameters because it is always necessary to first ascertain whether the relevant parameter set is even active.
The page numbers following the parameter names reference the German edition of the SERCOS specification
ãSERCOS interfaceÒ of the Fšrdergemeinschaft SERCOS Interface e. V., Pelzstra§e 5, Alfter / Bonn, Germany.
Most of the parameters (see attachment) are stored in the EEPROM of the AS module. This means they can be
copied to a replacement unit. There is also a checksum in the EEPROM. It must as well be changed when a
parameter is changed. It is essential that the unit not be shutdown during a parameter change because it is possible
that the checksum has not yet been correctly set and and then it may be necessary to reenter all of the parameters!
The control unit must secure the parameters compiled in List of operating data to be secured (S-0-0192) so that the
parameters can be reloaded onto the drive in the event they are lost!
Page: 9 / 67
About the number notation in the following:
%0000 0000 0000 0000 A leading per cent sign designates a binary number.
$0000 0000 A leading dollar sign designates a hexadecimal number.
#0 A leading pound sign designates a bit number. The number #0 equals the lowest value bit.
6.1 SERCOS Cycle Times and Communications Parameters
S-0-0001 NC cycle time (TNcyc) SERCOS Page 5-15

Is transmitted to the drive by the control unit.
Valid values:
with HASE3v0.6: 1000 ms to 65000 ms (note limitations)
+ Limitation 1: with1000 ms only incremental spindle encoder possible!
+ Limitation 2: position control only possible with 1000 ms, 2000 ms und 4000 ms!
with HASE0v1.6: 2000 ms bis 65000 ms (note limitations)
+ Limitation: position control only possible with 2000 ms and 4000 ms!
+ Special feature: always set the same value in S-0-0001 and S-0-0002
S-0-0002 SERCOS cycle time (TScyc) SERCOS Page 5-15

Is transmitted to the drive by the control unit.
+ Special feature: always set the same value in S-0-0002 and S-0-0001
S-0-0003 Minimum AT transmit starting time (T1min) SERCOS Page 5-15

Fixed, unit-specific value: 150 ms
S-0-0004 Transmit/receive transition time (TAMT) SERCOS Page 5-17

Fixed, unit-specific value: 20 ms
S-0-0005 Minimum actual acquisition time (T4min) SERCOS Page 5-16

Page: 10 / 67
Unit-specific value, is set by drive.
S-0-0005 = 175 ms If motor encoder and incremental spindle encoder are evaluated.
S-0-0005 = 250 ms If motor encoder and high-resolution spindle encoder are evaluated. (Only with
HASE3v0.6)
S-0-0006 Transmission starting time (T1) SERCOS Page 5-16

Transmitted to drive by the control unit. See SERCOS description.
S-0-0007 Actual acquisition starting time (T4) SERCOS Page 5-16

Transmitted to drive by the control unit. See SERCOS description.
S-0-0008 Command valid time (T3) SERCOS Page 5-18
Is transmitted to the drive by the control unit. See SERCOS description.
S-0-0088 Receive to receive recovery time (TMTSY) SERCOS Page 5-17

Fixed, unit-specific value = 190 ms.
S-0-0089 MDT transmit starting time (T2) SERCOS Page 5-18

S-0-0090 Command value transmit time (TMTSG) SERCOS Page 5-18

Fixed, unit-specific value = 190 ms.
S-0-0009 Beginning address in master data telegram (T2) SERCOS Page 5-19
S-0-0010 Length of master data telgram SERCOS Page 5-19

S-0-0028 Error counter MST SERCOS Page 5-30.1

A very small number should be read out here during a control (order of magnitude 10) as otherwise the risk exists
that the drive will shut itself off at some point in time.
S-0-0029 Error counter MDT SERCOS Page 5-30.1

The statement made about S-0-0028 applies analog to MDT.
S-0-0096 Slave identification SERCOS Page 5-20

The drive address is always entered here with Indramat drives.
Page: 11 / 67
6.2 Configuration modes
S-0-0032 Main operating mode SERCOS Page 5-56.1

The following operating modes can be set:
%0000 0000 0000 0000 = no operating mode defined

Internally, the drive goes into speed control. The velocity command value is internally set to 0 rpm.
%0000 0000 0000 0001 = torque control

The drive complies with the torque command value (i.d. no. S-0-80).
%0000 0000 0000 0010 = velocity control

The drive complies with the velocity command value (i.d. no. S-0-36).
%0000 0000 0000 0011 = position command with actual position value 1, with following distance
%0000 0000 0000 1011 = position command with actual position value 1, without following distance
+ Restriction: - only possible if S-0-0001 = 1000 ms, 2000 ms or 4000 ms with HASE3v0.6
- only possible if S-0-0001 = 2000 ms or 4000 ms with HASE0v1.6
The drive complies with the position command value (i.d. no. S-0-47)
%0000 0000 0000 0100 = position control with actual position value 2, with following distance
%0000 0000 0000 1100 = position control with actual position value 2, without following distance
+ Restriction: - only possible with HRI (unit LP0)

- only possible if S-0-0001 = 1000 ms, 2000 ms or 4000 ms with HASE3v0.6
- only possible if S-0-0001 = 2000 ms or 4000 ms with HASE0v1.6
The drive complies with the actual position value (i.d. no. S-0-47)
Position control loop monitoring:
A position control loop monitor is extant for position control with a second encoder. If the connection between the
motor and the second encoder should break because of a fault, and if the position command value is different from
the actual position value, then the motor will turn continuously even if the position command value is standing still.
The function of the monitor: 200 ms after the position command value is at zero, the monitor checks whether the
motor is still turning. If the motor moves more than one-half rotation, then the error message "DEV>MAX" is issued.
The monitor can be switched off with a function bit, if not wanted.
Bit #10 of P-0-1106 (FUNCT2) =0 position control loop monitoring is active

=1 position control loop monitoring shut down
S-0-0033 to S-0-0035 Secondary operation modes1 to 3 SERCOS Page 5-57

All settings as with main operating mode.
Changing over between operation modes is possible.
Page: 12 / 67
+ Note: Prior to switching into position control, the position command value must be set
to the actual position value.
with HASE0v1.6: Switching into position control is only possible when standing still.
with HASE3v0.6: Switching into position control is also possible when the drive is running.
6.3 Telegram configuration
S-0-0015 Telegram type parameter SERCOS Page 5-50

All six priority telegrams are supported. In addition, several applicable, freely configured telegrams are offered
which can be set if the last three bits = 1. Bit 3, in this case, has no significance as the i.d. number of the actual
position value must be explicitly specified.
S-0-0015 = 0 must be set, if command values are set via the required data channel (no cyclical telegram selected).
S-0-0187 Length of the configurable data set in the AT SERCOS Page 5-55
This contains the parameters which can be configured in the drive telegram. It is not possible to randomly put these
numbers together for the AT! The acceptable combinations are listed in S-0-0016.
S-0-0016 Custom amplifier telegram configuration list SERCOS Page 5-55

Only the following configurations are acceptable:
S-0-0016 = ""
= no actual value
S-0-0016 = "S-0-40, S-0-144"

= actual velocity value, signal status
S-0-0016 = "S-0-40"
= actual velocity value
S-0-0016 = "S-0-51, S-0-40, S-0-144"

= actual position value 1, actual velocity value, signal status
S-0-0016 = "S-0-51, S-0-40, S-0-84, S-0-144"

= actual position value 1, actual velocity value, actual torque value, signal status
S-0-0016 = "S-0-51, S-0-40, S-0-84"

= actual position value 1, actual velocity value, actual torque value
S-0-0016 = "S-0-51, S-0-40"

= actual position value 1, actual velocity value
S-0-0016 = "S-0-51"
Page: 13 / 67
= actual position value S-0-0016
= "S-0-53, S-0-40, S-0-84, S-0-144"
= actual position value 2, actual velocity value, actual torque value, signal status
S-0-0016 = "S-0-53, S-0-40, S-0-84"

= actual position value 2, actual velocity value, actual torque value
S-0-0016 = "S-0-53, S-0-40"

= actual position value 2, actual velocity value
S-0-0016 = "S-0-53"
= actual position value 2
S-0-0016 = "S-0-53, S-0-40, S-0-144"

= actual position value 2, actual velocity value, signal status
S-0-0016 = "S-0-51, S-0-40, S-0-84, S-0-144, S-0-189"

= actual position value 1, actual velocity value, actual torque value, signal status, following distance
Restriction: only possible with HASE3v0.6
S-0-0016 = "S-0-53, S-0-40, S-0-84, S-0-144, S-0-189"

= actual position value 2, actual velocity value, actual torque value, signal status, following distance
Restriction: only possible with HASE3v0.6
S-0-0185 Length of the configurable data record in the AT SERCOS Page 5-55
Fixed, unit-specific value: 20 bytes.
S-0-0188 List of the configurable data in the MDT SERCOS Page 5-54.1
This parameter contains the parameters which can be configured in the master data telegram. It is not possible to
randomly put these numbers together for the AT! The possible combinations are listed in S-0-0024.
S-0-0024 Configurable list of the master data telegram SERCOS Page 5-54
Only the following configurations are possible:
S-0-0024 = ""
= no command value
S-0-0024 = "S-0-80"
= torque command value
S-0-0024 = "S-0-36"
= velocity command value
S-0-0024 = "S-0-47"
= position command value
S-0-0024 = "S-0-47, S-0-36"

= position command value, velocity command value
S-0-0024 = "S-0-47, S-0-36, S-0-92"

Page: 14 / 67
= position command value, velocity command value, bipolar torque limit value
S-0-0024 = "S-0-36, S-0-80"

= velocity command value, torque command value
S-0-0186 Length of the configurable data in the MDT SERCOS Page 5-54.1
Fixed, unit-specific value: 20 bytes
6.4 Torque parameters
S-0-0080 Torque command value SERCOS Page 5-74

This parameter can only be processed by the drive in torque control mode. The value is always entered as a per cent
of the maxiumum value, which is always 100%, independent of drive and motor. What the per cent value of the rated
torque or rated power is depends on the respective motor/drive combination and the motor parameters.
100% equals the peak power specified in the output diagram with every speed.
Page: 15 / 67
S-0-0084 Torque actual value SERCOS Page 5-75
The value of this parameter equals the torque command value. The actual torque value is the torque command value
generated internally by the speed controller and limited to the valid maxiumum value. The field-oriented control
continues its processing. In other words, this is not a measured torque. Thus, the actual value of the specified torque
equals the command value.
The actual torque value transmitted in the drive telegram, can be smoothed for display purposes or can be issued
unsmoothed for control purposes.
Bit #6 of P-0-1105 (FUNCT 1) =0 smoothed torque output

=1 unsmoothed torque output (master mode)
S-0-0085 Torque polarity parameter SERCOS Page 5-76

Command and actual value should always be inverted.
Effective bit: S-0-0085 = %0000 0000 0000 0w0w 0 = always at 0
w = select 1 or 0
S-0-0086 Scaling method for torque-force data SERCOS Page 5-100

Only per cent scaling is programmed. The maxiumum value is always 100%.
Effective bit: S-0-0086 = %0000 0000 0w00 0000 0 = always at 0
w = select 1 or 0
S-0-0092 Bipolar torque limit value SERCOS Page 5-70

The value corresponds to the torque command and actual values.
The torque is always limited to this value. 100% must be programmed if no limit is wanted!
Only torque or torque and output can be percentually limited.
Bit #0 of P-0-1105 (FUNCT 1) =0 torque and output limits

=1 only torque limit
The message 90%load always refers to the relevant torque limit value. This means that it always responds just before
a torque limit.
The SERCOS message Md > Mdlimit is not supported because of the more significant message 90% load.
6.5 Speed parameters
S-0-0036 Velocity command value SERCOS Page 5-69

Always entered in rpm. The velocity command value is always internally limited precisely to the bipolar velocity
command value S-x-0091*. The motor speed can be much higher, however, if the speed relates to the load!
In contrast to non-SERCOS units, the velocity command value (and the actual value) can relate to either the motor
shaft or the spindle. If it is to relate to the spindle, then select "at the load" in scaling parameter S-0-0044. In this
case, the applicable gear ratio (S-x-0121* and S-x-0122*) is used to convert the spindle speed to the motor speed.
Page: 16 / 67
The speeds N and C, which can be read in the drive display, always reference the motor speed. S always refers to the
load speed.
The rotational direction can be inverted with the use of the velocity polarity parameter S-0-0043. Here as well, as is
the case with torque control, both command and actual values must be inverted simultaneously.
P-0-1336* Velocity command value, internal Indramat

This is the internally active command value for the motor speed as is transmitted to the speed controller. The internal
command value is picked off after the acceleration ramp. With position control, the internal velocity command value
is generated by the position controller. This value can only be read. Polarity parameters cannot affect this value.
S-0-0040 Velocity actual value SERCOS Page 5-71

If the data originates at the motor, then the motor speed is displayed here. If the data originates at the load, then the
motor speed converted using the current gear ratio is displayed here. Speed measured via an HRI, if one has been
inserted, is not displayed here.
Values obtained via a required data channel, are smoothed for a quiet display!
P-0-1306 Direct motor speed Indramat

The real motor speed can be read in this parameter for diagnostic purposes. Polarity parameters do not affect this
value.
P-0-1309 Direct spindle velocity Indramat

Real spindle speed can be read in this parameter for diagnostic purposes, if an HRI has been inserted. Polarity
parameters do not affect this value.
S-0-0043 Velocity polarity parameter SERCOS Page 5-72

Command and actual values must always be inverted, if the spindle turns in the direction opposite to that of the
motor shaft.
Effective bits: S-0-0043 = %0000 0000 0000 0w0w 0 = always at 0
w = selet 1 or 0
S-0-0044 Scaling for velocity data SERCOS Page 5-95

The unit is set with rpm and cannot be altered. Selection is possible only in terms of either motor shaft or load.
Scaling for the velocity data is always rotary, i.e., 1x10-4 rpm
Effective bits: S-0-0044 = %0000 0000 0w00 0010 0 = always at 0

1 = always at 1
w = select 1 or 0
Page: 17 / 67
S-x-0091* Bipolar velocity limit value SERCOS Page 5-70
If the gear ratio has been properly input, then the bipolar velocity command value is limited to this value so that the
spindle can never turn faster. As long as the limit responds, bit #5 of S-0-0013 (class 3 diagnostics,
ncommand>nlimit) is set.
+ Note: S-x-0091 always relates to the load. If a gear ratio has been input, then set S-x-
0091 so that the maxiumum speed of the motor (S-0-0113) is not exceeded.
S-0-0124 Zero velocity window SERCOS Page 5-73

If the actual motor speed is exceeded, then bit #1 of S-0-0013 (class 3 diagnostics, nact =0) is cleared at the moment
it is exceeded.
S-0-124 always relates to the motor, never to the velocity of the load.
S-0-0157 Velocity window SERCOS Page 5-73

The actual velocity may deviate from the externally set command value by this amount for the message nfdb=ncmd
(bit 0, class 3 diagnostics) to come. The message only comes with velocity control and drive enable.
S-0-157 always relates to the motor, never to the velocity of the load.
6.6 Position parameters

With C-axis or rotary axis position control, actual position values are transmitted to the drive which relate to either
the motor encoder or the spindle encoder. As long as it is not found when homing (or with spindle positioning), then
position control is only possible without referencing the zero impulse.
S-0-0047 Position command value SERCOS Page 5-60

The position command value is always given in degrees of an angle. The position command value is always modulo
1 rotation. Only positive command values are acceptable. The position command value relates to either the spindle or
the motor shaft, which is the spindle in frameless motors. If the position is to relate to the spindle (load), which is not
the same as the motor shaft, then it is necessary to install a second encoder. This encoder is connected to the drive
controller via an HRI. The position command value is always approached over the shortest path possible.
+ Expanded function: The cyclical position command value can be input incrementally scaled.
Bit #15 of P-0-1105 FUNCT 1 =0 waiting for position command value in 1000th degrees
range: 0,0000 .. 359.9999 degree
=1 waiting for position command value in increments
range: $0000 0000 .. $ffff ffff
Incremental scaling only relates to cyclical data! Position data accessible via required data channels is always scaled
in 1000th degrees!
P-0-1347 Position command value, internal Indramat

This is the position command value as transmitted to the position. The value is binary, 32 bit, MSB = 180 degrees.
Page: 18 / 67
S-0-0051 Actual position value 1 (motor encoder) SERCOS Page 5-62
This is the actual position of the motor shaft after application of reference offset 1 and the position polarity
parameter. The value is noted in degrees. An indirect position measurement with gear ratio is not possible! The
absolute reference to zero impulse is not established until bit #0 has been set by the drive in the actual position value
status. Prior to that, this position does not reference zero impulse.
The reference to zero impulse is established with the command drive-activated referencing (S-0-148) or command
spindle positioning (S-=-152).
S-0-0053 Actual position value 2 (external encoder) SERCOS Page 5-62

