Parametros Indradrive PDF

Electric Drives
and Controls
Hydraulics
Linear Motion and

Assembly Technologies
Pneumatics
Service
Bosch Rexroth AG | Electric Drives

and Controls
Title
Rexroth IndraDrive | Parameter Description
Rexroth IndraDrive
Drive Controllers
MPx-02 to MPx-07
Type of Documentation
Document Typecode
Internal File Reference
Purpose of Documentation
Record of Revision
Copyright
Parameter Description
DOK-INDRV*-GEN-**VRS**-PA06-EN-P
RS-a78d62987ffc03440a6846a0019d1015-1-en-US-6
This documentation contains the descriptions of all parameters implemented in
the firmware for drive controllers of the IndraDrive range. It supports parame
terization of the drive controllers.
Edition
Release Date
Notes
03.2004
First edition
12.2004
Edition 02
01.2006
Edition 03
10.2007
Edition 04
07.2009
Edition 05
09.2009
Edition 06
Bosch Rexroth AG, 2009

Copying this document, 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).
Validity
Published by
The specified data is for product description purposes only and may not be
deemed to be guaranteed unless expressly confirmed in the contract. All rights
are reserved with respect to the content of this documentation and the availa
bility of the product.
Bosch Rexroth AG
Bgm.-Dr.-Nebel-Str. 2 D-97816 Lohr a. Main
Telephone +49 (0)93 52/ 40-0 Fax +49 (0)93 52/ 40-48 85
http://www.boschrexroth.com/
Dept. DCC/EDY1 (HP, BB)
Note
This document has been printed on chlorine-free bleached paper.
Parameter Description | Rexroth IndraDrive
Electric Drives | Bosch Rexroth AG

and Controls
I/XL
Table of Contents
Table of Contents
Page
1
1.1
1.1.1
1.1.2
1.2
2
2.1
2.2
2.2.1
2.2.2
2.2.3
2.2.4
2.3
2.3.1
2.3.2
2.3.3
2.3.4
2.3.5
2.3.6
2.3.7
2.3.8
3
3.1
3.1.1
3.1.2
4
4.1
4.1.1
4.1.2
4.1.3
4.1.4
4.1.5
4.1.6
4.1.7
4.1.8
4.1.9
4.1.10
4.1.11
4.1.12
4.1.13
Important Directions for Use ....................................................................................... 41

Appropriate Use ................................................................................................................................... 41
Introduction........................................................................................................................................ 41
Areas of Use and Application............................................................................................................ 41
Inappropriate Use................................................................................................................................. 42
Safety Instructions for Electric Drives and Controls .................................................... 43

Definitions of Terms.............................................................................................................................. 43
General Information.............................................................................................................................. 44
Using the Safety Instructions and Passing Them on to Others......................................................... 44
Requirements for Safe Use............................................................................................................... 44
Hazards by Improper Use.................................................................................................................. 45
Explanation of Safety Symbols and Hazard Classification................................................................ 46
Instructions with Regard to Specific Dangers....................................................................................... 46
Protection Against Contact with Electrical Parts and Housings......................................................... 46
Protective Extra-Low Voltage as Protection Against Electric Shock ................................................ 47
Protection Against Dangerous Movements....................................................................................... 48
Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting.............. 50
Protection Against Contact with Hot Parts......................................................................................... 50
Protection During Handling and Mounting......................................................................................... 51
Battery Safety.................................................................................................................................... 51
Protection Against Pressurized Systems........................................................................................... 51
General Information..................................................................................................... 53
Document Structure.............................................................................................................................. 53
General Information........................................................................................................................... 53
Definitions.......................................................................................................................................... 53
Standard Parameters................................................................................................... 57
S-0-0000 to S-0-0100 Standard Parameters ....................................................................................... 57
S-0-0000, Dummy parameter............................................................................................................ 57
S-0-0001, NC cycle time (TNcyc)...................................................................................................... 57
S-0-0002, SERCOS cycle time (TScyc)............................................................................................ 58
S-0-0003, Minimum AT transmit starting time (T1min)...................................................................... 59
S-0-0004, Transmit/receive transition time (TATMT)........................................................................ 59
S-0-0005, Minimum feedback acquisition time (T4min).................................................................... 60
S-0-0006, AT Transmission starting time (T1)................................................................................... 60
S-0-0007, Feedback acquisition starting time (T4)............................................................................ 61
S-0-0008, Command value valid time (T3)........................................................................................ 61
S-0-0009, Position of data record in MDT......................................................................................... 62
S-0-0010, Length of master data telegram........................................................................................ 62
S-0-0011, Class 1 diagnostics........................................................................................................... 63
II/XL

and Controls
Table of Contents
Page
4.1.14
4.1.15
4.1.16
4.1.17
4.1.18
4.1.19
4.1.20
4.1.21
4.1.22
4.1.23
4.1.24
4.1.25
4.1.26
4.1.27
4.1.28
4.1.29
4.1.30
4.1.31
4.1.32
4.1.33
4.1.34
4.1.35
4.1.36
4.1.37
4.1.38
4.1.39
4.1.40
4.1.41
4.1.42
4.1.43
4.1.44
4.1.45
4.1.46
4.1.47
4.1.48
4.1.49
4.1.50
4.1.51
4.1.52
4.1.53
4.1.54
4.1.55
4.1.56
4.1.57
4.1.58
4.1.59

S-0-0014, Interface status................................................................................................................. 67
S-0-0015, Telegram type parameter................................................................................................. 68
S-0-0016, Configuration list of AT..................................................................................................... 69
S-0-0017, IDN-list of all operation data............................................................................................. 70
S-0-0018, IDN-list of operation data for CP2..................................................................................... 70
S-0-0019, IDN-list of operation data for CP3..................................................................................... 70
S-0-0021, IDN-list of invalid operation data for CP2.......................................................................... 71
S-0-0022, IDN-list of invalid operation data for CP3.......................................................................... 71
S-0-0024, Configuration list of MDT.................................................................................................. 72
S-0-0025, IDN-list of all procedure commands.................................................................................. 72
S-0-0026, Configuration list for signal status word............................................................................ 73
S-0-0027, Configuration list for signal control word........................................................................... 74
S-0-0028, MST error counter............................................................................................................. 74
S-0-0029, MDT error counter............................................................................................................ 75
S-0-0030, Manufacturer version........................................................................................................ 75
S-0-0032, Primary mode of operation............................................................................................... 76
S-0-0033, Secondary operation mode 1............................................................................................ 77
S-0-0036, Velocity command value................................................................................................... 79
S-0-0037, Additive velocity command value...................................................................................... 80
S-0-0038, Positive velocity limit value............................................................................................... 80
S-0-0039, Negative velocity limit value.............................................................................................. 81
S-0-0040, Velocity feedback value.................................................................................................... 81
S-0-0041, Homing velocity................................................................................................................ 82
S-0-0042, Homing acceleration......................................................................................................... 82
S-0-0043, Velocity polarity parameter............................................................................................... 83
S-0-0044, Velocity data scaling type................................................................................................. 84
S-0-0045, Velocity data scaling factor............................................................................................... 85
S-0-0046, Velocity data scaling exponent......................................................................................... 86
S-0-0047, Position command value................................................................................................... 86
S-0-0048, Additive position command value..................................................................................... 87
S-0-0049, Positive position limit value............................................................................................... 88
S-0-0050, Negative position limit value............................................................................................. 89
S-0-0051, Position feedback value 1................................................................................................. 90
S-0-0052, Reference distance 1........................................................................................................ 91
S-0-0053, Position feedback value 2................................................................................................. 92
S-0-0054, Reference distance 2........................................................................................................ 93
S-0-0055, Position polarities.............................................................................................................. 94
S-0-0057, Position window................................................................................................................ 95
S-0-0058, Reversal clearance........................................................................................................... 96
S-0-0059, Position switch flag parameter.......................................................................................... 97
S-0-0060, Position switch point 1 "On".............................................................................................. 98
S-0-0076, Position data scaling type................................................................................................. 98
S-0-0077, Linear position data scaling factor.................................................................................. 100

and Controls
III/XL
Table of Contents
Page
4.1.60
4.1.61
4.1.62
4.1.63
4.1.64
4.1.65
4.1.66
4.1.67
4.1.68
4.1.69
4.1.70
4.1.71
4.1.72
4.1.73
4.1.74
4.1.75
4.1.76
4.1.77
4.1.78
4.1.79
4.1.80
4.1.81
4.1.82
4.2
4.2.1
4.2.2
4.2.3
4.2.4
4.2.5
4.2.6
4.2.7
4.2.8
4.2.9
4.2.10
4.2.11
4.2.12
4.2.13
4.2.14
4.2.15
4.2.16
4.2.17
4.2.18
4.2.19
4.2.20
4.2.21
4.2.22
S-0-0078, Linear position data scaling exponent............................................................................ 100

S-0-0079, Rotational position resolution.......................................................................................... 101
S-0-0080, Torque/force command value......................................................................................... 102
S-0-0081, Additive torque/force command value............................................................................ 102
S-0-0082, Torque/force limit value positive..................................................................................... 103
S-0-0083, Torque/force limit value negative.................................................................................... 104
S-0-0084, Torque/force feedback value.......................................................................................... 105
S-0-0085, Torque/force polarity parameter..................................................................................... 106
S-0-0086, Torque/force data scaling type....................................................................................... 107
S-0-0087, Transmit to transmit recovery time (TATAT)................................................................... 109
S-0-0088, Receive to receive recovery time (TMTSY).................................................................... 109
S-0-0089, MDT Transmit starting time (T2)..................................................................................... 109
S-0-0090, Command value proceeding time (TMTSG)................................................................... 110
S-0-0091, Bipolar velocity limit value............................................................................................... 110
S-0-0092, Bipolar torque/force limit value....................................................................................... 111
S-0-0093, Torque/force data scaling factor..................................................................................... 112
S-0-0094, Torque/force data scaling exponent............................................................................... 113
S-0-0095, Diagnostic message....................................................................................................... 113
S-0-0096, Slave arrangement (SLKN)............................................................................................. 113
S-0-0097, Mask class 2 diagnostics................................................................................................ 114
S-0-0098, Mask class 3 diagnostics................................................................................................ 115
S-0-0099, C0500 Reset class 1 diagnostics.................................................................................... 116
S-0-0100, Velocity loop proportional gain........................................................................................ 116
S-0-0101 to S-0-0200 Standard Parameters...................................................................................... 118
S-0-0101, Velocity loop integral action time.................................................................................... 118
S-0-0103, Modulo value.................................................................................................................. 119
S-0-0104, Position loop Kv-factor.................................................................................................... 120
S-0-0106, Current loop proportional gain 1..................................................................................... 121
S-0-0107, Current loop integral action time 1.................................................................................. 123
S-0-0108, Feedrate override........................................................................................................... 124
S-0-0109, Motor peak current.......................................................................................................... 125
S-0-0110, Amplifier peak current..................................................................................................... 126
S-0-0111, Motor current at standstill............................................................................................... 126
S-0-0112, Amplifier nominal current................................................................................................ 127
S-0-0113, Maximum motor speed................................................................................................... 127
S-0-0115, Position feedback 2 type................................................................................................. 128
S-0-0116, Resolution of feedback 1................................................................................................ 130
S-0-0117, Resolution of feedback 2................................................................................................ 130
S-0-0121, Input revolutions of load gear......................................................................................... 131
S-0-0122, Output revolutions of load gear....................................................................................... 132
S-0-0123, Feed constant................................................................................................................. 132
S-0-0124, Standstill window............................................................................................................ 133
S-0-0125, Velocity threshold nx....................................................................................................... 134
S-0-0126, Torque threshold Tx........................................................................................................ 134
S-0-0127, C0100 Communication phase 3 transition check........................................................... 135
S-0-0128, C5200 Communication phase 4 transition check........................................................... 136
IV/XL

and Controls
Table of Contents
Page
4.2.23
4.2.24
4.2.25
4.2.26
4.2.27
4.2.28
4.2.29
4.2.30
4.2.31
4.2.32
4.2.33
4.2.34
4.2.35
4.2.36
4.2.37
4.2.38
4.2.39
4.2.40
4.2.41
4.2.42
4.2.43
4.2.44
4.2.45
4.2.46
4.2.47
4.2.48
4.2.49
4.2.50
4.2.51
4.2.52
4.2.53
4.2.54
4.2.55
4.2.56
4.2.57
4.2.58
4.2.59
4.2.60
4.2.61
4.2.62
4.2.63
4.2.64
4.2.65
4.2.66
4.2.67
4.2.68
S-0-0130, Probe value 1 positive edge........................................................................................... 136

S-0-0131, Probe value 1 negative edge.......................................................................................... 137
S-0-0132, Probe value 2 positive edge........................................................................................... 138
S-0-0133, Probe value 2 negative edge.......................................................................................... 138
S-0-0134, Master control word........................................................................................................ 139
S-0-0135, Drive status word............................................................................................................ 140
S-0-0138, Bipolar acceleration limit value....................................................................................... 141
S-0-0139, C1600 Parking axis procedure command....................................................................... 142
S-0-0140, Controller type................................................................................................................ 143
S-0-0141, Motor type....................................................................................................................... 144
S-0-0142, Application type.............................................................................................................. 144
S-0-0143, Sercos interface version................................................................................................. 145
S-0-0144, Signal status word.......................................................................................................... 146
S-0-0145, Signal control word......................................................................................................... 146
S-0-0146, C4300 NC-controlled homing procedure command....................................................... 147
S-0-0147, Homing parameter.......................................................................................................... 148
S-0-0148, C0600 Drive-controlled homing procedure command.................................................... 150
S-0-0149, C1300 Positive stop drive procedure command............................................................. 150
S-0-0150, Reference offset 1.......................................................................................................... 151
S-0-0151, Reference offset 2.......................................................................................................... 152
S-0-0152, C0900 Position spindle procedure command................................................................. 153
S-0-0153, Spindle angle position..................................................................................................... 154
S-0-0154, Spindle positioning parameter........................................................................................ 154
S-0-0155, Friction compensation..................................................................................................... 155
S-0-0156, Velocity feedback value 2............................................................................................... 156
S-0-0157, Velocity window.............................................................................................................. 156
S-0-0158, Power threshold Px......................................................................................................... 157
S-0-0159, Monitoring window.......................................................................................................... 158
S-0-0160, Acceleration data scaling type........................................................................................ 158
S-0-0161, Acceleration data scaling factor...................................................................................... 160
S-0-0162, Acceleration data scaling exponent................................................................................ 160
S-0-0163, Weight counterbalance................................................................................................... 161
S-0-0164, Acceleration feedback value 1........................................................................................ 161
S-0-0165, Distance-coded reference offset A................................................................................. 162
S-0-0166, Distance-coded reference offset B................................................................................. 162
S-0-0169, Probe control parameter................................................................................................. 163
S-0-0170, Probing cycle procedure command................................................................................ 164
S-0-0171, C4400 Calculate displacement procedure command..................................................... 165
S-0-0172, C4500 Displacement to referenced system procedure command.................................. 166
S-0-0173, Marker position A............................................................................................................ 167
S-0-0174, Marker position B............................................................................................................ 167
S-0-0175, Offset parameter 1.......................................................................................................... 168
S-0-0176, Offset parameter 2.......................................................................................................... 169
S-0-0177, Absolute offset 1............................................................................................................. 169
S-0-0178, Absolute offset 2............................................................................................................. 170
S-0-0179, Probe status.................................................................................................................... 170

and Controls
V/XL
Table of Contents
Page
4.2.69
4.2.70
4.2.71
4.2.72
4.2.73
4.2.74
4.2.75
4.2.76
4.2.77
4.2.78
4.2.79
4.2.80
4.2.81
4.2.82
4.2.83
4.3
4.3.1
4.3.2
4.3.3
4.3.4
4.3.5
4.3.6
4.3.7
4.3.8
4.3.9
4.3.10
4.3.11
4.3.12
4.3.13
4.3.14
4.3.15
4.3.16
4.3.17
4.3.18
4.3.19
4.3.20
4.3.21
4.3.22
4.3.23
4.3.24
4.3.25
4.3.26
4.3.27
4.3.28
4.3.29
4.3.30
S-0-0180, Spindle relative offset..................................................................................................... 172

S-0-0183, Velocity synchronization window.................................................................................... 172
S-0-0185, Length of the configurable data record in the AT............................................................ 173
S-0-0186, Length of the configurable data record in the MDT........................................................ 173
S-0-0187, List of configurable data in the AT.................................................................................. 174
S-0-0188, List of configurable data in the MDT............................................................................... 174
S-0-0189, Following distance.......................................................................................................... 175
S-0-0190, C4200 Drive-controlled oscillation procedure command................................................ 176
S-0-0191, C1500 Cancel reference point procedure command...................................................... 176
S-0-0192, IDN-list of all backup operation data............................................................................... 177
S-0-0193, Positioning Jerk.............................................................................................................. 178
S-0-0195, Acceleration feedback value 2........................................................................................ 178
S-0-0197, C3300 Set coordinate system procedure command....................................................... 179
S-0-0198, Initial coordinate value.................................................................................................... 179
S-0-0199, C3400 Shift coordinate system procedure command..................................................... 179
S-0-0201 to S-0-0400 Standard Parameters...................................................................................... 180
S-0-0201, Motor warning temperature............................................................................................. 180
S-0-0204, Motor shutdown temperature.......................................................................................... 181
S-0-0206, Drive on delay time......................................................................................................... 181
S-0-0207, Drive off delay time......................................................................................................... 182
S-0-0208, Temperature data scaling type....................................................................................... 182
S-0-0213, Oscillation speed............................................................................................................ 183
S-0-0214, Oscillation offset speed................................................................................................... 183
S-0-0215, Oscillation cycle time...................................................................................................... 184
S-0-0216, C4100 Switch parameter set command.......................................................................... 184
S-0-0217, Preselect parameter set command................................................................................. 185
S-0-0219, IDN-list of parameter set................................................................................................. 185
S-0-0222, Spindle positioning speed............................................................................................... 186
S-0-0228, Position synchronization window.................................................................................... 186
S-0-0254, Current parameter set..................................................................................................... 187
S-0-0256, Multiplication 1 (motor encoder)..................................................................................... 187
S-0-0257, Multiplication 2 (optional encoder).................................................................................. 188
S-0-0258, Target position................................................................................................................ 188
S-0-0259, Positioning velocity......................................................................................................... 189
S-0-0260, Positioning acceleration.................................................................................................. 190
S-0-0261, Coarse position window.................................................................................................. 190
S-0-0262, C07_x Load defaults procedure command..................................................................... 191
S-0-0263, C2300 Load working memory procedure command....................................................... 192
S-0-0264, C2200 Backup working memory procedure command................................................... 193
S-0-0265, Language selection......................................................................................................... 193
S-0-0267, Password........................................................................................................................ 194
S-0-0269, Storage mode................................................................................................................. 194
S-0-0270, IDN-list of selected backup operation data..................................................................... 195
S-0-0273, Maximum drive off delay time......................................................................................... 196
S-0-0275, Coordinate offset value................................................................................................... 197
S-0-0277, Position feedback 1 type................................................................................................. 197
VI/XL

and Controls
Table of Contents
Page
4.3.31
4.3.32
4.3.33
4.3.34
4.3.35
4.3.36
4.3.37
4.3.38
4.3.39
4.3.40
4.3.41
4.3.42
4.3.43
4.3.44
4.3.45
4.3.46
4.3.47
4.3.48
4.3.49
4.3.50
4.3.51
4.3.52
4.3.53
4.3.54
4.3.55
4.3.56
4.3.57
4.3.58
4.3.59
4.3.60
4.3.61
4.3.62
4.3.63
4.3.64
4.3.65
4.3.66
4.3.67
4.3.68
4.3.69
4.3.70
4.3.71
4.3.72
4.3.73
4.3.74
4.3.75
4.3.76
S-0-0278, Maximum travel range.................................................................................................... 199

S-0-0279, IDN-list of password-protected operation data............................................................... 200
S-0-0282, Positioning command value............................................................................................ 200
S-0-0283, Current coordinate offset................................................................................................ 201
S-0-0284, Secondary operation mode 4.......................................................................................... 201
S-0-0292, List of supported operation modes................................................................................. 204
S-0-0293, C2400 Selectively backup working memory procedure command................................. 206
S-0-0298, Reference cam shift........................................................................................................ 207
S-0-0299, Home switch offset......................................................................................................... 208
S-0-0301, Allocation of real-time control bit 1.................................................................................. 209
S-0-0303, Allocation of real-time control bit 2.................................................................................. 209
S-0-0305, Allocation of real-time status bit 1................................................................................... 210
S-0-0307, Allocation of real-time status bit 2................................................................................... 211
S-0-0315, Positioning velocity > nLimit............................................................................................ 212
S-0-0323, Target position outside of travel range........................................................................... 212
S-0-0326, Parameter checksum...................................................................................................... 213
S-0-0327, IDN list of checksum parameter...................................................................................... 214
S-0-0328, Assign list signal status word.......................................................................................... 214
S-0-0329, Assign list signal control word......................................................................................... 215
S-0-0330, Status "n_feedback = n_command"................................................................................ 215
S-0-0331, Status "n_feedback = 0".................................................................................................. 216
S-0-0332, Status "n_feedback < nx"................................................................................................ 216
S-0-0333, Status "T >= Tx".............................................................................................................. 217
S-0-0334, Status "T >= Tlimit"......................................................................................................... 217
S-0-0335, Status "n_command > n_limit"........................................................................................ 218
S-0-0336, Status "In position".......................................................................................................... 218
S-0-0337, Status "P >= Px"............................................................................................................. 219
S-0-0338, Status "In target position"................................................................................................ 219
S-0-0341, Status "In coarse position".............................................................................................. 220
S-0-0342, Status "Target position attained".................................................................................... 221
S-0-0343, Status "Interpolator halted"............................................................................................. 221
S-0-0346, Positioning control word.................................................................................................. 222
S-0-0347, Velocity error................................................................................................................... 224
S-0-0348, Acceleration feedforward gain........................................................................................ 224
S-0-0349, Bipolar jerk limit.............................................................................................................. 226
S-0-0359, Positioning deceleration.................................................................................................. 227
S-0-0360, Data container A: command value 1............................................................................... 227
S-0-0362, Data container A: list index command values................................................................. 228
S-0-0364, Data container A: feedback value 1................................................................................ 228
S-0-0366, Data container A: list index feedback values.................................................................. 229
S-0-0368, Data container A: addressing......................................................................................... 229
S-0-0370, Data container A: configuration list command value-1................................................... 230
S-0-0371, Data container A: configuration list feedback value-1..................................................... 231

and Controls
VII/XL
Table of Contents
Page
4.3.77
4.3.78
4.3.79
4.3.80
4.3.81
4.3.82
4.3.83
4.3.84
4.3.85
4.3.86
4.3.87
4.3.88
4.3.89
4.3.90
4.3.91
4.4
4.4.1
4.4.2
4.4.3
4.4.4
4.4.5
4.4.6
4.4.7
4.4.8
4.4.9
4.4.10
4.4.11
4.4.12
4.4.13
4.4.14
4.4.15
4.4.16
4.4.17
4.4.18
4.4.19
4.4.20
4.4.21
4.4.22
4.4.23
4.4.24
4.4.25
4.4.26
4.4.27
4.4.28
4.4.29
4.4.30
S-0-0372, Drive Halt acceleration bipolar........................................................................................ 231

S-0-0375, Diagnostic numbers list................................................................................................... 232
S-0-0378, Absolute encoder range of motor encoder..................................................................... 233
S-0-0379, Absolute encoder range of optional encoder.................................................................. 233
S-0-0380, DC bus voltage............................................................................................................... 234
S-0-0382, DC bus power................................................................................................................. 234
S-0-0383, Motor temperature.......................................................................................................... 235
S-0-0384, Amplifier temperature..................................................................................................... 235
S-0-0386, Active position feedback value....................................................................................... 236
S-0-0390, Diagnostic message number.......................................................................................... 236
S-0-0391, Monitoring window feedback 2....................................................................................... 237
S-0-0393, Command value mode.................................................................................................... 237
S-0-0398, IDN-list of configurable data in signal status word.......................................................... 239
S-0-0399, IDN-list of configurable data in signal control word......................................................... 239
S-0-0400, Home switch................................................................................................................... 240
S-0-0401 to S-0-1135 Standard Parameters ..................................................................................... 241
S-0-0401, Probe 1........................................................................................................................... 241
S-0-0402, Probe 2........................................................................................................................... 241
S-0-0403, Position feedback value status....................................................................................... 242
S-0-0404, Position command value status...................................................................................... 243
S-0-0405, Probe 1 enable............................................................................................................... 244
S-0-0406, Probe 2 enable............................................................................................................... 244
S-0-0407, Homing enable................................................................................................................ 245
S-0-0408, Reference marker pulse registered................................................................................ 246
S-0-0409, Probe 1 positive latched................................................................................................. 247
S-0-0410, Probe 1 negative latched................................................................................................ 247
S-0-0411, Probe 2 positive latched................................................................................................. 248
S-0-0412, Probe 2 negative latched................................................................................................ 249
S-0-0413, Bit number allocation of real-time control bit 1................................................................ 250
S-0-0414, Bit number allocation of real-time control bit 2................................................................ 250
S-0-0415, Bit number allocation of real-time status bit 1................................................................. 251
S-0-0416, Bit number allocation of real-time status bit 2................................................................. 251
S-0-0417, Positioning velocity threshold in modulo mode............................................................... 252
S-0-0418, Target position window in modulo mode........................................................................ 253
S-0-0419, Positioning command acknowledge............................................................................... 253
S-0-0420, C0400 Activate parameterization level 1 procedure command...................................... 254
S-0-0422, C0200 Exit parameterization level procedure command................................................ 254
S-0-0423, IDN-list of invalid data for parameterization levels.......................................................... 255
S-0-0424, Status parameterization level......................................................................................... 255
S-0-0426, Signal selection probe 1................................................................................................. 256
S-0-0427, Signal selection probe 2................................................................................................. 256
S-0-0428, Probe, IDN-list signal selection....................................................................................... 257
S-0-0429, Emergency halt deceleration.......................................................................................... 257
S-0-0430, Effective target position.................................................................................................. 258
S-0-0437, Positioning status............................................................................................................ 259
S-0-0446, Ramp reference velocity for acceleration data............................................................... 260
VIII/XL

and Controls
Table of Contents
Page
4.4.31
4.4.32
4.4.33
4.4.34
4.4.35
4.4.36
4.4.37
4.4.38
4.4.39
4.4.40
4.4.41
4.4.42
4.4.43
4.4.44
4.4.45
4.4.46
4.4.47
4.4.48
4.4.49
4.4.50
4.4.51
4.4.52
4.4.53
4.4.54
4.4.55
4.4.56
4.4.57
4.4.58
4.4.59
4.4.60
4.4.61
4.4.62
4.4.63
4.4.64
4.4.65
4.4.66
4.4.67
4.4.68
4.4.69
4.4.70
4.4.71
4.4.72
4.4.73
4.4.74
4.4.75
4.4.76
S-0-0447, Set absolute position procedure command.................................................................... 261

S-0-0448, Set absolute position control........................................................................................... 261
S-0-0460, Position switch point 1 "Off"............................................................................................ 266
S-0-0490, Data container A: configuration list command value 2.................................................... 270
S-0-0500, Data container A: configuration list feedback value 2..................................................... 274
S-0-0520, Control word of axis controller........................................................................................ 278
S-0-0521, Status word of position loop............................................................................................ 280
S-0-0524, Dead time compensation, positive edge, probe 1........................................................... 281
S-0-0525, Dead time compensation, negative edge, probe 1......................................................... 281
S-0-0526, Dead time compensation, positive edge, probe 2........................................................... 282
S-0-0527, Dead time compensation, negative edge, probe 2......................................................... 282
S-0-0531, Checksum of backup operation data.............................................................................. 283
S-0-0533, Nominal torque/force of motor........................................................................................ 284
S-0-0534, Maximum torque/force of motor...................................................................................... 284
S-0-0822, Torque/force ramp.......................................................................................................... 285
S-0-0823, Torque/force ramp time.................................................................................................. 286
S-0-0824, Status "Torque/force command value attained"............................................................. 287
S-0-0826, Torque/force window...................................................................................................... 288
S-0-1000, SERCOS III: SCP Type & Version.................................................................................. 289
S-0-1001, SERCOS III: NC cycle time (TNcyc)............................................................................... 289

and Controls
IX/XL
Table of Contents
Page
4.4.77
4.4.78
4.4.79
4.4.80
4.4.81
4.4.82
4.4.83
4.4.84
4.4.85
4.4.86
4.4.87
4.4.88
4.4.89
4.4.90
4.4.91
4.4.92
4.4.93
4.4.94
4.4.95
4.4.96
4.4.97
4.4.98
4.4.99
4.4.100
4.4.101
4.4.102
4.4.103
4.4.104
4.4.105
4.4.106
4.4.107
4.4.108
4.4.109
4.4.110
4.4.111
4.4.112
4.4.113
4.4.114
4.4.115
4.4.116
4.4.117
4.4.118
4.4.119
4.4.120
4.4.121
4.4.122
S-0-1002, SERCOS III: Communication Cycle time (tScyc)............................................................ 290

S-0-1003, SERCOS III: Allowed MST losses in CP3/CP4.............................................................. 291
S-0-1005, SERCOS III: Minimum feedback processing time (t5).................................................... 291
S-0-1006, SERCOS III: AT0 transmission starting time (t1)............................................................ 291
S-0-1007, SERCOS III: Feedback acquisition capture point (t4)..................................................... 292
S-0-1008, SERCOS III: Command value valid time (t3).................................................................. 292
S-0-1009, SERCOS III: Device Control (C-Dev) offset in MDT....................................................... 293
S-0-1010, SERCOS III: Lengths of MDTs....................................................................................... 294
S-0-1011, SERCOS III: Device Status (S-Dev) offset in AT............................................................ 294
S-0-1012, SERCOS III: Length of ATs............................................................................................ 295
S-0-1013, SERCOS III: SVC offset in MDT..................................................................................... 296
S-0-1014, SERCOS III: SVC offset in AT........................................................................................ 297
S-0-1015, SERCOS III: Ring delay.................................................................................................. 297
S-0-1016, SERCOS III: Slave delay (P/S)....................................................................................... 298
S-0-1017, SERCOS III: NRT transmission time.............................................................................. 298
S-0-1019, Master comm. engineering over IP: MAC address......................................................... 299
S-0-1020, Master comm. engineering over IP: IP address.............................................................. 300
S-0-1021, Master comm. engineering over IP: Network mask........................................................ 301
S-0-1022, Master comm. engineering over IP: Gateway address................................................... 302
S-0-1023, SERCOS III: SYNC jitter................................................................................................. 303
S-0-1024, C5300 SERCOS III: SYNC delay measuring procedure command................................ 304
S-0-1025, SERCOS III: ring status.................................................................................................. 304
S-0-1026, SERCOS III: Version of communication hardware......................................................... 305
S-0-1028, SERCOS III: Error counter MST-P/S.............................................................................. 306
S-0-1029, SERCOS III: MDT error counter..................................................................................... 307
S-0-1030, SERCOS III: AT error counter........................................................................................ 307
S-0-1035, SERCOS III: Error counter Port1 & Port2....................................................................... 308
S-0-1040, Drive address of master communication........................................................................ 309
S-0-1041, SERCOS III: AT Command value valid time (t9)............................................................ 310
S-0-1044, SERCOS III: Device Control (C-Dev)............................................................................. 310
S-0-1045, SERCOS III: Device Status (S-Dev)............................................................................... 310
S-0-1046, SERCOS III: List of SERCOS addresses in device........................................................ 311
S-0-1050.0.1, SIII-Connection: Connection setup........................................................................... 311
S-0-1050.0.2, SIII-Connection: Connection number........................................................................ 312
S-0-1050.0.3, SIII-Connection: Telegram assignment.................................................................... 313
S-0-1050.0.4, SIII-Connection: Max. length of connection.............................................................. 314
S-0-1050.0.5, SIII-Connection: Current length of connection.......................................................... 314
S-0-1050.0.6, SIII-Connection: Configuration list............................................................................ 315
S-0-1050.0.8, SIII-Connection: Connection control (C-Con)........................................................... 315
S-0-1050.0.10, SIII-Connection: Producer cycle time..................................................................... 316
S-0-1050.0.11, SIII-Connection: Allowed data losses..................................................................... 316
S-0-1050.0.12, SIII-Connection: Error counter data losses............................................................. 317
S-0-1050.0.20, SIII-Connection: IDN allocation of real-time bit....................................................... 317
S-0-1050.0.21, SIII-Connection: Bit allocation of real-time bit......................................................... 318
S-0-1051, SIII-Connection: Image of connection setups................................................................. 318
S-0-1095, SERCOS III: diagnostic message................................................................................... 319
X/XL

and Controls
Table of Contents
Page
4.4.123
4.4.124
4.4.125
4.4.126
4.4.127
4.4.128
4.4.129
4.4.130
4.4.131
4.4.132
4.4.133
4.4.134
5
5.1
5.1.1
5.1.2
5.1.3
5.1.4
5.1.5
5.1.6
5.1.7
5.1.8
5.1.9
5.1.10
5.1.11
5.1.12
5.1.13
5.1.14
5.1.15
5.1.16
5.1.17
5.1.18
5.1.19
5.1.20
5.1.21
5.1.22
5.1.23
5.1.24
5.1.25
5.1.26
5.1.27
5.1.28
5.1.29
5.1.30
5.1.31
S-0-1100.0.1, Diagnostic counter sent SMP fragments.................................................................. 319

S-0-1100.0.2, Diagnostic counter received SMP fragments............................................................ 320
S-0-1100.0.3, Diagnostic counter dropped SMP fragments............................................................ 320
S-0-1101.0.1, SMP Container Data................................................................................................. 321
S-0-1101.0.2, List of session identifiers........................................................................................... 321
S-0-1101.0.3, List of session priorities............................................................................................ 321
S-0-1134, SERCOS III: Master control word................................................................................... 322
S-0-1135, SERCOS III: Drive status word....................................................................................... 323
S-0-1300.0.3, Vendor Code............................................................................................................. 324
S-0-1300.0.5, Vendor Device ID...................................................................................................... 324
S-0-1301, List of GDP classes........................................................................................................ 325
S-0-1302.0.1, FSP Type.................................................................................................................. 325
Product-Specific Parameters..................................................................................... 327

P-0-0000 to P-0-0100 General Functions........................................................................................... 327
P-0-0001, Switching frequency of the power output stage.............................................................. 327
P-0-0004, Velocity loop smoothing time constant........................................................................... 328
P-0-0007, Display text of diagnostic message................................................................................ 329
P-0-0008, Activation E-Stop function............................................................................................... 329
P-0-0009, Error number................................................................................................................... 330
P-0-0010, Excessive position command value................................................................................ 331
P-0-0011, Last valid position command value................................................................................. 331
P-0-0012, C0300 Set absolute position procedure command......................................................... 332
P-0-0013, List of all IDNs not corresponding to default value......................................................... 332
P-0-0014, C1400 Command Get marker position........................................................................... 333
P-0-0018, Number of pole pairs/pole pair distance......................................................................... 333
P-0-0019, Initial position value........................................................................................................ 334
P-0-0020, Oscilloscope: Operation mode........................................................................................ 335
P-0-0021, Oscilloscope: list of measured values 1.......................................................................... 335
P-0-0023, Oscilloscope: signal selection 1...................................................................................... 336
P-0-0025, Oscilloscope: trigger mask.............................................................................................. 338
P-0-0026, Oscilloscope: trigger signal selection.............................................................................. 338
P-0-0027, Oscilloscope: trigger level............................................................................................... 339
P-0-0028, Oscilloscope: control word.............................................................................................. 339
P-0-0029, Oscilloscope: status word............................................................................................... 340
P-0-0030, Oscilloscope: trigger edge.............................................................................................. 341
P-0-0031, Oscilloscope: time resolution.......................................................................................... 342
P-0-0032, Oscilloscope: size of memory......................................................................................... 343
P-0-0033, Oscilloscope: number of measured values after trigger event........................................ 343
P-0-0034, Position command additional actual value...................................................................... 344
P-0-0035, Oscilloscope: control offset............................................................................................. 344
P-0-0036, Oscilloscope: external trigger signal............................................................................... 345
P-0-0037, Oscilloscope: internal trigger signal................................................................................ 345
P-0-0038, Torque-generating current, command value................................................................... 346

and Controls
XI/XL
Table of Contents
Page
5.1.32
5.1.33
5.1.34
5.1.35
5.1.36
5.1.37
5.1.38
5.1.39
5.1.40
5.1.41
5.1.42
5.1.43
5.1.44
5.1.45
5.1.46
5.1.47
5.1.48
5.1.49
5.1.50
5.1.51
5.1.52
5.1.53
5.1.54
5.1.55
5.1.56
5.1.57
5.1.58
5.1.59
5.1.60
5.1.61
5.1.62
5.1.63
5.1.64
5.1.65
5.1.66
5.1.67
5.1.68
5.1.69
5.1.70
5.1.71
5.1.72
5.1.73
5.1.74
5.1.75
5.1.76
5.1.77
P-0-0039, Flux-generating current, command value....................................................................... 347

P-0-0040, Velocity feedforward evaluation...................................................................................... 347
P-0-0041, Position command average value filter time constant.................................................... 348
P-0-0042, Current position command average value filter order..................................................... 349
P-0-0043, Torque-generating current, actual value......................................................................... 350
P-0-0044, Flux-generating current, actual value............................................................................. 350
P-0-0045, Control word of current controller................................................................................... 351
P-0-0046, Status word of current controller..................................................................................... 354
P-0-0047, Position command value control..................................................................................... 356
P-0-0048, Effective velocity command value................................................................................... 357
P-0-0049, Effective torque/force command value........................................................................... 357
P-0-0051, Torque/force constant..................................................................................................... 358
P-0-0052, Actual position value of measuring encoder................................................................... 359
P-0-0053, Master axis position........................................................................................................ 359
P-0-0054, Additive master axis position.......................................................................................... 360
P-0-0055, Return distance............................................................................................................... 361
P-0-0056, Return velocity................................................................................................................ 361
P-0-0057, Return acceleration......................................................................................................... 362
P-0-0058, Return jerk...................................................................................................................... 362
P-0-0059, Additive position command value, controller.................................................................. 363
P-0-0060, Filter time constant additive position cmd value............................................................. 364
P-0-0061, Angle offset begin of table.............................................................................................. 364
P-0-0063, Torque-generating voltage, actual value........................................................................ 365
P-0-0064, Flux-generating voltage, actual value............................................................................. 365
P-0-0065, Absolute voltage value, actual value.............................................................................. 366
P-0-0067, Phase current U, actual value......................................................................................... 366
P-0-0068, Phase current V, actual value......................................................................................... 366
P-0-0071, C3100 Command Recalculate actual value cycle.......................................................... 367
P-0-0072, Cam table 1.................................................................................................................... 367
P-0-0073, Cam distance 2............................................................................................................... 369
P-0-0074, Encoder type 1 (motor encoder)..................................................................................... 370
P-0-0075, Encoder type 2 (optional encoder).................................................................................. 372
P-0-0076, Encoder type 3 (measuring encoder)............................................................................. 374
P-0-0077, Assignment motor encoder->optional slot...................................................................... 375
P-0-0078, Assignment optional encoder->optional slot................................................................... 378
P-0-0079, Assignment measuring encoder->optional slot............................................................... 379
P-0-0081, Parallel output 1.............................................................................................................. 380
P-0-0082, Parallel input 1................................................................................................................ 382
P-0-0083, Gear ratio fine adjustment.............................................................................................. 383
P-0-0084, Number of bits per master axis revolution...................................................................... 383
P-0-0085, Dynamic angle offset...................................................................................................... 384
P-0-0086, Configuration word synchronous operation modes........................................................ 385
P-0-0087, Actual position value offset of measuring encoder......................................................... 388
P-0-0088, Control word synchronization modes.............................................................................. 388
P-0-0089, Status word synchronization modes............................................................................... 390
P-0-0090, Travel range limit parameter........................................................................................... 392
XII/XL

and Controls
Table of Contents
Page
5.1.78
5.1.79
5.1.80
5.1.81
5.1.82
5.1.83
5.1.84
5.1.85
5.1.86
5.1.87
5.2
5.2.1
5.2.2
5.2.3
5.2.4
5.2.5
5.2.6
5.2.7
5.2.8
5.2.9
5.2.10
5.2.11
5.2.12
5.2.13
5.2.14
5.2.15
5.2.16
5.2.17
5.2.18
5.2.19
5.2.20
5.2.21
5.2.22
5.2.23
5.2.24
5.2.25
5.2.26
5.2.27
5.2.28
5.2.29
5.2.30
5.2.31
5.2.32
5.2.33
5.2.34
5.2.35
P-0-0091, Position/travel range limit status..................................................................................... 393

P-0-0092, Cam table 2.................................................................................................................... 394
P-0-0093, Cam distance.................................................................................................................. 395
P-0-0094, Cam switch angle........................................................................................................... 395
P-0-0095, Absolute encoder monitoring window for motor encoder................................................ 395
P-0-0096, Absolute encoder monitoring window for opt. encoder................................................... 396
P-0-0097, Absolute encoder monitoring window for measuring encoder........................................ 397
P-0-0098, Max. model deviation...................................................................................................... 397
P-0-0099, Position command smoothing time constant.................................................................. 398
P-0-0100, Position command value extension................................................................................ 399
P-0-0101, Configuration for STO selector....................................................................................... 399
P-0-0102, Oper. hours power section at last activation of STO...................................................... 400
P-0-0103, Time interval of forced dynamization.............................................................................. 401
P-0-0104, Change history time interval of forced dynamization...................................................... 401
P-0-0105, Time stamp for list of diagnostic message numbers....................................................... 402
P-0-0106, Operating status of STO................................................................................................. 402
P-0-0108, Master drive polarity....................................................................................................... 404
P-0-0109, Torque/force peak limit................................................................................................... 404
P-0-0114, Undervoltage threshold................................................................................................... 405
P-0-0115, Device control: status word............................................................................................. 407
P-0-0116, Device control: control word........................................................................................... 410
P-0-0117, Activation of control unit reaction on error...................................................................... 411
P-0-0118, Power supply, configuration............................................................................................ 412
P-0-0119, Best possible deceleration.............................................................................................. 413
P-0-0120, Control word easy startup............................................................................................... 416
P-0-0121, Gear 1 motor-side (motor encoder)................................................................................ 417
P-0-0122, Gear 1 encoder-side (motor encoder)............................................................................ 418
P-0-0123, Feed constant 2 (optional encoder)................................................................................ 419
P-0-0124, Gear 2 load-side (optional encoder)............................................................................... 419
P-0-0125, Gear 2 encoder-side (optional encoder)......................................................................... 420
P-0-0127, Input revolutions of measuring gear............................................................................... 421
P-0-0128, Output revolutions of measuring gear............................................................................. 421
P-0-0129, Internal position data format........................................................................................... 422
P-0-0130, Position switch signal selection list................................................................................. 422
P-0-0131, Position switch signal selection...................................................................................... 423
P-0-0132, Position switch switch-on threshold................................................................................ 424
P-0-0133, Position switch switch-off thresholds.............................................................................. 424
P-0-0134, Position switch lead times............................................................................................... 425
P-0-0135, Position switch status word............................................................................................. 425
P-0-0139, Analog output 1............................................................................................................... 426
P-0-0140, Analog output 2............................................................................................................... 426
P-0-0141, Thermal drive load.......................................................................................................... 427
P-0-0142, Synchronization acceleration.......................................................................................... 427
P-0-0143, Synchronization velocity................................................................................................. 428
P-0-0144, Cam distance switch angle............................................................................................. 428

and Controls
XIII/XL
Table of Contents
Page
5.2.36
5.2.37
5.2.38
5.2.39
5.2.40
5.2.41
5.2.42
5.2.43
5.2.44
5.2.45
5.2.46
5.2.47
5.2.48
5.2.49
5.2.50
5.2.51
5.2.52
5.2.53
5.2.54
5.2.55
5.2.56
5.2.57
5.2.58
5.2.59
5.2.60
5.2.61
5.2.62
5.2.63
5.2.64
5.2.65
5.2.66
5.2.67
5.2.68
5.2.69
5.2.70
5.2.71
5.2.72
5.2.73
5.2.74
5.2.75
5.2.76
5.2.77
5.2.78
5.2.79
5.3
5.3.1

P-0-0149, Oscilloscope: signal selection list................................................................................... 431
P-0-0150, Oscilloscope: number of valid measured values............................................................ 432
P-0-0151, Synchronization window for modulo format.................................................................... 432
P-0-0152, Synchronization completed............................................................................................. 433
P-0-0153, Optimum distance home switch-reference mark............................................................ 433
P-0-0154, Synchronization direction................................................................................................ 434
P-0-0155, Synchronization mode.................................................................................................... 435
P-0-0156, Master drive gear input revolutions................................................................................. 437
P-0-0157, Master drive gear output revolutions.............................................................................. 438
P-0-0158, Angle offset change rate................................................................................................. 438
P-0-0159, Slave drive feed travel.................................................................................................... 439
P-0-0162, C1800 Command Drive optimization / command value box........................................... 440
P-0-0163, Damping factor for autom. controller setting................................................................... 441
P-0-0164, Application for autom. controller setting.......................................................................... 441
P-0-0165, Drive optimization, control word...................................................................................... 442
P-0-0166, Drive optimization, end position negative....................................................................... 445
P-0-0167, Drive optimization, end position positive......................................................................... 446
P-0-0168, Maximum acceleration to be parameterized................................................................... 447
P-0-0169, Drive optimization, travel distance.................................................................................. 447
P-0-0170, Drive optimization, acceleration...................................................................................... 448
P-0-0171, Drive optimization, velocity............................................................................................. 449
P-0-0172, Drive optimization, dwell time......................................................................................... 449
P-0-0176, Torque/Force command smoothing time constant......................................................... 450
P-0-0177, Absolute encoder buffer 1 (motor encoder).................................................................... 450
P-0-0178, Absolute encoder buffer 2 (optional encoder)................................................................. 451
P-0-0179, Absolute encoder buffer 3 (measuring encoder)............................................................ 452
P-0-0180, Acceleration feedforward smoothing time constant........................................................ 452
P-0-0185, Control word of encoder 2 (optional encoder)................................................................ 453
P-0-0187, Position command processing mode.............................................................................. 456
P-0-0190, Operating hours control section...................................................................................... 457
P-0-0191, Operating hours power section....................................................................................... 458
P-0-0192, Error memory of diagnostic numbers.............................................................................. 458
P-0-0193, Error memory operating hours of control section............................................................ 459
P-0-0194, Error memory power section........................................................................................... 460
P-0-0195, IDN list of retain data (replacement of devices).............................................................. 461
P-0-0196, Build date and time......................................................................................................... 462
P-0-0197, System time.................................................................................................................... 462
P-0-0198, System time error memory............................................................................................. 463
P-0-0199, System time error code................................................................................................... 464
P-0-0200, Start position probe function 2 active.............................................................................. 465
P-0-0201, End position probe function 2 active............................................................................... 465
XIV/XL

and Controls
Table of Contents
Page
5.3.2
5.3.3
5.3.4
5.3.5
5.3.6
5.3.7
5.3.8
5.3.9
5.3.10
5.3.11
5.3.12
5.3.13
5.3.14
5.3.15
5.3.16
5.3.17
5.3.18
5.3.19
5.3.20
5.3.21
5.3.22
5.3.23
5.3.24
5.3.25
5.3.26
5.3.27
5.3.28
5.3.29
5.3.30
5.3.31
5.3.32
5.3.33
5.3.34
5.3.35
5.3.36
5.3.37
5.3.38
5.3.39
5.3.40
5.3.41
5.3.42
5.3.43
5.3.44
5.3.45
5.3.46
5.3.47
P-0-0202, Difference probe values 1............................................................................................... 466

P-0-0203, Difference probe values 2............................................................................................... 467
P-0-0204, Start position probe function 1 active.............................................................................. 468
P-0-0205, End position probe function 1 active............................................................................... 468
P-0-0206, Probe 1, max. number of marker failures....................................................................... 469
P-0-0207, Probe 2, max. number of marker failures....................................................................... 469
P-0-0208, Analog input 5................................................................................................................. 470
P-0-0209, Analog input 6................................................................................................................. 471
P-0-0210, Analog input 1................................................................................................................. 471
P-0-0211, Analog input 2................................................................................................................. 472
P-0-0212, Analog input, list of assignable parameters.................................................................... 472
P-0-0213, Analog input, assignment A, target parameter............................................................... 473
P-0-0214, Analog input, assignment A, scaling per 10V full scale.................................................. 473
P-0-0215, Analog input, assignment A, signal value at 0V.............................................................. 474
P-0-0216, Analog input, assignment A, dead zone......................................................................... 474
P-0-0217, Analog input 1, time constant input filter......................................................................... 475
P-0-0218, Analog input, control parameter...................................................................................... 476
P-0-0219, Analog input, maximum value for adjustment................................................................. 478
P-0-0220, C2800 Analog input adjustment command..................................................................... 479
P-0-0222, Travel range limit switch inputs....................................................................................... 479
P-0-0223, E-Stop input.................................................................................................................... 480
P-0-0224, Probe 1, number of marker failures................................................................................ 481
P-0-0225, Probe 2, number of marker failures................................................................................ 481
P-0-0226, Probe, extended control word......................................................................................... 482
P-0-0227, Cam table, access angle................................................................................................ 484
P-0-0228, Analog input 3................................................................................................................. 485
P-0-0229, Analog input 4................................................................................................................. 485
P-0-0236, Analog input, assignment B, target parameter............................................................... 490
P-0-0237, Analog input, assignment B, scaling per 10V full scale.................................................. 491
P-0-0238, Analog input, assignment B, signal value at 0V.............................................................. 491
P-0-0239, Analog input, assignment B, dead zone......................................................................... 492
P-0-0240, C1700 Command measuring wheel mode..................................................................... 492
P-0-0241, Actual pos. smoothing time constant for hybrid pos. control.......................................... 493
P-0-0242, Current actual slip value in %......................................................................................... 493
P-0-0243, Maximum occurred actual slip value in %....................................................................... 494
P-0-0244, Monitoring window of slip in %........................................................................................ 494
P-0-0300, Digital I/Os, assignment list............................................................................................ 495
P-0-0301, Digital I/Os, bit numbers................................................................................................. 496
P-0-0302, Digital I/Os, direction....................................................................................................... 497
P-0-0303, Digital I/Os, inputs........................................................................................................... 498
P-0-0304, Digital I/Os, outputs........................................................................................................ 499

and Controls
XV/XL
Table of Contents
Page
5.3.48
5.3.49
5.3.50
5.3.51
5.3.52
5.3.53
5.3.54
5.3.55
5.3.56
5.3.57
5.3.58
5.3.59
5.3.60
5.3.61
5.3.62
5.3.63
5.3.64
5.3.65
5.3.66
5.3.67
5.3.68
5.3.69
5.3.70
5.3.71
5.3.72
5.3.73
5.3.74
5.3.75
5.3.76
5.3.77
5.3.78
5.3.79
5.3.80
5.3.81
5.3.82
5.3.83
5.3.84
5.3.85
5.3.86
5.3.87
5.3.88
5.3.89
5.3.90
5.3.91
5.3.92
5.3.93
P-0-0326, Multiplication of measuring encoder............................................................................... 501

P-0-0327, Encoder resolution of measuring encoder...................................................................... 501
P-0-0328, Type of position encoder for measuring encoder........................................................... 502
P-0-0329, Smoothing of actual position value 3 of measuring encoder.......................................... 503
P-0-0330, Control word of measuring encoder................................................................................ 504
P-0-0331, Status of measuring encoder.......................................................................................... 504
P-0-0332, Actual velocity value of measuring encoder................................................................... 505
P-0-0334, Absolute encoder range of measuring encoder.............................................................. 505
P-0-0340, C3500 Command Determine encoder correction values................................................ 506
P-0-0341, Control word for encoder correction............................................................................... 506
P-0-0342, Correction value table for encoder correction................................................................. 507
P-0-0343, Encoder 1, cosine signal................................................................................................. 508
P-0-0344, Encoder 1, sine signal.................................................................................................... 508
P-0-0391, Actual position value difference encoder1 - encoder2.................................................... 512
P-0-0393, IDN groups: control word................................................................................................ 512
P-0-0394, IDN groups: list............................................................................................................... 513
P-0-0395, Average value filter for display: signal selection............................................................. 513
P-0-0396, Average value filter for display: signal selection list........................................................ 515
P-0-0397, Average value filter for display: time constant................................................................ 516
P-0-0399, Configuration of simulation mode................................................................................... 517
P-0-0400, Axis correction external correction value........................................................................ 517
P-0-0401, Axis correction active correction value........................................................................... 518
P-0-0402, Axis correction reference temperature............................................................................ 518
P-0-0403, Axis correction reference position for temp. corr............................................................ 519
P-0-0404, Axis correction actual temperature pos.-dependent....................................................... 519
P-0-0405, Axis correction actual temperature pos.-independent.................................................... 520
P-0-0406, Axis correction temperature factor pos.-dependent........................................................ 520
P-0-0407, Axis correction temperature factor pos.-independent..................................................... 521
P-0-0408, Axis correction start position........................................................................................... 521
P-0-0409, Axis correction end position............................................................................................ 522
P-0-0410, Axis correction support point distance............................................................................ 522
P-0-0411, Axis correction, correction table positive........................................................................ 523
P-0-0412, Axis correction, correction table negative....................................................................... 524
P-0-0413, Axis correction control word............................................................................................ 525
P-0-0414, Analog Output 3.............................................................................................................. 525
P-0-0415, Analog Output 4.............................................................................................................. 526
P-0-0416, Analog Output 5.............................................................................................................. 526
P-0-0417, Analog Output 6.............................................................................................................. 527
P-0-0418, Analog output, assignment A, signal value at 0V........................................................... 527
P-0-0419, Analog output, assignment B, signal value at 0V........................................................... 528
P-0-0420, Analog output, assignment A, signal selection............................................................... 528
P-0-0422, Analog output, assignment A, scaling [1/V].................................................................... 529
XVI/XL

and Controls
Table of Contents
Page
5.3.94
5.3.95
5.3.96
5.3.97
5.3.98
5.3.99
5.3.100
5.3.101
5.3.102
5.3.103
5.3.104
5.3.105
5.3.106
5.3.107
5.3.108
5.3.109
5.3.110
5.3.111
5.3.112
5.3.113
5.3.114
5.3.115
5.3.116
5.3.117
5.3.118
5.3.119
5.3.120
5.3.121
5.3.122
5.3.123
5.3.124
5.3.125
5.3.126
5.3.127
5.3.128
5.3.129
5.3.130
5.3.131
5.3.132
5.3.133
5.3.134
5.3.135
5.3.136
5.3.137
5.3.138
5.3.139
P-0-0423, Analog output, assignment B, signal selection............................................................... 529

P-0-0425, Analog output, assignment B, scaling [1/V].................................................................... 530
P-0-0426, Analog output IDN list of assignable parameters............................................................ 530
P-0-0427, Control parameter of analog output................................................................................ 531
P-0-0434, Position command value of controller............................................................................. 532
P-0-0435, Control word of position controller.................................................................................. 533
P-0-0436, Reference radius for quadrant error correction............................................................... 534
P-0-0437, Velocity time range for quadrant error correction........................................................... 534
P-0-0438, Table of path velocities for quadrant error correction..................................................... 535
P-0-0439, Table of velocity pulse for quadrant error correction...................................................... 535
P-0-0440, Actual output current value (absolute value).................................................................. 536
P-0-0441, Overload warning............................................................................................................ 536
P-0-0442, Actual value torque limit positive (stationary)................................................................. 537
P-0-0443, Actual value torque limit negative (stationary)................................................................ 538
P-0-0444, Actual value peak torque limit......................................................................................... 538
P-0-0445, Status word torque/current limit...................................................................................... 539
P-0-0446, Thermal motor load......................................................................................................... 541
P-0-0447, Motor shaft power........................................................................................................... 541
P-0-0448, Temperature-dependent torque/force coefficient............................................................ 542
P-0-0449, Speed-dependent torque/force coefficient...................................................................... 542
P-0-0450, Current torque/force constant......................................................................................... 543
P-0-0451, Actual acceleration torque/force value............................................................................ 543
P-0-0452, Actual process torque/force value.................................................................................. 544
P-0-0453, Integral-action component velocity loop......................................................................... 544
P-0-0454, Velocity feedforward actual value................................................................................... 545
P-0-0455, Acceleration feedforward actual value............................................................................ 545
P-0-0456, Position command value delay....................................................................................... 546
P-0-0457, Position command value generator................................................................................ 546
P-0-0460, Module group, control word............................................................................................ 547
P-0-0461, Module group, status word............................................................................................. 548
P-0-0470, Block patch: Block selection........................................................................................... 549
P-0-0471, Block patch: Block data.................................................................................................. 550
P-0-0477, Logbook axis number..................................................................................................... 550
P-0-0478, Logbook event................................................................................................................ 551
P-0-0479, Logbook time stamp....................................................................................................... 551
P-0-0480, Patch function 1, source pointer..................................................................................... 552
P-0-0481, Patch function 1, attribute............................................................................................... 552
P-0-0482, Patch function 1, bit mask............................................................................................... 553
P-0-0483, Patch function 1, exponent............................................................................................. 554
P-0-0485, Patch function 1, display................................................................................................. 554
P-0-0486, Patch function 2, source pointer..................................................................................... 555
P-0-0487, Patch function 2, attribute............................................................................................... 555
P-0-0488, Patch function 2, bit mask............................................................................................... 556
P-0-0489, Patch function 2, exponent............................................................................................. 557
P-0-0491, Patch function 2, display................................................................................................. 557
P-0-0492, PLC patch function 1, data source.................................................................................. 558

and Controls
XVII/XL
Table of Contents
Page
5.3.140
P-0-0493, PLC patch function 1, display......................................................................................... 559
5.3.141
5.3.142
5.3.143
5.3.144
5.3.145
5.3.146
5.4
P-0-0501 to P-0-0689 General Functions .......................................................................................... 564
5.4.1
P-0-0506, Amplitude for angle acquisition....................................................................................... 564
5.4.2
P-0-0507, Test frequency for angle acquisition............................................................................... 565
5.4.3
P-0-0508, Commutation offset......................................................................................................... 565
5.4.4
P-0-0510, Rotor inertia.................................................................................................................... 567
5.4.5
P-0-0512, Temperature sensor....................................................................................................... 568
5.4.6
P-0-0513, Temperature sensor characteristic................................................................................. 569
5.4.7
P-0-0517, Commutation: required harmonics component............................................................... 570
5.4.8
P-0-0518, C5600 Command subsequent optimization of commutation offset................................ 571
5.4.9
P-0-0520, Encoder validation error threshold factor........................................................................ 572
5.4.10
P-0-0521, Effective commutation offset........................................................................................... 573
5.4.11
P-0-0522, Control word for commutation setting............................................................................. 573
5.4.12
P-0-0523, Commutation setting measured value............................................................................ 575
5.4.13
P-0-0524, C1200 Commutation offset setting command................................................................. 576
5.4.14
P-0-0525, Holding brake control word............................................................................................. 577
5.4.15
P-0-0528, Flux control loop proportional gain.................................................................................. 578
5.4.16
P-0-0529, Scaling of stall current limit............................................................................................. 579
5.4.17
P-0-0530, Slip increase................................................................................................................... 580
5.4.18
P-0-0532, Premagnetization factor.................................................................................................. 581
5.4.19
P-0-0533, Voltage loop proportional gain........................................................................................ 583
5.4.20
P-0-0534, Voltage loop integral action time..................................................................................... 584
5.4.21
P-0-0535, Motor voltage at no load................................................................................................. 584
5.4.22
P-0-0536, Maximum motor voltage................................................................................................. 585
5.4.23
P-0-0539, Holding brake status word.............................................................................................. 586
5.4.24
P-0-0540, Torque of holding brake.................................................................................................. 587
5.4.25
P-0-0541, C2100 Holding system check command........................................................................ 587
5.4.26
P-0-0542, C2000 Command Release holding brake....................................................................... 588
5.4.27
P-0-0543, C3800 Command Apply holding brake........................................................................... 589
5.4.28
P-0-0544, C3900 Command Holding brake resurfacing.................................................................. 589
5.4.29
P-0-0545, Test torque for releasing holding system........................................................................ 590
5.4.30
P-0-0546, Starting torque for releasing holding system.................................................................. 591
5.4.31
P-0-0547, Nominal load of holding system...................................................................................... 591
5.4.32
P-0-0549, Oper. hours control sec. at last succ. holding system check.......................................... 592
5.4.33
P-0-0550, Time interval holding system check................................................................................ 592
5.4.34
P-0-0551, Current load torque......................................................................................................... 593
5.4.35
P-0-0552, Input holding brake current monitoring........................................................................... 593
5.4.36
P-0-0554, Current torque value of the motor holding brake............................................................ 594
5.4.37
P-0-0555, Status word of axis controller.......................................................................................... 594
5.4.38
P-0-0556, Config word of axis controller......................................................................................... 596
XVIII/XL

and Controls
Table of Contents
Page
5.4.39
5.4.40
5.4.41
5.4.42
5.4.43
5.4.44
5.4.45
5.4.46
5.4.47
5.4.48
5.4.49
5.4.50
5.4.51
5.4.52
5.4.53
5.4.54
5.4.55
5.4.56
5.4.57
5.4.58
5.4.59
5.4.60
5.4.61
5.4.62
5.4.63
5.4.64
5.4.65
5.4.66
5.4.67
5.4.68
5.4.69
5.4.70
5.4.71
5.4.72
5.4.73
5.4.74
5.4.75
5.4.76
5.4.77
5.4.78
5.4.79
5.4.80
5.4.81
5.4.82
5.4.83
5.5
P-0-0558, Drive Halt configuration.................................................................................................. 600

P-0-0565, C3600 Command Motor data identification.................................................................... 601
P-0-0566, C4600 Command Calculate motor control parameters.................................................. 602
P-0-0568, Voltage boost.................................................................................................................. 602
P-0-0569, Maximum stator frequency slope.................................................................................... 603
P-0-0570, Stall protection loop proportional gain............................................................................ 603
P-0-0571, Stall protection loop integral action time......................................................................... 604
P-0-0572, Slip compensation factor................................................................................................ 604
P-0-0573, IxR boost factor............................................................................................................... 605
P-0-0574, Oscillation damping factor.............................................................................................. 605
P-0-0575, Search mode: search current factor............................................................................... 605
P-0-0576, Search mode: finding point slip factor............................................................................. 606
P-0-0577, Square characteristic: lowering factor............................................................................. 606
P-0-0578, Current for deceleration, absolute value......................................................................... 607
P-0-0579, Current for deceleration, time period.............................................................................. 608
P-0-0580, Motor frequency.............................................................................................................. 609
P-0-0590, Motor model frequency loop proportional gain............................................................... 609
P-0-0591, Motor model frequency loop integral action time............................................................ 610
P-0-0592, Motor model adjustment factor....................................................................................... 611
P-0-0593, FXC: Total flux loop proportional gain............................................................................ 611
P-0-0594, FXC: Total flux loop integral action time......................................................................... 612
P-0-0595, FXC: Frequency loop proportional gain.......................................................................... 612
P-0-0596, FXC: Frequency loop scaling factor of inertia................................................................. 613
P-0-0597, FXC: Current loop proportional gain............................................................................... 614
P-0-0598, FXC: Current loop integral action time............................................................................ 614
P-0-0599, FXC: Slip frequency filter time constant.......................................................................... 615
P-0-0600, FXC: Rated slip frequency.............................................................................................. 615
P-0-0601, Configuration motor data identification........................................................................... 616
P-0-0602, FXC: Minimum no-load current....................................................................................... 617
P-0-0612, Set absolute position control........................................................................................... 618
P-0-0620, Encoder validation monitoring signal.............................................................................. 619
P-0-0621, Encoder validation upper monitoring threshold.............................................................. 619
P-0-0622, Encoder validation lower monitoring threshold............................................................... 620
P-0-0640, Cooling type.................................................................................................................... 620
P-0-0641, Interpolation cmd value average value filter time constant............................................. 622
P-0-0665, C6500 Kommando Parameter auf MMC sichern............................................................ 623
P-0-0666, C6600 Kommando Parameter von MMC wiederherstellen............................................ 623
P-0-0668, MMC backup function configuration............................................................................... 624
P-0-0669, MMC backup function status.......................................................................................... 625
P-0-0681, Assignment IDN -> parallel output 1............................................................................... 627
P-0-0682, Assignment parallel input 1 -> IDN................................................................................. 627
P-0-0686, Additive position command value, positioning velocity................................................... 628
P-0-0687, Additive position command value, positioning acceleration............................................ 628
P-0-0688, Additive master axis position, positioning velocity.......................................................... 629
P-0-0689, Additive master axis position, positioning acceleration................................................... 629
P-0-0690 to P-0-0899 Synchronization Mode..................................................................................... 630

and Controls
XIX/XL
Table of Contents
Page
5.5.1
5.5.2
5.5.3
5.5.4
5.5.5
5.5.6
5.5.7
5.5.8
5.5.9
5.5.10
5.5.11
5.5.12
5.5.13
5.5.14
5.5.15
5.5.16
5.5.17
5.5.18
5.5.19
5.5.20
5.5.21
5.5.22
5.5.23
5.5.24
5.5.25
5.5.26
5.5.27
5.5.28
5.5.29
5.5.30
5.5.31
5.5.32
5.5.33
5.5.34
5.5.35
5.5.36
5.5.37
5.5.38
5.5.39
5.5.40
5.5.41
5.5.42
5.5.43
5.5.44
5.5.45
5.5.46
P-0-0690, Additive velocity command value, process loop............................................................. 630

P-0-0691, Additive position command value, process loop............................................................. 631
P-0-0692, Additive master axis position, process loop.................................................................... 631
P-0-0693, Filter time constant, add. master axis pos., process loop............................................... 632
P-0-0694, Gear ratio fine adjustment, process loop........................................................................ 633
P-0-0695, Angle offset begin of profile, process loop...................................................................... 633
P-0-0696, Filter time constant, angle offset profile, process loop.................................................... 634
P-0-0697, Synchronization, master axis synchronous position....................................................... 634
P-0-0698, Synchronization, master axis synchronization range...................................................... 635
P-0-0700, MotionProfile, master axis switching position................................................................. 635
P-0-0701, Motion step 1, slave axis initial position.......................................................................... 636
P-0-0702, MotionProfile, diagnosis, set 0........................................................................................ 636
P-0-0703, Number of motion steps, set 0........................................................................................ 637
P-0-0704, Master axis velocity, set 0............................................................................................... 637
P-0-0705, List of master axis initial positions, set 0......................................................................... 638
P-0-0706, List of motion laws, set 0................................................................................................ 638
P-0-0707, List of distances, set 0.................................................................................................... 639
P-0-0708, List of slave axis velocities, set 0.................................................................................... 640
P-0-0709, MotionProfile, diagnosis, set 1........................................................................................ 641
P-0-0710, Number of motion steps, set 1........................................................................................ 641
P-0-0711, Master axis velocity, set 1............................................................................................... 642
P-0-0712, List of master axis initial positions, set 1......................................................................... 642
P-0-0713, List of motion laws, set 1................................................................................................ 643
P-0-0714, List of distances, set 1.................................................................................................... 643
P-0-0715, List of slave axis velocities, set 1.................................................................................... 644
P-0-0750, Master axis revolutions per master axis cycle................................................................ 644
P-0-0751, Synchronization divisions per command cycle slave axis.............................................. 645
P-0-0752, Load revolutions per actual value cycle slave axis......................................................... 646
P-0-0753, Position actual value in actual value cycle...................................................................... 647
P-0-0754, Command value cycle.................................................................................................... 648
P-0-0755, Gear reduction................................................................................................................ 649
P-0-0756, Virtual master axis, scaling type..................................................................................... 649
P-0-0757, Virtual master axis, modulo value................................................................................... 650
P-0-0758, Virtual master axis, actual position value........................................................................ 651
P-0-0759, Virtual master axis, actual velocity value........................................................................ 651
P-0-0760, Virtual master axis, positioning control word.................................................................. 652
P-0-0761, Master axis position for slave axis.................................................................................. 653
P-0-0764, Master axis speed........................................................................................................... 653
P-0-0765, Modulo factor measuring encoder.................................................................................. 653
P-0-0766, Virtual master axis, positioning command value............................................................. 654
P-0-0767, Virtual master axis, effective target position................................................................... 655
P-0-0768, Virtual master axis, positioning status............................................................................ 655
P-0-0769, Virtual master axis, command value mode..................................................................... 656
P-0-0770, Virtual master axis, positioning velocity.......................................................................... 657
P-0-0771, Virtual master axis, positioning acceleration................................................................... 657
P-0-0772, Virtual master axis, positioning deceleration.................................................................. 658
XX/XL

and Controls
Table of Contents
Page
5.5.47
5.5.48
5.5.49
5.5.50
5.5.51
5.5.52
5.5.53
5.5.54
5.5.55
5.5.56
5.5.57
5.5.58
5.5.59
5.5.60
5.5.61
5.5.62
5.5.63
5.5.64
5.5.65
5.5.66
5.5.67
5.5.68
5.5.69
5.5.70
5.5.71
5.5.72
5.5.73
5.5.74
5.5.75
5.5.76
5.6
5.6.1
5.6.2
5.6.3
5.6.4
5.6.5
5.6.6
5.6.7
5.6.8
5.6.9
5.6.10
5.6.11
5.6.12
5.6.13
5.6.14
5.6.15
P-0-0774, Virtual master axis, positioning window shortest distance.............................................. 658

P-0-0775, Resulting master axis position........................................................................................ 659
P-0-0776, Effective master axis position......................................................................................... 660
P-0-0777, Effective master axis velocity.......................................................................................... 660
P-0-0778, Synchronous position command value........................................................................... 661
P-0-0779, Synchronous velocity...................................................................................................... 661
P-0-0780, Cam table 3.................................................................................................................... 662
P-0-0781, Cam table 4.................................................................................................................... 662
P-0-0782, Cam table 5.................................................................................................................... 663
P-0-0783, Cam table 6.................................................................................................................... 664
P-0-0784, Cam table 7.................................................................................................................... 664
P-0-0785, Cam table 8.................................................................................................................... 665
P-0-0786, Modulo value actual value cycle..................................................................................... 666
P-0-0787, Group axis 1 position...................................................................................................... 666
P-0-0788, Group axis 1 position, fine-interpolated.......................................................................... 667
P-0-0789, Master axis position, fine-interpolated............................................................................ 667
P-0-0806, Current mains voltage crest value.................................................................................. 668
P-0-0809, Properties of charging circuit.......................................................................................... 668
P-0-0810, Minimum mains crest value............................................................................................ 670
P-0-0815, Nominal mains voltage crest value................................................................................. 670
P-0-0816, Amplifier temperature 2.................................................................................................. 671
P-0-0817, Amplifier temperature 3.................................................................................................. 671
P-0-0819, Energy counter............................................................................................................... 672
P-0-0833, Braking resistor threshold............................................................................................... 672
P-0-0844, Braking resistor load....................................................................................................... 673
P-0-0851, Short-time energy counter.............................................................................................. 673
P-0-0858, Data of external braking resistor..................................................................................... 673
P-0-0859, Data of internal braking resistor...................................................................................... 675
P-0-0860, Converter configuration.................................................................................................. 675
P-0-0861, Power supply status word............................................................................................... 679
P-0-0900 to P-0-0999 Encoder Emulation.......................................................................................... 680
P-0-0900, Encoder emulation signal selection list........................................................................... 680
P-0-0901, Encoder emulation signal selection................................................................................ 682
P-0-0902, Encoder emulation control parameter............................................................................. 683
P-0-0903, Encoder emulation resolution......................................................................................... 684
P-0-0904, Encoder emulation zero pulse offset.............................................................................. 686
P-0-0905, Encoder emulation zero pulse distance.......................................................................... 687
P-0-0910, SSI control parameter..................................................................................................... 688
P-0-0911, Virtual master axis, positioning window.......................................................................... 689
P-0-0912, Virtual master axis, standstill window............................................................................. 689
P-0-0913, Virtual master axis, positioning jerk................................................................................ 690
P-0-0914, Virtual master axis, velocity threshold positioning.......................................................... 690
P-0-0915, Master axis format converter IDN list signal selection.................................................... 691
P-0-0916, Master axis format converter signal selection................................................................. 692
P-0-0917, Control word of master axis generator............................................................................ 692
P-0-0918, Feed travel internal virtual master axis........................................................................... 692

and Controls
XXI/XL
Table of Contents
Page
5.6.16
5.6.17
5.6.18
5.6.19
5.6.20
5.6.21
5.6.22
5.6.23
5.6.24
5.6.25
5.6.26
5.6.27
5.6.28
5.6.29
5.7
5.7.1
5.7.2
5.7.3
5.7.4
5.7.5
5.7.6
5.7.7
5.7.8
5.7.9
5.7.10
5.7.11
5.7.12
5.7.13
5.7.14
5.8
5.8.1
5.8.2
5.8.3
5.8.4
5.8.5
5.8.6
5.8.7
5.8.8
5.8.9
5.8.10
5.8.11
5.8.12
5.8.13
5.8.14
5.8.15
5.8.16
P-0-0919, Synchronization mode, secondary master...................................................................... 693

P-0-0920, Synchronization acceleration, secondary master........................................................... 694
P-0-0921, Synchronization velocity, secondary master................................................................... 694
P-0-0922, Preferred synchronization direction, secondary master.................................................. 694
P-0-0923, Synchroniz. window for shortest distance, secondary master........................................ 695
P-0-0924, Selection primary master................................................................................................ 696
P-0-0925, Master drive gear input revolutions, secondary master.................................................. 696
P-0-0926, Master drive gear output revolutions, secondary master................................................ 697
P-0-0927, Master drive gear fine adjustment, secondary master.................................................... 697
P-0-0928, Additive master axis position, secondary master............................................................ 698
P-0-0929, Change velocity of add. master axis posit., secondary master....................................... 698
P-0-0930, Change accel. of add. master axis posit., secondary master......................................... 698
P-0-0931, Synchronous position, secondary master....................................................................... 699
P-0-0932, Synchronization range, secondary master..................................................................... 699
P-0-1000 to P-0-1099 Encoder Evaluation......................................................................................... 700
P-0-1000, Kind of encoder 1, encoder memory............................................................................... 700
P-0-1001, Encoder 1 resolution, encoder memory.......................................................................... 701
P-0-1002, Absolute encoder offset 1, encoder memory.................................................................. 701
P-0-1003, Pulse wire encoder offset 1, encoder memory............................................................... 702
P-0-1004, Pulse wire encoder status 1, encoder memory............................................................... 702
P-0-1013, Pulse wire encoder offset 2, encoder memory............................................................... 704
P-0-1014, Pulse wire encoder status 2, encoder memory............................................................... 705
P-0-1044, Master comm. engineering over IP: Status IP communication....................................... 707
P-0-1100 to P-0-1299 Velocity Control............................................................................................... 710
P-0-1119, Velocity mix factor feedback 1 & 2.................................................................................. 710
P-0-1120, Velocity control loop filter: filter type............................................................................... 710
P-0-1121, Velocity control loop filter: limit frequency of low pass.................................................... 711
P-0-1122, Velocity control loop filter: bandwidth of band-stop filter................................................. 712
P-0-1123, Vel. cont. loop filter: center frequency of band-stop filter................................................ 713
P-0-1125, Velocity control loop: average value filter clock.............................................................. 714
P-0-1126, Velocity control loop: acceleration feedforward.............................................................. 715
P-0-1130, Table of cogging torque compensation values pos. Direction........................................ 716
P-0-1131, Control word of cogging torque compensation............................................................... 717
P-0-1132, Table of cogging torque compensation values neg. direction......................................... 718
P-0-1133, Status word of cogging torque compensation................................................................. 718
P-0-1134, Velocity threshold for attenuation of detent cogging compens....................................... 719
P-0-1135, Velocity threshold for switching off cogging torque compens......................................... 720
P-0-1136, Lead time cogging torque compensation........................................................................ 720
P-0-1138, C4800 Command Determine cogging torque compensation table................................. 721
P-0-1150, Command value generator output.................................................................................. 721
XXII/XL

and Controls
Table of Contents
Page
5.8.17
5.8.18
5.8.19
5.8.20
5.8.21
5.8.22
5.8.23
5.8.24
5.8.25
5.8.26
5.8.27
5.8.28
5.8.29
5.8.30
5.8.31
5.8.32
5.8.33
5.8.34
5.8.35
5.8.36
5.8.37
5.8.38
5.8.39
5.8.40
5.8.41
5.8.42
5.8.43
5.8.44
5.8.45
5.8.46
5.8.47
5.8.48
5.8.49
5.8.50
5.8.51
5.8.52
5.8.53
5.8.54
5.8.55
5.8.56
5.8.57
5.8.58
5.8.59
5.8.60
5.8.61
5.8.62
P-0-1151, Command value generator, list of possible target parameters....................................... 722