This is analog to actual position value 1, the actual position of the second encoder after application of reference offset
2 and position polarity parameter. The second encoder is connected at X5.
+ Expanded function: The cyclical actual position value 1 and actual position value 2 can be output
incrementally scaled.
Bit #14 of P-0-1105 FUNCT 1 =0 actual position value output in 1000th degrees
range: 0,0000 .. 359.9999 degrees
=1 actual position value incrementally output
range: $0000 0000 .. $ffff ffff
Incremental scaling only relates to the cyclical data! Position data which can be accessed via required data channels
must always be scaled in 1000th degrees!
P-0-1305 Direct motor position Indramat

The real motor position can be read in this parameter for diagnostic purposes. Polarity and offset parameters cannot
affect this value.
P-0-1308 Direct spindle position Indramat

The real spindle position can be read in this parameter for diagnostic purposes. An HRI must be present, however.
Polarity and offset parameters cannot affect this value.
S-0-0189 Following distance SERCOS Page 5-68.1

This is the difference between the internal position command value and the actual position value.
Scaling: degrees.
Following distance output at analog output N:

· Drive must be in position control mode (POS=CMD or POS*CMD on the display).
· Bring ãPOS xxx.xÒ onto the display with the arrow key.
· Hit key ãrightÒ.
· At this point, the following distance is output at output N in the form of a voltage value.
· Scaling: 1V = 0.56 Grad.
S-0-0055 Position polarity parameter SERCOS Page 5-63

Command and actual values must always be inverted.
Effective bits: S-0-0055 = %0000 0000 0000 ww0w 0 = always at 0
w = select 1 or 0
Page: 19 / 67
S-0-0076 Translation position data scaling factor SERCOS Page 5-90
Position data is always in modulo format. In other words, the the drive can only detect the absolute position within
one rotation.
Effective bits: S-0-0076 = %0000 0000 1w00 0010 0 = always at 0
1 = always at 1
w = select 1 or 0
S-0-0103 Modulo value SERCOS Page 5-68.1

Fixed, drive-specific value: 3600000
S-0-0079 Rotation position resolution SERCOS Page 5-93

Fixed, drive-specific value: 3600000 corresponding to recommended scaling.
The actual resolution depends on the encoder!
S-0-0115 Position encoder parameter SERCOS Page 5-150

Only bit 3 for counterclockwise rotation of the second encoder is used.
Effective bits: S-0-0115 = %0000 0000 0000 w000 0 = always at 0
w = select 1 or 0
6.7 Drive diagnostic parameters
S-0-0095 Diagnostic SERCOS Page 5-29

The same diagnostics text is stored in this parameter as is shown on the display of the drive controller. If, for
example, speed display has been switched into on the display, then the speed will also appear in the diagnostics
parameter.
S-0-0011 Class 1 diagnostics SERCOS Page 5-24

The following bits are supported:
Bit # Definition
1 drive overtemperature, shutdown
2 motor overtemperature, shutdown
4 control voltage fault (±15V, 8V, 24Vint)
5 actual error
7 overcurrent (short circuit)
8 overvoltage (mains overvoltage in RAC)
10 phase error in the power supply (RAC)
11 excessive control deviation (with position control DEV>MAX)
12 communications error
Page: 20 / 67
15 manufacturer specific error (check manufacturer class 1 diagnostics)

Bit # Definition
0 drive overload warning (only x.3/x.5-units)
1 drive overtemperature warning
2 motor overtemperature warning
Bit # Definition
0 n =n (only with drive enable)
act cmd
1 n =0
act
3 Md > Md
x
5 n n
cmd > limit
6 in position
7 P>P
x
S-0-0129 ManufacturerÕs class 1 diagnostics SERCOS Page 5-29

The following bits are defined:
Bit # Definition
0 other error see S-0-95 (diagnostics)
1 X1-FAULT error at connector X1 (only with RAC2.2, RAC2.3)
2 EARTHCON earth connection (only with RAC)
4 BLEEDER bleeder resistor overheated (only with RAC)
5 RSKFAULT unit fault (only with RAC3.1, RAC3.5)
8 DC-FAULT DC bus load fault or undervoltage (only with RAC)
Page: 21 / 67
S-0-0182 Manufacturer's class 3 diagnostics SERCOS Page 5-29.1
Bit # Definition
1 E-stop emergency stop is activated (only with RAC)
2 Disabled start inhibit is activated (only with KDA,TDA)
3 Spindle problem with spindle encoder
4 NO MAINS no three-phase mains connection (only with RAC3.1, RAC3.5)
5 90%Load see bipolar torque limit value
S-0-0144 Signal control word SERCOS Page 5-45

This parameter has a fixed configuration. The parameter can be transferred into the AT for drive monitoring purposes
(see AT configuration).
Bit # Definition
0 n =n (only with drive enable)
act cmd
1 n =0
act
3 Md > Md
x
5 n n
cmd > limit
6 in position
7 P>P
x
10 90%load (see bipolar torque limit value )
S-0-0014 Interface status SERCOS Page 5-27
S-0-0097 Mask class 2 SERCOS Page 5-30
S-0-0098 Mask class 3 SERCOS Page 5-30
S-0-0134 Master control word SERCOS Page 5-49
S-0-0135 Drive status SERCOS Page 5-49
P-0-1301 DC bus voltage Indramat

The voltage at the DC bus. Unit: volt. Can only be read.
Page: 22 / 67
P-0-1302 DC bus current Indramat
The current taken from the DC bus. Unit: ampere. Can only be read.
P-0-1303 DC bus output Indramat

The calculated output of P-0-1301 and P-0-1302. Unit: kW. Can only be read.
P-0-1304 Motor temperature Indramat

The temperature of the motor winding. Measured range 45¡ to 155¡ C. Can only be read.
Page: 23 / 67
P-0-4090 Memory address Indramat
P-0-4091 Contents of the memory address Indramat
P-0-4092 Peripheral address Indramat
P-0-4093 Contents of the peripheral address Indramat

P-0-4090 to P-0-4093 for Indramat customer service purposes only.
6.8 I.d. number list parameter
S-0-0017 I.d. number list of all operation data SERCOS Page 5-31
S-0-0018 I.d. number list operation data for communications phase 2 SERCOS Page 5-32
S-0-0021 I.d. number list invalid operation data for comm. phase 2 SERCOS Page 5-33
The contents of this list must be checked if the drive generates the error "UNACCEPT". The invalid parameters are
stored either here or in S-0-0022.
The contents of this list must be checked if the drive generates the error "UNACCEPT". The invalid parameters are
stored either here or in S-0-0021.
This list is always empty.
S-0-0025 I.d. number list of all commands SERCOS Page 5-31
Page: 24 / 67
P-0-0045 I.d. no list of controller-dependent applications parameter Indramat
Is required by the SYSDA commissioning system.
P-0-0046 I.d. no list of machine-dependent applications parameter Indramat

P-0-0047 I.d. no list of drive parameters Indramat

P-0-0048 I.d. no list of drive setting parameters Indramat

S-0-0192 List of operation data to be stored SERCOS Page 5-33.1

This list contains all parameters that are stored in the EEPROM of the AS module. In the event of parameter loss
(error reaction "PARALOST"), all the parameters listed here must be reset in the drive.
S-x-0219 I.d. no list of parameter sets SERCOS Page 5-152

This list contains all switchable parameters. All four lists have the same final number, since all parameter sets are
constructed identically. The differences in the lists can be seen in the second place where parameter set 0 has an 0
while parameter set 1 has a 1 and so on.
6.9 Parameter for the allocation of real-time status bits

With the use of the following parameters, two status bits can be allocated to different status messages.
S-0-0304 Real time status bit 1 SERCOS Page 5-35
S-0-0305 Allocation of real time status bit 1 SERCOS Page 5-36
S-0-0306 Real time status bit 2 SERCOS Page 5-35
S-0-0307 Allocation of real time status bit 1 SERCOS Page 5-36
Page: 25 / 67
The following status messages can be allocated:
S-0-0330 Message nact = ncmd SERCOS Page 5-39
S-0-0331 Mssage nact = 0 SERCOS Page 5-39
S-0-0333 Message Md > Mdx SERCOS Page 5-41
S-0-0335 Message ncmd > nlimit SERCOS Page 5-40
S-0-0336 Message in-position SERCOS Page 5-42
S-0-0337 Message P > Px SERCOS Page 5-42
P-0-1307 Message 90% load Indramat

This message corresponds to bit #5 in S-0-0182 (manufacturerÕs class 3 diagnostics).
S-0-0403 Status actual position value SERCOS Page 5-44
6.10 Information parameter

The user can obtain information about the software versions and types of drive controllers in these parameters. These
parameters only support to inform the user and do not affect the functioning of the controller.
S-0-0140 Controller type SERCOS Page 5-48

This parameter is generated by the controller using parameter P-0-1017 (select controller) and the current
configuration. It can only be read. The designation must be identical to that which is on the rating plate of the unit.
S-0-0141 Motor type SERCOS Page 5-48

This parameter is programmed at the factory. It can, at any time, be written into communications phase 2.
S-0-0142 Application SERCOS Page 5-48

This parameter is programmed at the factory. It can, at any time, be written into communications phase 2.
S-0-0143 SERCOS Interface version SERCOS Page 5-49

Fixed, unit-specific value: "V 01.02"
Page: 26 / 67
S-0-0030 Manufacturer version SERCOS Page 5-49
The version designation of the drive software plugged into the AS module is given here.
with HASE0v1.6: "xx.xx.xx HASE0V16"
with HASE3v0.6: "xx.xx.xx HASE3V06"
The most up-to-date version is always delivered!
P-0-0107 Slave software version Indramat

ãSlaveÒ is defined here in terms of the SERCOS communications card. The current version of the software of the
SERCOS communications card (DSH2) is entered here. The most current software version is delivered.
Example: "DSH-2/0003.07/0121.10.93"
³ ³ ÀÄÄÄÄÄÄÄÄÄÄ 21.10.93 = date software created
³ ÀÄÄÄÄÄÄÄÄÄÄÄÄÄÄ 03.07/01 = software version
ÀÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ DSH2/00 = hardware version
Page: 27 / 67
6.11 User parameter
P-0-0005 Language control Indramat

Two languages are available:
P-0-0005 = 0: German, all parameter texts are generated in German.

P-0-0005 = 1: English, all parameter texts are generated in English.
S-0-0204 Motor shutdown temperature SERCOS Page 5-120

The cut-out temperature can be set anywhere in the range of 45¡ to 155¡ Celsius.
S-0-0201 Motor temperature warning SERCOS Page 5-119

The temperature warning can be set anywhere in the range of 45¡ to 155¡ Celsius. It makes sense to set it 10 degrees
below that value programmed in S-0-0204 (motor shutdown temperature).
S-0-0208 Scaling method for temperature data SERCOS Page 5-110

Temperature is always generated and entered in degrees Celsius (S-0-0208 = 0). This parameter cannot be changed.
S-0-0117 Resolution of rotary encoder 2 SERCOS Page 5-22

The number of lines of the spindle encoder are entered here, if the spindle encoder is connected at X5 via HRI.
For HASE0v1.6: S-0-117 = 256, 512, 1024, 2048, 4096 or 8192
For HASE3v0.6: S-0-117 = 3, 4, 6, 256, 512, 1024, 2048, 4096 or 8192
+ Note: A high-resolution spindle encoder (3 = 256 teeth, 4 = 512 teeth, 6 = 128 teeth) can only be
evaluated with HASE3v0.6.
6.11.1 Command value smoothing and command value ramps
P-x-1222* Command value smoothing time constant Indramat

Command value smoothing is made up of a PT1 filter. In torque control mode, the torque command value is
smoothed, while in speed control mode the velocity command value is smoothed. Command value smoothing is not
activated in position control.
P-x-1201* RAMP1 Indramat
P-x-1202* RPM1 Indramat
P-x-1204* RPM2 Indramat
Page: 28 / 67
In conventional main spindle drives, the ramp parameters P-x-1201 to P-x-1205 correspond to parameters PQRS01 to
PQRS05. For functions and programming see applications description of main spindle drives. Ramp parameters are
only activated in speed control mode.
In contrast to analogue main spindle drives, command value smoothing and speed ramps can be activated
simultaneously.
6.11.2 PI-speed controller
P-x-1207* P-GAIN1 Indramat
P-x-1208* I-GAIN1 Indramat
P-x-1209* GAIN-RPM Indramat
P-x-1210* P-GAIN2 Indramat
P-x-1211* I-GAIN2 Indramat

In conventional AC main spindle drives, the speed control parameters P-x-1208 to P-x-1211 correspond to
parameters PQRS07 to PQRS11. For function and programming, see applications description of AC main spindle
drives.
6.11.3 Load gear parameters
S-x-0121* Input revolutions of load gear Indramat
S-x-0122* Output revolutions of load gear Indramat
S-x-0218* Preselect gear steps Indramat
Gear parameters S-x-0121, S-x-0122, S-x-0217 correspond to parameters PQRS12, PQRS13, PQRS14 in
conventional main spindle drives. For function and programming, see applications description of AC main spindle
drives.
+ Note: In connection with mode ãposition control with encoder 2Ò, the ratio of input to output revolutions
must be smaller than 16.
S - 0 - 0121(input _ revolutions)
Ergo: < 16
S - 0 - 0122(output _ revolutions)
Page: 29 / 67
6.11.4 Position control parameters
S-x-0104* Position loop KV- factor (closed-loop control) SERCOS Page 5-115
S-x-0159* Monitoring window SERCOS Page 5-115

If the following distance (S-0-0189) exceeds the value programmed in S-x-0159, then the drive shuts down issuing
the error message ãDEV>MAXÒ. Bit #11 of S-0-0011 (class 1 diagnostics) is set.
+Note: The maximum value of S-x-0159 equals 169.9¡. If the position loop gain factor = 1 then
this corresponds to 470 rpm with following distance in position control. If higher rpms
are needed, then S-x-0104 must be increased. Position control without following
distance is recommended.
S-x-0126* Torque threshold Mdx SERCOS Page 5-77

The required torque threshold value is entered here (specified in %). The smoothed torque actual value is checked in
the drive as to whether it has exceeded this value. Torque is not limited. If the threshold is exceeded, bit #3 of
S-0-0013 (class 3 diagnostics), is set, and, once the value drops below the threshold, cleared.
S-x-0158* Power threshold Px SERCOS Page 5-122

The value of the power threshold is set here (specified in kW). The DC bus output is checked in the drive as to
whether it has exceeded this value. The output is not limited. If the threshold is exceeded, then bit #7 of S-0-0013
(class 3 diagnostics), is set, and, once the value drops below the threshold, cleared. S-0-158 corresponds, with
restrictions, to parameter PQRS19 in conventional main spindle drives. See applications description of AC main
spindle drives for funtion and programming.
6.11.5 Function parameters
P-0-1105 FUNCT1 Indramat
P-0-1106 FUNCT2 Indramat
P-x-1216* PQFUNCT Indramat

Function parameters P-0-1105, P-0-1106 and P-x-1216 correspond to parameters A05, A06 and PQRS16 in
conventional main spindle drives. See applications description of AC main spindle drives for function and
programming. The definition of the individual bits has largely remained the same. I.d. numbers have not been added,
however. Instead, bits are either set directly or cleared.
The definition of the individual bits can be found in the attachment.
Page: 30 / 67
6.12 Motor parameters
There are two motor parameter sets that can be switched into. Both can be used in the MSP software for windings or
motor changeovers. This changeover can take the place of a gear ratio. Similar switching procedures are used.
If the second motor parameter set is not used, then it must contain the same values as the first.
The following motor parameters must correspond to those from Indramat. This will ensure that the drive runs
properly and no damage is done. They are pre-programmed in the relevant AS.4 modules and documented in the AS
parameter lists.
6.12.1 Non-changeable motor parameters
S-0-0113 Maximum motor speed (nmax) SERCOS Page 5-118

This refers to the maximum speed permitted for this type of motor. This maxiumum speed can be exceeded by up to
12.5%, at which point, the motor shuts down. No further message is issued. S-0-0113 always refers to the motor
speed, never the load speed.
P-0-1017 Controller - select Indramat

Is set, as per parameter list. Example: 3.100 for KDA3.2-100
6.12.2 First motor parameter set

A portion of the changeable motor parameters are no longer needed because of the new control processes in the
x.3/x.5 units. These have been labelled with ãNOT USEDÒ in HASE3v.06.
P-0-1001 POLES INDRAMAT

Number of poles of the motor
P-0-1002 ACTUAL INDRAMAT

Motor actual type
P-0-1003 T-FILTER INDRAMAT

Tachometer filter
P-0-1004 SLIPLIM INDRAMAT

Slip limit
P-0-1005 FLUX INDRAMAT

Crest value of the magnetizing current
P-0-1006 CURRENT INDRAMAT

Crest value of the peak current
Page: 31 / 67
P-0-1007 SIGNSLIP INDRAMAT
Sign slip
P-0-1008 SIGN RPM INDRAMAT

Beginning of field control
P-0-1009 I-U-PRM or NOT USED INDRAMAT

Switch to voltage control
P-0-1010 SIGNVOLT INDRAMAT

No load voltage at 1500 rpm
P-0-1011 BETA or NOT USED INDRAMAT

Vector activated parameter field control
P-0-1012 PHI or NOT USED INDRAMAT

Changeover corrective angle
P-0-1013 VOLTFACT or NOT USED INDRAMAT

Voltage increase with load
P-0-1014 SLIPFACT or NOT USED INDRAMAT

Overproportional slip increase
P-0-1015 MOTFUNCT INDRAMAT

Select specific functions as per applications description
P-0-1016 PHIFACT or NOT USED INDRAMAT

Corrective factor for switching into field control range.
6.12.3 Second motor parameter set
P-0-1021 POLES INDRAMAT

Number of poles of the motor
P-0-1022 ACTUAL INDRAMAT

Motor actual type
P-0-1023 T-FILTER INDRAMAT

Tachometer filter
Page: 32 / 67
P-0-1024 SLIPLIM INDRAMAT
Slip limit
P-0-1025 FLUX INDRAMAT

Crest value of the magnetizing current
P-0-1026 CURRENT INDRAMAT

Crest value of the peak current
P-0-1027 SIGNSLIP INDRAMAT

Sign slip
P-0-1028 SIGN RPM INDRAMAT

Beginning of field control
P-0-1029 I-U-PRM or NOT USED INDRAMAT

Switching to voltage control
P-0-1030 SIGNVOLT INDRAMAT

No load voltage at 1500 rpm
P-0-1031 BETA or NOT USED INDRAMAT

Vector activated parameter field control
P-0-1032 PHI or NOT USED INDRAMAT

Changeover corrective angle
P-0-1033 VOLTFACT oder NOT USED INDRAMAT

Voltage increase with load
P-0-1034 SLIPFACT oder NOT USED INDRAMAT

Overproportional slip increase
P-0-1035 MOTFUNCT INDRAMAT

Select specific functions as per applications description
P-0-1036 PHIFACT or NOT USED INDRAMAT

Corrective factor for switching into field control range
Page: 33 / 67
7 Commands
7.1 Spindle referencing and positioning
S-0-0148 Drive-controlled homing procedure command SERCOS Page 5-82

This command performs exactly the same drive positioning as "position spindle command" M19 (see command).
+ Difference to position spindle At the start of positioning with drive-controlled homing procedure command (S-
command (S-0-0152): 0-0148), status position actual value (S-0-0403) = 0 is set.
Upon successful completion of the positioning process, status actual position

value (S-0-0403) = 1 is set.
If positioning is not performed, or interrupted, then status actual position value

(S-0-0403) = 0 remains.
S-0-0152 Position spindle command (M19) SERCOS Page 5-124

Activating this command triggers
· a positioning on the motor encoder (if no spindle encoder is activated)
· a positioning on the spindle encoder (if a spindle encoder is connected at X5 via HRI)
· a positioning on a reference cam (activated with function bit)
With every successful positioning, a status actual position value (S-0-0403) = 1 is set. If the positioning procedure
cannot be performed, or if it is interrupted, then status actual position value (S-0-0403) is not changed.
Parameters needed for spindle positioning:
S-0-0153 Spindle angle position SERCOS Page 5-125

The required angle position must be entered here prior to positioning. If S-0-0153 is changed while position spindle
command is active, then the drive will immediately assume the new specified position.
S-0-0154 Position spindle parameter SERCOS Page 5-125

Effective bits: S-0-0154 = %0000 0000 0000 00ww 0 = always at 0
w = select 1 or 0
Available rotational directions are ãclockwiseÒ, ãcounterclockwiseÒ or ãshortest pathÒ.
+ Note: · Bit #3 of S-0-0154 (select motor / external encoder) has no affect. It is automatically
positioned to the external encoder if it is connected via X5/HRI.
S-0-0150 Reference offset 1 SERCOS Page 5-84

S-0-0150 shifts motor zero point.
Page: 34 / 67
P-0-1020 Reference offset 1, second motor Indramat
P-0-1020 shifts the motor zero point of the second motor with a two-motor changeover (see below).
S-0-0151 Reference offset offset 2 SERCOS Page 5-84

S-0-0151 shifts the zero point of the second motor. S-0-0151 affects the reference cam zero point with reference cam
positioning as well.
P-0-1217 POS-GAIN INDRAMAT

The position gain with position spindle command.
S-0-0222 Position spindle speed SERCOS Page 5-125
P-0-1215 Reference cam search speed INDRAMAT

Parameters P-0-1217, S-0-0222 and P-0-1215 correspond to parameters PQRS17, PQRS18 and PQRS15 in
conventional main spindle drives. See AC main spindle drive applications for function and programming.
S-0-0057 Position window SERCOS Page 5-64

Parameter S-0-0057 corresponds to parameter PQRS21 in conventional main spindle drives. See AC main spindle
drive applications for function and programming.
+ Note: S-0-0057 is used with position control mode and spindle positioning command.
7.2 Parameter set / gear speed change

Four parameter sets are always available. These four can be switched at all times. Only in connection with parameter
set change, however, can gear, winding or motor change be executed.
As only one option can be implemented at a time, it is always necessary to use the parameters preselect gear speed
change and current gear step.
+ Note: A parameter set which has been selected will not be stored once the drive is shut down. The
drive always starts with set 0 when it is initialized.
S-0-0217 Preselect parameter set command SERCOS Page 5-154

The required parameter set must be entered here via the required data channel before initiating any change. If a gear
step has been entered in preselect gear step (S-x-0218) of the new parameter set, then this gear step will be switched
at the same time as the parameter set.
S-0-0216 Switch parameter set command SERCOS Page 5-153
Page: 35 / 67
S-0-0254 Actual parameter set SERCOS Page 5-155
The currently active parameter set is displayed here.
S-0-0255 Actual gear step SERCOS Page 5-155

The currently active gear step is displayed here.
7.3 Drive-controlled oscillations

Parameter for drive-controlled oscillations.
S-0-0190 Drive-controlled oscillation command SERCOS Page 5-123
S-0-0213 Oscillating speed SERCOS Page 5-122
S-0-0214 Oscillating offset speed SERCOS Page 5-122
S-0-0215 Oscillating cycle time SERCOS Page 5-122
7.4 Additional commands
S-0-0099 Reset class 1 diagnostics SERCOS Page 5-28

In all communications phases, this command resets to S-0-11 (class 1 diagnostics).
S-0-0127 Communication phase 3 transition check SERCOS Page 5-21
S-0-0128 Communication phase 4 transition check SERCOS Page 5-22

+ Note: Communication phase 4 transition is only acknowledged if S-0-11 (class 1 diagnostics) = 0.
P-0-4094 Command: Load base parameter Indramat

With this command, all the parameters stored in EEPROM in a new, non-parametrized unit are set to one defined and
valid value.
+ Note: The values set in the drive during this process are standard base parameters not necessarily
applicable to the drive/motor combination at hand. Upon completion of the command, it is
necessary to input, in particular, the correct motor parameters (P-0-1301 ff., especially
FEEDBACK (P-0-1002/1022) which correspond to the drive/motor combination at hand.
Page: 36 / 67
8 A description of the functions
8.1 Spindle positioning using a motor or spindle encoder

Motor and spindle can be positioned. Spindle positioning requires a separate incremental encoder and a second
encoder input at the drive. The spindle is automatically positioned given the presence of the second input (X5). It
might be necessary to input, inverted, the rotational direction of the spindle encoder in position encoder mode
parameter S-0-0115.
The positioning sequence corresponds to the SERCOS specification. Deviating from that, the position is always
approached with the position spindle speed. The spindle angle position can be changed upon completion of
positioning without having to reset the command. The drive then immediately positions to the new spindle phase
position.
Relative positioning is not possible.
During the first positioning sequence, the drive automatically searches for the zero impulse and then sets the bit
ãstatus actual position valueÒ.
Some of the parameters used:
S-x-0222* Spindle positioning speed SERCOS Page 5-125

The speed programmed in S-0-0222 always relates to the load as soon as a gear ratio is input.
S-0-0154 Position spindle parameter SERCOS Page 5-125
S-0-0153 Spindle angle position SERCOS Page 5-126
S-x-0057* Position window SERCOS Page 5-64
S-0-0336 Status message in-position SERCOS Page 5-42
P-x-1217* POS GAIN Indramat

This position loop gain is only valid in conjunction with positioning and homing and not in position control mode.
8.2 Positioning to homing switch (Bit #6, PQFUNCT)

For those users who cannot afford an incremental encoder at the spindle, it is possible to home the spindle with a
homing switch. The function is similar to that of an analogue drive. Parameter P-x-1215, cam search speed, replaces
the P-MAX-RPM in this case. In contrast to an analogue drive, positioning directions right/left can be selected with
the use of position spindle parameter (S-0-154). With "shortest path", positioning is performed in accordance with
the current rotational direction.
The drive calculates the required rotational angle of the motor shaft in contrast to the homing position by calculating
the given spindle angle position with the gear ratio.
Page: 37 / 67
This special positioning action is activated by setting bit 6 in parameter PQ-FUNCT, and then started with the
command spindle positioning.
Some of the parameters used:
P-x-1215* Cam search speed Indramat

Using this speed, the drive searches for the positive or negative signal edge of the homing switch. The higher the
speed, the more imprecisely this edge is detected. The speed programmed in P-x-1215 always relates to the load as
soon as a gear ratio is input.
8.2.1 Position cam standard bit #0, PQFUNCT = 0

Bit #6 of P-x-1216 (PQFUNCT) = 1 and bit #0 of P-x-1216 (PQFUNCT) = 0 must be set.
The cam switch must be connectŽd at input EXTPOS (X2, pin 37). The switch output is on the width of the cam = 24
volt.
Once the command spindle position is activated, then the rising edge of the cam switch signal is searched for with
speed P-x-1215 (cam search speed). Meanwhile, ãHOMINGÒ appears in display and diagnostics.
Positioning uses the speed S-0-0222 (spindle positioning speed) on the rising edge of the cam switch signal with
position offset S-0-0153 (spindle angle position) + S-0-0151 (homing dimension offset 2). Meanwhile,
ãPOSORDERÒ appears in the display and diagnostics.
If the spindle position is within the position window (S-0-0057), then status message ãIN POSÒ appears in display
and diagnostics. ãMessage in-positionÒ (S-0-336) is set.
The rotational direction used to find the cam edges can be fixed with function bits. Positioning, however, always
takes the shortest route!
Bit #0 und #1 von S-0-0154 = 00 cam search direction is clockwise

(position spindle parameter) = 01 cam search direction is counterclockwise
=10 the rotational direction of the current actual velocity
value is assumed for the cam search
Bit #1 of P-x-1216 =0 rotational direction of motor and spindle is the same

(position spindle parameter) =1 rotational direction of motor and spindle is not the same
8.2.2 Position cam special bit #0, PQFUNCT = 1

This cam positioning means a more rapid positioning with the same positioning accuracy in contrast to the cam
positioning described in 8.2.1. More rapid positioning because the cam search has the higher S-x-0222, same
precision because the cam edge search has the lower P-x-1215.
Bit #6 of P-x-1216 (PQFUNCT) and bit #0 of P-x-1216 (PQFUNCT) = 1 must be set.
The cam switch is connected at input EXTPOS (X2, pin 37). The switch output is on the width of the cam = 0 volt.
Once the spindle position command is activated, the falling edge of the cam switch signal is searched for with
position spindle speed (S-x-0222). Meanwhile, ãHOMINGÒ appears in display and diagnostics.
Page: 38 / 67
The speed on the cam is reduced to cam search speed (P-x-1215). With this speed, the rising edge of the cam switch
signal is searched for. ãHOMINGÒ is still in display and diagnostics.
If the cam search direction was positive:

Positioning uses position spindle speed (S-0-0222) on the falling edge of the cam switch signal with offset spindle
angle position (S-0-0153). Meanwhile, ãPOSORDERÒ appears in display and diagnostics.
If the cam search direction was negative:

Positioning uses position spindle speed (S-0-0222) on the falling edge of the cam switch signal with offset spindle
angle position (S-0-0153) + homing offset 2 (S-0-0151). Meanwhile, ãPOSORDERÒ appears in display and
diagnostics.
The physical width of the cam at the load must be entered in S-0-0151 so that the same position can be achieved
regardless of the direction of search.
If the spindle position is within the position window (S-0-0057) then message ãIN POSÒ appears in display and
diagnostics. ãMessage in-positionÒ (S-0-336) is set.
The rotational direction for finding the cam edge can be fixed with function bits. Positioning always, however, takes
the shortest path!
Bit #0 and #1 of S-0-0154 = 00 cam search direction is clockwise

(position spindle parameter) = 01 cam search direction is counterclockwise
=10 the rotational direction of the current actual velocity is
used in the cam search
Bit #1 of P-x-1216 =0 cam search direction is clockwise

(position spindle parameter) =1 cam search direction is counterclockwise
8.3 Drive-controlled homing

Only a motor or a spindle encoder can be used for homing.
Even though the drive has the absolute motor or spindle position as relates to one internal revolution, once it has
overtravelled the zero impulse, this position is not transmitted to the control unit upon completion of homing or
positioning. Only then can the bit actual position value be set. This keeps the position from jumping to the absolute
value when the zero impulse is overtravelled.
The SERCOS parameters -- homing velocity, homing acceleration and homing range -- are not used when homing a
main spindle drive.
Instead, position spindle speed (S-0-0222) and position spindle parameter (S-0-154) are used.
The sequence is described below:
1. Control unit sets drive-controlled homing command (S-0-0148).

2. The drive sets actual position value (S-0-0403) = 0 and runs a positioning sequence to the spindle angle position
(S-0-0153).
3. If the actual position is in the position window, then "in position" is set (bit #6 class 3 diagnostics (S-0-0013)) and
actual position value (S-0-0403) = 1 is set.
4. The drive remains at position spindle angle position (S-0-0153) until this is changed.
If this command is interrupted by the control unit during positioning, then actual position value (S-0-0403) = 0
remains.
Page: 39 / 67
S-0-0148 Drive-controlled homing command SERCOS Page 5-82
S-0-0403 Status actual position value SERCOS Page 5-44
S-0-0052 Reference dimension offset 1 SERCOS Page 5-84
S-0-0054 Reference dimension offset 2 SERCOS Page 5-84
P-0-1020 Reference dimension offset 1, second motor Indramat

The zero point is shifted in a clockwise direction in terms of the zero impulse by the angle entered here. These
parameters, in other words, must be set individually for each machine, and if motor or encoder are replaced, they
need to be adapted as well.
8.4 Gear speed change

The drive can switch two gear steps. If no change is needed, then set preselect gear steps (S-x-0218) = 0 in all
parameter sets.
If a gear speed change is required, then a gear step must be set in preselect gear steps (S-x-0218) in every parameter
set. Values appropriate to the gear step must be input in this parameter set (e.g., ratio, maximum spindle speed).
Drive coasting is inserted with a gear speed change. This coasting must be entered with suitable parameters.
The gear change unit is controlled by the inputs/outputs SPEED 1,SPEED 2, SPEED CHANGE 1, SPEED CHANGE
2 at terminal X2.
S-x-0218* Preselect gear ratio command SERCOS Page 5-154

If speed change is used, then 1 or 2 must be programmed into each of the four parameter sets.