P-0-1152, Command value generator, target parameter assignment............................................. 722
P-0-1153, Command value generator, control word........................................................................ 723
P-0-1154, Command value generator, offset.................................................................................. 724
P-0-1155, Command value generator, amplitude............................................................................ 724
P-0-1156, Command value generator, duration 1........................................................................... 725
P-0-1157, Command value generator, duration 2........................................................................... 725
P-0-1158, Command value generator, periodic time....................................................................... 726
P-0-1200, Control word 1 velocity control........................................................................................ 726
P-0-1201, Ramp 1 pitch................................................................................................................... 728
P-0-1202, Final speed ramp 1......................................................................................................... 729
P-0-1203, Ramp 2 pitch................................................................................................................... 729
P-0-1206, Memory of velocity command values.............................................................................. 730
P-0-1207, Lower limit of velocity masking window.......................................................................... 731
P-0-1208, Upper limit of velocity masking window.......................................................................... 732
P-0-1209, Acceleration factors for velocity masking window........................................................... 732
P-0-1210, Status word of velocity control mode.............................................................................. 733
P-0-1211, Deceleration ramp 1....................................................................................................... 734
P-0-1213, Deceleration ramp 2....................................................................................................... 735
P-0-1214, Control word 2 velocity control........................................................................................ 736
P-0-1215, Motor potentiometer, acceleration.................................................................................. 737
P-0-1216, Motor potentiometer, deceleration.................................................................................. 738
P-0-1217, Motor potentiometer, step size....................................................................................... 739
P-0-1218, Motor potentiometer, command value............................................................................ 739
P-0-1222, Velocity command filter................................................................................................... 740
P-0-1223, List of acceleration ramps............................................................................................... 741
P-0-1224, List of deceleration ramps............................................................................................... 742
P-0-1225, List of smoothing time constants.................................................................................... 742
P-0-1270, PLC Global Register A0.................................................................................................. 743
P-0-1280, PLC Global Register A10................................................................................................ 748

and Controls
XXIII/XL
Table of Contents
Page
5.8.63
5.8.64
5.8.65
5.8.66
5.8.67
5.8.68
5.8.69
5.8.70
5.8.71
5.8.72
5.8.73
5.8.74
5.9
5.9.1
5.9.2
5.9.3
5.9.4
5.9.5
5.9.6
5.9.7
5.9.8
5.9.9
5.9.10
5.9.11
5.9.12
5.9.13
5.9.14
5.9.15
5.9.16
5.9.17
5.9.18
5.9.19
5.9.20
5.9.21
5.9.22
5.9.23
5.9.24
5.9.25
5.9.26
5.9.27
5.9.28
5.9.29
5.9.30
5.9.31
5.9.32
5.9.33

P-0-1300 to P-0-1499 Drive-Integrated PLC...................................................................................... 756
P-0-1311, PLC Global Register GL1............................................................................................... 757
P-0-1316, PLC Global Register G16............................................................................................... 758
P-0-1350, PLC control word............................................................................................................ 765
P-0-1351, PLC status word............................................................................................................. 766
P-0-1352, PLC user program administration data........................................................................... 767
P-0-1353, PLC user program area 0............................................................................................... 768
P-0-1359, PLC retain data............................................................................................................... 770
P-0-1360, PLC program identifier.................................................................................................... 771
P-0-1361, PLC program name........................................................................................................ 772
P-0-1362, PLC boot project info...................................................................................................... 772
XXIV/XL

and Controls
Table of Contents
Page
5.9.34
5.9.35
5.9.36
5.9.37
5.9.38
5.9.39
5.9.40
5.9.41
5.9.42
5.9.43
5.9.44
5.9.45
5.9.46
5.9.47
5.9.48
5.9.49
5.9.50
5.9.51
5.9.52
5.9.53
5.9.54
5.9.55
5.9.56
5.9.57
5.9.58
5.9.59
5.9.60
5.9.61
5.9.62
5.9.63
5.9.64
5.9.65
5.9.66
5.9.67
5.9.68
5.9.69
5.9.70
5.9.71
5.9.72
5.9.73
5.9.74
5.9.75
5.9.76
5.9.77
5.9.78
5.9.79
P-0-1363, PLC project info.............................................................................................................. 773

P-0-1364, PLC idle time.................................................................................................................. 774
P-0-1365, PLC error message......................................................................................................... 775
P-0-1367, PLC configuration........................................................................................................... 776
P-0-1368, PLC Global Register AL0................................................................................................ 778
P-0-1369, PLC internally reserved.................................................................................................. 779
P-0-1370, PLC Global Register G0................................................................................................. 779
P-0-1386, PLC display format Global Register................................................................................ 787
P-0-1387, PLC Global Register AT0............................................................................................... 788
P-0-1388, PLC Global Register AT1............................................................................................... 788
P-0-1390, PLC input WORD0 AT %IB0.......................................................................................... 790
P-0-1395, PLC input WORD5 AT %IB10........................................................................................ 793
P-0-1400, PLC input WORD10 AT %IB20...................................................................................... 795

and Controls
XXV/XL
Table of Contents
Page
5.9.80
P-0-1410, PLC output WORD0 AT %QB0...................................................................................... 800
5.9.81
5.9.82
5.9.83
5.9.84
5.9.85
P-0-1415, PLC output WORD5 AT %QB10.................................................................................... 802
5.9.86
5.9.87
5.9.88
5.9.89
5.9.90
P-0-1420, PLC output WORD10 AT %QB20.................................................................................. 805
5.9.91
5.9.92
5.9.93
5.9.94
5.9.95
5.9.96
5.9.97
5.9.98
5.9.99
5.9.100
P-0-1440, PLC input DWORD25 AT %IB100.................................................................................. 810
5.9.101
5.9.102
5.9.103
5.9.104
5.9.105
5.9.106
5.9.107
5.9.108
P-0-1449, C4900 PLC command.................................................................................................... 814
5.9.109
P-0-1450, PLC/setting-up mode Positioning command value......................................................... 815
5.9.110
P-0-1451, PLC/setting-up mode, positioning velocity...................................................................... 816
5.9.111
P-0-1452, PLC/setting-up mode, positioning acceleration.............................................................. 816
5.9.112
P-0-1453, PLC/setting-up mode, positioning deceleration.............................................................. 817
5.9.113
P-0-1454, PLC/setting-up mode, positioning command value acceptance..................................... 818
5.9.114
P-0-1455, PLC/setting-up mode, positioning command value acknowledge.................................. 819
5.9.115
P-0-1460, PLC/setting-up mode, velocity command value.............................................................. 820
5.9.116
P-0-1461, PLC/setting-up mode ramp pitch.................................................................................... 820
5.9.117
P-0-1463, PLC/setting-up mode deceleration ramp........................................................................ 821
5.9.118
P-0-1465, PLC/setting-up mode Torque/force command value...................................................... 822
5.9.119
P-0-1466, PLC Torque/force ramp.................................................................................................. 822
5.9.120
P-0-1499, PLC retain data on-board............................................................................................... 823
5.10
P-0-1500 to P-0-1599 Device Parameters.......................................................................................... 823
5.10.1
P-0-1506, Circuit board code optional module 1............................................................................. 823
5.10.2
5.10.3
5.10.4
P-0-1509, Circuit board code master communication..................................................................... 826
XXVI/XL

and Controls
Table of Contents
Page
5.10.5
P-0-1510, Circuit board code power section................................................................................... 827
5.10.6
P-0-1511, Circuit board code control section.................................................................................. 827
5.10.7
P-0-1512, Circuit board code of optional module 4......................................................................... 828
5.10.8
P-0-1513, Circuit board code optional module 1 for safety technology........................................... 829
5.10.9
P-0-1514, Circuit board code optional module 2 for safety technology........................................... 830
5.10.10
P-0-1518, Module code of control section....................................................................................... 831
5.10.11
P-0-1519, Module code of power section........................................................................................ 832
5.10.12
P-0-1520, Control section type........................................................................................................ 832
5.10.13
P-0-1530, Engineering: MAC address............................................................................................. 833
5.10.14
P-0-1531, Engineering: IP address................................................................................................. 834
5.10.15
P-0-1532, Engineering: Network mask............................................................................................ 835
5.10.16
P-0-1533, Engineering: Gateway address....................................................................................... 836
5.10.17
P-0-1534, C6100 Command Activate IP settings............................................................................ 837
5.10.18
P-0-1544, Engineering: Status IP communication........................................................................... 837
5.11
P-0-1600 to P-0-1999 Drive Cross Communication........................................................................... 839
5.11.1
P-0-1600, CCD: configuration......................................................................................................... 839
5.11.2
P-0-1601, CCD: addresses of projected drives............................................................................... 842
5.11.3
P-0-1602, CCD: timing settings....................................................................................................... 843
5.11.4
P-0-1603, CCD: Actual topology addresses.................................................................................... 844
5.11.5
P-0-1604, CCD: addresses of projected I/Os.................................................................................. 845
5.11.6
P-0-1605, CCD: command communication phase.......................................................................... 846
5.11.7
P-0-1606, CCD: actual communication phase................................................................................ 847
5.11.8
P-0-1607, CCD: axis error............................................................................................................... 847
5.11.9
P-0-1608, CCD: control word.......................................................................................................... 848
5.11.10
P-0-1609, CCD: status word............................................................................................................ 848
5.11.11
P-0-1610, CCD: cycle time.............................................................................................................. 849
5.11.12
P-0-1610.0.3, CCD: Actual topology............................................................................................... 850
5.11.13
P-0-1610.0.21, CCD: Slave addresses at end of line...................................................................... 850
5.11.14
P-0-1610.0.30, CCD: Diagnostic message text............................................................................... 851
5.11.15
P-0-1610.0.31, CCD: Diagnosis code............................................................................................. 854
5.11.16
P-0-1611, CCD: configuration list signal status word...................................................................... 855
5.11.17
P-0-1612, CCD: configuration list signal control word..................................................................... 855
5.11.18
P-0-1613, CCD: assignment list signal status word........................................................................ 856
5.11.19
P-0-1614, CCD: assignment list signal control word....................................................................... 857
5.11.20
P-0-1615, CCD: extrapolated cmd value IDN list signal selection................................................... 857
5.11.21
P-0-1616, CCD: extrapolated cmd value signal selection............................................................... 858
5.11.22
P-0-1617, CCD: number of extrapolation steps............................................................................... 858
5.11.23
P-0-1618, CCD: extrapolated command value................................................................................ 859
5.11.24
P-0-1620.0.3, CCD: Command topology......................................................................................... 859
5.11.25
P-0-1620.0.21, CCD: Command Close ring.................................................................................... 860
5.11.26
P-0-1621, CCD: configuration list master communication cmd values............................................ 860
5.11.27
P-0-1621.0.1, CCD: Slave address in high level network................................................................ 861
5.11.28
P-0-1621.0.2, CCD: S2 AT Transmission starting time (T1)........................................................... 862
5.11.29
P-0-1621.0.3, CCD: S2 Position of data record in MDT.................................................................. 863
5.11.30
P-0-1621.0.4, CCD: SERCOS Telegram type parameter............................................................... 863
5.11.31
P-0-1621.0.5, CCD: Master comm. configuration list of AT............................................................. 864
Electric Drives | Bosch Rexroth AG XXVII/XL

and Controls
Table of Contents
Page
5.11.32
5.11.33
5.11.34
5.11.35
5.11.36
5.11.37
5.11.38
5.11.39
5.11.40
5.11.41
5.11.42
5.11.43
5.11.44
5.11.45
5.11.46
5.11.47
5.11.48
5.11.49
5.11.50
5.11.51
5.11.52
5.11.53
5.11.54
5.11.55
5.11.56
5.11.57
5.11.58
5.11.59
5.11.60
5.11.61
5.11.62
5.11.63
5.11.64
5.11.65
5.11.66
5.11.67
5.11.68
5.11.69
5.11.70
5.11.71
5.11.72
5.11.73
5.11.74
5.11.75
5.11.76
5.11.77
P-0-1621.0.6, CCD: Master comm. configuration list of MDT......................................................... 864

P-0-1621.0.7, CCD: S2 Slave arrangement (SLKN)....................................................................... 865
P-0-1621.0.8, CCD: S2 Mask class 3 diagnostics........................................................................... 865
P-0-1621.0.9, CCD: Master comm. C0100 Comm. phase 3 transition check................................. 866
P-0-1621.0.10, CCD: Master comm. C5200 Comm. phase 4 transition check............................... 866
P-0-1621.0.11, CCD: Mater comm. master control word................................................................ 867
P-0-1621.0.12, CCD: Master comm. drive status............................................................................ 867
P-0-1621.0.13, CCD: S2 Allocation of real-time control bit 1.......................................................... 868
P-0-1621.0.14, CCD: S2 Allocation of real-time control bit 2.......................................................... 868
P-0-1621.0.15, CCD: S2 Allocation of real-time status bit 1............................................................ 868
P-0-1621.0.16, CCD: S2 Allocation of real-time status bit 2............................................................ 869
P-0-1621.0.17, CCD: S2 Bit number allocation of real-time control bit 1........................................ 869
P-0-1621.0.18, CCD: S2 Bit number allocation of real-time control bit 2........................................ 870
P-0-1621.0.19, CCD: S2 Bit number allocation of real-time status bit 1.......................................... 870
P-0-1621.0.20, CCD: S2 Bit number allocation of real-time status bit 2.......................................... 871
P-0-1621.0.21, CCD: Master comm. IDN-list of invalid operation data for CP2.............................. 871
P-0-1621.0.23, CCD: Master comm. diagnosis............................................................................... 872
P-0-1622, CCD: configuration list master communication actual values......................................... 872
P-0-1623, CCD: configuration list master cmd values..................................................................... 874
P-0-1624, CCD: configuration list actual master values.................................................................. 875
P-0-1625, CCD: configuration list slave cmd values....................................................................... 876
P-0-1626, CCD: configuration list actual slave values..................................................................... 877
P-0-1627, CCD: configuration list master cmd values I/Os............................................................. 879
P-0-1628, CCD: configuration list act. master values I/Os.............................................................. 879
P-0-1629, CCD: configuration compact I/Os................................................................................... 880
P-0-1630, CCD: diagnosis............................................................................................................... 881
P-0-1630.0.1, CCD: Slave IP address............................................................................................. 885
P-0-1630.0.2, CCD: Device status word (S-Dev)............................................................................ 886
P-0-1630.0.3, CCD: Connection-Control #0 (C-Con)...................................................................... 886
P-0-1630.0.20, CCD: Resource-Status (S-Res).............................................................................. 887
P-0-1631, CCD: AT error counter.................................................................................................... 889
P-0-1632, CCD: system data 2 bytes.............................................................................................. 890
P-0-1633, CCD: system data 4 bytes.............................................................................................. 890
P-0-1635, CCD: command adjust slave addresses......................................................................... 891
P-0-1636, CCD: Command topology addresses............................................................................. 891
P-0-1637, CCD: error counter Port-1............................................................................................... 892
P-0-1638, CCD: error counter Port-2............................................................................................... 893
P-0-1639, CCD: allowed telegram failures...................................................................................... 893
P-0-1640, CCD: MAC address........................................................................................................ 894
P-0-1641, CCD: IP address............................................................................................................. 895
P-0-1642, CCD: network mask........................................................................................................ 896
P-0-1643, CCD: gateway address................................................................................................... 896
P-0-1644, CCD: status IP communication....................................................................................... 897
P-0-1645.0.1, CCD connection: Configuration................................................................................ 899
P-0-1645.0.2, CCD connection: Connection number...................................................................... 901
P-0-1645.0.3, CCD connection: Telegram assignment................................................................... 901
XXVIII/XL Bosch Rexroth AG | Electric Drives

and Controls
Table of Contents
Page
5.11.78
5.11.79
5.11.80
5.11.81
5.11.82
5.11.83
5.11.84
5.11.85
5.11.86
5.11.87
5.11.88
5.11.89
5.11.90
5.11.91
5.11.92
5.11.93
5.11.94
5.11.95
5.11.96
5.11.97
5.11.98
5.11.99
5.11.100
5.11.101
5.11.102
5.11.103
5.11.104
5.11.105
5.11.106
5.11.107
5.11.108
5.11.109
5.11.110
5.11.111
5.11.112
5.11.113
5.11.114
5.11.115
5.11.116
5.11.117
5.11.118
5.11.119
5.11.120
5.11.121
5.11.122
5.11.123
P-0-1645.0.4, CCD connection: Max. length of connection............................................................. 902

P-0-1645.0.5, CCD connection: Current connection length............................................................ 902
P-0-1645.0.6, CCD connection: Configuration list........................................................................... 903
P-0-1645.0.8, CCD connection: Connection control (C-Con).......................................................... 903
P-0-1645.0.10, CCD connection: Producer cycle time.................................................................... 904
P-0-1645.0.11, CCD connection: Allowed losses of producer data................................................. 905
P-0-1645.0.12, CCD connection: Error counter data losses........................................................... 905
P-0-1645.0.20, CCD connection: IDN allocation of real-time bits.................................................... 906
P-0-1645.0.21, CCD connection: Bit number allocation of real-time bits........................................ 906
P-0-1650, CCD: control word compact I/Os.................................................................................... 907
P-0-1651, CCD: master control word, slave 1................................................................................. 907
P-0-1660, CCD: status word compact I/Os..................................................................................... 911
P-0-1660.0.2, CCD: Device control word (C-Res)........................................................................... 912
P-0-1660.0.3, CCD: Conection-Control #1 (C-Con)........................................................................ 912
P-0-1660.0.20, CDD: Resource-Control (C-Res)............................................................................ 914
P-0-1661, CCD: drive status word, slave 1..................................................................................... 915
P-0-1670, CCD: active actual position value, master...................................................................... 919
P-0-1671, CCD: active actual position value, slave 1...................................................................... 919
P-0-1680, CCD: actual velocity value, master................................................................................. 924
P-0-1681, CCD: actual velocity value, slave 1................................................................................ 924

and Controls
XXIX/XL
Table of Contents
Page
5.11.124
5.11.125
5.11.126
5.11.127
5.11.128
5.11.129
5.11.130
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5.11.133
5.11.134
5.11.135
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5.11.139
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5.11.151
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5.11.156
5.11.157
5.11.158
5.11.159
5.11.160
5.11.161
5.11.162
5.11.163
5.11.164
5.11.165
5.11.166
5.11.167
5.11.168
5.11.169

P-0-1690, CCD: actual torque/force value, master.......................................................................... 928
P-0-1691, CCD: actual torque/force value, slave 1......................................................................... 928
P-0-1701, CCD: diagnostic message number slave 1..................................................................... 933
P-0-1710, CCD: signal status word, master.................................................................................... 937
P-0-1711, CCD: signal status word, slave 1.................................................................................... 937
P-0-1720, CCD: signal control word, master................................................................................... 941
P-0-1721, CCD: signal control word, slave 1................................................................................... 942
P-0-1730, CCD: Command value data container 1, Master 4Byte.................................................. 946
XXX/XL

and Controls
Table of Contents
Page
5.11.170
5.11.171
5.11.172
5.11.173
5.11.174
5.11.175
5.11.176
5.11.177
5.11.178
5.11.179
5.11.180
5.11.181
5.11.182
5.11.183
5.11.184
5.11.185
5.11.186
5.11.187
5.11.188
5.11.189
5.11.190
5.11.191
5.11.192
5.11.193
5.11.194
5.11.195
5.11.196
5.11.197
5.11.198
5.11.199
5.11.200
5.11.201
5.11.202
5.11.203
5.11.204
5.11.205
5.11.206
5.11.207
5.11.208
5.11.209
5.11.210
5.11.211
5.11.212
5.11.213
5.11.214
5.11.215
P-0-1731, CCD: Command value data container 1, Slave 1 4Byte................................................. 946

P-0-1770, CCD: Actual value data container 1, Master 4Byte........................................................ 964
P-0-1771, CCD: Actual value data container 1, Slave 1 4Byte....................................................... 965

and Controls
XXXI/XL
Table of Contents
Page
5.11.216
5.11.217
5.11.218
5.11.219
5.11.220
5.11.221
5.11.222
5.11.223
5.11.224
5.11.225
5.11.226
5.11.227
5.11.228
5.11.229
5.11.230
5.11.231
5.11.232
5.11.233
5.11.234
5.11.235
5.11.236
5.11.237
5.11.238
5.11.239
5.11.240
5.11.241
5.11.242
5.11.243
5.11.244
5.11.245
5.11.246
5.11.247
5.11.248
5.11.249
5.11.250
5.11.251
5.11.252
5.11.253
5.11.254
5.11.255
5.11.256
5.11.257
5.11.258
5.11.259
5.11.260
5.11.261

P-0-1810, CCD: Status word synchronous operation modes, master............................................. 982
P-0-1811, CCD: Status word synchronous operation modes, slave 1............................................ 982
XXXII/XL Bosch Rexroth AG | Electric Drives

and Controls
Table of Contents
Page
5.11.262
5.11.263
5.11.264
5.11.265
5.11.266
5.11.267
5.11.268
5.11.269
5.11.270
5.11.271
5.11.272
5.11.273
5.11.274
5.11.275
5.11.276
5.11.277
5.11.278
5.11.279
5.11.280
5.11.281
5.11.282
5.11.283
5.11.284
5.11.285
5.11.286
5.11.287
5.11.288
5.11.289
5.11.290
5.11.291
5.11.292
5.11.293
5.11.294
5.11.295
5.11.296
5.11.297
5.11.298
5.11.299
5.11.300
5.11.301
5.11.302
5.11.303
5.11.304
5.11.305
5.11.306
5.11.307

P-0-1850, CCD: Command value data container 4, Master 2Byte................................................ 1000
P-0-1851, CCD: Command value data container 4, Slave 1 2Byte............................................... 1000
P-0-1860, CCD: Actual value data container 1, Master 2Byte...................................................... 1004
P-0-1861, CCD: Actual value data container 1, Slave 1 2Byte..................................................... 1005
Electric Drives | Bosch Rexroth AG XXXIII/XL

and Controls
Table of Contents
Page
5.11.308 P-0-1869, CCD: Actual value data container 1, Slave 9 2Byte..................................................... 1009
5.11.309 P-0-1870, CCD: Actual value data container 2, Master 2Byte...................................................... 1009
5.12
P-0-2000 to P-0-2999 General Device Parameters.......................................................................... 1023
5.12.1
P-0-2002, Oper. hours of contr. sect. at change of functional packages....................................... 1023
5.12.2
P-0-2003, Selection of functional packages.................................................................................. 1023
5.12.3
P-0-2004, Active functional packages........................................................................................... 1024
5.12.4
P-0-2051, Operating hours counter, motor.................................................................................... 1025
5.12.5
P-0-2052, Thermal operating data, motor..................................................................................... 1026
5.12.6
P-0-2053, Mechanical operating data, motor................................................................................ 1027
5.12.7
P-0-2054, Operational performance, motor................................................................................... 1027
5.12.8
P-0-2055, Serial number, motor.................................................................................................... 1028
5.12.9
P-0-2100, Velocity loop proportional gain, encoder memory......................................................... 1029
5.12.10
P-0-2101, Velocity loop integral-action time, encoder memory..................................................... 1029
5.12.11
P-0-2104, Position loop Kv-factor, encoder memory..................................................................... 1030
5.12.12
P-0-2106, Current loop proportional gain 1, encoder memory...................................................... 1030
5.12.13
P-0-2107, Current loop integral-action time 1, encoder memory................................................... 1031
5.12.14
P-0-2109, Motor peak current, encoder memory........................................................................... 1031
XXXIV/XL Bosch Rexroth AG | Electric Drives

and Controls
Table of Contents
Page
5.12.15
P-0-2111, Motor current at standstill, encoder memory................................................................ 1032
5.12.16
P-0-2113, Maximum velocity of motor, encoder memory.............................................................. 1032
5.12.17
P-0-2141, Motor type, encoder memory........................................................................................ 1033
5.12.18
P-0-2204, Motor shutdown temperature, encoder memory........................................................... 1033
5.12.19
P-0-2206, Drive On delay time, encoder memory......................................................................... 1034
5.12.20
P-0-2207, Drive Off delay time, encoder memory......................................................................... 1034
5.12.21
P-0-2216, Parameter set switching, configuration......................................................................... 1035
5.12.22
P-0-2217, Parameter set switching, preselection range................................................................ 1036
5.12.23
P-0-2218, Parameter set switching, delay time............................................................................. 1037
5.12.24
P-0-2300, List of 32-bit IDNs......................................................................................................... 1038
5.12.25
P-0-2301, List of 16-bit alias IDNs................................................................................................. 1038
5.12.26
P-0-2310, Master communication: Protocol.................................................................................. 1039
5.12.27
P-0-2311, Master communication: Device name........................................................................... 1039
5.12.28
P-0-2312, Master communication: MAC address device.............................................................. 1040
5.12.29
P-0-2313, Master communication: MAC address Port1................................................................ 1040
5.12.30
P-0-2314, Master communication: MAC address Port2................................................................ 1040
5.12.31
P-0-2315, Master communication: IP address.............................................................................. 1041
5.12.32
P-0-2316, Master communication: Network mask......................................................................... 1041
5.12.33
P-0-2317, Master communication: Gateway address.................................................................... 1041
5.13
P-0-3000 to P-03199 Encoder Memory............................................................................................ 1042
5.13.1
P-0-3000, Module code of motor, encoder memory...................................................................... 1042
5.13.2
P-0-3001, Encoder type 1 (motor encoder), encoder memory...................................................... 1043
5.13.3
P-0-3002, Number of pole pairs/pole pair distance, encoder memory.......................................... 1043
5.13.4
P-0-3003, Rotor inertia, encoder memory..................................................................................... 1044
5.13.5
P-0-3004, Speed loop smoothing time constant, encoder memory............................................... 1044
5.13.6
P-0-3005, Torque/force constant, encoder memory...................................................................... 1045
5.13.7
P-0-3006, Rated motor speed, encoder memory.......................................................................... 1045
5.13.8
P-0-3007, Stator resistance, encoder memory.............................................................................. 1046
5.13.9
P-0-3008, Commutation offset, encoder memory.......................................................................... 1046
5.13.10
P-0-3009, Holding brake control word, encoder memory.............................................................. 1047
5.13.11
P-0-3010, Torque of motor holding brake, encoder memory......................................................... 1047
5.13.12
P-0-3011, Holding brake current, encoder memory...................................................................... 1048
5.13.13
P-0-3012, Temperature sensor, encoder memory........................................................................ 1048
5.13.14
P-0-3014, Magnetizing current, encoder memory......................................................................... 1049
5.13.15
P-0-3015, Flux-generating current, limit value, encoder memory.................................................. 1049
5.13.16
P-0-3016, Direct-axis inductance of motor, encoder memory....................................................... 1049
5.13.17
P-0-3017, Quadrature-axis inductance of motor, encoder memory.............................................. 1050
5.13.18
P-0-3018, Charact. quadr.-axis induct. of motor, induct., enc. Memory........................................ 1050
5.13.19
P-0-3019, Charact. quadr.-axis induct. of motor, currents, enc. Memory...................................... 1051
5.13.20
P-0-3020, Thermal time constant of winding, encoder memory.................................................... 1051
5.13.21
P-0-3021, Thermal time constant of motor, encoder memory....................................................... 1052
5.13.22
P-0-3022, Thermal short-time overload of winding, encoder memory........................................... 1052
5.13.23
P-0-3023, Current limit value of demagnetization, encoder memory............................................ 1053
5.13.24
P-0-3025, Brake voltage, encoder memory................................................................................... 1053
5.13.25
P-0-3028, Flux loop proportional gain, encoder memory.............................................................. 1054
5.13.26
P-0-3029, Scaling of stall current limit, encoder memory.............................................................. 1054
Electric Drives | Bosch Rexroth AG XXXV/XL

and Controls
Table of Contents
Page
5.13.27
P-0-3032, Premagnetization factor, encoder memory................................................................... 1055
5.13.28
P-0-3033, Voltage loop proportional gain, encoder memory......................................................... 1055
5.13.29
P-0-3034, Voltage loop intergral action time, encoder memory.................................................... 1056
5.13.30
P-0-3035, Motor voltage at no load, encoder memory.................................................................. 1056
5.13.31
P-0-3036, Maximum motor voltage, encoder memory.................................................................. 1057
5.13.32
P-0-3039, Stator leakage inductance, encoder memory............................................................... 1057
5.13.33
P-0-3040, Rotor leakage inductance, encoder memory................................................................ 1058
5.13.34
P-0-3041, Motor magnetizing inductance, encoder memory......................................................... 1058
5.13.35
P-0-3042, Characteristic of motor magnetizing inductance, encoder mem................................... 1059
5.13.36
P-0-3043, Rotor time constant, encoder memory.......................................................................... 1059
5.13.37
P-0-3050, Motor inductance, encoder memory............................................................................. 1059
5.13.38
P-0-3051, Encoder memory, operating hours counter, motor....................................................... 1060
5.13.39
P-0-3052, Encoder memory, thermal operating data, motor......................................................... 1061
5.13.40
P-0-3053, Encoder memory, mechanical operating data, motor................................................... 1062
5.13.41
P-0-3055, Maximum motor torque/force, encoder memory........................................................... 1063
5.13.42
P-0-3056, Nominal motor torque/force, encoder memory............................................................. 1064
5.13.43
P-0-3057, Speed-dependent torque/force coefficient, encoder memory....................................... 1064
5.13.44
P-0-3058, Temperature-dependent torque/force coefficient, enc. memory................................... 1065
5.13.45
P-0-3100, Version of data structure in encoder memory............................................................... 1065
5.14
P-0-3200 to P-0-3599 Safety Technology........................................................................................ 1066
5.14.1
P-0-3200, Safety technology firmware code.................................................................................. 1066
5.14.2
P-0-3201, Change counter of safety technology memory............................................................. 1066
5.14.3
P-0-3202, Operating hours at last change of memory................................................................... 1067
5.14.4
P-0-3203, Memory image of safety technology memory............................................................... 1067
5.14.5
P-0-3204, C3000 Synchronize and store safety technology IDN command................................. 1068
5.14.6
P-0-3205, Safety technology device identifier............................................................................... 1068
5.14.7
P-0-3206, Safety technology password......................................................................................... 1069
5.14.8
P-0-3207, Safety technology password level................................................................................ 1070
5.14.9
P-0-3208, Backup of safety techn. data channel 2........................................................................ 1071
5.14.10
P-0-3209, Safety technology commissioning identifier.................................................................. 1072
5.14.11
P-0-3210, Safety technology configuration.................................................................................... 1073
5.14.12
P-0-3211, Safety technology I/O configuration list, channel 2....................................................... 1075
5.14.13
P-0-3212, Safety technology control word, channel 1................................................................... 1076
5.14.14
P-0-3213, Safety technology operating status............................................................................... 1078
5.14.15
P-0-3214, Safety technology status word, channel 1.................................................................... 1079
5.14.16
P-0-3215, Selected safety technology operating status................................................................ 1080
5.14.17
P-0-3216, Active safety technology signals................................................................................... 1081
5.14.18
P-0-3217, I/O status channel 2 (optional safety technology module)............................................ 1082
5.14.19
P-0-3218, C3700 Command Manually unlocking the safety door................................................. 1083
5.14.20
P-0-3219, Extended safety technology diagnosis......................................................................... 1083
5.14.21
P-0-3220, Tolerance time transition from normal operation.......................................................... 1084
5.14.22
P-0-3221, Max. tolerance time for different channel states........................................................... 1084
5.14.23
P-0-3222, Max. activation time of enabling control........................................................................ 1085
5.14.24
P-0-3223, Time interval for dynamization of safety function selection.......................................... 1086
5.14.25
P-0-3224, Duration of dynamization pulse of safety function selection......................................... 1087
5.14.26
P-0-3225, Tolerance time transition from safe operation.............................................................. 1088
XXXVI/XL Bosch Rexroth AG | Electric Drives

and Controls
Table of Contents
Page
5.14.27
5.14.28
5.14.29
5.14.30
5.14.31
5.14.32
5.14.33
5.14.34
5.14.35
5.14.36
5.14.37
5.14.38
5.14.39
5.14.40
5.14.41
5.14.42
5.14.43
5.14.44
5.14.45
5.14.46
5.14.47
5.14.48
5.14.49
5.14.50
5.14.51
5.14.52
5.14.53
5.14.54
5.14.55
5.14.56
5.14.57
5.14.58
5.14.59
5.14.60
5.14.61
5.14.62
5.14.63
5.14.64
5.14.65
5.14.66
5.14.67
5.14.68
5.14.69
5.14.70
5.14.71
5.14.72
P-0-3226, Delay Safely-monitored deceleration............................................................................ 1088

P-0-3228, C4000 Homing procedure command channel 2........................................................... 1089
P-0-3229, Tolerance window for safe homing procedure.............................................................. 1090
P-0-3230, Monitoring window for safe stop 2................................................................................ 1090
P-0-3231, Reference position for safe reference........................................................................... 1091
P-0-3232, Standstill window for safe direction............................................................................... 1091
P-0-3233, Velocity threshold for safe standstill............................................................................. 1092
P-0-3234, Safe maximum speed................................................................................................... 1093
P-0-3235, Safely-limited position, positive..................................................................................... 1094
P-0-3236, Safely-limited position, negative................................................................................... 1095
P-0-3237, Safety technology absolute offset................................................................................. 1096
P-0-3238, Extended safety technology status............................................................................... 1097
P-0-3239, Configuration of global safety technology functions..................................................... 1097
P-0-3240, Configuration of safe motion 1...................................................................................... 1098
P-0-3241, Safely-monitored position 1, positive............................................................................ 1099
P-0-3242, Safely-monitored position 1, negative........................................................................... 1100
P-0-3243, Safely-limited increment 1............................................................................................ 1101
P-0-3244, Safely-limited speed 1.................................................................................................. 1102
P-0-3245, Safety related deceleration/acceleration ramp 1.......................................................... 1102
P-0-3246, Max. activation time of enabling control 1..................................................................... 1103
P-0-3251, Safely-monitored position 2, positive............................................................................ 1104
P-0-3252, Safely-monitored position 2, negative........................................................................... 1105
P-0-3280, Actual position value, channel 2................................................................................... 1115
P-0-3281, Actual velocity value, channel 2.................................................................................... 1116
P-0-3282, Safely-monitored deceleration...................................................................................... 1116
P-0-3283, Safely-monitored deceleration, veloc. envelope curve................................................. 1117
P-0-3290, PROFIsafe: F_Destination_Address............................................................................. 1118
P-0-3291, PROFIsafe: F_Source_Address.................................................................................... 1118
P-0-3292, PROFIsafe: F_Parameters........................................................................................... 1119
P-0-3295, Safety technology field bus configuration..................................................................... 1120
P-0-3296, Safety technology field bus control word...................................................................... 1120
Electric Drives | Bosch Rexroth AG XXXVII/XL

and Controls
Table of Contents
Page
5.14.73
P-0-3297, Safety technology field bus status word....................................................................... 1121
5.14.74
P-0-3300, Redundant holding brake: configuration....................................................................... 1122
5.14.75
P-0-3301, Redundant holding brake: status word......................................................................... 1123
5.14.76
P-0-3302, SBS: Time interval brake check.................................................................................... 1125
5.14.77
P-0-3303, SBS: Nominal load........................................................................................................ 1125
5.14.78
P-0-3304, SBS: Torque/force constant.......................................................................................... 1126
5.14.79
P-0-3306, SBS: Delay time motor holding brake........................................................................... 1127
5.14.80
P-0-3307, SBS: Safety technology - drive off delay time............................................................... 1127
5.14.81
P-0-3310, SBS: Travel range brake check.................................................................................... 1128
5.14.82
P-0-3311, SBS: Duration test torque injection brake check.......................................................... 1128
5.14.83
P-0-3313, C5800 Command Apply redundant holding brake........................................................ 1129
5.14.84
P-0-3314, C5900 Command Resurfacing of redundant holding brake.......................................... 1130
5.14.85
P-0-3315, C6200 Comm. Enabling SM without valid brake status................................................ 1130
5.14.86
P-0-3333, Code word for tests....................................................................................................... 1132
5.15
P-0-3600 to P-0-4067 General Device Parameters.......................................................................... 1132
5.15.1
P-0-3610, CANopen: Heartbeat/NodeGuard Configuration.......................................................... 1132
5.15.2
P-0-3611, CANopen: COB-IDs...................................................................................................... 1133
5.15.3
P-0-3612, CANopen: Transmission Types.................................................................................... 1134
5.15.4
P-0-3613, CANopen: List of the Event Parameters....................................................................... 1135
5.15.5
P-0-3900, Command values for control section adjustment.......................................................... 1135
5.15.6
P-0-3901, Adjustment values of control section............................................................................ 1136
5.15.7
P-0-3902, Command values for power section adjustment........................................................... 1136
5.15.8
P-0-3903, Adjustment values of power section............................................................................. 1137
5.15.9
P-0-3904, Adjustment values analog I/O interface 3-4.................................................................. 1137
5.15.10
P-0-3905, Adjustment values analog I/O interface 5-6.................................................................. 1138
5.15.11
P-0-3906, Adjustment values analog inputs interface 3-6............................................................. 1138
5.15.12
P-0-3972, FOCsl: estimated angle................................................................................................ 1139
5.15.13
P-0-3973, FOCsl: correction angle................................................................................................ 1139
5.15.14
P-0-3974, FOCsl: encoder angle................................................................................................... 1140
5.15.15
P-0-3975, FOCsl: control deviation............................................................................................... 1140
5.15.16
P-0-3980, FOCsl: configuration word............................................................................................ 1140
5.15.17
P-0-3981, FOCsl: motor model configuration................................................................................ 1142
5.15.18
P-0-3982, FOCsl: carrier signal configuration............................................................................... 1142
5.15.19
P-0-4002, Charact. of quadrature-axis induct. of motor, inductances........................................... 1143
5.15.20
P-0-4003, Charact. of quadrature-axis inductance of motor, currents........................................... 1144
5.15.21
P-0-4004, Magnetizing current...................................................................................................... 1146
5.15.22
P-0-4005, Flux-generating current, limit value............................................................................... 1146
5.15.23
P-0-4006, Positioning block target position................................................................................... 1147
5.15.24
P-0-4007, Positioning block velocity.............................................................................................. 1148
5.15.25
P-0-4008, Positioning block acceleration...................................................................................... 1148
5.15.26
P-0-4009, Positioning block jerk.................................................................................................... 1149
5.15.27
P-0-4010, Load inertia................................................................................................................... 1150
5.15.28
P-0-4013, Current limit value of demagnetization......................................................................... 1151
5.15.29
P-0-4014, Type of construction of motor....................................................................................... 1151
5.15.30
P-0-4016, Direct-axis inductance of motor.................................................................................... 1153
5.15.31
P-0-4017, Quadrature-axis inductance of motor........................................................................... 1154
XXXVIII/XLBosch Rexroth AG | Electric Drives

and Controls
Table of Contents
Page
5.15.32
P-0-4018, Positioning block delay time......................................................................................... 1155
5.15.33
P-0-4019, Positioning block mode................................................................................................. 1155
5.15.34
P-0-4021, Baud rate RS-232/485.................................................................................................. 1156
5.15.35
P-0-4022, Drive address of serial interface................................................................................... 1157
5.15.36
P-0-4023, C0400 Communication phase 2 transition.................................................................... 1158
5.15.37
P-0-4024, IDN list cyclic parameter display................................................................................... 1158
5.15.38
P-0-4025, Drive address of master communication...................................................................... 1158
5.15.39
P-0-4026, Positioning block selection............................................................................................ 1159
5.15.40
P-0-4027, Transmission length SERCOS interface....................................................................... 1160
5.15.41
P-0-4028, Device control word...................................................................................................... 1160
5.15.42
P-0-4029, Diagnostic report SCSB module................................................................................... 1161
5.15.43
P-0-4031, Overview of device addresses...................................................................................... 1162
5.15.44
P-0-4032, Motor type plate data.................................................................................................... 1164
5.15.45
P-0-4033, C3200 Command Calculate motor data....................................................................... 1165
5.15.46
P-0-4034, Thermal time constant of winding................................................................................. 1165
5.15.47
P-0-4035, Thermal time constant of motor.................................................................................... 1166
5.15.48
P-0-4036, Rated motor speed....................................................................................................... 1167
5.15.49
P-0-4037, Thermal short-time overload of winding........................................................................ 1168
5.15.50
P-0-4039, Stator leakage inductance............................................................................................ 1169
5.15.51
P-0-4040, Rotor leakage inductance............................................................................................. 1170
5.15.52
P-0-4041, Motor magnetizing inductance...................................................................................... 1171
5.15.53
P-0-4042, Characteristic of motor magnetizing inductance........................................................... 1172
5.15.54
P-0-4043, Rotor time constant....................................................................................................... 1173
5.15.55
P-0-4045, Maximum possible continuous current......................................................................... 1174
5.15.56
P-0-4046, Effective peak current................................................................................................... 1175
5.15.57
P-0-4048, Stator resistance........................................................................................................... 1175
5.15.58
P-0-4050, Answer delay RS-232/485............................................................................................ 1176
5.15.59
P-0-4051, Positioning block acknowledgment............................................................................... 1177
5.15.60
P-0-4052, Positioning block, last accepted.................................................................................... 1177
5.15.61
P-0-4053, Positioning block, last active......................................................................................... 1178
5.15.62
P-0-4054, C5400 Command Save PLC retain data on MMC........................................................ 1178
5.15.63
P-0-4055, C5500 Command Load PLC retain data from MMC..................................................... 1178
5.15.64
P-0-4056, Thermal coefficients HCS04......................................................................................... 1179
5.15.65
P-0-4057, Positioning block, input linked blocks........................................................................... 1179
5.15.66
P-0-4058, Amplifier type data........................................................................................................ 1180
5.15.67
P-0-4059, Electric type data of power section............................................................................... 1180
5.15.68
P-0-4060, Positioning block control word...................................................................................... 1181
5.15.69
P-0-4061, Positioning block status word....................................................................................... 1181
5.15.70
P-0-4063, Positioning block deceleration...................................................................................... 1182
5.15.71
P-0-4064, Password level.............................................................................................................. 1183
5.15.72
P-0-4065, Active non-volatile memory........................................................................................... 1183
5.15.73
P-0-4066, MMC identification number (CID)................................................................................. 1184
5.15.74
P-0-4067, Project identification...................................................................................................... 1184
5.16
P-0-4068 to P-0-4095 Field Bus and Serial Communication............................................................ 1185
5.16.1
P-0-4068, Field bus: control word IO............................................................................................. 1185
5.16.2
P-0-4069, Field bus: module diagnosis......................................................................................... 1187
Electric Drives | Bosch Rexroth AG XXXIX/XL

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Table of Contents
Page
5.16.3
5.16.4
5.16.5
5.16.6
5.16.7
5.16.8
5.16.9
5.16.10
5.16.11
5.16.12
5.16.13
5.16.14
5.16.15
5.16.16
5.16.17
5.16.18
5.16.19
5.16.20
5.16.21
5.16.22
5.16.23
5.16.24
5.16.25
5.16.26
5.16.27
5.16.28
5.16.29
5.16.30
5.16.31
5.16.32
5.16.33
6
6.1
6.1.1
P-0-4070, Parameter storage configuration.................................................................................. 1188

P-0-4071, Field bus: length of cyclic command value data channel.............................................. 1189
P-0-4072, C2900 Command Firmware update from MMC............................................................ 1189
P-0-4073, Field bus: diagnostic message..................................................................................... 1190
P-0-4074, Field bus: data format................................................................................................... 1193
P-0-4075, Field bus: watchdog...................................................................................................... 1193
P-0-4076, Field bus: cycle time (Tcyc).......................................................................................... 1194
P-0-4077, Field bus: control word.................................................................................................. 1195
P-0-4078, Field bus: status word................................................................................................... 1196
P-0-4079, Field bus: baud rate...................................................................................................... 1199
P-0-4080, Field bus: config. list of cyclic actual value data ch...................................................... 1199
P-0-4081, Field bus: config. list of cyclic command value data ch................................................ 1200
P-0-4082, Field bus: length of cyclic actual value data channel.................................................... 1201
P-0-4083, Field bus: length of parameter channel........................................................................ 1201
P-0-4084, Field bus: profile type.................................................................................................... 1202
P-0-4085, Command Activate easy startup mode......................................................................... 1202
P-0-4086, Master communication status....................................................................................... 1203
P-0-4087, Baud rate SERCOS interface....................................................................................... 1204
P-0-4088, Master communication: Drive configuration.................................................................. 1205
P-0-4089.0.1, Master communication: Protocol............................................................................ 1207
P-0-4089.0.2, Master communication: Device name..................................................................... 1208
P-0-4089.0.10, Master communication: MAC address device...................................................... 1208
P-0-4089.0.11, Master communication: MAC address Port1........................................................ 1209
P-0-4089.0.12, Master communication: MAC address Port2........................................................ 1209
P-0-4089.0.13, Master communication: IP address...................................................................... 1210
P-0-4089.0.14, Master communication: Network mask................................................................. 1210
P-0-4089.0.15, Master communication: Gateway address............................................................ 1211
P-0-4090, Configuration for loading default values....................................................................... 1212
P-0-4091, C2500 Copy IDN from optional memory to internal memory........................................ 1214
P-0-4092, C2600 Copy IDN from internal memory to optional memory........................................ 1215
P-0-4095, RS-232/485 Parity........................................................................................................ 1216
Appendix.................................................................................................................. 1217
Field Bus Objects.............................................................................................................................. 1217
CANopen Interface........................................................................................................................ 1217
Specified CANopen Communication Objects (0x1000 to 0x1FFF)............................................ 1217
Other CANopen Communication Objects................................................................................... 1217
Service and Support................................................................................................ 1219

Index........................................................................................................................ 1221
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Important Directions for Use
1.1
Appropriate Use
1.1.1
Introduction
Rexroth products represent state-of-the-art developments and manufacturing.
They are tested prior to delivery to ensure operating safety and reliability.
Personal injury and property damage caused by incorrect use of the

products!
WARNING
The products have been designed for use in the industrial environment and may
only be used in the appropriate way. If they are not used in the appropriate way,
situations resulting in property damage and personal injury can occur.
Rexroth as manufacturer is not liable for any damages resulting
from inappropriate use. In such cases, the guarantee and the right
to payment of damages resulting from inappropriate use are forfei
ted. The user alone carries all responsibility of the risks.
Before using Rexroth products, make sure that all the pre-requisites for an ap
propriate use of the products are satisfied:
1.1.2
Personnel that in any way, shape or form uses our products must first read
and understand the relevant safety instructions and be familiar with ap
propriate use.
If the products take the form of hardware, then they must remain in their
original state, in other words, no structural changes are permitted. It is not
permitted to decompile software products or alter source codes.
Do not mount damaged or faulty products or use them in operation.
Make sure that the products have been installed in the manner described
in the relevant documentation.
Areas of Use and Application

Drive controllers made by Rexroth are designed to control electrical motors and
monitor their operation.
Control and monitoring of the Drive controllers may require additional sensors
and actors.
The drive controllers may only be used with the accessories and
parts specified in this documentation. If a component has not been
specifically named, then it may neither be mounted nor connected.
The same applies to cables and lines.
Operation is only permitted in the specified configurations and com
binations of components using the software and firmware as speci
fied in the relevant Functional Descriptions.
Drive controllers have to be programmed before commissioning, making it pos
sible for the motor to execute the specific functions of an application.
Drive controllers of the Rexroth IndraDrive line have been developed for use in
single- and multi-axis drive and control tasks.
To ensure application-specific use of Drive controllers, device types of different
drive power and different interfaces are available.
Typical applications include, for example:
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Handling and mounting systems,
Packaging and food machines,
Printing and paper processing machines and
Machine tools.
Drive controllers may only be operated under the assembly and installation
conditions described in this documentation, in the specified position of normal
use and under the ambient conditions as described (temperature, degree of
protection, humidity, EMC, etc.).
1.2
Inappropriate Use
Using the Drive controllers outside of the operating conditions described in this
documentation and outside of the indicated technical data and specifications is
defined as "inappropriate use".
Drive controllers must not be used, if ...
they are subject to operating conditions that do not meet the specified
ambient conditions. This includes, for example, operation under water,
under extreme temperature fluctuations or extremely high maximum tem
peratures.
Furthermore, Drive controllers must not be used in applications which

have not been expressly authorized by Rexroth. Please carefully follow
the specifications outlined in the general Safety Instructions!
Components of the drive system Rexroth IndraDrive are products
of category C3 (with restricted distribution) according to
IEC 618003. These components are not provided for use in a public
low-voltage mains supplying residential areas. If these components
are used in such a mains, high-frequency interference is to be ex
pected. This can require additional measures of radio interference
suppression.

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Safety Instructions for Electric Drives and Controls
2.1
Definitions of Terms
Application Documentation
The entire documentation used to inform the user of the product about the use
and safety-relevant features for configuring, integrating, installing, mounting,
commissioning, operating, maintaining, repairing and decommissioning the
product. The following terms are also used for this kind of documentation: User
Guide, Operation Manual, Commissioning Manual, Instruction Manual, Project
Planning Manual, Application Manual, etc.
Component
Combination of elements with a specified function, which are part of a piece of

equipment, device or system. Components of a drive and control system are,
for example, supply units, drive controllers, mains choke, mains filter, motors,
cables, etc.
Control System
Several interconnected control components placed on the market as a single

functional unit.
Device
Finished product with a defined function, intended for users and placed on the
market as an individual piece of merchandise.
Drive System
A group of components consisting of electric motor(s), motor encoder(s) and

cable(s), supply units and drive controllers, as well as possible auxiliary and
additional components, such as mains filter, mains choke, etc.
Electrical Equipment
Objects used to generate, convert, transmit, distribute or apply electrical ener

gy, such as machines, transformers, switching devices, cables, lines, powerconsuming devices, circuit board assemblies, plug-in units, control cabinets,
etc.
Installation
Several devices or systems interconnected for a defined purpose and on a de

fined site which, however, are not intended to be placed on the market as a
single functional unit.
Machine
Entirety of interconnected parts or units at least one of which is movable. Thus,

a machine consists of the appropriate machine drive elements, as well as con
trol and power circuits, which have been assembled for a specific application.
A machine is, for example, intended for processing, treatment, movement or
packaging of a material. The term "machine" also covers a combination of ma
chines which are arranged and controlled in such a way that they function as a
unified whole.
Manufacturer
Individual or legal entity bearing responsibility for the design and manufacture
of a product which is placed on the market in the individual's or legal entity's
name. The manufacturer can use finished products, finished parts or finished
elements, or contract out work to subcontractors. However, he must always
have overall control and possess the required authority to take responsibility
for the product.
Product
Produced device, component, part, system, software, firmware, among other

things.
Project Planning Manual
Part of the application documentation used to support the dimensioning and

planning of systems, machines or installations.
Qualified Persons
In terms of this application documentation, qualified persons are those persons

who are familiar with the installation, mounting, commissioning and operation
of the components of the drive and control system, as well as with the hazards
this implies, and who possess the qualifications their work requires. To comply
with these qualifications, it is necessary, among other things,
to be trained, instructed or authorized to switch electric circuits and devi

ces safely on and off, to ground them and to mark them,
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User
to be trained or instructed to maintain and use adequate safety equipment,
to attend a course of instruction in first aid.
A person installing, commissioning or using a product which has been placed

on the market.
2.2
General Information
2.2.1
Using the Safety Instructions and Passing Them on to Others

Do not attempt to install and operate the electric components of the drive and
control system without first reading all documentation provided with the product.
Read and understand these safety instructions and all user documentation prior
to working with these components. If you do not have the user documentation
for the components, contact your responsible Rexroth sales partner. Ask for
these documents to be sent immediately to the person or persons responsible
for the safe operation of the components.
If the component is resold, rented and/or passed on to others in any other form,
these safety instructions must be delivered with the component in the official
language of the user's country.
WARNING
Improper use of these components, failure to follow the safety instruc

tions in this document or tampering with the product, including disabling
of safety devices, could result in property damage, injury, electric shock
or even death.
Observe the safety instructions!
2.2.2
Requirements for Safe Use

Read the following instructions before initial commissioning of the electric com
ponents of the drive and control system in order to eliminate the risk of injury
and/or property damage. You must follow these safety instructions.
Rexroth is not liable for damages resulting from failure to observe the
safety instructions.
Read the operating, maintenance and safety instructions in your language

before commissioning. If you find that you cannot completely understand
the application documentation in the available language, please ask your
supplier to clarify.
Proper and correct transport, storage, mounting and installation, as well

as care in operation and maintenance, are prerequisites for optimal and
safe operation of the component.
Only qualified persons may work with components of the drive and control
system or within its proximity.
Only use accessories and spare parts approved by Rexroth.
Follow the safety regulations and requirements of the country in which the
electric components of the drive and control system are operated.
Only use the components of the drive and control system in the manner
that is defined as appropriate. See chapter "Appropriate Use".
The ambient and operating conditions given in the application documen

tation at hand must be observed.
Safety-relevant applications are only allowed if clearly and explicitly speci

fied in the application documentation "Integrated Safety Technology". If

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this is not the case, they are excluded. Safety-relevant are all such appli
cations which can cause danger to persons and property damage.
The information given in the application documentation with regard to the

use of the delivered components contains only examples of applications
and suggestions.
The machine and installation manufacturer must
make sure that the delivered components are suited for his individual
application and check the information given in this application docu
mentation with regard to the use of the components,
make sure that his individual application complies with the applicable
safety regulations and standards and carry out the required meas
ures, modifications and complements.
Commissioning of the delivered components is only allowed once it is sure

that the machine or installation in which the components are installed
complies with the national regulations, safety specifications and standards
of the application.
Operation is only allowed if the national EMC regulations for the applica
tion are met.
The instructions for installation in accordance with EMC requirements can

be found in the section on EMC in the respective application documenta
tion.
The machine or installation manufacturer is responsible for compliance
with the limit values as prescribed in the national regulations.
The technical data, connection and installation conditions of the compo

nents are specified in the respective application documentations and must
be followed at all times.
National regulations which the user must take into account
European countries: According to European EN standards
United States of America (USA):
National Electrical Code (NEC)
National Electrical Manufacturers Association (NEMA), as well as

local engineering regulations
Regulations of the National Fire Protection Association (NFPA)
Canada: Canadian Standards Association (CSA)
Other countries:
International Organization for Standardization (ISO)
International Electrotechnical Commission (IEC)
2.2.3
Hazards by Improper Use
High electrical voltage and high working current! Danger to life or serious
injury by electric shock!
High electrical voltage by incorrect connection! Danger to life or injury by

electric shock!
Dangerous movements! Danger to life, serious injury or property damage

by unintended motor movements!
Health hazard for persons with heart pacemakers, metal implants and
hearing aids in proximity to electric drive systems!
Risk of burns by hot housing surfaces!
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2.2.4
Risk of injury by improper handling! Injury by crushing, shearing, cutting,

hitting!
Risk of injury by improper handling of batteries!
Risk of injury by improper handling of pressurized lines!
Explanation of Safety Symbols and Hazard Classification

The safety instructions describe the following hazard classification. The hazard
classification informs about the consequences resulting from non-compliance
with the safety instructions:
Safety symbol
Fig.2-1:
Signal
word
Hazard classification according to ANSI Z535.4-2002
Danger
Death or serious injury will occur.
Warning
Death or serious injury could occur.
Caution
Minor or moderate injury or property damage may oc

cur.
Hazard Classification (According to ANSI Z535.4-2002)
2.3
Instructions with Regard to Specific Dangers
2.3.1
Protection Against Contact with Electrical Parts and Housings

This section concerns components of the drive and control system
with voltages of more than 50 volts.
Contact with parts conducting voltages above 50 volts can cause personal
danger and electric shock. When operating components of the drive and control
system, it is unavoidable that some parts of these components conduct dan
gerous voltage.

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High electrical voltage! Danger to life, risk of injury by electric shock or

serious injury!
WARNING
Only qualified persons are allowed to operate, maintain and/or repair the
electric components of the drive and control system.
Follow the general installation and safety regulations when working on

power installations.
Before switching on, the equipment grounding conductor must have been
permanently connected to all electric components in accordance with the
connection diagram.
Even for brief measurements or tests, operation is only allowed if the

equipment grounding conductor has been permanently connected to the
points of the components provided for this purpose.
Before accessing electrical parts with voltage potentials higher than 50 V,

you must disconnect electric components from the mains or from the pow
er supply unit. Secure the electric component from reconnection.
With electric components, observe the following aspects:

Always wait 30 minutes after switching off power to allow live capacitors
to discharge before accessing an electric component. Measure the elec
trical voltage of live parts before beginning to work to make sure that the
equipment is safe to touch.
Install the covers and guards provided for this purpose before switching
on.
Never touch electrical connection points of the components while power

is turned on.
Do not remove or plug in connectors when the component has been pow
ered.
As a basic principle, residual-current-operated circuit-breakers cannot be

used for electric drives to prevent direct contact.
Secure built-in devices from penetrating foreign objects and water, as well
as from direct contact, by providing an external housing, for example a
control cabinet.
High housing voltage and high leakage current! Danger to life, risk of
injury by electric shock!
WARNING
2.3.2
Before switching on and before commissioning, ground or connect the

components of the drive and control system to the equipment grounding
conductor at the grounding points.
Connect the equipment grounding conductor of the components of the

drive and control system permanently to the main power supply at all
times. The leakage current is greater than 3.5 mA.
Establish an equipment grounding connection with a copper wire of a

cross section of at least 10 mm2 (8 AWG) or additionally run a second
equipment grounding conductor of the same cross section as the original
equipment grounding conductor.
Protective Extra-Low Voltage as Protection Against Electric Shock

Protective extra-low voltage is used to allow connecting devices with basic in
sulation to extra-low voltage circuits.
All connections and terminals with voltages between 5 and 50 volts at the com
ponents of the Rexroth drive and control system are PELV ("Protective ExtraLow Voltage") systems. It is allowed to connect devices equipped with basic
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insulation (such as programming devices, PCs, notebooks, display units) to
these connections.
Danger to life, risk of injury by electric shock! High electrical voltage by

incorrect connection!
WARNING
2.3.3
If extra-low voltage circuits of devices containing voltages and circuits of more

than 50 volts (e.g., the mains connection) are connected to Rexroth products,
the connected extra-low voltage circuits must comply with the requirements for
PELV ("Protective Extra-Low Voltage").
Protection Against Dangerous Movements

Dangerous movements can be caused by faulty control of connected motors.
Some common examples are:
Improper or wrong wiring or cable connection
Operator errors
Wrong input of parameters before commissioning
Malfunction of sensors and encoders
Defective components
Software or firmware errors
These errors can occur immediately after equipment is switched on or even

after an unspecified time of trouble-free operation.
The monitoring functions in the components of the drive and control system will
normally be sufficient to avoid malfunction in the connected drives. Regarding
personal safety, especially the danger of injury and/or property damage, this
alone cannot be relied upon to ensure complete safety. Until the integrated
monitoring functions become effective, it must be assumed in any case that
faulty drive movements will occur. The extent of faulty drive movements de
pends upon the type of control and the state of operation.

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Dangerous movements! Danger to life, risk of injury, serious injury or

property damage!
WARNING
A risk assessment must be prepared for the installation or machine, with

its specific conditions, in which the components of the drive and control
system are installed. As a result of the risk assessment, the user must
provide for monitoring functions and higher-level measures on the instal
lation side for personal safety. The safety regulations applicable to the
installation or machine must be taken into consideration. Unintended ma
chine movements or other malfunctions are possible if safety devices are
disabled, bypassed or not activated.
To avoid accidents, injury and/or property damage:
Keep free and clear of the machines range of motion and moving machine
parts. Prevent personnel from accidentally entering the machines range
of motion by using, for example:
Safety fences
Safety guards
Protective coverings
Light barriers
Make sure the safety fences and protective coverings are strong enough
to resist maximum possible kinetic energy.
Mount emergency stop switches in the immediate reach of the operator.

Before commissioning, verify that the emergency stop equipment works.
Do not operate the machine if the emergency stop switch is not working.
Prevent unintended start-up. Isolate the drive power connection by means

of an emergency stop circuit or use a safe starting lockout.
Make sure that the drives are brought to a safe standstill before accessing
or entering the danger zone.
Additionally secure vertical axes against falling or dropping after switching

off the motor power by, for example,
mechanically securing the vertical axes,
adding an external braking/arrester/clamping mechanism or
ensuring sufficient equilibration of the vertical axes.
The standard equipment motor holding brake or an external holding brake

controlled by the drive controller is not sufficient to guarantee personal
safety!
Disconnect electrical power to the components of the drive and control

system using the master switch and secure them from reconnection for:
Maintenance and repair work
Cleaning of equipment
Long periods of discontinued equipment use
Prevent the operation of high-frequency, remote control and radio equip

ment near electric/electronic components of the drive and control system
and their supply leads. If the use of these devices cannot be avoided,
check the machine or installation, before initial commissioning of the drive
and control system, for possible malfunctions when operating such highfrequency, remote control and radio equipment in its possible positions of
normal use. It might possibly be necessary to perform a special electro
magnetic compatibility (EMC) test.
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2.3.4
Protection Against Magnetic and Electromagnetic Fields During Oper

ation and Mounting
Magnetic and electromagnetic fields generated by current-carrying conductors
or permanent magnets of electric motors represent a serious danger to persons
with heart pacemakers, metal implants and hearing aids.
Health hazard for persons with heart pacemakers, metal implants and
hearing aids in proximity to electric components!
WARNING
2.3.5
Persons with heart pacemakers and metal implants are not allowed to
enter the following areas:
Areas in which components of the drive and control systems are

mounted, commissioned and operated.
Areas in which parts of motors with permanent magnets are stored,

repaired or mounted.
If it is necessary for somebody with a heart pacemaker to enter such an

area, a doctor must be consulted prior to doing so. The noise immunity of
implanted heart pacemakers differs greatly so that no general rules can
be given.
Those with metal implants or metal pieces, as well as with hearing aids,
must consult a doctor before they enter the areas described above.
Protection Against Contact with Hot Parts

Hot surfaces of components of the drive and control system. Risk of
burns!
CAUTION
Do not touch hot surfaces of, for example, braking resistors, heat sinks,
supply units and drive controllers, motors, windings and laminated cores!
According to the operating conditions, temperatures of the surfaces can

be higher than 60 C (140 F) during or after operation.
Before touching motors after having switched them off, let them cool down
for a sufficiently long time. Cooling down can require up to 140 minutes!
The time required for cooling down is approximately five times the thermal
time constant specified in the technical data.
After switching chokes, supply units and drive controllers off, wait 15 mi
nutes to allow them to cool down before touching them.
Wear safety gloves or do not work at hot surfaces.
For certain applications and according to the respective safety regulations,

the manufacturer of the machine or installation has to take measures to
avoid injuries caused by burns in the end application. These measures
can be, for example: Warnings at the machine or installation, guards
(shieldings or barriers) or safety instructions in the application documen
tation.

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2.3.6
Protection During Handling and Mounting

Risk of injury by improper handling! Injury by crushing, shearing, cutting,
hitting!
CAUTION
2.3.7
Observe the relevant statutory regulations of accident prevention.
Use suitable equipment for mounting and transport.
Avoid jamming and crushing by appropriate measures.
Always use suitable tools. Use special tools if specified.
Use lifting equipment and tools in the correct manner.
Use suitable protective equipment (hard hat, safety goggles, safety shoes,
safety gloves, for example).
Do not stand under hanging loads.
Immediately clean up any spilled liquids from the floor due to the risk of
slipping.
Battery Safety
Batteries consist of active chemicals in a solid housing. Therefore, improper
handling can cause injury or property damage.
Risk of injury by improper handling!

CAUTION
Do not attempt to reactivate low batteries by heating or other methods (risk

of explosion and cauterization).
Do not attempt to recharge the batteries as this may cause leakage or

explosion.
Do not throw batteries into open flames.
Do not dismantle batteries.
When replacing the battery/batteries, do not damage the electrical parts

installed in the devices.
Only use the battery types specified for the product.

Environmental protection and disposal! The batteries contained in
the product are considered dangerous goods during land, air, and
sea transport (risk of explosion) in the sense of the legal regulations.
Dispose of used batteries separately from other waste. Observe the
national regulations of your country.
2.3.8
Protection Against Pressurized Systems

According to the information given in the Project Planning Manuals, motors and
components cooled with liquids and compressed air can be partially supplied
with externally fed, pressurized media, such as compressed air, hydraulics oil,
cooling liquids and cooling lubricants. Improper handling of the connected sup
ply systems, supply lines or connections can cause injuries or property damage.
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Risk of injury by improper handling of pressurized lines!

WARNING
Do not attempt to disconnect, open or cut pressurized lines (risk of explo

sion).
Observe the respective manufacturer's operating instructions.
Before dismounting lines, relieve pressure and empty medium.
Use suitable protective equipment (safety goggles, safety shoes, safety

gloves, for example).
Immediately clean up any spilled liquids from the floor due to the risk of
slipping.
Environmental protection and disposal! The agents (e.g., fluids)
used to operate the product might not be environmentally friendly.
Dispose of agents harmful to the environment separately from other
waste. Observe the national regulations of your country.

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General Information
General Information
3.1
Document Structure
3.1.1
General Information
All standard and product-specific parameters are listed in this documentation
in a numerically ascending order. In addition to the data contained in the Func
tional Description, it represents a complete description of all parameters used
in the drive firmware.
The description of the individual parameters is divided into four subsections.
1. Parameter Number, Parameter Name
The parameter number (S-0-0001) and the parameter name are indicated.
2. Allocation
This overview shows in which firmware version, in which functional package(s)
and for which hardware the parameter is available.
3. Function, Structure, Use
The function and structure of the parameter, as well as information on its pa
rameterization (use), are contained in the general description.
4. Attributes
The characteristic values and features help to classify the parameter.
3.1.2
Definitions
The following data and abbreviations are used:
Function:
Par - The parameter is used to display, set and configure values.
Cmd - The parameter is used to execute commands.
Editability:
-- - The operating data cannot be edited.
P2 - The operating data can only be edited in communication phase 2.
P23 - The operating data can be edited communication phases 2 and 3.
P234 - The operating data can be edited in any communication phase.
PM+OM - Parameter mode; operating mode
PM - Parameter mode
OM - Operating mode
Data length:
2Byte The data length of the operating data is 2 bytes.
4Byte The data length of the operating data is 4 bytes.
1Byte var. The operating data is of variable length (list), the length of a data
element is 1 byte.
element is 2 bytes.
54/1265

and Controls
General Information
element is 4 bytes.
Memory:
-- - The operating data is not buffered in the drive, the value after switching the
drive controller on is not defined.
PARAM_SP/SPS_IDN_SP / FIX_IDN_SP - The operating data is stored in the
active non-volatile memory (see P-0-4065).
ON_BOARD_SP The operating data is stored in the flash on the control sec
tion.
RETAIN_GERAET In case control voltage fails, the operating data is stored
in the active non-volatile memory (see P-0-4065) and, with MMC active, during
operation cyclically in the flash on the control section.
RETAIN_KUNDE In case control voltage fails, the operating data is stored in
the active non-volatile memory (see P-0-4065) and, with MMC active, during
operation cyclically in the flash on the control section.
FEEDB_I2C/FEEDB_ENDAT/FEEDB_RS485/FEEDB_HYPER The operat
ing data is buffered in the EPROM of the motor encoder data memory (only for
Rexroth motors with data feedback).
LT_SP - The operating data is stored in the flash on the power section.
I2C_OPM_SP.- The operating data is stored on the EPROM of an optional
card.
Validity check (Validity ch.):
-- - The operating data is not checked for validity.
P2->P3 - The operating data is checked in the command "communication
phase 3 transition check".
P3->P4 - The operating data is checked in the command "communication
phase 4 transition check".
PM->OM Format:
BIN - The display format of the operating data should be binary.
HEX - The display format of the operating data should be hexadecimal.
DEC_OV - The display format of the operating data should be decimal without
sign.
DEC_MV - The display format of the operating data should be decimal with sign.
ASCII - The operating data is a string.
IDN - The operating data is an ID number.
Unit:
If existing, the corresponding unit of the parameter is indicated.
Extreme value check (Extr. val. ch.):
-- (no) - When writing data, the operating data is not checked for its extreme
values.
+ (yes) - When writing data, the operating data is checked for its extreme values.

and Controls
55/1265
General Information
Decimal place (Decim. pl.):

Indicates the number of decimal places: 6 decimal places: 30 000 0,03
Cyclically transmittable (Cycl. tra.):
-- - The operating data can neither be configured as a cyclic data in the master
data telegram nor in the drive telegram.
AT - The operating data can be configured as a cyclic data in the drive telegram.
MDT - The operating data can be configured as a cyclic data in the master data
telegram.
AT+MDT - The operating data can be configured as a cyclic data in the master
data telegram and in the drive telegram.
Combination check (Comb. check):
-- - When writing data, the operating data is not checked for valid combination
(bit lists).
+ - When writing data, the operating data is checked for valid combination (bit
lists).
Set switchable:
+ - With parameter set switching available, the parameter is available 8 times
as a maximum (parameter set 0 to parameter set 7).
--- The parameter is not available in any other parameter set.
See also Functional Description "Parameter Set Switching"
Default value:
The default value indicates the value of the parameter definitely programmed
in the drive. The default value is activated by executing the command
"S-0-0262, C07_x Load defaults procedure command" (with "P-0-4090, Index
for C07 Load defaults procedure" = "1") or by pressing the "ESC" key when the
message "PL" appears on the display.
Basic principles of drive control:
Open-loop axis control (open-loop U/f control) Open-loop-controlled op

eration without encoder information
Closed-loop axis control Closed-loop-controlled operation with encoder

feedback
Firmware variants
For the IndraDrive range, there are different application-related firmware var
iants available that are characterized by their scope of functions and their
performance:
MTH: Drives for Machine Tool Applications With SERCOS interface

(Advanced Performance and Functionality)
MPX: Drives for General Automation (Incl. Machine Tool Applications)

With SERCOS interface, PROFIBUS, Ethernet, CanOpen, DeviceNet, as
56/1265

and Controls
General Information
Well as Parallel and Analog Interface
(the variants of design are MPH, MPB and MPD; see below)
The first two letters of the firmware designation identify the appli
cation and profile of the firmware:
MT: "Machine Tool" Drives for Machine Tool Applications

With SERCOS interface
(drive profile according to SERCOS)
MP: "Multi Purpose" Drives for General Automation (Incl.

Machine Tool Applications) With SERCOS interface,
PROFIBUS, as Well as Parallel and Analog Interface (drive
profile according to SERCOS)
The third letter of the firmware designation identifies the hardware,

as well as the performance and functionality of the firmware (X con
tains H, B and D):
H: Single-axis firmware with Advanced performance and func

tionality
B: Single-axis firmware with Basic performance and function

ality
D: Double-axis firmware with Basic performance and func

tionality

and Controls
57/1265
Standard Parameters
Standard Parameters
4.1
S-0-0000 to S-0-0100 Standard Parameters
4.1.1
S-0-0000, Dummy parameter

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-"open loop", "closed loop"
+
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter serves as a wild card, it does not have any function. This pa
rameter can be cyclically written and read.
Possible applications:
S-0-0000 - Attributes
Filling up "S-0-0370, Data container A: Configuration list command val

ue-1" with wild cards
Measuring dead time for writing and reading data via the bus
etc.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.1.2
PM+OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
HEX
0
--
S-0-0001, NC cycle time (TNcyc)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The NC cycle time indicates the time intervals in which the numerical control
provides new command values.
See also Functional Description of firmware "SERCOS interface"
Use
In the case of SERCOS interface (SERCOS II), the NC cycle time has to be
transmitted from the master to the slave in communication phase 2 and be taken
into account in the slave from communication phase 3 on. The TNcyc has to
be an integral multiple of the "S00002, SERCOS Cycle time (TScyc)".
58/1265

and Controls
Standard Parameters
j
TNcyc:
TScyc:
Fig.4-1:
Function:
Memory:
Unit:
Cycl. tra.:
1, 2, 3 ...
NC cycle time
SERCOS cycle time
Determining the NC cycle time
Par
PARAM_SP
us
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.1.3
P2
P2->P3
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
500 / 65000
250 / 65000
500 / 65000
250 / 65000
2Byte
DEC_OV
0
--
Default value
2000
2000
2000
2000
S-0-0002, SERCOS cycle time (TScyc)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
optional master communication card
"open loop", "closed loop"
+
MPC
MPC
The content of "S00002, SERCOS cycle time (TScyc)" defines the time inter
vals in which the cyclic real-time data (MDT and AT) are transmitted via
SERCOS and processed in the drive.
The allowed input values in S00002 depend on the position loop clock:
Minimum SERCOS cycle time: Tposition
Time intervals of the allowed inputs: Tposition
See also Functional Description of firmware "SERCOS interface"

See also Functional Description of firmware "Performance Data"
Use
With the position loop clock of:

500 s, 1 ms, 2 ms, up to 65 ms in steps of 500 s!
In the case of SERCOS interface, the SERCOS cycle time has to
be transmitted from the master to the slave in communication
phase 2 and be activated in both from communication phase 3 on.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
us
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
P2->P3
+
--
min./max.
500 / 65000
250 / 65000
500 / 65000
250 / 65000
Data length:
Format:
Decim. pl.:
Switchable:
Default value
2000
2000
2000
2000
2Byte
DEC_OV
0
--

and Controls
59/1265
Standard Parameters
4.1.4
S-0-0003, Minimum AT transmit starting time (T1min)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
In the value of this parameter the slave indicates the minimum time required
between the end of the received master synchronization telegram and the
transmission of its drive telegram.
See also Functional Description "SERCOS interface"
Use
The T1min time is read by the master in communication phase 2 in order to

calculate the transmission starting time of the drive telegram T1 "S00006, AT
Transmission starting time (T1)".
Function:
Memory:
Unit:
Cycl. tra.:
Par
-us
--
Input
MPB:
MPC:
MPD:
MPH:
4.1.5
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
---------
S-0-0004, Transmit/receive transition time (TATMT)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
The value of this parameter indicates the time required by the slave in order to
switch to reception of the master data telegram after having transmitted its drive
telegram.
Use
The transmit/receive transition time (MDT) is read by the master in communi

cation phase 2 in order to calculate the transmission starting time of the master
data telegram T2 "S00089, MDT Transmit starting time (T2)".
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
-us
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
DEC_OV
0
--
60/1265

and Controls
Standard Parameters
4.1.6
S-0-0005, Minimum feedback acquisition time (T4min)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
Minimum time required by the slave between actual value acquisition and the
end of the master synchronization telegram (MST in the case of SERCOS). The
drive generates this value in such a way that the current actual values can be
transmitted to the numerical control in the next drive telegram.
Use
In the case of the SERCOS interface, the master reads this value in commu
nication phase 2 in order to set the acquisition starting time of the actual values
T4 S00007, Feedback acquisition starting time (T4) accordingly for all drives.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-us
--
Input
MPB:
MPC:
MPD:
MPH:
4.1.7
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
0
0
0
0
S-0-0006, AT Transmission starting time (T1)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
The transmission starting time of the drive telegram (AT) determines when the
slave has to transmit its drive telegram in communication phases 3 and 4 after
the end of the master synchronization telegram.
In communication phase 2 this parameter is transmitted by the master to the
slave and becomes active from communication phase 3 on.
Use
The AT transmission starting time (T1) has to be set equal to or greater than
the transmission reaction time S00003, Minimum AT transmit starting time
(T1min).
The following must apply: T1min T1
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
PARAM_SP
us
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
P2->P3
+
--
min./max.
4 / 65000
4 / 65000
Data length:
Format:
Decim. pl.:
Switchable:
Default value
200
200
2Byte
DEC_OV
0
--

and Controls
61/1265
Standard Parameters
MPD:
MPH:
4.1.8
4 / 65000
4 / 65000
200
200
S-0-0007, Feedback acquisition starting time (T4)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
Actual value acquisition starting time, set by the master, after the end of the
synchronization telegram.
The master can therefore specify the same actual value acquisition starting time
for all drives that operate in a co-ordinate mode. This guarantees the synchro
nization of actual value acquisition for the drives involved. In addition, the
cyclically transmitted command values are processed at the point of time T4.
Use
In the case of the SERCOS interface, the master has to set the actual value
acquisition starting time equal to or less than the difference of S00002,
SERCOS Cycle time (Tscyc) and the S00005,Minimum feedback acquisition
time (T4min) that has been queried.
The following must apply: T4 TScyc - T4min
From communication phase 3 on the drive activates the actual value
acquisition starting time.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
us
--
Input
MPB:
MPC:
MPD:
MPH:
4.1.9
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
P2->P3
+
--
min./max.
11 / 65000
11 / 65000
11 / 65000
11 / 65000
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
500
500
500
500
S-0-0008, Command value valid time (T3)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
The "command valid time" indicates the point of time at which the drive is al
lowed to access the new command values.
The master can therefore set the same "command valid time" for all drives that
operate in a co-ordinate mode. The drive activates the "command valid time"
from communication phase 3 on.
62/1265

and Controls
Standard Parameters
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
us
--
Input
MPB:
MPC:
MPD:
MPH:
4.1.10
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
P2->P3
+
--
min./max.
0 / 65000
0 / 65000
0 / 65000
0 / 65000
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
900
900
900
900
S-0-0009, Position of data record in MDT

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
This parameter represents the beginning address of a data record of a drive in

the MDT, represented as a byte position. Starting with 1 for the first data byte
after the address position in the MDT.
The beginning address of the drive data record in the MDT is transmitted to
each drive by the master in communication phase 2 and activated from com
munication phase 3 on.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.1.11
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
P2->P3
+
--
min./max.
1 / 65531
1 / 65531
1 / 65531
1 / 65531
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
1
1
1
1
S-0-0010, Length of master data telegram

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
The length of the master data telegram, which is the number of bytes, contains
the data records of all drives. The length of the MDT is transmitted by the master
to all drives in communication phase 2 and activated by master and slave from
communication phase 3 on.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Byte
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
P2->P3
---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--

and Controls
63/1265
Standard Parameters
Input
MPB:
MPC:
MPD:
MPH:
4.1.12
min./max.
4 / 65534
4 / 65534
4 / 65534
4 / 65534
Default value
4
4
4
4
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
S-0-0011, Class 1 diagnostics

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
When a class 1 diagnostics error is detected in the drive, this causes the static
error bit to be set in the corresponding status word of the master communica
tion:
SERCOS: "S00135, Drive status word, bit 13"
SERCOS III: "S01135, Drive status word, bit 13"
Field bus: "P04078, Field bus: Status word, bit 13"
Analog/parallel: "P00115, Device control: Status word, bit 13" for class 1
diagnostics
See also Functional Description "Status Classes, Status Displays, Control Pa

rameters"
Structure
Bit
Designation/function
Overload shutdown
Amplifier overtemperature shutdown
Motor overtemperature shutdown (S-0-0204)
Reserved
Control voltage error
Encoder error
Reserved
Overcurrent error
Overvoltage error
Undervoltage error in power section
10
Reserved
11
Excessive deviation
12
Communication error
13
Position limit value exceeded
14
Reserved
15
Manufacturer-specific error
Fig.4-2:
S-0-0011, Class 1 Diagnostics
Comment
64/1265

and Controls
Standard Parameters
Use
Bits 0 to 14 have been defined in the SERCOS specification. All

unspecified messages are displayed via bit 15.
The following setting generally applies:
Bit x = "0": No class 1 diagnostics error present
Bit x = "1": Error of class 1 diagnostics present
The error bit will only be reset to "0" by the drive, when
there isn't any more class 1 diagnostics error present and
the command "S-0-0099, C0500 Reset class 1 diagnostics" was started.
Drive interlock
A class 1 diagnostics error situation detected by the drive will cause
the error reaction of the drive (see Functional Description "Error Reac
tion") and
the static error bit for class 1 diagnostics to be set.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.1.13
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
When a class 2 diagnostics warning becomes active or inactive in the drive,

this causes the change bit to be set in the corresponding status word:
SERCOS: The change bit "S00135, Drive status word" or "S01135,

SERCOS III: Drive status word", bit 12, for class 2 diagnostics is only
cleared by the drive when the parameter "S00012" is read.
Field bus:The change bit "P04078, Field bus: status word, bit 12", for
class 2 diagnostics is immediately cleared by the drive when the condition
for the warning is no longer fulfilled.

rameters"
Structure
Bit
Overload warning
(Cf. P00445, bit 8, P00445, bit 9, P00861, bit 7)
Amplifier overtemperature warning

(Cf. P-0-0861, bit 12, P-0-0861, bit 14)
Comment

and Controls
65/1265
Standard Parameters
Bit
Comment
Motor overtemperature warning

(Cf. P-0-0445, bit 14)
4/3
Reserved
Positioning velocity > nlimit

(See also P-0-0315, bit 0)
8-6
Reserved
Undervoltage in DC bus
(See also: P00861, bit 0, P00861, bit 3)
12-10
Reserved
13
Target position outside of position limit values

(See also S-0-0323, bit 0)
15
Manufacturer-specific warning
(See also P-0-0115, bit 2)
Fig.4-3:
Use
S-0-0012, Class 2 Diagnostics
The following setting generally applies:
Bit x = "0": Condition for warning not fulfilled
Bit x = "1": Condition for warning fulfilled
As illustrated in the table above, the individual status bits are mapped to other
manufacturer-specific parameters (e.g. P00861, P00115, ).
For configuration in "S00144, Signal status word", preferably use
the manufacturer-specific bits in the P-parameters.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
4.1.14
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
When a class 3 diagnostics message becomes active or inactive in the drive,

this causes the change bit to be set in the corresponding status word:
SERCOS: The change bit "S00135, Drive status word", bit 11, for class 3
diagnostics is only cleared by the drive when the parameter "S00013,
Class 3 diagnostics" is read.
66/1265

and Controls
Standard Parameters
Field bus:The change bit "P04078, Field bus: status word", bit 11, for
class 3 diagnostics is immediately cleared by the drive when the condition
for the warning is no longer fulfilled.

rameters"
Structure
Defined operating status messages are assigned to the individual bits of

this parameter. The structure of the parameter and the significance of the
individual bits are explained below.
Bit
Comment
Actual velocity = command velocity (S-0-0330) |(S-0-0040)(S-0-0036)-(S-0-0037)| S-0-0157
| Actual velocity | < standstill window (S-0-0331) |S-0-0040|

< S-0-0124
| Actual velocity | < velocity threshold (S-0-0332) |S-0-0040|

< S-0-0125
| Actual torque/force value | torque threshold (S-0-0333) |

S-0-0084| S-0-0126
| Actual torque/force value | minimum torque limit value

(S-0-0334) |S-0-0084| minimum from (P-0-0444,
P-0-0442, P-0-0443)
| Command velocity | > velocity limit value (S-0-0335) |

(S-0-0036) + (S-0-0037)| > S-0-0091
In position (S-0-0336) | lag error| < positioning window |

S-0-0189| < S-0-0057
Only with active "Position spindle procedure command": |
S-0-0040| < S-0-0124 (S-0-0331) and |actual position value
- (S-0-0430) | < S-0-0057 and |S-0-0036| + |S-0-0037| <
S-0-0124
| Actual power value | power threshold (S-0-0337) |

S-0-0382| S-0-0158
11
Lag error < coarse position window (S-0-0341) |S-0-0189| <

S-0-0261
12
Target position attained (S-0-0342), internal position cmd

value = effective target position P-0-0434 = S-0-0430
Fig.4-4:
S00013, Class 3 Diagnostics
As regards the bits, the following setting generally applies:
Bit x = "0": Condition for message not fulfilled
Bit x = "1" Condition for message fulfilled
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
BIN
0
--

and Controls
67/1265
Standard Parameters
4.1.15
S-0-0014, Interface status

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains important status bits with regard to master communi
cation and the communication phases.
See also Functional Description "Basic Functions of Master Communication"
Structure
Bit
2-0
Communication phase
Double MST failure
Double MDT failure
Invalid phase (phase > 4)
Error during phase progression (order)
Error during phase regression (not to phase 0)
Phase switch without ready signal
Bus interruption
As of MPx05
10
PLC stop
As of MPx05
11
Bus stop
As of MPx05
12
SERCOS III: Incorrect sequence during phase switch,

timeout during phase switch
As of MPx04
13
SERCOS III: Incorrect sequence during phase switch,

phase input without phase switch
As of MPx04
15-9
Reserved
Fig.4-5:
Comment
Relevant Bits of S-0-0014, Interface status
Bits 3, 5, 6, 7 and 8 are only supported with SERCOS interface! Bits

9, 10 and 11 are only supported with field bus interface!
Use
Current communication phase

By means of the lower three bits (0, 1, 2), it is possible to read the current
communication phase (binary coding):
010b: Drive is in phase 2 (parameter mode)
011b: Drive is in phase 3 (parameter mode)
100b: Drive is in phase 4 (operating mode)
Communication error bits according to SERCOS interface

When a master communication interface error occurs with SERCOS and field
bus drives,
one of the bits 3-15 is set in "S00014, Interface status"

(bit in 4 .. 15 = 1 => error is present)
68/1265

and Controls
Standard Parameters
and bit 12 is set in "S00011, Class 1 diagnostics".

The communication error bits will only be cleared by the drive when
the respective interface error is no longer present and the command
"S00099, C0500 Reset class 1 diagnostics" was started.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.1.16
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
S-0-0015, Telegram type parameter

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
In the telegram type parameter, it is possible to choose between standard tele

grams and configured telegram.
When "configurable telegram" has been selected, it is possible to config

ure "S00016, Configuration list of AT" and "S00024, Configuration list
of MDT" as desired.
For standard telegrams, the content of "S00016, Configuration list of

AT" and "S00024, Configuration list of MDT" is automatically adjusted to
the selected standard telegram.
The telegram type selected is activated in the master and in the
slave only from communication phase 3 on.
See also Functional Description "Communication With SIS Protocol"

Structure
Bit
Comment
2-0
Selection of standard telegram or configured telegram
0: Position feedback value 1 (motor encoder)

1: Position feedback value 2 (external encoder)
Fig.4-6:
S-0-0015, Telegram Type Parameter
The following table describes the individual standard telegrams that can be
selected via bit 2...0.
Bit 2
0
MDT (cyclic command values)
AT (cyclic actual values)
000
VZ 0
No cyclic data
No cyclic data
001
VZ 1
DF1: S00080, Torque/force command value
No cyclic data

and Controls
69/1265
Standard Parameters
Bit 2
0
MDT (cyclic command values)
AT (cyclic actual values)
010
VZ 2
DF1: S-0-0036, Velocity command value
DF1: S00040, Velocity feedback value
011
VZ 3
DF1: S-0-0051/S-0-0053 Position feedback 1/2 val

ue
100
VZ 4
DF1: S00047, Position command value
DF1: S-0-0051/S-0-0053 Position feedback value
101
VZ 5
DF1: S00047, Position command value
DF1: S-0-0051/S-0-0053 Position feedback value
DF2: S00040, Velocity feedback value
No cyclic data
110
111
VZ 6
Configurable telegram
Configurable telegram
Fig.4-7:
Supported Bits
With VZ: Standard telegram

DF1/2: Data field 1/2
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.1.17
P2
P2->P3
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
0
0
0
0
S-0-0016, Configuration list of AT

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
This parameter specifies the parameters which are contained in the drive tele
gram (AT) when the configurable telegram has been defined by parameter
"S00015, Telegram type parameter".
See also Functional Description "Telegram Structure, Telegram Frame"
Use
The configurable parameters are contained in parameter "S-0-0187, List of

configurable data in the AT" and are entered in this parameter as IDN list.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
P2->P3
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte var.
IDN
0
--
70/1265

and Controls
Standard Parameters
4.1.18
S-0-0017, IDN-list of all operation data

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The IDNs of all operating data available in the drive are stored in this IDN list.
See also Functional Description "Parameters, Basics"
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.1.19
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
IDN
0
--
Default value
---------
S-0-0018, IDN-list of operation data for CP2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In this IDN list, the IDNs of all those parameters are stored which the drive
checks in the transition check command for phase 3. Only if the data of the
contained IDNs are correct can the transition check command be positively
acknowledged and switching to communication phase 3 can be allowed.
See also Functional Description "IDN Lists of Parameters"
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.1.20
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
IDN
0
--
Default value
---------
S-0-0019, IDN-list of operation data for CP3

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPB
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
71/1265
Standard Parameters
Funct. package(s):
Device parameter:
Function

+
In this IDN list, the IDNs of all those parameters are stored which the drive
checks in the transition check command for phase 4. Only if the data of the
contained IDNs are correct can the transition check command be positively
acknowledged and switching to communication phase 4 can be allowed.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.1.21
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
S-0-0021, IDN-list of invalid operation data for CP2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
Before the drive switches from phase 2 to phase 3 in accordance with the com
mand "S00127, C0100 Communication phase 3 transition check", it checks
whether all communication parameters are complete and correct.
Use
If the drive recognizes one or more invalid IDNs, it writes the operating data still
required or invalid to this IDN list. The drive displays this by means of the fault
diagnosis "C0101 Invalid parameters (-> S00021)". In the case of other fault
diagnoses, the respective parameters are written to "S00021", too.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.1.22
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
S-0-0022, IDN-list of invalid operation data for CP3

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
72/1265

and Controls
Standard Parameters
Function
Before the drive switches from phase 3 to phase 4 in accordance with the com
mand "S00128, C0200 Communication phase 4 transition check", it checks
the parameters for the following aspects:
Validity of the parameter
Parameter within the possible input range
"Compatibility" with other parameters

Use
If the result of the parameter check is negative, the drive writes the respective
operating data to this IDN list.
The drive then acknowledges the transition command with the messages:
C0201 Invalid parameters (->S-0-0423) or
C0202 Parameter limit error (->S00423) or
C0203 Parameter conversion error (->S00423) or
C0242 Multiple configuration of a parameter (->S-0-0423).
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.1.23
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
IDN
0
--
Default value
---------
S-0-0024, Configuration list of MDT

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
This parameter specifies the parameters which are contained in the master data
telegram (MDT) if the configurable telegram has been defined by parameter
"S00015, Telegram type parameter".
See also Functional Description "Telegram Structure, Telegram Frame"
Use
The configurable parameters are contained in parameter "S00188, List of

configurable data in the MDT" and are entered in this parameter as a list.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.1.24
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
P2->P3
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
S-0-0025, IDN-list of all procedure commands

Allocation
Contained in 02VRS:
Contained in 03VRS:
MPB
MPB
MPH
MPH
MPD
MPD
4Byte var.
IDN
0
--

and Controls
73/1265
Standard Parameters
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPC
MPC
The IDNs of all commands available in the drive are stored in the data of the
IDN list.
See also Functional Description "Commands"
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.1.25
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
S-0-0026, Configuration list for signal status word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In this parameter it is possible to list (configure) a maximum of 16 parameter

IDNs, one bit of each is to be mapped to "S00144, Signal status word". The
first line of the list corresponds with the LSB of S00144. The following lines
correspond with the respective more significant bits.
See also Functional Description "Configurable Signal Status Word"
Use
The IDNs of the parameters that can be entered in S00026 are contained
in "S00398, IDN-list of configurable data in signal status word".
The assignment with regard to which bit of the respective parameter is

mapped to S00144 is made in "S00328, Assign list signal status word".
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
If the IDN S00000 is entered, this position does not have any
function, the respective bit in the signal status word (S00144)
displays the value "0".
If an IDN is entered that is not contained in S00398, the pa

rameter error "Data incorrect" (error code 7008h) is generated.
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
4Byte var.
IDN
0
--
74/1265

and Controls
Standard Parameters
MPD:
MPH:
4.1.26
--- / ----- / ---
-----
S-0-0027, Configuration list for signal control word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In this parameter it is possible to list (configure) a maximum of 16 parameter

IDNs, one bit of each is to be written via "S00145, Signal control word". The
first line of the list corresponds with the LSB of S00145, the following lines
with the respective more significant bits.
Use
The IDNs of the parameters that can be entered in S00027 are contained
in "S00399, IDN-list of configurable data in signal control word".
The assignment with regard to which bit of the respective parameter is to

be written in S00027 is made in "S00329, Assign list signal control
word".
If the IDN S00000 is entered, the respective bit does not have any func
tion in the signal control word S00145.
If an IDN is entered that is not contained in S00399, the parameter error

"Data incorrect" (error code 7008h) is generated.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.1.27
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
S-0-0028, MST error counter

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
This parameter registers the number of all invalid master control telegrams
(MSTs) in communication phases 3 and 4.
See also Functional Description "Interface Errors and Diagnostic Possibilities"
Use
If two MSTs are invalid in immediate succession, the error "F4001 Double MST
failure shutdown" is generated and the drive is switched back to communication
phase 0. The maximum countable number of invalid MSTs is 216-1 (65535). If
parameter "S00028" has high values, this implies frequent communication
failures. When switching to communication phase 3, the counter is reset to zero.

and Controls
75/1265
Standard Parameters
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.1.28
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
---------
S-0-0029, MDT error counter

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
This parameter displays the number of all invalid master data telegrams (MDTs)
in the communication phases 3 and 4.
See also Functional Description "Interface Errors and Diagnostic Possibilities"
Use
If two MDTs are invalid in immediate succession, the error "F4002 Double MDT
failure shutdown" is generated and the drive is switched back to communication
phase 0.
The maximum countable number of invalid MDTs is 216 -1 (65535). If parameter
S00029 has high values, this implies frequent communication failures.
The content of S00029 is reset to zero in the transition command
"S00127, C0100 Communication phase 3 transition check".
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.1.29
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_OV
0
--
S-0-0030, Manufacturer version

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
This parameter contains the drive firmware version in the form of a text (ASCII
format).
See also Functional Description "System Overview"
Structure
MPC
MPC
Interpret the content of the parameter as follows:
76/1265

and Controls
Standard Parameters
Fig.4-8:
Function:
Memory:
Unit:
Cycl. tra.:
Structure of S-0-0030, Manufacturer version

Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.1.30
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
ASCII
0
--
Default value
---------
S-0-0032, Primary mode of operation

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The operating mode determined in this parameter is activated in the drive, if:
the primary mode of operation was selected in the master control word
(bits 8 and 9 = "00") and
control and power sections are ready for operation and
drive enable "RF" was set.
See also Functional Description "Selecting the Operating Mode"

Use
The operating mode is determined by entering a binary value in this parameter.

In this value, certain positions have a fixed definition. In bit 3 you must set
whether the drive is to work with lagless position control or with position control
with lag error.
The following applies: bit 3 = 0 position control with lag error
bit 3 = 1 lagless position control
The operating modes supported by the respective firmware are stored in pa
rameter S-0-0292, List of all operating modes and when being read are dis
played in the form of a hexadecimal code.
The binary values assigned to the operating modes are listed in the
table "Overview of operating modes" in the parameter description
of S-0-0292.
See also Parameter Description "S-0-0292, List of all operating modes"

and Controls
77/1265
Standard Parameters
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.1.31
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
-+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
2
2
2
2
S-0-0033, Secondary operation mode 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
the secondary operating mode 1 was selected in the master control word
(bits 8 and 9 = "01"),

Use

with lag error.
of S-0-0292.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.1.32
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
-+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
2
2
2
2

Allocation
Contained in 02VRS:
Contained in 03VRS:
MPB
MPB
MPH
MPH
MPD
MPD
2Byte
BIN
0
--
78/1265

and Controls
Standard Parameters
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPC
MPC
(bits 8 and 9 = "10"),

Use

with lag error.
of S-0-0292.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.1.33
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
-+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
2
2
2
2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
(bits 8 and 9 = "11"),

and Controls
79/1265
Standard Parameters
Use

with lag error.
of S-0-0292.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.1.34
PM
PM->OM
-+
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
2
2
2
2
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
S-0-0036, Velocity command value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
In the "velocity control" mode the control unit cyclically enters the command
value in this parameter.
The velocity command value actually effective (addition of all com
ponents that generate the velocity command value) at the input of
the velocity loop is displayed in parameter P00048.
See also Functional Description "Velocity Control"
Record of Revisions
Version
Attribute
Description
GEN-02VRS
Extr. val. ch.: yes
Function:
Memory:
Par
--
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
4Byte
DEC_MV
S-0-0045
S-0-0046
--
80/1265

and Controls
Standard Parameters
Input
MPB:
MPC:
MPD:
MPH:
4.1.35
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
Default value
0,0000
0,0000
0,0000
0,0000
S-0-0037, Additive velocity command value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In velocity-controlled and position-controlled operation modes, the control unit

can cyclically enter an additive command value in this parameter in case the
control unit provides the respective value.
The velocity command value actually effective (addition of all com
ponents that generate the velocity command value) at the input of
the velocity loop is displayed in parameter P00048.
Record of Revisions
Version
Attribute
GEN-02VRS
Extr. val. ch.: yes
Function:
Memory:
Par
--
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.1.36
Description
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
4Byte
DEC_MV
S-0-0045
S-0-0046
--
Default value
0,0000
0,0000
0,0000
0,0000
S-0-0038, Positive velocity limit value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Depending on the application, this parameter indicates the value for the maxi
mum allowed positive velocity command value of the motor.
See also Functional Description "Velocity Limitation"
Use
The maximum value for "S00038" is the value of "S00113", Maximum

motor speed in positive direction. This value also is the maximum value
for all other velocity parameters.

and Controls
81/1265
Standard Parameters
If "S00091, Bipolar velocity limit value" is smaller than "S00038, Posi

tive velocity limit value", the limit value from S00091 takes effect.
The default value for S00038 is "0" (switched off), the value from
S00091 therefore acts as limit for positive velocities.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.1.37
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
4Byte
DEC_MV
S-0-0045
S-0-0046
+
Default value
---------
S-0-0039, Negative velocity limit value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
mum allowed negative velocity command value of the motor.
Use
The maximum value for S00039 is the value of "S00113, Maximum

motor speed" in negative direction. This value also is the maximum value
for all other velocity parameters.
If the absolute value of "S00091, Bipolar velocity limit value" is smaller

than "S00039, Negative velocity limit value", the limit value from
S00091 takes effect.
The default value for S00039 is "0" (switched off), the value from
S00091 therefore acts as limit for negative velocities.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.1.38
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
Default value
---------
MPB
MPB
MPB
MPB
MPB
MPB
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0045
S-0-0046
+
S-0-0040, Velocity feedback value

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC
82/1265

and Controls
Standard Parameters
Funct. package(s):
Device parameter:
Function

--
The actual velocity value of the motor encoder can be transmitted by the drive
controller to the control unit either cyclically or via the service channel.
In open-loop operation, parameter S00040 contains the actual
velocity value estimated by means of a motor model.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.1.39
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0045
S-0-0046
--
Default value
---------
S-0-0041, Homing velocity

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The product of "S00041, Homing velocity" and "S00108, Feedrate override"

determines the maximum velocity of the axis during "S00148, C0600 Drivecontrolled homing procedure command".
See also Parameter Description "S-0-0108, Feedrate override"
See also Functional Description "Establishing the Position Data Reference"
Record of Revisions
Version
Attribute
GEN-02VRS
Extr. val. ch.: yes
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.1.40
Description
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
Default value
100,0000
100,0000
100,0000
100,0000
MPB
MPB
MPB
MPB
MPD
MPD
MPD
MPD
S-0-0042, Homing acceleration

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
MPH
MPH
MPH
MPH
4Byte
DEC_OV
S-0-0045
S-0-0046
+

and Controls
83/1265
Standard Parameters
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPB
-closed loop
--
MPH
MPH
MPD
MPD
MPC
MPC
The value for acceleration is entered in this parameter. With this value, the drive
changes the internally generated velocity command value during the execution
of "S-0-0148, C0600 Drive-controlled homing procedure command".
The acceleration is limited to the value of "S-0-0138, Bipolar accel
eration limit value". The value of parameter "S-0-0042, Homing
acceleration" should always be smaller than the value of parameter
"S-0-0138, Bipolar acceleration limit value", because otherwise a
lag error will build up due to internal control processes. When the
value "0" is input for the parameter, the parameter "S-0-0138" will
take effect.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.1.41
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
4Byte
DEC_MV
S-0-0161
S-0-0162
+
Default value
1000,000
1000,000
1000,000
1000,000
S-0-0043, Velocity polarity parameter

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
In this parameter it is possible to change, related to the application, the polarities

of the velocity data. The polarities aren't changed inside but outside (at the input
and output) of the controlled system.
See also Functional Description "Scaling of Physical Data"
Structure
MPC
MPC
84/1265

and Controls
Standard Parameters
Bit
velocity command value
Comment
0: positive polarity
1: negative polarity
1
velocity command value, additive

actual velocity value

Fig.4-9:
S-0-0043, Velocity polarity parameter
Bits 1 and 2 are copies of bit 0. Only changes in bit 0 are effective.
It is impossible to have different settings for the individual bits!
Use
The following applies to rotary motors: A clockwise turn of the motor output
shaft results in a positive actual velocity value (positive polarity).
The following applies to linear motors: A move of the primary part in the
direction of the cable connection side results in a positive actual velocity
value (positive polarity).
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.1.42
PM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0/7
0/7
0/7
0/7
Default value
0
0
0
0
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
S-0-0044, Velocity data scaling type

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The scaling type of the velocity data determines in which format and which
reference the velocity data are exchanged between the drive and the control
unit or user interface.
Any change in the parameter setting has an effect on the scaling.
This means that changes in the parameter setting have effects on
the display and processing of velocity, position and acceleration
data in the drive!

and Controls
85/1265
Standard Parameters
Structure
Bit
2-0
scaling type
Comment
0 0 1: linear scaling
0 1 0: rotary scaling
3
0: preferred scaling
1: parameter scaling
unit for linear scaling

0: meter [m]
1: inch [in]
unit for rotary scaling
0: revolution
1: reserved
unit of time
0: minute [min]
1: second [s]
data reference
0: with respect to motor shaft
1: with respect to load
15-7
reserved
Fig.4-10:
Use
S-0-0044, Velocity data scaling type
The values of the velocity data parameters (e.g. "S00040, Velocity feedback
value") are displayed by the drive with the scaling that has been set. The scaling
setting is normally preset by the control unit.
In the case of preferred scaling (bit 3 = "0"), the following parameters are pre
defined and cannot be changed:
"S-0-0045, Velocity data scaling factor"
"S-0-0046, Velocity data scaling exponent"
In the case of parameter scaling, the scaling is realized by inputting the desired
parameter values.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.1.43
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
-+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
2
2
2
2
S-0-0045, Velocity data scaling factor

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPB
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
86/1265

and Controls
Standard Parameters
Funct. package(s):
Device parameter:
Function

--
In the case of parameter scaling (see S00044), the scaling factor and the
decimal format (the decimal place) of the velocity data are determined via the
following parameters.
S-0-0045, Velocity data scaling factor and
S-0-0046, Velocity data scaling exponent

Use
If preferred scaling is selected in S00044, Velocity data scaling type, the val
ues in S00045 and S00046 are set automatically by the drive.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.1.44
PM
PM->OM
+
--
min./max.
StdOne / StdUMax
StdOne / StdUMax
StdOne / StdUMax
StdOne / StdUMax
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
1
1
1
1
S-0-0046, Velocity data scaling exponent

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
decimal format (the decimal place) of the velocity data are determined via the
following parameters.
"S-0-0046, Velocity data scaling exponent" and
"S-0-0045, Velocity data scaling factor"

Use
If preferred scaling is selected in "S00044, Velocity data scaling type", the

values in "S00045" and "S00046" are set automatically by the drive.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.1.45
PM
PM->OM
+
--
min./max.
-15 / 0
-15 / 0
-15 / 0
-15 / 0
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------
S-0-0047, Position command value

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
MPB
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPC

and Controls
87/1265
Standard Parameters
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
-closed loop
--
MPH
MPD
MPC
Function
The content and significance of S00047 are different for read and
write access!
Write Access
In the "position control" mode the control unit by means of "S00047" and in
the clock of its interpolation cycle time writes the cyclic position command val
ues to the drive.
If required, these position command values coming directly from the control unit
can be read via "P00047, Position command value control"!
The interpolation cycle time of the control unit (cf. S00001) can be
a multiple of the communication cycle time (cf. S00002) so that
P00047 is updated on the same time base, too!
Read Access
When S00047 is read, the effective position command value input at the input
of the position loop is displayed in the parameter, this value can also be dis
played via "P00434, Position command value of controller". The effective
position command values in the "position control" mode are the position com
mand values of the control unit, fine-interpolated, possibly filtered and jerklimited by the drive! Parameter S00047 is therefore updated on the time base
of the position loop cycle time (Advanced: 250s, Basic: 500s)!
S00047 is only updated in the "cyclic position control" mode and
P00434 in all operation modes in which the position control loop
is closed in the drive!
See also Functional Description "Position Control With Cyclic Command Value
Input"
Function:
Memory:
Par
--
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.1.46
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
0,0000
0,0000
0,0000
0,0000
S-0-0048, Additive position command value

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-synchronisation (ELS)
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
88/1265

and Controls
Standard Parameters
Function
If a synchronization mode with outer position control loop was selected, the
additive position command value is added in the drive to "P00434, Position
command value of controller". This allows establishing a position offset be
tween the actual position value of the slave axis and the synchronous position
command value which is derived from the master axis position.
See also Functional Description "Phase Synchronization with Real/Virtual Mas
ter Axis"
Use
When the synchronization mode is activated, synchronization is first carried out

taking the parameters "P00142, Synchronization acceleration" and
"P00143, Synchronization velocity" into account. As an alternative, you can
use single-step synchronization.
Then switching to the parameters "P00686, Additive position command value,
positioning velocity" and "P00687, Additive position command value, posi
tioning acceleration" takes place. The parameters P00142 and P00143
become ineffective.
Subsequent changes of S00048 are then traveled via a 2nd order interpolator
with def. velocity (P00686) and acceleration (P00687).
As a prerequisite, use of S00048 as process controller parameter mustn't
have been set (by bit 0 of "P00155, Synchronization mode"). With the setting
as process controller parameter, changes go through a 1st order filter the time
constant of which is determined by parameter "P00060, Filter time constant
additional pos. Command".
Function:
Memory:
Par
--
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.1.47
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
S-0-0049, Positive position limit value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The allowed travel range of an axis can be defined by position limit values. The
greatest allowed actual position value (positive travel direction) is entered in
this parameter.
If an external encoder is used in addition to the motor encoder, the position limit
values either refer to
the encoder in reference
- or, if both encoders are in reference,
to the encoder that has been selected by bit 3 of "S00147, Homing pa

rameter".
See also Functional Description "Position Limit Values (Software Limit

Switch)"

and Controls
89/1265
Standard Parameters
Use
Activation
The position limit value monitor is only active when the actual position values
of the motor encoder or, if available, the external encoder are referred to the
axis zero point, i.e. when an encoder has been homed. (Bit 1 or bit 2 in param
eter "S00403, Position feedback value status" must be 1).
Via bit 4 in "S00055, Position polarities" it is possible to switch off the position
limit value monitor.
Warning
If a "S00258, Target position" beyond the positive position limit value is preset
for the drive, it sets the warning bit 13 in "S00012, Class 2 diagnostics" and
generates the "E2053 Target position out of travel range" warning.
If the positive position limit value is exceeded, the drive sets the error bit 13 in
"S00011, Class 1 diagnostics".
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.1.48
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
0,0000
0,0000
0,0000
0,0000
S-0-0050, Negative position limit value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The allowed travel range of an axis can be defined by position limit values. The
smallest allowed actual position value (negative travel direction) is entered in
this parameter.
If an external encoder is used in addition to the motor encoder, the position limit
values either refer to
the encoder in reference
- or, if both encoders are in reference,
to the encoder that has been selected by bit 3 of "S00147, Homing pa

rameter".
See also Functional Description "Position Limit Values (Software Limit

Switch)"
Use
Activation
The position limit value monitor is only active when the actual position values
of the motor encoder or, if available, the external encoder are referred to the
axis zero point, i.e. when an encoder has been homed. (Bit 1 or bit 2 in param
eter "S00403, Position feedback value status" must be 1).
Via bit 4 in "S00055, Position polarities" it is possible to switch off the position
limit value monitor.
Warning
90/1265

and Controls
Standard Parameters
If a "S00258, Target position" beyond the negative position limit value is preset
for the drive, it sets the warning bit 13 in "S00012, Class 2 diagnostics" and
generates the "E2053 Target position out of travel range" warning.
If the negative position limit value is exceeded, the drive sets the error bit 13 in
"S00011, Class 1 diagnostics".
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.1.49
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
0,0000
0,0000
0,0000
0,0000
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0077
S-0-0078
--
S-0-0051, Position feedback value 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC
The actual position value of encoder 1 shows the current position of the motor
encoder. After the drive is switched on, the actual position value is initialized,
i.e. set to an initial value, by the "S00128, C0200 Communication phase 4
transition check" command during the communication phase sequence.
See also Functional Description "Measuring Systems"
Use
If the motor encoder is an absolute measuring system, the value in "S00051,

Position feedback 1 value" displays
the position referring to the machine zero point, if the "P00012, C0300
Command Set absolute measuring" command was executed once during
initial commissioning and if, at the same time, the motor encoder had been
selected with bits 3 and 4 in "P00612, Control word for setting absolute
measuring".
first of all the current absolute position of the motor encoder during initial
commissioning. The absolute position does not have any reference to the
machine zero point until "P00012, C0300 Command Set absolute meas
uring" is executed for the first time.
If the motor encoder is an incremental measuring system, the value in

"S00051, Position feedback 1 value" displays
first of all the actual position value that has not been homed. It refers to
the value of "P00019, Initial position value". This value is assigned to the
initial encoder position (default value of P00019 is zero).
the position referring to the machine zero point, if the command "S00148,
C0600 Drive-controlled homing procedure command" was executed after
drive enable and if, at the same time, the motor encoder had been selected
with bit 3 in "S000147, Homing parameter".
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
4Byte
DEC_MV

and Controls
91/1265
Standard Parameters
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.1.50
min./max.
--- / ----- / ----- / ----- / ---
S-0-0077
S-0-0078
--
Default value
---------
S-0-0052, Reference distance 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The desired actual position value with regard to a specific axis position (refer
ence position) is entered in this parameter. By means of the "S00148, C0600
Drive-controlled homing procedure command" or "P00012, C0300 Command
Set absolute measuring" commands the value entered in parameter S00052
becomes effective as the actual position value at the reference position.
This allows establishing a specific position reference system for an axis or
changing an existing reference system to a new one ("switching").
Use
Incremental Measuring Systems

In the case of incremental measuring systems the reference of the actual po
sition values to the axis zero point is established at a mechanically defined axis
reference position, the so-called home point, by the "Drive-controlled homing
procedure" command. After the homing procedure, the actual position value 1
at the home point corresponds to the values of parameter "S00052, Reference
distance 1". The actual position value 1 is the distance between this reference
point and the axis zero point.
Absolute Measuring Systems
In the case of absolute measuring systems the previous reference system of
the actual position values is switched to a new one at an axis reference position
by means of the "Set absolute measuring" command.
The reference position can
have a defined distance to the axis zero point and
be preset as an actual position value of the previous reference system

(before the change of the reference system).
If the reference position has a defined distance to the axis zero point, this dis
tance value has to be contained in the "S00052, Reference distance 1"
parameter when the reference system is switched by the command. After "Set
absolute measuring" the actual position value 1 at the reference position cor
responds to the value of parameter "S00052, Reference distance 1", if bit 1
of the "P00612, Control word for setting absolute measuring" parameter has
the value "0".
The actual position value the reference position had before switch
ing the reference system is stored in the "P00613, Reference
position: setting absolute measuring" parameter.
92/1265

and Controls
Standard Parameters
If the reference position is to be preset as the defined actual position value of
the previous reference system, it is to be entered in the "P00613, Reference
position: setting absolute measuring" parameter. In the "P00612, Control word
for setting absolute measuring" parameter the external setting of the reference
position has to be activated by bit 1 = 1. After executing the command, the new
actual position value at the reference position of the previous reference system
corresponds to the value of parameter "S00052, Reference distance 1".
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.1.51
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
0,0000
0,0000
0,0000
0,0000
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0077
S-0-0078
+
S-0-0053, Position feedback value 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC
The actual position value of encoder 2 shows the current position of the external
encoder. After the drive is switched on, the actual position value is initialized,
i.e. set to an initial value, by the command "S00128, C0200 Communication
phase 4 transition check" during the communication phase sequence.
Use
If the external encoder is an absolute measuring system, the value in "S00053,

Position feedback value 2" displays
the position in relation to the machine zero point provided the "P00012,
C0300 Set absolute position procedure command" was executed on initial
commissioning while the external encoder was simultaneously selected
in "P00612, Set absolute position control" with bits 3 and 4;
first of all the current absolute position of the external encoder during initial
commissioning. The absolute position does not have any reference to the
machine zero point until "P00012, C0300 Set absolute position proce
dure command" is executed for the first time.
If the external encoder is an incremental measuring system, the value in

"S00053, Position feedback value 2" displays
first of all the actual position value that has not been homed. It relates to
the value of "P00019, Initial position value". The initial position value is
assigned to the initial encoder position (default value of P00019 is zero);
the position relating to the machine zero point, provided the "S00148,
C0600 Drive-controlled homing procedure command" was executed after
drive enable and the external encoder was simultaneously selected in
"S00147, Homing parameter" with bit 3.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
4Byte
DEC_MV

and Controls
93/1265
Standard Parameters
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.1.52
min./max.
--- / ----- / ----- / ----- / ---
S-0-0077
S-0-0078
--
Default value
---------
S-0-0054, Reference distance 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The desired actual position value with regard to a specific axis position (refer
ence position) is entered in this parameter. By means of the "S00148, C0600
Drive-controlled homing procedure command" or "P00012, C0300 Command
Set absolute measuring" commands the value entered in parameter S00054
becomes effective as the actual position value at the reference position.
This allows establishing a specific position reference system for an axis or
changing an existing reference system to a new one ("switching").
Use
Incremental Measuring Systems

In the case of incremental measuring systems the reference of the actual po
sition values to the axis zero point is established at a mechanically defined axis
reference position, the so-called home point, by the "Drive-controlled homing
procedure" command. After the homing procedure, the actual position value 2
at the home point corresponds to the values of parameter "S00054, Reference
distance 2". The actual position value 2 is the distance between this reference
point and the axis zero point.
Absolute Measuring Systems
In the case of absolute measuring systems the previous reference system of
the actual position values is switched to a new one at an axis reference position
by means of the "Set absolute measuring" command.
The reference position can
have a defined distance to the axis zero point and
be preset as an actual position value of the previous reference system

(before the change of the reference system).
If the reference position has a defined distance to the axis zero point, this dis
tance value has to be contained in the "S00054, Reference distance 2"
parameter when the reference system is switched by the command. After "Set
absolute measuring" the actual position value 2 at the reference position cor
responds to the value of parameter "S00054, Reference distance 2", if bit 1
of the "P00612, Control word for setting absolute measuring" parameter has
the value "0".
The actual position value the reference position had before switch
ing the reference system is stored in the "P00613, Reference
position: setting absolute measuring" parameter.
94/1265

and Controls
Standard Parameters
If the reference position is to be preset as the defined actual position value of
the previous reference system, it is to be entered in the "P00613, Reference
position: setting absolute measuring" parameter. In the "P00612, Control word
for setting absolute measuring" parameter the external setting of the reference
position has to be activated by bit 1 = 1. After executing the command, the new
actual position value at the reference position of the previous reference system
corresponds to the value of parameter "S00054, Reference distance 2".
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.1.53
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
0,0000
0,0000
0,0000
0,0000
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0077
S-0-0078
--
S-0-0055, Position polarities

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC
By means of this parameter it is possible to invert the polarities of the indicated

position data. The polarities are changed outside of the controlled system, i.e.
at the input and output of the controlled system.
The position polarity must be determined with the initial commis
sioning of an axis before establishing the machine zero point for the
measuring systems, because a change in the polarity causes dif
ferent actual position values.
The following applies to rotary motors:
A clockwise turn of the motor output shaft in the case of positive position com
mand value difference and positive polarity.
The following applies to linear motors:
A move of the primary part in the direction of the cable connection side in the
case of positive command value difference and positive polarity.
With bit 4 software position limit values are activated or deactivated.
Structure
Bit
position command val.

position command value, additive

Comment

and Controls
95/1265
Standard Parameters
Bit
actual position value 1
Comment
3
actual pos. value 2

position limit values

0: not active
1: active
Fig.4-11:
S-0-0055, Position polarities
Bits 1, 2 and 3 are copies of bit 0. Only changes in bit 0 are effective.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.1.54
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
0 / 31
0 / 31
0 / 31
0 / 31
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
0
0
0
0
S-0-0057, Position window

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
If an operation mode with internal position control is activated in the drive, sev
eral status messages are generated with regard to the positioning behavior of
the drive.
See also Functional Description "Positioning Block Mode"
Use
For this purpose, the parameter "S00057, Position window", among others, is
used as a "window" for the following status messages and functionalities:
"In Position" (S-0-0013, Class 3 diagnostics, bit 6 = 1)

|Lag error (S-0-0189)| < position window (S-0-0057)
"IN_TARGET POSITION" (P-0-0188, Status word positioning generator,

bit 1 = 1)
|S00258/P00050 S00051/53| < S00057
"IN_TARGET POSITION" (P-0-0188, Status word positioning generator,

bit 2 = 1)
IN_TARGET POSITION && IN_POSITION && Nact = 0
96/1265

and Controls
Standard Parameters
During execution of the command "S00148, C0600 Drive-controlled

homing procedure command", the drive signals completion of the com
mand, when the internal position command value generator has reached
its target value and the difference between this final value and the actual
position value is smaller than the position window.
As a hysteresis window for the position limit value monitor. This means
that, if the drive has passed the position limit value, the travel range is
additionally limited by the position window.
If the position limit values are active, positioning to the position limit value
position windows is implemented in the "jog" mode.
For the "position spindle" command in order to show that the spindle is in
position.
See also Parameter Description "S00013, Class 3 Diagnostics"

See also Parameter Description "P-0-0555, Status Word of Axis Controller"
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.1.55
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
0,1000
0,1000
0,1000
0,1000
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0077
S-0-0078
+
S-0-0058, Reversal clearance

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC
The reversal clearance describes the absolute measure of backlash between

drive and load in the case of a reversal of direction, referring to the position
data.

and Controls
97/1265
Standard Parameters
Fig.4-12:
Graphical Representation of the Reversal Clearance in the Case of Re

versal of Direction
See also Functional Description "Axis Error Correction"

Use
When using the function, observe the following aspects:
By means of the backlash on reversal correction, it is easily possible to

correct backlash in the mechanical axis system.
The function is activated by inputting the backlash in parameter "S00058,

Reversal clearance".
The processing of the reversal clearance depends on:
Direction of motion in the case of position-controlled operation

modes
Velocity command value (S-0-0036) and standstill window

(S-0-0124) in the case of velocity control
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.1.56
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
0,0000
0,0000
0,0000
0,0000
S-0-0059, Position switch flag parameter

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Bit 0 of this parameter displays the switch status of a "virtual", position-de

pendent switch. The switch positions are preset in "S00060/S00460, Posi
tion switch point 1 "On"/"Off"" (cf. adjusting the switch-on/switch-off edge of a
mechanical switch cam).
98/1265

and Controls
Standard Parameters
Structure
Bit
Comment
Switch status of virtual switch

0: Open
1: Closed
Fig.4-13:
Function:
Memory:
Unit:
Cycl. tra.:
S-0-0059, Position switch flag parameter

Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.1.57
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
S-0-0060, Position switch point 1 "On"

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter determines the switch-on position for a "virtual" position-de

pendent switch (cf. adjusting the switch-on position by mechanical switch
cams). If the actual position value is smaller than the switch-on position, the
respective bit of "S00059, Position switch flag parameter" is "0". Otherwise it
is "1" if the actual position value hasn't exceeded the value of "S00460, Po
sition switch point 1 "Off"".
Record of Revisions
Version
Attribute
Comment
GEN-02VRS
Validity ch.: P2-3
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.1.58
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
0,0000
0,0000
0,0000
0,0000
MPB
MPB
MPB
MPB
MPB
MPB
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0077
S-0-0078
--
S-0-0076, Position data scaling type

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC

and Controls
99/1265
Standard Parameters
Funct. package(s):
Device parameter:
Function
closed loop
--
The scaling type of the position data determines in which format and which
reference the position data are exchanged between the drive and the control
unit or user interface. The values of the position data parameters (e.g.
"S00051, Position feedback 1 value") are displayed by the drive with the scal
ing that has been set. The scaling setting is normally preset by the control unit.
data in the drive!
Structure
Bit
2-0
scaling type
Comment
0 0 1: linear scaling
0 1 0: rotary scaling
3

0: meter [m]
1: inch [in]
0: angular degrees
1: reserved
reserved
data reference
processing format
0: absolute format
1: modulo format
15-8
reserved
Fig.4-14:
Use
S-0-0076, Position data scaling type
S-0-0077, Linear position data scaling factor
S-0-0078, Linear position data scaling exponent
S-0-0079, Rotational position resolution
In the case of parameter scaling (bit 3 = "1"), the scaling is realized by inputting
the desired values in the mentioned parameters.
See also example in description of "S-0-0077, Linear position data
scaling factor".
100/1265 Bosch Rexroth AG | Electric Drives

and Controls
Standard Parameters
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.1.59
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
-+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
2
2
2
2
S-0-0077, Linear position data scaling factor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In the case of linear parameter scaling (see S00076), the scaling factor and
the decimal format (the decimal place) of the position data parameters are de
termined with this parameter and with "S00078, Linear position data scaling
exponent".
If preferred scaling is selected in "S00076, Position data scaling type", the
values in S00077 and S00078 are set automatically by the drive.
data in the drive!
Use
Example for position data display in the case of linear scaling:

Physical actual position value of the motor encoder equals 0.12 m (meters).
A) Selected scaling = linear preferred scaling (S00077 = 1, S00078 = 7). The
result of this is the numeric value 1200000 for "S00051, Position feedback 1
value" (with unit mm and 4 decimal places).
B) Selected scaling = linear parameter scaling (S00077 = 3, S00078 = 7).
The result of this is the numeric value 400000 for "S00051, Position feedback
1 value" (with unit mm and 4 decimal places).
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.1.60
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
StdOne / StdUMax
StdOne / StdUMax
StdOne / StdUMax
StdOne / StdUMax
Data length:
Format:
Decim. pl.:
Switchable:
Default value
1
1
1
1
S-0-0078, Linear position data scaling exponent

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
2Byte
DEC_OV
0
--
Electric Drives | Bosch Rexroth AG 101/1265

and Controls
Standard Parameters
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPB
-closed loop
--
MPH
MPH
MPD
MPD
MPC
MPC
In the case of linear parameter scaling (see S00076), the scaling factor and
the decimal format (the decimal place) of the position data parameters are de
termined with this parameter and with "S00077, Linear position data scaling
factor".
data in the drive!
Use
If preferred scaling is selected in "S00076, Position data scaling type", the

values in S00077 and S00078 are set automatically by the drive.
See also example in description of "S-0-0077, Linear position data
scaling factor".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.1.61
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
-15 / 0
-15 / 0
-15 / 0
-15 / 0
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------
S-0-0079, Rotational position resolution

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In the case of rotary parameter scaling (see S00076), the smallest angle value
is determined with this parameter for the rotary position data parameters.
Fig.4-15:
Smallest angle value for the rotary position data parameters

Use
The smallest angle value can refer to the motor or the load (see S00076). If
rotary preferred scaling is set (see S00076), the value in "S00079, Rotational
position resolution" is fixed to 3.600.000. The smallest angle value is therefore
fixed to 0,0001 degree of angle for all rotary position data.

and Controls
Standard Parameters
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.1.62
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
1 / 0xFFFFFFFF
1 / 0xFFFFFFFF
1 / 0xFFFFFFFF
1 / 0xFFFFFFFF
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
0
--
Default value
3600000
3600000
3600000
3600000
S-0-0080, Torque/force command value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In the "torque/force control" mode, the command value is generated directly by

the control unit and entered in this parameter.
In all other operation modes, the torque/force command value is generated by
the velocity loop and optionally by a torque/force lookahead.
The torque/force command value generated by higher-level control
loops is contained in the parameter "P00049, Effective torque/
force command value" and can be cyclically transmitted to the con
trol unit for diagnosis or process purposes and/or be visualized via
the analog output.
See also Functional Description "Torque/Force Control"
Use
Another value ("S00081, Additive torque/force command value") can be add

ed to the torque/force command value (S00080). Several limit values act on
the sum of both values (P-0-0049) before it is transmitted to the current con
troller. The resulting limit values can be queried via parameters:
P-0-0442, Actual value torque limit positive (stationary)
P-0-0443, Actual value torque limit negative (stationary)
P00444, Actual value peak torque limit
The unit of the parameter depends on the settings in the parameters "S00086,
Torque/force data scaling type" and "P00640, Cooling type".
Function:
Memory:
Par
--
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.1.63
min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
Default value
0,0
0,0
0,0
0,0
S-0-0081, Additive torque/force command value

Allocation
Contained in 02VRS:
Contained in 03VRS:
MPB
MPB
MPH
MPH
MPD
MPD
2Byte
DEC_MV
S-0-0093
S-0-0094
--

and Controls
Standard Parameters
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPC
MPC
By means of this parameter, the master can have a torque/force feedforward

value added in the controller, depending on the process.
Use
Several limit values act on the sum of both values (P-0-0049) before it is trans
mitted to the current loop. The resulting limit values can be queried via the
following parameters:
P-0-0444, Actual value peak torque limit
The unit of the parameter depends on the settings in the parameters "S00086,
Torque/force data scaling type" and "P-0-0640, Cooling type".
In the "torque/force control" mode, it generally does not make sense
to use this parameter, because the control unit should only preset
one command value (S-0-0080, Torque/force command value)!
Feedforward values should already be contained in the value of
"S-0-0080", if required! If the drive reacts with an internal error, o is
written to "S-0-0081".
Function:
Memory:
Par
--
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.1.64
min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
2Byte
DEC_MV
S-0-0093
S-0-0094
--
Default value
0,0
0,0
0,0
0,0
S-0-0082, Torque/force limit value positive

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter allows determining a torque or force limit value for positive tor
que/force command values. This limit value only takes effect with regard to the
torque command value of the velocity controller (P00049) and not with regard
to command values from the acceleration feedforwards (S00348, P01126).
Positive torque takes effect in the case of:
motive operation at positive velocity
regenerative operation at negative velocity
See also Functional Description "Torque/Force Limitation"

and Controls
Standard Parameters
Use
The unit for the values of this parameter depends on the scaling that has been
set ("S00086, Torque/force data scaling type").
This limit value takes effect in a unipolar way. There are also
the bipolar limit values "S00092, Bipolar torque/force limit
value" and "P00109, Torque/force peak limit". The lowest
value in the above parameters is the active limit value.
The effective positive limit value is displayed in "P00442, Ac

tual value torque limit positive (stationary)" (including loaddependent limits due to motor and controller).
If higher torque or force than in stationary operation (constant

velocity command value) is to be available to the drive for ac
celeration processes, this can be achieved by a higher value
in S00092 compared to S00082, in case the acceleration
feedforward has been activated. Parameter S00082 then
limits to maximum, positive load torque/maximum load force
and parameter S00092 limits to the sum of acceleration tor
que and load torque/load force.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.1.65
min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
2Byte
DEC_MV
S-0-0093
S-0-0094
+
Default value
400,0
400,0
400,0
400,0
S-0-0083, Torque/force limit value negative

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter allows determining a torque or force limit value for negative
torque/force command values. This limit value only takes effect with regard to
the torque command value of the velocity controller (P00049) and not with
regard to command values from the acceleration feedforwards (S00348,
P01126). Negative torque takes effect in the case of:
motive operation at negative velocity
regenerative operation at positive velocity
See also Functional Description "Current - and Torque/Force Limitation"

Use

and Controls
Standard Parameters
This limit value takes effect in a unipolar way. There are also
the bipolar limit values "S00092, Bipolar torque/force limit
value" and "P00109, Torque/force peak limit". The lowest
value in the above parameters is the active limit value.
The effective negative limit value is displayed in "P00443,

Actual value torque limit negative (stationary)" (including loaddependent limits due to motor and controller).
If higher torque or force than in stationary operation (constant

velocity command value) is to be available to the drive for ac
celeration processes, this can be achieved by a higher value
in S00092 compared to S00083, in case the acceleration
feedforward has been activated. Parameter S00083 then
limits to maximum, negative load torque/maximum load force
and parameter S00092 limits to the sum of acceleration tor
que and load torque/load force.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.1.66
min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
2Byte
DEC_MV
S-0-0093
S-0-0094
+
Default value
---------
S-0-0084, Torque/force feedback value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Display parameter for the actual torque/force value currently effective.

Calculating the actual torque/force value
Fig.4-16:
Relation for calculating the actual torque/force value
The value displayed in S00084 is only an approximation of the

torque or the force of the motor actually generated!
See also Functional Description "Current/Torque/Force Limitation"
Use
Torque factor
The torque factor mentioned in the above formula depends on the functional
principle of the motor and on the type of construction of the motor:

and Controls
Standard Parameters
Synchronous motor: The torque factor corresponds to the torque/force

constant (P00051), independent of whether the motor is in field weak
ening or not.
Asynchronous motor: In the base speed range the torque factor corre
sponds to the torque/force constant (P00051), in the field weakening
range it is determined firmware-internally and in speed-dependent form
on the basis of P00051.
set (S00086, Torque/force data scaling type).
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.1.67
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
S-0-0093
S-0-0094
--
Default value
---------
S-0-0085, Torque/force polarity parameter

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In this parameter it is possible to invert the polarities of the indicated torque/

force data with regard to the application. The polarities are changed outside of
the controlled system, i.e. at the input and output of the controlled system.
The following applies to rotary motors:
A clockwise turn of the motor output shaft in the case of positive torque and
positive polarity.
The following applies to linear motors:
A move of the primary part in the direction of the cable connection side in the
case of positive force and positive polarity.

and Controls
Standard Parameters
Structure
Bit
torque command value
Comment
1
torque command value additive

actual torque value

Fig.4-17:
S-0-0085, Torque/force polarity parameter
Bits 1 and 2 are copies of bit 0. Only changes in bit 0 are effective.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.1.68
PM
PM->OM
+
--
min./max.
0/7
0/7
0/7
0/7
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
0
0
0
0
S-0-0086, Torque/force data scaling type

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The unit and reference of the torque/force data of a drive are set by this pa
rameter:
percentage-based scaling (% of reference value, see below)
rotary scaling (Nm, inlbf)
linear scaling (N, lbf)

data in the drive!

and Controls
Standard Parameters
Structure
Bit
2-0
scaling type
Comment
0 0 0: percentage-based scaling
0 0 1: linear scaling (force)
0 1 0: rotary scaling (torque)
4
unit for force

0: Newton [N]
1: pound-force [lbf]
unit for torque
0: Newton meter [Nm]
1: inch pound-force [inlbf]
data reference
15-7
reserved
Fig.4-18:
S-0-0086, Torque/force data scaling type
Freely parameterizable scaling (parameter scaling) is impossible

for the torque/force data!
Use
Calculating the Reference Value

In the case of percentage-based scaling, a reference value (100%-value) for
torque/force data is required.
Fig.4-19:
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Calculating the reference value for torque/force data
In the case of MHD, MKD and MKE motors, the reference val
ue corresponds to the continuous torque at standstill (depend
ing on cooling type factor).
In the case of 2AD, MAD, ADF and MAF motors, as well as

rotary and linear kit motors, the reference value also corre
sponds to the continuous torque at standstill or the continuous
force at standstill, the cooling type factor is "1.0" (P00640 is
inactive) due to the non-variable cooling type!
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
-+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
0
0
0
2Byte
BIN
0
--

and Controls
Standard Parameters
4.1.69
S-0-0087, Transmit to transmit recovery time (TATAT)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
The "transmit to transmit recovery time (TATAT)" is the time required between
two drive telegrams when they are sent by the same slave (double-axis device).
For slaves with one drive only this parameter is not available. The "transmit to
transmit recovery time" is read by the master in communication phase 2, in
order to correctly calculate the transmission starting times of the drive tele
grams T1 (S00006).
See also Functional Description "Communication with SIS Protocol"
Function:
Memory:
Unit:
Cycl. tra.:
Par
-us
--
Input
MPB:
MPC:
MPD:
MPH:
4.1.70
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
0
--
Default value
---------
S-0-0088, Receive to receive recovery time (TMTSY)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
The time the slave needs to be ready to receive the next master synchronization
telegram after having received a master data telegram is defined in this pa
rameter. The parameter is read by the control unit in phase 2 in order to
calculate the time slot parameters.
See also Functional Description "Communication with SIS Protocoll"
Function:
Memory:
Unit:
Cycl. tra.:
Par
-us
--
Input
MPB:
MPC:
MPD:
MPH:
4.1.71
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
S-0-0089, MDT Transmit starting time (T2)

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
MPB
MPB
MPB
MPH
MPH
MPH
MPD
MPD
MPD
2Byte
DEC_OV
0
--

and Controls
Standard Parameters
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
Transmit starting time of the master data telegram after the end of the master
synchronization telegram. In communication phase 2 the value is transmitted
from the master to the slave and activated in phase 3.
See also Functional Description "Communication with SIS Protocol"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
us
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.1.72
P2
P2->P3
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0 / 65000
0 / 65000
0 / 65000
0 / 65000
2Byte
DEC_OV
0
--
Default value
600
600
600
600
S-0-0090, Command value proceeding time (TMTSG)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
Time required in the slave to provide the command values for the drive after
having received the master data telegram.
In communication phase 2 the master reads the time in order to calculate the
"Command valid time (T3)" (S00008).
See also Functional Description "Communication with SIS Protocol
Function:
Memory:
Unit:
Cycl. tra.:
Par
-us
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.1.73
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_OV
0
--
S-0-0091, Bipolar velocity limit value

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC

and Controls
Standard Parameters
Function
mum allowed velocity command value of the motor, independent of the sense
of rotation.
The maximum value for S00091 is the value of "S00113, Maximum motor
speed". This value also is the maximum value for all other velocity parameters.
Depending on the sense of rotation, the maximum velocity limit van be influ
enced by the parameters "S00038, Positive velocity limit value" and
"S00039, Negative velocity limit value". These two parameters have the de
fault value "0" and thereby are switched off, only S00091 takes effect.
Record of Revisions
Version
Attribute
GEN-02VRS
Extr. val. ch.: yes
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.1.74
Comment
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
4Byte
DEC_OV
S-0-0045
S-0-0046
+
Default value
1000,0000
1000,0000
1000,0000
1000,0000
S-0-0092, Bipolar torque/force limit value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
By means of this parameter, it is possible to limit the torque/force command

value to allowed maximum values in order to protect mechanical components
in the mechanical drive system.
Use
The parameter acts in a bipolar way, i.e. positive and negative command values
are limited to the entered value. The limitation acts on the sum of all torque
command values, i.e. on the sum of the command value components of the
velocity loop output and the command value components from accelerationdependent feedforwards ("S-0-0348, Acceleration feedforward gain";
"P-0-1126, Velocity control loop: Acceleration feedforward"). The unit of
S-0-0092 depends on the scaling that has been set.

and Controls
Standard Parameters
The effective limit value is displayed in "P-0-0444, Actual value

peak torque limit". This value can be limited with regard to
S-0-0092, due to a lower value in "P0-0109, Torque/force
peak limit", or due to a current limit by the respective work load
of amplifier or motor.
If in stationary operation (constant speed) a lower torque than

in the case of acceleration processes is to be made available
to the drive, this can be achieved by appropriate values of
"S-0-0082, Torque/force limit value positive" and "S00083,
Torque/force limit value negative" in conjunction with acceler
ation feedforward (S-0-0348 or P-0-1126).
The bipolar torque/force limit value also acts on "C1300 Positive stop drive
procedure command", the value of S-0-0092 is a criterion for the acknowledg
ment of C1300.
See also Parameter Description "S-0-0086, Torque/force data scaling type"
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.1.75
min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
2Byte
DEC_MV
S-0-0093
S-0-0094
+
Default value
400,0
400,0
400,0
400,0
S-0-0093, Torque/force data scaling factor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is always adapting itself to the selected preferred scaling. The
parameter cannot be changed!
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
DEC_OV
0
--

and Controls
Standard Parameters
4.1.76
S-0-0094, Torque/force data scaling exponent

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is always adapting itself to the selected preferred scaling. The
parameter cannot be changed!
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.1.77
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_MV
0
--
S-0-0095, Diagnostic message

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter contains the operating status of the drive at present relevant in
the form of a text.
Preceding the text is the respective content of parameter "S00390, Diagnostic
message number".
Example: "A0010 Drive HALT"
See also Functional Description "Coded Diagnostic Drive Messages"
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.1.78
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
S-0-0096, Slave arrangement (SLKN)

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
MPB
MPB
MPB
MPH
MPH
MPH
MPD
MPD
MPD
1Byte var.
ASCII
0
--

and Controls
Standard Parameters
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
During the initialization the master has to know which drives are available under
which slave number in order to be able to carry out an optimum automatic time
slot calculation.
See also Functional Description "Master Communication"
Structure
High byte: "Own drive address"
The drive here enters its own address
Low byte: "Next drive address"
Use
The slave, in ascending order, here enters the next higher drive address
that it controls.
If the current drive is the one with the highest address at the physical slave,
the slave here enters the lowest drive address that is available at the slave.
If the slave only controls one drive, "Own drive address" is entered here.
By the respective entry the master recognizes which drive address the ad
dressed slave possesses. For an optimum automatic time slot calculation by
the master it is necessary, during the initialization, to know which drives belong
to the physical slaves that are controlling them. In phase 2 the master can re
quest this information from the drive. By the respective entry the master
recognizes whether there are further drives available at the same physical
slave.
Example for address 3:
High byte
Low byte
03
03
Content of S-0-0096
See also Parameter Description "P-0-4031, Overview of device addresses"

Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.1.79
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
HEX
0
--
S-0-0097, Mask class 2 diagnostics

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
With this parameter it is possible to adjust the change bit of class 2 diagnostics
in the drive status to the requirements of the machine control unit.

and Controls
Standard Parameters
Due to the default setting in parameter S00097 (all bits are "1") every change
of a bit in the "S00012, Class 2 diagnostics" parameter is displayed by the
change bit of class 2 diagnostics in the drive status word.
The S00012 parameter is a message parameter that displays dif
ferent shutdown pre-warnings of the drive by means of the individ
ual bits.
rameters"
Use
If only the change of specific shutdown pre-warnings of the drive is to be queried

on the control-side by means of the change bit of class 2 diagnostics in the drive
status word, the display of irrelevant pre-warning changes can be suppressed
("masked") by this parameter (S00097).
The irrelevant bits of the "S00012, Class 2 diagnostics" parameter are masked
by the value "0" at the same position of the bit list of this parameter (S00097).
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.1.80
P234
P2->P3
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
0xFFFF
0xFFFF
0xFFFF
0xFFFF
S-0-0098, Mask class 3 diagnostics

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
With this parameter it is possible to adjust the change bit of class 3 diagnostics
in the drive status to the requirements of the machine control unit.
Due to the default setting in parameter S00098 (all bits are "1") every change
of a bit in the "S00013, Class 3 diagnostics" parameter is displayed by the
change bit of class 3 diagnostics in the drive status word.
The S00013 parameter is a message parameter that displays dif
ferent operating states of the drive by means of the individual bits.
rameters"
Use
If only the change of specific operating states of the drive is to be queried on

the control-side by means of the change bit of class 3 diagnostics in the drive
status word, the display of irrelevant operating state changes can be sup
pressed ("masked") by this parameter (S00098).
The irrelevant bits of the "S00013, Class 3 diagnostics" parameter are masked
by the value "0" at the same position of the bit list of this parameter (S00098).
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
P234
P2->P3
Data length:
Format:
2Byte
BIN

and Controls
Standard Parameters
Unit:
Cycl. tra.:
---
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.1.81
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
0
--
Default value
0xFFFF
0xFFFF
0xFFFF
0xFFFF
S-0-0099, C0500 Reset class 1 diagnostics

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Via this parameter, the command for resetting error messages can be started.
Once the error causes have been removed, all pending error messages are
reset and the drive enters the regular state.
The error cannot be cleared if the error cause has not been removed. The
command does not provide any command error. The error bits in S01045,
Device Status, bit 7, and in S00135, Drive status word, bit 13, are not cleared.
S01045, Device Status, bit 1, indicates whether the current error can be
cleared.
It is also possible to initiate the command for resetting error mes
sages by pressing the ESC key on the control panel of the control
ler.
Avoid frequent write accesses to prevent damage to the internal memory

(flash)!
CAUTION
Execution of this parameter command requires writing to the internal memory

(flash). Since each memory allows only a limited number of write accesses
before its cells are destroyed, you should not make such write accesses too
frequently.
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
4.1.82
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
S-0-0100, Velocity loop proportional gain

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPB
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Standard Parameters
Funct. package(s):
Device parameter:
Function

--
The speed loop generates a torque/force command value (P00049) from the
difference of velocity command value and actual velocity value (= S00347,
Velocity error).
See also Functional Description "Control Loop Structure"
Use
This torque/force command value consists of:
a proportional component
Fig.4-20:
Torque/force command value (proportional component)
an integral component
Fig.4-21:
Torque/force command value (integral component)
The transfer function for the PI loop is the following:
Fig.4-22:
Transfer function for the PI loop
The parameter S00100 contains the value for the proportional

gain of the velocity loop. The output value at the velocity loop was
standardized to Newton (N) or Newton meter (Nm).
Unit, decimal places
The drive firmware automatically adjusts the unit and decimal places to the type
of construction of the motor (rotary or linear) entered in "P04014, Type of
construction of motor".
Unit for
type of constr. of motor (P04014)
Decimal places for

rotary
linear
rotary
linear
Nm/(rad/s)
N/(mm/min)
Fig.4-23:
Unit and decimal places of S-0-0100, depending on P-0-4014
In comparison to EcoDrive 03 and Diax 04, the numeric values for

S00100 change respectively. The "new input values" are calcula
ted as follows:
Rotary motors:

and Controls
Standard Parameters
Fig.4-24:
New input values for S-0-0100
Linear motors:
Fig.4-25:
New input values for S-0-0100
By means of the "load defaults procedure" command, it is possible to load a

default value for this parameter, if a motor with motor encoder data memory is
available (see "P04014, Type of construction of motor").
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Nm/(rad/s)
MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,000 / MaxLong
0,000 / MaxLong
0,000 / MaxLong
0,000 / MaxLong
4.2
4.2.1
S-0-0101, Velocity loop integral action time

Allocation
Function
Use
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
3
+
Default value
0,050
0,050
0,050
0,050
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The speed controller generates a torque/force command value (P00049) from

the difference of velocity command value and actual velocity value (=S00347,
Speed deviation).
This torque/force command value consists of:
Fig.4-26:
Torque/force command value (proportional component)
Fig.4-27:
Torque/force command value (integral component)
The transfer function for the PI loop is the following:

and Controls
Standard Parameters
Fig.4-28:
Transfer function for the PI loop

Definition of the Integral Action Time
The integral action time (S00101) is the value on the time axis at
which the integral component equals the proportional component.
This means that it is the time a mere Icontroller would need until
the controller output value y would equal the output value of a
Pcontroller at the time t = 0.
Fig.4-29:
Explanation integral action time (TN) and proportional gain Kp with the
PI loop
The integral component is switched off with the input value

S00101 = 0 ms.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
ms
MDT
Input
MPB:
MPC:
MPD:
MPH:
4.2.2
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,0 / 6553,5
0,0 / 6553,5
0,0 / 6553,5
0,0 / 6553,5
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
1
+
Default value
100,0
100,0
100,0
100,0
S-0-0103, Modulo value

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPB
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Standard Parameters
Funct. package(s):
Device parameter:
Function
closed loop
--
When the modulo format has been set (parameter "S00076, Position data
scaling type", bit 7), the modulo value determines at which numeric value the
position data overflow to "0".
See also Parameter Description "S-0-0393, Command value mode"
See also Functional Description "Notes on Commissioning"
Use
Observe the following for setting S00103:
The value in S00103 must be smaller than the value of "S00278, Max
imum travel range", otherwise the drive signals "C0123 Modulo value for
motor encoder cannot be displayed".
The modulo value also influences bit 6 of "S00277, Position feedback 1

type" or "S00115, Position feedback 2 type". This bit shows the possi
bility of absolute evaluation of the encoder.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.3
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
360,0000
360,0000
360,0000
360,0000
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0077
S-0-0078
--
S-0-0104, Position loop Kv-factor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC
The drive controller has a cascade structure, i.e. for the current controller there
is the higher-level velocity controller and for the velocity controller there is the
higher-level position controller.
The "S00104, Position loop Kv-factor" parameter includes the value for the
proportional gain of the position controller.
See also Functional Description "Axis Control (Closed-Loop Operation)"
Use
The unit of "S-0-0104, Position loop Kv-factor" is "1000 1/min".

Example of Conversion
Fig.4-30:
S-0-0104, Position loop Kv-factor

and Controls
Standard Parameters
In the case of all MHD, MKD and MKE motors, the basic settings
for the controllers are contained in the motor encoder data memory
and can be loaded to the drive by executing the S-0-0262, C07_x
Load defaults procedure command.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
1000/min
MDT
Input
MPB:
MPC:
MPD:
MPH:
4.2.4
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,00 / 655,35
0,00 / 655,35
0,00 / 655,35
0,00 / 655,35
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
2
+
Default value
1,00
1,00
1,00
1,00
S-0-0106, Current loop proportional gain 1

Allocation
Function
Use
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used to define the P-gain for the current loop (for the Id and
Iq control loop). Parameterization of the current loop proportional gain depends
on the control performance (current loop clock TA,i) and the selected switching
frequency (cf. P-0-0001).
Notes on utilization for Rexroth motors
For each Rexroth motor the value for S-0-0106 referring to "P-0-0001, Switch
ing frequency of the power output stage" = 4 kHz is made available:
In the case of motors with data memory in the motor encoder (MSK, MHD,
MKD, MKE and possibly MAD, MAF), via the value of P-0-2106, Current
loop proportional gain 1, encoder memory stored in this memory.
In the case of motors without encoder data memory (2AD, ADF, possibly
MAD, MAF and kit motors 1MB, MBS, MBT, LSF, MLF), via the commis
sioning software (e.g. IndraWorks) or the Intranet output of the manufac
turer-side data base "DriveBase".
The adjustment of the values of S-0-0106 to the selected PWM frequency

"P-0-0001, Switching frequency of the power output stage" and performance
"P-0-0556, Control word of axis controller" takes place
automatically at "load controller parameters" (S-0-0262, C07_x Load de

faults procedure command) for motors with encoder data memory (see
above), if switching frequency and control performance had already been
set.
manually by the commissioning staff for motors without encoder data

memory (see above).
automatically by command start or manually by the commissioning staff

for third-party motors (see below).
When the value of S 0 0106 is manually adjusted to the switching frequency

(P-0-0001) and performance (P-0-0556) which were set, the value referring to
P-0-0001 = 4 kHz must be converted as follows:

and Controls
Standard Parameters
S-0-0106(4kH Value of current loop proportional gain 1 with P-0-0001 = 4kHz

z):
Fig.4-31:
Determining the Value of S-0-0106 Depending on "P-0-0001, Switching

frequency of the power output stage"
Notes on utilization for third-party motors

For third-party motors, the value for S-0-0106, suitable for the PWM frequency
and performance which was set, is automatically determined by
commands C3200 and C3600 for asynchronous motors
command C4600 for synchronous motors
The value of S-0-0106(4kHz) can be calculated manually, too:
S-0-0106(4kHz) Current loop proportional gain 1 referring to P-0-0001 =4kHz

k_Winding_4kHz:
Factor for winding type and winding body material, referring to P-0-0001
=4kHz, see below
L12:
Inductance between motor terminals in mH
LDr:
Inductance of a three-phase choke in motor feed wire in mH
Fig.4-32:
Functional
principle of
motor
Synchro
nous motor
Asynchro
nous motor
Fig.4-33:
Calculating the Value for S-0-0106 (Referring to 4 kHz) for Third-Party

Motors
Winding design
Winding body
material
k_Wind
ing_4kHz
Motor types, exem

plary
Ironless
1,33
--
With iron
1,67
(MBT; MBSxx2; MLF)
Distributed wind Ironless

ing
With iron
1,87
Trilogy110; 210; 310
1,76
(LSF, MBS)
Distributed wind With iron

ing
1,33
(1MB)
Toothed winding
k_Winding_4kHz Depending on Functional Principle of Motor, Winding

Design and Winding Body Material
The value for the winding inductance between the motor terminals
(L12) must take saturation effects of the material into account at
max. allowed current, if necessary!

and Controls
Standard Parameters
For motors without encoder memory or third-party motors, you
should not deviate from the setting recommended for S 0 0106!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
V/A
--
Input
MPB:
MPC:
MPD:
MPH:
4.2.5
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
StdNul / 655,00
StdNul / 655,00
StdNul / 655,00
StdNul / 655,00
2Byte
DEC_OV
2
+
Default value
8,00
8,00
8,00
8,00
S-0-0107, Current loop integral action time 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The value for the current loop integral action time 1 is motor-specific and is
determined individually for each motor type.
Use
Writing the correct value to this parameter:
In the case of MHD, MKD, MKE and possibly MAD, MAF, au

tomatically at initial commissioning.
In the case of linear and rotary kit motors and possibly MAD,
MAF, by loading the motor parameters with the commissioning
tool.
In the case of other motors by manual input.
The values of the current controller that have been set at the factory
should not be changed!
For third-party motors
For third-party motors, the value for S-0-0107 is automatically determined by
commands C3200 and C3600 for asynchronous motors
command C4600 for synchronous motors
The value of S-0-0107 can be calculated manually, too:

and Controls
Standard Parameters
kTn_Winding:
Factor for winding type and winding body material for integral action time
calculation
Winding inductance between motor terminals in mH
Iinductance of a three-phase choke in motor feed wire in mH
Winding resistance between motor terminals in ohm
Resistance of a three-phase choke in motor feed wire in ohm
L12:
LDr:
R12:
RDr:
Fig.4-34:
Calculating S-0-0107
The factor kTn_Winding for integral action time calculation depends on the winding
type and the winding body material:
Functional
principle of
motor
Synchro
nous motor
Asynchro
nous motor
Fig.4-35:
Winding design
Winding body
material
k_Wind
ing_4kHz
Motor types, exem

plary
Ironless
1,0
--
With iron
1,25
(MBT; MBSxx2; MLF)
Distributed wind Ironless

ing
With iron
1,4
Trilogy110; 210; 310
1,33
(LSF, MBS)
Distributed wind With iron

ing
1,0
(1MB)
Toothed winding
k_Winding_4kHz Depending on Functional Principle of Motor, Winding

Design and Winding Body Material
The value for the winding inductance between the motor terminals
(L12) must take saturation effects of the material into account at
max. allowed current, if necessary!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
ms
--
Input
MPB:
MPC:
MPD:
MPH:
4.2.6
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
Default value
2,0
2,0
2,0
2,0
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_OV
1
+
S-0-0108, Feedrate override

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC
The parameter "S00108, Feedrate override" is used for variable adjustment

of an interpolation velocity that was permanently set before.

and Controls
Standard Parameters
To do this the effective interpolation velocity
S-0-0041, Homing velocity
S-0-0259, Positioning velocity
P-0-4007, Positioning block velocity
is generated by multiplication with the value of "S00108, Feedrate override".

See also Functional Description "Drive-Controlled Positioning"
See also Functional Description "Drive-Internal Interpolation"
Use
The feedrate override takes effect in all interpolating operation modes and
commands, such as:
Drive-internal interpolation
Drive-controlled positioning
Positioning block mode
Jog mode
Commands with which the drive is moved in an interpolating way (e.g.,

"S00148, C0600 Drive-controlled homing procedure command")
The parameter "S00108, Feedrate override" can be both cyclically
configured and assigned to an analog input so that it can be opti
mally used for the so-called setting-up mode.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
%
AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
4.2.7
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0,00 / 600,00
0,00 / 600,00
0,00 / 600,00
0,00 / 600,00
Default value
100,00
100,00
100,00
100,00
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_OV
2
--
S-0-0109, Motor peak current

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Maximum allowed current that may temporarily flow in the motor.

See also Functional Description "Limitations"
Use
In the case of MHD, MKD, MKE, automatically at initial commissioning.
In the case of 2AD, ADF, linear and rotary kit motors, by loading the motor
parameters with the commissioning software (e.g. IndraWorks).
In the case of other motors, manual input according to manufacturer's specifi

cation.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
4Byte
DEC_OV

and Controls
Standard Parameters
Unit:
Cycl. tra.:
A eff
--
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.2.8
+
--
Decim. pl.:
Switchable:
min./max.
StdNul / 1000,000
StdNul / 1000,000
StdNul / 1000,000
StdNul / 1000,000
Default value
5,000
5,000
5,000
5,000
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
3
+
S-0-0110, Amplifier peak current

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Peak current of the controller. The value is set automatically by the device. This
current is only available temporarily.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-A eff
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.2.9
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_OV
3
--
S-0-0111, Motor current at standstill

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The value of this parameter is the torque-/force-generating component of the

continuous motor current when the motor is loaded with the least allowed cool
ing type, with the continuous torque ensured at standstill or with the ensured
continuous force (see motor data sheet).
See also Functional Description "Rexroth Motors"
Use
The value is motor-dependent. In the case of MHD, MKD and MKE motors, it
is stored in the motor encoder. When the drive is switched on for the first time,
the value is loaded from there together with other motor parameters. In the case
of all other motor types, the value of the motor current at standstill, together
with other motor parameters, is loaded to the drive or input by means of the
commissioning software (e.g. IndraWorks). In case the motor type is not con
tained in the commissioning software data base, the value is to be manually
entered together with the other motor parameters.

and Controls
Standard Parameters
If percentage-based scaling has been set in the "S00086, Torque/
force data scaling type" parameter, this parameter is included in the
calculation of the reference value (100% value).
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
A eff
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.2.10
PM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
StdNul / Max500T
StdNul / Max500T
StdNul / Max500T
StdNul / Max500T
Default value
1,000
1,000
1,000
1,000
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_OV
3
+
S-0-0112, Amplifier nominal current

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter displays the maximum possible continuous current of the drive.
In the case of rotary field frequencies smaller than 3 Hz, the possible
amplifier continuous current is reduced by means of a temperature
model (see Technical Data in hardware Project Planning Manual!).
Function:
Memory:
Unit:
Cycl. tra.:
Par
-A eff
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.2.11
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_OV
3
--
S-0-0113, Maximum motor speed

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Value for the maximum allowed velocity command value of the motor. The ac
tual velocity value may be a maximum of 12.5% higher than the value of
"S00113"; if actual values are higher, the drive reacts with torque disable and
generates the error message "F8079 Velocity limit value exceeded".

and Controls
Standard Parameters
Use
Automatically on initial commissioning of MHD, MKD, MKE motors.
By loading the motor parameters with the "IndraWorks D" commissioning

tool where 2AD, ADF as well as linear and rotary kit motors are concerned.
By entering the parameters manually according to manufacturer's speci

fication where other motors are concerned.

construction of motor":
Unit for
Decimal places for

Rotary
Linear
Rotary
Linear
min-1
mm/min
Fig.4-36:
Unit and Decimal Places of S00113, Depending on P04014
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.12
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
Default value
3000,0000
3000,0000
3000,0000
3000,0000
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_OV
S-0-0045
S-0-0046
+
S-0-0115, Position feedback 2 type

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC
This parameter defines the essential properties of the external (optional) en

coder.
Structure
Bit
Kind of encoder
0: Rotary
1: Linear
Distance-coded measuring system

0: No distance-coded reference marks
1: Distance-coded reference marks (S00165, S00166)
Comment

and Controls
Standard Parameters
3
Rotational direction
0: Not inverted
1: Inverted
Design of distance-coded measuring system

0: Positive direction of counting
1: Negative direction of counting
8/7/ Absolute evaluation

6
1xx: Absolute encoder evaluation activated (bit 6 and bit 7 ir
relevant)
0x0: Absolute encoder evaluation impossible (bit 7 irrelevant)
001: Absolute encoder evaluation possible and active (encod
er is handled as absolute encoder)
011: Absolute encoder evaluation possible, but deactivated
8
Absolute evaluation in case of missing absolute evaluation As of

option
MPx04V26
0: Bit 7 and bit 6 define the status of absolute evaluation
Not defined in
1: Absolute evaluation is activated, irrespective of bit 7 and bit SERCOS
6
9
Cyclic marker evaluation
As of
MPx06V04
0: Inactive
1: Active
13
Deactivation of encoder replacement monitoring
As of
0: Encoder replacement monitoring has been activated, i.e. MPx04V26
encoder replacement is recognized (only for encoders with Not defined in
SERCOS
data memory)
1: Encoder replacement monitoring has been deactivated, i.e.
no error (F2176) is signaled if the encoder is replaced and the
reference is maintained if necessary; this does not affect po
sition initialization.
ATTENTION: Only makes sense for mechanically adjusted
encoders!
Fig.4-37:
Use
S00115, Position feedback 2 type
Observe the following aspects for use:
In the case of measuring systems which allow absolute evaluation, bit 6

is automatically set.
Only the bits mentioned above are supported by the software.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0x0
0x0
0x0
0x0
2Byte
BIN
0
--

and Controls
Standard Parameters
4.2.13
S-0-0116, Resolution of feedback 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The resolution of the motor encoder is indicated in this parameter.