This signals the current gear step.
S-x-0121* Input revolutions of load gearbox SERCOS Page 5-151
S-x-0122* Output revolutions of load gearbox SERCOS Page 5-151

These parameters are also needed to adjust position loop gain factors and positioning factors during spindle
positioning with a second encoder.
8.5 Winding change

The drive can change two windings, two motors or two motor parameter sets instead of making a gear speed change.
The winding change is active, if, in place of the gear speed change, bit #2 of FUNCT2 (P-0-1106) = 1 is set. The
two- motor switchover is active if the drive is additionally equipped with the HRI spindle positioning interface. If no
speed change is needed, then set gear ratio preseletion (S-x-0218) = 0 in all parameter sets.
Page: 40 / 67
The switchover contactors are controlled via the input/outputs SPEED 1,SPEED 2, SPEED CHANGE 1, SPEED
CHANGE 2 at terminal X2.
S-x-0218* Preselect gear step SERCOS Page 5-154
Preselect gear step (S-x-0218)

=0 no switchover, motor parameters P-0-1001 to P-0-1016 are always used.
=1 the motor parameters in P-0-1001 to P-0-1016 are used
=2 the motor parameters in P-0-1020 bis P-0-1036 are used

This signals the current winding.
8.6 Master/Slave Operation

The SERCOS unit must always be the master when in master/slave mode, as the slave must be able to process the
analogue torque command values transmitted by the master. In other words, the slave must be manually
parametrized. The X2 status messages monitor the slave. The RF -SLAVE output in SERCOS units is at terminal X2,
pin 14.
The applications description outlines how to parametrize the slave.
Page: 41 / 67
9 Attachment
9.1 An overview of the function parameters
P-0-1105 FUNCT 1 Indramat
not set Bit set

The bipolar torque limit value percentually limits 0 Only the torque is limited. This means that within the
torque and output. field weakening range where the maxiumum torque
has, for example, fallen to 50%, a reduction only then
sets in if the bipolar torque limit value is less than
50%. In this case, a limitation would not take place
until above twice the drop-off speed.
Velocity command value is not reduced. 1 If the velocity command value (S-0-36) does not
achieve the value programmed in zero velocity
window (S-0-124), then the internal command
velocity value = 0 is set.
no torque switch off 2 If the velocity command value (S-0-36) does not
achieve the value programmed in zero velocity
window (S-0-124), then the torque is switched off.
Second encoder input X5 is used for spindle 3 A second encoder input X5 is ignored. (Exception:
positioning winding switchover, see FUNCT2).
The integral-action component of the velocity 4 Dead-beat stop: If the velocity command value (S-0-
controller is always active. 36) does not achieve the value programmed in zero
velocity window (S-0-124), then the integral-action
component of the velocity controller is switched off
(also see bit #2, P-x-1216).
The motor speed is applied to the analogue N output 5 The DC bus output P is applied to the N output after
after powering up. powering up.
The N output is variable. 6 Master: N output constantly generates the torque.
The torque actual value in the drive telegram has been The torque actual value in the drive telegram has not
smoothed. been smoothed.
The motor speed is applied to the analogue N output 7 Motor temperature applied to N output after powering
after powering up. up.
The status message N=CMD only comes with the 8 Status message N=CMD comes without the drive
drive enable signal. enable signal.
S-0-157 (velocity window) in rpm 9 S-0-157 internally active as 0.1% of the current
velocity command value with fixed lower limit of 10
rpm.
only HASE3v0.6: RAC3.5 with 8 kHz PWM 10 only HASE3v0.6: RAC3.5 with 4 kHz PWM-
frequency frequency
not significant 11..13 no significance, bit #11..#13 always set to 0
Position actual value in drive telegram are weighted 14 Position actual value in the drive telegram always
with 0.0001 ¡. incrementally weighted. 180 ¡ = $8000 0000
Position actual value is processed in drive as if 15 Position actual value in master-data telegram is
weighted with 0.0001 ¡. processed in drive as if incrementally weighted.
$8000 0000 = 180 ¡
Page: 42 / 67
P-0-1106 FUNCT 2 Indramat
not set Bit# set

if bit#4, P-x-1216 = 0: no significance 0 if bit#4, P-x-1216 = 0: no significance
if bit#4, P-x-1216 = 1: M output weighted in kW (see if bit#4, P-x-1216 = 1: M output wieghted in % (see
P-x-1216) P-x-1216)
no significance 1 no significance, always set bit #1 to 0
normal function of the second encoder input X5, 2 a) two motor switchover if second encoder input X5
no motor or winding switchovers is implemented and FUNCT 1, bit #3 = 0
b) winding switchover (star/triangle), if FUNCT1, bit

#3 = 1
no significance 3, 4 no significance, always set bits #3 and #4 to 0
speed ramp does not function with E-stop and bleeder 5 speed ramp active with E-stop and bleeder braking
braking
interlink voltage not raised with RAC3 6 raise interlink voltage activated with mains
undervoltage (RAC3). This prevents a drop in peak
power with mains undervoltage.
no significance 7 no significance, bit #7 immer auf 0 setzen
bleeder monitor not working (RAC2) 8 bleeder monitoring active (in RAC2 with Z1 option)
no change in the definition of the analogue outputs 9 N-output: output of capacity utilization signal M
M-output: output of calculated torque PZK/n
Weighting: 10 Volt = 10 * S-0-158 / 1000 [Nm]
position control with second encoder, monitoring of 10 position control with second encoder, monitoring of
second encoder active second encoder not active
no significance 11..15 no significance, always set bit #11..#15 to 0
Page: 43 / 67
P-x-1216* PQ-FUNCT Indramat
not set bit # set

if bit #6 = 1: standard cam positioning 0 if bit #6 = 1: special cam positioning
if rotational direction of motor and spindle are the 1 if rotational direction of motor and spindle are not the
same same
the integral-action component of the speed controller 2 dead-beat stop: if the velocity command value (S-0-
is always active 36) does not achieve the value programmed in zero
velocity window (S-0-124), then the integral-action
component of the speed controller is swithced off
(also see bit #4, P-0-1105)
no significance 3 no significance
the M output generates drive load in per cent: 10 Volt 4 Switching the M output:
= 100 % if bit #0,P-0-1106 = 0: 10 V = value in S-0-158 (kW)
if bit #0,P-0-1106 = 1: 10 V = value in S-0-126 (%)
standard spindle positioning with second encoder 6 Spindle positioning without spindle encoder, but with
interface and spindle encoder homing limit switch
motor brakes with power failure, if possible 8 with a power failure, the NC control unit must
transact standstill using the appropriate command
values (the RAC requires the use of option Z)
no significance 9..15 no significance, always set bits #9..15 to 0
Page: 44 / 67
9.2 Overview of the RAC / KDA / TDA parameters Col.: Str.
type
The following is a list of all SERCOS parameters found in mains spindle drives TDA, EPR Eprom storage: This parameter is in Eprom and can only be read.
KDA and RAC.
RAM Ram storage: This parameter is stored in the RAM. It is lost once the
Explanation: machine is switched off. This parameter can be changed as needed
during operation.
Col.: seq. EEP Eeprom storage: This parameter is stored in the EEprom. It is not lost
no. with the switching off of the machine. We recommend not changing
All parameters in drive sequentially numbered this parameter during because of the number of write cycles is limited.
Col.: SERCOS
i.d. no. Col.: Data length
All parameters in drive sequentially numbered Length of the parameter data. (see SERCOS specification)
Col.: Name German Col.: Dis. format