Use
The value means:
In the case of rotary motors, the number of division periods or cycles per
motor revolution (DP/rev).
In the case of linear motors, the resolution in mm (mm/line count).
In the case of motors with resolver feedback, the number of pole pairs of
the resolver is indicated.
The significance of the value of S00116 is determined by "P04014, Type of

construction of motor" (rotary or linear motor).
For most of the Rexroth housing motors, the value of S-0-0116 is
automatically loaded from the data memory of the motor encoder
to the controller! For housing motors 2AD(ADF)...-xxxC-..., as well
as ...-xxxD-... and MAD (MAF)...-C0-..., the value must be loaded
manually or by means of the commissioning software (e.g.
IndraWorks)! For kit motors 1MS, MSS, MST, LSP and MLP (with
out motor encoder!), the value must be entered manually!
Unit for type of constr. of motor (P04014) Decimal places for type of constr. of motor
(P04014)
Rotary
Linear
Rotary
Linear
DP/revolution
mm
Fig.4-38:
Function:
Memory:
Unit:
Cycl. tra.:
Unit and Decimal Places of S-0-0116, Depending on P-0-4014

Par
PARAM_SP
DP/Rev
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.2.14
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
256
256
256
256
S-0-0117, Resolution of feedback 2

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
MPB
MPB
MPB
MPH
MPH
MPH
MPD
MPD
MPD
4Byte
DEC_OV
0
+

and Controls
Standard Parameters
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPD
MPD
MPD
MPC
MPC
The resolution of the external encoder is indicated in this parameter.

Use
The value means:
In the case of rotary encoders, the number of division periods or cycles

per revolution of the encoder shaft (DP/rev).
In the case of linear motors the resolution in mm (mm/line count).
In the case of resolvers, the number of pole pairs.
The significance of the value of S00117 is determined by "S00115, Position

feedback 2 type" (rotary or linear encoder).
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
DP/Rev
--
Input
MPB:
MPC:
MPD:
MPH:
4.2.15
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_OV
0
--
Default value
0
0
0
0
S-0-0121, Input revolutions of load gear

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
If a mechanical gear has been built in between motor and load, the gear ratio
is input by means of S00121 and "S00122, Output revolutions of load gear".
rameters"
Use
In this parameter the number (integral) of motor revolutions (gear input) is en

tered that cause an integral number of gear output revolutions ("S00122,
Output revolutions of load gear").
The gear ratio is:
Fig.4-39:
Calculating the gear ratio
Example:
5 motor revolutions result in 2 gear output revolutions.
S-0-0121: 5

and Controls
Standard Parameters
S-0-0122: 2
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Rev
--
Input
MPB:
MPC:
MPD:
MPH:
4.2.16
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
Long_1 / MaxULong
Long_1 / MaxULong
Long_1 / MaxULong
Long_1 / MaxULong
4Byte
DEC_OV
0
+
Default value
1
1
1
1
S-0-0122, Output revolutions of load gear

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
If a mechanical gear has been built in between motor and load, the gear ratio
is input by means of "S00122" and "S00121, Input revolutions of load gear".
Use
In this parameter the number (integral) of gear output revolutions is entered that
are caused by an integral number of motor revolutions ("S00121, Input revo
lutions of load gear").
The gear ratio is:
Fig.4-40:
Calculating the gear ratio
Example:
5 motor revolutions result in 2 gear output revolutions.
S-0-0121: 5
S-0-0122: 2
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Rev
--
Input
MPB:
MPC:
MPD:
MPH:
4.2.17
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
Long_1 / MaxULong
Long_1 / MaxULong
Long_1 / MaxULong
Long_1 / MaxULong
Default value
1
1
1
1
MPB
MPB
MPB
MPB
MPD
MPD
MPD
MPD
S-0-0123, Feed constant

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
MPH
MPH
MPH
MPH
4Byte
DEC_OV
0
+

and Controls
Standard Parameters
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPB
MPH
--
MPD
MPD
MPC
MPC
This parameter is only relevant for linear axes that are driven by a rotary motor.
The feed constant if the distance covered by the axis when the gear output shaft
or motor shaft moves by one revolution.
See also Functional Description "I/O Mode (Positioning and Preset Velocity)"
Use
Determining the feed constant with different mechanical transmission ele

ments:
Toothed rack + gear pinion
Ballscrew
Feed constant = spindle lead (typical value Feed constant = effective diameter of the
10.00 mm)
gear pinion = effective circumference
of the gear pinion
Fig.4-41:
Determining the Feed Constant
The unit depends on bit 4 of "S00076, Position data scaling type".

Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.18
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
10,0000
10,0000
10,0000
10,0000
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0077
S-0-0078
--
S-0-0124, Standstill window

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
To recognize the motor or axis standstill, a threshold value for the velocity is
entered in this parameter. If the absolute value of the actual velocity value falls
below this threshold, the controller recognizes standstill. In the case of stand
still, bit 1 of "S00013, Class 3 diagnostics" is set and the message "S00331,
Status 'n_feedback = 0" is output.
See also Functional Description "Drive Halt"
Use
The standstill window also "acts":
when aborting or interrupting a drive control command. The abortion or

the interruption is acknowledged when the drive has stopped.
in the case of drive-controlled homing. The actual values and the com
mand values are only switched when the drive has stopped.

and Controls
Standard Parameters
in the case of command value processing. The command value process

ing is initialized when switching the operation modes to the velocity = 0
when the drive has stopped.
in the case of "C1300 Positive stop drive procedure command". The value
of S00124 is a criterion for the acknowledgment of C1300.
in the case of axis error correction. The value is used as a criterion for
detecting the positive or negative direction of motion of the axis.
Record of Revisions
Version
Attribute
Description
GEN-02VRS
Extr. val. ch.: yes
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.19
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
Default value
20,0000
20,0000
20,0000
20,0000
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_OV
S-0-0045
S-0-0046
+
S-0-0125, Velocity threshold nx

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
If the absolute value of "S00040, Velocity feedback value" falls below the val
ue of "S00125, Velocity threshold nx", the drive
outputs the message "S-0-0332, Message 'nactual < nx'" and
sets a bit in "S00013, Class 3 diagnostics".
Record of Revisions
Version
Attribute
GEN-02VRS
Extr. val. ch.: yes
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.20
Description
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
Default value
1000,0000
1000,0000
1000,0000
1000,0000
MPB
MPB
MPD
MPD
S-0-0126, Torque threshold Tx

Allocation
Contained in 02VRS:
Contained in 03VRS:
MPH
MPH
4Byte
DEC_OV
S-0-0045
S-0-0046
+

and Controls
Standard Parameters
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPC
MPC
In this parameter the torque/force message threshold is entered. At a torque

work load above this threshold the controller generates the message T >= Tx
(S00333).
See also Parameter Description "S00013, Class 3 diagnostics"
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.21
min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
2Byte
DEC_MV
S-0-0093
S-0-0094
+
Default value
100,0
100,0
100,0
100,0
S-0-0127, C0100 Communication phase 3 transition check

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
When executing the command "S00127, C0100 Communication phase 3

transition check", all interface parameters are checked for validity.
See also Functional Description "Device Control (Status Machine)"
Use
If there are invalid interface parameters
the drive will terminate the command with an error message

and
the invalid parameters are entered in parameter "S00021, IDN list of in

valid operating data for communication phase 2".
In addition, the encoder data settings are checked and the scalings are calcu
lated (see C01xx error messages).
With the commands
"S-0-0127, C0100 Communication phase 3 transition check" and
"S-0-0128, C0200 Communication phase 4 transition check"
it is possible to switch from the parameterization mode to the operating mode.

Executing the command only causes the parameterization mode to
be switched to the operating mode if the master communication is
inactive (P04086 = xx1b)!
Function:
Memory:
Cmd
--
Editability:
Validity ch.:
P23
--
Data length:
Format:
2Byte
BIN

and Controls
Standard Parameters
Unit:
Cycl. tra.:
---
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.2.22
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
0
--
Default value
---------
S-0-0128, C5200 Communication phase 4 transition check

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
When executing the command "S00128, C0200 Communication phase 4

transition check", all parameters are checked for validity and possible limit value
violations.
Use
If there are invalid parameters or limit value violations, the drive will terminate
the command with an error message and enter the invalid parameters in
"S00022, IDN list of invalid operating data for communication phase 3". In
addition, several drive functions are initialized.
With the commands
" S-0-0127, C0100 Communication phase 3 transition check" and
"S-0-0128, C0200 Communication phase 4 transition check"
it is possible to switch from the parameter mode to the operating mode.

Executing the command only causes the parameter mode to be
switched to the operating mode if the master communication is in
active (P04086 = xx1b)!
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
4.2.23
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
S-0-0130, Probe value 1 positive edge

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Standard Parameters
Function
With a positive edge of the probe 1 input signal the drive stores the current value
of the selected parameter ("S00426, Signal select probe 1") in parameter
S00130.
See also Functional Description "Probe Function"
Use
Prerequisite for processing the content:
"S-0-0170, Probing cycle procedure command" must have been set and
be executed.
Probe 1 must have been enabled ("S00405, Probe 1 enable").

The switch status of the probe 1 input signal is displayed in
"S00401, Probe 1" as long as the probing cycle procedure com
mand is active!
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
4.2.24
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
4
--
Default value
---------
S-0-0131, Probe value 1 negative edge

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
With a negative edge of the probe 1 input signal the drive stores the current
value of the selected parameter ("S00426, Signal select probe 1") in param
eter S00131.
Use
Prerequisite for processing the content:
be executed.
Probe 1 must have been enabled (S00405, Probe 1 enable).

"S00401, Probe 1" as long as the probing cycle procedure com
mand is active!
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
4Byte
DEC_MV
4
--

and Controls
Standard Parameters
MPD:
MPH:
4.2.25
--- / ----- / ---
-----
S-0-0132, Probe value 2 positive edge

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC
With a positive edge of the probe 2 input signal the drive stores the current value
of the selected parameter (S00427, Signal select probe 2) in parameter
S00132.
Use
Prerequisite:
be executed.

"S00402, Probe 2" as long as the probing cycle is active!
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
4.2.26
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
3
--
Default value
---------
S-0-0133, Probe value 2 negative edge

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC
With a negative edge of the probe 2 input signal the drive stores the current
value of the selected parameter (S00427, Signal select probe 2) in parameter
S00133.
Use
Prerequisite:
be executed.

and Controls
Standard Parameters
"S00402, Probe 2" as long as the probing cycle is active!
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.2.27
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
3
--
S-0-0134, Master control word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
For drives with SERCOS interface the master control word is cyclically trans
mitted from master to drive.
There is important control information defined in the master control word, like
for example:
drive enable
Drive Halt
selection of command operating mode
The exact structure of the control word is illustrated below.

Structure
Bit
5-0
control information for service channel
7/6
real-time control bits 1 and 2
11/9/8
command operating mode

0x00: primary mode of operation
0x01: secondary oper. mode 1, etc.
1x11: secondary oper. mode 7
10
IPOSYNC, interpolator clock, toggles when new com

mand values are to be transmitted
13
Drive Halt
1-0 change: deceleration of drive while maintaining the
max. acceleration (S-0-0138) (only possible when bit 14
and 15 = 1)
Comment

and Controls
Standard Parameters
Bit
14
drive enable
Comment
1-0 change: torque disable without delay (independent

of bit 15 or 13)
15
Drive ON
1-0 change: best possible deceleration (only possible if
bit 14 = 1)
Fig.4-42:
Function:
Memory:
Unit:
Cycl. tra.:
Structure of the master control word (S-0-0134)

Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.2.28
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
S-0-0135, Drive status word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
For drives with SERCOS interface, the drive status word is cyclically transmitted
from drive to master. There is important status information contained in the drive
status word, for example:
Readiness for operation of control and power sections
Drive errors
Change bits class 2 and 3 diagnostics
Current operation mode
See also Functional Description "Device Control and State Machine"

See also Functional Description "SERCOS Interface"
Structure
Bit
2-0
Control information for service channel
Status of command value processing
Command change bit

1: Command status has changed
7/6
Real-time status bits 1 and 2
Comment

and Controls
Standard Parameters
Bit
10-8
Actual operation mode
Comment
000: Primary operation mode active

001: Secondary operation mode 1 active
010: Secondary operation mode 2, etc.
11
Class 3 diagnostics message (cf. S-0-0013)

The bit is set if a class 3 diagnostics message is present.
12
Class 2 diagnostics warning (cf. S 0-0012)

The bit is set if a class 2 diagnostics warning is present.
13
Class 1 diagnostics drive error (cf. S 0-0011)

The bit is set if a class 1 diagnostics error is present
(drive interlock).
15/14
Ready for operation (P 0-0116, bit 14/15)

00: Not ready for power on (e.g. "P2")
01: Ready for power on ("bb")
10: Control section and power section ready for op.
("Ab")
11: In operation, with torque (e.g. "AF")
Fig.4-43:
Function:
Memory:
Unit:
Cycl. tra.:
Structure of Drive Status Word (S-0-0135)

Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.2.29
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
S-0-0138, Bipolar acceleration limit value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter limits the command acceleration in all operation modes (not
torque control). The parameter has to be parameterized according to the ma
chine limits. It acts as the limit value in command value processing and in the
velocity control loop.
Command value limitation of the following parameters:
S-0-0260, Positioning acceleration
S-0-0359, Positioning deceleration
S-0-0372, Drive Halt acceleration bipolar
S-0-0429, Emergency halt deceleration

and Controls
Standard Parameters
P-x-1201, Ramp 1 pitch
P-x-1211, Deceleration ramp 1
P-x-1203, Ramp 2 pitch
P-x-1213, Deceleration ramp 2
P-0-1461, PLC Ramp pitch
P-0-1463, PLC Deceleration ramp
Limitation of the current acceleration in the velocity control loop to the value of
S-0-0138.
The value selected for S-0-0138 always has to be a bit higher than
the acceleration command values which take effect in the corre
sponding operation mode, because otherwise the warning "E2070
Acceleration limit active" and possibly the lag error monitor (F2028)
will be falsely triggered due to control processes. With S-0-0138
equal zero, acceleration limitation does not take place.
Input"
Record of Revisions
Version
Attribute
Up to MPx04VRS
MPx Default value: 10000000
Up to MPx04VRS
Cycl. tra.: MDT
Up to MPx04VRS
Editability: PM+OM
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.30
Comment
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
4Byte
DEC_MV
S-0-0161
S-0-0162
+
Default value
0,000
0,000
0,000
0,000
S-0-0139, C1600 Parking axis procedure command

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPC
MPC
By starting this command, the drive is brought to the status "parking axis". The
active status "parking axis" is signaled by "PA" on the display.
See also Functional Description "Parking Axis"
Use
-
MPD
MPD
MPD
MPD
MPD
Starting the command

and Controls
Standard Parameters
The command can only be activated in the parameter mode. As long as the
command is active, the following things happen when the parameterization
level is exited (cf. "S00422, C0200 Exit parameterization level procedure
command"):
No axis-specific calculations / checks / initializations take place.
Encoder monitoring functions of the axis-related encoders are not activa

ted.
Reference bits of the axis-related encoders remain at "0" in "position feed

back value status".
Motor temperature monitoring remains switched off.
It is impossible to set drive enable in the operating mode.
Only such commands which can be executed in the parameter mode can
be activated in the operating mode.
Clearing the command

While the axis is in parameter mode, the command can be set and cleared at
any time.
While the axis is in operating mode, the command cannot be cleared.
During the transition of the axis to parameter mode, the command is automat
ically cleared.
In order that the command change bit remains free for other com
mands, the command is not acknowledged as having been com
pleted.
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
4.2.31
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
S-0-0140, Controller type

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The power section type is contained in the operating data of this parameter in
the form of a text (e.g. HCS02.1).
See also Functional Description "Controller Design"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
Par
LT_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---
1Byte var.
ASCII
0
--

and Controls
Standard Parameters
MPC:
MPD:
MPH:
4.2.32
--- / ----- / ----- / ---
-------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
S-0-0141, Motor type

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The type designation of the motor is entered in this parameter.

See also Functional Description "Motor, Mechanical Axis System, Measuring
Systems"
Use
When being switched on, the controller uses this parameter to detect whether
a different motor type has meanwhile been connected. For this purpose, the
contents of this parameter and "P02141, Motor type, encoder memory" are
compared. If a different connected motor has meanwhile been detected, the
controller signals "F2008 RL The motor type has changed".
Automatically on initial commissioning of MHD, MKD, MKE

motors.
By loading the motor parameters with the commissioning soft

ware (e.g. IndraWorks) where 2AD, ADF, linear and rotary kit
motors are concerned.
In the case of other motors manual input
The following applies (as of MPx-06):
The UTF-8 character set can be written to this parameter.
Size in number of bytes: 80
A UTF-8 character can have a size of 1 to 3 bytes.
The number of characters that can be entered may be less, depending on

the UTF-8 characters used.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.2.33
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
ASCII
0
+
Default value
---------
S-0-0142, Application type

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
MPB
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPC

and Controls
Standard Parameters
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
--
MPD
MPC
A descriptive name (text) for the drive and/or the axis (e.g. swivel axis) can be
stored in this parameter.
This parameter does not have any effect on the function.

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.2.34
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
ASCII
0
--
Default value
---------
S-0-0143, Sercos interface version

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
The operating data contains the version of the SERCOS interface specification.
At present, the following applies:
V01.03
SERCOS update German/English
release date
Fig.4-44:
S-0-0143, Sercos interface version

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
1Byte var.
ASCII
0
--

and Controls
Standard Parameters
4.2.35
S-0-0144, Signal status word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
By means of the signal status word, it is possible to transmit signals in real time
from the drive to the control unit.
Use
For this purpose, the signal status word must be configured as a cyclic data to
the actual value telegram or a producer connection.
S-0-0016, Configuration list of AT
S-0-1050.x.6, SIII-Connection: Configuration list
P-0-4081, Field bus: Config. list of cyclic command value data ch.
When the parallel interface is used, parameter S00144 contains
the status bits.
The bits in the signal status word can be configured by means of the parameters
"S-0-0026, Configuration list signal status word" and
"S-0-0328, Assign list signal status word"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
4.2.36
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
S-0-0145, Signal control word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
By means of the signal control word, it is possible to transmit signals in real time
from the control unit to the drive.
See also Functional Description "Configurable Signal Control Word"
Use
For this purpose, the signal control word must be configured as a cyclic data to
the command value telegram or a consumer connection.
S-0-0024, Config. list of the master data telegram
S-0-1050.x.6, SIII-Connection: Configuration list
P-0-4080, Field bus: Config. list of cyclic actual value data ch.

and Controls
Standard Parameters
When the parallel interface is used, parameter S00145 contains
the status bits.
The bits in the signal control word can be configured by means of the param
eters
"S-0-0027, Configuration list signal control word" and
"S-0-0329, Assign list signal control word"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.2.37
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
S-0-0146, C4300 NC-controlled homing procedure command

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-closed loop
--
-
MPH
MPH
MPH
MPH
MPH
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The procedure for which the master, to establish the position data reference,
uses the travel motion for searching the dedicated point is called "NC-controlled
homing procedure".
See also Functional Description "NC-Controlled Homing"
See also Functional Description "Establishing Position Data Reference for Rel
ative Measuring Systems"
Structure
Bit
1/0
00: clear
Comment
11: set
01: interrupt
Fig.4-45:
Use
S-0-0146, C4300 NC-controlled homing procedure command
On the drive side the entire procedure is supported via three commands:
NC-controlled homing procedure command ( S-0-0146)
Calculate displacement procedure command (S-0-0171)
Displacement to referenced system procedure command (S00172)
After the master has started "C4300", it has to input command values for the
search for the dedicated point. When the drive has identified the dedicated
point, this is signaled in S00408, Reference marker pulse registered and the
command execution is acknowledged. The master then shuts down the axis
and clears the command.
Function:
Memory:
Cmd
--
Editability:
Validity ch.:
OM
--
Data length:
Format:
2Byte
BIN

and Controls
Standard Parameters
Unit:
Cycl. tra.:
---
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.2.38
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
0
--
Default value
---------
S-0-0147, Homing parameter

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
There are settings made for the following commands in this parameter:
S00146, C4300 NC-controlled homing procedure command
S00148, C0600 Drive-controlled homing procedure command
S00171, C4400 Calculate displacement procedure command
S00172, C4500 Displacement to referenced system procedure com

mand
The settings are based on the facility, NC and drive installations.

See Functional Description: "Establishing Position Data Reference for Relative
Measuring Systems"
Structure
Bit
Reference travel direction (*1
Comment
Up to and including
0: Positive = turn to the right while viewing the motor shaft MPx02
1: Negative = turn to the left while viewing the motor shaft
Reference travel direction (*1
As of MPx03
0: Positive = motion in the direction of increasing actual

position values (to positive travel range limit)
1: Negative = motion in the direction of decreasing actual
position values (to negative travel range limit)
1
Home switch edge selection

0: Positive edge ("activated" at high signal)
1: Negative edge ("activated" at low signal)
Home switch (*2

0: Connected to master (NC)
1: Connected to drive
Encoder selection
0: Motor encoder
1: Optional encoder (external encoder)
As of MPx03

and Controls
Standard Parameters
Bit
Comment
Evaluation in the drive (*2
As of MPx03
0: Home switch and homing enable (only when bit 2 = "1")

1: Only homing enable
5
Evaluation of home switch (*1

0: Yes
1: No
Evaluation of reference mark (*1

0: Yes
1: No
8/7
Stop/positioning/run path (only drive-controlled homing)

00: Stop: Once C0600 has been started, the drive stops
after position data reference has been established for the
measuring system, if this is a relative measuring system
(if the measuring system is an absolute one, the drive
stops after position data reference has been established
and C0300 is inactive).
01: Positioning: Once C0600 has been started, the drive
moves to the home position, if the measuring system is a
relative one (if the measuring system is an absolute one,
the drive moves to the position of S-0-0052/54, provided
C0300 is inactive).
10: Run path: (Only for measuring systems with distancecoded reference marks!) For drive-controlled establishing
of the position data reference, the drive always moves
over a distance that corresponds to the double reference
mark distance. This supports the commissioning of Gan
try axes!
11:Not allowed!
Evaluation travel range limit switch as home switch (*1
As of MPx03
0: No
1: Yes
10
Evaluation axis blocking (positive stop) for homing (*1
As of MPx03
0: No
1: Yes
(*1
(*2
Fig.4-46:
drive-controlled homing only)

NC-controlled homing only)
Relevant Bits of S00147, Homing Parameter
It is only possible to evaluate a measuring system with distancecoded reference marks as a motor encoder or external encoder!
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0x0024
0x0024
2Byte
BIN
0
--

and Controls
Standard Parameters
MPD:
MPH:
4.2.39
--- / ----- / ---
0x0024
0x0024
S-0-0148, C0600 Drive-controlled homing procedure command

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
When setting and enabling this command, drive enable must be present. The
drive now goes to internal position control and accelerates with "S00042,
Homing acceleration" to "S00041, Homing velocity".
As of version MPx06v06
In the special case "homing without drive enable", an incremental encoder is
homed without motion. For this purpose, the control bits "homing without home
switch" and "homing without reference mark" must have been set in the homing
parameter (S00147, bit 6/5). The reference then relates to the current actual
position value.
Use
The following steps are processed:
In parameter "S00403, Position feedback value status", the bit of the

corresponding encoder (motor encoder or external encoder, depending
on bit 3 of "S00147, Homing parameter") is set to zero.
As long as the command is active, the cyclic command values of the con
trol unit are ignored.
Upon correct execution of the command (drive has stopped and actual
position value is related to axis zero point), the drive sets the correspond
ing bit in parameter "S00403, Position feedback value status" to "1".
The sequence of the homing procedure is also set via "S00147".
With regard to the respective encoder, the bit corresponds to the
signal "in reference".
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
4.2.40
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
S-0-0149, C1300 Positive stop drive procedure command

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
MPB
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPC

and Controls
Standard Parameters
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
--
MPD
MPC
By setting and enabling this command all monitors are switched off which would
otherwise, when the drive is blocked by positive stop, cause a class 1 diag
nostics error message.
See also Functional Description "Positive Stop Drive Procedure"
Structure
Bit
1/0
00: clear
Comment
11: set
01: interrupt
Fig.4-47:
Use
S-0-0149, C1300 Positive stop drive procedure command
The following error messages are inactive when the command C1300 is active:
"F2028 Excessive deviation"
"F2037 Excessive position command difference"
"F2039 Maximum acceleration exceeded"
"F8078 Speed loop error"
When the command is cleared again, the monitors are reset to their original
status.
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
4.2.41
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
S-0-0150, Reference offset 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The value of this parameter is the position difference between the dedicated
point (first reference mark of the motor encoder after activation of home switch)
and the home point determined on the axis-side.

and Controls
Standard Parameters
xHomePoint:
xDedicatedPoint:
S-0-0150:
*):
Fig.4-48:
actual position value*) of the axis-side home point

actual position value*) of the dedicated point determined by a motor en
coder reference mark
Reference offset 1 (with sign!)
Both actual position values have to have the same position data refer
ence!
Operating principle of S-0-0150
Use
This parameter allows compensating the position difference between the po

sition of the motor encoder reference mark (dedicated point) depending on the
motor arrangement and the position of the home point determined on the axisside.
If the sign of S00150 is positive (alternative: negative), the actual
position value of the home point is more positive (alternative: more
negative) than the one of the dedicated point. The homing direction
does not have any influence!
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.42
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
0,0000
0,0000
0,0000
0,0000
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0077
S-0-0078
+
S-0-0151, Reference offset 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC
The value of this parameter is the position difference between the dedicated
point (first reference mark of the external encoder after activation of home
switch) and the home point determined on the axis-side.
xHomePoint
xDedicatedPoint
S-0-0151
*)
Fig.4-49:
actual position value*) of the axis-side home point

actual position value*) of the dedicated point determined by a reference
mark of the external encoder
Reference offset 2 (with sign!)
Both actual position values have to have the same position data refer
ence!
Operating principle of S-0-0151

and Controls
Standard Parameters
Use
This parameter allows compensating the position difference between the po

sition of the reference mark of the external encoder (dedicated point) depending
on the encoder arrangement and the position of the home point determined on
the axis-side.
If the sign of S00151 is positive (alternative: negative), the actual
position value of the home point is more positive (alternative: more
negative) than the one of the dedicated point. The homing direction
does not have any influence!
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.43
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
0,0000
0,0000
0,0000
0,0000
S-0-0152, C0900 Position spindle procedure command

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-main spindle
--
MPH
MPH
MPH
MPH
MPH
MPH
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
When setting and enabling this command the "Position spindle" function is ac
tivated in the drive, if it is in drive enable.
See also Functional Description "Spindle Positioning"
Use
We distinguish between:
Absolute positioning:This means that the drive moves to the target position
entered in "S00153, Spindle angle position".
Relative positioning:This means that the drive travels the travel distance
entered in "S00180, Spindle relative offset".
In both cases the cyclic command values are ignored and the drive positions
at the effective target position taking the parameters into account:
S-0-0154, Spindle position parameter
S-0-0222, Spindle positioning speed
S-0-0349, Jerk limit bipolar
After the spindle positioning process is over the "S00336, Message In posi
tion" message is set, the command, in the command acknowledgment, is not
acknowledged as being completed.

and Controls
Standard Parameters
Function:
Memory:
Unit:
Cycl. tra.:
If the drive is not in reference ("S00403, Position feedback

value status", bit 0 = 0), a homing procedure is automatically
started before positioning.
For homing and positioning the encoder selected in "S00147,

Homing parameter", bit 3 is used.
Cmd
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.2.44
OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
S-0-0153, Spindle angle position

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-main spindle
--
MPH
MPH
MPH
MPH
MPH
MPH
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains the absolute target position (in the case of absolute
positioning) for the command "S00152, C0900 Position spindle command".
See also Parameter Description "S-0-0180, Spindle relative offset"
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.45
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
0,0000
0,0000
0,0000
0,0000
S-0-0154, Spindle positioning parameter

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-main spindle
--
MPH
MPH
MPH
MPH
MPH
MPH
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The options of the "position spindle" function are determined in this parameter.
The following options can be selected:
spindle clockwise
spindle counter-clockwise

and Controls
Standard Parameters
shortest distance
absolute positioning
relative positioning
Prerequisite: The position data format must be "modulo" ("S00076, Position

data scaling type")!
Structure
Bit
1/0
spindle motion
Comment
0 0: positive direction
0 1: negative direction
1 0: shortest distance
2
positioning
0: absolute
1: relative
Fig.4-50:
Use
Relevant bits of S-0-0154, Spindle position parameter
The selection whether to position with motor encoder or spindle encoder is

made in bit 3 of "S-0-0147, Homing parameter".
By means of "S00417, Velocity threshold for positioning in modulo for

mat" it is possible to define a threshold value for the actual velocity above
which the drive moves to a target position without reversing even if the
specification in S00154 should cause reversing! S00417 is deactivated
with the value "0", very small values can cause unpredictable drive be
havior!
By means of "S00418, Target position window in modulo format" it is

possible to determine a symmetrical position range relative to the current
position ("target position window"). Within this range the drive always
moves to a target position over the shortest distance even if only one di
rection of movement has been determined for positioning in S00154!
S00418 is deactivated with the value "0".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.2.46
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
2
2
2
2
S-0-0155, Friction compensation

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Standard Parameters
Function
The content of "S00155, Friction compensation" acts as an additive torque/

force command value and is used for compensating (lookahead) a possibly
existing static friction.
See also Functional Description "Friction Torque Compensation"
Use
The preceding sign of the compensation value is determined by the pre

ceding sign of the velocity command value.
A change of preceding signs only takes place if the absolute value of the
velocity command value is greater than the velocity set in "S00124,
Standstill window".
: By activating the friction compensation it is possible to compensate
the static friction when accelerating out of standstill and when in
verting the direction.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.47
min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
Default value
0,0
0,0
0,0
0,0
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_MV
S-0-0093
S-0-0094
--
S-0-0156, Velocity feedback value 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The parameter "S00156, Velocity feedback value 2" contains the actual ve
locity of the optional encoder.
See also Parameter Description "S-0-0053, Position feedback 2 value"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.48
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0045
S-0-0046
--
Default value
---------
S-0-0157, Velocity window

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPB
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Standard Parameters
Funct. package(s):
Device parameter:
Function

--
The velocity window is related to the absolute value of the velocity command
(S00036).
See also Functional Description "Status Classes"
Use
If the actual velocity value is within the calculated velocity window, the drive
sets bit 0 of class 3 diagnostics (S00013) ("actual velocity = command veloc
ity" message). Parameter for inputting the tolerance window for the message
indicating whether the actual velocity value has reached the command value
("actual velocity = command velocity" message).
The "actual velocity = command velocity" message is set when the absolute
value of S00040, Velocity feedback value is within the range of values limited
by the resulting velocity command value (S00036 + S00037) +/- S-0-0157,
Velocity window. This message also appears in S00013, Class 3 diagnostics.
Record of Revisions
Version
Attribute
GEN-02VRS
Extr. val. ch.: yes
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.49
Comment
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
Default value
100,0000
100,0000
100,0000
100,0000
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_OV
S-0-0045
S-0-0046
+
S-0-0158, Power threshold Px

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The power message threshold is entered in this parameter. At a power work

load above this threshold, the drive generates the message P >= Px (S00337).
See also Functional Description "Status Classes"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
Watt
MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
StdNul / MaxLong
StdNul / MaxLong
StdNul / MaxLong
StdNul / MaxLong
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
0
0
0
4Byte
DEC_OV
0
+

and Controls
Standard Parameters
4.2.50
S-0-0159, Monitoring window

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
If an operation mode with drive-internal position control has been activated in

the drive, the position control loop is monitored. To do this an "actual model
position value" is calculated and compared to the real actual position value.
The maximum occurring deviation is always stored in parameter
"P00098, Max. model deviation".
See also Troubleshooting Guide for "F2028 Excessive deviation"
Use
By means of the parameter "S00159, Monitoring window" it is possible to set

the maximum tolerated deviation between measured and calculated "actual
model position value". If the position deviation exceeds the value set in
"S00159, Monitoring window", the drive evidently cannot follow the preset
command value and the error "F2028 Excessive deviation" is generated in
class 1 diagnostics.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.51
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
100,0000
100,0000
100,0000
100,0000
S-0-0160, Acceleration data scaling type

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
As described below, it is possible to set different scaling types for the acceler
ation data in the drive.
The scaling type of the acceleration data determines in which format and which
reference the acceleration data are exchanged between the drive and the con
trol unit or user interface. The values of the acceleration data parameters (e.g.
"S00138, Bipolar acceleration limit value") are displayed by the drive with the
scaling that has been set. The scaling setting is normally preset by the control
unit.

and Controls
Standard Parameters
data in the drive!
Structure
Bit
2-0
scaling type
Comment
001: linear scaling

010: rotary scaling
011: ramp time
3

0: meter [m]
1: inch [in]
0: radian [rad]
1: reserved
unit of time
0: second [s]
1: reserved
data reference
15-7
reserved
Fig.4-51:
Use
S-0-0160, Acceleration data scaling type
The following settings can be made:

S-0-0161, Acceleration data scaling factor
S-0-0162, Acceleration data scaling exponent
In the case of parameter scaling, the scaling is realized by inputting the desired
parameter values.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
-+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
2
2
2
2
2Byte
BIN
0
--

and Controls
Standard Parameters
4.2.52
S-0-0161, Acceleration data scaling factor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
decimal format (the decimal place) of the acceleration data parameters are de
termined with this parameter and with "S00162, Acceleration data scaling
exponent".
data in the drive!
Use
If preferred scaling is selected in "S00160, Acceleration data scaling type",

the values in S00161 and S00162 are set automatically by the drive.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.2.53
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
StdOne / StdUMax
StdOne / StdUMax
StdOne / StdUMax
StdOne / StdUMax
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
1
1
1
1
S-0-0162, Acceleration data scaling exponent

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In the case of parameter scaling (see S00160) the scaling factor and the dec
imal format (the decimal place) of the acceleration data parameters are deter
mined with this parameter and with "S00161, Acceleration data scaling factor".
Use
If preferred scaling is selected in "S00160, Acceleration data scaling type",

the values in S00161 and S00162 are set automatically by the drive.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
-15 / 0
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---
2Byte
DEC_MV
0
--

and Controls
Standard Parameters
MPC:
MPD:
MPH:
4.2.54
-15 / 0
-15 / 0
-15 / 0
-------
S-0-0163, Weight counterbalance

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-closed loop
--
-
-
MPH
MPH
MPH
MPH
-
-
MPD
MPD
MPD
MPD
MPC
MPC
Function
For vertical axes, parameter "S00163" can be used to avoid momentary drop
ping of vertical axes while drive enable is being set.
Use
In parameter S00163, enter the torque / the force (cf. S00084) which the
axis has to bring up to hold the load. For this purpose, read out the content of
"S00084" in controlled operation at axis standstill and transfer it to
"S00163".
Or use the automatic determination (activated in parameter "P00556, Config
word of axis controller", bit 12) of the load due to weight. In doing so, the drive
measures the current torque when drive enable is switched off and transfers it
to this parameter. The determined value is not stored in the flash! After the
control voltage has been switched on and the operating mode has been en
tered, the value parameterized by the user is used rather than the one that is
automatically determined.
In conjunction with the avoidance of dropping vertical axes the
brake delay time is relevant, too!
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.55
min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
2Byte
DEC_MV
S-0-0093
S-0-0094
--
Default value
0,0
0,0
0,0
0,0
S-0-0164, Acceleration feedback value 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The actual acceleration value of the motor encoder is displayed in parameter

S00164. The "S00164, Acceleration feedback value 1" is an actual velocity
value of the motor encoder that is differentiated and filtered during 4 ms.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
4Byte
DEC_MV

and Controls
Standard Parameters
Unit:
S-0-0160
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.56
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0161
S-0-0162
--
Default value
---------
S-0-0165, Distance-coded reference offset A

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
When using a distance-coded incremental encoder the greater distance (divi

sion period) of the distance-coded reference marks is entered in this parameter.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
DP
--
Input
MPB:
MPC:
MPD:
MPH:
4.2.57
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
StdNul / MaxLong
StdNul / MaxLong
StdNul / MaxLong
StdNul / MaxLong
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
0
--
Default value
1001
1001
1001
1001
S-0-0166, Distance-coded reference offset B

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
When using a distance-coded incremental encoder the smaller distance (divi

sion period) of the distance-coded reference marks is entered in this parameter.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
DP
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
StdNul / MaxLong
StdNul / MaxLong
StdNul / MaxLong
StdNul / MaxLong
Data length:
Format:
Decim. pl.:
Switchable:
Default value
1000
1000
1000
1000
4Byte
DEC_OV
0
--

and Controls
Standard Parameters
4.2.58
S-0-0169, Probe control parameter

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Via this parameter, you can configure the features of the probe function speci
fied in "SERCOS interface".
Extended probe functions can be configured via "P0-0226, Probe,
extended control word"!
Structure
Bit
Activation pos. edge probe 1
Comment
0: Pos. edge is not evaluated

1: Pos. edge is evaluated
1
Activation neg. edge probe 1

0: Neg. edge is not evaluated
1: Neg. edge is evaluated
Activation pos. edge probe 2

0: Pos. edge is not evaluated
1: Pos. edge is evaluated
Activation neg. edge probe 2

0: Neg. edge is not evaluated
1: Neg. edge is evaluated
Enable mode probe 1

0: Single measurement: After every measurement a new
measurement has to be activated by a 0-1 change of the
enable signal
1: Continuous measurement: The measurement is car
ried out as long as the enable signal remains at "1"
Enable mode probe 2

0: Single measurement: After every measurement a new
measurement has to be activated by a 0-1 change of the
enable signal
1: Continuous measurement: The measurement is car
ried out as long as the enable signal remains at "1"
Activation of probe function
As of MPx04VRS
0: Auto-activation deactivated
1: Auto-activation activated
Fig.4-52:
Relevant Bits of S-0-0169, Probe Control Parameter

and Controls
Standard Parameters
Use
Below you can find more detailed information on the individual bits for param
eterizing "S-0-0169":
Bit 8: Activation of probe function (as of MPx04VRS)
If this bit has been set to "1", the command "S-0-0170, Probing cycle procedure
command" is automatically activated when changing from parameter mode
(PM, P2) to operating mode (OM, P4, bb, Ab). After the change to operating
mode, this bit is of no relevance any more, i.e. resetting and again setting the
bit will not have any effect. However, the probe function can be deactivated and,
if necessary, activated again via "S-0-0170".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.2.59
PM+OM
PM->OM
-+
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
0
0
0
0
S-0-0170, Probing cycle procedure command

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
By setting and enabling the "probing cycle procedure" command the drive re
acts to
"S-0-0405, Probe 1 enable"/"S-0-0406, Probe 2 enable" and
"S-0-0401, Probe 1"/"S-0-0402 Probe 2"
as has been set in "S00169, Probe control parameter".

If bit 8 of parameter "S-0-0169, Probe control parameter" or bit 9 of
parameter "P-0-0226, Probe, extended control word" has been set,
the probing cycle procedure command is set during the transition
from parameter mode to operating mode. (as of MPx04V10)
Structure
Bit
command in drive
0: clear
1: set
command execution
0: interrupt
1: execute
Fig.4-53:
S-0-0170, Probing cycle procedure command
Comment

and Controls
Standard Parameters
Use
While the command is active, the control unit can make various measurements.
If there are no more measurements required, the control unit clears the com
mand.
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.2.60
OM
-+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0/3
0/3
0/3
0/3
2Byte
BIN
0
--
Default value
0
0
0
0
S-0-0171, C4400 Calculate displacement procedure command

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-closed loop
--
-
MPH
MPH
MPH
MPH
MPH
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The procedure for which the master, to establish the position data reference,
uses the travel motion for searching the dedicated point is called "NC-controlled
homing procedure". On the drive side the entire procedure is supported via
three commands:
NC-controlled homing procedure command (S-0-0146)
Calculate displacement procedure command (S-0-0171)
Displacement to referenced system procedure command (S00172)
Structure
Bit
Command in drive
Comment
0: Clear
1: Set
1
Command execution
0: Interrupt
1: Execute
Fig.4-54:
Use
S-0-0171, C4400 Calculate displacement procedure command
The master can start the command "C4400 Calculate displacement procedure
command" after the drive has successfully completed the command "C4300
NC-controlled homing procedure command" for searching the reference point.
By means of command C4400 the drive calculates the required actual position
value displacement, in order to establish the axis zero point reference of the
actual position values.
The displacement value is displayed in
" S-0-0175, Offset parameter 1" (motor encoder) or
" S-0-0176, Offset parameter 2" (external encoder)

and Controls
Standard Parameters
and the drive then acknowledges the command execution. After that the master
clears the command.
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.2.61
OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
S-0-0172, C4500 Displacement to referenced system procedure com

mand
Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-closed loop
--
-
MPH
MPH
MPH
MPH
MPH
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
When this command is started, the drive switches to the referenced actual value
system, enters the referenced actual position value 1 (S00051) or actual po
sition value 2 (S00053) and signals this in parameter "S00403, Position
feedback value status". In order to inform the master of this switching action in
real time, bit 0 from S00403 can be assigned to a real-time status bit.
Structure
Bit
Command in drive
Comment
0: Clear
1: Set
1
Command execution
0: Interrupt
1: Execute
Fig.4-55:
Use
S-0-0172, C4500 Displacement to referenced system procedure com

mand
During the active command the master switches to the referenced position
command value system and signals this with "S00404, Position com
mand value status".
In order that the drive is informed of the switching process in a chrono

logically consistent way with the switching of the cyclic command values,
bit 0 from "S00404, Position command value status" must have been
assigned to a real-time control bit.
The drive completes the command correctly when the bits "S00403, Po
sition feedback value status" and "S00404, Position command value
status" have been set.
The bit "position command value status" must be set by the control unit
independent of the operation mode.

and Controls
Standard Parameters
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
4.2.62
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
S-0-0173, Marker position A

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In the case of a drive with an incremental measuring system, the actual position
value of the reference mark (zero pulse) is stored in this parameter during the
drive-controlled homing procedure. This actual position value still refers to the
"old" coordinate system (before switching the coordinate system when execut
ing the homing procedure).
See also Functional Description "Detecting the Marker Position"
Use
In addition, it is possible to activate the reference mark detection by the

"P00014, C1400 Command Get marker position" command. In this case, the
respective actual position value is stored in this parameter at the next reference
mark pulse of the encoder and the command is positively acknowledged.
In case the drive, apart from the motor encoder, is equipped with an external
encoder, bit 3 of "S00147, Homing parameter" determines by which encoder
the position of the reference mark is stored!
In the case of incremental encoders with distance-coded reference
marks, the actual position value of the reference mark that has been
detected first is stored in this parameter! The actual position value
of the second reference mark is stored in "S00174, Marker posi
tion B"!
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.63
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
S-0-0174, Marker position B

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
MPB
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPC

and Controls
Standard Parameters
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
-closed loop
--
MPH
MPD
MPC
In the case of a drive with an incremental measuring system with distancecoded reference marks, the actual position value of the second reference mark
that has been detected is stored in this parameter during the drive-controlled
homing procedure (C0600). This actual position value still refers to the "old"
coordinate system (before switching the coordinate system when executing the
homing procedure).
Use
In case the drive, apart from the motor encoder, is equipped with an optional
encoder, bit 3 of "S00147, Homing parameter" determines which encoder
stores the position of the reference mark!
In the case of incremental encoders with distance-coded reference
marks, the actual position value of the reference mark that has been
detected first is stored in parameter "S00173, Marker position A"
by "C1400 Command Get marker position"! Afterwards, the com
mand is reset; there aren't any data written to S-0-0174 when this
is done!
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.64
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
S-0-0175, Offset parameter 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Display parameter that displays the difference between the position reference
system after and before homing or setting absolute measuring of the motor
encoder.
Function:
Memory:
Par
--
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
0,0000
0,0000
0,0000
0,0000
4Byte
DEC_MV
S-0-0077
S-0-0078
--

and Controls
Standard Parameters
4.2.65
S-0-0176, Offset parameter 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Display parameter that displays the difference between the position reference
system after and before homing or setting absolute measuring of the external
encoder.
Function:
Memory:
Par
--
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.66
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
0,0000
0,0000
0,0000
0,0000
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0077
S-0-0078
--
S-0-0177, Absolute offset 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC
This parameter is required for homing distance-coded motor encoders. It is the

offset between the zero point of the motor encoder (position of the 1st reference
mark of the motor encoder) and the machine zero point.
Use
The correct value for this parameter is determined in two steps:
First the value "0" is entered in S00177 and the command "S00148,
C0600 Drive-controlled homing procedure command" is carried out. The
actual position value 1 in S00051 then displays the current position with
regard to the zero point of the motor encoder.
If the axis is then moved to he machine zero point by means of jogging,

the value displayed in S00051 at the zero point has to be read and en
tered in S00177 with inverted sign.
After carrying out the homing command again the value in S00051 then dis
plays the position with regard to the machine zero point.
In case the drive, apart from the motor encoder, is equipped with
an external encoder, bit 3 of "S00147, Homing parameter" deter
mines which encoder is homed!
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
4Byte
DEC_MV

and Controls
Standard Parameters
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.67
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
0,0000
0,0000
0,0000
0,0000
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPD
MPD
MPD
MPD
MPD
MPD
S-0-0077
S-0-0078
--
S-0-0178, Absolute offset 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC
This parameter is required for homing distance-coded external encoders. It is

the offset between the zero point of the encoder (position of the 1st reference
mark of the external encoder) and the machine zero point.
Use
The correct value for this parameter is determined in two steps:
First the value "0" is entered in S00178 and the command "S00148,
C0600 Drive-controlled homing procedure command" is executed. The
actual position value 2 in S-0-0053 then displays the current position with
regard to the zero point of the external encoder.
If the axis is then moved to he machine zero point by means of jogging,

the value displayed in S-0-0053 at the zero point has to be read and en
tered in S00178 with inverted sign.
After the homing command has been carried out again, the value in S-0-0053
then displays the position with regard to the machine zero point.
In case the drive, apart from the motor encoder, is equipped with
an external encoder, bit 3 of "S00147, Homing parameter" deter
mines which encoder is homed!
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.68
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
0,0000
0,0000
0,0000
0,0000
MPB
MPB
MPB
MPB
MPB
MPB
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0077
S-0-0078
--
S-0-0179, Probe status

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC

and Controls
Standard Parameters
Funct. package(s):
Device parameter:
Function
closed loop
--
When the drive stores one or several probe values, it simultaneously sets the
corresponding bit in the probe status.
The probe evaluation must have been activated!
Structure
Bit
probe value 1 positive
Comment
0: not latched
1: latched
1
probe value 1 negative

0: not latched
1: latched
probe value 2 positive

0: not latched
1: latched
probe value 2 negative

0: not latched
1: latched
probe 1, marker failure status(cf. P-0-0224 and

P-0-0206)
0: failures < max. value
1: failures >= max. value
probe 2, marker failure status(cf. P-0-0225 and

P-0-0207)
0: failures < max. value
1: failures >= max. value
15-6
reserved
Fig.4-56:
Use
Probe status
Clearing the measured value status bits:
If the enable of probe 1 (S00405) is cleared by the control unit, the drive
clears bit 0, bit 1 and bit 4 in the probe status.
If the enable of probe 2 (S00406) is cleared by the control unit, the drive
clears bit 2, bit 3 and bit 5 in the probe status.
The drive clears all bits when the probing cycle procedure command
(S00170) is cleared by the control unit or when the bit for activation of
probe evaluation is reset in "P00226, Probe, extended control word".
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---
2Byte
BIN
0
--

and Controls
Standard Parameters
MPC:
MPD:
MPH:
4.2.69
--- / ----- / ----- / ---
-------
S-0-0180, Spindle relative offset

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-main spindle
--
MPH
MPH
MPH
MPH
MPH
MPH
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains the travel distance (in the case of relative positioning)
for the command "S00152, C0900 Position spindle command".
In "S00430, Effective target position" the effective absolute target
position with the active command "S00152, C0900 Position spin
dle command" is displayed!
See also Parameter Description "S-0-0153, Spindle angle position"
Record of Revisions
Version
Attribute
GEN-02VRS
Cycl. tra.: MDT
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.70
Comment
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
0,0000
0,0000
0,0000
0,0000
S-0-0183, Velocity synchronization window

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
If during the operation mode "speed synchronization" the absolute value of the
difference between velocity command value and actual value becomes smaller
than the synchronization window, bit 8 is set in parameter "P00089, Status
word for synchronous operating modes".
See also Functional Description "Velocity Synchronization With Real/Virtual
Master Axis"
Use
The following applies:

and Controls
Standard Parameters
Bit 8 = 1, if | dX synch + dX additive dX act | < S-0-0183
with dX act: Velocity feedback value (S-0-0040)
dX synch: Synchronous velocity command value, generated from current master
axis speed
dX additive: Additive velocity command value (S-0-0037)
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.71
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
4Byte
DEC_MV
S-0-0045
S-0-0046
--
Default value
20,0000
20,0000
20,0000
20,0000
S-0-0185, Length of the configurable data record in the AT

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
In the operating data of this parameter, the SERCOS drive indicates the max
imum length in byte that it can process in the configurable data record of the
drive data telegram.
The maximum length depends on the relation of position cycle time and
SERCOS cycle time:
SERCOS cycle time = position clock: Max. length 24 bytes
SERCOS cycle time > position clock: Max. length 48 bytes

Function:
Memory:
Unit:
Cycl. tra.:
Par
-Byte
--
Input
MPB:
MPC:
MPD:
MPH:
4.2.72
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
---------
S-0-0186, Length of the configurable data record in the MDT

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC

and Controls
Standard Parameters
Function
In the operating data of this parameter, the SERCOS drive indicates the max
imum length in byte that it can process in the configurable data record of the
master data telegram.
The maximum length depends on the relation of position cycle time and
SERCOS cycle time:
SERCOS cycle time = position clock: Max. length 24 bytes
SERCOS cycle time > position clock: Max. length 48 bytes

See also Functional Description "Performance Data"
Function:
Memory:
Unit:
Cycl. tra.:
Par
-Byte
--
Input
MPB:
MPC:
MPD:
MPH:
4.2.73
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
0
--
Default value
---------
S-0-0187, List of configurable data in the AT

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This list contains the IDNs of the parameters or operating data which can be
configured in the actual value telegram.
See also Parameter Description "S-0-0016, Configuration list of AT"
See also Parameter Description "S-0-1050.x.6, SIII-Connection: Configuration
list"
See also Parameter Description "P-0-4081, Field bus: Config. list of cyclic com
mand value data ch."
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.2.74
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
IDN
0
--
Default value
---------
S-0-0188, List of configurable data in the MDT

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
MPB
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPC

and Controls
Standard Parameters
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
+
MPD
MPC
This list contains the IDNs of the parameters or operating data which can be
configured in the command value telegram.
See also Parameter Description "S-0-0024, Config. list of the master data tele
gram"
See also Parameter Description "S-0-1050.x.6, SIII-Connection: Configuration
list"
See also Parameter Description "P-0-4080, Field bus: Config. list of cyclic ac
tual value data ch."
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.2.75
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
IDN
0
--
Default value
---------
S-0-0189, Following distance

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
If an operation mode with internal position control is activated in the drive, the
current difference between position command value (cf. P00434) and actual
position value (cf. "S-0-0051 Position feedback value 1" or "S-0-0053 Position
feedback value 2") is displayed in "S00189, Following distance".
See also Functional Description "Position Loop"
Fig.4-57:
Use
S-0-0189, Control Deviation in Position Control Loop (Following Dis

tance)
The content of "S00189 Following distance" corresponds to the control devi

ation of the position loop; the content of S00189 is used for many status
messages. If position control has not been activated, the value of the parameter
is set to "0".

and Controls
Standard Parameters
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.76
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
S-0-0190, C4200 Drive-controlled oscillation procedure command

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-main spindle
--
-
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
This parameter starts the function "drive-controlled oscillation". The command

is processed via the drive-internal speed control loop. The drive automatically
generates the speed command value characteristic for the oscillation motion.
See also Functional Description "Drive-Controlled Oscillation"
See also Functional Description "Command Processing"
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
4.2.77
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
S-0-0191, C1500 Cancel reference point procedure command

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-closed loop
--
-
MPH
MPH
MPH
MPH
MPH
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Setting and enabling the command "cancel reference point procedure" clears
the reference of the encoder defined via "S00147, Homing parameter". The
actual position value status (bit 0 in S-0-0403) is cleared, too.

and Controls
Standard Parameters
Structure
Bit
command in drive
Comment
0: clear
1: set
1
command execution
0: interrupt
1: execute
Fig.4-58:
Use
S-0-0191, C1500 Cancel reference point procedure command
The drive completes the command correctly when the actual position value
status bit is set to "0" and the actual position value of the active measuring
system no longer refers to the machine zero point (= is no longer referenced).
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
4.2.78
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
S-0-0192, IDN-list of all backup operation data

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In this list, the IDNs of those parameters are stored the values of which are axisspecific and for regular operation have to be loaded to the drive of the respective
axis.
Use
Depending on the setting in "S00269, Storage mode", these parameters are

also stored, continuously or in a command-controlled way, in the internal, nonvolatile memory ("flash") or on the MultiMediaCard (MMC).
The control unit should use this parameter in order to make a back
up copy of the drive parameters and the axis-specific values.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte var.
IDN
0
--

and Controls
Standard Parameters
4.2.79
S-0-0193, Positioning Jerk

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The positioning jerk limits the change in acceleration per unit of time in the
following operation modes
Drive-internal interpolation and
The value "0" switches the jerk filter off!

Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.80
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
4Byte
DEC_MV
S-0-0161
S-0-0162
+
Default value
0,000
0,000
0,000
0,000
S-0-0195, Acceleration feedback value 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
S00195 displays the actual acceleration value of the optional encoder.

"S00195, Acceleration feedback value 2" is an actual velocity value of the
optional encoder that is differentiated and filtered during 4 ms.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
Default value
---------
4Byte
DEC_MV
S-0-0161
S-0-0162
--

and Controls
Standard Parameters
4.2.81
S-0-0197, C3300 Set coordinate system procedure command

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
-Servo(compensation)
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
With "S00197, C3300 Set coordinate system procedure command", the drive
disconnects from the control unit and goes to standstill in a drive-controlled way.
As in the case of "Drive Halt", this takes place depending on the active operation
mode, with a position ramp or a speed ramp. In standstill, the "S00198, Initial
coordinate value" is now entered in the position system display.
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.2.82
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
S-0-0198, Initial coordinate value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
In standstill, the initial coordinate value is entered in the position system display.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.2.83
OM
----
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
0,0000
0,0000
0,0000
0,0000
S-0-0199, C3400 Shift coordinate system procedure command

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPB
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Standard Parameters
Funct. package(s):
Device parameter:
Function
Servo(compensation)
--
With this command the master can set the actual value system of a moving axis
to a different display reference. The position data reference of the axis is not
influenced!
Use
The drive in this case becomes independent of the command values preset by
the control unit, but maintains the active motion. The display of the actual po
sition value changes abruptly by adding "S00275, Coordinate offset value".
With the command still active, the control unit accepts the current actual posi
tion value. After the command was cleared, the control unit presets the com
mand values again.
The offset of the position display is displayed in "S00283, Current coordinate
offset".
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
min./max.
--- / ----- / ----- / ----- / ---
4.3
4.3.1
S-0-0201, Motor warning temperature

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
If the motor temperature exceeds the motor warning temperature, the drive sets
bit 2 (motor overtemperature warning) in "S00012, Class 2 diagnostics" and
the warning "E2051 Motor overtemp. prewarning" is output. In the case of MHD
and MKD motors, the drive sets this parameter to 145 C, in the case of MKE
motors to 125 C.
See also Functional Description "Motor Temperature Monitoring"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
S-0-0208
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
S-0-0208 / S-0-0208
S-0-0208 / S-0-0208
S-0-0208 / S-0-0208
S-0-0208 / S-0-0208
Data length:
Format:
Decim. pl.:
Switchable:
Default value
145,0
145,0
145,0
145,0
2Byte
DEC_MV
1
+

and Controls
Standard Parameters
4.3.2
S-0-0204, Motor shutdown temperature

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
If the motor temperature exceeds the motor shutdown temperature, the drive
sets bit 2 (motor overtemperature shutdown) in "S00011, Class 1 diagnostics"
and the error "F2019 Motor overtemperature shutdown" is generated.
In the case of MHD and MKD motors, the drive sets this parameter to 155 C,
in the case of MKE motors to 135 C.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
S-0-0208
--
Input
MPB:
MPC:
MPD:
MPH:
4.3.3
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
S-0-0208 / S-0-0208
S-0-0208 / S-0-0208
S-0-0208 / S-0-0208
S-0-0208 / S-0-0208
Default value
155,0
155,0
155,0
155,0
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_MV
1
+
S-0-0206, Drive on delay time

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The parameter "S-0-0206" serves to delay the status message "Drive follows
command values" (cf. "S00135, Drive status word", bit 3 = "1") in a defined
manner, since there is a certain delay between the activation and the actual
opening of the holding brake (inductive and mechanical behavior).
See also Functional Description "Motor Holding Brake"
Use
The following aspects have to be observed for use:
The content of "S-0-0206" should at least be equal to the release delay of

the holding brake.
To avoid movement against the applied brake while drive enable is switch
ed on, take the release delay of the holding brake into account for com
mand value input, too.
For Rexroth motors with feedback data memory, the content of
"S-0-0206" is set automatically.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
ms
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
0
+

and Controls
Standard Parameters
Input
MPB:
MPC:
MPD:
MPH:
4.3.4
min./max.
StdNul / Max100T
StdNul / Max100T
StdNul / Max100T
StdNul / Max100T
Default value
100
100
100
100
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
S-0-0207, Drive off delay time

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The value of this parameter is the time distance between the control for applying
the holding brake and the torque/force disable of the motor (drive-internal
switching off of drive enable).
Use
The value should be at least as high as the clamping delay of the holding brake
in order to make sure that vertical axes which are not equilibrated do not move
down when the drive enable is switched off!
Is set automatically for Rexroth motors.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
ms
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.3.5
PM
PM->OM
+
--
min./max.
StdNul / Max100T
StdNul / Max100T
StdNul / Max100T
StdNul / Max100T
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
0
+
Default value
100
100
100
100
S-0-0208, Temperature data scaling type

Allocation
Function
Structure
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter serves to define the unit of the temperature data of the drive.
The values are displayed including the first decimal place.
Bit
Temperature data in
0: Degrees Celsius (C)
1: Degrees Fahrenheit (F)
151
Fig.4-59:
Reserved
Settings for Temperature Data
Comment

and Controls
Standard Parameters
Record of Revisions
Version
Attribute
GEN-02VRS
Validity check: P2-3
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Description
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.3.6
PM
PM->OM
-+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
0
0
0
0
S-0-0213, Oscillation speed

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-main spindle
--
-
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
The oscillation speed is the amplitude of the speed oscillation around the
"S00214, Oscillation offset speed".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Rpm
AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.3.7
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
StdNul / MaxLong
StdNul / MaxLong
StdNul / MaxLong
StdNul / MaxLong
Default value
8,0000
8,0000
8,0000
8,0000
-
MPB
MPB
MPB
MPB
MPB
-main spindle
--
-
-
-
-
-
-
4Byte
DEC_OV
4
--
S-0-0214, Oscillation offset speed

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPH
MPH
MPH
MPH
MPC
MPC
The oscillation offset speed is the average value of speed oscillation.

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
Par
PARAM_SP
Rpm
AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
StdNul / MaxLong
Data length:
Format:
Decim. pl.:
Switchable:
Default value
1,0000
4Byte
DEC_OV
4
--

and Controls
Standard Parameters
MPC:
MPD:
MPH:
4.3.8
StdNul / MaxLong
StdNul / MaxLong
StdNul / MaxLong
1,0000
1,0000
1,0000
-
MPB
MPB
MPB
MPB
MPB
-main spindle
--
-
-
-
-
-
-
S-0-0215, Oscillation cycle time

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPH
MPH
MPH
MPH
MPC
MPC
The oscillation cycle time is the periodic time of speed oscillation.

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
ms
AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
4.3.9
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
StdOne / StdUMax
StdOne / StdUMax
StdOne / StdUMax
StdOne / StdUMax
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
1
--
Default value
400,0
400,0
400,0
400,0
S-0-0216, C4100 Switch parameter set command

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-main spindle
--
-
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
At the execution of this command parameter set switching is carried out.

If required, the drive automatically switches to the parameter mode
(PM).
Use
As a prerequisite the settings according to the application have to be made

in "P02216, Parameter set switching, group selection" and "P02217,
Parameter set switching, preselection range".
After the switching the parameter set with that number is active which had
been entered in "S-0-0217, Preselect parameter set command" at the time
of switching.
The parameter set active after switching is displayed in "S00254, Current

parameter set".
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--

and Controls
Standard Parameters
Input
MPB:
MPC:
MPD:
MPH:
4.3.10
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
S-0-0217, Preselect parameter set command

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-main spindle
--
-
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
The value of this parameter determines the number of the parameter set which
is activated by executing "S00216, C4100 Switch parameter set command".
Use
As a prerequisite the settings according to the application have to be made in

"P02216, Parameter set switching, group selection" and "P02217, Param
eter set switching, preselection range".
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
min./max.
Default value
0 / ausPARU_Vorwahlber
--eich[]
--eich[]
--eich[]
--eich[]
MPB:
MPC:
MPD:
MPH:
4.3.11
PM+OM
-+
--
S-0-0219, IDN-list of parameter set

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-main spindle
--
-
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
All IDNs concerned by "S00216, C4100 Switch parameter set command" are
listed in this parameter.
The number of parameters listed in S00219 is determined by the
setting in "P02216, Parameter set switching, configuration" and
"P02217, Parameter set switching, preselection range".
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
4Byte var.
IDN

and Controls
Standard Parameters
Unit:
Cycl. tra.:
---
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.3.12
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
0
+
Default value
---------
S-0-0222, Spindle positioning speed

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-main spindle
--
MPH
MPH
MPH
MPH
MPH
MPH
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter serves to enter the maximum speed that can be reached by the
spindle while rotating during execution of the "S-0-0152, C0900 Position spindle
procedure command".
Use
Based on "S-0-0372, Drive Halt acceleration bipolar", the accelerates to this

speed in order to
move to the target position entered in "S-0-0153, Spindle angle position",

or
travel the distance entered in "S-0-0180, Spindle relative offset".
Record of Revisions
Version
Attribute
GEN-02VRS
Cycl. tra.: No
GEN-02VRS
Extr. val. ch.: Yes
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.3.13
Comment
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
4Byte
DEC_OV
S-0-0045
S-0-0046
+
Default value
0,0000
0,0000
0,0000
0,0000
S-0-0228, Position synchronization window

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Standard Parameters
Function
If with parameterized synchronization mode with outer position control loop the
absolute value of the difference between velocity command value and actual
value becomes smaller than the synchronization window, bit 8 is set in param
eter "P00089, Status word synchronization modes".
Bit 8 = 1, if | X synch + X additive X act | < S-0-0228
With
X act: Actual position value S-0-0051 or S-0-0053
X synch: Synchronous position command value, generated from current master
axis position
X additive: Additive position command value, S-0-0048
See also Functional Description "Synchronization Modes"
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.3.14
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
10,0000
10,0000
10,0000
10,0000
-
MPB
MPB
MPB
MPB
MPB
-main spindle
--
-
-
-
-
-
-
4Byte
DEC_MV
S-0-0077
S-0-0078
--
S-0-0254, Current parameter set

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPH
MPH
MPH
MPH
MPC
MPC
This parameter displays the number of the currently active parameter set.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
4.3.15
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
0
--
Default value
---------
S-0-0256, Multiplication 1 (motor encoder)

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPB
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Standard Parameters
Funct. package(s):
Device parameter:
Function
The parameter "S00256, Multiplication 1 (motor encoder)" indicates with

which factor the signals of the motor encoder are multiplied in the drive.
Use
The multiplication 1 results depending on the parameters "S00278, Maximum

travel range" and "S00116, Resolution of feedback 1". The internal encoder
resolution for motor encoders is calculated as follows:
Fig.4-60:
Function:
Memory:
Unit:
Cycl. tra.:
Internal Encoder Resolution for the Motor Encoder

Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.3.16
closed loop
--
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_OV
0
--
Default value
1
1
1
1
S-0-0257, Multiplication 2 (optional encoder)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The "S00257 Multiplication 2" parameter indicates with which factor the sig
nals of the optional encoder are multiplied in the drive.
See also Functional Description "Basics on Measuring Systems, Resolution"
Use
The multiplication 2 results subject to the "S00278 Maximum travel range"

and "S00117 Feedback 2 Resolution" parameters.
The internal resolution for the optional encoder is calculated as follows:
Fig.4-61:
Function:
Memory:
Unit:
Cycl. tra.:
Internal resolution for the optional encoder

Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.3.17
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
S-0-0258, Target position

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
MPB
MPB
MPB
MPH
MPH
MPH
MPD
MPD
MPD
4Byte
DEC_OV
0
--

and Controls
Standard Parameters
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPD
MPD
MPD
MPC
MPC
By this parameter the control unit presets the target position for the drive in the
"Drive-internal interpolation" mode.
Use
With the internally generated position command value sequence, the drive
moves to the target position (S00258) and, apart from the positioning velocity
(S00259), takes the maximum positioning acceleration (S00260) or decel
eration (S00359), the maximum positioning jerk (S00193) and the feedrate
override (S00108) into consideration.
Function:
Memory:
Par
--
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.3.18
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
0,0000
0,0000
0,0000
0,0000
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0077
S-0-0078
--
S-0-0259, Positioning velocity

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC
By this parameter the maximum velocity at which to move to the target position
("S00258, Target position" or "S-0-0282, Positioning command value") is pre
set for the drive in the "Drive-internal interpolation" and "Drive-controlled posi
tioning" modes.
Use
The internally generated position command value sequence, apart from the
positioning velocity (S00259), takes the maximum positioning acceleration
(S00260) or deceleration (S00359), the maximum positioning jerk
(S00193) and the feedrate override (S00108) into consideration.
Record of Revisions
Version
Attribute
GEN-02VRS
Extr. val. ch.: yes
Function:
Memory:
Par
PARAM_SP
Comment
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
4Byte
DEC_OV

and Controls
Standard Parameters
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.3.19
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
Default value
10,0000
10,0000
10,0000
10,0000
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPD
MPD
MPD
MPD
MPD
MPD
S-0-0045
S-0-0046
--
S-0-0260, Positioning acceleration

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC
By this parameter the maximum acceleration at which to move to the target

position ("S00258, Target position" or "S-0-0282, Positioning command val
ue") is preset for the drive in the "drive-internal interpolation" and "drivecontrolled positioning" modes.
Use
positioning acceleration (S00260) or deceleration (S00359), takes the max
imum positioning velocity (S00259), the maximum positioning jerk (S00193)
and the feedrate override (S00108) into consideration.
eration limit value". With the value "0", the parameter S00138 will
take effect. The value of parameter "S-0-0260, Positioning accel
eration" should always be smaller than the value of parameter
take effect.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.3.20
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
Default value
1000,000
1000,000
1000,000
1000,000
MPB
MPB
MPB
MPB
MPB
MPB
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0161
S-0-0162
--
S-0-0261, Coarse position window

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC

and Controls
Standard Parameters
Hardware
Funct. package(s):
Device parameter:
Function
-closed loop
--
The "S-0-0261, Positioning window coarse" parameter is used for the status
message "In Position coarse" ("S-0-0013, Class 3 diagnostics", bit 11 = 1) |
following error (S-0-0189)| < positioning window (S-0-0261).
See also Parameter Description "Status Classes, Status Displays, Control Pa
rameters"
Record of Modifications
Version
Attribute
GEN-02VRS
MPB Default value: 500MPH

Default value: 500
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.3.21
Comment
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
+
Default value
0,5000
0,5000
0,5000
0,5000
S-0-0262, C07_x Load defaults procedure command

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
With "C07_x Load defaults procedure command" different default parameter

values can be loaded depending on "P04090, Configuration for loading default
values".
See also Functional Description "Loading, Storing and Saving Parameters"
See also Parameter Description "P-0-4090, Configuration for loading default
values"
Use
The following parameter values can be loaded:
Load controller parameters: The motor-specific control loop parameter

values (adjustment of controller to motor, default setting of P04090!)
stored in the motor encoder are loaded. Only possible in phase 4 ("oper
ating mode").
Load basic parameters: Basic parameter values stored in the firmware are
loaded (firmware-specific default values for all parameters, can be con
figured via P-0-4090). Only possible in phase 2 ("parameter mode").
Load defaults procedure for safety technology: The set of default values
for safety technology parameters stored in the firmware is loaded (can be
selected via P-0-4090). Only possible in phase 2 ("parameter mode").

and Controls
Standard Parameters
Damage to the internal memory (flash) caused by too many write ac

cesses!
During the execution of this parameter command, data are written to the
internal memory (flash). As each flash only allows a limited number of write
accesses before its memory locations are destroyed, you should make sure
that such write accesses won't be carried out too often
CAUTION
By executing this command axis-specific or safety-technology-specific

parameter values that have already been optimized are possibly over
written!
CAUTION
Only execute command during initial commissioning!
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
4.3.22
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
S-0-0263, C2300 Load working memory procedure command

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This command copies the parameter set from the active non-volatile memory
to the volatile memory of the drive controller (RAM).
The active non-volatile memory can be the internal flash memory or the Multi
MediaCard (MMC) if it has been plugged.

cesses!
CAUTION
that such write accesses won't be carried out too often.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Cmd
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
BIN
0
--

and Controls
Standard Parameters
4.3.23
S-0-0264, C2200 Backup working memory procedure command

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This command copies the parameter set from the volatile memory of the drive
controller (RAM) and saves it in the active non-volatile memory.
The active non-volatile memory can be the internal flash memory or the Multi
MediaCard (MMC) if it has been plugged.

cesses!
CAUTION
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
4.3.24
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
S-0-0265, Language selection

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
All parameter names, units and diagnostic/error messages are stored in the
drive controller in several languages. This parameter determines the language
of the texts to be output.
0: German
1: English
2: French
3: Spanish
4: Italian
See also Functional Description "Coded Diagnostic Messages of the Drive"

Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
2Byte
DEC_OV

and Controls
Standard Parameters
Unit:
Cycl. tra.:
---
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.3.25
+
--
Decim. pl.:
Switchable:
0
--
min./max.
Default value
StdNul / MaxWert_S_0_0265 0
S-0-0267, Password
Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter serves to activate a customer password.

See also Functional Description "Password"
Use
This password protects the values of the parameters contained in "S-0-0279,

IDN-list of password-protected operation data" against inadvertent or unau
thorized changes. Password "007" is entered by default. This allows writing to
the parameters (initial state).
BRC reserves the right to the function of a master password. In this
context, the parameter additionally serves to enable customer func
tions (see also P-0-4064, Password level).

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.3.26
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
1Byte var.
ASCII
0
--
S-0-0269, Storage mode

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC

and Controls
Standard Parameters
Function
Bit 0 of this parameter determines the mode in which the parameter values from
"S00192, IDN-list of all backup operation data" are stored in the internal nonvolatile memory ("flash") or on the MultiMediaCard (MMC).
Use
Depending on the setting, there is the following behavior:
0: Changes in the parameter are maintained, even if 24V voltage fails

(non-volatile behavior).
1: Changes in the parameter get lost after 24V has been switched off (vol
atile behavior).
The number of writing cycles for the device memory is limited;
therefore, set the storage mode to "1" for cyclic write accesses in
order to avoid damage to the active memory (flash or MMC)!
The parameter "S00269" is not stored in the drive. After the control volt
age has been switched off, the parameter is always reset to "0" (nonvolatile storage). If necessary, it has to be specifically set to "1" (volatile
storage) after run-up.
If the MLD is under permanent control, the S-0-0269 storage mode is set
to volatile (S-0-0269 = 1) whenever the drive is running up. If necessary,
this setting can be reset to non-volatile (S00269 = 0) in the MLD program
or the "C2200 Backup working memory procedure command " can be
executed.
To maintain the parameter settings in case voltage fails with storage mode
"1", previously execute the "S0-0264, C2200 Backup working memory
procedure command".
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.3.27
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0/1
0/1
0/1
0/1
2Byte
DEC_OV
0
--
Default value
0
0
0
0
S-0-0270, IDN-list of selected backup operation data

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The contents of all parameters the IDNs of which are listed in this parameter
are saved from the working memory (volatile memory) to the active non-volatile
memory by activating the parameter "S00293, C2400 Selectively backup
working memory procedure command".
The active non-volatile memory is the device-internal flash memory.

and Controls
Standard Parameters
Function:
Memory:
Unit:
Cycl. tra.:
Par
FIX_IDN_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.3.28
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
IDN
0
--
Default value
---------
S-0-0273, Maximum drive off delay time

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In this parameter the determined time is entered that the drive needs in order
to stop the axis out of maximum velocity at maximum inertia or mass with max
imum allowed brake torque or brake force. Increase the determined time to
make sure the axis really stops!
Use
When the time entered in this parameter is over, the holding brake is activated
in different ways, depending on the operating principle (servo or main spindle
brake according to "P00525, Holding brake control word"):
Servo Brake
The drive internally sets a velocity command value of zero and the holding
brake is applied.
It then takes the time in "S00207, Drive off delay time" until the drive is
torque-free or force-free.
Main Spindle Brake
The drive becomes torque-free or force-free, the drive enable is switched

off internally.
When the speed is lower than 10 min-1, the brake is applied.

When the axis or spindle falls below the velocity of 10 min-1 or
10 mm/min before the time in S00273 is over, the brake is applied,
the drive enable is switched off with the delay "Drive off delay
time" (S00207).
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
ms
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
500 / Max100T
500 / Max100T
500 / Max100T
500 / Max100T
Data length:
Format:
Decim. pl.:
Switchable:
Default value
10000
10000
10000
10000
4Byte
DEC_OV
0
--

and Controls
Standard Parameters
4.3.29
S-0-0275, Coordinate offset value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In this parameter the difference is entered by which the actual position value
display changes (addition to current actual position value), when "S00199,
C3400 Shift coordinate system procedure command" is executed.
The unit of the value corresponds to the selected position scaling.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.3.30
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
0,0000
0,0000
0,0000
0,0000
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0077
S-0-0078
--

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC
This parameter defines the essential properties of the motor encoder.

See also Functional Description "Absolute Measuring Systems"
Structure
Bit
Kind of encoder
0: Rotary
1: Linear
Distance-coded measuring system

0: No distance-coded reference marks
1: Distance-coded reference marks (S00165, S00166)
0: Not inverted
1: Inverted
Setup of distance-coded measuring system

0: Positive direction of counting
1: Negative direction of counting
Comment

and Controls
Standard Parameters
Bit
8/7/6
Absolute evaluation
Comment
1xx: Absolute encoder evaluation activated (bit 6 and bit

7 irrelevant)
0x0: Absolute encoder evaluation impossible (bit 7 irrel
evant)
001: Absolute encoder evaluation possible and active
(encoder is handled as absolute encoder)
011: Absolute encoder evaluation possible, but deactiva
ted
8
Absolute evaluation in case of missing absolute evalua As of MPx04V26

tion option
Not defined in
0: Bit 7 and bit 6 define the status of absolute evaluation SERCOS
1: Absolute evaluation is activated, irrespective of bit 7
and bit 6 (only possible with single- and multi-turn encod
ers)
Cyclic marker evaluation
As of MPx06V04
0: Inactive
1: Active
13
As of MPx04V26
0: Encoder replacement monitoring has been activated, Not defined in

i.e. encoder replacement is recognized (only for encoders SERCOS
with data memory)
1: Encoder replacement monitoring has been deactiva
ted, i.e. no error (F2174) is signaled if the encoder is
replaced and the reference is maintained if necessary;
this does not affect position initialization.
ATTENTION: Only makes sense for mechanically adjus
ted encoders!
Fig.4-62:
Use
For Rexroth housing motors (MHD, MKD, MKE, 2AD, ADF, MAD, MAF),
bits 0, 1, 3 are set to the value "0"!
If the connected motor is a linear motor, bit 0 is set to "1".
Depending on the absolute encoder range and the maximum travel range
or modulo value, bit 6 is either set or cleared.
If absolute evaluation is possible (bit 6 = 1), absolute evaluation is auto

matically activated. However, the user can deactivate it by setting bit 7.
Even if absolute evaluation is impossible (bit 6 = 0), the user can

"force" (activate) it via bit 8.
Property damage possible if the master controls for incorrect actual po

sition values!
CAUTION
On the user side, make sure that, if the actual position values are manually
"forced" to absolute evaluation via bit 8, the powered off axis is never displaced
by more than half the real absolute encoder range in relation to the power-off
position! Otherwise, collisions with machine parts and workpiece rejects may
occur when the axis is powered on again!

and Controls
Standard Parameters
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.3.31
PM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
+
Default value
0x0000
0x0000
0x0000
0x0000
S-0-0278, Maximum travel range

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The parameter "S00278, Maximum travel range" defines the maximum pos
sible mechanical travel distance of the machine.
Use
Depending on the selected scaling, modulo format or absolute format (see

also "S00076, Position data scaling type"), the input is a unipolar (modulo
format) or bipolar value (absolute format).
The parameter "S00278, Maximum travel range" influences the param

eters "S00256, Multiplication 1 (motor encoder)", "S00257, Multiplica
tion 2 (optional encoder)" and "P00129, Internal position data format"
and therefore the internal encoder and position resolution.
Moreover, the limits for velocity and acceleration of the drive-internal po

sition command value generator are influenced by the maximum travel
range.
Among other things, the maximum input values for "S00259, Positioning
Velocity" and "S00260, Positioning Acceleration" depend on the value in
S00278.
The greater the maximum travel range that has been set, the smaller the
multiplication and the internal position resolution and the higher the limit
values of the acceleration and velocity data.
The value for the maximum travel range also influences bit 6 of "S00277,
Position feedback 1 type" or "S00115, Position feedback 2 type". This
bit shows the possibility of absolute evaluation of the encoder.
Record of Revisions
Version
Attribute
Comment
GEN-02VRS
Editability: P2
GEN-02VRS
Validity ch.: P2-3
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
min./max.
S-0-0076 / S-0-0076
Default value
36000,0000
4Byte
DEC_MV
S-0-0077
S-0-0078
--

and Controls
Standard Parameters
MPC:
MPD:
MPH:
4.3.32
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
36000,0000
36000,0000
36000,0000
S-0-0279, IDN-list of password-protected operation data

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
By means of a customer password ("S00267, Password"), the values of the

parameters contained in this list can be protected against inadvertent or unau
thorized changes. In its default status, this parameter contains an empty list.
The user can enter IDNs in this list according to his requirements.
See also Functional Description "Using a Password"
Function:
Memory:
Unit:
Cycl. tra.:
Par
FIX_IDN_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.3.33
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
S-0-0282, Positioning command value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
By this parameter the control unit presets the target position (absolute position)
or a relative travel distance for the drive in the "Drive-controlled positioning"
mode.
The effective target position at which the drive positions can be read
at any time from "S00430, Effective target position"!
Use
Upon a change of the edge of bit 0 in "S00346, Positioning control word", the
drive, controlled by an internally generated position command value, moves to
an axis position that corresponds to the positioning command value (S00282).
In addition, the drive takes the following positioning data into account:
S-0-0259, Positioning Velocity
S-0-0260, Positioning acceleration or S00359, Positioning deceleration
S-0-0193, Positioning jerk
S-0-0108, Feedrate override

and Controls
Standard Parameters
Function:
Memory:
Par
--
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.3.34
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
0,0000
0,0000
0,0000
0,0000
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0077
S-0-0078
--
S-0-0283, Current coordinate offset

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter displays by which value the actual position value was offset
compared to the real actual position value, when S00197, C3300 Set coordi
nate system procedure command or S00199, C3400 Shift coordinate system
procedure command was executed.
The unit of the value corresponds to the selected position scaling.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.3.35
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
the secondary operating mode 4 was selected in the master control

word(bits 11, 9, 8 = "100") and

and Controls
Standard Parameters
Use

In this value, certain positions have a fixed definition. In bit 3 you have to de
termine whether to work with lagless position control or with position control
with lag distance.
The following applies: bit 3 = 0 position control with lag distance
rameter S00292, List of all operating modes and when being read are dis
of S00292.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.3.36
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
-+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
2
2
2
2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC

word(bits 11, 9, 8 = "101") and

Use

with lag distance.
rameter S00292, List of all operating modes and when being read are dis
of S00292.

and Controls
Standard Parameters
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.3.37
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
-+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
2
2
2
2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC

word(bits 11, 9, 8 = "110") and

Use

with lag distance.
rameter "S00292, List of all operating modes" and when being read are
displayed in the form of a hexadecimal code.
of "S00292".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.3.38
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
-+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
2
2
2
2

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
-
MPB
MPB
MPB
-
MPH
MPH
MPH
-
MPD
MPD
MPD
2Byte
BIN
0
--

and Controls
Standard Parameters
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPB
MPH
--
MPD
MPD
MPC
MPC

word(bits 11, 9, 8 = "111") and

Use

with lag distance.
rameter "S00292, List of all operating modes" and when being read are
displayed in the form of a hexadecimal code.
of S00292.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.3.39
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
-+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
2
2
2
2
S-0-0292, List of supported operation modes

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter lists all operation modes which are supported by the drive firm
ware used.
It displays the codes (hexadecimal) of the operation modes, which can be en
tered as binary values in parameters "S-0-0032" "S-0-0035" and
"S00284" "S-0-0287" (primary and secondary operation modes).
See also Functional Description "Operation Modes"
Structure
The table below shows a reference list of all potential operation modes with
allocated code and corresponding binary value.

and Controls
Standard Parameters
Depending on the firmware used, the list parameter "S00292"
contains only a part of the codes listed in this table.
Operation mode
Code dis
played in
S-0-0292
Associated value of pa
rameters
S-0-0032...S-0-0035
Torque control
0x0001
0000.0000.0000.0001
Velocity control
0x0002
0000.0000.0000.0010
Position mode, encoder 1
0x0003
0000.0000.0000.0011
Position mode, encoder 2
0x0004
0000.0000.0000.0100
Position mode lagless, encoder 1
0x000B
0000.0000.0000.1011
Position mode lagless, encoder 2
0x000C
0000.0000.0000.1100
Drive controlled interpolation, encoder 1
0x0013
0000.0000.0001.0011
Drive controlled interpolation, encoder 2
0x0014
0000.0000.0001.0100
Drive controlled interpolation, lagless, encoder 1
0x001B
0000.0000.0001.1011
Drive controlled interpolation, lagless, encoder 2
0x001C
0000.0000.0001.1100
Positioning block mode, encoder 1
0x0033
0000.0000.0011.0011
Positioning block mode, encoder 2
0x0034
0000.0000.0011.0100
Positioning block mode lagless, encoder 1
0x003B
0000.0000.0011.1011
Positioning block mode lagless, encoder 2
0x003C
0000.0000.0011.1100
Position mode drive controlled, encoder 1
0x0103
0000.0001.0000.0011
Position mode drive controlled, encoder 2
0x0104
0000.0001.0000.0100
Position mode lagless, encoder 1 drive controlled
0x010B
0000.0001.0000.1011
Position mode lagless, encoder 2 drive controlled
0x010C
0000.0001.0000.1100
Drive-controlled positioning, encoder 1
0x0213
0000.0010.0001.0011
Drive-controlled positioning, encoder 2
0x0214
0000.0010.0001.0100
Drive-controlled positioning, encoder 1, lagless
0x021B
0000.0010.0001.1011
Drive-controlled positioning, encoder 2, lagless
0x021C
0000.0010.0001.1100
Cam, encoder 1, virtual master axis
0x8803
1000.1000.0000.0011
Cam, encoder 2, virtual master axis
0x8804
1000.1000.0000.0100
Cam, lagless, encoder 1, virt. master axis
0x880B
1000.1000.0000.1011
Cam, lagless, encoder 2, virt. master axis
0x880C
1000.1000.0000.1100
Cam, encoder 1, real master axis
0x8813
1000.1000.0001.0011
Cam, encoder 2, real master axis
0x8814
1000.1000.0001.0100
Cam, lagless, encoder 1, real master axis
0x881B
1000.1000.0001.1011
Cam, lagless, encoder 2, real master axis
0x881C
1000.1000.0001.1100
Phase synchronization, encoder 1, virtual master axis
0x9003
1001.0000.0000.0011
Phase synchronization, encoder 2, virtual master axis
0x9004
1001.0000.0000.0100
Phase synchr. lagless, encoder 1, virtual master axis
0x900B
1001.0000.0000.1011

and Controls
Standard Parameters
Operation mode
Code dis
played in
S-0-0292
Associated value of pa
rameters
S-0-0032...S-0-0035
Phase synchr. lagless, encoder 2, virtual master axis
0x900C
1001.0000.0000.1100
Phase synchronization, encoder 1, real master axis
0x9013
1001.0000.0001.0011
Phase synchronization, encoder 2, real master axis
0x9014
1001.0000.0001.0100
Phase synchr. lagless, encoder 1, real master axis
0x901B
1001.0000.0001.1011
Phase synchr. lagless, encoder 2, real master axis
0x901C
1001.0000.0001.1100
Velocity synchronization, virtual master axis
0xA002
1010.0000.0000.0010
Velocity synchronization, real master axis
0xA012
1010.0000.0001.0010
MotionProfile, encoder 1, virtual master axis
0x9803
1001.1000.0000.0011
MotionProfile, encoder 2, virtual master axis
0x9804
1001.1000.0000.0100
MotionProfile lagless, encoder 1, virtual master axis
0x980B
1001.1000.0000.1011
MotionProfile lagless, encoder 2, virtual master axis
0x980C
1001.1000.0000.1100
MotionProfile, encoder 1, real master axis
0x9813
1001.1000.0001.0011
MotionProfile, encoder 2, real master axis
0x9814
1001.1000.0001.0100
MotionProfile lagless, encoder 1, real master axis
0x981B
1001.1000.0001.1011
MotionProfile lagless, encoder 2, real master axis
0x981C
1001.1000.0001.1100
Position mode drive controlled
0x0305
0000.0011.0000.0101
0x0215
0000.0010.0001.0101
0x0235
0000.0010.0011.0101
Velocity synchronization
0x0042
0000.0000.0100.0010
Position synchronization
0x0245
0000.0010.0100.0101
Fig.4-63:
Use
Overview of Operation Modes With Codes and Binary Values
The position mode (lagless, with lag error) can be set via parameter "S00520,
Control word of axis controller".
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.3.40
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte var.
HEX
0
--
Default value
---------
S-0-0293, C2400 Selectively backup working memory procedure com

mand
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPB
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Standard Parameters
Funct. package(s):
Device parameter:
Function

--
By means of this command the contents of all parameters the IDNs of which
are listed in parameter "S00270, Selected IDN list of operation data to backup"
are saved from the working memory (volatile memory) to the active non-volatile
memory. The active non-volatile memory can be the internal flash memory or
the MultiMediaCard (MMC) if it has been plugged.
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
4.3.41
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
S-0-0298, Reference cam shift

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays the distance by which the home switch (reference cam)
is to be shifted in order to realize the optimum distance between home switch
and selected reference mark of the encoder.
Use
When homing an axis an actual position value referred to the axis zero point is
assigned to a reference mark of the encoder. If the encoder has several refer
ence marks over the travel range of the axis, it is necessary to select one and
always the same reference mark for an unequivocal reference to the axis zero
point. This is done with a home switch that is mounted at one end of the travel
range. The switch is actuated by the axis during homing, the position reference
to the axis zero point is established by the next reference mark of the encoder
the axis passes. The distance between home switch and reference mark
mustn't fall below a minimum value. Otherwise, depending on the situation, it
may not be the next reference mark that is recognized after the home switch
signal, but only the reference mark after the next. This would not allow estab
lishing an unequivocally reproducible zero point reference to the axis; the
distance between home switch and reference mark is therefore monitored by
the drive.
Monitoring
The optimum distance between home switch and reference mark is dis
played in "S-0-0298, Reference cam shift".
If the distance is outside of the allowed range, the command "S00148,

C0600 Drive-controlled homing procedure command" is terminated with
the error "C0602 Distance home switch - reference mark erroneous".
Establishing the Regular Status

and Controls
Standard Parameters
If the distance is outside of the allowed range, the distance is displayed in this
parameter (S00298). The regular status can be established by means of pa
rameter or mechanically:
Enter the value that is displayed in S00298 in the parameter "S00299,

Home switch offset". This causes the effective home switch signal to be
shifted with regard to the actually existing one. Or:
Shift the position of the home switch by the value displayed in S00298.
The settings for home switch, reference mark, encoder and homing
procedure are made in "S00147, Homing parameter"!
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.3.42
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
S-0-0299, Home switch offset

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
By means of this parameter it is possible to virtually offset, by a certain distance,

the point at which the home switch signal becomes effective with regard to the
real switch point. This distance is entered in this parameter.
Use
The value for the distance is displayed in "S00298, Reference cam shift",
when the "Drive-controlled homing procedure" command is terminated with the
"C0602 Distance home switch - reference mark erroneous" error.
It is now only the reference mark after the next reference mark of
the encoder that is detected after the home switch signal. This al
lows establishing an unequivocally reproducible zero point refer
ence to the axis. Depending on the situation, this would not have
been possible with the next reference mark!
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
0,0000
0,0000
0,0000
0,0000
4Byte
DEC_MV
S-0-0077
S-0-0078
+

and Controls
Standard Parameters
4.3.43
S-0-0301, Allocation of real-time control bit 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
The real-time control bits 1 and 2 can each be directly written to one bit of a
parameter in the drive.
The IDN of the parameter containing the bit to which the real-time control
bit 1 is to be written is entered in parameter "S00301".
The bit number is entered in "S00413, Bit number allocation of real-time

control bit 1".
The IDNs of the parameters that can be entered in "S00301" are
contained in "S00399, IDN-list of configurable data in signal con
trol word". Command parameters, however, are not possible!
See also Functional Description "Real-Time Control Bit and Real-Time Status
Bit"
Use
The real-time control bits are part of the parameter "S00134, Master control
word" and are cyclically ("in real time") sent to the drive, i.e. the real-time control
bits can be written to one bit of the assigned parameter at the pulse frequency
of SERCOC communication.
Function:
Memory:
Unit:
Cycl. tra.:
If the respective parameter is not available, the drive reacts

with the service channel error message "Invalid data".
If the respective parameter is available but cannot be written

to in phase 4, the drive reacts with the error message "Invalid
data".
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.3.44
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
P2->P3
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
IDN
0
--
Default value
0
0
0
0
S-0-0303, Allocation of real-time control bit 2

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC

and Controls
Standard Parameters
Function
The real-time control bits 1 and 2 can each be directly written to one bit of a
parameter in the drive.
The IDN of the parameter containing the bit to which the real-time control
bit 2 is to be written is entered in parameter S00303.

control bit 2".
contained in "S00399, IDN-list of configurable data in signal con
trol word". Command parameters, however, are not possible!
See also Functional Description "Real-Time Control Bits and Real-Time Status
Bits"
Use
The real-time control bits are part of the parameter "S00134, Master control
word" and are cyclically ("in real time") sent to the drive, i.e. the real-time control
bits can be written to one bit of the assigned parameter at the pulse frequency
of SERCOC communication.
Function:
Memory:
Unit:
Cycl. tra.:


in phase 4, the drive reacts with the error message "Invalid
data".
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.3.45
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
P2->P3
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
IDN
0
--
Default value
0
0
0
0
S-0-0305, Allocation of real-time status bit 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
The real-time status bits 1 and 2 allow mapping one bit of a parameter to
"S00135, Drive status word" for direct access by a control unit.
The IDN of the parameter containing the bit to be read by the real-time
status bit 1 is entered in parameter "S00305".

status bit 1".
contained in "S00398, IDN-list of configurable data in signal status
word".

and Controls
Standard Parameters
Bit"
Use
The real-time status bits are part of the parameter "S00135, Drive status
word" and are cyclically ("in real time") sent by the drive to the master, i.e. one
bit of the assigned parameter can be evaluated in the master at the pulse fre
quency of SERCOC communication.
Function:
Memory:
Unit:
Cycl. tra.:


data".
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.3.46
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
P2->P3
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
IDN
0
--
Default value
0
0
0
0
S-0-0307, Allocation of real-time status bit 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
The real-time status bits 1 and 2 allow mapping one bit of a parameter to
"S00135, Drive status word" for direct access by a control unit.
The IDN of the parameter containing the bit to be read by the real-time
status bit 2 is entered in parameter "S00307".

status bit 2".
Bit"
Use

contained in "S00398, IDN-list of configurable data in signal status
word".
The real-time status bits are part of the parameter "S00135, Drive status
word" and are cyclically ("in real time") sent by the drive to the master, i.e. one
bit of the assigned parameter can be evaluated in the master at the pulse fre
quency of SERCOC communication.

and Controls
Standard Parameters
Function:
Memory:
Unit:
Cycl. tra.:


data".
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.3.47
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
P2->P3
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
IDN
0
--
Default value
0
0
0
0
S-0-0315, Positioning velocity > nLimit

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
When the positioning velocity with active positioning mode (interpolation, po

sitioning or positioning block mode) has exceeded the limit value indicated in
S00091,
limitation to the value in S00091 takes place in the ramp generator and
the message "Positioning velocity > nLimit" is generated, i.e. bit 0 is set in
S00315.
The message bit can be configured, for example, in the signal con
trol word or as real-time status bit!

See also Functional Description "Drive-Internal Interpolation "
rameters"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
4.3.48
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
S-0-0323, Target position outside of travel range

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
MPB
MPB
MPB
MPH
MPH
MPH
MPD
MPD
MPD
2Byte
BIN
0
--

and Controls
Standard Parameters
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPD
MPD
MPD
MPC
MPC
When the new target position with active positioning mode (interpolation, po
sitioning or positioning block mode) is outside of the position limit values (cf.
S00049, S00050) and the drive has been homed,
the drive generates the warning E2053 Target position out of travel range
and
the message "target position outside of travel range" (i.e. bit 0 in S00323)
is generated.
trol word or as real-time status bit!

rameters"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.3.49
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
S-0-0326, Parameter checksum

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
When reading this parameter the checksum is generated by all parameter val
ues the IDNs of which are listed in parameter "S00327, IDN list of checksum
parameter".
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
4Byte
DEC_OV
0
--

and Controls
Standard Parameters
MPD:
MPH:
4.3.50
--- / ----- / ---
-----
S-0-0327, IDN list of checksum parameter

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The IDNs of those parameters the checksum of which is to be generated are

entered in this parameter. The checksum generation is triggered with the read
ing of the parameter "S00326, Parameter checksum". In the default status,
there haven't any IDNs been entered in parameter S00327.
Function:
Memory:
Unit:
Cycl. tra.:
Par
FIX_IDN_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.3.51
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
S-0-0328, Assign list signal status word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In this list parameter, the assignment is made as to which bit of the respective
parameter entered in "S00026, Configuration list for signal status word" is to
be mapped to "S00144, Signal status word".
Use
The first line of the list contains the number of the bit of the first parameter from
the list of S00026 that is mapped in the LSB of S00144. The other lines of
the list correspond respectively with the other parameters from the list of
S00026 and the more significant bits of S00144.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0 / 31
0 / 31
0 / 31
0 / 31
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte var.
DEC_OV
0
--

and Controls
Standard Parameters
4.3.52
S-0-0329, Assign list signal control word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In this list parameter, the assignment is made as to which bit of the respective
parameter entered in "S00027, Configuration list for signal control word" is
written via the signal control word (S00145).
Use
The first line of the list contains the number of the bit of the first parameter from
the list of S00027 that is written with the LSB of S00145. The other lines of
the list correspond respectively with the other parameters from the list of
S00027 and the more significant bits of S00145.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.3.53
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0 / 31
0 / 31
0 / 31
0 / 31
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
DEC_OV
0
--
Default value
---------
S-0-0330, Status "n_feedback = n_command"

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays whether the actual velocity value has reached the
command value within a tolerance window (message "n_actual = n_com
mand").
|S-0-0040 S-0-0036 S-0-0037| <= S-0-0157
Use
Bit 0 of this parameter becomes "1" when the absolute value of S00040, Ve
locity feedback value is within the range of values limited by the resulting
velocity command value (S00036 + S00037) +/- S00157, Velocity window.
This message also appears in S00013, Class 3 diagnostics.
rameters"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
2Byte
BIN
0
--

and Controls
Standard Parameters
MPD:
MPH:
4.3.54
--- / ----- / ---
-----
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
S-0-0331, Status "n_feedback = 0"

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter displays whether the actual velocity value has fallen below a
threshold value that can be set, below which the controller recognizes motor or
axis standstill ("n_feedback = 0" message).
rameters"
Use
locity feedback value is smaller than the value of S00124, Standstill window.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.3.55
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
S-0-0332, Status "n_feedback < nx"

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter displays whether the actual velocity value has fallen below a
threshold value that can be set ("n_actual = nx" message).
rameters"
Use
locity feedback value is smaller than the value of S00125, Velocity threshold
nx. This message also appears in S00013, Class 3 diagnostics.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
2Byte
BIN
0
--

and Controls
Standard Parameters
MPD:
MPH:
4.3.56
--- / ----- / ---
-----
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
S-0-0333, Status "T >= Tx"

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter indicates whether the actual torque or force value has exceeded
a threshold value ("T >= Tx" message) that can be set.
rameters"
Use
Bit 0 of this parameter becomes "1" when the absolute value of S00084, Tor
que/force feedback value is greater than or equal to the value of S00126,
Torque threshold Tx. This message also appears in S00013, Class 3 diag
nostics.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
4.3.57
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
S-0-0334, Status "T >= Tlimit"

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter indicates whether the actual torque or force value has reached
the limit value ("T >= Tlimit" message).
The limit value is generated by the smallest value of
P-0-0109, Torque/force peak limit
S-0-0092, Bipolar torque/force limit value
S-0-0082, Torque/force limit value positive
S-0-0083, Torque/force limit value negative
work load-dependent limits by motor and controller.

Use
Bit 0 of this parameter becomes "1" when the absolute value of S00084, Tor
que/force feedback value is equal to or greater than the mentioned limit value.
The current limit values can be called up via

and Controls
Standard Parameters

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
4.3.58
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
S-0-0335, Status "n_command > n_limit"

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays when the absolute velocity command value is greater
than the velocity limit value that can be set ("'n command > n limit" message).
Use
Bit 0 of this parameter becomes "1", when the absolute value of the resulting
velocity command value (S00036 + S00037) is greater than the value of
S00091, Bipolar velocity limit value.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
4.3.59
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
S-0-0336, Status "In position"

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
If an operation mode with internal position control has been activated in the
drive, this parameter is used to map the "In position" message to an individual
IDN (bit 0). This allows assigning the status message to a real-time status bit
in "S00135, Drive status word".

and Controls
Standard Parameters
rameters "
Bits"
Use
The "In position" message (S-0-0336 Bit 0 = 1) is also defined as a bit in class
3 diagnostics (S-0-0013 Bit 6) and is set when the following distance (S-0-0189)
is smaller than the position window (S-0-0057).
When the command "position spindle" is executed, the message is
set when the spindle is in target position.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.3.60
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
S-0-0337, Status "P >= Px"

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter indicates whether the absolute value of the actual power value
has exceeded a threshold value that can be set ("P >= Px" message). Bit 0 of
this parameter becomes "1" when the absolute value of "S00382, DC bus
power" is greater than or equal to the value of "S00158, Power threshold Px".
This message also appears in "S00013, Class 3 diagnostics".
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.3.61
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
S-0-0338, Status "In target position"

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Standard Parameters
Function
When the drive positions at the active target position S00430, it generates this
message if
the actual position value of the axis is within the position window around
the active target position ( In position: "S00336")
and
the axis has stopped, i.e. the actual velocity is within the S00124, Stand
still window ( In standstill: "S00331").
trol word or as real-time status bit! The message is generated after
initialization in any status, i.e. also with operation mode not activa
ted!

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.3.62
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
S-0-0341, Status "In coarse position"

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter was introduced for the 'In Position coarse' message in order to
make the assignment to a real-time status bit (e.g. S00303) possible. The
'In Position coarse' message (S00341 Bit 0 = 1) is also defined as a bit in class
3 diagnostics (S-0-0013 Bit 11) and is set when S00189, Following error is
smaller than S00261, Positioning window coarse.
rameters "
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
BIN
0
--

and Controls
Standard Parameters
4.3.63
S-0-0342, Status "Target position attained"

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays whether the internally generated position command

value has reached the target position.
Bit 0 of this parameter becomes "1" when the command value of the interpolator
(P00434, Position command value controller), in the case of drive-controlled
positioning processes, has reached the target position (P00050, Effective tar
get position).
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
4.3.64
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
S-0-0343, Status "Interpolator halted"

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Message parameter that, with the value "1", displays the following interpolator
(command value generator) states in the "Drive-internal interpolation" and
"Drive-controlled positioning" modes:
velocity command value (P00048) is zero and
drive-internal position command value (P00434) has not yet reached the
target position (S00258 or P00050).
This message signals that the value "0" is written to "S00259, Po
sitioning Velocity" during a positioning process, for example.

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--

and Controls
Standard Parameters
Input
MPB:
MPC:
MPD:
MPH:
4.3.65
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
S-0-0346, Positioning control word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used as control word in all drive-internal positioning modes

to control the positioning operation.
Structure
The parameter has the following structure:

Bit
Acceptance of positioning command value

Applied by toggling
2/1
Activation of positioning
00: Positioning active, started by toggling of bit 0
Positioning aborted by:
01: Infinite travel in positive direction (jog+)
10: Infinite travel in negative direction (jog-)
11: Stopping the axis (positioning stop)
Kind of positioning command value

0: Absolute
1: Relative (depending on bit 4!)
Dedicated point for positioning command values

0: Last effective target position (S00430)
1: Current actual position value (S00386)
Comment

and Controls
Standard Parameters
Bit
Immediate block change
Comment
0: Drive moves to current target position, before positioning at

new target position
1: Immediate block change, i.e. drive immediately moves to new
target position
7/6
Behavior for sequential block (bit 5 = 0)

00: Halt at target position of start block
01: Overrunning target position of start block (mode 1)
10: Overrunning target position of start block (mode 2)
Fig.4-64:
Use
Relevant Bits of S00346, Positioning Control word
Bit 0: Command values or block applied by toggling
"S-0-0282, Positioning command value" during drive-controlled po

sitioning (absolute position)
"P-0-4026, Positioning block selection" in positioning block mode,

wherein actual application is initiated by 0 1 edge of P-0-4060, bit
0!
Thereafter, "S00419, Positioning command acknowledge" con
firms that the command value has been applied.
Bit 4: Dedicated point for positioning command values
Bit 4 = 0: Incremental dimension reference is maintained

Reference for positioning is previous target position (S00430), i.e.
any possibly existing residual path is taken into account for relative
positioning (e.g. residual path of 20 mm + 100 mm relative target
position result in travel motion of 120 mm!). Incremental dimension
is maintained in the case of successive positioning procedures.
Bit 4 = 1: Incremental dimension reference gets lost. Reference for

positioning is the current actual position value (cf. S00386), any
possibly existing residual path is not traveled (e.g. residual path of
20 mm + 100 mm relative target position result in travel motion of 100
mm!). Incremental dimension reference gets lost in the case of
successive rel. process blocks!
In the context of absolute positioning procedures, bit 4 only makes
sense in connection with special cases, i.e. with command "positive
stop drive procedure" or in "modulo mode", and only has to be taken
into account in these cases!
Bit 7,6: Behavior with sequential block mode

(Sequential block mode requires setting S00134, bit 5 = 0)
0,0: Intermediate stop - Block transition with halt at target position of

start block
0,1: Mode 1 - Block transition with velocity of start block, i.e. the target
position of the start block is overrun with the velocity of the start block.
1,0: Mode 2 - Block transition with velocity of sequential block, i.e.

the target position of the start block is overrun with the velocity of the
sequential block. Possibly required changes in velocity already take

and Controls
Standard Parameters
place during the start block. Switching to the next target position does
not occur until the previous target position is overrun.
For field bus drives, some of the bits are already contained in the
field bus control word (cf. P04077)!
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
4.3.66
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
0
0
0
0
S-0-0347, Velocity error

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The S00347 parameter indicates the difference between velocity command

value and actual velocity value in the velocity control loop.
Fig.4-65:
S-0-0347, Speed deviation
See also Functional Description "Velocity Loop"

Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.3.67
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
S-0-0348, Acceleration feedforward gain

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
MPB
MPB
MPB
MPH
MPH
MPH
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0045
S-0-0046
--

and Controls
Standard Parameters
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPD
MPD
MPD
MPC
MPC
Change notice
In MP*03VRS and higher versions, the data length is increased
from 2 bytes to 4 bytes and the number of decimal places for rotary
motors is increased to 4 digits. There is still only one decimal place
for linear motors!
Operating principle
The acceleration feedforward reduces the lag error during acceleration in lag
less operation.
The acceleration feedforward only takes effect in lagless operation
(cf. P00040).
The acceleration command value obtained from double differentiation of the
position command value is multiplied with the content of "S00348" and added
to the torque/force command value at the velocity loop output.
Use
Input values
The acceleration feedforward is activated by entering a value in
"S00348" that is greater than "0" (S00348 = 0 switched off).
For optimum parameterization of the acceleration feedforward, the following
values have to be entered in "S-0-0348":
Total mass (motor + load) in kg (linear motor), and the
total mass inertia (motor + load) in relation to the motor output shaft, in
kgm^2 (rotary motor).
Depending on the respective mechanical system, the input value of
"S00348" has to be adjusted on site.

In MP*03VRS and higher versions, the drive firmware automatically adjusts the
unit and decimal places to the type of construction of the motor (rotary or linear)
entered in "P04014, Type of construction of motor":
Rotary motor: mN*m / rad/s^2 g*m^2
Linear motor: mN / mm/s^2 kg.
Record of Revisions
Version
Attribute
GEN-02VRS
Data length: 2 bytes
GEN-02VRS
MPB_Max value: 65535
Comment

and Controls
Standard Parameters
Version
Attribute
GEN-02VRS
MPD_Max value: 65535
GEN-02VRS
MPH_Max value: 65535
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
mNm/(rad/s)
--
Comment
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.3.68
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0,0000 / MaxLong
0,0000 / MaxLong
0,0000 / MaxLong
0,0000 / MaxLong
Default value
0,0000
0,0000
0,0000
0,0000
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_OV
4
+
S-0-0349, Bipolar jerk limit

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The bipolar jerk limit value, in the operation modes listed below, describes the
maximum allowed acceleration change per time (= jerk), symmetrically in both
directions (acceleration and deceleration).
The limit value takes effect in the following operation modes:
Position control
The bipolar jerk limit value limits the change in acceleration per time
for "Drive Halt", the error reaction quick stop (velocity command
value reset with filter and ramp) and the commands that are gen
erating their own position command values. The value "0" switches
the jerk filter off!

Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
Default value
0,000
0,000
0,000
0,000
4Byte
DEC_MV
S-0-0161
S-0-0162
+

and Controls
Standard Parameters
4.3.69
S-0-0359, Positioning deceleration

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
By this parameter the maximum deceleration at which to move to the target

position ("S00258, Target position" or "S-0-0282, Positioning command val
ue") is preset for the drive in the "drive-internal interpolation" and "drivecontrolled positioning" modes.
Use
positioning acceleration (S00260) or deceleration (S00359), takes the max
imum positioning velocity (S00259), the maximum positioning jerk (S00193)
and the feedrate override (S00108) into consideration.
eration limit value". The value of parameter "S-0-0359, Positioning
deceleration" should always be smaller than the value of parameter
take effect.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.3.70
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
4Byte
DEC_MV
S-0-0161
S-0-0162
--
Default value
1000,000
1000,000
1000,000
1000,000
S-0-0360, Data container A: command value 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In this parameter the master transmits the data which in the drive is written to
the target parameter addressed via S00368, Data container A: addressing
from S00370, Data container A: configuration list command value-1.
If a 2-byte target parameter is addressed with 2-byte data, only the low word of
S00360, Data container A: command value 1 is used. In order to use the data

and Controls
Standard Parameters
container, the parameter S00360 has to be entered in the list of cyclic data
S00024 in phase 2.
See also Functional Description "Multiplex Channel"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
4.3.71
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
HEX
0
--
Default value
---------
S-0-0362, Data container A: list index command values

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains the list index by means of which it is possible to access
individual list elements configured in "data container A: configuration list com
mand value-x".
It is thereby possible with the multiplex channel to write individual elements of
a list via an index in a controlled way. The parameter S00362, Data container
A: list index command values can, depending on the requirements, be config
ured in the cyclic command values or write accessed via the non-cyclical data
channel or some other interface.
The parameter becomes effective only if a list parameter is ad
dressed via S00368, Data container A: addressing.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
4.3.72
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
HEX
0
--
Default value
---------
S-0-0364, Data container A: feedback value 1

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Standard Parameters
Function
To parameter S00364 the drive copies the data of the source parameter ad
dressed via S00368, Data container A: addressing from S00371, Data
container A: configuration list feedback value-1.
Use
If a 2-byte source parameter is addressed with 2-byte data, only the low word
is copied to S00364, Data container A: feedback value 1. In order to use the
data container, the parameter S00364 has to be entered in the list of cyclic
data S00016 in phase 2.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
4.3.73
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
HEX
0
--
Default value
---------
S-0-0366, Data container A: list index feedback values

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains the list index by means of which it is possible to access
individual list elements configured in "data container A: configuration list feed
back value-x".
Use
It is thereby possible with the multiplex channel to read individual elements of

a list via an index in a controlled way. The parameter S00366, Data container
A: list index feedback values can, depending on the requirements, be config
ured in the cyclic command values or write accessed via the non-cyclical data
channel or some other interface.
The parameter becomes effective only if a list parameter is ad
dressed via S00368, Data container A: addressing.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
4.3.74
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
S-0-0368, Data container A: addressing

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
-
MPB
MPB
MPB
-
MPH
MPH
MPH
-
MPD
MPD
MPD
2Byte
HEX
0
--

and Controls
Standard Parameters
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPB
MPH
--
MPD
MPD
MPC
MPC
This parameter contains the indices by means of which the parameter lists "data
container A: configuration list command value-x" and "data container A: con
figuration list feedback value-x" are accessed. This defines the content of the
two data containers "data container A: configuration list command value-x" and
"data container A: configuration list feedback value-x". Only bits 0...4 (for com
mand values) and 8...12 (for actual values) are used for addressing; the other
bits are cut off.
Structure
Bit
0-4
addressing for command values
8-12
addressing for actual values
Fig.4-66:
Comment
S-0-0368, Data container A: addressing
If the indicated index is greater than the number of elements in the

respective list, the warning "E4008 Invalid addressing command
value data container A" or "E4009 Invalid addressing actual value
data container A" is generated.
The parameter "S00368, Data container A: addressing" can, de
pending on the requirements, be configured in the cyclic command
values or write accessed via the non-cyclical data channel or some
other interface.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
4.3.75
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
HEX
0
--
Default value
---------
S-0-0370, Data container A: configuration list command value-1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Parameter "S00370, Data container A:Configuration list command value -1",

serves to enter the IDNs which are transmitted in "S00360, Data container
A:Command value 1" depending on the index in "S00368, Data container
A:Addressing", low byte. Writing to S00370 is only possible in communication
phase 2.

and Controls
Standard Parameters
Use
A check is run in the command "S00127, C0100 Communication phase 3

transition check" to find out whether the IDNs contained in "S00370" are con
tained in the list "S00188, List of configurable data in the MDT". If this is not
the case, the command error "C0151 Config. IDNs for command value data
container not configurable" is generated.
A maximum of 32 IDNs can be configured in S00370.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.3.76
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
S-0-0371, Data container A: configuration list feedback value-1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Parameter "S00371" serves to enter the IDNs which are transmitted in

"S-0-0364, Data container A: Feedback value 1" depending on the index in
"S00368, Data container A: Addressing", high byte. Writing to S00371 is only
possible in communication phase 2.
Use

tained in the list "S00187, List of configurable data in the AT".
If this is not the case, the command error "C0152 Config. IDNs for actual value
data container not configurable" is generated.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.3.77
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
MPB
MPB
MPB
MPH
MPH
MPH
MPD
MPD
MPD
4Byte var.
IDN
0
--

and Controls
Standard Parameters
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPC
MPC
In this parameter you have to set with which maximum deceleration value a
drive is shut down in the case of
speed command value reset with ramp
Drive Halt

See also Functional Description "Best Possible Deceleration"
Use
In addition, the value of this parameter takes effect as the maximum accelera
tion or deceleration during the spindle positioning process (C0900 Position
spindle command).
eration limit value". The value of parameter "S-0-0372, Drive Halt
acceleration bipolar" should always be smaller than the value of
parameter "S-0-0138, Bipolar acceleration limit value", because
otherwise a lag error will build up due to internal control processes.
When the value "0" is input for the parameter, the parameter
"S-0-0138" will take effect.
Record of Revisions
Version
Attribute
Comment
GEN-02VRS
Cycl. tra.: no
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.3.78
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
Default value
10000,000
10000,000
10000,000
10000,000
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0161
S-0-0162
+
S-0-0375, Diagnostic numbers list

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The drive enters any change of parameter "S00390, Diagnostic message

number" in this list. The list is organized as a ring buffer. It can contain 50
diagnostic message numbers. When the list is read, the last diagnostic mes
sage number displayed is displayed in the 1st element of the parameter.

and Controls
Standard Parameters
The list from "P00105, Time stamp for list of diagnostic message
numbers" corresponds with the parameter "S00375". The diag
nostic message numbers relating to the respective point of time are
each entered in the same line respectively.
See also Functional Description "Diagnostic System"
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.3.79
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
HEX
0
--
Default value
---------
S-0-0378, Absolute encoder range of motor encoder

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter indicates the maximum extent of the travel range that can be
selected so that an absolute motor encoder can be evaluated in absolute form.
Use
If the encoder position exceeds this maximum travel range, bit 6 in the position
feedback type parameter (S00277) is set to zero. The actual position value
displayed is no longer unequivocal and the reference of the motor encoder is
cleared. The reference status of the position encoders connected to the drive
is displayed in parameter "S00403, Position feedback value status".
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.3.80
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
S-0-0379, Absolute encoder range of optional encoder

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Standard Parameters
Function
selected so that an absolute external (optional) encoder can be evaluated in
absolute form.
Use
feedback type parameter (S00117) is set to zero. The actual position value
displayed is no longer unequivocal and the reference of the external encoder
is cleared. The reference status of the position encoders connected to the drive
is displayed in parameter S00403, Position feedback value status.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.3.81
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
S-0-0380, DC bus voltage

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter is used to display the DC bus voltage currently measured.

Function:
Memory:
Unit:
Cycl. tra.:
Par
-V
AT
Input
MPB:
MPC:
MPD:
MPH:
4.3.82
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_MV
1
--
S-0-0382, DC bus power

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter displays the DC bus power currently demanded by the motor.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-Watt
AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--

and Controls
Standard Parameters
Input
MPB:
MPC:
MPD:
MPH:
4.3.83
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
S-0-0383, Motor temperature

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter indicates the measured value of the winding temperature of the
motor, if the temperature sensor incorporated in the motor allows analog tem
perature evaluation!
In the case of MHD, MKD, MKE and LSF motors, the values indi
cated by S00383 do not allow, due to the temperature sensor
characteristic (switching performance), drawing a conclusion re
garding the actual motor temperature!
Function:
Memory:
Unit:
Cycl. tra.:
Par
-S-0-0208
AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.3.84
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_MV
1
--
S-0-0384, Amplifier temperature

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Display parameter for the measured temperature of the controller power output
stage (heat sink temperature).
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
-S-0-0208
AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
DEC_MV
1
--

and Controls
Standard Parameters
4.3.85
S-0-0386, Active position feedback value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The value of parameter "S00386, Active position feedback value" always dis
plays the current position of the encoder that was set in the presently active
operation mode.
According to the operation mode that was set, the active actual position value
therefore either corresponds to parameter "S00051, Position feedback value
1" or to parameter "S00053, Position feedback value 2".
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.3.86
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
S-0-0390, Diagnostic message number

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The diagnostic message number shown on the display is stored in this param
eter. This enables the control unit to generate its own diagnostic messages by
means of this number (e.g. in languages in which the diagnostic message texts
have not been stored in the drive).
Example:
Diagnostic message (in parameter S00095): "F8022 Enc. 1 error: sign. am
plitude (can be cleared in ph.2)"
Diagnostic message number (in parameter S00390): "F8022(hex)"
In the case of multi-axis firmware, the parameter is available once per axis.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
4Byte
HEX
0
--

and Controls
Standard Parameters
MPD:
MPH:
4.3.87
--- / ----- / ---
-----
S-0-0391, Monitoring window feedback 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The value of this parameter defines the maximum allowed deviation of the ac
tual position values of motor encoder and external encoder ("S00051, Position
feedback value 1", "S00053, Position feedback value 2").
If this value is exceeded, the error "F2036 Excessive position feedback differ
ence" is generated. The monitor is only active when both encoders were
homed. The monitor can be switched off by writing the value "0" to this param
eter.
See also Functional Description "Monitoring the Measuring Systems"
Record of Revisions
Version
Attribute
Comment
GEN-02VRS
Validity ch.: P2-3
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.3.88
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
0,0000
0,0000
0,0000
0,0000
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0077
S-0-0078
--
S-0-0393, Command value mode

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
This parameter is used as control word for positioning.

MPC
MPC

and Controls
Standard Parameters
Structure
Bit
1/0
mode
Comment
Up to firmware
00: positive direction Only positive direction of rotation is MP*02V22 the
allowed for jogging and positioning (rel./absolute). (See mode for relative
also "F2059 Incorrect command value direction when po positioning was not
taken into account
sitioning")
01: negative direction Only negative direction of rotation
is allowed for jogging and positioning (rel./absolute). (See
also "F2059 Incorrect command value direction when po
sitioning")
10: shortest distance Both positive and negative direc
tions of rotation are allowed for jogging and positioning
(rel./absolute). Note: If, when a positioning mode is acti
vated, the current travel direction or direction of rotation
is opposed to the direction (positive / negative) parame
terized in "S00393, Command value mode", the error
F2059 is not generated. In this case the axis decelerates
with the parameterized deceleration.
command value reference when operating mode activa

ted
0: reference for relative positioning is current actual po
sition
1: reference for relative positioning is content of
"S00430, Effective target position" (residual path pro
cessing!)
Fig.4-67:
Use
Structure of parameter S-0-0393
Parameter Used for "Modulo Axes"

This parameter defines the sense of rotation of a "modulo axis" in the case of
drive-controlled positioning processes.
"Modulo axes" are, for example, circular tables, spindles etc. that, due to their
mechanical structure, do not have any travel range limits and can turn "end
lessly". After one axis revolution the actual position value of the "modulo axis"
is repeated referring to the home point. Due to this mechanical property it is
necessary to determine a mode for positioning processes, because a target
position can be reached in both senses of rotation or over a longer or shorter
distance.
The position data format must be "modulo" ("S00076, Position
Residual Path Processing
The following sections describe some special cases regarding residual path
processing:
If residual path processing is active, the drive, after the operating mode
has been activated, travels the residual path without repeated command
value acceptance when S00430 is valid and the axis has been homed.
When the control voltage is switched off, the content of S00430 is
automatically saved and restored when the drive is switched on
again.

and Controls
Standard Parameters
If drive-internal positioning is aborted by jogging or stopping the position

ing process (S00346, bit 1, 2 = 11), the new positioning command value,
too, is only accepted at the next toggling of bit 0 in S00346. A possibly
existing residual path from the previous positioning process is cleared!
When jogging and stopping the positioning process, the current values of
"S00259, Positioning Velocity" and "S00260, Positioning Acceleration"
or "S00359, Positioning Deceleration" are active.
Residual path processing in the case of repeated activation of the oper

ating mode is only carried out when bit 2 = 1 and the has remained homed
since the last positioning.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
4.3.89
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0/7
0/7
0/7
0/7
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
2
2
2
2
S-0-0398, IDN-list of configurable data in signal status word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains the IDNs of those parameters that can be entered
(configured) in "S00026, Configuration list signal status word" or "S01050.x.
20, SIII-Connection: IDN allocation of real-time bit".
See also Functional Description "Digital Inputs/Outputs"
Use
S00026 is a list with a maximum of 16 parameter IDNs, one bit of each is to

be mapped to "S00144, Signal status word". The assignment with regard to
which bit of the respective parameter is mapped to S00144 is made in
"S00328, Assign list signal status word".
S01050.x.20 is a list with a maximum of 2 parameter IDNs of which one bit
each is to be mapped to the connection control (C-Con). The assignment with
regard to which bit of the respective parameter is mapped to S01050.x.20 is
made in "S01050.x.21, SIII-Connection: Bit allocation of real-time bit".
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.3.90
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
S-0-0399, IDN-list of configurable data in signal control word

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
MPB
MPB
MPB
MPH
MPH
MPH
MPD
MPD
MPD
4Byte var.
IDN
0
--

and Controls
Standard Parameters
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPC
MPC
This parameter contains the IDNs of those parameters that can be entered
(configured) in "S00027, Configuration list signal control word" or "S01050.x.
20, SIII-Connection: IDN allocation of real-time bit".
Use
S00027 is a list with a maximum of 16 parameter IDNs, one bit of each is to

be written via "S00145, Signal control word". The assignment with regard to
which bit of the respective parameter is to be written in S00027 is made in
"S00329, Assign list signal control word".
S01050.x.20 is a list with a maximum of 2 parameter IDNs of which one bit
each is to be mapped to the connection control (C-Con). The assignment with
regard to which bit of the respective parameter is mapped to S01050.x.20 is
made in "S01050.x.21, SIII-Connection: Bit allocation of real-time bit".
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.3.91
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
IDN
0
--
Default value
---------
S-0-0400, Home switch

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The switch status of the home switch connected to the controller is mapped in
this parameter.
Structure
Bit
home switch
0: not activated (0V)
1: activated (24V)
Fig.4-68:
Relevant bits of "S-0-0400, Home switch"
Comment

and Controls
Standard Parameters
Function:
Memory:
Unit:
Cycl. tra.:
By means of this parameter, the switch status of the home

switch can be assigned to a real-time status bit, for example!
To evaluate the home switch, S00400 must be assigned to

the digital input in "P00300, Digital I/Os, assignment list" pro
vided for this purpose, "P00301, Digital I/Os, bit numbers"
must be set accordingly!
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
4.4
4.4.1
S-0-0401, Probe 1
Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
2Byte
BIN
0
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays the switch status of the probe 1 input signal.
Prerequisite:
be executed.

Structure
Bit
probe input signal
Comment
0: 0 V
1: 24 V
Fig.4-69:
Function:
Memory:
Unit:
Cycl. tra.:
Relevant bits of S-0-0401, Probe 1

Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
4.4.2
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
S-0-0402, Probe 2
Allocation
Contained in 02VRS:
Contained in 03VRS:
-
-
MPH
MPH
-
-
2Byte
BIN
0
--

and Controls
Standard Parameters
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
-
MPD
MPD
MPD
MPC
MPC
This parameter displays the switch status of the probe 2 input signal.
Prerequisite:
be executed.

Structure
Bit
probe input signal
Comment
0: 0 V
1: 24 V
Fig.4-70:
Function:
Memory:
Unit:
Cycl. tra.:
Relevant bits of S-0-0402, Probe 2

Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
4.4.3
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
S-0-0403, Position feedback value status

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays the status messages of the actual position values of
the connected encoders. In addition, the position status of the encoder selected
by bit 3 of "S00147, Homing parameter" is displayed in bit 0.

and Controls
Standard Parameters
Structure
Bit
Comment
status of reference encoder pos. feedb. value (encoder 1 or

2) is
0: relative
1: homed
status of motor encoder S-0-0051, Pos. feedback 1 value

is
0: relative
1: homed
status of external encoder S-0-0053, Pos. feedback 2 value

is
0: relative
1: homed
Fig.4-71:
Use
Relevant bits of 0-0403, Position feedback value status
When the drive reacts to the commands "S00148, C0600 Drive-controlled

homing procedure command" or "P00012, C0300 Command Set absolute
measuring", bit 0 is reset (value "0") at the start of these commands and set
again (value "1") after successful completion of the respective command reac
tion.
In the case of devices with SERCOS interface, the status message of the actual
position values can be allocated to a real-time status bit and continuously
transmitted to the NC in the drive status
(see parameter "S00305, Allocation of real-time status bit 1").
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
4.4.4
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
S-0-0404, Position command value status

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-closed loop
--
-
MPH
MPH
MPH
MPH
MPH
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
When the position command value is switched to axis reference, the master
sets the position command value status to "homed". This signals to the drive
that the master, as of this point of time, refers all position command values to
the axis zero point. The master simultaneously enters the new position com
mand value in the cyclic data.
See also Functional Descriptions "Establishing Position Data Reference for
Relative Measuring Systems"

and Controls
Standard Parameters
Structure
Bit
Comment
status of position command value

0: relative
1: homed (referring to axis zero point)
Fig.4-72:
Function:
Memory:
Unit:
Cycl. tra.:
Relevant bits of S-0-0404, Position command value status

Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.4.5
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
S-0-0405, Probe 1 enable

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
With this parameter the measurement with probe 1 is enabled (activated).

The enable mode (single measurement or continuous measurement) is deter
mined in "S00169, Probe control parameter".
The probe enable can be carried out by a real-time control bit of the master
control word, for example.
Structure
Bit
probe enable
Comment
0: no
1: yes
Fig.4-73:
Function:
Memory:
Unit:
Cycl. tra.:
Relevant bits of S-0-0405, Probe 1 enable

Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
4.4.6
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
S-0-0406, Probe 2 enable

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
-
-
MPB
MPH
MPH
MPH
-
-
-
2Byte
BIN
0
--

and Controls
Standard Parameters
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPD
MPD
MPD
MPC
MPC
With this parameter the measurement with probe 2 is enabled (activated).

The enable mode (single measurement or continuous measurement) is deter
mined in "S00169, Probe control parameter". The probe enable can be carried
out by a real-time control bit of the master control word, for example.
Structure
Bit
probe enable
Comment
0: no
1: yes
Fig.4-74:
Function:
Memory:
Unit:
Cycl. tra.:
Relevant bits of S-0-0406, Probe 2 enable

Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.4.7
OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
S-0-0407, Homing enable

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-closed loop
--
-
MPH
MPH
MPH
MPH
MPH
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
For NC-controlled homing the master-side homing enable is one of the require
ments for starting the search for the reference point on the drive side. Via this
parameter the homing enable can be assigned to a real-time control bit. The
drive only evaluates the homing enable with active command "C4300 NC-con
trolled homing procedure"!
See also Functional Descriptions "Establishing Position Data Reference for
Relative Measuring Systems"
Structure
Bit
Comment
Homing enable set on master side?

0: no
1: yes
Fig.4-75:
Function:
Memory:
Relevant bits of S-0-0407, Homing enable

Par
--
Editability:
Validity ch.:
OM
--
Data length:
Format:
2Byte
BIN

and Controls
Standard Parameters
Unit:
Cycl. tra.:
-AT + MDT
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.4.8
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
0
--
Default value
---------
S-0-0408, Reference marker pulse registered

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-closed loop
--
-
MPH
MPH
MPH
MPH
MPH
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
For Non-Distance-Coded Encoders

In this parameter the drive signals the detection of the reference point (refer
ence mark) only in the case of NC-controlled homing, if "S00407, Homing
enable" is present on the master side and a reference mark of the encoder was
detected. At the same time the drive stores the non-homed actual position value
of the detected mark in "S00173, Marker position A" (motor encoder) or
"S00174, Marker position B" (external encoder).
For Distance-Coded Encoders
In this parameter the drive, in the case of NC-controlled homing, signals the
detection of both reference marks of the distance-coded encoder, independent
of "S00407, Homing enable". The drive stores the non-homed actual position
values of the two detected reference marks in "S00173, Marker position
A" (first detected reference mark) and "S00174, Marker position B (second
detected reference mark).
Structure
Bit
Comment
reference mark(s) detected?

0: no
1: yes
Fig.4-76:
Relevant bits of S-0-0408, Reference marker pulse registered
The parameter is only valid during the active command "C4300 NCcontrolled homing procedure". In the case of drive-controlled hom
ing (C0600), this message is not generated!
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
BIN
0
--

and Controls
Standard Parameters
4.4.9
S-0-0409, Probe 1 positive latched

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays the measured value acquisitions that were caused by
positive edges of the probe 1 input signal.
Prerequisite:
The command "S-0-0170, Probing cycle procedure command" must be

active.
Bit 0 must be set in S-0-0169, Probe control parameter.
Probe 1 enable (S-0-0405) must be present.

Use
The respective measured value is stored in "S00130, Probe value 1 positive

edge". If "single measurement" has been set for the enable mode of probe 1 in
"S00169, Probe control parameter", bit 0 of S00409 changes from "0" to "1"
when a measured value is acquired.
If "continuous measurement" has been set, the number of previous measured
value acquisitions since the activation of the command is displayed in S00409
in binary form. Bit 0 toggles in the case of each new measured value acquisition.
The drive clears the count when:
the control unit clears the command "S00170, Probing cycle procedure
command" or
sets "S00405, Probe 1 enable" from "1" to "0".

The measured value acquisitions can be directly recognized by the
control unit by assignment to the real-time status bits!
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.4.10
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
S-0-0410, Probe 1 negative latched

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Standard Parameters
Function
negative edges of the probe 1 input signal.
Prerequisite:

active.
Bit 0 must be set in "S-0-0169, Probe control parameter".

Use
The respective measured value is stored in "S00131, Probe value 1 negative

edge". If "single measurement" has been set for the enable mode of probe 1 in
command" or
sets S00405, Probe 1 enable from "1" to "0".

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.4.11
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
S-0-0411, Probe 2 positive latched

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC
positive edges of the probe 2 input signal.
Prerequisite:

active.

and Controls
Standard Parameters
Use
The respective measured value is stored in "S00132, Probe value 2 positive

edge".
If "single measurement" has been set for the enable mode of probe 1 in
command" or

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.4.12
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
S-0-0412, Probe 2 negative latched

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC
negative edges of the probe 2 input signal.
Prerequisite:

active.

Use
The respective measured value is stored in "S00133, Probe value 2 negative

edge".
If "single measurement" has been set for the enable mode of probe 1 in

and Controls
Standard Parameters
command" or

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
4.4.13
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
S-0-0413, Bit number allocation of real-time control bit 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
By means of the real-time control bits 1 and 2 it is possible to directly write, at

each case, one bit of a parameter in the drive.
Bits"
Use
The IDN of the parameter that contains the bit to be written by the real-time
control bit 1 is entered in "S00301, Allocation of real-time control bit 1", the bit
number is entered in this parameter.
The real time control bits are part of the master control word (S00134) and
are cyclically ("in real time") sent to the drive, i.e. in the clock of the SERCOS
communication one bit of the assigned parameter can be written.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.14
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
P2->P3
+
--
min./max.
0 / 15
0 / 15
0 / 15
0 / 15
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
0
0
0
0
S-0-0414, Bit number allocation of real-time control bit 2

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPC
MPC

and Controls
Standard Parameters
Funct. package(s):
Device parameter:
Function

--
By means of the real-time control bits 1 and 2 it is possible to directly write, at

each case, one bit of a parameter in the drive.
Bits"
Use
The IDN of the parameter that contains the bit to be written by the real-time
control bit 2 is entered in "S00303, Allocation of real-time control bit 2", the bit
number is entered in this parameter.
The real time control bits are part of the master control word (S00134) and
are cyclically ("in real time") sent to the drive, i.e. in the clock of the SERCOS
communication one bit of the assigned parameter can be written.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.15
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
P2->P3
+
--
min./max.
0 / 15
0 / 15
0 / 15
0 / 15
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
0
0
0
0
S-0-0415, Bit number allocation of real-time status bit 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
By means of the real-time status bits 1 and 2 it is possible to map a parameter

bit for direct access by a control unit.
Via "S00415, Bit number allocation of real-time status bit 1" it is possible to
select the bit number of the desired bit of a parameter.
The respective IDN of the parameter is entered in parameter
S00305.
Bits"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.16
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
P2->P3
+
--
min./max.
0 / 15
0 / 15
0 / 15
0 / 15
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
0
0
0
S-0-0416, Bit number allocation of real-time status bit 2

Allocation
Contained in 02VRS:
Contained in 03VRS:
MPB
MPB
MPH
MPH
MPD
MPD
2Byte
DEC_OV
0
--

and Controls
Standard Parameters
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
By means of the real-time status bits 1 and 2 it is possible to map a parameter

bit for direct access by a control unit.
Via "S00416, Bit number allocation of real-time status bit 2" it is possible to
select the bit number of the desired bit of a parameter.
The respective IDN of the parameter is entered in parameter
S00307.
Bits"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.17
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
P2->P3
+
--
min./max.
0 / 15
0 / 15
0 / 15
0 / 15
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
0
0
0
0
S-0-0417, Positioning velocity threshold in modulo mode

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
By this parameter it is possible to determine a threshold value for the actual

velocity in the case of drive-internal interpolation and drive-controlled position
ing.
If the actual velocity is above the threshold value, the drive moves to a target
position without reversing even if the specification in "S00393, Command val
ue mode" should cause reversing.
By entering the value "0" the velocity threshold is deactivated, i.e.
drive always moves to the target position as determined in
S00393!
Record of Revisions

and Controls
Standard Parameters
Version
Attribute
GEN-02VRS
Default value: 0
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.4.18
Comment
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
4Byte
DEC_MV
S-0-0045
S-0-0046
--
Default value
20,0000
20,0000
20,0000
20,0000
S-0-0418, Target position window in modulo mode

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter allows determining a symmetrical position range relative to the

current position (target position window). Within the symmetrical position range
it is always possible to move to a target position over the shortest distance even
if only one direction of movement has been determined for positioning in
"S00393, Command value mode".
By entering the value "0" the target position window is deactivated,
i.e. drive always moves to the target position as determined in
S00393!
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.4.19
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
0,0000
0,0000
0,0000
0,0000
S-0-0419, Positioning command acknowledge

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPB
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Standard Parameters
Funct. package(s):
Device parameter:
Function
closed loop
--
In the "Drive-controlled positioning" mode the parameter is used to acknowl

edge the positioning command value acceptance.
Use
The acceptance is acknowledged at the time a new value of "S00282, Posi

tioning command value" is accepted in "S00430, Effective target position"
which is the time of acceptance in the internal position command value gener
ator.
If bit 5 = 0 in parameter "S00346, Positioning control word", the acknowledge
only takes place after the drive moved to the previous preset positioning value
and the message "target position reached" (cf. S00437, bit 0) was set.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
4.4.20
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
S-0-0420, C0400 Activate parameterization level 1 procedure com

mand
Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
Starting this command brings the axis to "parameterization level 1". For this
purpose the cyclically running axis functions (encoder evaluation, motor tem
perature monitoring, analog signal processing etc.) are stopped, the reference
of the axis-related position encoders is cleared.
The command cannot be executed when the axis is in "RF".
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
4.4.21
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
S-0-0422, C0200 Exit parameterization level procedure command

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
-
-
MPB
MPB
MPB
-
-
MPH
MPH
MPH
-
-
MPD
MPD
MPD
MPC

and Controls
Standard Parameters
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
--
MPD
MPC
Starting this command brings the drive from "parameterization level 1" to the
operating mode. The axis-specific parameter conversions and initializations are
carried out.
See also Functional Description "Drive Initialization"
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
4.4.22
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
S-0-0423, IDN-list of invalid data for parameterization levels

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
By starting the command "C0200 Exit parameterization level procedure com

mand", drive parameters are checked and converted. If an error occurs while
this is done, the respective parameters will appear in this list.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.4.23
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
S-0-0424, Status parameterization level

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
Status parameter displaying the current parameterization level:

0: operating mode
1: parameter mode; parameterization level 1 is active
MPC
MPC

and Controls
Standard Parameters
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.4.24
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
0
--
Default value
---------
S-0-0426, Signal selection probe 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In this parameter it is possible to select the parameter the current value of which
is to be stored when switching probe 1.
The IDNs of the parameters that can be selected are listed in "S00428, Probe,
IDN-list signal selection". It is only possible to select these parameters!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.4.25
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
IDN
0
--
Default value
---------
S-0-0427, Signal selection probe 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC
In this parameter it is possible to select the parameter the current value of which
is to be stored when switching probe 2.
The IDNs of the parameters that can be selected are listed in "S00428, Probe,
IDN-list signal selection". It is only possible to select these parameters!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
IDN
0
--

and Controls
Standard Parameters
Input
MPB:
MPC:
MPD:
MPH:
4.4.26
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
S-0-0428, Probe, IDN-list signal selection

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
+
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains a list of IDNs of those parameters the current status
value ("measured value") of which can be recorded upon the switch signal of a
probe. The measured value is stored in a parameter and is therefore available
for the control unit of the machine or installation.
IDN
Signal
S00000
No signal
S00051
Position feedback value 1 (motor encoder)
S00053
Position feedback value 2 (external encoder)
P00052
Actual position value of measuring encoder
P00227
Cam table, access angle
P00753
Position actual value in actual value cycle
P00775
Resulting master axis position
P00776
Effective master axis position
P00778
Synchronous position command value
Fig.4-77:
IDN List With Signal Selection

Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.4.27
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
IDN
0
--
Default value
---------
S-0-0429, Emergency halt deceleration

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
-
MPB
MPB
MPB
--
-
-
-
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC

and Controls
Standard Parameters
Funct. package(s):
Device parameter:
Function

--
This parameter is used to set the deceleration ramp during the drive-side error
reaction. Depending on the settings in "P00119, Best possible deceleration",
the emergency halt deceleration is used as reaction to errors of the categories
F2xxx, F3xxx and F6xxx, F7xxx.
The deceleration is limited to the value of "S0138, Bipolar accel
eration limit value". The value of parameter "S00429, Emergency
halt deceleration" should always be smaller than the value of the
parameter "S00138, Bipolar acceleration limit value", because
otherwise a lag error will build up due to internal control processes.
When the value "0" is input for the parameter, the parameter
S00138 will take effect.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.4.28
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
Default value
0,000
0,000
0,000
0,000
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0161
S-0-0162
--
S-0-0430, Effective target position

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC
In the operation modes
drive-controlled positioning
drive-internal interpolation
positioning block mode
it is possible to read the current target position (absolute position) via this pa
rameter.
Use
In the case of "drive-controlled positioning", depending on the modalities de

fined in "S00346, Positioning control word", the value in S00430, after an
edge change of the positioning command value acceptance bit, corresponds
to
the value of "S00282, Positioning command value", if this value had been
defined as the absolute target position.
the sum of the previous value of S00430 and S00282, if the new target
position is referring to the previous target position (S00346, bit 4 = 0).

and Controls
Standard Parameters
the sum of the actual position value S00051 and S00282 at the time of
toggling, if the target position is referring to the current actual position val
ue (S00346, bit 4 = 1).
If residual path processing is possible when activating the "drivecontrolled positioning" mode again, e.g. after the control voltage is
switched on again in the case of axes with absolute measuring sys
tem, the effective target position still is contained in S00430 ("nonvolatile parameter")!
Function:
Memory:
Par
RE
TAIN_KUNDE
Editability:
PM
Data length:
4Byte
Validity ch.:
--
Format:
DEC_MV
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.4.29
min./max.
--- / ----- / ----- / ----- / ---
S-0-0077
S-0-0078
--
Default value
0,0000
0,0000
0,0000
0,0000
S-0-0437, Positioning status

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains status bits of the positioning generator that are gen
erated in the operation modes with internal interpolator (target position gener
ator). Those operation modes are, for example, positioning block mode, driveinternal interpolation and drive-controlled positioning.
If the condition for the message has been fulfilled, the respective bit
changes from 0 to 1!
Structure
Bit
Function
Target position attained (S-0-0342) S-0-0430 = P-0-0434

Note: Is only generated with active operation mode!
(| S-0-0258, Target position S-0-0386, Active pos. feedb. val. | <

S-0-0057), for operation mode drive-internal interpolation
Is also generated with inactive operation mode!

and Controls
Standard Parameters
Bit
Function
IN_TARGET POSITION (S-0-0338) =(|S-0-0430 - S-0-0386, Active

pos. feedb. val. | < S-0-0057) &&IN_POSITION (S-0-0336)
&&Nfeedback = 0 (S-0-0331)
Is also generated with inactive operation mode!
Interpolator halted (S00343)
Constant interpolation velocity
Drive accelerates
Drive decelerates
7 11
(Reserved)
12
Jog mode active (see S00346, bits 1 and 2)
13
Positioning velocity > nLimit (S-0-0315)
14
Target position outside of travel range (S0-0323)
15
(Reserved)
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
4.4.30
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
S-0-0446, Ramp reference velocity for acceleration data

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
If "S-0-0160, Acceleration data scaling type" is set to the "Ramp time" scaling
type, the value in this parameter and the ramp reference time serve as definition
quantities for the reference velocity ramp. The value of "S00446" is scaled
according to the scaling type for velocity data set in "S00044, Velocity data
scaling type".
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
Default value
3000,0000
3000,0000
3000,0000
3000,0000
4Byte
DEC_MV
S-0-0045
S-0-0046
--

and Controls
Standard Parameters
4.4.31
S-0-0447, Set absolute position procedure command

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-closed loop
--
-
-
MPH
MPH
MPH
MPH
-
-
MPD
MPD
MPD
MPD
MPC
MPC
When commissioning an absolute measuring system, its actual position value

at first displays an undefined value (possibly the value of P00019), if the com
mand "set absolute measuring" has not yet been executed.
See also Functional Description "Establishing the Position Data Reference "
Use
By means of the command "set absolute measuring", the actual position value
can be set to a desired new value at any position (new reference system). After
the end of the command "set absolute measuring" the actual position value of
the respective encoder refers to the new reference system.
The reference bit of the encoder in parameter "S00403, Position feedback
value status" then is "1".
The command only acts on the connected absolute measuring sys
tem that has been selected in "S00448, Control word for setting
absolute measuring". It is only possible to select one measuring
system at a time.
By means of a backup of all required data of the absolute measuring system in
the feedback data memory or parameter data memory, all information will be
available every time the machine is switched off and on again. The actual po
sition value retains its reference to the machine zero point.
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
4.4.32
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
S-0-0448, Set absolute position control

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-closed loop
--
-
-
MPH
MPH
MPH
MPH
-
-
MPD
MPD
MPD
MPD
MPC
MPC
The control word "Set absolute position" serves to select the encoder for which
the "Set absolute position procedure command" is to be executed.

and Controls
Standard Parameters
Structure
Bit
Comment
Set absolute position for motor encoder

0: No
1: Yes
Set absolute position for external (optional) encoder

0: No
1: Yes
Is "S00447, C0300 Set absolute position procedure

command" allowed with drive enable ("AF")?
0: No
MPx04: Value "0"

cannot be
changed!
1: Yes
Fig.4-78:
Function:
Memory:
Unit:
Cycl. tra.:
Relevant Bits of S00448

Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.33
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
P3->P4
+
--
min./max.
0/3
0/3
0/3
0/3
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
1
1
1
1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
the target parameter addressed via "S00368, Data container A: addressing"
from "S00490, Data container A: configuration list command value 2".
Use
"S00450, Data container A: command value 2" is used. In order to use the
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
HEX
0
--

and Controls
Standard Parameters
4.4.34

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Use
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
4.4.35
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
HEX
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Use
If a 2- byte target parameter is addressed with 2-byte data, only the low word
of "S00452, Data container A: command value 4" is used. In order to use the
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
HEX
0
--

and Controls
Standard Parameters
4.4.36

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Use
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
4.4.37
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
HEX
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Use
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
HEX
0
--

and Controls
Standard Parameters
4.4.38

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Use
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
4.4.39
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
HEX
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Use
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
HEX
0
--

and Controls
Standard Parameters
4.4.40
S-0-0460, Position switch point 1 "Off"

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter determines the switch-off position for a "virtual" position-de

pendent switch (cf. adjusting the switch-off position by mechanical switch
cams). If the actual position value is greater than the switch-off position, the
respective bit of "S00059, Position switch flag parameter" is "0". Otherwise it
is "1" if the actual position value hasn't fallen below the value of "S00060,
Position switch point 1 "On"".
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.4.41
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
0,0000
0,0000
0,0000
0,0000

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
dressed via "S00368, Data container A: addressing" from "S00500, Data
container A: configuration list feedback value2".
is copied to "S00480, Data container A: feedback value 2". In order to use the
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
HEX
0
--

and Controls
Standard Parameters
4.4.42

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
container A: configuration list feedback value3".
Use
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
4.4.43
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
HEX
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
container A: configuration list feedback value 4".
Use
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
HEX
0
--

and Controls
Standard Parameters
4.4.44

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
dressed via S00368, Data container A: addressing from S00503, Data
container A: configuration list feedback value 5.
Use
is copied to S00483, Data container A: feedback value 5. In order to use the
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
4.4.45
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
HEX
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Use
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
HEX
0
--

and Controls
Standard Parameters
4.4.46

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Use
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
4.4.47
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
HEX
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Use
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
HEX
0
--

and Controls
Standard Parameters
4.4.48
S-0-0490, Data container A: configuration list command value 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Parameter "S-0-0490, Data container A: Configuration list command value 2"

serves to enter the IDNs which are transmitted in "S-0-0450, Data container A:
Command value" depending on the index in "S00368, Data container A: Ad
dressing", low byte. Writing to S00490 is only possible in communication
phase 2.
Use

tained in the list "S00188, List of configurable data in the MDT". If this is not
the case, the command error "C0151 Config. IDNs for command value data
container not configurable" is generated.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.49
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC

"S-0-0451, Data container A: Command value 3" depending on the index in
"S00368, Data container A: Addressing", low byte.
Use
Writing to S00491 is only possible in communication phase 2. A check is run

in the command "S00127, C0100 Communication phase 3 transition check"
to find out whether the IDNs contained in "S00491" are contained in the list
"S00188, List of configurable data in the MDT".
If this is not the case, the command error "C0151 Config. IDNs for command
value data container not configurable" is generated.

and Controls
Standard Parameters
A maximum of 32 IDNs can be configured in "S00491".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.50
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC

"S00368, Data container A: Addressing", low byte. Writing to S00492 is only
Use

tained in the list "S00188, List of configurable data in the MDT".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.51
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Standard Parameters
Function

Use

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.52
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC

Use

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte var.
IDN
0
--

and Controls
Standard Parameters
4.4.53

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC

Use

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.54
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC

Use


and Controls
Standard Parameters
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.55
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
S-0-0500, Data container A: configuration list feedback value 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC

Use

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.56
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Standard Parameters
Function

Use

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.57
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC

Use

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte var.
IDN
0
--

and Controls
Standard Parameters
4.4.58

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC

Use

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.59
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC

Use


and Controls
Standard Parameters
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.60
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC

Use

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.61
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Standard Parameters
Function

Use

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.4.62
PM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
IDN
0
--
Default value
---------
S-0-0520, Control word of axis controller

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
The control word of the axis controller is effective if "P-0-0185, Control word of
encoder 2 (optional encoder)" is configured as measuring wheel encoder and
if the following operation modes are active:
Operation mode
Code displayed in
S-0-0292
Associated value of parame

ters S-0-0032...S-0-0035
Torque control
0x0001
0000.0000.0000.0001
Velocity control
0x0002
0000.0000.0000.0010
Position mode drive control

led
0x0305
0000.0011.0000.0101
0x0215
0000.0010.0001.0101
0x0235
0000.0010.0011.0101
0x0042
0000.0000.0100.0010
Position synchronization
0x0245
0000.0010.0100.0101
Fig.4-79:
Operation Modes Based on S-0-0520

and Controls
Standard Parameters
Structure
Bit
Comment
Selection of position control encoder or activation of "hybrid

actual position value"
0: Motor encoder
1: External encoder if S-0-0521 bit 1 = "0", or "hybrid actual
position value" (motor encoder and external encoder) if
S-0-0521 bit 1 = "1"
Preselection of the position control encoder

0: Position control via motor encoder or external encoder
1: Position control via motor encoder and external encoder
("hybrid actual position value" in measuring wheel mode or
hybrid position control mode)
Type of position control

0: With lag error
1: Lagless
Fig.4-80:
Use
Relevant Bits of S00520, Control Word of Axis Controller
Preselection of the position control encoder

The "preselection of the position control encoder" (bit 1) defines whether, if
position-controlled operation modes are active, the actual position value is de
livered by a single encoder (motor encoder or external encoder) or if a "hybrid
actual position value" (from motor encoder and external encoder) should be
come effective.
This preselection is displayed in "S00521, Status word of position loop" if the
external encoder was configured for use as position control encoder in
"P00185, Control word of encoder 2 (optional encoder)". If the "measuring
wheel encoder" is configured, it will always be the measuring wheel encoder
mode that is active (in this case, it is not possible to make any preselection via
bit 1).
Selection of the actual position value active for control
The actual position value active for control is selected in bit 0. If the value is "1",
either the actual position value of the "external encoder" or that of a "hybrid
actual position value" will become effective. This depends on bit 1 of S00521.
If the external encoder was configured for use as a "measuring wheel encoder"
in P00185, bit 1 = "1" is set in S00521 and "measuring wheel mode" will
become effective.
Bit 0 is the only relevant for velocity control and torque control. This bit defines
the actual position value (S-0-0051 or S-0-0053) which will be displayed in pa
rameter "S-0-0386, Active position feedback value".
See also Functional Description "Measuring Wheel Mode"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
4
4
4
4
2Byte
BIN
0
--

and Controls
Standard Parameters
4.4.63
S-0-0521, Status word of position loop

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
The status word of position loop displays current information relevant to position
control of the active operation mode.
Structure
Bit
Comment
Acknowledgment position control encoder

0: Motor encoder
1: If bit 1 = "0": External encoder or If bit 1 = "1":
Motor encoder and external encoder ("hybrid
actual position value")
Display of position control encoder
The value is "1" if:
0: Position control via encoder displayed in bit 0 - "Measuring wheel encoder"

1: Position control with motor encoder and ex was selected in P00185 or
ternal encoder ("hybrid actual position value")
- Bit 1 = "1" was set in S00520
Display of kind of position control

0: With lag error
1: Lagless
Fig.4-81:
Use
Relevant Bits of S-0-0521, Status word of position loop
Display of encoder active for control

Bit 0 displays the encoder active for control in position-controlled operation
modes. This bit acknowledges the selection made in bit 0 of "S00520, Control
word of axis controller". With value "1", either the actual position value of the
external encoder takes effect or a "hybrid actual position value" from motor
encoder and external encoder, depending on bit 1:
If "measuring wheel encoder" was configured in P00185 as use of the

external encoder, bit 1 = "1" is set and "measuring wheel mode with hybrid
actual position value" takes effect (see Functional Description "Measuring
Wheel Mode").
If "position control encoder" was configured in P00185 as use of the ex

ternal encoder, this does not have any influence on bit 1. Bit 1 becomes
"1", if bit 1 "hybrid actual position value" was preset in S00520. Bit 1 is
"0", if bit 1 was not set in S00520.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
2Byte
BIN
0
--

and Controls
Standard Parameters
MPD:
MPH:
4.4.64
--- / ----- / ---
-----
S-0-0524, Dead time compensation, positive edge, probe 1

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
--
-
-
-
-
MPD
MPD
MPC
MPC
Function
Between the activation of a probe and the point of time at which the signal
change this causes takes effect at the hardware input of the control section,
there is a small time difference, called "dead time". Depending on the direction
of the signal change (rising or falling signal edge), different dead times are to
be expected.
Use
This parameter is used to input the dead time to be expected with a rising edge
of the probe signal and enables the firmware to compensate the measuring
error caused by the dead time.
The drive generates the probe value at detection of the signal
change which was triggered by the dead time earlier. The firmware
corrects the recorded probe value by the measuring error caused
by the dead time.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
us
--
Input
MPB:
MPC:
MPD:
MPH:
4.4.65
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
P3->P4
+
--
min./max.
0 / 50000
0 / 50000
0 / 50000
0 / 50000
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0
S-0-0525, Dead time compensation, negative edge, probe 1

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
--
-
-
-
-
MPD
MPD
MPC
MPC
Function
be expected.
Use
This parameter is used to input the dead time to be expected with a falling edge

and Controls
Standard Parameters
by the dead time.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
us
--
Input
MPB:
MPC:
MPD:
MPH:
4.4.66
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0 / 50000
0 / 50000
0 / 50000
0 / 50000
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0
S-0-0526, Dead time compensation, positive edge, probe 2

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
--
-
-
-
-
MPD
MPD
MPC
MPC
Function
be expected.
Use
This parameter is used to input the dead time to be expected with a rising edge
by the dead time.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
us
--
Input
MPB:
MPC:
MPD:
MPH:
4.4.67
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0 / 50000
0 / 50000
0 / 50000
0 / 50000
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0
S-0-0527, Dead time compensation, negative edge, probe 2

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
-
-
MPB
MPB
--
-
-
-
-
MPH
MPH
-
-
-
-
MPD
MPD
MPC
MPC

and Controls
Standard Parameters
Funct. package(s):
Device parameter:

--
Function
be expected.
Use
This parameter is used to input the dead time to be expected with a falling edge
by the dead time.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
us
--
Input
MPB:
MPC:
MPD:
MPH:
4.4.68
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0 / 50000
0 / 50000
0 / 50000
0 / 50000
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0
S-0-0531, Checksum of backup operation data

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC
When this parameter is read, the checksum of the parameters listed in