Name English Display format of the parameter data. (see SERCOS specification)
The first line lists the parameter names in German.
The second lines lists the parameter names in English. Col.: Dec. pt.
Number of places after the comma of the parameter data. (see SERCOS
Col.: Function specification)
para. The parameter is a parameter.
comm. The parameter is a command. Col.: Unit
Parametr unit. (see SERCOS specification)
Col.: Wgt.
Factor Col.: Min. value
Weighting factor to display the parameter value. Minimum value of the parameter. (see SERCOS specification)
(see SERCOS specification)
Col.: Max. value
Col.: Alter Maximum value of the parameter. (see SERCOS specification)
Phase
ro The parameter can only be read (read only). Col.: Display format
2 The parameter can only be written into in initialization phase 2. An example of how to correctly display the parameter with places after the
2+3 The parameter can only be written into in initialization phases 2 and 3. comma and unit indicated.
2+3+4 The parameter can only be written into in phases 2, 3 & 4.
Page: 45 / 67
Seq SERCOS Name German Function Alter Col. Wgt. Data length Dis.Format Dec. Unit Min. value Max. value Display example
no. I.d. no. Name English Phase Type Factor places
1 S-0-0001 NC -Zykluszeit (TNcyc) para. 2 RAM 1 2 bytes Dez. o. V 0 µs HASE0: 2000 65000 2000 µs
NC Cycle Time (TNcyc) HASE3: 1000
2 S-0-0002 SERCOS-Zykluszeit (TScyc) para. 2 RAM 1 2 bytes Dez. o. V 0 µs HASE0: 2000 65000 2000 µs
SERCOS Cycle Time (Tscyc) HASE3: 1000
3 S-0-0003 Sende-Reaktionszeit AT (T1min) para. 2 EPR 1 2 bytes dec. no sign 0 µs 0 65000 150 µs
Min. AT Transmit Starting Time (T1min)
4 S-0-0004 Umschaltzeit Senden-Empfangen (TATMT) para. 2 EPR 1 2 bytes dec. no sign 0 µs 0 65000 20 µs
Transmit/Receive Transition Time (TATMT)
5 S-0-0005 Mindestzeit Istwerterfassung (T4min) para. 2 RAM 1 2 bytes dec. no sign 0 µs 0 65000 175 µs
Min. Actual Acquisition Time (T4min)
6 S-0-0006 Sendezeitpunkt Antriebstelegramm (T1) para. 2 RAM 1 2 bytes dec. no sign 0 µs 0 65000 150 µs
AT Transmission Starting Time (T1)
7 S-0-0007 Me§zeitpunkt Istwerte (T4) para. 2 RAM 1 2 bytes dec. no sign 0 µs 0 65000 1825 µs
Actual Acquisition Starting Time (T4)
8 S-0-0008 Zeitpunkt fŸr Sollwert gŸltig (T3) para. 2 RAM 1 2 bytes dec. no sign 0 µs 0 65000 695 µs
Command Valid Time (T3)
9 S-0-0009 Anfangsadresse im Master-Datentelegramm para. 2 RAM 1 2 bytes dec. no sign 0 --- 1 5061 1 ---
Beginning Address MDT
10 S-0-0010 LŠnge Master-Datentelegramm para. 2 RAM 1 2 bytes dec. no sign 0 bytes 4 5080 4 bytes
Length of MDT
11 S-0-0011 Zustandsklasse-1 para. ro RAM 1 2 bytes binary 0 --- --- --- 0 ---
Class 1 Diagnostics
Class 2 Diagnostics
Class 3 Diagnostics
14 S-0-0014 Schnittstellen-Status para. ro RAM 1 2 bytes binary 0 --- --- --- 0 ---
Interface Status
15 S-0-0015 Telegrammarten-Parameter para. 2 RAM 1 2 bytes binary 0 --- --- --- 0 ---
Telegram Type Parameter
16 S-0-0016 Konfig.-Liste Antriebs-Telegramm para. 2+3 EEP 1 2 bytes var. i.d. no. 0 --- --- --- 0 ---
Custom Amplifier Telegram Configuration List length
17 S-0-0017 Id.Nr.-Liste aller Betriebsdaten para. ro RAM 1 2 bytes var. i.d. no. 0 --- --- --- 0 ---
Id.No. List of all Operation Data length
18 S-0-0018 Id.Nr.-Liste Betriebsdaten Phase 2 para. ro RAM 1 2 bytes var. i.d. no. 0 --- --- --- 0 ---
ID No. List Operation Data Comm. Phase 2 length
19 S-0-0019 Id.Nr.-Liste Betriebsdaten Phase 3 para. ro RAM 1 2 bytes var. i.d. no. 0 --- --- --- 0 ---
Page: 46 / 67
20 S-0-0020 Id.Nr.-Liste Betriebsdaten Phase 4 para. ro EPR 1 2 bytes var. i.d. no. 0 --- --- --- 0 ---
21 S-0-0021 Id.Nr.-Liste ungŸltige Betriebsdaten Phase 2 para. ro RAM 1 2 bytes var. i.d. no. 0 --- --- --- 0 ---
ID No. List Invalid Op. Data Comm. Phase 2 length
22 S-0-0022 Id.Nr.-Liste ungŸltige Betriebsdaten Phase 3 para. ro RAM 1 2 bytes var. i.d. no. 0 --- --- --- 0 ---
23 S-0-0023 Id.Nr.-Liste ungŸltige Betriebsdaten Phase 4 para. ro EPR 1 2 bytes var. i.d. no. 0 --- --- --- 0 ---
24 S-0-0024 Konfig.-Liste Master-Datentelegramm para. 2+3 EEP 1 2 bytes var. i.d. no. 0 --- --- --- 0 ---
Config. List of the Master Data Telegram length
25 S-0-0025 Id.Nr.-Liste aller Kommandos para. ro RAM 1 2 bytes var. i.d. no. 0 --- --- --- 0 ---
ID Number List of All Command Data length
26 S-0-0028 FehlerzŠhler MST para. 2+3+4 RAM 1 2 bytes dec. no sign 0 --- --- --- 0 ---
MST Error Count
27 S-0-0029 FehlerzŠhler MDT para. 2+3+4 RAM 1 2 bytes dec. no sign 0 --- --- --- 0 ---
MDT Error Count
28 S-0-0030 Hersteller-Version para. ro EPR 1 1 bytes var. hexadec. 0 --- --- --- 0 ---
Manufacturer-Version length
29 S-0-0032 Hauptbetriebsart para. 2+3 EEP 1 2 bytes binary 0 --- --- --- 0 ---
Primary Operation Mode
30 S-0-0033 Nebenbetriebsart-1 para. 2+3 EEP 1 2 bytes binary 0 --- --- --- 0 ---
Secondary Operation Mode 1
33 S-0-0036 Velocity command value para. 2+3+4 RAM 1 4 bytes dec. w/sign 4 rpm 30000.0000 30000.0000 0.0000 rpm
Velocity Command Value
34 S-0-0040 Geschwindigkeits-Istwert para. ro RAM 1 4 bytes dec. w/sign 4 rpm --- --- 0.0000 rpm
Velocity Actual Value
35 S-0-0043 Geschwindigkeits-PolaritŠten-Parameter para. 2+3 EEP 1 2 bytes binary 0 --- --- --- 0 ---
Velocity Polarity Parameter
36 S-0-0044 Wichtungsart fŸr Geschwindigkeitsdaten para. 2+3 EEP 1 2 bytes binary 0 --- --- --- 0 ---
Velocity Data Scaling Method
37 S-0-0047 Lage-Sollwert para. 2+3+4 RAM 1 4 bytes dec. no sign 4 ¼ 0.0000 359.9999 0.0000 ¼
Position Command Value
38 S-0-0051 Lage-Istwert 1 (Motorgeber) para. ro RAM 1 4 bytes dec. no sign 4 ¼ 0.0000 359.9999 0.0000 ¼
Position Actual Value 1 (Motor Actual)
Page: 47 / 67
39 S-0-0053 Lage-Istwert 2 (ext. Geber) para. ro RAM 1 4 bytes dec. no sign 4 ¼ 0.0000 359.9999 0.0000 ¼
Position Actual Value 2 (External Actual)
40 S-0-0055 Lage-PolaritŠten-Parameter para. 2+3 EEP 1 2 bytes binary 0 --- --- --- 0 ---
Position Polarity Parameter
41 S-0-0057 Positionierfenster para. 2+3+4 EEP 100 4 bytes dec. no sign 4 ¼ 0.0000 99.9900 0.1000 ¼
42 S-1-0057 Position Window
43 S-2-0057
44 S-3-0057
45 S-0-0076 Wichtungsart fŸr Lagedaten para. 2+3 EEP 1 2 bytes binary 0 --- --- --- 0 ---
Position Data Scaling Method
46 S-0-0079 Rotations-Lageauflšsung para. ro EPR 1 4 bytes dec. no sign 4 --- --- --- 360.0000 ---
Rotational Position Resolution
47 S-0-0080 Drehmoment-Sollwert para. 2+3+4 RAM 1 2 bytes dec. w/sign 1 % -100.0 100.0 0.0 %
Torque Command Value
48 S-0-0084 Drehmoment-Istwert para. ro RAM 1 2 bytes dec. w/sign 1 % --- --- 0.0 %
Torque Actual Value
49 S-0-0085 Drehmoment-PolaritŠten-Parameter para. 2+3 EEP 1 2 bytes binary 0 --- --- --- 0 ---
Torque Polarity Parameter
50 S-0-0086 Wichtungsart fŸr Drehmomentdaten para. 2+3 EEP 1 2 bytes binary 0 --- --- --- 0 ---
Torque Data Scaling Method
51 S-0-0088 Erholzeit Empfangen-Empfangen (TMTSY) para. 2 EPR 1 2 bytes dec. no sign 0 µs 0 65000 190 µs
Receive to Receive Recovery Time (TMTSY)
52 S-0-0089 Sendezeitpunkt Master-Datentelegramm (T2) para. 2 RAM 1 2 bytes dec. no sign 0 µs 0 65000 453 µs
MDT Transmit Starting Time (T2)
53 S-0-0090 Kopierzeit-Sollwerte (TMTSG) para. 2 EPR 1 2 bytes dec. no sign 0 µs 0 65000 190 µs
Command Value Transmit Time (TMTSG)
54 S-0-0091 Geschwindigkeits-Grenzwert bipolar para. 2+3 EEP 10000 4 bytes dec. no sign 4 rpm 0.0000 30000.0000 12000.0000 rpm
55 S-1-0091 Bipolar Velocity Limit Value
56 S-2-0091
57 S-3-0091
58 S-0-0092 Drehmoment-Grenzwert bipolar para. 2+3+4 RAM 1 2 bytes dec. no sign 1 % 0.0 100.0 100.0 %
Bipolar Torque Limit Value
59 S-0-0095 Diagnose para. ro RAM 1 1 bytes var. hexadec. 0 --- --- --- 0 ---
Diagnostic Message length
60 S-0-0096 Slavekennung (SLKN) para. ro RAM 1 2 bytes hexadec. 0 --- --- --- 0 ---
Slave Arrangement (SLKN)
61 S-0-0097 Maske Zustandsklasse-2 para. 2+3 EEP 1 2 bytes binary 0 --- --- --- 0 ---
Mask Class 2 Diagnostics
Page: 48 / 67
62 S-0-0098 Maske Zustandsklasse-3 para. 2+3 EEP 1 2 bytes binary 0 --- --- --- 0 ---
Mask Class 3 Diagnostics
63 S-0-0099 Reset Zustandsklasse-1 comm. 2+3+4 RAM 1 2 bytes binary 0 --- --- --- 0 ---
Reset Class 1 Diagnostics
64 S-0-0103 Modulowert para. ro EPR 1 4 bytes dec. no sign 4 --- --- --- 360.0000 ---
Modulo Value
65 S-0-0104 Lageregler KV-Faktor para. 2+3+4 EEP 10 2 bytes dec. no sign 2 1000/min 0.00 99.90 1.00 1000/min
66 S-1-0104 Position Loop KV-Factor
67 S-2-0104
68 S-3-0104
69 S-0-0113 Maximaldrehzahl des Motors (nmax) para. 2+3 EEP 10000 4 bytes dec. no sign 4 rpm 0.0000 30000.0000 6000.0000 rpm
Maximum Motor Speed (nmax)
70 S-0-0115 Lagegeberart-Parameter para. 2+3 EEP 1 2 bytes binary 0 --- --- --- 0 ---
Position Actual Type Parameter
71 S-0-0117 Rotationsgeber-2 Auflšsung para. 2+3 EEP 1 2 bytes dec. no sign 0 lines HASE0: 256 8192 1024 lines
Resolution of Rotational Actual 2 HASE3: 3
72 S-0-0121 Lastgetriebe-Input rotations para. 2+3 EEP 1 2 bytes dec. no sign 0 --- 1 999 1 ---
73 S-1-0121 Input Revolutions of Load Gear
74 S-2-0121
75 S-3-0121
76 S-0-0122 Lastgetriebe-Ausgangsumdrehungen para. 2+3 EEP 1 2 bytes dec. no sign 0 --- 1 999 1 ---
77 S-1-0122 Output Revolutions of Load Gear
78 S-2-0122
79 S-3-0122
80 S-0-0124 Stillstands-Fenster para. 2+3+4 EEP 10000 4 bytes dec. no sign 4 rpm 0.0000 90.0000 20.0000 rpm
Zero Velocity Window
81 S-0-0126 Drehmoment-Schwelle Mdx para. 2+3+4 EEP 10 2 bytes dec. no sign 1 % 1.0 99.0 10.0 %
82 S-1-0126 Torque Threshold Tx
83 S-2-0126
84 S-3-0126
85 S-0-0127 Umschaltvorbereitung auf comm.-Phase 3 comm. 2 RAM 1 2 bytes binary 0 --- --- --- 0 ---
Comm. Phase 3 Transition Check
86 S-0-0128 Umschaltvorbereitung auf comm.-Phase 4 comm. 2+3 RAM 1 2 bytes binary 0 --- --- --- 0 ---
Comm. Phase 4 Transition Check
87 S-0-0129 Hersteller-Zustandsklasse-1 para. ro RAM 1 2 bytes binary 0 --- --- --- 0 ---
Manufacturer Class 1 Diagnostics
88 S-0-0134 Master-Steuerwort para. ro RAM 1 2 bytes binary 0 --- --- --- 0 ---
Master Control Word
Page: 49 / 67
89 S-0-0135 Antriebs-Status para. ro RAM 1 2 bytes binary 0 --- --- --- 0 ---
Drive Status
90 S-0-0140 RegelgerŠtetyp para. ro RAM 1 1 bytes var. hexadec. 0 --- --- --- 0 ---
Controller Type length
91 S-0-0141 Motortyp para. 2+3 EEP 1 1 bytes var. hexadec. 0 --- --- --- 0 ---
Motor Type length
92 S-0-0142 Anwendungsart para. 2+3 EEP 1 1 bytes var. hexadec. 0 --- --- --- 0 ---
Type of Application length
93 S-0-0143 SERCOS-Interface Version para. ro RAM 1 1 bytes var. hexadec. 0 --- --- --- 0 ---
SERCOS-Interface Version length
94 S-0-0144 Signal-Statuswort para. ro RAM 1 2 bytes binary 0 --- --- --- 0 ---
Signal Status Word
95 S-0-0148 Kommando AntriebsgefŸhrtes Referenzieren comm. 2+3+4 RAM 1 2 bytes binary 0 --- --- --- 0 ---
Drive-Controlled Homing Procedure Command
96 S-0-0150 Referenzma§ Offset-1 para. 2+3 EEP 1000 4 bytes dec. no sign 4 ¼ 0.0000 359.9000 0.0000 ¼
Reference Offset 1
97 S-0-0151 Referenzma§ Offset-2 para. 2+3 EEP 1000 4 bytes dec. no sign 4 ¼ 0.0000 359.9000 0.0000 ¼
Reference Offset 2
98 S-0-0152 Kommando Spindel positionieren (M19) comm. 2+3+4 RAM 1 2 bytes binary 0 --- --- --- 0 ---
Position Spindle Command
99 S-0-0153 Spindel-Winkelposition para. 2+3+4 RAM 1 4 bytes dec. no sign 4 ¼ 0.0000 359.9999 0.0000 ¼
Spindle Angle Position
100 S-0-0154 Spindelpositionier-Parameter para. 2+3 EEP 1 2 bytes binary 0 --- --- --- 0 ---
Homing Parameter
101 S-0-0157 Geschwindigkeits-Fenster para. 2+3+4 EEP 10000 4 bytes dec. no sign 4 rpm 0.0000 90.0000 50.0000 rpm
Velocity Window
102 S-0-0158 Leistungs-Schwelle Px para. 2+3+4 EEP 1000 4 bytes dec. no sign 0 W 1000 127000 20000 W
103 S-1-0158 Power Treshold Px
104 S-2-0158
105 S-3-0158
106 S-0-0159 †berwachungsfenster para. 2+3+4 EEP 100 2 bytes dec. no sign 4 ¼ 0.0000 162.9900 162.9900 ¼
107 S-1-0159 Monitoring Window
108 S-2-0159
109 S-3-0159
Page: 50 / 67
110 S-0-0182 Hersteller-Zustandsklasse-3 para. ro RAM 1 2 bytes binary 0 --- --- --- 0 ---
Manufacturer Class 3 Diagnostics
111 S-0-0185 length des konfigurierbaren Datensatzes im AT para. ro EPR 1 2 bytes dec. no sign 0 --- --- --- 20 ---
Length of the config. data record in the AT
112 S-0-0186 length des konfigurierbaren Datensatzes im para. ro EPR 1 2 bytes dec. no sign 0 --- --- --- 20 ---
MDT
Length of the config. data record in the MDT
113 S-0-0187 Liste der konfigurierbaren Daten im AT para. ro EPR 1 2 bytes var. i.d. no. 0 --- --- --- 0 ---
List of configurable data in the AT length
114 S-0-0188 Liste der konfigurierbaren Daten im MDT para. ro EPR 1 2 bytes var. i.d. no. 0 --- --- --- 0 ---
List of configurable data in the MDT length
115 S-0-0189 Schleppabstand para. ro RAM 1 4 bytes dec. no sign 4 ¼ 0.0000 359.9999 0.0000 ¼
Following Distance
116 S-0-0190 Kommando AntriebsgefŸhrtes Pendeln comm. 2+3+4 RAM 1 2 bytes binary 0 --- --- --- 0 ---
Drive-Controlled Oscillation Command
117 S-0-0192 Id.Nr.-Liste der zu sichernden Betriebsdaten para. ro RAM 1 2 bytes var. i.d. no. 0 --- --- --- 0 ---
ID No. List Operation Data to store length
118 S-0-0201 Motor-Warntemperatur para. 2+3 EEP 1 2 bytes dec. no sign 1 ¼C 45.0 155.0 145.0 ¼C
Motor Temperature Warning
119 S-0-0204 Motor-Abschalttemperatur para. 2+3 EEP 1 2 bytes dec. no sign 1 ¼C 45.0 155.0 155.0 ¼C
Motor Shutdown Temperature
120 S-0-0208 Wichtungsart fŸr Temperaturen para. ro EPR 1 2 bytes binary 0 --- --- --- 0 ---
Scaling Method for Temperature Data
121 S-0-0213 Pendel-Drehzahl para. 2+3+4 EEP 10000 4 bytes dec. no sign 4 rpm 0.0000 200.0000 20.0000 rpm
Oscillation Speed
122 S-0-0214 Pendel-Offsetdrehzahl para. 2+3+4 EEP 10000 4 bytes dec. no sign 4 rpm 0.0000 200.0000 20.0000 rpm
Oscillation Offset Speed
123 S-0-0215 Pendel-Zykluszeit para. 2+3+4 EEP 320 2 bytes dec. no sign 1 ms 32.0 65504.0 160.0 ms
Oscillation Cycle Time
124 S-0-0216 Kommando Parametersatz umschalten comm. 2+3+4 RAM 1 2 bytes binary 0 --- --- --- 0 ---
Switch Parameter Set Command
125 S-0-0217 Parametersatz-Vorwahl para. 2+3+4 RAM 1 2 bytes binary 0 --- --- --- 0 ---
Preselect Parameter Set Command
126 S-0-0218 Getriebestufen-Vorwahl para. 2+3 EEP 1 2 bytes dec. no sign 0 --- 0 2 0 ---
127 S-1-0218 Preselect Gear Ration Command
128 S-2-0218
129 S-3-0218
130 S-0-0219 Id.Nr.-Liste Parametersatz para. ro RAM 1 2 bytes var. i.d. no. 0 --- --- --- 0 ---
131 S-1-0219 ID Number List for Parameter Sets length
132 S-2-0219
133 S-3-0219
Page: 51 / 67
lfd. SERCOS Name deutsch Funktion €nder Sp. Bew. DatenlŠnge Anz.Format Nachk. Einheit Minimalwert Maximalwert Anzeigebeispiel
Nr. I.d. no. Name englisch Phase Art Faktor St
134 S-0-0222 Spindel-Positionierdrehzahl para. 2+3+4 EEP 10000 4 bytes dec. no sign 4 rpm 0.0000 9999.0000 150.0000 rpm
135 S-1-0222 Spindle Positioning Speed
136 S-2-0222
137 S-3-0222
138 S-0-0254 Aktueller Parametersatz para. ro RAM 1 2 bytes binary 0 --- --- --- 0 ---
Actual Parameter Set
139 S-0-0255 Aktuelle Getriebestufe para. ro RAM 1 2 bytes binary 0 --- --- --- 0 ---
Actual Gear Ratio
140 S-0-0304 Echtzeitstatusbit-1 para. ro RAM 1 2 bytes binary 0 --- --- --- 0 ---
Real-Time Status bit 1
141 S-0-0305 Zuweisung Echtzeitstatusbit-1 para. 2+3+4 RAM 1 2 bytes i.d. no. 0 --- --- --- 0 ---
Allocation of Real-Time Status bit 1
142 S-0-0306 Echtzeitstatusbit-2 para. ro RAM 1 2 bytes binary 0 --- --- --- 0 ---
Real-Time Status bit 2
143 S-0-0307 Zuweisung Echtzeitstatusbit-2 para. 2+3+4 RAM 1 2 bytes i.d. no. 0 --- --- --- 0 ---
Allocation of Real-Time Status bit 2
144 S-0-0330 Status message nist = nsoll para. ro RAM 1 2 bytes binary 0 --- --- --- 0 ---
Message 'nactual = ncommand'
145 S-0-0331 Status message nist = 0 para. ro RAM 1 2 bytes binary 0 --- --- --- 0 ---
Message 'nactual = 0 '
146 S-0-0333 Status message Md _ Mdx para. ro RAM 1 2 bytes binary 0 --- --- --- 0 ---
Message 'T _ Tx'
147 S-0-0335 Status message nSoll > nGrenz para. ro RAM 1 2 bytes binary 0 --- --- --- 0 ---
Message 'ncommand > nlimit'
148 S-0-0336 Status message In-Position para. ro RAM 1 2 bytes binary 0 --- --- --- 0 ---
Message 'In Position'
149 S-0-0337 Status message P _ Px para. ro RAM 1 2 bytes binary 0 --- --- --- 0 ---
Message 'P _ Px'
150 S-0-0403 Status Lageistwerte para. ro RAM 1 2 bytes binary 0 --- --- --- 0 ---
Status Actual position value
151 P-0-0005 Sprachumschaltung para. 2+3+4 EEP 1 2 bytes dec. no sign 0 --- 0 1 0 ---
Language
152 P-0-0045 Id.Nr.-Liste Steuerungsabh. Anwendgs.-Par. para. ro EPR 1 2 bytes var. i.d. no. 0 --- --- --- 0 ---
ID Number List NC Parameters length
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153 P-0-0046 Id.Nr.-Liste Maschinenabh. Anwendgs.-Par. para. ro EPR 1 2 bytes var. length i.d. no. 0 --- --- --- 0 ---
ID Number List Machine Parameters
154 P-0-0047 Id.Nr.-Liste Antriebsparameter para. ro EPR 1 2 bytes var. length i.d. no. 0 --- --- --- 0 ---
ID Number List Drive Parameters
155 P-0-0048 Id.Nr.-Liste Parameter fŸr Reglereinstellung para. ro EPR 1 2 bytes var. length i.d. no. 0 --- --- --- 0 ---
ID Number List Controller Parameter
156 P-0-0107 Slave-Softwareversion para. ro EPR 1 1 bytes var. length hexadec. 0 --- --- --- 0 ---
Slave-Softwareversion
157 P-0-1001 POLES para. 2+3 EEP 1 2 bytes dec. no sign 0 --- 2 8 4 ---
POLES
158 P-0-1002 ACTUAL para. 2+3 EEP 1 2 bytes dec. no sign 0 --- 1 6 3 ---
ACTUAL
159 P-0-1003 T-FILTER para. 2+3 EEP 1 2 bytes dec. no sign 0 --- 0 3 1 ---
T-FILTER
160 P-0-1004 SLIP-LIM para. 2+3 EEP 1 2 bytes dec. no sign 1 --- 1.0 7.9 4.0 ---
SLIP-LIM
161 P-0-1005 FLUX para. 2+3 EEP 1 2 bytes dec. no sign 0 A 1 400 20 A
FLUX
162 P-0-1006 CURRENT para. 2+3 EEP 1 2 bytes dec. no sign 0 A 1 400 50 A
CURRENT
163 P-0-1007 SIGNSLIP para. 2+3 EEP 1 2 bytes dec. no sign 0 --- 0 414 30 ---
SIGNSLIP
164 P-0-1008 SIGN RPM para. 2+3 EEP 1 2 bytes dec. no sign 0 rpm 500 30000 1650 rpm
SIGN RPM
165 P-0-1009 HASE0: I-U-RPM HASE3: NOT USED para. 2+3 EEP 1 2 bytes dec. no sign 0 rpm 500 30000 1600 rpm
HASE0: I-U-RPM HASE3: NOT USED
166 P-0-1010 SIGNVOLT para. 2+3 EEP 1 2 bytes dec. no sign 0 V 0 999 150 V
SIGNVOLT
167 P-0-1011 HASE0: BETA HASE3: NOT USED para. 2+3 EEP 1 2 bytes dec. no sign 2 --- 0.00 9.99 0.40 ---
HASE0: BETA HASE3: NOT USED
168 P-0-1012 HASE0: PHI HASE3: NOT USED para. 2+3 EEP 1 2 bytes dec. no sign 0 --- 0 99 15 ---
HASE0: PHI HASE3: NOT USED
169 P-0-1013 HASE0: VOLTFACT HASE3: NOT USED para. 2+3 EEP 1 2 bytes dec. no sign 2 --- 0.00 1.00 0.00 ---
HASE0: VOLTFACT HASE3: NOT USED
Page: 53 / 67
170 P-0-1014 HASE0: SLIPFACT HASE3: NOT USED para. 2+3 EEP 1 2 bytes dec. no sign 2 --- 0.00 1.00 0.10 ---
HASE0: SLIPFACT HASE3: NOT USED
171 P-0-1015 MOTFUNCT para. 2+3 EEP 1 2 bytes dec. no sign 0 --- --- --- 11 ---
MOTFUNCT
172 P-0-1016 HASE0: PHIFACT HASE3: NOT USED para. 2+3 EEP 1 2 bytes dec. no sign 2 --- 0.00 9.99 0.40 ---
HASE0: PHIFACT HASE3: NOT USED
173 P-0-1017 RegelgerŠte-Auswahl para. 2+3 EEP 1 2 bytes dec. no sign 3 --- 3.050 8.400 3.050 ---
Controller Selection
174 P-0-1020 Referenzma§ Offset-1, 2. Motor para. 2+3 EEP 1000 4 bytes dec. no sign 4 ¼ 0.0000 359.9000 0.0000 ¼
Reference Offset-1, 2nd Motor
175 P-0-1021 POLES para. 2+3 EEP 1 2 bytes dec. no sign 0 --- 2 8 4 ---
POLES
176 P-0-1022 ACTUAL para. 2+3 EEP 1 2 bytes dec. no sign 0 --- 1 6 3 ---
ACTUAL
177 P-0-1023 T-FILTER para. 2+3 EEP 1 2 bytes dec. no sign 0 --- 0 3 1 ---
T-FILTER
178 P-0-1024 SLIP-LIM para. 2+3 EEP 1 2 bytes dec. no sign 1 --- 1.0 7.9 4.0 ---
SLIP-LIM
179 P-0-1025 FLUX para. 2+3 EEP 1 2 bytes dec. no sign 0 A 1 400 20 A
FLUX
180 P-0-1026 CURRENT para. 2+3 EEP 1 2 bytes dec. no sign 0 A 1 400 50 A
CURRENT
181 P-0-1027 SIGNSLIP para. 2+3 EEP 1 2 bytes dec. no sign 0 --- 0 414 30 ---
SIGNSLIP
182 P-0-1028 SIGN RPM para. 2+3 EEP 1 2 bytes dec. no sign 0 rpm 500 30000 1650 rpm
SIGN RPM
183 P-0-1029 HASE0: I-U-RPM HASE3: NOT USED para. 2+3 EEP 1 2 bytes dec. no sign 0 rpm 500 30000 1600 rpm
HASE0: I-U-RPM HASE3: NOT USED
184 P-0-1030 SIGNVOLT para. 2+3 EEP 1 2 bytes dec. no sign 0 V 0 999 150 V
SIGNVOLT
185 P-0-1031 HASE0: BETA HASE3: NOT USED para. 2+3 EEP 1 2 bytes dec. no sign 2 --- 0.00 9.99 0.40 ---
HASE0: BETA HASE3: NOT USED
186 P-0-1032 HASE0: PHI HASE3: NOT USED para. 2+3 EEP 1 2 bytes dec. no sign 0 --- 0 99 15 ---
HASE0: PHI HASE3: NOT USED
187 P-0-1033 HASE0: VOLTFACT HASE3: NOT USED para. 2+3 EEP 1 2 bytes dec. no sign 2 --- 0.00 1.00 0.00 ---
HASE0: VOLTFACT HASE3: NOT USED
Page: 54 / 67
188 P-0-1034 HASE0: SLIPFACT HASE3: NOT USED para. 2+3 EEP 1 2 bytes dec. no sign 2 --- 0.00 1.00 0.10 ---
HASE0: SLIPFACT HASE3: NOT USED
189 P-0-1035 MOTFUNCT para. 2+3 EEP 1 2 bytes dec. no sign 0 --- --- --- 11 ---
MOTFUNCT
190 P-0-1036 HASE0: PHIFACT HASE3: NOT USED para. 2+3 EEP 1 2 bytes dec. no sign 2 --- 0.00 9.99 0.40 ---
HASE0: PHIFACT HASE3: NOT USED
191 P-0-1105 FUNCT 1 para. 2+3 EEP 1 2 bytes binary 0 --- --- --- 0 ---
FUNCT 1
192 P-0-1106 FUNCT 2 para. 2+3 EEP 1 2 bytes binary 0 --- --- --- 0 ---
FUNCT 2
193 P-0-1201 RAMP1 para. 2+3+4 EEP 1 2 bytes dec. no sign 0 rad/s2 0 999 0 rad/s2
194 P-1-1201 RAMP1
195 P-2-1201
196 P-3-1201
197 P-0-1202 RPM1 para. 2+3+4 EEP 10000 4 bytes dec. no sign 4 rpm 0.0000 30000.0000 1.0000 rpm
198 P-1-1202 RPM1
199 P-2-1202
200 P-3-1202
202 P-1-1203 RAMP2
203 P-2-1203
204 P-3-1203
205 P-0-1204 RPM2 para. 2+3+4 EEP 10000 4 bytes dec. no sign 4 rpm 0.0000 30000.0000 1500.0000 rpm
206 P-1-1204 RPM2
207 P-2-1204
208 P-3-1204
210 P-1-1205 RAMP3
211 P-2-1205
212 P-3-1205
213 P-0-1207 P-GAIN1 para. 2+3+4 EEP 1 2 bytes dec. no sign 2 --- 0.00 9.99 1.00 ---
214 P-1-1207 P-GAIN1
215 P-2-1207
216 P-3-1207
Page: 55 / 67
217 P-0-1208 I-GAIN1 para. 2+3+4 EEP 1 2 bytes dec. no sign 2 --- 0.00 9.99 0.50 ---
218 P-1-1208 I-GAIN1
219 P-2-1208
220 P-3-1208
221 P-0-1209 GAIN RPM para. 2+3+4 EEP 10000 4 bytes dec. no sign 4 rpm 0.0000 30000.0000 1400.0000 rpm
222 P-1-1209 GAIN RPM
223 P-2-1209
224 P-3-1209
225 P-0-1210 P-GAIN2 para. 2+3+4 EEP 1 2 bytes dec. no sign 2 --- 0.00 9.99 1.00 ---
226 P-1-1210 P-GAIN2
227 P-2-1210
228 P-3-1210
229 P-0-1211 I-GAIN2 para. 2+3+4 EEP 1 2 bytes dec. no sign 3 --- 0.000 9.999 0.500 ---
230 P-1-1211 I-GAIN2
231 P-2-1211
232 P-3-1211
233 P-0-1215 Nocken-Suchdrehzahl para. 2+3+4 EEP 10000 4 bytes dec. no sign 4 rpm 0.0000 9999.0000 10.0000 rpm
234 P-1-1215 Cam Search Speed
235 P-2-1215
236 P-3-1215
237 P-0-1216 PQ-FUNCT para. 2+3 EEP 1 2 bytes binary 0 --- --- --- 0 ---
238 P-1-1216 PQ-FUNCT
239 P-2-1216
240 P-3-1216
241 P-0-1217 POS-GAIN para. 2+3+4 EEP 1 2 bytes dec. no sign 1 1/s 0.0 99.9 16.6 1/s
242 P-1-1217 POS-GAIN
243 P-2-1217
244 P-3-1217
245 P-0-1222 SollwertglŠttungszeitkonstante para. 2+3+4 EEP 1 2 bytes dec. no sign 1 ms 0.5 1024.0 0.5 ms
246 P-1-1222 Command time constant
247 P-2-1222
248 P-3-1222
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lfd. SERCOS Name deutsch Funktion €nder Sp. Bew. DatenlŠnge Anz.Format Nachk. Einheit Minimalwer Maximalwert Anzeigebeispiel
Nr. I.d. no. Name englisch Phase Art Faktor St t
249 P-0-1301 Zwischenkreisspannung para. ro RAM 1 2 bytes dec. no sign 0 Volt --- --- 0 Volt
Bus-Voltage
250 P-0-1302 Zwischenkreisstrom para. ro RAM 1 2 bytes dec. w/sign 0 A --- --- 0A
Bus-Current
251 P-0-1303 Zwischenkreisleistung para. ro RAM 1 2 bytes dec. w/sign 0 kW --- --- 0 kW
Bus-Power
252 P-0-1304 Motortemperatur para. ro RAM 1 2 bytes dec. no sign 0 ¼C --- --- 0 ¼C
Motortemperature
253 P-0-1305 direkte Motorposition para. ro RAM 1 4 bytes dec. no sign 4 ¼ 0.0000 359.9999 0.1553 ¼
direct Motorposition
254 P-0-1306 direkte Motordrehzahl para. ro RAM 1 4 bytes dec. w/sign 4 rpm --- --- 0.0000 rpm
direct Motor Speed
255 P-0-1307 Status message 90% Load para. ro RAM 1 2 bytes binary 0 --- --- --- 0 ---
Message '90% Load'
256 P-0-1308 direkte Spindelposition para. ro RAM 1 4 bytes dec. no sign 4 ¼ 0.0000 359.9999 359.9121 ¼
direct Spindleposition
257 P-0-1309 direkte Spindeldrehzahl para. ro RAM 1 4 bytes dec. w/sign 4 rpm --- --- 0.0000 rpm
direct Spindle Speed
258 P-0-1336 Velocity command value intern para. ro RAM 1 4 bytes dec. w/sign 4 rpm --- --- 0.0000 rpm
Velocity Command Value internally
259 P-0-1347 Lage-Sollwert intern para. ro RAM 1 4 bytes hexadec. 0 --- --- --- 0 ---
Position Command Value internally
260 P-0-4090 Speicheradresse para. 2+3+4 RAM 1 4 bytes hexadec. 0 --- --- --- 0 ---
RAM-Adress
261 P-0-4091 Inhalt der Speicheradresse para. ro RAM 1 4 bytes hexadec. 0 --- --- --- 0 ---
Content of RAM-Adress
262 P-0-4092 Peripherieadresse para. 2+3+4 RAM 1 4 bytes hexadec. 0 --- --- --- 0 ---
Port-Adress
263 P-0-4093 Inhalt der Peripherieadresse para. ro RAM 1 4 bytes hexadec. 0 --- --- --- 0 ---
Content of Port-Adress
264 P-0-4094 Kommando: Basisparameter laden comm. 2+3 RAM 1 2 bytes binary 0 --- --- --- 0 ---
Command: Arrange Basic Controller Parameters
Page: 57 / 67
9.3 Parameter list overview
Parameter S-0-0016 (Configuration list of drive telegram)

Seq. no. Contents of S-0-0016
Is programmed by the user.
Parameter S-0-0017 (List of i.d. no. of all operating data)

1..10 S-0-0001, S-0-0002, S-0-0003, S-0-0004, S-0-0005, S-0-0006, S-0-0007, S-0-0008, S-0-0088, S-0-0089
11..20 S-0-0090, S-0-0009, S-0-0010, S-0-0011, S-0-0012, S-0-0013, S-0-0014, S-0-0129, S-0-0182, S-0-0015
21..30 S-0-0016, S-0-0187, S-0-0185, S-0-0017, S-0-0018, S-0-0019, S-0-0020, S-0-0021, S-0-0022, S-0-0023
31..40 S-0-0024, S-0-0188, S-0-0186, S-0-0025, S-0-0192, P-0-0045, P-0-0046, P-0-0047, P-0-0048, S-0-0028
41..50 S-0-0029, S-0-0032, S-0-0033, S-0-0034, S-0-0035, S-0-0080, S-0-0084, S-0-0092, S-0-0085, S-0-0086
51..60 S-0-0036, P-0-1336, S-0-0040, S-0-0043, S-0-0044, S-0-0047, P-0-1347, S-0-0051, S-0-0053, S-0-0189
61..70 S-0-0055, S-0-0076, S-0-0115, S-0-0079, S-0-0103, S-0-0117, S-0-0148, S-0-0403, S-0-0150, S-0-0151
71..80 S-0-0152, S-0-0153, S-0-0154, S-0-0304, S-0-0306, S-0-0305, S-0-0307, S-0-0330, S-0-0331, S-0-0333
81..90 S-0-0335, S-0-0336, S-0-0337, P-0-1307, S-0-0144, S-0-0095, S-0-0096, S-0-0097, S-0-0098, S-0-0099
91..100 S-0-0127, S-0-0128, S-0-0134, S-0-0135, S-0-0140, S-0-0141, S-0-0142, S-0-0143, S-0-0030, P-0-0107
101..110 S-0-0216, S-0-0217, S-0-0254, S-0-0255, S-0-0190, S-0-0213, S-0-0214, S-0-0215, S-0-0201, S-0-0204
111..120 S-0-0208, P-0-0005, S-0-0124, S-0-0157, P-0-1105, P-0-1106, S-0-0219, S-0-0091, P-0-1201, P-0-1202
121..130 P-0-1203, P-0-1204, P-0-1205, P-0-1222, P-0-1207, P-0-1208, P-0-1209, P-0-1210, P-0-1211, S-0-0121
131..140 S-0-0122, S-0-0218, P-0-1216, P-0-1217, S-0-0057, S-0-0222, P-0-1215, S-0-0104, S-0-0159, S-0-0126
141..150 S-0-0158, S-1-0219, S-1-0091, P-1-1201, P-1-1202, P-1-1203, P-1-1204, P-1-1205, P-1-1222, P-1-1207
151..160 P-1-1208, P-1-1209, P-1-1210, P-1-1211, S-1-0121, S-1-0122, S-1-0218, P-1-1216, P-1-1217, S-1-0057
161..170 S-1-0222, P-1-1215, S-1-0104, S-1-0159, S-1-0126, S-1-0158, S-2-0219, S-2-0091, P-2-1201, P-2-1202
171..180 P-2-1203, P-2-1204, P-2-1205, P-2-1222, P-2-1207, P-2-1208, P-2-1209, P-2-1210, P-2-1211, S-2-0121
181..190 S-2-0122, S-2-0218, P-2-1216, P-2-1217, S-2-0057, S-2-0222, P-2-1215, S-2-0104, S-2-0159, S-2-0126
191..200 S-2-0158, S-3-0219, S-3-0091, P-3-1201, P-3-1202, P-3-1203, P-3-1204, P-3-1205, P-3-1222, P-3-1207
201..210 P-3-1208, P-3-1209, P-3-1210, P-3-1211, S-3-0121, S-3-0122, S-3-0218, P-3-1216, P-3-1217, S-3-0057
211..220 S-3-0222, P-3-1215, S-3-0104, S-3-0159, S-3-0126, S-3-0158, S-0-0113, P-0-1001, P-0-1002, P-0-1003
221..230 P-0-1004, P-0-1005, P-0-1006, P-0-1007, P-0-1008, P-0-1009, P-0-1010, P-0-1011, P-0-1012, P-0-1013
231..240 P-0-1014, P-0-1015, P-0-1016, P-0-1017, P-0-1020, P-0-1021, P-0-1022, P-0-1023, P-0-1024, P-0-1025
241..250 P-0-1026, P-0-1027, P-0-1028, P-0-1029, P-0-1030, P-0-1031, P-0-1032, P-0-1033, P-0-1034, P-0-1035
251..260 P-0-1036, P-0-1301, P-0-1302, P-0-1303, P-0-1304, P-0-1305, P-0-1306, P-0-1308, P-0-1309, P-0-4090
261..264 P-0-4091, P-0-4092, P-0-4093, P-0-4094
Page: 58 / 67
Parameter S-0-0019 ( List of i.d. nos. of operating phase 3)
1..10 S-0-0016, S-0-0024, S-0-0032, S-0-0033, S-0-0034, S-0-0035, S-0-0085, S-0-0086, S-0-0043, S-0-0044
11..20 S-0-0055, S-0-0076, S-0-0115, S-0-0117, S-0-0150, S-0-0151, S-0-0154, S-0-0097, S-0-0098, S-0-0128
21..30 S-0-0141, S-0-0142, S-0-0213, S-0-0214, S-0-0215, S-0-0201, S-0-0204, P-0-0005, S-0-0124, S-0-0157
31..40 P-0-1105, P-0-1106, S-0-0091, P-0-1201, P-0-1202, P-0-1203, P-0-1204, P-0-1205, P-0-1222, P-0-1207
41..50 P-0-1208, P-0-1209, P-0-1210, P-0-1211, S-0-0121, S-0-0122, S-0-0218, P-0-1216, P-0-1217, S-0-0057
51..60 S-0-0222, P-0-1215, S-0-0104, S-0-0159, S-0-0126, S-0-0158, S-1-0091, P-1-1201, P-1-1202, P-1-1203
61..70 P-1-1204, P-1-1205, P-1-1222, P-1-1207, P-1-1208, P-1-1209, P-1-1210, P-1-1211, S-1-0121, S-1-0122
71..80 S-1-0218, P-1-1216, P-1-1217, S-1-0057, S-1-0222, P-1-1215, S-1-0104, S-1-0159, S-1-0126, S-1-0158
81..90 S-2-0091, P-2-1201, P-2-1202, P-2-1203, P-2-1204, P-2-1205, P-2-1222, P-2-1207, P-2-1208, P-2-1209
91..100 P-2-1210, P-2-1211, S-2-0121, S-2-0122, S-2-0218, P-2-1216, P-2-1217, S-2-0057, S-2-0222, P-2-1215
101..110 S-2-0104, S-2-0159, S-2-0126, S-2-0158, S-3-0091, P-3-1201, P-3-1202, P-3-1203, P-3-1204, P-3-1205
111..120 P-3-1222, P-3-1207, P-3-1208, P-3-1209, P-3-1210, P-3-1211, S-3-0121, S-3-0122, S-3-0218, P-3-1216
121..130 P-3-1217, S-3-0057, S-3-0222, P-3-1215, S-3-0104, S-3-0159, S-3-0126, S-3-0158, S-0-0113, P-0-1001
131..140 P-0-1002, P-0-1003, P-0-1004, P-0-1005, P-0-1006, P-0-1007, P-0-1008, P-0-1009, P-0-1010, P-0-1011
141..150 P-0-1012, P-0-1013, P-0-1014, P-0-1015, P-0-1016, P-0-1017, P-0-1020, P-0-1021, P-0-1022, P-0-1023
151..160 P-0-1024, P-0-1025, P-0-1026, P-0-1027, P-0-1028, P-0-1029, P-0-1030, P-0-1031, P-0-1032, P-0-1033
161..163 P-0-1034, P-0-1035, P-0-1036
Parameter S-0-0020 (List of i.d. nos. of operating data phase 4)