"S-0-0192, IDN-list of backup operation data" is generated via the active nonvolatile memory.
In the list of parameter S-0-0192, the IDNs of those parameters are
stored the values of which are axis-specific and for regular opera
tion have to be loaded to the drive of the respective axis.
When an installation has been completely set up, the checksum for each drive
can be read via parameter S-0-0531. These values can be stored by a control
unit. It is thereby possible to compare the stored checksum to the new check
sum which was read and find out whether operation-relevant data have
changed.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
4Byte
DEC_OV
0
--

and Controls
Standard Parameters
MPD:
MPH:
4.4.69
--- / ----- / ---
-----
S-0-0533, Nominal torque/force of motor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
--
-
-
-
-
MPD
MPD
MPC
MPC
In this parameter, you can enter the nominal torque or the nominal force of the
motor. Under defined ambient and operating conditions, the motor can perma
nently deliver the nominal torque or the nominal force, i.e. the value applies to
the status of the motor at operating temperature. The value is for information
purposes only or is used as reference value for percentage-based torque/force
scaling.
For Rexroth motors with motor data memory version 4.5, the value is written
with "P-0-3056, Nominal motor torque/force, encoder memory".
"S-0-0111, Motor current at standstill" is connected to this parameter. When the
nominal torque or the nominal force is demanded from the motor, the motor
current corresponds to the absolute value of S-0-0111. The quotient of
S-0-0533 and S-0-0111 corresponds to the torque/force constant in the status
at operating temperature.
With Rexroth motors MSK, MHD, MKD, the value in "P-0-0051,
Torque/force constant" refers to an ambient temperature of 20C.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Nm
--
Input
MPB:
MPC:
MPD:
MPH:
4.4.70
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
3
+
Default value
0,000
0,000
0,000
0,000
S-0-0534, Maximum torque/force of motor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
--
-
-
-
-
MPD
MPD
MPC
MPC
In this parameter, you can enter the maximum torque or the maximum force of
the motor. When using the "correction of torque/force constant", it is obligatory
to enter the value.
For Rexroth motors with motor data memory version 4.5, the value is written
with "P-0-3055, Maximum motor torque/force, encoder memory".

and Controls
Standard Parameters
"S-0-0109, Motor peak current" is connected to this parameter. When the max
imum torque or the maximum force is demanded from the motor, the motor
current corresponds to the absolute value of S-0-0109. The quotient of
S-0-0534 and S-0-0109 corresponds to the torque/force constant at maximum
current. Due to magnetic saturation effects, this value is mostly lower than
"P-0-0051, Torque/force constant".
With Rexroth motors MSK, MHD, MKD, the value of "S-0-0534,
Maximum torque/force of motor" refers to an ambient temperature
of 20C.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Nm
--
Input
MPB:
MPC:
MPD:
MPH:
4.4.71
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
0,000
0,000
0,000
0,000
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
4Byte
DEC_OV
3
+
S-0-0822, Torque/force ramp

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
With the torque/force ramp time (S00823) the torque/force ramp defines an
increase for the torque/force command value (S00080) in the operation mode
"torque/force control".
Parameter S00822 replaces the previously available filtering by
means of the PT1 filter (cf. P00176)!
See also Parameter Description "S-0-0822, Torque/force ramp"
See also Parameter Description "S-0-0824, Status "Torque/force command
value attained"
Use
The figure below illustrates the operating principle and function of S00822:

and Controls
Standard Parameters
Fig.4-82:
Operating Principle of S-0-0822 and S-0-0823
The filter effect is thereby achieved by determining a maximum al

lowed torque increase (dM/dt)!
Parameterization
The following has to be observed for parameterization:
The two values (S-0-0822, S-0-0823) determine the maximum change in

the command value per master communication clock. Greater input cau
ses the delay of the internal force command value compared to the input
value.
The value contained in S00822 defines the torque/force difference which

can be reached within the ramp time.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
4.4.72
min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
Default value
0,0
0,0
0,0
0,0
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
2Byte
DEC_OV
S-0-0093
S-0-0094
+
S-0-0823, Torque/force ramp time

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The torque/force ramp time (S00823) is the reference time for the torque/force
ramp. In the operation mode "torque/force control", the parameter S00823,

and Controls
Standard Parameters
together with the torque/force ramp (S00822), defines an increase for the tor
que/force command value (S00080).
See also Parameter Description "S-0-0824, Status "Torque/force command
value attained"
See also Functional Description "Operation Modes - Torque/Force Control"
Use
The figure below illustrates the operating principle and function of S00823:
Fig.4-83:
Operating Principle of S-0-0822 and S-0-0823
The filter effect is thereby achieved by determining a maximum al

lowed torque increase (dM/dt)!
The two values (S-0-0822, S-0-0823) determine the maximum change in

the command value per master communication clock.
The input of the ramp time can take place in steps of 0.1ms.
Greater input causes the delay of the internal force command value com
pared to the input value.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
ms
MDT
Input
MPB:
MPC:
MPD:
MPH:
4.4.73
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,0 / 6553,5
0,0 / 6553,5
0,0 / 6553,5
0,0 / 6553,5
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
1
+
Default value
0,0
0,0
0,0
0,0
S-0-0824, Status "Torque/force command value attained"

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
-
-
MPB
MPB
MPB
MPB
-
-
MPH
MPH
MPH
MPH
-
-
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Standard Parameters
Hardware
Funct. package(s):
Device parameter:
Function

--
In the operating mode "torque/force control", the message "S00824, Message

torque/force command value reached" indicates that the internal "S00080,
Torque/force command value" has reached the preset value.
See also Functional Description "Operating Modes"
Structure
Bit
Comment
message torque/force cmd value reached S-0-0080 ==

P-0-0049
as of MP*05VRS
S-0-0080 + S-0-0081 S-0-0084 < S-0-0826

0: command value is ramped
1: command value reached
See also Parameter Description: "S-0-0822, Torque/force ramp"

See also Parameter Description: "S-0-0823, Torque/force ramp time"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.4.74
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
2Byte
BIN
0
--
S-0-0826, Torque/force window

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Function
In this parameter the torque/force window is entered. The window is related to

the absolute value of the torque/force command (S00080).
Use
When the actual torque/force value (S-0-0084) is within this window around the
command value (S-0-0080 + S-0-0081), the message "torque/force command
value reached" (S-0-0824) is output.
See also Parameter Description "S-0-0824, Message torque/force command
value reached"
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
Default value
0,0
0,0
0,0
0,0
2Byte
DEC_OV
S-0-0093
S-0-0094
+

and Controls
Standard Parameters
4.4.75
S-0-1000, SERCOS III: SCP Type & Version

Allocation
Function
Structure
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
The identification of a bus slave takes place via this parameter. The parameter
consists of a 16-bit list, with each element of the list indicating a package and
its version. For the significance of the identifier, see SERCOS standard.
Bit
3-0
Version:
Comment
0: Unstandardized version
1: SCP V1.1.x
15-8
Functional package/classes:
0x00: Reserved
0x01: SCP_FixCFG
0x02: SCP_VarCFG
0x03: SCP_Sync
0x04: SCP_WD
0x05: SCP_Diag
0x06: SCP_RTB
0x07: SCP_HP
0x08: SCP_SMP
0x09: SCP_MUX
0x0A: SCP_NRT
0x0B: SCP_SIG
Fig.4-84:
Function:
Memory:
Unit:
Cycl. tra.:
S01000, SERCOS III: SCP Type and Version

Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.4.76
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
HEX
0
--
Default value
---------
S-0-1001, SERCOS III: NC cycle time (TNcyc)

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
-
-
-
-
-
-
-
-

and Controls
Standard Parameters
Funct. package(s):
Device parameter:
Function

+
The "NC cycle time (TNcyc)" indicates the cyclic time intervals in which the NC
provides new cyclic command values. The "NC cycle time" has to be transmit
ted from master to slave in phase 2 and be taken into account in the slave from
communication phase 3 on. The "NC cycle time" has to be an integral multiple
of the "SERCOS cycle time (TScyc)" (S00002).
TNcyc = TScyc * j [j = 1, 2, 3, 4 ....]
See also Functional Description "SERCOS III"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
us
--
Input
MPB:
MPC:
MPD:
MPH:
4.4.77
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
P2->P3
+
--
min./max.
250,000 / 65000,000
250,000 / 65000,000
250,000 / 65000,000
250,000 / 65000,000
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
3
--
Default value
2000,000
2000,000
2000,000
2000,000
S-0-1002, SERCOS III: Communication Cycle time (tScyc)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
The communication cycle time of the SERCOS III interface defines the time
intervals at which the cyclic data, i.e. the process data (MDT and AT), are
transmitted.
Use
Observe the following aspects for parameter setting:
Entry is set to 250 us, 500 us, 1 ms, 2 ms, to 65 ms in increments of

1 ms.
The minimum cycle time of a SERCOS III slave in a CCD group is
500 us!
The "SERCOS cycle time (TScyc)" has to be transmitted from the master
to the slave in communication phase 2 and be activated in both master
and slave in and after communication phase 3.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
us
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
P2->P3
+
--
min./max.
250,000 / 65000,000
250,000 / 65000,000
250,000 / 65000,000
250,000 / 65000,000
Data length:
Format:
Decim. pl.:
Switchable:
Default value
2000,000
2000,000
2000,000
2000,000
4Byte
DEC_OV
3
--

and Controls
Standard Parameters
4.4.78
S-0-1003, SERCOS III: Allowed MST losses in CP3/CP4

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
Number of allowed MST failures (synchronization telegram) which may occur

directly one after the other in phases 3 and 4, before the drive triggers an F4001
error.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.79
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
0
--
Default value
1
1
1
1
S-0-1005, SERCOS III: Minimum feedback processing time (t5)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
Time required in the drive between the start of feedback acquisition and the
start of AT0.
In phase 2 the master reads this value to set the "feedback acquis
ition starting time (T4)" (S01007) accordingly for all drives.
Use
The drive has to set this value such that the current actual values are trans
mitted to the control unit in the next drive telegram (AT).
Function:
Memory:
Unit:
Cycl. tra.:
Par
-us
--
Input
MPB:
MPC:
MPD:
MPH:
4.4.80
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
S-0-1006, SERCOS III: AT0 transmission starting time (t1)

Allocation
Contained in 02VRS:
Contained in 03VRS:
-
-
-
-
-
-
4Byte
DEC_OV
3
--

and Controls
Standard Parameters
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
The AT transmission starting time determines when the master, related to the
MST, transmits its drive telegram in communication phases 3 and 4.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.81
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
P2->P3
+
--
min./max.
100,000 / 32000,000
100,000 / 32000,000
100,000 / 32000,000
100,000 / 32000,000
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
3
--
Default value
100,000
100,000
100,000
100,000
S-0-1007, SERCOS III: Feedback acquisition capture point (t4)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
Feedback acquisition starting time set by the master, after the end of the master
synchronization telegram. The master can therefore specify the same actual
value acquisition starting time for all drives that operate in a co-ordinate mode.
This guarantees the synchronization of actual value acquisition for the drives
involved.
From communication phase 3 on the drive activates the feedback
acquisition starting time.
Use
The master must set the feedback acquisition starting time smaller than or equal
to the difference of the "SERCOS cycle time" (S01002) and the "minimum
feedback acquisition time" (S-0-1005) which was queried.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
us
--
Input
MPB:
MPC:
MPD:
MPH:
4.4.82
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
P2->P3
+
--
min./max.
11,000 / 65000,000
11,000 / 65000,000
11,000 / 65000,000
11,000 / 65000,000
Data length:
Format:
Decim. pl.:
Switchable:
Default value
500,000
500,000
500,000
500,000
S-0-1008, SERCOS III: Command value valid time (t3)

Allocation
Contained in 02VRS:
Contained in 03VRS:
-
-
-
-
-
-
4Byte
DEC_OV
3
--

and Controls
Standard Parameters
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
The "command value valid" time indicates the time after which the drive may
access the new command values after the end of the master synchronization
telegram. The master can therefore set the same "command value valid" time
for all drives that operate in a co-ordinate mode.
For reasons of compatibility, this parameter still exists, but
IndraDrive no longer uses and evaluates it.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
us
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.4.83
P2
P2->P3
+
--
min./max.
0,000 / 65000,000
0,000 / 65000,000
0,000 / 65000,000
0,000 / 65000,000
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
3
--
Default value
900,000
900,000
900,000
900,000
S-0-1009, SERCOS III: Device Control (C-Dev) offset in MDT

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
The telegram assignment defines at which position (telegram offset) and in

which MDT (telegram number) the Device Control (C-Dev) is.
Structure
Bit
10-0
Telegram offset in bytes
15-12
MDT telegram number
Comment
0: MDT0
1: MDT1
2: MDT2
3: MDT3
Fig.4-85:
Function:
Memory:
Unit:
Cycl. tra.:
"S01009: SERCOS III: Device Control (C-Dev) offset in MDT"

Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
----
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
HEX
0
--

and Controls
Standard Parameters
Input
MPB:
MPC:
MPD:
MPH:
4.4.84
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
S-0-1010, SERCOS III: Lengths of MDTs

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
This list parameter contains the MDT lengths of all four possible master data
telegrams.
The lengths are required for initializing SERCOS III communication.
Structure
The list parameter has the following structure:
Fig.4-86:
Use
"S01010: SERCOS III: Lengths of MDTs"
Observe the following aspects for parameterization:
Always preset all four lengths.
Identify non-existing MDTs with length = 0.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Byte
--
Input
MPB:
MPC:
MPD:
MPH:
4.4.85
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte var.
DEC_OV
0
--
Default value
---------
S-0-1011, SERCOS III: Device Status (S-Dev) offset in AT

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
-
-
MPB
MPB
MPB
MPB
-
-
MPH
MPH
MPH
MPH
-
-
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Standard Parameters
Hardware
Funct. package(s):
Device parameter:
Function

--

which AT (telegram number) the Device Status (S-Dev) is.
Structure
Bit
Comment
100
15-12
AT telegram number
0: AT0
1: AT1
2: AT2
3: AT3
Fig.4-87:
Function:
Memory:
Unit:
Cycl. tra.:
"S01011: SERCOS III: Device Status (S-Dev) offset in AT"

Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.86
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
HEX
0
--
Default value
---------
S-0-1012, SERCOS III: Length of ATs

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
This parameter contains the AT lengths of all four possible drive telegrams.
The lengths are required for initializing SERCOS III communication.
Structure

and Controls
Standard Parameters
Fig.4-88:
Use
"S-0-1012, SERCOS III: AT Lengths"
Always preset all four lengths.
Identify non-existing ATs with length = 0.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Byte
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.4.87
P2
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte var.
DEC_OV
0
--
Default value
---------
S-0-1013, SERCOS III: SVC offset in MDT

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
The SVC offset in MDT indicates at which position and in which master data
telegram the service channel for the drive is transmitted.
Structure
Bit
11-0
MDT SVC offset
Comment
In bytes
13/12
MDT telegram number

00: MDT0
01: MDT1
Fig.4-89:
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
"S-0-1013: SERCOS III: SVC Offset in MDT"

Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
----
min./max.
--- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
6
2Byte
HEX
0
--

and Controls
Standard Parameters
MPC:
MPD:
MPH:
4.4.88
--- / ----- / ----- / ---
6
6
6
S-0-1014, SERCOS III: SVC offset in AT

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
The SVC offset in AT indicates at which position and in which drive telegram
(AT) the service channel for the drive is transmitted.
Structure
Bit
11-0
AT SVC offset
Comment
In bytes
13/12
AT number
00: AT0
01: AT1
Fig.4-90:
Function:
Memory:
Unit:
Cycl. tra.:
"S-0-1014, SERCOS III: SVC Offset in AT"

Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.4.89
P2
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
HEX
0
--
Default value
6
6
6
6
S-0-1015, SERCOS III: Ring delay

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
In phase 2 the master determines the ring delay time (S01015) and assigns
it to the slaves. With this delay, the slaves can determine their sync times for
the P and Schannels by means of their delay counters. For this purpose, the
master must execute the command "S01024, C5300 SERCOS III: SYNC de
lay measuring procedure command".

and Controls
Standard Parameters
The command "S01024, C5300 SERCOS III: SYNC delay meas
uring procedure command" must be executed in phase 2 before the
command "S00127, C0100 Communication phase 3 transition
check".
Function:
Memory:
Unit:
Cycl. tra.:
Par
-us
--
Input
MPB:
MPC:
MPD:
MPH:
4.4.90
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
3
--
Default value
0,000
0,000
0,000
0,000
S-0-1016, SERCOS III: Slave delay (P/S)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
After the master transmitted the entire ring delay (S01015) to the slaves, the
slaves can determine the SYNCCNT-P/S. With these two delay times (P in the
first and S in the second element), the master determines the physical order of
the slaves in the ring or line.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-us
--
Input
MPB:
MPC:
MPD:
MPH:
4.4.91
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_OV
3
--
Default value
---------
S-0-1017, SERCOS III: NRT transmission time

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
Parameter "S01017" serves to define the time window for the NRT channel
for SERCOS III.

and Controls
Standard Parameters
Fig.4-91:
"SERCOS III: NRT Transmission Time"

Structure
Use
The list parameter "S-0-1017" has the following structure:
First element: Beginning (t6) of the NRT channel
Second element: End (t7) of the NRT channel
t7-t6 125s, minimum length of the NRT channel
t6=t7=0 --> NRT channel switched off
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
us
--
Input
MPB:
MPC:
MPD:
MPH:
4.4.92
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_OV
3
--
Default value
---------
S-0-1019, Master comm. engineering over IP: MAC address

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
Function
Parameter "S01019" contains the MAC address of the master communication

interface for engineering over IP which is required within the scope of Ethernet
communication. The MAC address (Media Access Control) is used for un
equivocal identification of the Ethernet communication in the network.
Structure
The MAC address is a list parameter with the following structure:

and Controls
Standard Parameters
Fig.4-92:
S01019, Master comm. engineering over IP: MAC address
Use
The MAC address has been permanently assigned to the hardware

and cannot be modified!
Function:
Memory:
Unit:
Cycl. tra.:
Par
I2C_OPM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.93
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
P2->P3
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
HEX
0
--
Default value
---------
S-0-1020, Master comm. engineering over IP: IP address

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
Parameter S01020 contains the IP address of the master communication in

terface for Engineering over IP which is required within the scope of IP com
munication.
The IP address (Internet Protocol) is used to clearly identify a node on the In
ternet.
Changes in the parameter only become effective by:
Switching on the 24 V supply of the drive again
Executing the drive command "C6100 Command Activate IP

settings"

and Controls
Standard Parameters
Structure
The IP address is a list parameter with the following structure:
Fig.4-93:
S01020, Master comm. engineering over IP: IP address
Use
The IP address must be set with regard to the specific application

and can be changed like the master communication address (cf.
P04025), for example!
See also Parameter Description
"S01021, Master comm. engineering over IP: Network mask"
"S01022, Master comm. engineering over IP: Gateway address"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.94
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
DEC_OV
0
--
Default value
---------
S-0-1021, Master comm. engineering over IP: Network mask

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
Parameter "S01021" contains the network mask of the master communication

interface for engineering over IP which is required within the scope of IP com
munication. Each IP address (Internet Protocol) consists of a network and a
device part. The network mask is used to distinguish between the network and
device parts.

settings"

and Controls
Standard Parameters
Structure
The network mask is a list parameter with the following structure:
Fig.4-94:
Network Mask
Use
The network mask must be set with regard to the specific applica
tion.
See also Parameter Description "S01020, Master comm. engineering over IP:
IP address", "S-0-1022, Master comm. engineering over IP: Gateway address"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.95
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
DEC_OV
0
--
Default value
---------
S-0-1022, Master comm. engineering over IP: Gateway address

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
Parameter "S01022" contains the gateway address of the IP node on the

master communication interface for engineering over IP which is required within
the scope of IP communication.
If the master communication master wants to transmit an IP package (Internet
Protocol), the network parts of the source IP address and the target IP address
are compared. If they do not match, the IP package is transmitted to the gate
way IP address.

settings"

and Controls
Standard Parameters
Structure
The gateway address is a list parameter with the following structure:
Fig.4-95:
Gateway Address
Use
The gateway address must be set with regard to the specific appli
cation.
See also Parameter Description "S01020, Master comm. engineering over IP:
IP address", "S-0-1021, Master comm. engineering over IP: Network mask"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.4.96
P234
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
1Byte var.
DEC_OV
0
--
Default value
---------
S-0-1023, SERCOS III: SYNC jitter

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
Parameter "S01023" is used to set the maximum possible jitter of the control
unit's synchronization clock.
This allows adjusting the monitoring functions in the SERCOS III
slaves to the capabilities of the SIII master.
Use
There are the following choices:
0 - < +/- 1s for highest synchronization demands
1 - +/- 1...50s for standard synchronization demands
2 no synchronization
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
P2
--
Data length:
Format:
4Byte
DEC_OV

and Controls
Standard Parameters
Unit:
Cycl. tra.:
us
--
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.4.97
+
--
min./max.
1,000 / 50,000
1,000 / 50,000
1,000 / 50,000
1,000 / 50,000
Decim. pl.:
Switchable:
3
--
Default value
1,000
1,000
1,000
1,000
S-0-1024, C5300 SERCOS III: SYNC delay measuring procedure com

mand
Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
This command is required for measuring the delays between the two ports.
Before the start of the command, the slave needs an appropriate value for
"S01015, SERCOS III: Ring delay". The delay measurement is required for
the synchronous operation in phases 3 and 4, and therefore must be carried
out before the transition command "S00127, C0100 Communication phase 3
transition check".
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.4.98
P234
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
S-0-1025, SERCOS III: ring status

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
-
-
-
-
-
-
+
The device stores the hardware states in the ring status.
Loopback
Synchronization measurement
P-channel and/or S-channel
Receipt of P-telegrams at port 1, etc.
Last one in the line
-
-

and Controls
Standard Parameters
The parameters serves for SERCOS III communication diagnosis
purposes!
Structure
Bit
1/0
Ring type:
Comment
00: No MST received yet

01: Line
10: Dual ring
11: --2
Last one in the line:

0: No
1: Yes
Synchronization measurement:
0: Not active
1: Active
5/4
Port 1: Channel:
00: No MST yet
01: P-channel
10: S-channel
11: ---
7/6
Port 2: Channel:
00: No MST yet
01: P-channel
10: S-channel
11: ---
831
Reserved
Fig.4-96:
Function:
Memory:
Unit:
Cycl. tra.:
S-0-1025, SERCOS III: Ring Status; Bits 015"

Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.4.99
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
BIN
0
--
Default value
---------
S-0-1026, SERCOS III: Version of communication hardware

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPC
MPC

and Controls
Standard Parameters
Funct. package(s):
Device parameter:
Function

+
This parameter contains the SERCOS-III-specific hardware version in the form

of a text (ASCII format):
FPGA version and revision
GPCC version and revision

Structure
Interpret the content of the parameter as follows:
Fig.4-97:
Function:
Memory:
Unit:
Cycl. tra.:
Structure and Content of "S-0-1026, SERCOS III: Version of communi

cation hardware"
Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.4.100
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
ASCII
0
--
Default value
---------
S-0-1028, SERCOS III: Error counter MST-P/S

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
The MST error counter counts all invalid MSTs in phases 3 and 4 and has a
limit stop at 216-1.
During heavily disturbed transmission the value 65535 will be
reached after some time.
Interpretation of parameter content
You have to observe the following points for interpreting the error counter:
The error counter is only incremented once per communication cycle, in

dependent of the number of MSTs which failed.
The error counter is cleared at the first MST in phase 3.

Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
2Byte
DEC_OV

and Controls
Standard Parameters
Unit:
Cycl. tra.:
-AT
Input
MPB:
MPC:
MPD:
MPH:
4.4.101
Extr. val. ch.:

Comb. check:
---
min./max.
--- / ----- / ----- / ----- / ---
Decim. pl.:
Switchable:
0
--
Default value
0
0
0
0
S-0-1029, SERCOS III: MDT error counter

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
-
-
-
-
-
-
+
-
-
This parameter serves to monitor MDTs in which the value in parameter

"S-0-1010, SERCOS III: Lengths of MDTs" is greather than 0. This is done
irrespective of whether or not the telegram contains data for this slave. The
MDT error counter counts all invalid master data telegrams (MDTs) in phases
3 and 4 and has a stop at 216-1.
If the transmission is subject to strong interferences, the value
65535 is reached after a while.
Interpreting the parameter content
Observe the following points while interpreting the error counter:
The error counter is incremented only once in each communication cycle,

irrespective of the number of failed MDTs.
The counter is only incremented as well, if the corresponding MDT fails

both on Port 1 and on Port 2.
The error counter is not cleared before the first MST of phase 3 is reached.

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
4.4.102
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
0
0
0
0
S-0-1030, SERCOS III: AT error counter

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
-
-
-
-
-
-
+
-
-

and Controls
Standard Parameters
Function
This parameter serves to monitor ATs in which the value in parameter

"S-0-1012, SERCOS III: Length of ATs" is greather than 0. This is done irre
spective of whether or not the telegram contains data for this slave. The AT
error counter counts all invalid drive telegrams (ATs) in phases 3 and 4 and has
a stop at 216-1.
The error counter is incremented only once in each communication cycle,

irrespective of the number of failed ATs.
The counter is only incremented as well, if the corresponding AT fails both

on Port 1 and on Port 2.
The error counter is not cleared before the first MST of phase 3 is reached.

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.4.103
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
0
0
0
0
S-0-1035, SERCOS III: Error counter Port1 & Port2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
This parameter is the image of a SERCOS FPGA register "SercosErrorCount"

in which all faulty telegrams (e.g., FCS error) are displayed in relation to the
port.
The error counters end with a maximum of 65535. The error register in the
FPGA is not automatically cleared; this is achieved only by writing to the pa
rameter.
Structure
Bit
15-0
Error counter Port 1
Comment
31-16 Error counter Port 2
Fig.4-98:
Function:
Memory:
Unit:
Cycl. tra.:
S-0-1035, SERCOS III: Port 1 and Port 2 Error Counters

Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
HEX
0
--

and Controls
Standard Parameters
Input
MPB:
MPC:
MPD:
MPH:
4.4.104
min./max.
--- / ----- / ----- / ----- / ---
Default value
0
0
0
0
S-0-1040, Drive address of master communication

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC
By means of this parameter, it is possible to set the address for the master
communication (e.g. SERCOS, Profibus...). Except for amendments made for
SERCOS III, the parameter corresponds to P-0-4025. Any change in the ad
dress is simultaneously carried out for both parameters.
The currently effective address can be directly taken from param
eter "S-0-0096, Slave arrangement (SLKN)" or "P-0-4031, Over
view of device addresses"!
See also Functional Description "Serial Communication"
Use
The parameter can be set via the control panel, the serial interface or the
master communication interface.
Note: With SERCOS II, it can only be changed in phase 0 and with all other
interfaces (also SERCOS III) in the parameter mode ("PM").
The entered address takes effect:
SERCOS II: At the next change of communication phases from

"phase 0" to "phase 1"; this is why it might possibly be required to
run up the drive again
SERCOS III: Immediately
Field bus and analog/parallel: At the next change to the operating

mode ("OM")
With the setting "P-0-4022 = "256" ( default value), the address set in
"S-0-1040, Drive address of master communication" is used for serial
communication.
See also Parameter Description "P-0-4025, Drive address of master commu

nication"
See also Parameter Description "S-0-0096, Slave arrangement (SLKN)"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
1 / 99
1 / 99
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
2Byte
DEC_OV
0
--

and Controls
Standard Parameters
MPD:
MPH:
4.4.105
1 / 99
1 / 99
-----
S-0-1041, SERCOS III: AT Command value valid time (t9)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
The "AT command value valid" time indicates the time after which the drive may
access the new command values after the end of the master synchronization
telegram. The master can therefore set the same "command value valid" time
for all drives that operate in a co-ordinate mode.
For reasons of compatibility, this parameter still exists, but
IndraDrive no longer uses and evaluates it.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-us
--
Input
MPB:
MPC:
MPD:
MPH:
4.4.106
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0,000 / 65000,000
0,000 / 65000,000
0,000 / 65000,000
0,000 / 65000,000
4Byte
DEC_OV
3
--
Default value
900,000
900,000
900,000
900,000
S-0-1044, SERCOS III: Device Control (C-Dev)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
This parameter is an image of the Device Control (C-Dev).

It is read-only and can be used for diagnostic purposes.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.4.107
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
S-0-1045, SERCOS III: Device Status (S-Dev)

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
-
-
-
-
-
-
-
-
-
2Byte
BIN
0
--

and Controls
Standard Parameters
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
This parameter is an image of the Device Status (S-Dev).

Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.4.108
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
S-0-1046, SERCOS III: List of SERCOS addresses in device

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
This parameter shows all the addresses of a device from "S-0-1040, Drive ad
dress of master communication" in a list.
Thus, a single-axis device has one list element with one address, a double-axis
device has two list elements with two addresses.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.4.109
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
DEC_OV
0
--
Default value
---------
S-0-1050.0.1, SIII-Connection: Connection setup

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
This parameter contains the configuration data of a connection consisting of:
Activate configuration
Connection type

and Controls
Standard Parameters
Structure
Configuration source
Configuration type
Clock generation (producer)
Monitoring mechanism (consumer)
Bit
Comment
2-0
MPx16 only sup

ports "00"
00: Synchronous operation

01: Asynchronous operation (with watchdog)
10: Asynchronous operation (without watchdog)
11: Reserved
3

0: Synchronous
1: Asynchronous
5-4
Configuration type
00: Configuration list with EIDNs (SE-6 relevant)
01: Container without assigned contents (SE-5 relevant)
MPx16 only sup

ports "00" and
"10"
10: Telegram type parameter FSP-Drive (S-0-0015 rele

vant)
11: Reserved
13-12 Configuration source
00: Bus master
01: Not bus master
10: Not bus master
11: Not bus master
14
Connection type
0: Consumer
1: Producer
15
Configuration activation
0: Slave does not need to evaluate/take into account con
figuration
1: Slave needs to evaluate/take into account configuration
Fig.4-99:
S-0-1050.0.1 - Attributes
Function:
Memory:
Unit:
Cycl. tra.:
S-0-1050.x.1, SIII-Connection: Configuration

Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.110
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
0
0
0
0
S-0-1050.0.2, SIII-Connection: Connection number

Allocation
Contained in 02VRS:
Contained in 03VRS:
-
-
-
-
-
-
2Byte
BIN
0
--

and Controls
Standard Parameters
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
This parameter is used to unequivocally identify a connection. A bus master

needs this parameter to determine the telegram offset, for example.
Rules:
1. Producer and consumer of one connection have the same connection
number.
2. A slave cannot have the same connection numbers for its connections.
3. MS-AT and MS-MDT in a slave have different connection numbers.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.4.111
P2
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
0
--
Default value
0
0
0
0
S-0-1050.0.3, SIII-Connection: Telegram assignment

Allocation
Function
Structure
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC

which telegram (MDT or AT, telegram number) the connection is. The telegram
offset points to the connection control (C-Con) of this connection.
Bit
10-0
11
Telegram type
Comment
0: AT
1: MDT
15-12 Telegram number
0: MDT0 / AT0
1: MDT1 / AT1
2: MDT2 / AT2
3: MDT3 / AT3
Fig.4-100:
Function:
Memory:
S-0-1050.x.3, SIII-Connection: Telegram assignment

Par
PARAM_SP
Editability:
Validity ch.:
P2
--
Data length:
Format:
2Byte
HEX

and Controls
Standard Parameters
Unit:
Cycl. tra.:
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.112
---
min./max.
--- / ----- / ----- / ----- / ---
Decim. pl.:
Switchable:
0
--
Default value
0
0
0
0
S-0-1050.0.4, SIII-Connection: Max. length of connection

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
With this parameter, the slave shows the master how many bytes it allows for
this connection. 2 bytes are included for the connection control C-Con.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.4.113
Extr. val. ch.:

Comb. check:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
---------
S-0-1050.0.5, SIII-Connection: Current length of connection

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
With this parameter, the slave shows the master how many bytes are currently
required for this connection. 2 bytes are included for the connection control CCon.
The data of this parameter is made available by the slave for all configuration
types which can be set ("S-0-1050.x.1, SIII-Connection: Connection setup")
and is always updated after "S-1050.x. 6, SIII-Connection: Configuration list"
has been written.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
DEC_OV
0
--

and Controls
Standard Parameters
4.4.114
S-0-1050.0.6, SIII-Connection: Configuration list

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
This parameter contains the IDNs (4 bytes) which are cyclically transmitted in
this connection. The content only takes effect in configuration type
00: Configuration with EIDNs ("S-1050.x.1, SIII-Connection: Connection set
up").
With this configuration type, the slave determines the parameter "S-0-1050.x.
5, SIII-Connection: Current length of connection" from the content of this pa
rameter.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.4.115
P2
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
S-0-1050.0.8, SIII-Connection: Connection control (C-Con)

Allocation
Function
Structure
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
This parameter contains the image of the connection control (C-Con) of the
connection. This applies to producer and consumer connections.
Bit
ProducerReady
0: Producer does not generate any valid command values
yet
1: Producer generates valid command values, slave can
process the command values with toggle of bit 1
NewData bit
Edge indicates that there are new data in the connection
CC DataFieldDelay
1: CC producer data have a SERCOS cycle delay, because
they were copied via bus master. The consumer shall prefer
taking the data of the port at which this bit has the value 0.
Comment

and Controls
Standard Parameters
Bit
ProducerSynchonized
Comment
0: The PLL of the producer is not synchronized with the clock

of the ring
1: The PLL of the producer is synchronized with the clock of
the ring
6
Real-time bit 1
Real-time bit 2
Fig.4-101:
Function:
Memory:
Unit:
Cycl. tra.:
S-0-1050.x.8, SIII-Connection: Connection control (C-Con)

Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.4.116
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
S-0-1050.0.10, SIII-Connection: Producer cycle time

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
This parameter indicates the cycle time within which the producer updates the
data of the cyclic connection. In addition, the NewData bit in the connection
control is toggled. The consumer of the connection uses the time as a moni
toring time to detect failures. The number of failures is displayed in "S-0-1050.x.
12, SIII-Connection: Error counter data losses".
The producer cycle time must be equal to "S-0-1002, SERCOS III:
Communication Cycle time (tScyc)".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
us
--
Input
MPB:
MPC:
MPD:
MPH:
4.4.117
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_OV
3
--
Default value
1000,000
1000,000
1000,000
1000,000
S-0-1050.0.11, SIII-Connection: Allowed data losses

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
-
-
-
-
MPB
-
-
-
-
MPH
-
-
-
-
MPD
MPC

and Controls
Standard Parameters
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
2
2
2
2
S-0-1050.0.12, SIII-Connection: Error counter data losses

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
This parameter indicates how many losses of producer data the consumer has
already detected. This counter is without overflow and ends with 65535. The
counter will be reset with the positive edge of ProducerReady in the connection
control (C-Con).
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.4.119
MPC
This parameter indicates the number of allowed losses of producer data, before
a connection is considered to be broken, the consumer does not process data
anymore and sets the Err-Con bit for the bus master in the device status (SDev, S-IF).
Input
MPB:
MPC:
MPD:
MPH:
4.4.118
MPB
MPH
MPD
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
---------
S-0-1050.0.20, SIII-Connection: IDN allocation of real-time bit

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
This parameter contains the IDN assignment (4Byte) of the real-time bits in the
connection control (C-Con). The list contains a maximum of 2 IDNs. The bit
assignment takes place in parameter "S-0-1050.x.21, SIII-Connection: Bit al
location of real-time bit".

and Controls
Standard Parameters
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.120
P234
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
S-0-1050.0.21, SIII-Connection: Bit allocation of real-time bit

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
This parameter contains the bit assignment of the real-time bits parameterized
in "S-0-1050.x.20, SIII-Connection: IDN allocation of real-time bit". The list con
tains a maximum of 2 bit offsets with values from 0...31.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.121
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
DEC_OV
0
--
Default value
---------
S-0-1051, SIII-Connection: Image of connection setups

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
This parameter contains the current setups of all connections. It consists of a

list with "S-0-1050.x.1, SIII-Connection: Connection setup" of all connections
in ascending order. This gives the bus master (or configurator) an overview of
the number of possible connections (= list length) and of the connections al
ready assigned to the bus master or other configuration sources.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte var.
BIN
0
--

and Controls
Standard Parameters
4.4.122
S-0-1095, SERCOS III: diagnostic message

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
-
-
-
-
-
-
--
-
-
This parameter serves for SERCOS III communication diagnosis and can
therefore be used for diagnostic purposes.
Use
There are the following possible display messages (content of S-0-1095):
"MasterComm-HW: No code for SERCOS-III/HCC04"
"FPGA: Is not suppored by firmware"
"FPGA: S-III Device Type (0x88CD) not found
"FPGA: Incorrect Device Version"
"FPGA: Incorrect Device Release"
"Basic initialization completed"
"Phase switch: CP allowed, descr. active"
"Phase switch: CP allowed, descr. inactive"
"Phase switch: Timeout due to MST miss"
"Phase switch: Waiting for first MST"
"Phase switch: Phase > 4
"Phase switch: MST bit7 missing"
"Synchronization MST->position clock does not work
"Synchronization MST->position clock works
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.4.123
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
ASCII
0
--
Default value
---------
S-0-1100.0.1, Diagnostic counter sent SMP fragments

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
This parameter counts the SMP fragments having been transmitted since the
control voltage was switched on. Once it reaches 232-1, the counter is auto
matically reset to 0.

and Controls
Standard Parameters
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.4.124
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
0
--
Default value
---------
S-0-1100.0.2, Diagnostic counter received SMP fragments

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
This parameter counts the SMP fragments having been received since the
control voltage was switched on. Once it reaches 232-1, the counter is auto
matically reset to 0.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.4.125
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
0
--
Default value
---------
S-0-1100.0.3, Diagnostic counter dropped SMP fragments

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
This parameter indicates the number of received SMP fragments which were
dropped by the SMP stacke because the fragment header did not meet the
receiver's expectations.
This may have the following reasons:
Invalid session ID
Wrong sequence of the sequence counter
Wrong sequence of FOS/LOS bits
Once it reaches 232-1, the counter is automatically reset to "0".

Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
0
--

and Controls
Standard Parameters
Input
MPB:
MPC:
MPD:
MPH:
4.4.126
min./max.
--- / ----- / ----- / ----- / ---
S-0-1101.0.1, SMP Container Data

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
This parameter contains the SMP fragments transmitted by an SMP container.

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
4.4.127
Default value
---------
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
1Byte var.
HEX
0
--
Default value
---------
S-0-1101.0.2, List of session identifiers

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
This parameter contains a list of all session identifiers which are currently set
up in an SMP container.
An SMP session is defined by a session identifier and a priority level. These
values are stored in parameters "S01101.x.2 List of session identifiers" and
"S01101.000.003 List of session priorities". Entries having the same list index
together define one SMP session.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.128
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
S-0-1101.0.3, List of session priorities

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
-
-
-
-
-
-
-
-
-
2Byte var.
HEX
0
--

and Controls
Standard Parameters
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
This parameter contains a list of all session priorities which are currently set up
in an SMP container.
An SMP session is defined by a session identifier and a priority level. These
values are stored in parameters "S01101.x.2 List of session identifiers" and
"S01101.000.003 List of session priorities". Entries having the same list index
together define one SMP session.
The highest priority level is 0, the lowest one 3.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
4.4.129
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
----
min./max.
0/3
0/3
0/3
0/3
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
DEC_OV
0
--
Default value
---------
S-0-1134, SERCOS III: Master control word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
-
-
-
-
-
-
--
-
-
For drives with SERCOS III interface, the master control word is cyclically
transmitted from master to drive.
There is important control information defined in the master control word, for
example:
Drive enable
Drive Halt
Selection of command operation mode

In SERCOS III, the master control word was extended to 32 bits. A
new parameter is, therefore, required. "S-0-0134" is still available
for compatibility reasons.
See also Functional Description "Device Control (State Machine)"

Structure:
Bits 0...15: correspond to "S00134 Master control word"
Bits 16...31: Not defined yet!
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
4Byte
BIN

and Controls
Standard Parameters
Unit:
Cycl. tra.:
---
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.4.130
---
min./max.
--- / ----- / ----- / ----- / ---
Decim. pl.:
Switchable:
0
--
Default value
---------
S-0-1135, SERCOS III: Drive status word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
-
-
-
-
-
-
--
-
-
For drives with SERCOS III interface, the drive status word is cyclically trans
mitted from drive to master. There is important status information contained in
the drive status word, for example:
Readiness for operation of control and power sections
Drive errors
Change bits class 2 and 3 diagnostics
Current operation mode

In SERCOS III, the drive status word was extended to 32 bits.
"S-0-0135" is still available for compatibility reasons.
See also Functional Description "Device Control (State Machine)"

Structure

Bit
2-0
Control information for service channel
Command change bit
7/6
Real-time status bits 1 and 2
10-8

001: Secondary oper. mode 1 active
11
Change bit class 3 diagnostics
12
Change bit class diagnostics
13
Drive error, error in class 1 diagnostics
Comment

and Controls
Standard Parameters
15/14
Ready for operation

00: Drive not ready for power on, as internal checks not pos
itively completed
01: Ready for power on
10: Control and power sections ready for operation, torquefree
11:In operation, with torque
31-16
Reserved
Fig.4-102:
Function:
Memory:
Unit:
Cycl. tra.:
SERCOS III Structure: Drive Status

Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.4.131
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
+
-
-
-
-
MPD
MPD
4Byte
BIN
0
--
S-0-1300.0.3, Vendor Code

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Contains the SERCOS-specific vendor code.

The
Vendor Code (S-0-1300.0.3) and the
Vendor Device ID (S-0-1300.0.5)
are used to identify the SERCOS device.

Use
This parameter is used while the system "goes online" (is running up) to verify
whether the offline configuration (made on the basis of a device description file)
is "valid", i.e. based on the actual device properties.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
4.4.132
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
0
--
Default value
---------
S-0-1300.0.5, Vendor Device ID

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
-
-
-
-
MPB
-
-
-
-
MPH
-
-
-
-
MPD
MPC

and Controls
Standard Parameters
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
+
MPD
MPC
Contains the SERCOS-specific vendor device ID.

The
Vendor Code (S-0-1300.0.3) and the
Vendor Device ID (S-0-1300.0.5)
are used to identify the SERCOS device.

Structure
Example:
FWA-INDRV*-MPH-06
Use
This parameter is used while the system "goes online" (is running up) to verify
whether the offline configuration (made on the basis of a device description file)
is "valid", i.e. based on the actual device properties.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.4.133
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
--
-
-
-
-
MPD
MPD
1Byte var.
ASCII
0
--
S-0-1301, List of GDP classes

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Function
This parameter indicates the implemented classes of the generic device func
tions of a SERCOS device.
Use
This parameter serves to find the SERCOS-defined functions that are available
in the diagnosis, identification, initialization and parameter management areas.
IndraDrive meets the GDP "Basic" requirements.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
4.4.134
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
S-0-1302.0.1, FSP Type

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
-
-
-
-
-
-
-
-
-
2Byte
HEX
0
--

and Controls
Standard Parameters
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPC
MPC
This parameter specified an instance for S-0-1302,x.1 for each resource in a

subdevice. The instance indicates the FSP in which the resource is specified.
At present, only I/O and Drive resources are specified in SERCOS FSPs. Cur
rently, the I/Os in the drive are not implemented according to FSP I/O. That
means that only the "Drive" is available as a resource specified according to
SERCOS.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
HEX
0
--

and Controls
Product-Specific Parameters
5.1
P-0-0000 to P-0-0100 General Functions
5.1.1
P-0-0001, Switching frequency of the power output stage

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Via this parameter, the switching frequency of the power output stage (fPWM)
can be set as desired within the scope of the frequencies supported by the
respective power section.
Only set such switching frequencies which are supported by the
involved components! Observe the Technical Data for drive con
trollers and motors. In particular, only the HCS04 combination is
allowed with a switching frequency of 2 kHz.
See also Functional Description "Current Loop"
Use
The actually possible input values for the switching frequency of the output
stage depend on the performance setting in parameter "P00556, Config
word of axis controller".
The effective switching frequency can be reduced according to the set

tings in "P00045, Control word of current controller ", bits 7 and 11. This
reduction can be made in relation to the load, in relation to the velocity or
synchronously with the output frequency (applicable to MPH and MPC
only). MPx05 only allow reduction in relation to the load, to be activated
in parameter "P-0-0556, Config word of axis controller".
The maximum switching frequency is determined by "P04058, Amplifier

type data", list element 16. Depending on the device type, the following
values can be set, for example:
Device type / switching frequ. fs [kHz]
12
16
HCS02
HCS03
HCS04.1 (as of MPx04)
HCS04.2 (as of MPx06)
HMS01
HMS02 (as of MPx04)
HMD01
Fig.5-1:
Switching Frequency
O: Not possible
X: Possible
The cycle time of the current control results from the combination of the switch
ing frequency of the output stage and the performance setting in parameter

and Controls
"P00556, Config word of axis controller". The higher the switching frequency
selected, the shorter the cycle time.
The higher the clock frequency selected, the lower the continuous
output current of the controller!
Record of Revisions
P-0-0001 - Attributes
Version
Attribute
Up to MPx04VRS
MPB_Max value: 8000
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Hz
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.1.2
Comment
PM
PM->OM
+
--
min./max.
4000 / 12000
4000 / 16000
4000 / 8000
4000 / 16000
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
+
Default value
4000
4000
4000
4000
P-0-0004, Velocity loop smoothing time constant

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The time constant that can be activated in this parameter takes effect in the
velocity controller and is suited for suppressing quantization effects and limiting
the bandwidth of the velocity control loop.
See also Functional Description "Velocity Control Mode"
The limit frequency results from the smoothing time constant by means of the
following relationship:
Fig.5-2:
Bandwidth
By inputting the minimum input value the filter is switched off.

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
us
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0 / 65500
0 / 65500
0 / 65500
0 / 65500
Data length:
Format:
Decim. pl.:
Switchable:
Default value
800
800
800
800
2Byte
DEC_OV
0
+

and Controls
5.1.3
P-0-0007, Display text of diagnostic message

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains the display text currently displayed on the control panel
of the drive.
Example:" AF" or " PL"
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.1.4
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
1Byte var.
ASCII
0
--
P-0-0008, Activation E-Stop function

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter is used for activating the E-Stop input and selecting a reaction
for the shutdown of the drive.
See also Functional Description "E-Stop Function"
Structure
Bit
Activation of E-Stop
0: Inactive
1: Active
Error class in the case of interpretation as an error (bit 2 =

0)
0: Best possible deceleration (P-0-0119)
1: Velocity command value set to zero
Interpretation
0: As non-fatal error
1: Fatal warning
Fig.5-3:
P-0-0008, Activation E-Stop function
Comment

and Controls
The input is always "0-active", i.e. 0 V on the input means it is active!
"P00223, E-Stop input" must have been assigned to a digital input
via the P00300 and P00301 parameters.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.1.5
PM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0/7
0/7
0/7
0/7
Default value
0
0
0
0
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
P-0-0009, Error number

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
When the drive diagnoses a class 1 diagnostics error, a bit is set in parameter
"S00011, Class 1 diagnostics". Bit 13 for "Error in class 1 diagnostics" is then
set in the drive status word.
See also Functional Description "Error Memory (Power Section and Control
Section)"
Use
In order to allow a more detailed diagnosis
the diagnostic number appears on the display and is stored in parameter

"S00390, Diagnostic message number",
the plain text diagnosis is stored in parameter "S00095, Diagnostic mes

sage"
and the respective error number is stored in parameter "P00009, Error

number".
When there isn't any error present, the value of parameter P00009, Error
number equals 0.
Example for a diagnosis:
S-0-0390: F8022 (hex)
P-0-0009: 8022 (decimal)
S-0-0095: F8022 Enc. 1: enc. signals incorr. (can be cleared in ph. 2)
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
DEC_OV
0
--

and Controls
5.1.6
P-0-0010, Excessive position command value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In the "cyclic position control" mode (S-0-003235 = 0x0003, 0x0004, 0x000B

or 0x000C) the NC sets position command values in equal time intervals
("S00001, NC Cycle time (TNcyc)").
See also Functional Description "Position Control with Cyclic Command Value
Input"
Use
In the drive the difference of two successive position command values is moni
tored with regard to exceeding the "S00091, Bipolar velocity limit value".
In case the value is exceeded the "F2037 Excessive position command differ
ence" error is activated and the "excessive position command value" Xcmd(k)
that activated the error is stored the "P00010, Excessive position command
value" parameter.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.1.7
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
P-0-0011, Last valid position command value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In the "cyclic position control" mode (S-0-003235 = 0x0003, 0x0004, 0x000B

or 0x000C) the NC sets position command values in equal time intervals
("S00001, NC Cycle time (TNcyc)"). In the drive the difference of two succes
sive position command values is monitored with regard to exceeding the
"S00091, Bipolar velocity limit value".
Input"
Use
In case the value is exceeded the "F2037 Excessive position command differ
ence" error is activated and the "last valid position command value" Xcmd(k-1)
is stored the "P00011, Last valid position command value" parameter.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
4Byte
DEC_MV

and Controls
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.1.8
min./max.
--- / ----- / ----- / ----- / ---
S-0-0077
S-0-0078
--
Default value
---------
P-0-0012, C0300 Set absolute position procedure command

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
When commissioning an absolute measuring system, the actual position value

of this system at first displays the value of "P00019, Initial position value" if
the "Set absolute measuring" command has not yet been executed. But if an
other absolute value encoder that has been homed has been connected, the
value of this encoder is displayed.
See also Functional Description "Establishing the Position Data Reference "
Use
By means of the "Set absolute measuring" command the actual position value
can be set to a desired new value at any reference position. After the "Set
absolute measuring" command has been completed, the actual position value
of the respective encoder has a new reference system. The value of the re
spective bit in the "S00403, Position feedback value status" parameter then
is 1.
The command only acts on the connected absolute measuring sys
tem that has been selected in "P00612, Control word for setting
absolute measuring".
By means of a backup of all required data of the absolute measuring system in
the feedback data memory or parameter data memory, all information will be
available every time the machine is switched off and on again. The actual po
sition value retains its reference to the machine zero point.
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.1.9
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
P-0-0013, List of all IDNs not corresponding to default value

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
MPB
MPB
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Hardware
Funct. package(s):
Device parameter:
Function

--
This parameter contains a list of the IDNs of those parameters the data of which
was changed with regard to the default value.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.1.10
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
IDN
0
--
Default value
---------
P-0-0014, C1400 Command Get marker position

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The command "P00014, C1400 Command Get marker position" is used to

check the reference mark detection of an incremental measuring system.
Use
If the command has been activated, the actual position value of the measuring
system is stored in parameter "S00173, Marker position A", once the refer
ence mark has been detected, and the command is signaled to have been
completed. In case the drive, apart from the motor encoder, is equipped with
an optional encoder, bit 3 of "S00147, Homing parameter" determines which
encoder stores the position of the reference mark!
For incremental encoders with distance-coded reference marks,
the actual position value of the other reference mark is stored in
"S00174, Marker position B"!
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.1.11
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
P-0-0018, Number of pole pairs/pole pair distance

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
MPB
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
--
MPD
MPC
The following settings can be made depending on bit 9 of parameter "P04014,

Type of construction of motor":
Number of pole pairs in the case of rotary motors
Pole pair distance/pole pair length in the case of linear motors

Automatically on initial commissioning of MHD, MKD, MKE

motors.
By loading the motor parameters with the "IndraWorks D"

commissioning tool where 2AD, ADF, linear and rotary kit mo
tors are concerned.

Systems"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Pole pairs
--
Input
PM
PM->OM
+
--
min./max.
StdOne /
WertPolpaa
StdOne /
WertPolpaa
StdOne /
WertPolpaa
StdOne /
WertPolpaa
MPB:
MPC:
MPD:
MPH:
5.1.12
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Data length:
Format:
Decim. pl.:
Switchable:
ausMART_Max
ausMART_Max
ausMART_Max
ausMART_Max
2Byte
DEC_OV
0
+
Default value
3
3
3
3
P-0-0019, Initial position value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In the case of a non-homed drive (S-0-0403 = 0x0), the actual position value of
the motor encoder (S-0-0051) and, if available, the actual position value of the
optional encoder (S-0-0053) is set to the value of P00019 during the initiali
zation process (transition command communication phase 3 to 4), if this has
been selected accordingly in the position feedback type parameter (S-0-0277/
S-0-0115).
The default value of P00019 is zero.
See also Functional Description "Shifting the Position Data Reference for Rel
ative and Absolute Measuring Systems"

and Controls
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.1.13
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
0,0000
0,0000
0,0000
0,0000
P-0-0020, Oscilloscope: Operation mode

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
By means of the parameter "P00020, Oscilloscope: Operation mode", it is

possible to activate special functions, such as device oscilloscope for multi-axis
devices.
The parameter can only be changed when all oscilloscope functions
of a device have been deactivated (see also "P00028, Oscillo
scope: Control word").
Structure
Bit
Device oscilloscope
Comment
0: Axis oscilloscope (one separate oscilloscope for each ax

is of a device)
1: Device oscilloscope (one common oscilloscope for all ax
es of a device)
Fig.5-4:
P-0-0020, Oscilloscope: Operation mode
See also Functional Description "Oscilloscope Function"

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.1.14
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
0
0
0
0
P-0-0021, Oscilloscope: list of measured values 1

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPB
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function

--
The measured values of channel 1 of the oscilloscope function are stored in

chronological order in parameter "P00021, Oscilloscope: list of measured val
ues 1". The oldest measured value is the first element of the list of measured
values.
The recorded signal is the one identified by means of the IDN entered in
"P00023, Oscilloscope: signal selection 1".
Attribute, unit etc. are automatically adjusting to this selected signal.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.1.15
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
DEC_MV
4
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

values.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.1.16
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
P-0-0023, Oscilloscope: signal selection 1

Allocation
Contained in 02VRS:
Contained in 03VRS:
MPB
MPB
MPH
MPH
MPD
MPD
4Byte var.
DEC_MV
4
--

and Controls
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPC
MPC
The IDN entered in "P00023, Oscilloscope: Signal selection 1" defines the
signal that is to be recorded by channel 1.
Only such IDNs are allowed that are contained in the list "P00149, Oscillo
scope: Signal selection list".
The measuring channel is deactivated with the input "0" or
"S00000".
When the recording is over, the recorded measured values are contained in
parameter "P00021, Oscilloscope: List of measured values 1".
See also Functional Description of firmware "Oscilloscope Function"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.1.17
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
P3->P4
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
IDN
0
--
Default value
0
0
0
0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The IDN entered in "P00024, Oscilloscope: Signal selection 2" defines the
signal that is to be recorded by channel 2.
Only such IDNs are allowed that are contained in the list "P00149, Oscillo
scope: Signal selection list".
The measuring channel is deactivated by entering "0" or using
"S00000".
After recording has been completed, the recorded measured values are con
tained in parameter "P00022, Oscilloscope: List of measured values 2".
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
4Byte
IDN
0
--

and Controls
MPC:
MPD:
MPH:
5.1.18
--- / ----- / ----- / ---
0
0
0
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
P-0-0025, Oscilloscope: trigger mask

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
For trigger signals with the display format "Bin" and "Hex", it is possible by
means of parameter "P00025, Oscilloscope: trigger mask" to put an additional
trigger mask over the trigger signal and trigger threshold before the comparison.
On all other display formats of the trigger signal the parameter doesn't have
any effect.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.1.19
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
HEX
0
--
Default value
0xFFFFFFFF
0xFFFFFFFF
0xFFFFFFFF
0xFFFFFFFF
P-0-0026, Oscilloscope: trigger signal selection

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The parameter "P00026, Oscilloscope: Trigger signal selection" determines,

for the trigger unit, to which signal from "P00149, Oscilloscope: Signal selec
tion list" the trigger level (P00027) is to be compared.
Selecting a trigger signal (cf. P-0-0026) also determines the unit
and format for "P00027, Oscilloscope: Trigger level".
See also Functional Description of firmware "Oscilloscope Function"
Use
At the start of the recording (P00036, bit 2 1) the trigger error bit (P00037,
bit 7) is then set in the status word.
Changing the parameter is only possible when the oscilloscope has been de
activated (see also P00028, Oscilloscope: Control word").
When S00000 is preset as IDN, the trigger function is not active.
.

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.1.20
PM+OM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
0
0
0
0
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
IDN
0
--
P-0-0027, Oscilloscope: trigger level

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The parameter "P00027, Oscilloscope: trigger level" is the comparative value

for the trigger function.
Use
Depending on the selected trigger edge (P00030), the bit for "internal trig
ger" (P00037, bit 2) is set when the trigger condition has been reached.
Before that bit 8 and bit 9 in the status word (P00029) indicate whether the
value of the selected trigger source is above or below the trigger level or wheth
er the value corresponds to the trigger level.
The parameter can only be changed when the recording has been
started (see also "P00028, Oscilloscope: control word"). Depend
ing on the IDN selected in "P00026, Oscilloscope: trigger signal
selection", attribute and unit are adjusting to the selected signal.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.1.21
PM+OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
0
0
0
0
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
0
--
P-0-0028, Oscilloscope: control word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The parameter "P00028, Oscilloscope: Control word" contains (except for the
operation mode) all settings for controlling the oscilloscope. These settings

and Controls
contain the selection for trigger offset measurement and the activation (start/
stop) of the oscilloscope.
Structure
Bit
Start of recording
Comment
0: Recording is stopped
1: Recording is started
1
Kind of trigger
0: Internal trigger (without offset measurement)
1: External trigger (with offset measurement)
Fig.5-5:
Function:
Memory:
Unit:
Cycl. tra.:
P-0-0028, Oscilloscope: Control word

Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.1.22
PM+OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
P-0-0029, Oscilloscope: status word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The parameter "P0-0029, Oscilloscope: status word" displays the current sta
tus of the oscilloscope function.
Structure
Bit
start of recording
0: Recording by P-0-0028, bit 0 stopped or completed.
1: Recording by P-0-0028, Bit 0 started. Change of some
oscilloscope parameters locked.
trigger start
0: trigger function completed
1: Trigger function started. Internal trigger not yet released.
Comparison continues to run.
internal trigger
0: Internal trigger not yet released.
1: Internal trigger released. Comparison successfully com
pleted.
Comment

and Controls
Bit
Comment
trigger function completed

1: When triggering via external trigger signal, (P-0-0028, bit1
= 1) an external trigger signal was detected. When triggering
via internal source only, this bit is set together with bit 2.
delay function completed

0: delay function still active
1: Delay function completed. New measured values can be
read. Bit 0 is cleared.
trigger error
0: trigger function correctly intialized at start of recording
(P-0-0028, bit 0)
1: Trigger function not correctly intialized at start of recording
(P-0-0028, bit 0), e.g. incorrect trigger source (P-0-0026).
Trigger function threrefore cannot be executed.
8/9
status trigger signal

(comparison only takes place with active trigger function and
until internal trigger bit2 has been reached)
00: no comparison
01: trigger signal > trigger threshold (P-0-0027)
10: trigger signal < trigger threshold (P-0-0027)
11: trigger signal = trigger threshold (P-0-0027)
Fig.5-6:
P-0-0029, Oscilloscope: status word
See also Parameter Description "P00028, Oscilloscope: control word

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.1.23
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
P-0-0030, Oscilloscope: trigger edge

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The parameter "P00030, Oscilloscope: Trigger edge" determines the edge at

which the "internal trigger" (P00029, bit 2) is triggered.
See also the functional description: "Oscilloscope Function"

and Controls
Structure
Bit
Trigger edge positive
Comment
1: Internal trigger is triggered at positive edge

1
Trigger edge negative

1: Internal trigger is triggered at negative edge
Trigger equal
1: Internal trigger is triggered when trigger level and value
of trigger source are equal
Fig.5-7:
Use
P-0-0030, Oscilloscope: Trigger edge
In addition, it is possible to check the equality of trigger level and trigger source.
Combinations of several conditions (e.g.) are possible.
The parameter can also be changed when the recording has been started (see
also "P00028, Oscilloscope: Control word"). This however can cause the "in
ternal trigger" to be triggered accidentally.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.1.24
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
1/4
1/4
1/4
1/4
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
3
3
3
3
P-0-0031, Oscilloscope: time resolution

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The time resolution of the oscilloscope function (i.e. the sampling rate) can be
defined by parameter "P00031, Oscilloscope: time resolution". As a maximum
(= highest sampling rate) the signals can be recorded in the position loop clock
(Advanced: 250 s, Basic: 500 s, Low Performance: 1 ms).
The following applies to the parameterization of P00031:
The input range of P00031 therefore depends on the hardware and firm
ware that are used (or the performance set in "P00556").
When new values are entered they are automatically replaced by multiples
of the minimum value.
Parameter "P00031" can only be changed when the oscilloscope
has been deactivated (see also "P00028, Oscilloscope: control
word").

Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
4Byte
DEC_OV

and Controls
Unit:
Cycl. tra.:
us
--
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.1.25
---
min./max.
250 / 8000000
250 / 8000000
250 / 8000000
250 / 8000000
Decim. pl.:
Switchable:
0
--
Default value
1000
1000
1000
1000
P-0-0032, Oscilloscope: size of memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The size of memory defines the number of measured values to be recorded per
measurement. A maximum of 8192 measured values can be recorded per
channel. By means of the size of memory and the time resolution ("P00031,
Oscilloscope: time resolution") you can determine the recording time.
The minimum recording duration is one position clock!
In general, the following applies:
Fig.5-8:
Recording time
With the size of memory the master can adjust the size of the lists of measured
values to its requirements (e.g. available memory). The parameter can only be
changed when the oscilloscope has been deactivated (see also "P00028,
Oscilloscope: control word").
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.1.26
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
1 / 8192
1 / 8192
1 / 8192
1 / 8192
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
4096
4096
4096
4096
P-0-0033, Oscilloscope: number of measured values after trigger event

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Function
The parameter "P00033, Oscilloscope: number of measured values after trig

ger event" determines the number of measured values that will still be recorded
after the trigger event ("P00029", bit 3 = 1) has occurred (delay function).
Use
After these measured values have been recorded, the bit "delay function com
pleted" (P-0-0029, bit 4) is set in "P00029, Oscilloscope: status word". The
entire recording then is completed and the lists of measured values can be read.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.1.27
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0 / 8192
0 / 8192
0 / 8192
0 / 8192
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
0
0
0
0
P-0-0034, Position command additional actual value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used as the start value for synchronization in a synchroniza

tion mode with outer position control loop.
It contains the difference between "P00753, Position actual value in actual
value cycle" and the synchronous position command value generated from the
master axis position. In the case of modulo scaling, the parameterized actual
value cycle is used as modulo range for P00034.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.1.28
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
P-0-0035, Oscilloscope: control offset

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
With the selection "trigger offset measurement" (P-0-0028, bit 1 = 1), the pa
rameter "P00035, Oscilloscope: control offset" contains the number of meas

and Controls
ured values that were recorded between the occurrence of the "internal
trigger" (P00029, bit 2) and the occurrence of the "external trigger for trigger
offset measurement" (P00036, bit 0). The parameter indicates the offset be
tween these two trigger sources and can be used for synchronizing the lists of
measured values of several drives via the master.
See also Parameter Description "P00028, Oscilloscope: control word"
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.1.29
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
0
--
Default value
---------
P-0-0036, Oscilloscope: external trigger signal

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The parameter "P00036, Oscilloscope: external trigger signal" is a real-time

control bit parameter and can be parameterized both in the real-time channel
of the interface and as hardware input.
See also Parameter Description "P00028, Oscilloscope: control word"
See also the Functional Description: "Oscilloscope Function"
Structure
Bit
external trigger signal
Comment
0: external trigger signal = Low

1: external trigger signal = High
Fig.5-9:
Function:
Memory:
Unit:
Cycl. tra.:
P-0-0036, Oscilloscope: external trigger signal

Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.1.30
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-0037, Oscilloscope: internal trigger signal

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
MPB
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
--
MPD
MPC
The parameter "P00037, Oscilloscope: internal trigger signal" contains the

status of the internal trigger. It is a real-time status bit capable parameter and
can be parameterized both in the real-time channel of the interface and as
hardware output.
Structure
Bit
internal trigger
Comment
0: Internal trigger not yet triggered. Comparison still active.

1: Internal trigger triggered. Comparison successfully com
pleted.
Fig.5-10:
Function:
Memory:
Unit:
Cycl. tra.:
P-0-0037: Oscilloscope: internal trigger signal

Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.1.31
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-0038, Torque-generating current, command value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Display parameter for the torque component or force-generating component of

the current command value.
The velocity loop generates the torque or force command value that is after
wards converted to the torque-generating current command value via
"P00051, Torque/force constant". The value is therefore updated in the ve
locity loop cycle time (250 s/125 s controller performance).
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
-A eff
AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
DEC_MV
3
--

and Controls
5.1.32
P-0-0039, Flux-generating current, command value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Display parameter for the current command value component that generates
the magnetic flux in the motor. The flux-generating current is output of the flux
loop that is processed in the position loop cycle time.
In the case of asynchronous motors the flux-generating current nominally cor
responds to "P04004, Magnetizing current". Differing from this value, the fluxgenerating current command value is reduced, if:
"P00532, Premagnetization factor" of less than 100% was selected and

the motor is in no-load operation,
the motor is operated in the field weakening range.
Synchronous motors do not require flux-generating current. The field weaken

ing operation is an exception. In this case the controller generates a negative
flux-generating current in order to weaken the permanent field!
Function:
Memory:
Unit:
Cycl. tra.:
Par
-A eff
AT
Input
OM
-+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
alIREG_MinWertIdSoll[]
alIRE
alIRE
alIRE
alIRE
MPB:
MPC:
MPD:
MPH:
5.1.33
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
/
/
/
/
4Byte
DEC_MV
3
--
Default value
---------
P-0-0040, Velocity feedforward evaluation

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
By means of the velocity feedforward that can be freely set via "P00040, Ve
locity feedforward evaluation", it is possible to set the lag error to a desired
percentage value at constant velocity. The minimum (ideally = 0) is at 100%.
The degree of feedforward can be set in the range of 0%...120%.
Activating the lagless operation (cf. S00032, S00033, S00034,
S00035) causes a feedforward value determined from the position
command value (= velocity command value) to be added to the ve
locity command value at the position controller output.

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
%
--
Input
MPB:
MPC:
MPD:
MPH:
5.1.34
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,00 / 120,00
0,00 / 120,00
0,00 / 120,00
0,00 / 120,00
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
2
+
Default value
100,00
100,00
100,00
100,00
P-0-0041, Position command average value filter time constant

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Parameter "P00041" allows filtering of the position command values at the

input of the position loop with a moving average filter (see also command value
adjustment of the particular operation mode). As a result, the position command
value profile can be smoothed and the acceleration and/or jerk reduced, meas
ures which are required in some mechanical systems to avoid excitation of
machien resonances by the command value characteristic.
Input"
Use
Parameter "P00041" is only used for parameterizing the jerk in cyclic position
control mode.
The following aspects have to be taken into account:
The effective filter order M is always currently displayed in "P00042,

Current position command average value filter order" (P00042 =
P00041/Tncyc).
The NC cycle time TNcyc (cf. S-0-0001) and the position loop clock de
pend on the performance (cf. Functional Description / Performance Data).
Additional details
With this filter type, the changes at the output are always equal with constant
input variable:
Fig.5-11:
Position Command Value as Filter Output
With constant input variable X, the filter output Y rises linearly and reaches its
end value at the filter output after the following time interval has elapsed:
Fig.5-12:
Time Base of the average Filter

and Controls
This filter type therefore does not exhibit the typical "creep" behavior
(filter output rises and drops according to an e-function!) of the usual
VZ1 and VZ2 filters.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
us
--
Input
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
0
+
min./max.
Default value
0 / aulSOVA_MaxShapeFil
0
terzeit
0
terzeit
0
terzeit
0
terzeit
MPB:
MPC:
MPD:
MPH:
5.1.35
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P-0-0042, Current position command average value filter order

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The effective filter order M of the position command value filter designed as a
moving average filter (cf. P00041) is always displayed in "P00042, Current
position command average value filter order".
The user cannot change P00042 directly!
Input"
Use
The filter effect of the position command value filter depends on the following
data:
Filter order M (cf. P-0-0042)
Active operation mode and performance

(see also chapter Performance Data)
We distinguish the following cases:
Cycl. position control: P-0-0042 = P-0-0041/TNcyc

Parameterization of P-0-0041! (max. filter order M = 64)
Interpolation mode: P-0-0042 = min(S-0-0260; S-0-0359) / S-0-0193 /

TA,position
Parameterization of S-0-0260, S-0-0359, S-0-0193 !
Positioning block mode: P-0-0042 = min(P-0-4008; P-0-4063) / P-0-4009 /

TA,position
Parameterization of P-0-4008, P-0-4063, P-0-4009!

and Controls
In interpolation modes, the calculated filter order is limited, with the max
imum value depending on the firmware version and the control section
hardware (MP*03: M = 64); (as of MP*04: HPC M = 1024; else M = 512).
In interpolation modes, the maximum filter order depends on the
version (MP*03: M = 64 and as ofMP*04: M = 512 or M = 1024 with
Advanced)
For further details on the filter properties and the parameter setting,
see the description of "P-0-0041, Position command average value
filter time constant"!
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.1.36
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
0
--
Default value
---------
P-0-0043, Torque-generating current, actual value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Display parameter for the torque-generating component of the measured actual

current value. The value is updated with the current loop cycle time.
The phase currents of the three-phase AC motor are measured.
The resulting torque-generating content of the total current is cal
culated internally and displayed by means of this parameter.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-A eff
AT
Input
MPB:
MPC:
MPD:
MPH:
5.1.37
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
3
--
Default value
---------
P-0-0044, Flux-generating current, actual value

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPB
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function

--
Display parameter for the content of the measured actual current value that
generates the magnetic flux in the motor. The value is updated with current loop
cycle time.
The phase currents of the three-phase AC motor are measured.
The resulting flux-generating content of the total current is calcula
ted internally and displayed by means of this parameter.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-A eff
AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.1.38
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
3
--
Default value
---------
P-0-0045, Control word of current controller

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used to configure the current loop. This means that with this
parameter you can activate and deactivate extended functions.
See also Functional Description "Motor Control"
Structure
Bit
Field weakening with synchronous motors
Comment
0: Switched off
1: Enabled
1
Maximum motor voltage (with U/f operation of asynchro As of MPx04V08

nous motors)
0: DC bus voltage unfiltered
1: DC bus voltage filtered
Magnetization of asynchronous motors (operating prin

ciple of P-0-0532)
0: Load-dependent
1: Independent of load (controlled)
Method of control for field weakening operation of the

asynchronous machine
0: (Default) standard method active
1: Alternative method active
As of MPx04V14

and Controls
Bit
Comment
Monitoring with regard to interruption of motor power ca As of MPx04V08

ble
0: Switched off
1: Active
Compensation in power output stage (not with U/f oper As of MPx04VRS

ation of asynchronous motors)
As of MPx03V12
0: Switched off
1: Enabled
Manual command value input for flux-generating cur

rent
0: Switched off
1: Enabled
Automatic PWM switchover
Enable velocity search mode (with U/f and FXC opera

tion of asynchronous motors)
As of MP*06VRS
0: Search mode switched off

1: Search mode enabled
9
Configuration of velocity search mode (only with U/f op

eration of asynchronous motors)
0: Search mode after "AF", only with the same sign of
n_cmd
1: Search mode after "AF", bidirectional
11
Type of PWM clocking (adjustable through bit 11 and bit Up to MP*05VRS

7)
00: Static PWM
01: Load-dependent PWM switchover
As of MP*06VRS
10: Velocity-dependent PWM switchover
11: Dynamic PWM
12
Enable stall protection loop (with U/f operation of asyn

chronous motors)
0: Switched off
1: Enabled

and Controls
Bit
13
Selection of U/f characteristic (with U/f operation of asyn

chronous motors)
Comment
0: Linear
1: Square
15/14
Selection of motor operation
Up to MPx04VRS
00: Current control with motor encoder

01: U/f-controlled operation (only asynchronous motor)
10: Current control without motor encoder (only asyn
chronous motor)
11: Combination not allowed
As of MPx05VRS
10: Reserved
11: Current control, sensorless (synchronous motor)
flux-controlled motor operation, sensorless (FXC; asyn
chronous motor)
As of MP*06VRS
10: Current control, sensorless (synchronous motor)
11: flux-controlled motor operation, sensorless (FXC;
synchronous and asynchronous motors)
Fig.5-13:
Use
Current Loop Configuration
Bit 1: With open-loop U/f control, the motor voltage is by default limited to
the unfiltered DC bus voltage. In this way, maximum motor power can be
reached in the field weakening range. This voltage, however, is relatively
unstable due to the rectifier and other effects. If this causes too much
instability in the motor current (high harmonics component, unexpected
high rise in motor temperature, already in no-load operation), the maxi
mum motor voltage can be limited to the filtered DC bus voltage. This
clearly stabilizes the motor current. But is also reduces the maximum mo
tor power in the field weakening range.
Bit 2: This function can be switched off with bit 2 = 1. Only applies to
closed-loop control of asynchronous motors.
See also "P0-0532, Premagnetization factor"
Bit 3: If problems, which cannot be solved by manual adjustment of motor

control parameters (e.g. F8078 when decelerating), occur during the op
eration of asynchronous motors in the field weakening range, it is advis
able to activate the "alternative" method of control for asynchronous
motors. After having activated the alternative method of control, you have
to
For Rexroth motors: Execute "C4600 Command Calculate motor

control parameters".
For third-party motors: Enter the type plate data in "P-0-4032, Motor
type plate data".

and Controls
"C3200, Command Calculate motor data."
Then start the "C3600 Command Motor data identification".

If the motor does not yet run in a satisfactory way after the men
tioned commands were executed, you can manually change the
motor control parameters!
Bit 5: It is recommended that you activate this function, if there are prob
lems in motor operation with small velocities. Particularly with sensorless
field-oriented control, the operating behavior is clearly improved motor
runs in a more stable way, maximum torques are higher. In the case of
field-oriented control with encoder, the operating behavior can be im
proved, for example with regard to the dynamic response of the control
loop in the current loop or the torque ripple content. In the case of openloop U/f control, this setting is without effect.
Bit 6: Manual command value input is recommended, if you want to add

a command value jump within the scope of optimization activities without
thereby accelerating the motor. This results in an reluctance effect and
field weakening in all motors except synchronous motors!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.1.39
PM
PM->OM
-+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
+
Default value
0
0
0
0
P-0-0046, Status word of current controller

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays states that affect the correct behavior of the current
loop.
Structure
Bit
Internal drive enable active?

0: no
1: yes
Absolute value of actual current > 1.2* allowed output cur

rent?
0: no
1: yes
Comment

and Controls
Bit
Overvoltage in DC bus?
Comment
0: no
1: yes
3
Voltage limitation in current loop active?

0: no
1: yes
Closed-loop Integrator output flux-generating component in

pos. limitation?
0: no
1: yes
Closed-loop Integrator output flux-generating component in

neg. limitation?
0: no
1: yes
Closed-loop Integrator output torque/force-generating com

ponent in pos. limit.?
0: no
1: yes
Closed-loop Integrator output torque/force-generating com

ponent in neg. limit.?
0: no
1: yes
12
Open-loop stall protect. loop active?

0: not active
1: active
13
Open-loop current limitation loop active?

0: not active
1: active
14
Open-loop search mode active?

0: not active
1: active
Fig.5-14:
Use
Relevant bits of the current loop status word
The current loop status word can be configured in the AT. This allows assigning
the status messages to a digital output or evaluating them by the higher-level
control unit.
Bit 11: Closed-Loop
The monitor of the integrator of the flux-generating component has detected an
error (F8023 Error mechanical link of encoder or motor connection)
0 = no , 1 = yes
Note: the bit is present for at least 8 ms
Bit 20: Field weakening of synchronous motors
The voltage loop component for the flux-generating voltage is active

and Controls
0 = no , 1 = yes
The torque/force-dependent reduction of torque-generating voltage is active
0 = no , 1 = yes
Voltage loop gains have been reduced in speed-dependent form
0 = no , 1 = yes
Bit 23: Synchronous motor with reluctance torque
Feedforward of flux-generating current is more negative than output of voltage
loop component for torque-generating voltage
0 = no , 1 = yes
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.1.40
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
BIN
0
--
Default value
---------
P-0-0047, Position command value control

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In the "position control" mode the control unit by means of "S00047" and in
the clock of its interpolation cycle time writes the cyclic position command val
ues to the drive.
If required, these position command values coming directly from the control unit
can be read via "P00047, Position command value control"!
The interpolation cycle time of the control unit (cf. "S00001") can
be a multiple of the communication cycle time (cf. "S00002") so
that "P00047" is also updated on the same time base!
Input"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
4Byte
DEC_MV
S-0-0077
S-0-0078
--

and Controls
5.1.41
P-0-0048, Effective velocity command value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
By means of this parameter it is possible to display the velocity command value

at the summing point of the velocity controller.
At the summing point the actual velocity value is subtracted from
the effective velocity command value. The result of this calculation
(control difference) is the input of the speed controller.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.1.42
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0045
S-0-0046
--
Default value
---------
P-0-0049, Effective torque/force command value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used to display the torque/force command value after static
torque/force limitation by means of S00082 and S00083.
See also Functional Description "Current and Torque/Force Limitation"
Use
When using the parameter, observe the following aspects:
Possibly effective additive torque command value components (cf.

P00455) of the optional cogging torque compensation and acceleration
feedforward are not contained in P00049.
The torque command value contained in P00049 is again limited by the

subsequent dynamic torque/current limitation. The result is "P00038,
Torque-generating current, command value" which results from multipli
cation with "P00051, Torque/force constant" and is transmitted to the
current loop.

and Controls
By simultaneously considering P00049, P00038 and P00445,
you can determine all intermediate values.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.1.43
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_MV
S-0-0093
S-0-0094
--
P-0-0051, Torque/force constant

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The torque/force constant indicates the relation of the motor torque/force and
the associated torque-generating current of the motor, if the motor is not in the
field weakening range.
If the motor is in the field weakening range, the actually effective torque/force
constant is reduced depending on the speed/velocity. The value in this param
eter, however, remains unchanged (relation to operation without field weaken
ing).
In the case of MHD, MKD, MKE, automatically at initial com

missioning.
In the case of 2AD, ADF, linear and rotary kit motors, by load
ing the motor parameters with the IndraWorks D commission
ing tool.
In the case of other motors, manual input according to manu

facturer's specification.