0 Kein Eintrag, diese Liste ist immer leer.
Parameter S-0-0021 (List of i.d. nos. of invalid operating data phase 2)

The i.d. numbers of the of the parameters marked as invalid in initialization phase are stored here.
Parameter S-0-0022 (List of i.d. nos. of invalid operating data phase 3)

The i.d. numbers of the of the parameters marked as invalid in initialization phase are stored here.
Parameter S-0-0023 (List of i.d. nos. of invalid operating data phase phase 4)
No entry. This list is always empty.
Parameter S-0-0024 (Configuration list of master data telegram)

Is programmed by the user.
Page: 59 / 67
Parameter S-0-0025 (I.d. no. list of all commands)
1..10 S-0-0148, S-0-0152, S-0-0099, S-0-0127, S-0-0128, S-0-0216, S-0-0190, P-0-4094
Parameter S-0-0192 (I.d. no. list of all operating data that must be secured)
1..10 S-0-0001, S-0-0002, S-0-0006, S-0-0007, S-0-0008, S-0-0089, S-0-0009, S-0-0010, S-0-0015, S-0-0127
11..20 S-0-0016, S-0-0024, S-0-0032, S-0-0033, S-0-0034, S-0-0035, S-0-0085, S-0-0086, S-0-0043, S-0-0044
21..30 S-0-0055, S-0-0076, S-0-0115, S-0-0117, S-0-0150, S-0-0151, S-0-0154, S-0-0097, S-0-0098, S-0-0128
31..40 S-0-0141, S-0-0142, S-0-0213, S-0-0214, S-0-0215, S-0-0201, S-0-0204, P-0-0005, S-0-0124, S-0-0157
41..50 P-0-1105, P-0-1106, S-0-0091, P-0-1201, P-0-1202, P-0-1203, P-0-1204, P-0-1205, P-0-1222, P-0-1207
51..60 P-0-1208, P-0-1209, P-0-1210, P-0-1211, S-0-0121, S-0-0122, S-0-0218, P-0-1216, P-0-1217, S-0-0057
61..70 S-0-0222, P-0-1215, S-0-0104, S-0-0159, S-0-0126, S-0-0158, S-1-0091, P-1-1201, P-1-1202, P-1-1203
71..80 P-1-1204, P-1-1205, P-1-1222, P-1-1207, P-1-1208, P-1-1209, P-1-1210, P-1-1211, S-1-0121, S-1-0122
81..90 S-1-0218, P-1-1216, P-1-1217, S-1-0057, S-1-0222, P-1-1215, S-1-0104, S-1-0159, S-1-0126, S-1-0158
91..100 S-2-0091, P-2-1201, P-2-1202, P-2-1203, P-2-1204, P-2-1205, P-2-1222, P-2-1207, P-2-1208, P-2-1209
101..110 P-2-1210, P-2-1211, S-2-0121, S-2-0122, S-2-0218, P-2-1216, P-2-1217, S-2-0057, S-2-0222, P-2-1215
111..120 S-2-0104, S-2-0159, S-2-0126, S-2-0158, S-3-0091, P-3-1201, P-3-1202, P-3-1203, P-3-1204, P-3-1205
121..130 P-3-1222, P-3-1207, P-3-1208, P-3-1209, P-3-1210, P-3-1211, S-3-0121, S-3-0122, S-3-0218, P-3-1216
131..140 P-3-1217, S-3-0057, S-3-0222, P-3-1215, S-3-0104, S-3-0159, S-3-0126, S-3-0158, S-0-0113, P-0-1001
141..150 P-0-1002, P-0-1003, P-0-1004, P-0-1005, P-0-1006, P-0-1007, P-0-1008, P-0-1009, P-0-1010, P-0-1011
151..160 P-0-1012, P-0-1013, P-0-1014, P-0-1015, P-0-1016, P-0-1017, P-0-1020, P-0-1021, P-0-1022, P-0-1023
161..170 P-0-1024, P-0-1025, P-0-1026, P-0-1027, P-0-1028, P-0-1029, P-0-1030, P-0-1031, P-0-1032, P-0-1033
171..173 P-0-1034, P-0-1035, P-0-1036
Parameter S-0-0219 (I.d. no. list of all parameter sets)

1..10 S-0-0219, S-0-0091, P-0-1201, P-0-1202, P-0-1203, P-0-1204, P-0-1205, P-0-1207, P-0-1208, P-0-1209
11..20 P-0-1210, P-0-1211, S-0-0121, S-0-0122, S-0-0218, P-0-1216, P-0-1217, S-0-0222, P-0-1215, S-0-0126
21..30 S-0-0158, S-0-0057, P-0-1222, S-0-0104, S-0-0159, S-0-0032, S-0-0033, S-0-0034, S-0-0035, S-0-0086
31..38 S-0-0085, S-0-0044, S-0-0043, S-0-0076, S-0-0055, S-0-0005, S-0-0097, S-0-0098
Parameter S-1-0219 (I.d. no. list of all parameter sets)

1..10 S-1-0219, S-1-0091, P-1-1201, P-1-1202, P-1-1203, P-1-1204, P-1-1205, P-1-1207, P-1-1208, P-1-1209
11..20 P-1-1210, P-1-1211, S-1-0121, S-1-0122, S-1-0218, P-1-1216, P-1-1217, S-1-0222, P-1-1215, S-1-0126
21..30 S-1-0158, S-1-0057, P-1-1222, S-1-0104, S-1-0159, S-1-0032, S-1-0033, S-1-0034, S-1-0035, S-1-0086
31..38 S-1-0085, S-1-0044, S-1-0043, S-1-0076, S-1-0055, S-1-0005, S-1-0097, S-1-0098
Page: 60 / 67
Parameter S-2-0219 ((I.d. no. list of all parameter sets)
1..10 S-2-0219, S-2-0091, P-2-1201, P-2-1202, P-2-1203, P-2-1204, P-2-1205, P-2-1207, P-2-1208, P-2-1209
11..20 P-2-1210, P-2-1211, S-2-0121, S-2-0122, S-2-0218, P-2-1216, P-2-1217, S-2-0222, P-2-1215, S-2-0126
21..30 S-2-0158, S-2-0057, P-2-1222, S-2-0104, S-2-0159, S-2-0032, S-2-0033, S-2-0034, S-2-0035, S-2-0086
31..38 S-2-0085, S-2-0044, S-2-0043, S-2-0076, S-2-0055, S-2-0005, S-2-0097, S-2-0098
Parameter S-3-0219 ((I.d. no. list of all parameter sets)

1..10 S-3-0219, S-3-0091, P-3-1201, P-3-1202, P-3-1203, P-3-1204, P-3-1205, P-3-1207, P-3-1208, P-3-1209
11..20 P-3-1210, P-3-1211, S-3-0121, S-3-0122, S-3-0218, P-3-1216, P-3-1217, S-3-0222, P-3-1215, S-3-0126
21..30 S-3-0158, S-3-0057, P-3-1222, S-3-0104, S-3-0159, S-3-0032, S-3-0033, S-3-0034, S-3-0035, S-3-0086
31..38 S-3-0085, S-3-0044, S-3-0043, S-3-0076, S-3-0055, S-3-0005, S-3-0097, S-3-0098
Parameter P-0-0045 (I.d. no. list of drive-dependent applications parameters)

Seq. no. Contents of P-0-0045
1..10 S-0-0032, S-0-0033, S-0-0034, S-0-0035, S-0-0086, S-0-0085, S-0-0044, S-0-0043, S-0-0076, S-0-0055
11..13 S-0-0005, S-0-0097, S-0-0098
Parameter P-0-0046 (I.d. no. list of machine-dependent applications parameters)

1..10 S-0-0091, S-0-0124, S-0-0157, P-0-1105, P-0-1106, S-0-0150, S-0-0117, S-0-0151, S-0-0213, S-0-0214
11..14 S-0-0215, S-0-0154, S-0-0201, S-0-0204
Parameter P-0-0047 (I.d. no. list of drive parameters)

1..10 S-0-0113, P-0-1001, P-0-1002, P-0-1003, P-0-1004, P-0-1005, P-0-1006, P-0-1007, P-0-1008, P-0-1009
11..20 P-0-1010, P-0-1011, P-0-1012, P-0-1013, P-0-1014, P-0-1015, P-0-1016, P-0-1017, P-0-1020, P-0-1021
21..30 P-0-1022, P-0-1023, P-0-1024, P-0-1025, P-0-1026, P-0-1027, P-0-1028, P-0-1029, P-0-1030, P-0-1031
31..35 P-0-1032, P-0-1033, P-0-1034, P-0-1035, P-0-1036
Parameter P-0-0048 (I.d. no. list of parameters for drive settings)

1..10 P-0-1201, P-0-1202, P-0-1203, P-0-1204, P-0-1205, P-0-1207, P-0-1208, P-0-1209, P-0-1210, P-0-1211
11..20 S-0-0121, S-0-0122, S-0-0218, P-0-1215, P-0-1216, P-0-1217, S-0-0222, S-0-0126, S-0-0057, P-0-1222
21..22 S-0-0104, S-0-0159
Page: 61 / 67
9.4 Beispiel Ausdruck der Antriebs-Parameter
Drive parameter axis: 001

------------------------------------------------------------------------------------------------------------
Parameter Description Value
S-0-0001 NC cycle time (TNcyc) 2000 µs

S-0-0002 SERCOS cycle time (TScyc) 2000 µs
S-0-0003 transmit reaction time AT (T1min) 120 µs
S-0-0004 transmit/receive transition time (TATMT) 20 µs
S-0-0005 minimum actual acquisition time (T4min) 175 µs
S-0-0006 AT transmission starting time (T1) 120 µs
S-0-0007 actual acquisition starting time (T4) 1825 µs
S-0-0008 command valie time (T3) 760 µs
S-0-0088 receive to receive recordy time (TMTSY) 190 µs
S-0-0089 master data telegram transmit starting time (T2) 522 µs
S-0-0090 command value transmit time (TMTSG) 190 µs
S-0-0009 beginning address in master data telegram 1
S-0-0010 length of master data telegram 4 bytes
S-0-0011 class 1 diagnostics 0000000000000000
S-0-0014 interface status 0000000000000100
S-0-0129 manufacturer class 1 diagnostics 0000000000000000
S-0-0182 manufacturer class 3 diagnostics 0000000000000100
S-0-0015 telegram type parameter 0000000000000000
S-0-0016 amplifier telegram configuration list length variable, word
S-0-0187 list of configurable data in the AT length variable, word
S-0-0185 length of the configurable data set in the AT 12
S-0-0017 ID no. list of all operation data length variable, word
S-0-0018 ID no. list of operation data for communications phase 2 length variable, word
S-0-0021 ID no. list of invalid operation data for comm. phase 2 length variable, word
S-0-0024 configuration list of master data telegram length variable, word
S-0-0188 list of the configurable data in the MDT length variable, word
S-0-0186 length of the configurable data set in the MDT 10
S-0-0025 ID no. list of all command data length variable, word
S-0-0192 ID no. list of operation data to be secured length variable, word
P-0-0045 ID no. list of drive-dependent applications list length variable, word
P-0-0046 ID no. list of machine-dependent applications list length variable, word
P-0-0047 ID no. list of drive parameters length variable, word
P-0-0048 ID no. list of drive parameter settings length variable, word
S-0-0028 error counter MST 0
S-0-0029 error counter MDT 0
S-0-0032 main operating mode 0000000000000010
S-0-0033 secondary operation mode 1 0000000000000011
S-0-0080 torque command value 0.0 %
S-0-0084 torque actual value 0.0 %
S-0-0092 bipolar torque limit value 100.0 %
S-0-0085 torque polarity parameter 0000000000000000
S-0-0086 scaling methode of torque-force data 0000000000000000
S-0-0036 velocity command value 0.0000 rpm
P-0-1336 velocity command value internal 0.0000 rpm
S-0-0040 velocity actual value 0.0000 rpm
---------------------------------------------------------------------------------------------------
INDRAMAT MT-CNC 15-Mar-95 16:06:15
Page: 001
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Drive parameter value axis : 001
------------------------------------------------------------------------------------------------------------
S-0-0043 velocity polarity parameter 0000000000000000

S-0-0044 scaling method for velocity data 0000000000000010
S-0-0047 position command value 0.0000 ¡
P-0-1347 internal position command value $00000000
S-0-0051 position actual value 1 (motor encoder) 359.8970 ¡
S-0-0053 position actual value 2 (ext. encoder) 359.9120 ¡
S-0-0189 following distance 0.0000 ¡
S-0-0055 position polarity parameter 0000000000000000
S-0-0076 scaling method of position data 0000000010000010
S-0-0115 position encoder method parameter 0000000000000000
S-0-0079 rotation position resolution 360.0000
S-0-0103 modulo value 360.0000
S-0-0117 rotation encoder 2 resolution 1024 lines
S-0-0148 drive-activated homing command 0000000000000000
S-0-0403 position actual value status 0000000000000000
S-0-0150 reference offset 1 0.0000 ¡
S-0-0151 reference offset 2 0.0000 ¡
S-0-0152 position spindle command (M19) 0000000000000000
S-0-0153 spindle angle position 0.0000 ¡
S-0-0154 spindle position parameter 0000000000000010
S-0-0304 real-time status bit 1 0000000000000000
S-0-0306 real-time status bit 2 0000000000000000
S-0-0305 allocation of real-time status bit 1 S-0-0305
S-0-0307 allocation of real-time status bit 2 S-0-0307
S-0-0330 status message nfdb = ncmd 0000000000000000
S-0-0331 status message nfdb = 0 0000000000000001
S-0-0333 status message Md _ Mdx 0000000000000000
S-0-0335 status message ncmd > nlimit 0000000000000000
S-0-0336 status message In-Position 0000000000000000
S-0-0337 status message P _ Px 0000000000000000
P-0-1307 status message 90% load 0000000000000000
S-0-0144 signal status word 0000000000000010
S-0-0095 diagnostics DISABLED
S-0-0096 slave arrangement (SLKN) $0101
S-0-0097 mask class 1 diagnostics 0000000000000110
S-0-0098 mask class 3 diagnostics 0000000001111110
S-0-0099 reset class 1 diagnostics 0000000000000000
S-0-0127 communications phase 3 transition check 3 0000000000000000
S-0-0128 communications phase 3 transition check 4 0000000000000000
S-0-0134 master control word 0000000000111101
S-0-0135 drive status 1000000000000010
S-0-0140 controller type RAC4.3-200-460-L00
S-0-0141 motor typ
S-0-0142 status interface version V 01.02
S-0-0030 manufacturer version xx.xx.xx HASE3V06
P-0-0107 slave software version DSH-2/0003.07/0023.0
S-0-0216 switch parameter set command 0000000000000000
S-0-0217 preselect parameter set 0000000000000000
S-0-0254 current parameter set 0000000000000000
S-0-0255 current gear ratio 0000000000000000
S-0-0190 drive-activated oscillation command 0000000000000000
S-0-0213 oscillatin speed 20.0000 rpm
---------------------------------------------------------------------------------------------------
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Drive parameter axis : 001
------------------------------------------------------------------------------------------------------------
S-0-0214 coasting offset speed 20.0000 rpm

S-0-0215 coasting cycle time 160.0 ms
S-0-0201 motor temperature warning 145.0 ¡C
S-0-0204 motor shutdown temperature 155.0 ¡C
S-0-0208 scaling method for temperature 0000000000000000
P-0-0005 language conversion 0
S-0-0124 zero velocity window 20.0000 rpm
S-0-0157 velocity window 50.0000 rpm
P-0-1105 FUNCT 1 0000000000000000
P-0-1106 FUNCT 2 0000000000000000
S-0-0219 ID no. list of parameter sets length variable, word
S-0-0091 bipolar velocity limit value 12000.0000 rpm
P-0-1201 RAMP1 0 rad/s2
P-0-1202 RPM1 1.0000 rpm
P-0-1203 RAMP2 0 rad/s2
P-0-1204 RPM2 1500.0000 rpm
P-0-1205 RAMP3 0 rad/s2
P-0-1222 command value smoothing time constant 0.5 ms
P-0-1207 P-GAIN1 1.00
P-0-1208 I-GAIN1 0.50
P-0-1209 GAIN RPM 1400.0000 rpm
P-0-1210 P-GAIN2 1.00
P-0-1211 I-GAIN2 0.500
S-0-0121 input revolutions of load gear 1
S-0-0122 output revolutions of load gear 1
S-0-0218 preselect gear ratio command 0
P-0-1216 PQ-FUNCT 0000000000000000
P-0-1217 POS-GAIN 16.6 1/s
S-0-0057 positioning window 0.1000 ¡
S-0-0222 spindle positioning speed 150.0000 rpm
P-0-1215 cam search speed 10.0000 rpm
S-0-0104 position control KV-factor 1.00 1000/min
S-0-0159 monitoring window 162.9900 ¡
S-0-0126 torque threshold Mdx 10.0 %
S-0-0158 power threshold Px 20000 W
S-1-0219 ID no. list parameter set length variable, word
S-1-0091 bipolar velocity limit value 12000.0000 rpm
P-1-1201 RAMP1 0 rad/s2
P-1-1202 RPM1 1.0000 rpm
P-1-1203 RAMP2 0 rad/s2
P-1-1204 RPM2 1500.0000 rpm
P-1-1205 RAMP3 0 rad/s2
P-1-1207 P-GAIN1 1.00
P-1-1208 I-GAIN1 0.50
P-1-1209 GAIN RPM 1400.0000 rpm
P-1-1210 P-GAIN2 1.00
P-1-1211 I-GAIN2 0.500
S-1-0218 preselect gear ratio 0
P-1-1216 PQ-FUNCT 0000000000000000
P-1-1217 POS-GAIN 16.6 1/s
---------------------------------------------------------------------------------------------------
Page: 003
Page: 64 / 67
------------------------------------------------------------------------------------------------------------

S-2-0219 ID no. list parameter sets length variable, word
S-2-0091 bipolar speed command value 12000.0000 rpm
P-2-1201 RAMP1 0 rad/s2
P-2-1202 RPM1 1.0000 rpm
P-2-1203 RAMP2 0 rad/s2
P-2-1204 RPM2 1500.0000 rpm
P-2-1205 RAMP3 0 rad/s2
P-2-1207 P-GAIN1 1.00
P-2-1208 I-GAIN1 0.50
P-2-1209 GAIN RPM 1400.0000 rpm
P-2-1210 P-GAIN2 1.00
P-2-1211 I-GAIN2 0.500
S-2-0218 preselect gear ratio 0
P-2-1216 PQ-FUNCT 0000000000000000
P-2-1217 POS-GAIN 16.6 1/s
S-3-0219 ID no. list parameter set length variable, word
S-3-0091 bipolar speed limit value 12000.0000 rpm
P-3-1201 RAMP1 0 rad/s2
P-3-1202 RPM1 1.0000 rpm
P-3-1203 RAMP2 0 rad/s2
P-3-1204 RPM2 1500.0000 rpm
P-3-1205 RAMP3 0 rad/s2
P-3-1207 P-GAIN1 1.00
P-3-1208 I-GAIN1 0.50
P-3-1209 GAIN RPM 1400.0000 rpm
P-3-1210 P-GAIN2 1.00
P-3-1211 I-GAIN2 0.500
S-3-0218 preselect gear ratios 0
P-3-1216 PQ-FUNCT 0000000000000000
P-3-1217 POS-GAIN 16.6 1/s
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------------------------------------------------------------------------------------------------------------

S-0-0113 maximum motor speed (nmax) 6000.0000 rpm
P-0-1001 POLES 4
P-0-1002 ACTUAL 3
P-0-1003 T-FILTER 1
P-0-1004 SLIP-LIM 4.0
P-0-1005 FLUX 40 A
P-0-1006 CURRENT 123 A
P-0-1007 SIGNSLIP 30
P-0-1008 SIGN RPM 1650 rpm
P-0-1009 NOT USED 1600 rpm
P-0-1010 SIGNVOLT 150 V
P-0-1011 NOT USED 0.40
P-0-1012 NOT USED 15
P-0-1013 NOT USED 0.00
P-0-1014 NOT USED 0.10
P-0-1015 MOTFUNCT 11
P-0-1016 NOT USED 0.40
P-0-1017 drive controller selection 8.200
P-0-1020 reference offset 1, 2nd motor 0.0000 ¡
P-0-1021 POLES 4
P-0-1022 ACTUAL 3
P-0-1023 T-FILTER 1
P-0-1024 SLIP-LIM 4.0
P-0-1025 FLUX 20 A
P-0-1026 CURRENT 50 A
P-0-1027 SIGNSLIP 30
P-0-1028 SIGN RPM 1650 rpm
P-0-1029 NOT USED 1600 rpm
P-0-1030 SIGNVOLT 150 V
P-0-1031 NOT USED 0.40
P-0-1032 NOT USED 15
P-0-1033 NOT USED 0.00
P-0-1034 NOT USED 0.10
P-0-1035 MOTFUNCT 11
P-0-1036 NOT USED 0.40
P-0-1301 DC bus voltage 504 volts
P-0-1302 DC bus current 3A
P-0-1303 DC bus power 2 kW
P-0-1304 motor temperature 64 ¡C
P-0-1305 direct motor position 359.8970 ¡
P-0-1306 direct motor speed 0.0000 rpm
P-0-1308 direct spindle position 359.9121 ¡
P-0-1309 direct spindle speed 0.0000 rpm
P-0-4090 memory address $00000000
P-0-4091 contents of the address $12345678
P-0-4092 peripheral addresses $00000000
P-0-4093 contents of the peripheral addresses $12345678
P-0-4094 load basic parameter command 0000000000000000
---------------------------------------------------------------------------------------------------
Page: 005
Page: 66 / 67
9.5 Example: Parameter list AS ùù4
I N D R A M A T - P A R A M E T E R - L I S T
Comment: standard ÚÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ¿

³ Rating plate info:
³ ³
³ AS 34/005-000 ³
³ Motor : 2AD100B-......-AS.3 ³
³ Contr.: KDA3.2-050-3-L.0-.1 ³
³ Software : HASE0V1.6 ³
³ Parameter dtd: 06.05.1991 ³
ÀÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÙ
Note: Jumper 'Br1' on programming module must be closed!

Motor parameter required by Indramat!
ÉÍÍÍÍÍÍÍÍÍÍÑÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÑÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ»
º SERCOS ³ Designation ³ Parameter set º
º ID no. ³ ³ Number º
ÌÍÍÍÍÍÍÍÍÍÍØÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍØÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ¹
º S-0-0140 : controller type (internally generated) : KDA3.2-050-3-L.0-.1 º
º S-0-0141 : motor type : 2AD100B-......-AS.3 º
ÇÄÄÄÄÄÄÄÄÄÄÅÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÅÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄÄ¶
º S_0_0113 : maximum motor speed (nmax) : 8000 º
º : >>>>>>> 1. motor parameter set <<<<<<< : º
º P-0-1001 : POLES : 4 º
º P-0-1002 : ACTUAL : 3 º
º P-0-1003 : T-FILTER : 1 º
º P-0-1004 : SLIP-LIM : 4.0 º
º P-0-1005 : FLUX : 8 º
º P-0-1006 : CURRENT : 50 º
º P-0-1007 : SIGNSLIP : 120 º
º P-0-1008 : SIGN RPM : 1550 º
º P-0-1009 : I-U-RPM : 1500 º
º P-0-1010 : SIGNVOLT : 150 º
º P-0-1011 : BETA : 0.40 º
º P-0-1012 : PHI : 12 º
º P-0-1013 : VOLTFACT : 0.70 º
º P-0-1014 : SLIPFACT : 0.50 º
º P-0-1015 : MOTFUNCT : 35 º
º P-0-1016 : PHIFACT : 0.00 º
º P-0-1017 : select controller : 3.050 º
º : >>>>>>> 2nd motor parameter set <<<<<<< : º
º P-0-1021 : POLES : 4 º
º P-0-1022 : ACTUAL : 3 º
º P-0-1023 : T-FILTER : 1 º
º P-0-1024 : SLIP-LIM : 4.0 º
º P-0-1025 : FLUX : 8 º
º P-0-1026 : CURRENT : 50 º
º P-0-1027 : SIGNSLIP : 120 º
º P-0-1028 : SIGN RPM : 1550 º
º P-0-1029 : I-U-RPM : 1500 º
º P-0-1030 : SIGNVOLT : 150 º
º P-0-1031 : BETA : 0.40 º
º P-0-1032 : PHI : 12 º
º P-0-1033 : VOLTFACT : 0.70 º
º P-0-1034 : SLIPFACT : 0.50 º
º P-0-1035 : MOTFUNCT : 35 º
º P-0-1036 : PHIFACT : 0.00 º
ÈÍÍÍÍÍÍÍÍÍÍÏÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÏÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ¼
Part numbers for 34/005-000: 00225840
Document no.:9.559.036.4-00/005-000.00
Page: 67 / 67
Supplementary documentation
AC main spindle drives

with controlled AC main spindle
asynchronous motor drives with 2K planetary
2AD gearboxes
(detailed, ordering)
Selection
AC main spindle drives with AC main spindle drives with

controlled asynchronous motor 2AD controlled asynchronous motor 2AD
and 2K planetary gearboxes
Selection data
Doc. no.: 9.567.013.4-02 Selection data
Doc. no.: 9.567.013.4-02
(construction, mounting, installing the machine)
RAC4
RAC3
RAC2 Electrical
Drives KDA3 TDA1 connections Main spindle motors
with main 2AD
spindle drives
Project planning
Drive controllers Electrical connections Main spindle motors
Project planning Project planning Project planning

KDA 3, Doc. no. 209-0042-4110 Doc. no. 209-0042-4111 Doc. no. 209-0042-4122
TDA 1, Doc. no. 209-0042-4112
RAC 2, Doc. no. 209-0042-4115
RAC 3, Doc. no. 209-0042-4116
RAC 4, Doc. no. 209-0042-4113
(commissioning, using, diagnostics)
Main spindle drive applications
AC main spindle drives

with controlled asynchr. AC main spindle drives
motor or framelss with SERCOS interface
spindle motor
AC main spindle drives with controlled AC main spindle drives with SERCOS interface
asynchronous or frameless spindle motor
Applications
Applications Doc. no. 209-0042-4114
Doc. no. 209-0041-4109
Figure: Supplementary documentation

AC main spindle drives Liquid cooling

with controlled frameless in INDRAMAT drive
spindle motor components
1MB
(detailed, ordering)
Selection
Liquid cooling in
AC main spindle drive with controlled INDRAMAT drive components
frameless spindle motor 1MB
Selection data Dimensions and selection
Doc. no. 209-0042-4118 Doc. no. 209-0042-4123
(construction, mounting, installing the machine)

Absolutwertgeber
für 2AD
Frameless High-resolution HGV
spindle motor
main spindle IGS
1MB position encoder
Project planning
Frameless spindle motor 1MB
Further documentation
Project planning
Doc. no. 209-0042-4124 • High-resolution main spindle position encoder
– Project planning/Doc. no. 209-0042-4119
• Incremental encoder output IGS
–Applications/Doc. no. 9.568.015.4
• High-resolution encoder HGV
–Project planning/Doc. no. 9.568.010.4
• Mounted absolute encoder for
2AD 132, 2AD 160, 2AD 180
– Applications/Doc. no. 9.568.020.4
(commissioning, using, diagnostics)
Main spindle drive applications

R911266833 - 01-AC Main Spindle Drives With SERCOS Interface

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AC Main Spindle Drives

with SERCOS interface

Title AC Main Spindle Drives with SERCOS Interface

Type of documentation Applications

Document no. 209-0042-4114-01 EN

Internal file reference Mappe 7b

The purpose of this

Copyright © INDRAMAT GmbH, 1992

Published by INDRAMAT GmbH, Dept. ENA (MR)

HSP mit SERCOS • 209-0042-4114-01 • 04.95 •

with RAC / KDA / TDA

Status: SERCOS-Update October/95

Software: HASE0v1.6 / HASE3v0.6

HAuptantrieb (main drive) SERCOS = HASExVx.x.

Main drive types Software version AS-module n o. AS-module no.

TDA1.3 AS 174/xxx-xxx AS 176/xxx-xxx

This means that the following basic functions are present:

· position control, in particular for the C axis

· spindle positioning with encoder or reference cams

· drive-activated coasting for gear speed changes

· four-step parameter set changeover

3.1 Signal outputs X2

Pin Definition class 3 diagnostics

3.2 Control inputs X2

AS start inhibit only with KDA and TDA

E-stop only with RAC

3.3 Fiber optics connection

The TX connection is closer to the LEDs than the RX connection.

The following messages have been added to a unit with SERCOS:

INIT 0 The drive is in SERCOS communications phase 0.

INIT 1 The drive is in SERCOS communications phase 1.

INIT 2 The drive is in SERCOS communications phase 2.

INIT 3 The drive is in SERCOS communications phase 3.

NO DSH There is no DSH2 SERCOS communications card in slot X12.

NO DSH2 ãPosition controlÒ has been selected in an operating mode, but a

DSHFAULT The DSH2 SERCOS communications card in slot X12 is defective.

The following has been added to the position control mode:

POS=CMD drive in position control, following distance < position window

POS*CMD drive in position control, following distance > position window

DEV>MAX excessive position deviation (following distance > monitoring window)

S-0-0036 Velocity command value SERCOS page 5-69

6.1 SERCOS Cycle Times and Communications Parameters

S-0-0001 NC cycle time (TNcyc) SERCOS Page 5-15

with HASE3v0.6: 1000 ms to 65000 ms (note limitations)

+ Limitation 1: with1000 ms only incremental spindle encoder possible!

with HASE0v1.6: 2000 ms bis 65000 ms (note limitations)

S-0-0002 SERCOS cycle time (TScyc) SERCOS Page 5-15

S-0-0003 Minimum AT transmit starting time (T1min) SERCOS Page 5-15

S-0-0004 Transmit/receive transition time (TAMT) SERCOS Page 5-17

S-0-0005 Minimum actual acquisition time (T4min) SERCOS Page 5-16

S-0-0006 Transmission starting time (T1) SERCOS Page 5-16

S-0-0007 Actual acquisition starting time (T4) SERCOS Page 5-16

S-0-0088 Receive to receive recovery time (TMTSY) SERCOS Page 5-17

S-0-0089 MDT transmit starting time (T2) SERCOS Page 5-18

S-0-0090 Command value transmit time (TMTSG) SERCOS Page 5-18

S-0-0010 Length of master data telgram SERCOS Page 5-19

S-0-0028 Error counter MST SERCOS Page 5-30.1

S-0-0029 Error counter MDT SERCOS Page 5-30.1