Systems"
Use
Unit, Decimal Places

of construction of the motor (rotary or linear) entered in P04014, Type of con
struction of motor.

and Controls
Unit for type of constr. of motor (P04014) Decimal places for type of constr. of motor
(P04014)
rotary
linear
rotary
linear
Nm/Aeff
N/Aeff
Fig.5-15:
Function:
Memory:
Unit:
Cycl. tra.:
Unit and decimal places depending on P-0-4014

Par
PARAM_SP
Nm/A eff
--
Input
MPB:
MPC:
MPD:
MPH:
5.1.44
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
StdOne / MaxLong
StdOne / MaxLong
StdOne / MaxLong
StdOne / MaxLong
2Byte
DEC_OV
2
+
Default value
1,00
1,00
1,00
1,00
P-0-0052, Actual position value of measuring encoder

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter display the current position of the measuring encoder at the
measuring gear output. Initialization takes place depending on the type of
measuring encoder.
See also Functional Description "Measuring Encoder"
Use
For all measuring encoders the actual position values of which have not been
homed ("P00331, Status of measuring encoder"; bit 0 = 0), the fact is applying
that the internal actual position value of the measuring encoder is set to zero
when progressing to phase 4. The parameter P00052 is generated by adding
the internal actual position value of the measuring encoder to the actual position
value offset of the measuring encoder (P00087).
Function:
Memory:
Unit:
Cycl. tra.:
Par
-Incr
AT
Input
MPB:
MPC:
MPD:
MPH:
5.1.45
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
0
--
Default value
0
0
0
0
P-0-0053, Master axis position

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPB
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
synchronisation (ELS)
--
The master axis position as actual position of a master axis is used for com
mand value input for the synchronous operation modes.
The master (e.g. MLD) presets it cyclically in equidistant intervals (NC clock) to
the drive as (virtual) master axis.
In the following operation modes, this parameter is used for command value
input for the drive:
Phase synchronization
Electronic cam
Electronic motion profile (as of MPX04VRS)
Position synchronization (as of MPX04VRS)

Function:
Memory:
Unit:
Cycl. tra.:
Par
-Incr
AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.1.46
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------
P-0-0054, Additive master axis position

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameters allows adding of a master axis position offset to parameters

"P-0-0053, Master axis position", "P-0-0052, Actual position value of measuring
encoder", and "P00761, Master axis position for slave axis".
See Functional Description: "Synchronization Modes"
See Parameter Description "P00775, Resulting master axis position"
Use
Any change in "P00054" is traveled with a 2nd order interpolator, taking

the parameters "P00688, Additive master axis position, positioning ve
locity" and "P00689, Additive master axis position, positioning acceler
ation" into account.
The minimum/maximum value of "P00054, Additive master axis posi

tion" corresponds to the master axis cycle (P00750 2P-0-0084).
If parameter "P00750, Master axis revolutions per master axis cy
cle" equals zero, the resulting maximum value for parameter
"P00054" is (231 1) increments and the minimum value is
231 increments.

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
-Incr
AT + MDT
Input
PM+OM
----
min./max.
lELSY_VarMINP54[]
SY_VarM
lELSY_VarMINP54[]
SY_VarM
lELSY_VarMINP54[]
SY_VarM
lELSY_VarMINP54[]
SY_VarM
MPB:
MPC:
MPD:
MPH:
5.1.47
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Data length:
Format:
Decim. pl.:
Switchable:
/ lEL
/ lEL
/ lEL
/ lEL
4Byte
DEC_MV
0
--
Default value
0
0
0
0
P-0-0055, Return distance

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In the case of error it is possible to set the "return" error reaction, depending on
the setting of the "Best possible deceleration" parameter. The drive generates
a position command value profile for the return distance, in consideration of the
adjustable return velocity and return acceleration and complying with the posi
tion limit values. The return distance is entered in parameter P00055. A
positive return distance will cause positive motion with reference to the selected
coordinate system. The P00055, Return distance parameter can be transmit
ted in the cyclic telegram (MDT).
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.1.48
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
0,0000
0,0000
0,0000
0,0000
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0077
S-0-0078
--
P-0-0056, Return velocity

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC

and Controls
tion limit values. The return velocity is entered in parameter P00056.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.1.49
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
Default value
10,0000
10,0000
10,0000
10,0000
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_OV
S-0-0045
S-0-0046
--
P-0-0057, Return acceleration

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC
tion limit values. The return acceleration is entered in parameter P00057.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.1.50
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
Default value
1000,000
1000,000
1000,000
1000,000
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0161
S-0-0162
--
P-0-0058, Return jerk

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC
tion limit values. In addition, the position command values can be smoothed by

and Controls
a position command value average filter. The return jerk is entered in parameter
P00058. It affects the effect of the position command value average filter.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.1.51
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
4Byte
DEC_MV
S-0-0161
S-0-0162
--
Default value
1000,000
1000,000
1000,000
1000,000
P-0-0059, Additive position command value, controller

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter serves to add an additional (additive) position command value

to the position command value generated by command value adjustment. This
additional command value is not subject to any limitation or change. This is why
the user has to make sure that absolute value, characteristic and the derived
variables are within their allowed ranges of values!
Input", "Drive-Internal Interpolation", "Drive-Controlled Positioning" and "Posi
tioning Block Mode".
Use
Feedforward values (velocity feedforward, acceleration feedforward) are de

rived from the position command value characteristic. In "P0-0556, Config word
of axis controller", you can set whether the values of "P0-0059, Additive position
command value, controller" are included in the generation of the feedforward
values or whether they are afterwards added to the position command value
generated by command value adjustment. Parameter "P00059, Additive po
sition command value, controller" is overwritten with "0" if there is an internal
error reaction in the drive.
If the values of "P-0-0059" have been used for generating the feed
forward values, the time at which the additive position command
value takes effect is delayed by 1 position clock!
"P-0-0059" can only be used in position-controlled operation modes, such as
cyclic position control, drive-internal interpolation, drive-internal positioning and
positioning block mode.
The actually effective position command value (addition of position
command value from command value adjustment of current oper
ation mode and "additive position command value, controller") is
displayed in parameter "P0-0434, Position command value of con
troller".

and Controls
This parameter is used, for example, by the drive firmware to set command
values from the firmware-internal command value generator without limitation
and deformation (noise generator for control loop analysis). It can, for example,
also be used by the control master for adding feedforward values!
Function:
Memory:
Par
--
Editability:
Validity ch.:
OM
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.1.52
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
0,0000
0,0000
0,0000
0,0000
P-0-0060, Filter time constant additive position cmd value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used to set the filter effect for the additive position command
value (cf. P-0-0054) which is filtered by means of a VZ1 filter (PT1).
See also Functional Description "Basic Functions of the Synchronization
Modes"
Use
Either "P-0-0691, Additive position command value, process loop" or

"S-0-0048, Additive position command value" is filtered.
The decision as for which parameter the filter is used is taken by bit 0 of
"P-0-0155, Synchronization mode". If bit 0 = 0, P-0-0691 is filtered, oth
erwise S-0-0048.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
ms
AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.1.53
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0,00 / 655,35
0,00 / 655,35
0,00 / 655,35
0,00 / 655,35
Default value
0,00
0,00
0,00
0,00
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_OV
2
--
P-0-0061, Angle offset begin of table

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC

and Controls
Function
The access to the cam shaft profile is offset in negative direction by this angle
compared to the master axis position.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Deg
AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.1.54
PM+OM
PM->OM
+
--
min./max.
0,0000 / 359,9999
0,0000 / 359,9999
0,0000 / 359,9999
0,0000 / 359,9999
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
4
--
Default value
0,0000
0,0000
0,0000
0,0000
P-0-0063, Torque-generating voltage, actual value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Display parameter for the torque-generating component of the voltage output

by the current loop. The value is updated with the current loop cycle time.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-V eff
AT
Input
MPB:
MPC:
MPD:
MPH:
5.1.55
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
1
--
Default value
---------
P-0-0064, Flux-generating voltage, actual value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Display parameter for the flux-generating component of the voltage output by

the current loop. The value is updated with the current loop cycle time.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
-V eff
AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
DEC_MV
1
--

and Controls
5.1.56
P-0-0065, Absolute voltage value, actual value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays the absolute value of the voltage output by the current
loop which consists of the voltage components Ud and Uq.
The displayed voltage value corresponds to the measured value
available at the motor terminals (conductor reference) and is up
dated with the current loop cycle time!
Function:
Memory:
Unit:
Cycl. tra.:
Par
-V eff
AT
Input
MPB:
MPC:
MPD:
MPH:
5.1.57
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
1
--
Default value
---------
P-0-0067, Phase current U, actual value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used to display the actual current value in the motor phase U
measured in the current loop clock (TA, current).
Function:
Memory:
Unit:
Cycl. tra.:
Par
-A
AT
Input
MPB:
MPC:
MPD:
MPH:
5.1.58
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
P-0-0068, Phase current V, actual value

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
-
-
MPB
MPB
-
-
MPH
MPH
-
-
MPD
MPD
4Byte
DEC_MV
3
--

and Controls
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPB
MPH
--
MPD
MPD
MPC
MPC
This parameter is used to display the actual current value in the motor phase V
measured in the current loop clock (TA, current).
Function:
Memory:
Unit:
Cycl. tra.:
Par
-A
AT
Input
MPB:
MPC:
MPD:
MPH:
5.1.59
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
3
--
Default value
---------
P-0-0071, C3100 Command Recalculate actual value cycle

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In the operation mode (OM, bb, Ab), the command "C1300" allows recalculating
the actual value cycle in relation to parameter "P00155, Synchronization
mode", bit 4 "generation of actual value cycle". After the command has been
completed, it is necessary to start the "C0300 Set absolute position procedure
command" (P00012) in order to initialize the actual position values.
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.1.60
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
P-0-0072, Cam table 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Up to MPx05VRS: "Cam shaft profile 1"
MPC
MPC

and Controls
Parameter "P00072" contains a table with data points tab for the profile of
cam 1.
Rexroth IndraDrive supports up to 8 cam tables which can be divided into the
following groups:
4 cam tables with 3 to 1024 data points (P00072, P00092, P00780,

P00781)

P00785)
The individual data points of the table are interconnected by means
of cubic spline interpolation.
See also Functional Description "Electronic Cam With Real/Virtual Master Ax

is"
Structure
The first element in the table is the data point for = 0.
The last element in the table is the data point for = 360 - d (old stand
ard) or = 360 (new standard).
Table value
= 360 - d (old standard) = 360 (new standard)
25
33,33
50
66,66
75
100
Fig.5-16:
Use
Example of a Linear Cam Table (0-100% With 4 Data Points) With Old
and New Standard
The actual values of the cam table are percentage values. They can be
between 799.999999% and 799.999999%.
A value of 100% results in a position which corresponds to the active dis

tance (P00093 or P00073, respectively). The position thus determined
is used to determine the position of the slave axis.
If the table is used for the cam mode, the values are always mapped to
one master axis revolution (360).
If the table is used for a motion step in MotionProfile mode, the table is
applicable from the master axis initial angle of this step to the master axis
initial angle of the following step.
The data point distance d depends on whether the last table value is to
apply to the end angle of the table or to the end angle - d. This information
on the table format must be set in bit 8 of "P00086, Configuration word
synchronous operation modes".
If the last table value applies to the end angle, the relationship is as follows:
Fig.5-17:
Data Point Distance for = 360
If the last table value applies to the end angle - d, the relationship is as follows:

and Controls
Fig.5-18:
Data Point Distance for = 360- d
If you use the table in "MotionProfile" mode, the first table value
must be "0". The last table value must be for the master axis end
angle (bit 8, P00086 = 1)!
Function:
Memory:
Unit:
Cycl. tra.:
Par
FIX_IDN_SP
%
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.1.61
PM+OM
-+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
-799,999999 / 799,999999
-799,999999 / 799,999999
-799,999999 / 799,999999
-799,999999 / 799,999999
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte var.
DEC_MV
6
--
P-0-0073, Cam distance 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Cam distance 2 is used for the function "clocked pull roll".

The function is activated
with "P-0-0088, Control word synchronization modes", bit 5 = 1, for MPx02

and MPx03, and
with "P-0-0086, Configuration word synchronous operation modes", bit 2

= 1, for MPx04 and above.
This means that if the difference between the new cam table value and the old
cam table value is negative, the profile of the cam is multiplied with distance 2
(function "clocked pull roll").
is"
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
360,0000
360,0000
360,0000
360,0000
4Byte
DEC_MV
S-0-0077
S-0-0078
--

and Controls
5.1.62
P-0-0074, Encoder type 1 (motor encoder)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used to inform the controller of the encoder type which is to
be evaluated as a motor encoder.
The following motor encoders are allowed for ADVANCED, BASIC UNIVER
SAL double-axis and BASIC UNIVERSAL single-axis devices:
P-0-0074 Motor encoder used
Connection to
2):
Sensorless operation ("open-loop" operation)
--
"Digital servofeedback" motor encoder of MHD, 2AD,

ADF motors or GDS/GDM encoders
EN1
Motor encoder of MAD, MAF motors (motor type code

field "encoder" = S0 or M0, respectively)
2
Incremental encoder with sine signals (5 V supply, Hei EN2

denhain-compatible signal specification)
Motor encoder of MAD, MAF motors (motor type code
field "encoder" = C0)
Motor encoder of MKD, MKE motors
EN1
Motor encoder of MSK motors (motor type code field

"encoder" = S1 or M1, respectively)
ENS
Encoder with HIPERFACE interface1)

5
Incremental encoder with square-wave signals (5 V sup EN2

ply, Heidenhain-compatible signal specification)
Motor encoder of MSK, MAD, MAF motors (motor type

code field "encoder" = S2 or M2, respectively)
ENS
Encoder with EnDat2.1 interface from Heidenhain (5 V

supply)
EN2
10
Resolver encoder (transfer ratio 0.5) without data mem EN1

ory
12
Encoder combination: Incremental encoder with square- EN2

wave signals
EN1
(5-V supply, Heidenhain-compatible signal specification)
and "Hall Sensor Box SHL01.1" (5-V supply, BRC-com
patible signal specification)
13
Encoder combination: Incremental encoder with square- EN2

wave signals
ENS
and "Hall Sensor" (5-V supply, BRC-compatible signal
specification)

and Controls
14
Encoder combination: Incremental encoder with sine

signals
and "Hall Sensor Box SHL01.1" (5-V supply, BRC-com
patible signal specification)
15
Encoder combination: Incremental encoder with sine

signals
and "Hall Sensor" (12-V supply, BRC-compatible signal
specification)
16
Incremental encoder with sine signals
Connection to
2):
EN2
EN1
EN2
ENS
ENS
(12-V supply, Heidenhain-compatible signal specifica

tion)
18
Incremental encoder with square-wave signals
ENS
(12-V supply, Heidenhain-compatible signal specifica

tion)
1)
It is only possible to use the HIPERFACE encoders released by Rexroth.
2)
Specification of the required interface options of the control section of the controller
Fig.5-19:
Assignment of Motor Encoder to Value of P0-0074
If the motor encoder (P-0-0077) is connected to the control section

interface in BASIC UNIVERSAL single-axis devices,
"Option 1" allows using only the motor encoders listed under
BASIC SERCOS / BASIC PROFIBUS / BASIC ANALOG de
vices,
"Option" does not allow using these motor encoders.
The following motor encoders are allowed for BASIC SERCOS / BASIC
PROFIBUS / BASIC ANALOG devices:
Connection to
2):
Sensorless operation ("open-loop" operation)
--
Motor encoder of MSK motors (motor type code field "en ENS
coder" = S1 or M1, respectively), encoder with HIPER
FACE interface1)
Motor encoder of MSK, MAD, MAF motors (motor type

code field "encoder" = S2 or M2, respectively)
16
Incremental encoder with sine signals (12 V supply, Hei ENS

denhain-compatible signal specification)
ENS
1)
It is only possible to use the HIPERFACE encoders released by Bosch Rexroth.
2)
Specification of the required interface options of the control section of the controller
Fig.5-20:
Assignment of Motor Encoder to Value of P0-0074

Systems"

and Controls
Use
Encoder input
Check of the interface configuration via the circuit board code parameters
P01506 (option 1), P01507 (option 2), P01508 (option 3), P01512 (op
tion 4), or via the type name of the control section (P01520, Control section
type).
The encoder input for the motor encoder (including encoder com
binations) is defined in "P00077, Assignment motor encoder>optional slot".
Relation to the motor
Where BRC housing motors (MHD, MKD, MKE, MSK) are

concerned, the correct value is automatically written to this
parameter.
Where rotary and linear kit motors and third-party motors are
concerned, this parameter must be set manually.
Attention for motor encoders with square-wave signals!

Do not use incremental encoders with square-wave signals as motor encoders!
When using incremental encoders with sine signals, the drive characteristics
are better than with square-wave signals!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.1.63
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
0 / 19
0 / 18
0 / 18
0 / 18
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
+
Default value
1
1
1
1
P-0-0075, Encoder type 2 (optional encoder)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter determines which encoder type is to be evaluated as optional

(external) encoder.
Systems"
Use
Parameter P-00075 provides the following options:

and Controls
Connection
Value Function
CSH01.1C,
CSB01.1N FC
CSB01.1
CSB01.1N AN
CCDB01.1C
CSB01.1N PB
CSB01.1N-SE
No encoder
--
--
GDS/GDM encoders of Bosch Rexroth
EN1
Not possible
EN2
Not possible

3
Resolver encoder (transfer ratio 0.5) with data memory
EN1
Not possible
Encoder with HIPERFACE interface1
ENS
ENS
EN2
Not possible
ENS
ENS

6
Motor encoder of MSK

motors (motor type code field "encoder" = S2 or M2, respectively)
SSI encoder (24-V supply)
MD2
Not possible
Encoder with EnDat2.1 interface from Heidenhain (5-V supply)
EN2
Not possible
10
Resolver encoder (transfer ratio 0.5) without data memory
EN1
Not possible
16
ENS
ENS
ENS
ENS

18

1) It is only possible to use the HIPERFACE encoders released by Bosch Rexroth, see "EN_FAQ_IndraDrive_Hiper
faceEncoder"
2) Specification of the required interface options of the control section of the controller
Fig.5-21:
Possible Settings in P00075
If the motor encoder (P-0-0078) is connected to the control section

interface in BASIC UNIVERSAL single-axis devices,
"Option 1" allows using only the motor encoders listed under
BASIC SERCOS / BASIC PROFIBUS / BASIC ANALOG de
vices,
"Option" does not allow using these motor encoders.
type).
The encoder input for the external encoder is determined in
"P00078, Assignment optional encoder ->optional slot"!
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
2Byte
DEC_OV

and Controls
Unit:
Cycl. tra.:
---
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.1.64
+
--
Decim. pl.:
Switchable:
min./max.
0 / 18
0 / 18
0 / 18
0 / 18
0
--
Default value
0
0
0
0
P-0-0076, Encoder type 3 (measuring encoder)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter determines which encoder type is to be evaluated as measuring

encoder.
See also Functional Description of firmware "Measuring Encoder"
Use
The parameter provides the following options:

Connection
Value Function
CSH01.1C
CSB01.1N FC
CDB01.1C
CSB01.1N AN
CSB01.1C2
CSB01.1N PB
CSB01.1N-SE
CSB01.1C3
No encoder
--
--
GDS/GDM encoders of Bosch Rexroth
EN1
Not possible
EN2
Not possible
ENS
ENS
EN2
Not possible
ENS
ENS

4

(5-V encoder with HIPERFACE
interface1)

Motor encoder of MSK motors

(motor type code field "encoder" = S2 or M2, respectively)
SSI encoder (24-V supply)
MD2
Not possible
Encoder with EnDat2.1 interface
EN2
Not possible
(5-V supply, Heidenhain)

and Controls
16
ENS
ENS
ENS
ENS

18

It is only possible to use the HIPERFACE encoders released by Rexroth,

see "EN_FAQ_IndraDrive_HiperfaceEncoder"
If the measuring encoder is connected to the control section interface
"Option 2"
If the measuring encoder is connected to the control section interface
"Option 1"
1)
2)
3)
Fig.5-22:
Possible Settings in P-0-0076
Encoder input
type).
The encoder input for the measuring encoder must be determined
in "P00079, Assignment measuring encoder ->optional slot"!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.1.65
PM
PM->OM
+
--
min./max.
0 / 18
0 / 18
0 / 18
0 / 18
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
0
0
0
0
P-0-0077, Assignment motor encoder->optional slot

Allocation
Function
Use
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter determines which interface is intended for the motor encoder
connection.
ADVANCED
P-0-0077
Fig.5-23:
Interface for the motor encoder connection
None
X4 (option 1)
X8 (option 2)
X10 (option 3)
Determining the Interface for the Motor Encoder
BASIC UNIVERSAL double-axis

and Controls
P-0-0077
None -> for either axis
X4.1 (option 1) only for axis 1
Fig.5-24:
BASIC UNIVERSAL single-axis

P-0-0077
X8 (option 1)
X4 (option 2)
Fig.5-25:
BASIC SERCOS, BASIC PROFIBUS, and BASIC ANALOG

P-0-0077
X8 (option 1)
Fig.5-26:
Interface configuration
Parameter "P-0-0074 Encoder type 1 (motor encoder)" is used

to inform the controller of the encoder type which is to be eval
uated as a motor encoder. The appropriate encoder input can
be taken from the documentation of the control section ("Proj
ect Planning Manual").
Check of the interface configuration via the circuit board code

parameters P-0-1506 (option 1), P01507 (option 2),
P01508 (option 3), P01512 (option 4), or via the type name
of the control section.
Relation to the motor
Where motors with encoder data memory (MHD, MKD, MKE)

are concerned, this parameter is automatically set correctly!
Where motors without encoder data memory (2AD, ADF, ro

tary and linear kit motors) are concerned, this parameter must
be set manually!
Notes on BRC kit motors with Hall Sensor Box SHL01.1

and Controls
Applicable to BRC kit motors with Hall Sensor Box SHL01.1 in
MPx04 and below: The encoder combination (incremental encoder
and SHL01.1) can only be used with ADVANCED or BASIC UNI
VERSAL double-axis devices! The following values are required for
P-0-0077:
"1" for ADVANCED devices. The incremental measuring sys

tem must be connected to X4 (option 1 = "EN2") and the Hall
Sensor Box to X8 (option 2 = "EN1").
"1" for axis 1 and "2" for axis 2 in case of BASIC UNIVERSAL
double-axis devices. Where axis 1 is concerned, the incre
mental measuring system must be connected to X4.1 (option
1 = "EN2") and the Hall Sensor Box to X8.1 (option 3 = "EN1").
Where axis 2 is concerned, the incremental measuring system
must be connected to X4.2 (option 2 = "EN2") and the Hall
Sensor Box to X8.2 (option 4 = "EN1").

MPx05 and above (can only be used with ADVANCED or BASIC
UNIVERSAL double-axis devices):
Where ADVANCED devices are concerned: The incremental

measuring system must be connected to EN2 and the
SHL01.1 box to EN1. The characteristic number for P-0-0077
must be entered in relation to the EN2 terminal designation.
Where BASIC UNIVERSAL double-axis devices are con

cerned: Both axes must be equipped with EN2 and EN1. The
incremental measuring system must be connected to EN2 and
the SHL01.1 box to EN1 of the particular axis. The character
istic number for P-0-0077 must be entered for the particular
axis in relation to the terminal designation of the two EN2s.
Notes on BRC kit motors with Hall Sensor Box SHL02.1

MPx05 and above (cannot be used with BASIC SERCOS, BASIC
ANALOG and BASIC PROFIBUS devices):
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
The incremental measuring system must be connected to EN2

and the SHL02.1 box to ENS. The characteristic number for
P-0-0077 must be entered in relation to the EN2 terminal des
ignation.
Where BASIC UNIVERSAL double-axis devices are con

cerned: Both axes must be equipped with EN2 and EN1. The
incremental measuring system must be connected to EN2 and
the SHL02.1 box to EN1 of the particular axis. The character
istic number for P-0-0077 must be entered for the particular
axis in relation to the terminal designation of the two EN2s.
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
0/1
0/3
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
1
2Byte
DEC_OV
0
+

and Controls
MPD:
MPH:
5.1.66
0/4
0/3
0
1
P-0-0078, Assignment optional encoder->optional slot

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
This parameter determines which interface is destined for the optional (exter
nal) encoder.
ADVANCED
P-0-0078
Interface for connection of ext. encoder
none
X4 (option 1)
X8 (option 2)
X10 (option 3)
Fig.5-27:
Determining the interface for the external encoder

P-0-0078
none -> for both axes
Fig.5-28:

P-0-0078
X8 (option 1)
X4 (option 2)
Fig.5-29:
BASIC SERCOS / BASIC PROFIBUS / BASIC ANALOG

P-0-0078
0
Fig.5-30:
Interface Equipment
MPC
MPC

X8 (option 1)

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
In parameter P-0-0075, Encoder type 2 (optional encoder) the

controller is told which encoder type is to be evaluated as ex
ternal encoder. The appropriate encoder input can be taken
from the documentation of the control section ("Project Plan
ning Manual")!
Check the interface equipment via the circuit board identifica

tion parameters "P-0-1506" (option 1), "P-0-1507" (option 2),
"P01508" (option 3), "P-0-1512" (option 4) or by means of
the type designation of the control section!
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.1.67
PM
PM->OM
+
--
min./max.
0/1
0/3
0/4
0/3
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
0
0
0
0
P-0-0079, Assignment measuring encoder->optional slot

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter determines which interface is destined for the measuring en

coder.
ADVANCED
P-0-0079
Interface for the measuring encoder connection
none
X4 (option 1)
X8 (option 2)
X10 (option 3)
Fig.5-31:

P-0-0079
Fig.5-32:
none
X4.1 (option 1)
X4.2 (option 2)
X8.1 (option 3)
X8.2 (option 4)
Determining the interface for the measuring encoder

and Controls
P-0-0079
X8 (option 1)
X4 (option 2)
Fig.5-33:
BASIC SERCOS / BASIC PROFIBUS / BASIC ANALOG

P-0-0079
X8 (option 1)
Fig.5-34:
Note:
In parameter P00079 the controller is told which encoder

type is to be evaluated as measuring encoder. The appropriate
encoder input can be taken from the documentation of the
control section ("Project Planning Manual").
Check the interface equipment via the circuit board identifica

tion parameters "P-0-1506" (option 1), "P-0-1507" (option 2),
"P01508" (option 3), "P-0-1512" (option 4) or by means of
the type designation of the control section!

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.1.68
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0/1
0/3
0/4
0/3
Default value
0
0
0
0
MPB
MPH
MPB
MPH
-
MPH
-
MPH
-
MPH
-
MPH
optional drives card
+
MPD
MPD
-
-
-
-
2Byte
DEC_OV
0
--
P-0-0081, Parallel output 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The content of P00081, Parallel output 1 is output at the digital outputs of the
optional cards "MD1" (7 outputs) or "MD2" (16 outputs).
By writing P-0-0081 (e.g. by means of MLD) the digital outputs can
be directly addressed.
Structure
The table below explains the significance of the individual bits:

The terminal assignment of MD1 and MD2 differs
(see Project Planning Manual for control sections)!

and Controls
Bit
Optional module MD1
Optional module MD2
Function
Function
Output 0.0
Output 0.0
Output 0.1
Output 0.1
Output 0.2
Output 0.2
Output 0.3
Output 0.3
Output 1.0
Output 1.0
Output 1.1
Output 1.1
Output 1.2
Output 1.2
Output 1.3
Output 1.3
not used
Output 2.0
not used
Output 2.1
10
not used
Output 2.2
11
not used
Output 2.3
12
not used
Output 3.0
13
not used
Output 3.1
14
not used
Output 3.2
15
not used
Output 3.3
Fig.5-35:
Use
Bits of P00081, Digital output 1
The following aspects apply as regards the use of this parameter:
The outputs have been put together in groups which are supplied sepa
rately (see Project Planning Manual for control sections).
group0: Output 0.x
group1: Output 1.x
...
The following points apply regarding the output:
Bit set ("1") At the assigned output a HIGH level (+24 V) is provided.
Bit not set ("0") At the assigned output a LOW level (0 V) is provi
ded.
Outputs which are not used always supply the value "0"!
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
BIN
0
--

and Controls
5.1.69
P-0-0082, Parallel input 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
-
MPH
-
MPH
-
MPH
-
MPH
+
MPD
MPD
-
-
-
-
MPC
MPC
The content of "P-0-0082, Parallel input 1" maps the digital inputs of option MD1
(12) and MD2 (16 inputs), respectively.
The digital outputs can be directly retrieved by reading P-0-0082
(e.g. by means of MLD).
See also Functional Description of firmware "Digital Inputs/Outputs"
Structure
The following table illustrates the meaning of the individual bits:

The terminal assignment is different for MD1 and MD2.
See also Project Planning Manual for control sections
Bit
Optional module MD1
Optional module MD2
Function
Function
Input 0.0
Input 0.0
Input 0.1
Input 0.1
Input 0.2
Input 0.2
Input 0.3
Input 0.3
Input 0.4
Input 0.4
Input 0.5
Input 0.5
Input 0.6
Input 0.6
Input 0.7
Input 0.7
Input 0.8
Input 1.0
Input 0.9
Input 1.1
10
Input 0.10
Input 1.2
11
Input 0.11
Input 1.3
12
Not used
Input 1.4
13
Not used
Input 1.5
14
Not used
Input 1.6
15
Not used
Input 1.7
Fig.5-36:
Use
Structure of "P-0-0082, Parallel input 1"
Observe the following when using the parameter:
The inputs are combined to form groups which are supplied separately.
Group 0: Input 0.x
Group 1: Input 1.x

and Controls
Observe the following when activating the inputs:
Bit is set ("1") HIGH level (+24 V) is applied to the assigned input.
Bit is not set ("0") LOW level (0 V) is applied to the assigned input.
Unused inputs always deliver a value of "0".
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.1.70
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
P-0-0083, Gear ratio fine adjustment

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The gear ratio of the electronic gear is changed by this percentage.

Use
The values can be between 799,999999% and 799,999999%.

gear ratio (GR) = gear ratio * (1 + P-0-0083)
Example:
P-0-0083 = 100% -> GR = GR * 2
P-0-0083 = 100% -> GR = GR * 0
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
%
AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.1.71
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
-799,999999 / 799,999999
-799,999999 / 799,999999
-799,999999 / 799,999999
-799,999999 / 799,999999
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
6
--
Default value
0,000000
0,000000
0,000000
0,000000
P-0-0084, Number of bits per master axis revolution

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
This parameter sets the resolution of the master axis.
-
-
-
MPD
MPD
MPD
MPC
MPC

and Controls
The default setting of this parameter is 20. One master axis revolution therefore
corresponds to 2^20 (1048576) increments. The resolution can be increased
by entering a value greater than 20. Whenever the resolution is increased by
1, the resolution becomes twice as high. A value greater than 20 makes sense
when big slave axis distances are traveled at very low master axis velocities.
Negative consequences of quantization effects are reduced by a higher reso
lution. This parameter does not only set the format of all master axis positions.
The resolution of "P0-0052, Actual position value of measuring encoder" is also
influenced.
Master axis positions exchanged between control unit and drive or
between drives must have the same resolution. This also applies to
the actual position value of measuring encoder (P0-0052) of a real
master axis.
If a control unit, which transmits master axis positions or receives
the actual position value of a real master axis, does not allow setting
of the resolution, "P-0-0084" must be set to 20 in all axes.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.1.72
PM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
16 / 31
16 / 31
16 / 31
16 / 31
Default value
20
20
20
20
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_OV
0
--
P-0-0085, Dynamic angle offset

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter serves to dynamically offset the effective master axis position
according to the following equation:
Fig.5-37:
Effective Internal Master Axis Position
Example:
Assumption: Electronic gear 1:1 and fine adjustment = 0
Master axis velocity = 1000 rpm
Dynamic angle offset = 100%
Position loop Kv-factor (S00104) = 1

and Controls
Fig.5-38:
Example for Calculating an Effective Internal Master Axis Position
In this example the internal master axis position is offset by 2^P-0-0084 incr.
The figure below illustrates the offset position command value and actual po
sition value with P00085 = 100%:
Fig.5-39:
Offset Position Command Value and Actual Position Value With

P00085 = 100%
This function is available in the "cam" and "MotionProfile" operation

modes.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
%
--
Input
MPB:
MPC:
MPD:
MPH:
5.1.73
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0 / 600
0 / 600
0 / 600
0 / 600
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
0
0
0
0
P-0-0086, Configuration word synchronous operation modes

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
MPB
MPB
MPB
MPB
--
-
-
MPH
MPH
MPH
MPH
-
-
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
--
This parameter serves to make various basic settings for synchronization op

eration modes.
Structure
Bit
Distance switching
0: Distance switching at distance switch angle / cam table
switching
1: Distance switching at once
Gear switching
0: The change takes immediate effect
1: The change takes place on distance switching / cam
table switching
Special case: clocked pull roll

0: Clocked pull roll deactivated
1: Clocked pull roll activated
Reference for distance 1 and gear switching

0: Distance switching is reference for bits 0&1
1: Cam table switching is reference for bits 0&1
Gear reduction path for cam function

0: Not active
1: Active
Cam table interpolation type

0: Cubic spline interpolation
1: Linear interpolation
Cam table 1 format

0: Last value in the table for 360-d (old)
1: Last value in the table for 360 (new)
Cam table 2 format

10
Cam table 3 format

11
Cam table 4 format

12
Cam table 5 format

Comment

and Controls
13
Cam table 6 format

14
Cam table 7 format

15
Cam table 8 format

Fig.5-40:
Use
P00086, Configuration word synchronous operation modes
Bit 0: Allows selecting whether new values for the cam distance (P-0-0093)
take immediate effect or not before the distance switch angle is crossed
or the cam table is switched.
Bit 1: Allows selecting whether new values for the master drive gear
(P-0-0093) take immediate effect or not before the distance switch angle
is crossed or the cam table is switched.
Bit 2: Allows switching between cam distance 1 (P-0-0093) and cam dis
tance 2 (P-0-0073) via bit 2 = 1 and in relation to the slope of the cam
table. If the gradient of the cam table is positive, cam distance 1 (P-0-0093)
is active; with negative gradient, cam distance 2 (P-0-0073) is active.
Bit 3: Defines the reference point for the delayed acceptance of changes
(distance switch angle or cam table switching).
The examples below illustrate the cooperation among the bits:

Bit3
Bit0
Bit1
Significance
A new master drive gear (P00156/P00157) takes immediate

effect. A new "P-0-0093, Cam distance 1" is not accepted before
the "P00144, Cam distance switch angle" is crossed in posi
tive or negative direction.
A change in "P-0-0093, Cam distance" is immediately accepted

and therefore the master drive gear as well
Bit 4:This bit allows activating a linear phase-synchronous path in the cam
and MotionProfile position synchronization modes.
Bit 7: In case of endless cams where module overflow does not take place
between the start and end values of the cam table, switching to linear
interpolation is required.
Bit 7 may only be changed in parameter mode (PM).
Bits 8, 9, 10, 11, 12, 13, 14, 15: These bits specify the format of the re
spective cam table (see P00072, P00092, P00780 to P00785). If a
table is to be used for the MotionProfile, the last value in the table must
be at the end angle and the related bit must be set.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
StdNul / StdUMax
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
2Byte
BIN
0
--

and Controls
MPC:
MPD:
MPH:
5.1.74
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
0
0
0
P-0-0087, Actual position value offset of measuring encoder

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The evaluation of the measuring encoder results in an actual position value of

the measuring encoder. The value is within a range defined by parameter
"P00765, Modulo factor measuring encoder".
With parameter "P00087, Actual position value offset of measuring encoder"
an offset can be added to the actual position.
Record of Revisions
Attribute
Version
Up
MPx04V18
Function:
Memory:
Unit:
Cycl. tra.:
to
Cycl. tra.: no
Par
PARAM_SP
Incr
AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.1.75
Comment
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
min./max.
Default value
lERGP_MIN[] / lERGP_MAX[] 0
P-0-0088, Control word synchronization modes

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter serves to control the execution of the operation mode in the
operating mode.
P-0-0088 can be configured in the cyclic command value telegram!
See also Functional Description "MotionProfile With Real/Virtual Master Axis"

and Controls
Structure
Bit
2..0
Selection of active cam table
Comment
0 0 0: Cam table 1 (P-0-0072)

0 0 1: Cam table 2 (P00092)
0 1 0: Cam table 3 (P00780)
0 1 1: Cam table 4 (P-0-0781)
1 0 0: Cam table 5 (P-0-0782)
1 0 1: Cam table 6 (P-0-0783)
1 1 0: Cam table 7 (P-0-0784)
1 1 1: Cam table 8 (P-0-0785)
5, 4
Active position synchronization mode

0 0: Phase synchronization
0 1: Electronic cam
1 0: MotionProfile
7,6
Selection of master axis

00: External virtual master axis (P-0-0053)
01: Internal virtual master axis (P-0-0761)
1x: Real master axis
Repeated synchronization
With active operation mode, a bit toggle triggers repeated
synchronization.
Set selection (electr. motion profile)

0: Set 0
1: Set 1
10
Position data processing (MotionProfile)

0: Absolute
1: Relative
Fig.5-41:
Use
P-0-0088, Control word synchronization modes
Bit 0/1/2: The cam table is selected with bit 0 to bit 2; the table values are
to be taken from this cam table in the cam mode. With active operation
mode, the drive does not accept the preselection before the table access
angle exceeds "P00094, Cam switch angle". The active cam table can
be taken from bits 0, 1 and 2 of the parameter "P00089, Status word
synchronization modes".
Bits 4, 5: If position synchronization mode is active, these bits specify the

type of synchronization.
Bits 6, 7: If position synchronization or velocity synchronization mode is

active, these bits determine the master axis to be used for generation of
the position or velocity command values. There are 3 possibilities: external
virtual master axis, internal virtual master axis, and real master axis.
Bit 8:With active position synchronization mode, toggling of this bit causes
a restart of dynamic synchronization.
Bit 9:This bit takes effect if "MotionProfile" mode (analytically defined cam)
is active. One of the two possible parameter sets is selected. Any change
causes the parameter set to be switched, when the master axis (table

and Controls
access angle) passes the master axis switching position (P-0-0700). The
active set is displayed in bit 3 of P00089, Status word for synchronous
operation modes.
Bit 10: This bit defines the processing mode in "MotionProfile" mode (an
alytically defined cam). In the case of absolute processing, the sum of the
distances of a set must be equal to 0 or, in the case of modulo position
scaling, to a multiple of the modulo value. In this case, the slave axis initial
position parameterized in P-0-0701 is reached whenever the master axis
position (table access angle) is 0. In the case of relative processing, a
motion step begins at the point where the previous one ends.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.1.76
PM+OM
----
min./max.
0 / 0xffff
0 / 0xffff
0 / 0xffff
0 / 0xffff
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
0
0
0
0
P-0-0089, Status word synchronization modes

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter provides valuable status information about the execution of the
synchronization modes and should be evaluated in connection with
"P00086".
Structure
The status parameter is a bit list having the following structure:

Bit
20
Feedback from active cam

0 0 0: Cam table 1 active (P-0-0072)
Active set (MotionProfile)

0: Set 0 active
1: Set 1 active
Comment

and Controls
Bit
Position status of the actual position value in the actual value

cycle
Comment
0: Not homed
1: Homed
5
Status distance switching

0: Current distance value not active
1: Current distance active
Status of positioning of P-0-0054

0: Positioning active
1: Positioning completed
Master axis selection acknowledgement

0: Virtual master axis active
1: Real master axis active
Synchronous mode in synchronization

0: Slave axis is not synchronized
1: Slave axis is synchronized
10/9
Active synchronization mode

00: Phase synchronization
01: Electronic cam
10: MotionProfile
12
Profile check carried out, set 0 (MotionProfile)

0: Not carried out
1: Carried out
13
Profile check OK, set 0 (MotionProfile)

0: Error or not carried out
1: No error
14
Profile check carried out, set 1 (MotionProfile)

0: Not carried out
1: Carried out
15
Profile check OK, set 1 (MotionProfile)

0: Error or not carried out
1: No error
Fig.5-42:
Use
P00089, Status word for synchronous operation modes
When using/interpreting this parameter, observe the following aspects:
Bits 02: Using bits 0/1/2 of this parameter, the drive specifies cam table
from which the table values are taken.
Bit 3: Specifies which set out of the two MotionProfile sets is the active
one.
Bit 4: Bit 4 indicates the position status of "P00753, Position actual value
in actual value cycle". If the position status is equal to 1, absolute syn
chronization mode can be used

and Controls
Bit 5: If a new distance 1 is parameterized in P-0-0093, bit 5 is cleared. If

the new value is applied as the active distance, bit 5 is set to 1.
Bit 6: The additive master axis position (P-0-0054) is traveld with a 2nd
order interpolator. While the travel motion is made, this bit is 0. Once the
interpolator has reached the end value, this bit is set to 1.
Bit 7: This bit acknowledges the selection of the master axis (virtual/real).
Bit 8: This bit indicates whether the axis is within the synchronization win
dow. Conditions vary according to the operation mode.
Velocity synchronization: Bit 8 = 1, if | dX synch + dX additive dX act | <

S-0-0183 with dX act: S-0-0040, Velocity feedback value dX synch:
synchronous velocity command value, generated from the current
master axis speed dX additive: S-0-0037, Additive velocity command
value
Phase synchronization or cam bit 8 = 1, if | X synch + X additive X act |

< S-0-0228 with X act: position feedback value S-0-0051 or S-0-0053
X synch: Synchronous position command value
X additive: Additive position command value, S00048
Bits 10/9: This bit acknowledges in "position synchronization" the selection

of the operation mode through bits 4/5 of P00088, Control word syn
chronization modes.
Bits 13/12: For set 0 of the MotionProfile. Bit 12 indicates whether the
profile parameterized in set 0 was tested. If yes, bit 13 indicates the result
of the test. For more detailed information about a negative test result,
please refer to "P-0-0702, MotionProfile, diagnosis, set" 0.
Bits 15/14: For set 1 of the MotionProfile. Bit 14 indicates whether the
profile parameterized in set 1 was tested. If yes, bit 15 indicates the result
of the test. For more detailed information about a negative test result,
please refer to P-0-0709, MotionProfile, diagnosis, set 1 .
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.1.77
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
0 / 0xffff
0 / 0xffff
0 / 0xffff
0 / 0xffff
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-0090, Travel range limit parameter

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter defines the signal behavior of the travel range limit switch inputs
and the behavior of the drive with regard to exceeded travel ranges.
See also Functional Description "Position Limitation/Travel Range Limit
Switch"

and Controls
Structure
Bit
Comment
Signal behavior travel range limit switch inputs

0: Not inverted, 24 V => travel range is exceeded
1: Inverted, 0 V => travel range is exceeded
Activation of travel range limit switch

0: No
1: Yes
Handling when travel range exceeded

0: As error (acc. to error reaction)
1: As fatal warning (shutdown)
Fig.5-43:
Function:
Memory:
Unit:
Cycl. tra.:
Relevant Bits of P-0-0090, Travel range limit parameter

Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.1.78
PM+OM
PM->OM
+
--
min./max.
0/7
0/7
0/7
0/7
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
0
0
0
0
P-0-0091, Position/travel range limit status

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter displays the status of position limitation and travel range limit
switch monitoring. The status is 0 whenever the particular monitoring funtion is
deactivated.
In version MPx06 and above
The status of position limitation and travel range limit switch monitoring is dis
played even if monitoring has been deactivated.
Switch"
Structure
Bit
0: Positive position limit value not exceeded

1: Positive position limit value exceeded
0: Negative position limit value not exceeded

1: Negative position limit value exceeded
Comment

and Controls
Bit
Comment
0: Positive travel range limit switch not exceeded

1: Positive travel range limit switch exceeded
0: Negative travel range limit switch not exceeded

1: Negative travel range limit switch exceeded
Fig.5-44:
Function:
Memory:
Unit:
Cycl. tra.:
Relevant Bits of P00091, Position/travel range limit status

Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.1.79
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
In MPx05VRS and below: "Cam shaft profile 2"

Parameter "P00092" contains a table with data points tab () for the profile of
cam 2.
See also Parameter Description "P00072, Cam table 1"
following groups:

P00781)

P00785)

is"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
FIX_IDN_SP
%
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
-+
--
min./max.
-799,999999 / 799,999999
-799,999999 / 799,999999
-799,999999 / 799,999999
-799,999999 / 799,999999
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte var.
DEC_MV
6
--

and Controls
5.1.80
P-0-0093, Cam distance

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter defines the distance by which the profile of the cam is multiplied.
is"
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.1.81
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
360,0000
360,0000
360,0000
360,0000
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0077
S-0-0078
--
P-0-0094, Cam switch angle

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
If the master axis crosses this angle in positive or negative direction, the system
changes to the cam table which was preset in "P00088, Control word syn
chronization modes".
At the same time, parameter "P00089, Status word synchronization modes"
is set to the activated cam table. If the drive is initialized for the first time, the
cam set in "P00088" is activated. Parameter "P00089" is set here as well.
is"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Deg
AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.1.82
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,0000 / 360,0000
0,0000 / 360,0000
0,0000 / 360,0000
0,0000 / 360,0000
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
4
--
Default value
0,0000
0,0000
0,0000
0,0000
P-0-0095, Absolute encoder monitoring window for motor encoder

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
MPB
MPB
MPB
MPH
MPH
MPH
MPD
MPD
MPD

and Controls
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPD
MPD
MPD
MPC
MPC
When switching on a drive with an absolute motor encoder, a check is run to

determine whether the current actual position value differs from the actual po
sition value at the time of the last switch off. If the difference exceeds the value
determined in this parameter, the "F2074 Actual pos. value 1 outside absolute
encoder window" error message is output.
When switching the drive off, the current encoder data of the absolute motor
encoder are saved in "P00177, Absolute encoder buffer of motor encoder".
The monitor can be switched off by writing the value "0" to this pa
rameter.
Record of Revisions
Version
Attribute
GEN-02VRS
Editability: P2
GEN-02VRS
Validity ch.: P2-3
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.1.83
Comment
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
1,0000
1,0000
1,0000
1,0000
P-0-0096, Absolute encoder monitoring window for opt. encoder

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
When switching on a drive with an absolute optional (external) encoder, a check

is run to determine whether the current actual position value differs from the
actual position value at the time of the last switch-off. If the difference exceeds
the value determined in this parameter, the "F2075 Actual pos. value 2 outside
absolute encoder window" error message is output.
When switching the drive off, the current encoder data of the absolute encoder
are saved in "P00178, Absolute encoder buffer of optional encoder".
rameter.

and Controls
Record of Revisions
Version
Attribute
Comment
GEN-02VRS
Editability: P2
GEN-02VRS
Validity ch.: P2-3
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.1.84
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
1,0000
1,0000
1,0000
1,0000
P-0-0097, Absolute encoder monitoring window for measuring encoder

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
When switching on a drive with an absolute measuring encoder, a check is run

to determine whether the current actual position value of the encoder differs
from the actual position value at the time of the last switch off.
If the difference exceeds the value determined in this parameter, the error
message "F2076 Actual pos. value 3 outside absolute encoder window" is out
put. When switching the drive off, the current encoder data of the absolute
encoder are saved in "P00178, Absolute encoder buffer of optional encoder".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Incr
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.1.85
PM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
MinULong / MaxLong
MinULong / MaxLong
MinULong / MaxLong
MinULong / MaxLong
Default value
100
100
100
100
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_OV
0
--
P-0-0098, Max. model deviation

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC

and Controls
Function
If an operation mode with internal position control is activated in the drive, the
position control loop is monitored. For this purpose, an "actual position model
value" is calculated and compared to the real actual position value (cf. S00051
and S00053).
Input"
Use
For determining the "actual position model value", you have to distinguish be
tween two cases:
Position control (or interpolation) with lag error In these cases, the real
actual position value is corrected by
the systematic lag error ( 1/kv) and
a value possibly available in "S00037, Additive velocity command

value", and the "actual position model value" is generated from it.
Lagless position control (or interpolation) In these cases, the real actual
position value is corrected by
a value possibly available in "S00037, Additive velocity command

value", and the "actual position model value" is generated from it.
In both cases, the generated "actual position model value" is compared to the
real actual position value (cf. S00051 and S00053) and the maximum devi
ation between the calculated "actual position model value" and the "real actual
position value" is stored in parameter "P00098, Max. model deviation".
The user can read the parameter as a means of assistance for pa
rameterizing "S00159, Monitoring window". For this purpose, it is
reset to "0" before a "test run"!
Function:
Memory:
Par
--
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.1.86
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
P-0-0099, Position command smoothing time constant

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The position command smoothing time constant determines the maximum jerk
possible in the case of operation modes with position control.
The maximum jerk is calculated from:

and Controls
Fig.5-45:
Maximum jerk
The parameter "P00099, Position command smoothing time con

stant" is only effective with the linear fine interpolator having been
activated (P00187 = 0). The filter is deactivated by writing the val
ue 0 to this parameter.
See also Functional Description "Command Value Processing in Position Con
trol"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
ms
--
Input
MPB:
MPC:
MPD:
MPH:
5.1.87
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,00 / 655,35
0,00 / 655,35
0,00 / 655,35
0,00 / 655,35
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
2
--
Default value
0,00
0,00
0,00
0,00
P-0-0100, Position command value extension

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The parameter "P00100, Position command value extension" extends the

parameter "S00047" by 16 bits to 48 bits. This increases the resolution by 4
decimal places.
See also Parameter Description "S-0-0047, Position command value"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
5.2.1
P-0-0101, Configuration for STO selector

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
MPB
MPB
MPB
MPB
MPB
2Byte
DEC_MV
0
--
Default value
---------
5.2
Allocation
Data length:
Format:
Decim. pl.:
Switchable:
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
optional safety technology module
--
MPC
Function
In MPx06 and below, the name of this parameter was

"Configuration for starting lockout selector ".
Parameter "P00101" can be used to select the activation configuration.
Structure
Bit
0:N/C - N/O combination
Comment
1:N/C - N/C combination

7..1
Reserved
Diagnosis on selection in AF mode
GEN-03V24 and
above
0:Diagnosis with fatal error F8027
GEN-04V14 and
above
1:Diagnosis with fatal warning E8027
Fig.5-46:
Function:
Memory:
Unit:
Cycl. tra.:
P00101, Configuration for STO selector

Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.2.2
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
0
0
0
0
P-0-0102, Oper. hours power section at last activation of STO

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
Function
In MPx06 and below, the name of this parameter was "Oper. hours
power section at last activat. of start. lockout".
Parameter "P00102" displays the operating hours of the power section since
the last activation of the safety function "Safe starting lockout" (MPx06 and
below) or "Safe torque off" (MPx-07 and above).
Record of Revisions
Version
Attribute
Comment
GEN-02VRS
Memory location: ON_BOARD_SP
GEN-02V26 RETAIN_GER
AET and above
GEN-03VRS
Memory location: ON_BOARD_SP
GEN-03V16 RETAIN_GER
AET and above

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
RETAIN_GER
AET
s
--
Input
MPB:
MPC:
MPD:
MPH:
5.2.3
Editability:
nein
Data length:
4Byte
Validity ch.:
PM->OM
Format:
DEC_OV
Extr. val. ch.:

Comb. check:
---
Decim. pl.:
Switchable:
1
--
min./max.
--- / ----- / ----- / ----- / ---
Default value
0,0
0,0
0,0
0,0
P-0-0103, Time interval of forced dynamization

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
Function
"P00103, Time interval of forced dynamization" is used to set the time interval
for the lifecounter. This defines the time interval in which the "Safe starting
lockout" (MPx06 and below) and "Safe torque off"(MPx-07 and above) must be
activated with active drive controller.
Use
Setting drive enable starts the lifecounter which runs as long as the drive is in
control. When drive enable is reset, the lifecounter is stopped and the current
value is stored.
The lifecounter is not reset before the lockout is reselected and will
be preserved even after the drive controller has been turned off.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
s
--
Input
MPB:
MPC:
MPD:
MPH:
5.2.4
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
1,0 / 604800,0
1,0 / 604800,0
1,0 / 604800,0
1,0 / 604800,0
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
1
--
Default value
28800,0
28800,0
28800,0
28800,0
P-0-0104, Change history time interval of forced dynamization

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
Function
A history of the time intervals set by the user in "P00103, Time interval of
forced dynamization" is stored in parameter "P00104, Change history time
interval of forced dynamization".
Use
The last six values are displayed. In addition, the count of the operating hours
counter of the power section, at which the change took place, is stored.

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
Editability:
ON_BOARD_SP Validity ch.:
s
Extr. val. ch.:
-Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.2.5
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_OV
1
--
Default value
---------
P-0-0105, Time stamp for list of diagnostic message numbers

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains a list of the points of time at which the diagnostic drive
message was changed. At each change of "S00390 Diagnostic message
number", the respective point of time (value from "P-0-0190, Operating hours
control section") is recorded. The last point of time at which the diagnostic
message was changed is entered in the first line of the list. All entries already
existing are moved down by one line. The list is full after 50 entries, each other
entry causes the oldest value to get lost.
The list from "S00375, Diagnostic numbers list" corresponds with
the parameter P-0-0105. These parameters in the same line contain
the diagnostic message number corresponding to the respective
point of time.
The numbers of the diagnostic error messages and the respective
points of time of the error events are only applied in S00375 and
P00105 by clearing the error message!
Function:
Memory:
Unit:
Cycl. tra.:
Par
-s
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.2.6
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_OV
1
--
Default value
---------
P-0-0106, Operating status of STO

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC

and Controls
Function
In MPx06 and below, the name of this parameter was "Operating

status of starting lockout".
This parameter provides binary status signals regarding the current state of the
"Safe starting lockout" (MPx06 and below) and "Safe torque off" (MPx-07 and
above) safety functions.
See also Troubleshooting Guide for "F3130 Error when checking input sig
nals"
See also Functional Description "Integrated Safety Technology"
Structure
The individual bits of the parameter have the following significance:

Bit
Comment
1...0
Safe starting lockout/Safe torque off operating status

00: Not active (activation on first progression to P4)
01: Normal operation (NO)
10: Active (AS/STO*)
7..2
Reserved
9,8
Safety technology error:

00: No error
01: Error clearance through AS/STO* channel 1
10: Error clearance through AS/STO* channel 2
11: Error clearance through AS/STO* channels 1 and 2
11,10
Reserved
12
State of selection signals:

0: Selection signals stable
1: Change of selection signals completed
13
Plausibility of selection signals:

0: Selection signals plausible
1: Selection signals faulty
14
Use level:
0: The AS/STO* can be used as desired because tested
firmware is available
1: The AS/STO can be used to a certain degreeonly; test
version, firmware not tested
Autom. deactivation after max. 30 min!
15
Reserved
AS
STO
Safe starting lockout

Safe torque off
Fig.5-47:
Use
Operating Status
If the selection signals fail to be plausbile (bit 13), the safety technology error
(bits 9/8) can be used to detect whether
the signals of channel 1 and channel 2 are different (error clearance

through AS/STO channel 2),
the signals on channel 1 are faulty or do not match the configuration se

lector from "P00101" (error clearance through AS/STO* channel 1).
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
2Byte
BIN

and Controls
Unit:
Cycl. tra.:
-AT
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.2.7
---
Decim. pl.:
Switchable:
0
--
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
P-0-0108, Master drive polarity

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
By means of this parameter it is possible to invert the polarity of the master axis
position. Thereby an inverting electronic gear is realized.
Structure
Bit
master axis position
Comment
Fig.5-48:
Function:
Memory:
Unit:
Cycl. tra.:
P-0-0108, Master drive polarity

Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.2.8
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0/1
0/1
0/1
0/1
Default value
0
0
0
0
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
P-0-0109, Torque/force peak limit

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Torque/force limit value that acts on the sum of all torque/force command val
ues:
command values from the acceleration feedforwards (S00348,

P01126)
command values from the velocity controller (P00049)

and Controls
Use
The parameter acts in a bipolar way, i.e. positive and negative command values
are limited to the entered value. The parameter cannot be cyclically written and
is therefore used to absolutely determine the maximum allowed drive torque or
the maximum allowed drive force
The effective limit value is displayed in "P00444, Actual value
peak torque limit". This value can be lower than P00109 if, for
example, the value of S00092 is lower than the one of P00109
or if a load-dependent current limitation by motor or controller is
active.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.2.9
min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
Default value
400,0
400,0
400,0
400,0
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_MV
S-0-0093
S-0-0094
+
P-0-0114, Undervoltage threshold

Allocation
Function
Use
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
With this parameter it is possible to determine and activate an individual un

dervoltage threshold, differing from the standard value, for the DC bus voltage.
Effect of P-0-0114 on CV and IV
Converters (CV) and inverters (IV) can have master or slave function as regards
the module bus. This is determined by the respective bit of "P-0-0860, Con
verter configuration" or "P-0-0118, Power supply, configuration":
module bus master (operating principle like for a supply unit (SU) which
actively makes available status information regarding readiness for oper
ation and readiness for power output via the module bus for the axes of a
drive system)
module bus slave (behaves like an IV which reacts to the status informa
tion regarding readiness for operation and readiness for power output of
the module bus)
When an IV is connected to a third-party supply unit, the module
bus master function is missing! In this case, an IV can assume the
module bus master function!
Effect of P-0-0114 regarding module bus master

and Controls
Devices with module bus master function
current voltage level of DC bus "UZK"
SU
when P-0-0114 < 0,75*Netz:
(P-0-0114is
not available
for SU)
(P-0-0114 has no effect in this case,

default value is "0"!)
CV
IV (activated in
P-0-0118)
UZK < P-0-0114 < 0,75*Netz
DC bus not ok -
P-0-0114 < UZK < 0,75*Netz
DC bus not ok -
P-0-0114 < 0,75* Netz < UZK
DC bus ok
when 0,75*Netz < P-0-0114 :

(P-0-0114 acts as individual undervolt
age threshold!)
UZK < 0,75*Netz < P-0-0114
DC bus not ok -
0,75*Netz < UZK < P-0-0114
DC bus not ok -
0,75*Netz < P-0-0114 < UZK
DC bus ok
Uzk < P-0-0114
DC bus not ok
P-0-0114 < Uzk
DC bus ok 1)
when Netz is unknown due to thirdparty supply unit:
1) only
when third-party supply unit signals "ready for power output"!
Netz
nominal mains voltage crest value

Influence of P-0-0114 on the status message "DC bus ready for power
output" (DC bus ok) with module bus master function
Fig.5-49:
The nominal mains voltage crest value (determined at switch-on)
is displayed in "P00815, Nominal mains voltage crest value"

in the case of CVs,
cannot be displayed for SUs,
is unknown for IVs (module bus master!).
Effect of P-0-0114 regarding module bus slave

Devices with module bus slave function
IV
CV (in IV operation)
when P-0-0114 < UZK_ok:

(P-0-0114 has no effect in this case!)
UZK < P-0-0114 < UZK_ok
E2026 or F20261)
P-0-0114 < UZK < UZK_ok
E2026 or F20261)
UZK_ok < UZK
drive ready ("Ab")

and Controls
Devices with module bus slave function
IV
CV (in IV operation)
when UZK_ok < P-0-0114 :

(P-0-0114 acts as individual undervolt
age threshold!)
UZK < UZK_ok < P-0-0114
E2026 or F20261)
UZK_ok < UZK < P-0-0114
E2026 or F20261)
UZK_ok < P-0-0114 < UZK
drive ready ("Ab")
when P-0-0114 = 0:
(default value, P-0-0114 has no effect)
UZK < UZK_ok
E2026 or F20261)
UZK_ok < UZK
drive ready ("Ab")
1) "E2026
Undervoltage in power section" or "F2026 Undervoltage in power section"

depend on "P-0-0118, Power supply, configuration", setting regarding "behavior in the
case of undervoltage in DC bus"
UZK_ok
Fig.5-50:
value of DC bus voltage as of which SU signals "ready for power output"

Readiness for power output for devices with module bus slave function
depending on P-0-0114
Parameterization
Standard value (default): P-0-0114 = 0 or Individual: P-0-0114 < 75% of nom.
mains voltage crest value i.e. the undervoltage threshold is 75% of nominal
mains voltage crest value.
Individual: P-0-0114 > 75% of nominal mains voltage crest value, i.e. the input
value is the active undervoltage threshold in Volt.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
V
--
Input
MPB:
MPC:
MPD:
MPH:
5.2.10
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0 / 500
0 / 500
0 / 500
0 / 500
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
0
0
0
0
P-0-0115, Device control: status word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
By means of this parameter, it is possible to read the drive status (device con
trol), independent of the master communication that is used.

and Controls
See also Functional Description "Master communication"
Structure
The individual bits have the following significance:

Bit
BB relay
Comment
1: Control BB relay (ready for switching power on)

1
Ready signal
1: Drive ready (ready for power output)
Drive warning
1: Warning (class 2 diagnostics) is present
Status of ext. cmd val. processing (primary op. mode +

secondary op. modes 1-7)
0: Drive ignores (ext).
command value input
1: Drive follows (ext.) command value input
Drive Halt acknowledgment

1: Drive Halt is active and axis is in standstill
Command change bit

0: No change in command status
Status of int. cmd val. processing (secondary op. modes

8-15 of PLC)
0: Drive ignores (int).
command value input of PLC
1: Drive follows (int.) command value input of PLC
Operation mode initialized

1: Primary op. mode or secondary op. mode active and
initialization completed, otherwise 0
11/10/
9/8

0000: Primary operation mode is active
0001: Secondary oper. mode 1 is active
0111: Secondary oper. mode 7 is active
1000: 1st internal secondary oper. mode is active
1111: 8th internal secondary oper. mode is active
12
Command value reached

1: Drive has reached command value input (The gener
ation of the bit depending on the active oper. mode is
described below.)
As of MPx04VRS

and Controls
Bit
13
Drive error
Comment
0: No error
1: Drive error
15/14
Ready for operation

00: Control section / power section not ready for opera
tion (e.g. drive error or phase 2)
01: Control section ready for operation ("bb")
("Ab")
11: Drive with torque ("AF")
Fig.5-51:
Use
Device control: Status word
Detailed information regarding command value processing (bits 3, 6)

The secondary operation modes 4-7 can only be used via "SERCOS inter
face" and the secondary operation modes 8-15 (internal secondary operation
modes 1-8) can only be used with the internal PLC (IndraMotion MLD-S with
temporary control) and in the easy startup mode!
By combining bit 3 and bit 6, the following cases can be unequivocally distin
guished:
Bit 6
Bit 3
Status
Comment
Drive carries out internal error reaction
Only in the case of

error!
Drive follows command value of external control Normal operating

unit in active operation mode
status
Internal PLC controls drive via an MC function

block
Not possible
Fig.5-52:
Cases to be Distinguished for Bit 3 and Bit 6
In the easy startup mode, bit "6 = 0" and "bit 3 = 1" are set, too, as
the drive follows the command value input in this case!
Detailed information regarding bit 12 "command value reached"
As described in the table, bit 12 "command value reached" is generated de
pending on the active operation mode:
Active operation mode
Bit 12 "command value reached"
None
Torque control
No message
Velocity control
n_feedback = n_command (S-0-0330)
Cycl. position control
IN_POSITION (S00336)
"IN_TARGET POSITION" (S00437, bit 1)
"IN_TARGET POSITION" (S00338 or S00437,

bit 2: IZP)

and Controls
"End position reached" (P-0-4061, bit 4)

S-0-0338 In_Target Position && no sequential
block
Position and velocity synchroniza In Synchronization (P-0-0089, bit 8)

tion
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.2.11
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-0116, Device control: control word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter indicates whether the master communication has activated the
drive.
Bit
Comment
Command operation mode

000: Primary operation mode
11/9
001: Secondary operation mode 1
/8
010: Secondary operation mode 2, etc.
Bit 11 available
in MP*03VRS
and above

Drive Halt
13
0: Drive Halt active. The drive was decelerated while maintain

ing maximum acceleration (S00138) if bits 14 and 15 were
"1" with 1->0.
1: Drive Halt inactive.
Drive ENABLE
14
0: Drive enable inactive; the driving torque was switched off

without delay if the drive was active with 1->0.
1: Drive enable active
Drive ON
15
0: Drive ON inactive; the drive was decelerated in the best

possible manner if bit 14 was "1" with 1->0.
1: Drive ON active
Fig.5-53:
Use
Relevant Bits of P00116
The control bits (8 and 9) contained in parameter "P00116" are also contained
in the control words depending on the master communication (cf. "S00134",

and Controls
"P04077", "P04068" and "P04028") and can therefore be written via the
control words.
With version MP*03VRS and above, the secondary operation
modes 4 to 7 can only be used via SERCOS interface. For this rea
son, bit 11 is effective only in connection with "S-0-0134" and
"P-0-0116".
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.2.12
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
P-0-0117, Activation of control unit reaction on error

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Up to MPx04VRS: P-0-0117, Activation of NC reaction on error

This parameter allows activating an error reaction controlled by the control unit.
When error reaction controlled by the control unit is active, the control unit (ex
ternal control/NC or local MLD) still can input command values for the drive for
30 s. This allows realizing an error reaction coordinated by the control unit in
the case of error.
When the 30 seconds are over, the error reaction set in "P00119,
Best possible deceleration" is carried out.
See also Functional Description "NC Reaction on Error"
Structure
Bit
NC error reaction
Comment
0: deactivated
1: activated
1
MLD error reaction
as of MP*04VRS
0: deactivated
1: activated
Fig.5-54:
Use
P-0-0117, Activation of NC reaction on error
The following has to be observed for using the function:
Using the NC error reaction is only possible in case non-fatal errors

(F2xxx, F3xxx) occur!
Using the MLD error reaction is only possible in case non-fatal errors
(F2xxx, F3xxx) or interface errors (F4xxx) occur!

and Controls
The MLD error reaction is only possible via IndraMotion MLD (drive PLC)
when the functional package ("ML") has been activated. When a non-fatal
error occurs, the error reaction can also be carried out by an external con
trol unit.
NC error reaction and MLD error reaction cannot be selected simultane

ously.
The MLD error reaction is only carried out when the functional
package ("ML") has been activated.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.2.13
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
-+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
0
0
0
0
P-0-0118, Power supply, configuration

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In parameter "P00118", settings with regard to error messages and error re

actions are made for drives that are interconnected via the DC bus and the
module bus ("drive system"). In addition, the handling of DC bus undervoltage
is determined.
The DC bus voltage (power bus) is not switched off in case of nonfatal drive errors while the "drive system" is in operation!
See also Functional Description "Power Supply"
Structure
Bit
Package reaction (power off on error)

0: No reaction ("package reaction")
1: Reaction ("package reaction"): "Best possible deceleration" (see P00119), diagnostic mes
sage E8058
Exception: In the case of braking resistor overload, power is always switched off!
Signaling of own drive errors This bit determines whether a drive signals its own errors via the
module bus in the drive system.
0: No signaling: No "package reaction" triggered in the case of an error ("passive axis"), power
on of supply unit is possible independent of drive status
1: Signaling: "Package reaction" triggered in the case of an error ("active axis"), power on of supply
unit only with readiness for operation ("Bb")
Comment

and Controls
Bit
Comment
5-3
Behavior in the case of undervoltage in DC bus or mains failure These bits determine how the
drive reacts to undervoltage in the DC bus.
000: Non-fatal error (F2026 / F2819), "best possible deceleration" (cf. P00119)
001: Fatal warning (E8026 / E8819) (in MPx04 and above), motive torque switched off
100: Non-fatal warning (E2026 / E2819), no error reaction of drive
Automatic clearing
of "F2026 Undervoltage in power section"
0: No, error must be cleared (cf. S00099)
1: Yes, error is cleared by switching drive enable off and on (cf. P00116, bit 15)
Power off in the case of non-fatal errors (F8xxx)

This bit determines whether the drive initiates power off via the module bus in the case of er
rors.
0: No signaling via the module bus
1: Signaling via the module bus, causes power off
15
Reserved
Fig.5-55:
Function:
Memory:
Unit:
Cycl. tra.:
Relevant Bits of P00118, Power supply, configuration

Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.2.14
PM
PM->OM
-+
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
3
3
3
3
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
P-0-0119, Best possible deceleration

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
This parameter determines the way the drive is decelerated.

See also Functional Description "Error Reactions"
MPC
MPC

and Controls
Structure
Bit
3-0 = 0
Error reaction
Comment
Velocity command value reset (emergency halt)
As of MPx05
The controlled servo motor is decelerated taking Torque limita

the "Px0109, Torque/force peak limit" into ac tion to P00109
count (vcmd = 0!).
In the case of open-loop U/f control, the deceler

ation at the torque limit only takes place, when the
stall protection loop has been activated (cf.
"P00045, Control word of current controller").
The maximum deceleration is set by the value en
tered in "P00569, Maximum stator frequency
slope".
In the case of servo drives ("servo brake" function,

P00525), the holding brake is activated and
drive enable is internally switched off after
"S00207, Drive off delay time".
In the case of main spindle drives ("main spindle

brake" function, P00525), drive enable is inter
nally switched off and the holding brake is activa
ted, if the velocity has fallen below 10 rpm.
Up to MPx05
Deceleration
with the smaller
value from
S00092,
S00082,
S00083,
The maximum braking time to be expected under the P00109
most unfavorable operating conditions is input in
"S00273, Maximum drive off delay time". After
S00273 is over:
3-0 = 1
3-0 = 2
Torque disable
In the case of servo drives ("servo brake" function,

P00525), the holding brake is immediately acti
vated.
In the case of main spindle drives ("main spindle

brake" function, P00525), the holding brake re
mains released.
Velocity command value reset with ramp and filter

(quick stop)
The drive is decelerated with the ramp "S00372, Drive
Halt acceleration bipolar" and the jerk filter
"S00349,Jerk limit bipolar" (vcmd = 0!).
Note: The maximum deceleration is given by the value
entered in "P00569, Maximum stator frequency
slope".
3-0 = 3
Return motion
The drive generates a position command value profile,
in order to move by the desired travel distance, if an
error occurs. If an error occurs, a relative process block
is activated that is defined by the parameters "P00055,
Return distance", "P00056, Return velocity",
"P00057, Return acceleration" and "P00058, Return
jerk".
The return mo
tion is only
available in
connection with
the expansion
package
"SRV" (see En
abling of Func
tional Pack
ages)!

and Controls
3-0 = 4
Velocity command value reset (emergency halt) with As of MPx05

ramp and filter
1: The drive is decelerated with the ramp "S00429,
Emergency halt deceleration" and the jerk filter
"S00349, Jerk limit bipolar" (vcmd = 0!).
Note: With open-loop U/f control, the maximum decel
eration is given by the value entered in "P00569, Max
imum stator frequency slope".
7-4 = 0
7-4 = 1
Error reaction for errors of category F6xxx/F7xxx and As of MPx05

E6xxx velocity command value reset (emergency halt)
The controlled servo motor is decelerated taking

the "Px0109, Torque/force peak limit" into ac
count (vcmd = 0!).
In the case of open-loop U/f control, the deceler

ation at "Px0109, Torque/force peak limit" only
takes place, when the stall protection loop has
been activated
(cf. "P00-0045, Control word of current control
ler"). The maximum deceleration is set by the
value entered in "P00569, Maximum stator fre
quency slope".
Error reaction for errors of category F6xxx/F7xxx with As of MPx05

torque disable
Cannot be com
In the case of servo drives ("servo brake" function, bined with 0, 2,

P00525), the holding brake is immediately acti 3 and 4 in bit 0 vated.
3
7-4 = 4
In the case of main spindle drives ("main spindle and with

brake" function, P00525), the holding brake re P-0-3210, bit 9
mains released.
=0
Error reaction for errors of category F6xxx/F7xxx, emer As of MPx05

gency halt with ramp and filter
cannot be com
The drive is decelerated with the ramp "S00429, bined with 0 in
Emergency halt deceleration" and the jerk filter bit 0-3
"S00349, Jerk limit bipolar" (vcmd = 0!).
Reaction to fatal warnings
In the case of fatal warnings, the drive is decelerated
with the ramp "S00138, Bipolar acceleration limit val
ue" (vcmd = 0!).
Note: With open-loop U/f control, the maximum decel
eration is given by the value entered in "P00569, Max
imum stator frequency slope".
Activation of motor phase short circuit in the case of F8 As of

errors
MPx06V08
0 -> No motor phase short circuit
1 -> Motor phase short circuit if possible
Fig.5-56:
Use
Setting the Way the Drive is Shut Down With the Above Criteria
Bit 3...0: Describes the behavior in the case of:
Non-fatal errors (F2xxx)
Interface errors (F4xxx)

and Controls
Non-fatal safety technology errors (F3xxx)
Reset of communication phase up to MPx05
Removal of drive enable (cf. S00134 resp. P04077 or P00115, bit15)
Bit 7...4: Describes the behavior in the case of:
Limit switch errors and reaction to errors of safety technology (F6xxx and
F7xxx)
Reaction to fatal warnings which react with velocity command value reset
(e.g. E8034, E6044..).
Bit 8: Describes the behavior in the case of F8 errors
Record of Revisions
In the case of certain fatal errors F8xxx, the drive can be decelerated by
short-circuit braking.
Version
Up to MPx04VRS
Up to MPx04VRS
Up to MPx04VRS
Attribute
Format: DEC_OV
MPx Max Value: 4
Extr. val. ch.: Yes
As of MPx05
Combination check
As of MPx06
Combination check
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.2.15
Comment
Error reaction for F6 and F7

errors can be set
Short-circuit braking
PM
PM->OM
-+
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
0
0
0
0
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
2Byte
HEX
0
--
P-0-0120, Control word easy startup

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
In the easy startup mode, this parameter is used to control the drive.
It is not necessary to configure the bits 14 and 13, they are set ini
tially.
Bit 12 is set automatically when the command "easy startup mode"
is started. If bit 12 is cleared during the "easy startup mode", the
operation modes 0-8 can be addressed (as of MPx06).
See also Functional Description of firmware "Master Communication"
See also Functional Description of firmware "Initial Start in Easy Startup
Mode"
See also Functional Description of firmware "Operation Modes"

and Controls
Structure
Bit
12/11/9/8
Comment
Bit 12 is auto
10x00: Internal secondary oper. mode (velocity control) matically set.
10x01: Internal secondary oper. mode (torque control)
10x10: Internal secondary oper. mode (synchroniza
tion)
10x11: Internal secondary oper. mode (drive-controlled
positioning)
11x00: Internal secondary oper. mode (velocity syn
chronization)
13
Drive Halt
1-0 change: Deceleration of drive while maintaining
max. acceleration (S-0-0372) (only possible when
bits 14 and 15 = 1)
14
Drive enable
1-0 change: Torque disable without delay (independent
of bit 15 or 13)
15
Drive ON
1-0 change: Best possible deceleration (only possible
if bit 14 = 1)
Fig.5-57:
Function:
Memory:
Unit:
Cycl. tra.:
Relevant Bits of P04028, Device control word

Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.2.16
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-0121, Gear 1 motor-side (motor encoder)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In specific cases a mechanical gear can be used between motor encoder and
motor.
The gear ratio is defined as follows:
Fig.5-58:
Gear ratio motor encoder gear (gear 1)

and Controls
Example:
5 motor revolutions result in 2 motor encoder revolutions
P-0-0121 : 5
P-0-0122 : 2
Systems"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Rev
--
Input
MPB:
MPC:
MPD:
MPH:
5.2.17
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
1 / 65535
1 / 65535
1 / 65535
1 / 65535
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
0
+
Default value
1
1
1
1
P-0-0122, Gear 1 encoder-side (motor encoder)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In specific cases a mechanical gear can be used between motor encoder and
motor.
Fig.5-59:
Gear ratio motor encoder gear (gear 1)
Example:
5 motor revolutions result in 2 motor encoder revolutions
P-0-0121 : 5
P-0-0122 : 2
Systems"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
Rev
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
1 / 65535
1 / 65535
1 / 65535
1 / 65535
Data length:
Format:
Decim. pl.:
Switchable:
Default value
1
1
1
1
4Byte
DEC_OV
0
+

and Controls
5.2.18
P-0-0123, Feed constant 2 (optional encoder)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is only active if "feed constant 2" has been activated in param
eter P00185, Control word of encoder 2 (optional encoder). The value of this
parameter is the length of the distance that is covered in linear form per revo
lution of a rotary position sensor (e.g. measuring wheel).
The unit depends on bit 4 of "S00076, Position data scaling type".
S-0-0076 bit 4 = 0 -> mm/rev
S-0-0076 bit 4 = 1 -> inch/rev
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.2.19
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
10,0000
10,0000
10,0000
10,0000
P-0-0124, Gear 2 load-side (optional encoder)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
If necessary, a mechanical gear can be used between load and optional en

coder.
Fig.5-60:
Gear ratio of gear 2 (optional encoder)

and Controls
Example:
2 load revolutions result in 5 encoder revolutions
P-0-0124 : 2
P-0-0125 : 5
See also Functional Description "Mechanical Axis System and Measuring Sys
tems"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Rev
--
Input
MPB:
MPC:
MPD:
MPH:
5.2.20
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
1 / 65535
1 / 65535
1 / 65535
1 / 65535
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
0
+
Default value
1
1
1
1
P-0-0125, Gear 2 encoder-side (optional encoder)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
If necessary, a mechanical gear can be used between load and optional en

coder.
Fig.5-61:
Gear ratio of gear 2 (optional encoder)
Example:
P-0-0124 : 2
P-0-0125 : 5
See also Functional Description "Mechanical Axis System and Measuring Sys
tems"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
Rev
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
1 / 65535
1 / 65535
1 / 65535
1 / 65535
Data length:
Format:
Decim. pl.:
Switchable:
Default value
1
1
1
1
4Byte
DEC_OV
0
+

and Controls
5.2.21
P-0-0127, Input revolutions of measuring gear

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
If necessary, a mechanical gear can be used between load and measuring

encoder.
Fig.5-62:
Gear ratio gear 3 (measuring encoder)
Example:
P-0-0128: 2
P-0-0127: 5
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Rev
--
Input
MPB:
MPC:
MPD:
MPH:
5.2.22
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
1 / 4294967295
1 / 4294967295
1 / 4294967295
1 / 4294967295
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
0
--
Default value
1
1
1
1
P-0-0128, Output revolutions of measuring gear

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
If necessary, a mechanical gear can be used between load and measuring

encoder.
Fig.5-63:
Gear ratio gear 3 (measuring encoder)

and Controls
Example:
P-0-0128: 2
P-0-0127: 5
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Rev
--
Input
MPB:
MPC:
MPD:
MPH:
5.2.23
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
1 / 4294967295
1 / 4294967295
1 / 4294967295
1 / 4294967295
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
0
--
Default value
1
1
1
1
P-0-0129, Internal position data format

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays the internal position resolution. The position resolution
refers to one revolution of the motor shaft (increments/revolution) in the case
of rotary motors and to the pole pair distance (increments/pole pair distance)
of the primary part in the case of linear motors.
The value of P00129 depends on "S00278, Maximum travel
range". The higher the value selected for S00278 the lower the
value of P00129 becomes!
Example:
P-0-0129 = 1048576
The result is an internal position resolution of:
360degrees/1048576 = 0.34mdegrees (in the case of rotary motors).
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.2.24
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_OV
0
--
Default value
---------
P-0-0130, Position switch signal selection list

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
-
MPB
MPB
MPB
MPB
-
MPH
MPH
MPH
MPH
-
MPD
MPD
MPD
MPD
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
+
MPD
MPC
This parameter represents the list of reference signals. The following signals
are available:
"S-0-0000, Position switch switched off"
"S-0-0051, Position feedback value 1"
"S-0-0053, Position feedback value 2"
"P-0-0052, Actual position value of measuring encoder"
"P-0-0434, Position command value controller"
"P-0-0775, Resulting master axis position"
"P-0-0776, Effective master axis position"
"P-0-0778, Synchronous position command value"
It is not possible to make any input in this parameter, it represents the possible
input for the following parameter "P-0-0131".
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.2.25
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
IDN
0
--
Default value
---------
P-0-0131, Position switch signal selection

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In this parameter, one of the signals made available in parameter "P00130"
"S00000, Position switch switched off"
"S00051, Position feedback value 1"
"S00053, Position feedback value 2"
"P00052, Actual position value of measuring encoder"
"P00434, Position command value of controller"
"P00775, Resulting master axis position"
"P00776, Effective master axis position"
"P00778, Synchronous position command value"
is selected.
Use
It is only allowed to enter signals from the above list (P00130), otherwise the
drive reacts with an error message. When the position switch is not used, it
makes sense to switch it off by selecting "S00000" in order to avoid unnec
essary calculating time of the axis processor.

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.2.26
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
IDN
0
--
Default value
0
0
0
0
P-0-0132, Position switch switch-on threshold

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The position switch allows realizing 8 independent position switch points. Each
position switch point is characterized by a switch-on threshold, a switch-off
threshold and a lead time, as well as the result, the cam status. The 8 switchon thresholds are entered in this parameter. The input unit and limit is taken
over by the selected reference signal.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.2.27
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
P-0-0133, Position switch switch-off thresholds

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
threshold and a lead time, as well as the result, the cam status. The 8 switchoff thresholds have to be entered in this parameter. The input unit and limit is
taken over by the selected reference signal.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
4Byte var.
DEC_MV
S-0-0077
S-0-0078
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.2.28
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
MPD
MPD
MPD
MPD
MPD
P-0-0134, Position switch lead times

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
threshold and a lead time, as well as the result, the cam status. The 8 lead times
have to be entered in this parameter.
By setting a lead time
the delay of an external switch element that is controlled by a position switch
bit can be compensated. To do this, a theoretical correction value for the re
spective switch-on and switch-off thresholds is calculated from the programmed
lead time and the current drive velocity. The position switch bit switches by the
lead time before reaching the corresponding threshold.
When using a lead time, the velocity of the drive in the (time) range
between theoretical and actual switch-on and switch-off threshold
should be constant.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
ms
AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.2.29
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
DEC_OV
0
--
Default value
---------
P-0-0135, Position switch status word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
threshold and a lead time, as well as the result, the cam status (status word).
This parameter represents the result; when the position is within the range de
fined by switch-on threshold and switch-off threshold, the corresponding bit is

and Controls
set in the status word. This parameter can only be read, it is impossible to make
any input.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.2.30
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
P-0-0139, Analog output 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter indicates the voltage value that is output via the analog output 1
of the drive controller.
See also Functional Description "Analog Outputs"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
V
AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.2.31
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0,000 / 10,000
0,000 / 5,000
0,000 / 5,000
0,000 / 5,000
Default value
0,000
0,000
0,000
0,000
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_OV
3
--
P-0-0140, Analog output 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
PARAM_SP
V
AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,000 / 10,000
0,000 / 5,000
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0,000
0,000
2Byte
DEC_OV
3
--

and Controls
MPD:
MPH:
5.2.32
0,000 / 5,000
0,000 / 5,000
0,000
0,000
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
P-0-0141, Thermal drive load

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The parameter "P00141, Thermal drive load" is used to check the thermal
load of the amplifier, 0% of the chip overtemperature corresponding to 0 kelvin,
100% corresponding to the maximum chip overtemperature. Given the correct
dimensioning of the drive, the thermal load should not exceed the value of 80%
for the intended processing cycles.
See also Functional Description "Current Limitation"
Use
The typical period of time for the temperature rise of the controller output stage
to its final temperature is approx. 10 minutes. To check the thermal load of a
drive at the time of commissioning without having to run processing cycles, it
is possible to preset the controller load to 80%. This can be done by writing any
value to the parameter "P00141, Thermal drive load".
Function:
Memory:
Unit:
Cycl. tra.:
Due to the switching losses of the inverter, P00141 will al

ways display a value > 0 at drive enable, even if the output
current "P00440, Actual output current value (absolute val
ue)" equals zero. The basic load value depends on "P00001,
Switching frequency of the power output stage".
At a work load of approx. 97% the amplifier current limit takes

effect. This is displayed by the warning "E8057 Amplifier over
load, current limit active".
Par
-%
AT
Input
MPB:
MPC:
MPD:
MPH:
5.2.33
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
-+
--
min./max.
0,0 / 100,0
0,0 / 100,0
0,0 / 100,0
0,0 / 100,0
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
1
--
Default value
---------
P-0-0142, Synchronization acceleration

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Function
This parameter contains the value of the acceleration or deceleration with which
the synchronous velocity is reached during dynamic synchronization (velocity
adjustment).
It is used in the synchronization modes and in the operation mode "position
control drive-controlled".
Input"
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.2.34
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
Default value
100,000
100,000
100,000
100,000
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0161
S-0-0162
--
P-0-0143, Synchronization velocity

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC
This parameter contains the value of the positioning velocity with which, during
dynamic synchronization, the distance to absolute synchronization is traveled
(position adjustment).
It is used in the synchronization modes and in the operation mode "position
control drive-controlled".
Input"
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.2.35
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
4Byte
DEC_MV
S-0-0045
S-0-0046
--
Default value
10,0000
10,0000
10,0000
10,0000
P-0-0144, Cam distance switch angle

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPB
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
--
A new value for "P00093, Cam distance" will not become active before the
current table access angle (P00227, Cam table, access angle) passes the
value entered in P00144.
Only effective in "Cam" mode!
is"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Deg
AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.2.36
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,0000 / 360,0000
0,0000 / 360,0000
0,0000 / 360,0000
0,0000 / 360,0000
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
4
--
Default value
0,0000
0,0000
0,0000
0,0000

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

values.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.2.37
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
DEC_MV
4
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
MPB
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
--
MPD
MPC

values.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.2.38
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_MV
4
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The IDN entered in "P00147" defines the signal that is to be recorded by

channel 1. Only such IDNs are allowed that are contained in the list "P00149,
Oscilloscope: Signal selection list".
"S00000".
See also Functional Description "Oscilloscope Function".
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
0
0
0
4Byte
IDN
0
--

and Controls
5.2.39

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The IDN entered in "P00148" defines the signal that is to be recorded by

channel 1. Only such IDNs are allowed that are contained in the list "P00149,
Oscilloscope: Signal selection list".
"S00000".
See also Functional Description "Oscilloscope Function".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.2.40
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
IDN
0
--
Default value
0
0
0
0
P-0-0149, Oscilloscope: signal selection list

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The parameter "P00149, Oscilloscope: Signal selection list" contains all pa

rameters that are suitable as trigger signal (P00026) or measuring signal
(P00023, P00024, P00147, P00148).
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte var.
IDN
0
--

and Controls
5.2.41
P-0-0150, Oscilloscope: number of valid measured values

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
When the oscilloscope feature has been activated, the signal to be recorded is
continuously transmitted to a measured values memory. When the trigger event
occurs, the recording is stopped and the list of measured values can be read.
The oldest measured value is the first element of this list, the latest measured
value is the last element.
If the trigger event occurs before this measured value memory is completely
filled, a number of measured values at the beginning of the list is invalid. The
number of valid measured values before the trigger event is made available in
the "P00150, Oscilloscope: number of valid measured values" parameter.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.2.42
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
0
--
Default value
---------
P-0-0151, Synchronization window for modulo format

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In the second step of dynamic synchronization (position adjustment), a distance

is determined that has to be traveled for transition to absolute synchronization.
If the position difference is greater than the "synchronization window for modulo
format" (P00151), the direction of synchronization is determined by parameter
"P00154, Synchronization direction". If the position difference is smaller than
the value of parameter P00151, synchronization takes place over the shortest
distance.
See also Functional Description for the operation mode "Phase Synchroniza
tion With Real/Virtual Master Axis"
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
4Byte
DEC_MV
S-0-0077
S-0-0078
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.2.43
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
10,0000
10,0000
10,0000
10,0000
P-0-0152, Synchronization completed

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In the case of the NC-controlled or drive-controlled change of operation modes,

the parameter "P00152, Synchronization completed" confirms that the drive
is controlled by the cyclic position command value again.
In the case of the operation modes "phase synchronization" and "cam", bit 0 is
set to "1" after the first synchronization when the distance up to absolute or
relative synchronization was traveled. Once bit 0 has been set, it depends on
parameter P00155 (bit 0) whether the bit is cleared, in case parameter
"S00048, Additive position command value" is changed, until the position dif
ference resulting from it was traveled. If bit 0 is set to "1" in parameter
"P00155, Synchronization mode", bit 0 remains set to "1".
See also Functional Description "Phase Synchronization With Real/Virtual
Master Axis"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.2.44
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
P-0-0153, Optimum distance home switch-reference mark

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
For MPx02
During the "drive-controlled homing procedure" command the distance be
tween the home switch edge and the reference mark is monitored with the home
switch and the reference mark evaluation having been activated.
For MPx03
During the commands for "homing procedure" the distance between the switch
edge or blocking detection (positive stop) and the reference mark is monitored

and Controls
when the home switch, travel range limit switch or positive stop (axis-side ad
ditional device for homing) are evaluated and when the encoder reference
marks are evaluated.
The optimum distance provided for reference marks with equal distances is half
the reference mark distance. The optimum distance has to be entered in the
"P-0-0153, Optimum distance home switch-reference mark" parameter in ac
cordance with the table below.
Structure
Encoder
P-0-0153
Function
rotary
The distance is monitored. The optimum distance is

calculated internally and is 1/2 encoder revolution in the
case of HSF (MHD, MSK, MAD, MAF,2AD, ADF mo
tors) or incr. rotary encoders, respectively 1/2 encoder
revolution / "S-0-0116, Feedback 1 Resolution" in the
case of resolvers (MKD, MKE motors).
rotary
(value)
The distance is monitored. Half the reference mark dis

tance has to be entered in "P00153, Optimum dis
tance home switch-reference mark".
linear
The distance is not monitored. The linear encoder does

not possess reference marks with a constant distance
between them. You have to make sure that the actual
distance between switch edge or blocking detection and
reference mark is enough to ensure unequivocal detec
tion of the same reference mark edge.
linear
(value)
The distance is monitored. Half the reference mark dis

tance has to be entered in "P00153, Optimum dis
tance home switch-reference mark".
Fig.5-64:
Determining the value for P-0-0153
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.2.45
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
0,0000
0,0000
0,0000
0,0000
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0077
S-0-0078
--
P-0-0154, Synchronization direction

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC
In the second step of dynamic synchronization (position adjustment) a distance

is determined that has to be traveled for transition to absolute synchronization.

and Controls
In the case of modulo axes, the drive can move in positive or negative direction.
The synchronization direction determines in which direction the drive is to
move.
Structure
Fig.5-65:
Use
Function
P-0-0154
0
shortest distance
positive direction
negative direction
Synchronization Direction
If the shortest distance to absolute synchronization, however, is smaller than

"P00151, Synchronization init window for modulo format", the shortest dis
tance is traveled and the preset synchronization direction is ignored.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.2.46
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0/2
0/2
0/2
0/2
Default value
0
0
0
0
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
HEX
0
--
P-0-0155, Synchronization mode

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
After activation of a synchronous operation mode with outer position control

loop, the drive automatically carries out dynamic synchronization. In this case,
the drive generates additive position command values until absolute or relative
synchronization has been reached.
Structure
Bit
Processing of S-0-0048
0: Trapezoidal velocity profile
1: P-0-0060 (filter time constant) active
Relative synchronization
0: Absolute synchronization
1: Relative synchronization
Comment

and Controls
Bit
3/2
Synchronization range
Comment
00: Modulo range slave axis (load revolution)

01: Command value cycle slave axis
10: Division of command value cycle
4
Generation of actual value cycle

0: Actual value cycle depends on P-0-0752
1: Actual value cycle = command value cycle
Synchronization in velocity synchronization

0: Only when operation mode activated
1: Always active
Single-step synchronization
0: Not active
1: Active
Mode of single-step synchronization

0: Master-axis-synchronous
1: Not master-axis-synchronous
Fig.5-66:
Use
Synchronization Mode
Bit 0: Trapezoidal velocity profile (bit 0 = 0) Means that a distance is determined

at every change in "S00048, Additive position command value" and traveled
with a 2nd order interpolator taking "P-0-0686, Additive position command value,
positioning velocity" and "P-0-0687, Additive position command value, posi
tioning acceleration" into account.
Filter time constant active (bit 0 = 1) After absolute or relative synchronization
has been reached, subsequent changes in "S00048, Additive position com
mand value" are smoothed by a 1st order filter. The time constant of the filter is
set with parameter "P-0-0060, Filter time constant additional pos. command".
When the operation mode has been activated, any change of 1
0 in bit 0 is without effect after absolute or relative synchronization
has been reached!
Bit 1: Absolute synchronization (bit 1 = 0) An absolute position with regard to
the master axis is always established.
Relative synchronization (bit 1 = 1) Only velocity adjustment is carried out.
Bit 2/3: It is possible to set synchronization in the modulo range, in the command
value cycle or in a division of the command value cycle. The distance to be
traveled is then limited to this range. The actual position value used for calcu
lating the distance must be unequivocal in the range in which synchronization
is to take place. The actual value cycle therefore has to be determined in such
a way that it is a multiple of the synchronization range.
Bit 4: With bit 4 = 0, the actual value cycle, in which there is "P00753, Position
actual value in actual value cycle", is generated depending on "P00752, Load
revolutions per actual value cycle slave axis".
The actual value cycle is set equal to the command value cycle (P-0-0754)
when bit 4 = 1.

and Controls
Bit 5: Synchronization when operating mode is activated (bit 5 = 0) If velocity
adjustment is to be carried out only once in the velocity synchronization mode,
bit 5 has to be set to "0". All following velocity changes are carried out with max.
acceleration.
Synchronization always active (bit 5 = 1)
In the "velocity synchronization" mode, every change in velocity is limited to the
"P00142, Synchronization acceleration". The velocity change can be caused
by changing the master axis speed (P00764), the master drive gear
(P00156, P00157) or the fine adjust (P00083).
Bit 6: As an alternative to double-step synchronization with velocity and position
adjustment, it is possible to select single-step synchronization with this bit. In
stead of "P-0-0142, Synchronization acceleration" and "P-0-0143, Synchroni
zation velocity", the parameters "P-0-0697, Synchronization, master axis
synchronous position" and "P00698, Synchronization, master axis synchro
nization range" will be active in this case. During synchronization, the position
command values are generated with a 5th order polynomial and added to the
synchronous position command values.
Single-step synchronization is only possible with absolute synchro
nization (bit 1 = 0)!
Bit 7: This bit determines whether single-step synchronization is to be carried
out in master-axis-synchronous form. In this case (bit 7 = 0), the synchronization
process starts at a master axis start position which is calculated as the differ
ence of master axis synchronous position (P00697) and master axis synchro
nization range (P00698). Synchronization is completed at the master axis
synchronous position.
In case synchronization is not master-axis-synchronous (bit 7 = 1), the syn
chronization process starts immediately after the operation mode has been
activated. Independent of the master axis synchronous position, synchroniza
tion is completed after the master axis synchronization range has been gone
through.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.2.47
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
0
0
0
0
P-0-0156, Master drive gear input revolutions

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Together with the parameter "P00157, Master drive gear output revolu
tions", this parameter determines the master drive gear.

and Controls
Use
The "P-0-0775, Resulting master axis position" is multiplied with the electronic
gear ratio before further processing and then limited to the standardized range
of 2P2-0084. The gear ratio results from the division of the value of "P00157" by
the value of "P00156".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.2.48
PM+OM
PM->OM
+
--
min./max.
1 / 65535
1 / 65535
1 / 65535
1 / 65535
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
1
1
1
1
P-0-0157, Master drive gear output revolutions

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Together with the parameter "P00156, Master drive gear input revolutions",
this parameter determines the master drive gear.
See also Functional Description of firmware "Synchronization Modes"
Use
The "P-0-0775, Resulting master axis position" is multiplied with the electronic
gear ratio before further processing and then limited to the standardized range
of 2P2-0084. The gear ratio results from the division of the value of "P00157" by
the value of "P00156".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.2.49
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
1 / 65535
1 / 65535
1 / 65535
1 / 65535
Default value
1
1
1
1
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_OV
0
--
P-0-0158, Angle offset change rate

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Function
In the "cam" mode, the parameter "P00061, Angle offset begin of table" has
an influence on the table access angle.
Use
If this angle offset is to be changed by a large range, it is necessary, with a

gradient in the active table, to make a slow approach to the new value, because
every change implies a jump in position command value. A new value for pa

and Controls
rameter P00061 doesn't take immediate effect. Starting with the current value,
a ramp-like approximation of the new value is carried out. The approximation
is carried out along the shortest possible path. The gradient of the ramp is set
in parameter "P00158, Angle offset change rate".
If the value "0" is preset for parameter P00158, the angle offset is carried out
immediately in one step.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Rpm
MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.2.50
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0,00 / 655,35
0,00 / 655,35
0,00 / 655,35
0,00 / 655,35
Default value
100,00
100,00
100,00
100,00
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_OV
2
--
P-0-0159, Slave drive feed travel

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Function
The function and significance of this parameter depend on the op

eration mode!
This parameter is used in "velocity synchronization" mode with linear velocity
scaling for converting the rotary master axis velocity to the linear slave axis
velocity.
P-0-0777
P-0-0159
Fig.5-67:
Effective master axis velocity (in rpm)

Slave drive feed travel (in mm/min)
Slave axis velocity (in mm/min)
Slave axis velocity
Synchronous operation mode with outer position control loop (phase synchro
nization, cam, MotionProfile)
With linear absolute scaling, the slave axis moves by the feed travel, per output
revolution of the master drive gear (including fine adjust), parameterized in
P-0-0159.
That means that, if the values of parameter "P00776, Effective master axis
position" change
by 220 increments in MPx04 and below, and
by 2P-0-0084 increments in MPx05 and above,
the slave axis travals a distance which corresponds to "P00159, Slave drive
feed travel".

and Controls
In the "cam" and "MotionProfile" modes, P00159 only takes effect
in the linear gear reduction component and with linear scaling.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.2.51
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
10,0000
10,0000
10,0000
10,0000
P-0-0162, C1800 Command Drive optimization / command value box

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This command starts the drive-internal (master-independent) command value

input.
The following functions can be activated by means of the settings in "P-0-0165,
Drive optimization, control word":
automatic calculation and kinematic optimization of the velocity and posi

tion control loops ("automatic control loop setting")
generation of a command value characteristic, defined by the user, in ve

locity or position control, e.g. for manual control loop optimization (driveinternal command value box)
automatic determination of the cogging torque compensation tables by

drive-internal generation of the required command value characteristic, by
means of a sufficient number of measuring cycles
Property damage caused by non-observance of conditions when start

ing command C1800!
WARNING
Axis carries out independent movements! By initial position, make sure that the
drive-internally generated command value does not move the axis to the colli
sion area of machine contours!
See also Functional Description "Automatic Setting of Axis Control"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Cmd
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
BIN
0
--

and Controls
5.2.52
P-0-0163, Damping factor for autom. controller setting

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
By varying "P00163", the operator can influence the control loop dynamics
achieved by automatic controller setting.
P-0-0163 = 20: minimum dynamics
P-0-0163 = 0.5: maximum dynamics
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.2.53
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,5 / 10,0
0,5 / 10,0
0,5 / 10,0
0,5 / 10,0
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
1
--
Default value
2,5
2,5
2,5
2,5
P-0-0164, Application for autom. controller setting

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In order to take application-related control strategies into account for automatic

control loop setting, a selection list is made available to the operator from which
he can select the desired application. This allows, for example, completely
switching off the I-component, if required, etc.
Structure
The data below are referring to the speed loop.

P-0-0164
Application
I-compo
nent
P-compo
nent
Machine tool good load stiffness
With
Normal
Nibbling machine short response times Without, Tn

= 0ms
Great
Following-on cutting device rel. non-dy Without, Tn

namic control loop setting
= 0ms
Normal

and Controls
P-0-0164
Application
I-compo
nent
P-compo
nent
Roll feed very high degree of load inertia
With
Great
Handling axis oscillating systems
With
Small
Fig.5-68:
Application-Dependent Speed Loop Setting
If required, Bosch Rexroth will extend the table.

The default value was set to machine tool.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.2.54
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0/4
0/4
0/4
0/4
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
0
0
0
0
P-0-0165, Drive optimization, control word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Up to MPX04VRS: Selection for autom. controller adjust

By the start of "P-0-0162, C1800 Command Drive optimization / command val
ue box", the drive becomes independent of the command values preset by the
master and generates the required command value characteristic on its own.
Depending on the settings in parameter P-0-0165, the drive can carry out dif
ferent functions:
Automatic calculation and kinematic optimization of the velocity and po

sition control loops ("automatic control loop setting")
Generation of a command value characteristic, defined by the user, in

velocity or position control, e.g. for manual control loop optimization (driveinternal command value box)
Automatic determination of the cogging torque compensation tables by

drive-internal generation of the required command value characteristic, by
means of a sufficient number of measuring cycles
The conditions for the command value, which can be drive-internally generated,
are determined.
See also Functional Description "Drive-Internal Command Value Box"
See also Functional Description "Cogging Torque Compensation"
Structure
The table below illustrates the options.

and Controls
Bit
Reserved
Velocity loop
Comment
0: Calculate Kp and Tn
1: Calculate and optimize Kp and Tn
2
Position loop
0: Calculate Kv
1: Calculate and optimize Kv
Determine acceleration feedforward
Load inertia
0: Use value of P-0-4010
1: Determine
Reserved
Maximum acceleration
Reserved
9,8
Operating mode command value box
MPx05
00: Reserved
01: Velocity control
10: Reserved
11: Position control
10
Command value generation to record the cogging torque MPx05

table
12,11 Reserved
13
Direction of motion (with motion always in one direction)

0: Left
1: Right
14
Motion
0: Oscillating motion (reversing drive)
1: Motion always in one direction (stepper drive)
15
Determining travel range

0: Input of limits
1: Input of travel distance
Fig.5-69:
Use
Selection for Automatic Control Loop Setting
The three available functions cannot be used simultaneously, even if they can
be selected simultaneously with the corresponding bits.
The following priorities apply:
1. Recording of cogging torque compensation table (highest priority)
2. Drive-internal "command value box" (medium priority)
3. "Automatic control loop setting" (lowest priority)
Automatic control loop setting

and Controls
In P-0-0165 you can set the conditions for "automatic control loop setting"
as regards the kind of motion, direction of motion and travel range. The
values for end positions or travel distance are set in other parameters:
P-0-0166, Drive optimization, end position negative
P-0-0167, Drive optimization, end position positive
P-0-0169, Drive optimization, travel distance

The bits 10, 8 and 9 must be "0", as "automatic control loop setting"
has the lowest priority!
Bit 6,4,2 and 1

When the value of at least one of these bits is "1", the drive is drive-internally
put into motion at the start of command C1800 in order to determine the cor
responding value. Otherwise, values are determined by means of calculation,
or they are not determined or the value entered in the parameter is applied. The
bits 15, 14 and 13 are taken into account!
Bit 15,14 and 13
With bit 15, the conditions for the travel range of the axis are first determined:
To determine absolute position limits, they are entered in "P-0-0166, Drive

optimization, end position negative" and in "P-0-0167, Drive optimization,
end position positive".
To determine a relative travel distance, enter its absolute value in

"P-0-0169, Drive optimization, travel distance".
If the kind of motion "oscillating motion" was set with bit 14, the axis moves
between the current start position +/- half the value of P-0-0169.
If the kind of motion "stepper mode" was set with bit 14, the axis only
moves in the direction set by bit 13.
Drive-internal command value box

For the "drive-internal command value box", you can only set the condition as
regards the kind of motion (reversing duty or stepper mode) in P-0-0165. Fur
ther conditions, such as end positions, effective acceleration, maximum travel
velocity and dwell time between the motion phases, are directly set in other
parameters:
P-0-0170, Drive optimization, acceleration
P-0-0171, Drive optimization, velocity
P-0-0172, Drive optimization, dwell time
Bit 9 and 8 These two bits determine the operating mode of the "drive-internal
command value box". The drive can work in velocity or position control. Velocity
control takes place via the motor encoder, position control via the position en
coder selected in "S-0-0520, Control word of axis controller". Bit 14 is taken into
account!
Bit 14 With bit 14, first determine the kind of motion of the axis for the operating
mode "drive-internal command value box":
With "oscillating motion", the position limits are entered in "P-0-0166, Drive
optimization, end position negative" and in "P-0-0167, Drive optimization,
end position positive".

and Controls
With "stepper mode", the travel distance is entered in "P-0-0169, Drive

optimization, travel distance". The sign of P-0-0169 determines the direc
tion of motion of the axis.
The "drive-internal command value box" takes priority over the "au
tomatic control loop setting"!
Record cogging torque compensation table

Bit 10 When the value is "1", the drive is drive-internally put into motion at the
start of command C1800 in order to determine the cogging torque compensa
tion table.
The determination of the cogging torque compensation table takes
priority over "drive optimization" and "drive-internal command value
box"!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.2.55
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
-+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
8214
8214
8214
8214

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Up to MPX04: P-0-0166, Lower limit for autom. control loop adjust

In this parameter, enter the negative end position of the travel range within
which the axis, in the case of drive-internal command value input by "P-0-0162,
C1800 Command Drive optimization / command value box", may move.
P-0-0166 is used when the following preselection was made in the control word
for C1800 ("P-0-0165, Drive optimization, control word"):
automatic control loop setting or
drive-internal command value box

Use
The value input or determination for the negative end position depends on the
"setting of travel range", bit 15 in "P-0-0165, Drive optimization, control word".
Direct input of P-0-0166, when "input of position limits" was selected.
Drive-internal determination (only with "automatic control loop setting"),

when "input of travel distance" was selected. In this case, P-0-0166 results
from the current axis position at the start of C1800 minus half the value of
"P-0-0169, Drive optimization, travel distance".

and Controls
At the start of C1800, the travel range intended for drive-internal
command value input is checked. Therefore, the value for P-0-0166
is determined and, if necessary, checked for the allowed travel
range limits of the axis!
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.2.56
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
0,0000
0,0000
0,0000
0,0000

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Up to MPX04: P-0-0167, Upper limit for autom. control loop adjust

In this parameter, enter the positive end position of the travel range within which
the axis, in the case of drive-internal command value input by "P-0-0162, C1800
Command Drive optimization / command value box", moves or may move.
P-0-0167 is used when the following preselection was made in the control word
for C1800 ("P-0-0165, Drive optimization, control word"):
drive-internal command value box

See also Functional Description ""Drive-Internal Command Value Box"
Use
The value input or determination for the positive end position depends on the
"setting of travel range", bit 15 in "P-0-0165, Drive optimization, control word".
Direct input of P-0-0167, when "input of position limits" was selected.
Drive-internal determination (only with "automatic control loop setting"),

when "input of travel distance" was selected. In this case, P-0-0167 results
from the current axis position at the start of C1800 plus half the value of
"P-0-0169, Drive optimization, travel distance"
At the start of C1800, the travel range intended for drive-internal
command value input is checked. Therefore, the value for P-0-0167
is determined and, if necessary, checked for the allowed travel
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
4Byte
DEC_MV
S-0-0077
S-0-0078
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.2.57
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
0,0000
0,0000
0,0000
0,0000
P-0-0168, Maximum acceleration to be parameterized

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In this parameter, the maximum acceleration determined with "automatic con

trol loop setting" (started by C1800) is entered, when the "determination of
maximum acceleration" was activated in "P-0-0165, Drive optimization, control
word".
"Automatic control loop setting is only active at the start of C1800,
when neither the operating mode "drive-internal command value
box" nor "recording of the cogging torque compensation table" was
activated in P-0-0165!
Parameter P-0-0168 is used as the suggested value for the subse
quent determination of the maximum accelerations to be input in
the operating modes.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.2.58
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0161
S-0-0162
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter can be active when the following preselection was made in the
control word for C1800 ("P-0-0165, Drive optimization, control word"):
operating mode "drive-internal command value box"

and Controls
Use
Use with "automatic control loop setting"

The value of P-0-0169 is only relevant, when "input of travel distance" was
selected under "setting of travel range" in "P-0-0165, Drive optimization, control
word".
If the kind of motion "oscillating motion " was selected in P-0-0165, the
allowed travel range is the value of P-0-0169, symmetrical relative to the
start position in positive and negative travel direction.
Note: At the start of "P-0-0162, C1800 Command Drive optimization /
command value box", the travel range intended for drive-internal com
mand value input is checked. Therefore, the values for P-0-0166 and
P-0-0167 are determined and, if necessary, checked for the allowed travel
If the kind of motion "stepper mode" was selected in P-0-0165, the axis
moves step-by-step by the value of P-0-0169 in the direction of motion
preselected in P-0-0165.
The value of P-0-0169 is only relevant, when "stepper mode" was selected
under "kind of motion" in "P-0-0165, Drive optimization, control word". At the
start of C1800, the axis successively always moves by the distance of P-0-0169
in one direction. The direction depends on the sign of P-0-0169.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.2.59
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
0,0000
0,0000
0,0000
0,0000
P-0-0170, Drive optimization, acceleration

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter is active when the following preselection was made in the con
trol word for C1800 ("P-0-0165, Drive optimization, control word"):
In this parameter, enter the maximum acceleration with which the axis is moved
after the start by "P-0-0162, C1800 Command Drive optimization / command
value box" by a drive-internal position command value (only active in position
control).

and Controls
When the drive-internal command value box is used in velocity
control, there isn't any acceleration limitation active, the velocity is
input as command value jump! Any possibly required acceleration
limitation can be achieved via the command value ramp parameters
P-0-1201 etc. of velocity control!
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.2.60
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
4Byte
DEC_MV
S-0-0161
S-0-0162
--
Default value
10,000
10,000
10,000
10,000
P-0-0171, Drive optimization, velocity

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter is active when the following preselection was made in the con
trol word for C1800 ("P-0-0165, Drive optimization, control word"):
In this parameter, enter the maximum velocity with which the axis is moved after
the start by "P-0-0162, C1800 Command Drive optimization / command value
box" by the drive-internal command value.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.2.61
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
4Byte
DEC_MV
S-0-0045
S-0-0046
--
Default value
10,0000
10,0000
10,0000
10,0000
P-0-0172, Drive optimization, dwell time

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
-
-
-
MPB
MPB
-
-
-
MPH
MPH
-
-
-
MPD
MPD
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
--
MPD
MPC
In this parameter, enter the dwell time during which the axis remains in standstill
at the end positions or at the end of the travel distance, after "P-0-0162, C1800
Command Drive optimization / command value box" was started.
This parameter is active when the preselection operating mode "drive-internal
command value box" was made in the control word for C1800 ("P-0-0165, Drive
optimization, control word").
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
s
--
Input
MPB:
MPC:
MPD:
MPH:
5.2.62
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
3
--
Default value
1,000
1,000
1,000
1,000
P-0-0176, Torque/Force command smoothing time constant

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
-
-
-
-
-closed loop
--
MPH
MPH
-
-
-
-
MPD
MPD
-
-
-
-
-
-
With the time constant entered in this parameter the command value set in
"S00080, Torque/Force command" is filtered by means of a low-pass filter in
the torque control operating mode.
The "P00176, Torque/force command smoothing time constant"
only takes effect in the torque control mode.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
ms
--
Input
MPB:
MPC:
MPD:
MPH:
5.2.63
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
P3->P4
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0 / 1000
0 / 1000
0 / 1000
0 / 1000
2Byte
DEC_OV
0
+
Default value
0
0
0
0
P-0-0177, Absolute encoder buffer 1 (motor encoder)

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPB
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
closed loop
--
With an absolute motor encoder, current encoder data are saved when the drive
is switched off. The data that have been saved are displayed in this parameter.
They are used for repeated position initialization and monitoring when the drive
is switched on next time (see also "P00095, Absolute encoder monitoring
window for motor encoder").
The data that have been saved are represented in a list and customers cannot
interpret them. The data are used by the service and development staff for
specific diagnostic purposes.
See also Parameter Description "P-0-0095, Absolute encoder monitoring win
dow for motor encoder"
Function:
Memory:
Unit:
Cycl. tra.:
Par
RE
TAIN_KUNDE
---
Input
MPB:
MPC:
MPD:
MPH:
5.2.64
Editability:
PM
Data length:
4Byte var.
Validity ch.:
--
Format:
HEX
Extr. val. ch.:

Comb. check:
---
Decim. pl.:
Switchable:
0
--
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
P-0-0178, Absolute encoder buffer 2 (optional encoder)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
With an absolute optional (external) encoder, current encoder data are saved
when the drive is switched off. The data that have been saved are displayed in
this parameter. They are used for repeated position initialization and monitoring
when the drive is switched on next time (see also "P00096, Absolute encoder
monitoring window for opt. encoder").
See also Parameter Description "P-0-0095, Absolute encoder monitoring win
dow for motor encoder"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
RE
TAIN_KUNDE
---
Editability:
PM
Data length:
4Byte var.
Validity ch.:
--
Format:
HEX
Extr. val. ch.:

Comb. check:
---
Decim. pl.:
Switchable:
0
--
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------

and Controls
5.2.65
P-0-0179, Absolute encoder buffer 3 (measuring encoder)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
With an absolute measuring encoder, current encoder data are saved when the
drive is switched off. The data that have been saved are displayed in this pa
rameter. They are used for repeated position initialization and position moni
toring when the drive is switched on the next time.
See also Parameter Description "P00097, Absolute encoder monitoring win
dow for measuring encoder"
Function:
Memory:
Unit:
Cycl. tra.:
Par
RE
TAIN_KUNDE
---
Input
MPB:
MPC:
MPD:
MPH:
5.2.66
Editability:
PM
Data length:
4Byte var.
Validity ch.:
--
Format:
HEX
Extr. val. ch.:

Comb. check:
---
Decim. pl.:
Switchable:
0
--
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
P-0-0180, Acceleration feedforward smoothing time constant

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter allows filtering the
double differentiated position command value (cyclic position control)
differentiated velocity command value (velocity control)
with a 1st order low pass in order to realize an acceleration feedforward which
avoids an unduly high excitation of the system even in the case of poor position
or velocity resolution. For the double differentiation can cause a highly noisy
feedforward value which in turn is added as an additive torque command value.

and Controls
Fig.5-70:
Parameterizable filter cascade
See also Functional Description "Axis Control (Closed-Loop Operation)"

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
us
--
Input
MPB:
MPC:
MPD:
MPH:
5.2.67
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0 / 10000
0 / 10000
0 / 10000
0 / 10000
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
+
Default value
0
0
0
0
P-0-0185, Control word of encoder 2 (optional encoder)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter serves to make basic settings with regard to encoder 2 (optional
encoder).
In addition to the obligatory motor encoder (encoder 1), this encoder 2 is an
optional position encoder:
Encoder 2 supports all operation modes.
The position feedback value is shown in "S00053, Position feedback

value 2".
The position control loop can be closed by means of encoder 2.


and Controls
Structure
Bit
Feed constant 2 (only for measuring wheel encoder;

see bits 2, 1)
Comment
0: Not activated
1: Activated
2/ 1 Use of the external encoder
As of MPx04V
00: Position control encoder

01: Spindle encoder
10: Measuring wheel encoder
11: (Not allowed!"
3
Redundant motor encoder
As of MPx04!
0: Not activated
1: Activated
4
Commutation encoder
As of MPx04!
0: Initialization of commutation via encoder 1

1: Initialization of commutation via encoder 2
5
Position data reference on activation of "measuring

wheel mode"
As of MPx05V18 and
MPx06
0: Encoder reference; position data reference of en

coder 2 is cleared
1: Position status of the encoder; position data refer
ence of encoder 2 is preserved
6
Initialization of the position of the measuring wheel

encoder
As of MPx05V18 and
MPx06
0: The position of the measuring wheel encoder is in

itialized through the motor encoder position on drive
enable ("AF") activation. If "AF" is deactivated and if
the control is changed to velocity control, the motor
encoder is initialized with the position of the measur
ing wheel encoder.
1: The position feedback values of the motor or meas
uring wheel encoder are only initialized on change
over to the encoder currently used for position control
(parameter S00520, bit 0), not on a change of the
operation mode or activation of "AF", drive interlock,
E-stop, etc.
Fig.5-71:
Use
Bits 2, 1:
If encoder 2 is used as spindle encoder, encoder monitoring is de

activated to ensure that an error reaction is prevented from being
triggered if the maximum allowed encoder input frequency (with high
speeds) is exceeded.
If encoder 2 is used as measuring wheel encoder, any simultaneous

"commutation via encoder 2" or "redundant motor encoder" respec
tively is excluded. Where the "measuring wheel encoder" is con

and Controls
cerned, it is mandatory that the "feed constant 2" be activated and
entered in "P00123, Feed constant 2 (optional encoder)"!
P00123 only refers to the measuring wheel! If a rotary optional
encoder is used as position control encoder for linear axes,
"S00123, Feed constant" is effective!
If "measuring wheel encoder" is selected, S00521, bit 1 = "1" is
automatically set!
Bit 3: If "redundant motor encoder" is activated, NC-controlled decelera

tion or "best possible deceleration" can still be used after a motor encoder
error has occurred! A "redundant motor encoder" cannot be used fr any
additional purposes according to P-0-0185 ("exclusive" use only!).
If bit 3 = 1 is set, all other settings in P-0-0185 are invalid. In other
words, if the "redundant motor encoder" function is used, all other
functions are excluded.
Bit 4:If encoder 2 is used as "commutation encoder", the position of the

optional encoder is used for initializing the commutation. This allows using
a relative measuring system as motor encoder. It must be possible to
subject encoder 2 to absolute evaluation via the axis travel range or via a
pole pair or pole pair distance of the motor!
Encoder 2 can be used as "commutation encoder" only if there is a
slipless connection between encoder 1 and encoder 2!
Bit 5: The function of preserving the position data reference on activation/

deactivation of measuring wheel mode can only be used if it is ensured
that the mechanical reference of the actual position value from the meas
uring wheel encoder to the motor encoder or to the material to be meas
ured is prevented from shifting.
There is the risk of machine damage or waste, if the position of the
material is incorrectly reproduced due to slip effects between the
material and the motor encoder!
Bit 6: If this bit is set, the mode-dependent initialization of the motor or

measuring wheel encoder does not take place in measuring wheel mode
(P00185, bit 2,1 = "1,0"; S00520, bit 0 = "1"). That means that the motor
or measuring wheel encoder is not re-initialized on changeover from po
sition to velocity control (and vice versa) and activation of "AF", drive
interlock, E-stop, etc. Each encoder is initialized with the actual position
value of the encoder that was the last one active for position control if
position control is changed to the respectively other encoder (changeover
in S-0-0520, bit 0).
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
-+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
0
0
0
2Byte
BIN
0
--

and Controls
5.2.68
P-0-0187, Position command processing mode

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
For jerk-free motion in the "position control" mode, the position command val
ues transmitted via the command value channel are fine interpolated.
By means of parameter "P00187", it is possible to select the following types
of interpolation:
Linear fine interpolation P-0-0187 = 0
Cubic approximation P-0-0187 = 1
Cubic fine interpolation according to contour P-0-0187 = 2
Fig.5-72:
Differences Between the Types of Interpolation
Linear fine interpolation P-0-0187 = 0

and Controls
The cyclically transmitted position command values (cf. S00047) are inter
preted as being connected straightly.
In the case of this type of interpolation, the cyclically set position
command value only takes effect one command value cycle after it
was set at the position loop input. The subsequent position com
mand value filter (cf. P00099) only takes effect in the case of linear
interpolation!
Cubic approximation P-0-0187 = 1
The cyclically transmitted position command values (cf. S00047) are connec
ted by a jerk-optimized polynomial. This can cause slight path deviations,
because the main purpose of this type of interpolation is jerk limitation.
In the case of the cubic approximation, the maximum value of the
NC cycle time (parameter S00001) is 20 ms.
Cubic fine interpolation according to contour P-0-0187 = 2
The cyclically transmitted position command values (cf. S00047) are connec
ted by a jerk-optimized polynomial. In this case it is impossible to generate a
jerk-optimized path, because the main purpose is interpolation according to
contour. This means the fine-interpolated position command value curve runs
exactly through the cyclically transmitted position command values (data
points).
We recommend using the cubic fine interpolator, if the lack of jerk
optimization does not cause any problems. That is why the mode
"cubic fine interpolation according to contour " has been set by de
fault.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.2.69
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
0/2
0/2
0/2
0/2
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
1
1
1
1
P-0-0190, Operating hours control section

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays the operating time of the drive's control section. By
means of this parameter it is possible to display the total duty cycle of the control
electronics since the delivery of the device. If a class 1 diagnostics error occurs,
the content of this parameter at this point of time is stored at the first place in
the "P00193, Error memory operating hours of control section" parameter.

and Controls
The value is displayed in seconds and is stored on the control sec
tion!
See also Functional Description "Operating Hours Counter"
Function:
Memory:
Unit:
Cycl. tra.:
Par
RETAIN_GER
AET
s
AT
Input
MPB:
MPC:
MPD:
MPH:
5.2.70
Editability:
PM+OM
Data length:
4Byte
Validity ch.:
PM->OM
Format:
DEC_OV
Extr. val. ch.:

Comb. check:
---
Decim. pl.:
Switchable:
1
--
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
P-0-0191, Operating hours power section

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays the operating hours of the power section since the
delivery of the device. These operating hours are the time during which the drive
has been operated with drive enable switched on.
The value is displayed in seconds and is stored on the power sec
tion!
See also Functional Description "Operating Hours Counter"
Function:
Memory:
Unit:
Cycl. tra.:
Par
RETAIN_GER
AET
s
--
Input
MPB:
MPC:
MPD:
MPH:
5.2.71
Editability:
PM
Data length:
4Byte
Validity ch.:
PM->OM
Format:
DEC_OV
Extr. val. ch.:

Comb. check:
---
Decim. pl.:
Switchable:
1
--
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
P-0-0192, Error memory of diagnostic numbers

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Section)"
Use

the plain text of diagnosis is stored in parameter "S00095, Diagnostic

message",
the respective error number is stored in parameter "P00009, Error num

ber".
The diagnostic number that belongs to the error and is displayed in "S00390,
Diagnostic message number" is also stored in the "P00192, Diagnostic num
bers of error memory" parameter. In the form of a stack, this parameter
contains, in chronological order, the diagnostic numbers of the last 50 errors
occurred. The last error occurred is entered at the top.
The count of the "P00190, Operating hours control section" parameter at the
time the error is detected is stored in the "P00193, Error memory operating
hours of control section" parameter in the same order.
The parameter is stored on the control section.
Function:
Memory:
Unit:
Cycl. tra.:
Par
Editability:
-Extr. val. ch.:
-Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.2.72
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
HEX
0
--
Default value
---------
P-0-0193, Error memory operating hours of control section

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Section)"
Use

the plain text of diagnosis is stored in parameter "S00095, Diagnostic

message",
the respective error number is stored in parameter "P00009, Error num

ber".

and Controls
The count of the "P00190, Operating hours control section" parameter at the
time the error is detected is stored in the "P00193, Error memory operating
hours of control section" parameter. In the form of a stack, this parameter con
tains, in chronological order, the hours-run meter counts of the last 50 errors
occurred. The count of the last error occurred is entered at the top.
The diagnostic number belonging to the error in accordance with "S00390,
Diagnostic message number" is stored in the "P00192, Diagnostic numbers
of error memory" parameter in the same order.
The parameter is stored on the control section.
Function:
Memory:
Unit:
Cycl. tra.:
Par
Editability:
s
Extr. val. ch.:
-Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.2.73
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_OV
1
--
Default value
---------
P-0-0194, Error memory power section

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
"S00011, Class 1 diagnostics". In parameter "S-0-0135, Drive status word",
the bit 13 is then set for "error in class 1 diagnostics". If the error only concerns
the power section, it is additionally stored in the parameter "P-0-0194, Error
memory of power section".
Section)"
Use
For errors attributed to the power section, the corresponding code is saved in
P-0-0194 and stored on the power section. The error thereby remains clearly
assigned to the power section, even for servicing, for example when the control
section is replaced. The last 12 errors which occurred are stored in this pa
rameter in coded form in consecutive order and so is the corresponding count
of the operating hours counter:
Bit 025: operating hours counter value of power section in seconds at

the time of the error event
Bit 2631: code number of error
The last error occurred is entered at the top of the error memory list (P-0-0194).
The parameter is stored on the power section.
Code no. of error
Assigned error diagnosis
F8091
F8060
F8069

and Controls
5
F2022
F2018
F2040
F2836
F2816
10
F2821
11
F2820
12
F8838
Fig.5-73:
Function:
Memory:
Unit:
Cycl. tra.:
Assignment of error diagnosis number to code number of error

Par
LT_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.2.74
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
StdNul / MaxULong
StdNul / MaxULong
StdNul / MaxULong
StdNul / MaxULong
4Byte var.
HEX
0
--
Default value
---------
P-0-0195, IDN list of retain data (replacement of devices)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In this list, the IDNs of those parameters are stored the values of which are
required for replacement of devices.
The parameter values of the IDNs listed in "P00195"
may only be loaded after a defective controller has been replaced and
had to be saved directly before the device was replaced!
Otherwise the current parameter values of target position, absolute encoder,

etc. are overwritten with old values which can cause incorrect drive behavior!
Property damage caused by errors when controlling motors and moving

parts!
CAUTION
After having loaded the parameter values according to the IDN list of retain
data (P00195), check the actual position values and the current target posi
tion!
See also Functional Description "Notes on How to Replace the Devices"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
4Byte var.
IDN
0
--

and Controls
MPD:
MPH:
5.2.75
--- / ----- / ---
-----
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
P-0-0196, Build date and time

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The build date and build time of the drive firmware can be read from this pa
rameter as a text.
See also Functional Description "System Overview"
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.2.76
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
MPD
MPD
MPD
MPD
1Byte var.
ASCII
0
--
P-0-0197, System time

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Parameter P00197 contains a system time of the drive with a resolution of

100 ns. It can be used in conjunction with the parameters P00198 and
P00199 to establish an axis-comprehensive time reference in the case of
error.
In the case of drive errors, the drive stores the system time in pa
rameter P00198, System time error memory.
See also Functional Description "Diagnostic and Service Functions"
See also Parameter Description "P00198, System time error memory"
See also Parameter Description "P00199, System time error code"
Structure
Parameter "P00197, System time" is a 64-bit value, its structure is a list with
two 4-byte long elements.
Element
Inhalt
Low Word
system time (fine)
High Word
system time (coarse)
Fig.5-74:
Structure of P-0-0197, System time

and Controls
Use
Observe the following for parameterizing or interpreting the parameter:
The parameter is stored in volatile form when control voltage is switched

off, i.e. it will have been cleared after restart.
The system time is contained in the parameter mode.
The control unit can write P00197 in the parameter mode with the system
time of the installation (real time 100ns since 1601-01-01 [Window-FileTime]).
The system time counter is activated when the second element of

P00197 is written, i.e. the counter maintains the value "0" until it is written
by the control unit. The drive then transmits signals to the counter every
2 milliseconds.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.2.77
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
HEX
0
--
Default value
---------
P-0-0198, System time error memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
The count of parameter "P00197, System time" at the time the error is detec
ted is stored in parameter "P00198, System time error memory". It can be
used in conjunction with the parameters P-00197 and P00199 to establish
an axis-comprehensive time reference in the case of error.
See also Functional Description "Handling, Diagnostic and Service Functions"
See also Parameter Description "P00197, System time"
See also Parameter Description "P00199, System time error code"
Structure
This parameter has a stack structure and contains, in chronological order, the
system counts of the last 50 errors that occurred. The count of the last error
occurred is entered at the top. The unit of the entered times is [102 ns].
Two elements of the parameter make a time stamp, as the system
time is displayed with 64 bits (=8 bytes)!
Element
Content
Notes
Time for error (k)
Low Word
System time (fine)
High Word
System time
(coarse)
Low Word
System time (fine)
High Word
System time
(coarse)
Time for error (k1)

and Controls
Element
Content
Notes
Time for error (k2)
Low Word
System time (fine)
High Word
System time
(coarse)
99
Low Word
System time (fine)
Time for error (k49)
100
High Word
System time
(coarse)
Fig.5-75:
Structure of P-0-0198, System time error memory
Record of Revisions
Version
Attribute
Up to MPx04VRS
Memory: PARAM_SP
Up to MPx04VRS
Validity ch.: PM-OM
Function:
Memory:
Unit:
Cycl. tra.:
Par
Editability:
-Extr. val. ch.:
-Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.2.78
Comment
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
4Byte var.
HEX
0
--
P-0-0199, System time error code

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Function
Parameter P00199 contains the error code consistent with "P00197, System
time". It can be used in conjunction with the parameters P00197 and P00198
to establish an axis-comprehensive time reference in the case of error.
Structure
The following parameters can be written in the parameter mode (P2 and P3):
P-0-0197, System time
P-0-0198, System time error memory
P-0-0199, System time error code

When replacing devices, the error history can remain in the instal
lation by copying the parameters from the old device and then to
the replacement device!
See also Functional Description "Handling, Diagnostic and Service Functions"

Record of Revisions
Version
Up to MPx04VRS
Attribute
Memory: PARAM_SP
Comment

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
Editability:
-Extr. val. ch.:
-Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.2.79
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
HEX
0
--
Default value
---------
P-0-0200, Start position probe function 2 active

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-closed loop
--
-
MPH
MPH
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC
The lower limit value of the "expectation window" for probe 2 is set in this pa
rameter. The "expectation window" is limiting the position range of an axis or
shaft within which probe signal edges cause measured values to be detected.
The "expectation window" has to be activated in "P00226, Probe, extended
control word".
The "expectation window" cannot be used with "time measure
ment"!
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
Default value
0,0000
0,0000
0,0000
0,0000
5.3
5.3.1
P-0-0201, End position probe function 2 active

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-closed loop
--
4Byte
DEC_MV
S-0-0077
S-0-0078
--
-
MPH
MPH
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC
The upper limit value of the "expectation window" for probe 2 is set in this pa

and Controls
control word".
ment"!
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.3.2
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
0,0000
0,0000
0,0000
0,0000
P-0-0202, Difference probe values 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays the absolute value of the difference between

"S00130, Probe value 1 positive edge" and "S00131, Probe value 1 negative
edge". The value is always calculated again when a new probe value 1, positive
or negative, is detected.
Use
When determining P00202 you have to differentiate between axes with finite
and infinite travel range:
Axes with finite travel range (e.g. linear axes, absolute position data for
mat)
Fig.5-76:
Calculating P-0-0202 for axes with finite travel range
Axes with infinite travel range (e.g. rotary axes, position data in modulo
format). In this case the value is limited to half the value of "S00103,
Modulo value". The calculation of P00202 depends on the absolute value
of the probe value difference:
Fig.5-77:
Calculating P-0-0202 for axes with infinite travel range if S-0-0130

S-0-0131 <=(S-0-0103/2)

and Controls
Fig.5-78:
Function:
Memory:
Unit:
Cycl. tra.:
Calculating P00202 for axes with infinite travel range if S-0-0130

S-0-0131 > (S-0-0103 / 2)
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.3
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
4
--
Default value
---------
P-0-0203, Difference probe values 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter displays the absolute value of the difference between

"S00132, Probe value 2 positive edge" and "S00133, Probe value 2 negative
edge". The value is always calculated again when a new probe value 2, positive
or negative, is detected.
Use
When determining P00203 you have to differentiate between axes with finite
and infinite travel range:
axes with finite travel range (e.g. linear axes, absolute position data for
mat)
Fig.5-79:
Calculating P-0-0203 for axes with finite travel range
Axes with infinite travel range (e.g. rotary axes, position data in modulo
format). In this case the value is limited to half the value of "S00103,
Modulo value". The calculation of P00203 depends on the absolute value
of the probe value difference:
Fig.5-80:
Calculating P-0-0203 for axes with infinite travel range if S-0-0132

S-0-0133 <= (S-0-0103 / 2)
Fig.5-81:
Calculating P 0 0203 for axes with infinite travel range if S-0-0132

S-0-0133 > (S-0-0103 / 2)
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
4Byte
DEC_MV

and Controls
Unit:
Cycl. tra.:
-AT
Input
MPB:
MPC:
MPD:
MPH:
5.3.4
Extr. val. ch.:

Comb. check:
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4
--
Default value
---------
P-0-0204, Start position probe function 1 active

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The lower limit value of the "expectation window" for probe 1 is set in this pa
control word".
ment"!
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.3.5
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
0,0000
0,0000
0,0000
0,0000
P-0-0205, End position probe function 1 active

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The upper limit value of the "expectation window" for probe 1 is set in this pa
control word".

and Controls
ment"!
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.3.6
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
0,0000
0,0000
0,0000
0,0000
P-0-0206, Probe 1, max. number of marker failures

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-closed loop
--
-
MPH
MPH
MPH
MPH
MPH
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The value entered in this parameter is a threshold for the registered number of
marker failures.
The number of successive times the expectation window is passed through
without marker event is added and displayed in "P00224, Probe 1, number of
marker failures". When the value in P00224 has reached the value of
P00206, this is signaled in the respective bit of "S00179, Probe status".
The display in S00179 only takes place if the marker failure mon
itor was activated in "P00226, Probe, extended control word" for
probe 1!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.3.7
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
0
0
0
0
P-0-0207, Probe 2, max. number of marker failures

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
MPB
MPB
MPB
MPB
--
-
MPH
MPH
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
closed loop
--
The value entered in this parameter is a threshold for the registered number of
marker failures.
Use
The number of successive times the expectation window is passed through

without marker event is added and displayed in "P00225, Probe 2, number of
marker failures". When the value in P00225 has reached the value of
P00207, this is signaled in the respective bit of "S00179, Probe status".
The display in S00179 only takes place if the marker failure mon
itor was activated in "P00226, Probe, extended control word" for
probe 2!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.3.8
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
0
0
0
0
-
-
-
-
-
-
-
-
-
-
-
-
--
-
-
MPD
MPD
MPD
MPD
2Byte
DEC_OV
0
--
P-0-0208, Analog input 5

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
The input voltage currently provided at the analog input 5 can be read and
displayed in volt by means of this parameter.
Analog input 5 is only available in conjunction with a double-axis
device with configuration of 2 optional cards MA1 or in conjunction
with the analog master communication card (CDB01.1C-AN)!
See also Functional Description "Analog Interface"
See also Functional Description "Analog Inputs"
Use
The parameter content can be, for example,
directly processed in the drive PLC
cyclically transmitted to the control unit
or assigned to an internal drive parameter (assignment A or B).

The values are updated in the position loop clock (TA_position).
Function:
Memory:
Unit:
Cycl. tra.:
Par
-V
AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
3
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.3.9
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
-
-
-
-
-
-
-
-
--
-
-
MPD
MPD
MPD
MPD

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
Analog input 6 is only available with a double-axis control section
with 2 optional cards MA1 or in conjunction with the analog master
communication card (CDB01.1C-AN)!
Use
directly processed in the drive PLC (MLD)
or assigned to an internal drive parameter (assignment A or B).

The values are updated in the position loop clock (TA_position).
Function:
Memory:
Unit:
Cycl. tra.:
Par
-V
AT
Input
MPB:
MPC:
MPD:
MPH:
5.3.10
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_MV
3
--

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
displayed in Volt by means of this parameter.

and Controls
Use
or assigned to an internal drive parameter (assignment A or B)
werden.
The values are updated in the position controller clock.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-V
AT
Input
MPB:
MPC:
MPD:
MPH:
5.3.11
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
-
MPB
-
MPB
-
MPB
-
MPB
-
MPB
-
--
-
-
-
-
-
-
2Byte
DEC_MV
3
--

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
Use

Function:
Memory:
Unit:
Cycl. tra.:
Par
-V
AT
Input
MPB:
MPC:
MPD:
MPH:
5.3.12
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
P-0-0212, Analog input, list of assignable parameters

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
2Byte
DEC_MV
3
--

and Controls
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPB
MPH
--
MPD
MPD
MPC
MPC
This list parameter contains the IDNs of the parameters that can be entered in
"P00213, Analog input, assignment A, target parameter" and "P00236, An
alog input, assignment B, target parameter". These parameters are available
for assigning an analog input value.
See also Functional Description of firmware "Analog Interface"
See also Functional Description of firmware "Analog Inputs"
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.3.13
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
IDN
0
--
Default value
---------
P-0-0213, Analog input, assignment A, target parameter

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In this parameter, the IDN of that parameter is entered to which a value corre
sponding to the voltage at the respective analog input is to be written. The
scaling is made via "P00214, Analog input, assignment A, scaling per 10V full
scale".
Only such IDNs can be entered in P00213 that are contained in
"P00212, Analog input, list of assignable parameters".
See also Functional Description Analog Interface"
See also Functional Description Analog Inputs"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.3.14
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
IDN
0
--
Default value
0
0
0
0
P-0-0214, Analog input, assignment A, scaling per 10V full scale

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD

and Controls
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPB
MPH
--
MPD
MPD
MPC
MPC
By means of this parameter the analog input for assignment A (range of values
per 10 V) is scaled.
Unit, decimal places and data type are determined by the parameter assigned
in "P00213, Analog input, assignment A, target parameter".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.3.15
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
+
Default value
0
0
0
0
P-0-0215, Analog input, assignment A, signal value at 0V

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In this parameter the reference of the analog input for assignment A (value with
a voltage of 0 V at the analog input) is defined. This allows compensating a
possible offset of the voltage at the analog input for assignment A.
in "P00213, Analog input, assignment A, target parameter".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.3.16
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
+
Default value
0
0
0
0
P-0-0216, Analog input, assignment A, dead zone

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
MPB
MPB
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Hardware
Funct. package(s):
Device parameter:
Function

--
By means of this parameter it is possible to define, for the analog input voltage
(assignment A), a range of values that is interpreted as voltage value 0 V ("dead
zone") by the drive controller.
Use
The "dead zone" is a symmetrical range relative to 0 V. The value entered in

"P00216, Analog input, assignment A, dead zone" is the positive and negative
limit value. All input voltage values the absolute value of which is smaller than
the value in P00216 are treated by the controller like an input voltage 0 V. This
allows suppressing the noise level of the input voltage signal!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
V
AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.3.17
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,000 / 10,000
0,000 / 10,000
0,000 / 10,000
0,000 / 10,000
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
3
+
Default value
0,000
0,000
0,000
0,000
P-0-0217, Analog input 1, time constant input filter

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The analog input 1 can be read by the drive firmware via a digital low-pass filter.
The limit frequency of this filter is set by this parameter, if necessary the filter
can also be deactivated.
Use
flimit
Tinput
Fig.5-82:
limit frequency in Hz
time constant of input fliter in ms
Calculating the limit frequency of the analog input filter
P-0-0556, bit 5,2
Input filter
Tinput in s
inactive
500 s
active
>500 s
performance level
00: Basic performance

and Controls
P-0-0556, bit 5,2
Input filter
Tinput in s
inactive
250 s
active
>250 s
inactive
1000 s
active
>1000 s
performance level
01: Advanced performance
10: Economy performance
Fig.5-83:
Function:
Memory:
Unit:
Cycl. tra.:
Setting the analog input filter depending on parameter "P-0-0556, Con

trol word of axis controller"
Par
PARAM_SP
ms
AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.3.18
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0,250 / 60,000
0,250 / 60,000
0,250 / 60,000
0,250 / 60,000
2Byte
DEC_OV
3
+
Default value
0,250
0,250
0,250
0,250
P-0-0218, Analog input, control parameter

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used
for controlling the command "C2800 Analog input adjustment",
for assigning the analog channels for "assignment analog channel A" or
"assignment analog channel B",
for selecting the current input or the voltage input,
for selecting the measuring range,
for selecting the type of reaction against wire breakage.

This allows adjusting analog voltage as well as current inputs.

Structure

and Controls
Bit
Comment
Zero point/amplitude adjustment

0: Measuring voltage for "command value = 0" determines signal value at 0 V or 0 mA
1: Measuring voltage for "command value = P00219" determines signal value for [1/10 V] or [1/20
mA]
Channel selection for adjustment

Via bit 1 the assignment that is to be adjusted is selected.
0: Adjustment of assignment A. Values for parameters "P00214" and "P00215" are determined.
1: Adjustment of assignment B. Values for parameters "P00237" and "P00238" are determined.
7-4:
Assignment analog channel A, selection of analog input

0000: No analog channel selected, assignment A is not active (default value)
0001: Analog input 1
0010: Analog input 2 (only with control section CSB01.1N-FC-...(BASIC OPENLOOP) or
CSB01.1NAN-...(BASIC ANALOG))
0011: Analog input 3 (with optional module MA1 or CDB01.1C-AN)
0101: Analog input 5 (MPD04VRS and above, with 2x optional module MA1 or CDB01.1C-AN)
11-8
Assignment analog channel B, selection of analog input

0000: No analog channel selected, assignment B is not active (default value)
0001: Analog input 1
0010: Analog input 2 (only with control section CSB01.1N-FC-...(BASIC OPENLOOP) or CSB01.1NAN-...(BASIC ANALOG))
12
Definition of the signal type to be evaluated by the analog inputs:

0 = Voltage signals
1 = Current signals
13
Definitions for the measuring range of the analog inputs

0 = 0..+-10 V or 0..+20 mA (default)
1 = +2..+10 V or +4..+20 mA (wire breakages can be detected!)
14
(Only with con

trol section
CSB01.1NFC-...(BASIC
OPENLOOP))
(Only with con
trol section
CSB01.1NFC-...(BASIC
OPENLOOP))
Definition of the diagnosis type in case of wire breakage if wire breakage detection is active (bit 13 = (Only with con
trol section
1):
CSB01.1N0 = Warning E2270
FC-...(BASIC
1 = Error F2270
OPENLOOP))
Fig.5-84:
Use
P00218, Analog input, control parameter
With successive double execution of command "P00220, C2800 Analog input

adjustment command",
the assessment of the voltage and/or current at the analog input

and Controls
and the reference value at 0 V and/or 0 mA
can be automatically set.

Assignment of a defined command value to an applied analog input voltage
and/or current through the value of "P-0-0218":
The respective voltage and/or current for the command value as
signed by "P00218" must have been applied to the analog input
during execution of the command.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.3.19
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
-+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
0
0
0
0
P-0-0219, Analog input, maximum value for adjustment

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter makes available a defined command value for determining the
values of
P-0-0214, Analog input, assignment A, scaling per 10V full scale or
P-0-0237, Analog input, assignment B, scaling per 10V full scale

Use
By means of
P-0-0219, Analog input, maximum value for adjust
P-0-0220, C2800 Analog input adjust command
it is possible to carry out a zero point and gain adjust for the respective selected
analog channel assignment (cf. P00218).
By means of command C2800 the values for
P-0-0214, Analog input, assignment A, scaling per 10V full scale and
or
P-0-0237, Analog input, assignment B, scaling per 10V full scale and
P-0-0238, Analog input, assignment B, signal value at 0V
are automatically determined and stored.

Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
4Byte
DEC_MV

and Controls
Unit:
Cycl. tra.:
---
Input
MPB:
MPC:
MPD:
MPH:
5.3.20
Extr. val. ch.:

Comb. check:
---
min./max.
--- / ----- / ----- / ----- / ---
Decim. pl.:
Switchable:
0
--
Default value
0
0
0
0
P-0-0220, C2800 Analog input adjustment command

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
By means of this command, together with
P-0-0219, Analog input, maximum value for adjust
it is possible to carry out a zero point and gain adjust for the respective selected
analog input (cf. P00218).
Use
Thereby the values for assignment A (cf. P00218, bit 1 = 0):
P-0-0214, Analog input, assignment A, scaling per 10V full scale
or for assignment B (cf. P-0-0218, bit 1= 1):
are automatically determined and stored.

Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.3.21
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-0222, Travel range limit switch inputs

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Function
In this parameter the signals of the travel range limit switch inputs are displayed.
It is used to diagnose the travel range limit switch inputs.
Switch"
Structure
Bit
signal "limit switch +"
Comment
0: 0 V
1: +24 V
1
signal "limit switch -"

0: 0 V
1: +24 V
Fig.5-85:
Relevant bits of P-0-0222, Travel range limit inputs
When the travel range limit switches are activated, the respective
digital inputs at the control section must already have been as
signed to the respective bits of P00222 via P00300 and
P00301. This was realized as the default setting!
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.22
PM+OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
0
0
0
0
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
P-0-0223, E-Stop input

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The status of the E-Stop input is mapped to this parameter. The parameter can
be used to check the E-Stop input or for visualization by a commissioning pro
gram.
Structure
Parameter structure:
Bit
status of E-Stop input
Comment
0: activated (0 V)
1: not activated (+24 V)
Fig.5-86:
Structure of parameter P-0-0223, E-Stop input
For regular operation of the drive 24 V must be provided at the hardware input.

and Controls
When activating the E-Stop function, bit 0 of this parameter must have been
assigned to a digital input.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.3.23
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-0224, Probe 1, number of marker failures

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
It is possible to define an expectation window for probe 1; in order to be eval

uated the probe edges have to be within this window.
With active expectation window a "marker failure monitor" can be activated in
"P00226, Probe, extended control word" which registers the fact that the ex
pectation window is passed through without marker event and increments the
content of "P00224, Probe 1, number of marker failures".
Use
The content of "P00224" is set to "0" again if
a marker was detected within the expectation window,
values are written to "P-0-0226, Probe, extended control word",
"S00170, Probing cycle procedure command" is started or
probe enable is removed in "S00405, Probe 1 enable"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.3.24
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
0
--
Default value
0
0
0
0
P-0-0225, Probe 2, number of marker failures

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-closed loop
--
-
MPH
MPH
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC

and Controls
Function
It is possible to define an expectation window for probe 2; in order to be eval

uated the probe edges have to be within this window.
With active expectation window a "marker failure monitor" can be activated in
"P00226, Probe, extended control word" which registers the fact that the ex
pectation window is passed through without marker event and increments the
content of "P00225, Probe 2, number of marker failures".
Use
The content of "P00225" is set to "0" again if
a marker was detected within the expectation window,
values are written to "P-0-0226, Probe, extended control word",
"S00170, Probing cycle procedure command" is started or
probe enable is removed in "S00406, Probe 2 enable"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.25
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
0
--
Default value
0
0
0
0
P-0-0226, Probe, extended control word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
The probe function specified according to SERCOS is configured and activated

via "S-0-0169, Probe control parameter". In P-0-0226, it is possible to configure
extended, manufacturer-specific functionalities of the probe function, such as:
Time measurement
Expectation window and marker failure monitoring
Triggering of 2 probe evaluations by only one probe input
Via this parameter, you can also activate the probe-triggered quick stop
of an axis.

See also Functional Description "Quick Stop via Probe Input"
Structure
MPC
MPC
Bit
Activation of expectation window for probe 1

0: Without expectation window
1: With expectation window
Marker failure monitoring for probe 1

0: Failure monitor switched off
1: Failure monitor switched on
Comment

and Controls
Bit
Activation of time measurement for probe 1
Comment
0: Measurement of selected signals

1: Time measurement
3
Quick stop at probe 1
As of MPx04
0: Switched off
1: Switching to speed cmd value = 0 at a 0 -> 1 edge of
MT1 (probe 1)
4
Activation of expectation window for probe 2

0: Without expectation window
1: With expectation window
Marker failure monitoring for probe 2

0: Failure monitor switched off
1: Failure monitor switched on
Activation of time measurement for probe 2

0: Measurement of selected signals
1: Time measurement
Use of probe inputs
As of MPx04
0: Probe processing 1 uses probe input 1 (S-0-0401,

Messtaster 1); probe processing uses probe input 2
(S-0-0402, Probe 2)
1: Probe processing 1 and probe processing 2 use probe
input 1
(S-0-0401, Probe 1)
9
Activation of probe function
As of MPx04V10
0: Auto-activation deactivated
(S-0-0169 bit 8 is ap
plicable to MPx05
and above.)
1: Auto-activation activated
Fig.5-87:
Use
P-0-0226, Probe, extended control word
Bit 0 or bit 4: Activation of expectation window for probe 1 or 2 Via bit 0 or

bit 4 it is possible to activate an expectation window for probe 1 or probe
2 within which the selected edges of the probe signal (marker) have to
occur in order to be detected. The expectation window is defined with pa
rameters "P00204, Start position probe function 1 active" and "P00205,
End position probe function 1 active".
Bit 1 or bit 5: Marker failure monitoring for probe 1 or 2 With marker failure
monitoring for probe 1 or 2 switched on, "P-0-0224/0225, Probe 1/2, num
ber of marker failures" is incremented by 1, if the selected signal passes
through the expectation window without a probe signal ("marker") having
occurred. If marker failure monitoring has been switched off, the value in
P-0-0224 or P-0-0225 is not incremented by 1 in the above case.
Bit 2 or bit 6: Activation of time measurement for probe 1 or 2 If this bit has
been set to "1", relative time measurement takes place when a selected
edge occurs. The signal selected in "S00426/0427, Signal select probe
1/2" is ignored.
Bit 3: Quick stop at probe 1

and Controls
When bit 3 has been set, the drive carries out velocity command value
reset at a 0 -> 1 edge of probe 1 ("S-0-0401, Probe 1"). If velocity com
mand value reset is active and quick stop with probe detection is selected,
the drive shows in case of "MPx04: E8035, Quick stop with probe detection
is active" ", and in case of MPx05 and above: AR: Automatic drive reac
tion". When "S-0-0405, Probe 1 enable" is removed, the preselected
operation mode becomes active again.
Bit 8: Use of probe input 1 for both evaluations

Probe input 1 can be used for both probe evaluations. This means:
Probe 1 triggers the evaluation for probe 1 and probe 2.
The probe 2 input can be used otherwise.
There isn't any data transmitted to parameter S-0-0402.
Bit 9: Activation of probe function (in MPx04V10 and above, but only in
MPx04)
When this bit has been set to "1", the command "S-0-0170, Probing cycle
procedure command" is automatically activated when changing from the
parameter mode (PM, P2) to the operating mode (OM, P4, bb, Ab). After
the change to operating mode, this bit is of no relevance any more, i.e.
resetting and again setting the bit will not have any effect. However, the
probe function can be deactivated and, if necessary, reactivated via
S-0-0170.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.26
PM+OM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
0
0
0
0
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
P-0-0227, Cam table, access angle

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Function
With this parameter, it is possible in the "cam" and "MotionProfile" modes to

have the calculated value of the access angle for the current cam table dis
played.
Use
The "cam table access angle" is generated from "P00776, Effective master
axis position" minus "P00061, Angle offset begin of table" plus component of
"P00085, Dynamic angle offset".
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
4Byte
DEC_OV
0
--

and Controls
MPD:
MPH:
5.3.27
--- / ----- / ---
-----
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Use

Function:
Memory:
Unit:
Cycl. tra.:
Par
-V
AT
Input
MPB:
MPC:
MPD:
MPH:
5.3.28
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_MV
3
--

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Use

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
-V
AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.29
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
3
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
-
MPB
-
MPB
-
MPB
-
MPB
-
MPB
-
--
-
-
-
-
-
-
-
-
Use
flimit:
Tinput:
Fig.5-88:
time constant of input filter in ms
P-0-0556, bit 5,2
Input filter
Tinput in s
inactive
500 s
active
>500 s
inactive
250 s
active
>250 s
inactive
1000 s
active
>1000 s
performance level
Fig.5-89:
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
ms
AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,250 / 60,000
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0,250
2Byte
DEC_OV
3
+

and Controls
MPC:
MPD:
MPH:
5.3.30
0,250 / 60,000
0,250 / 60,000
0,250 / 60,000
0,250
0,250
0,250

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Use
Calculation:
flimit:
Tinput:
Fig.5-90:
P-0-0556, bit 5,2
Input filter
Tinput in s
inactive
500 s
active
>500 s
inactive
250 s
active
>250 s
inactive
1000 s
active
>1000 s
performance level
Fig.5-91:
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.3.31
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,250 / 60,000
0,250 / 60,000
0,250 / 60,000
0,250 / 60,000
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0,250
0,250
0,250
0,250

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
MPB
MPB
MPB
MPH
MPH
MPH
MPD
MPD
MPD
2Byte
DEC_OV
3
+

and Controls
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPC
MPC
Use
Calculation:
flimit:
Tinput:
Fig.5-92:
P-0-0556, bit 5,2
Input filter
Tinput in s
inactive
500 s
active
>500 s
inactive
250 s
active
>250 s
inactive
1000 s
active
>1000 s
performance level
Fig.5-93:
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.3.32
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,250 / 60,000
0,250 / 60,000
0,250 / 60,000
0,250 / 60,000
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
3
+
Default value
0,250
0,250
0,250
0,250

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
--
-
-
MPD
MPD
MPD
MPD
-
-

and Controls
Function
Use
flimit
Tinput
Fig.5-94:
P-0-0556, bit 5,2
Input filter
Tinput in s
inactive
500 s
active
>500 s
inactive
250 s
active
>250 s
inactive
1000 s
active
>1000 s
performance level
Fig.5-95:
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.3.33
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,250 / 60,000
0,250 / 60,000
0,250 / 60,000
0,250 / 60,000
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
3
+
Default value
0,250
0,250
0,250
0,250

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
--
-
-
MPD
MPD
MPD
MPD
-
-

and Controls
Use
flimit:
Tinput:
Fig.5-96:
P-0-0556, bit 5,2
Input filter
Tinput in s
inactive
500 s
active
>500 s
inactive
250 s
active
>250 s
inactive
1000 s
active
>1000 s
performance level
Fig.5-97:
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
ms
AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.3.34
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,250 / 60,000
0,250 / 60,000
0,250 / 60,000
0,250 / 60,000
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
3
+
Default value
0,250
0,250
0,250
0,250
P-0-0236, Analog input, assignment B, target parameter

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In this parameter, the IDN of that parameter is entered to which a value corre
sponding to the voltage at the respective analog input is to be written. The
scaling is made via "P00237, Analog input, assignment B, scaling per 10V full
scale".
Only such IDNs can be entered in P00213 that are contained in
"P00212, Analog input, list of assignable parameters".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
IDN
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.3.35
min./max.
--- / ----- / ----- / ----- / ---
Default value
0
0
0
0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
By means of this parameter the analog input for assignment B (range of values
per 10 V) is scaled.
in "P00236, Analog input, assignment B, target parameter".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.3.36
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
+
Default value
0
0
0
0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In this parameter the reference of the analog input for assignment B (value with
a voltage of 0 V at the analog input) is defined. This allows compensating a
possible offset of the voltage at the analog input.
in "P00236, Analog input, assignment B, target parameter".
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
4Byte
DEC_MV
0
+

and Controls
MPC:
MPD:
MPH:
5.3.37
--- / ----- / ----- / ---
0
0
0
P-0-0239, Analog input, assignment B, dead zone

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
By means of this parameter it is possible to define a range of values for the

analog input voltage (assignment B). The controller interprets this range of val
ues as voltage value 0 V ("dead zone").
Use
The "dead zone" is a symmetrical range relative to 0 V. The value entered in

"P00239, Analog input, assignment B, dead zone" is the positive and negative
limit value. All input voltage values the absolute value of which is smaller than
the value in "P00239" are treated by the controller like input voltage 0 V. This
allows suppressing the noise level of the input voltage signal!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
V
AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.3.38
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,000 / 10,000
0,000 / 10,000
0,000 / 10,000
0,000 / 10,000
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
3
+
Default value
0,000
0,000
0,000
0,000
P-0-0240, C1700 Command measuring wheel mode

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
-
-
-
-
-
-
-
-
--
MPD
MPD
-
-
-
-
-
-
With "P00240, C1700 Command measuring wheel mode" the hybrid position
control is activated. The drive switches position control from control with one
encoder to hybrid position control (using two encoders).
Use
The command can only be started with status ready for operation. In addition
there have to be two encoders available and hybrid position control mustn't
have been activated yet. If one of these conditions has not been fulfilled, an
error message (command error) is generated. If the command is not cleared, it
remains active until the drive is switched off or up to phase regression.
With hybrid position control, the position difference of motor and measuring
wheel encoder is added to the actual position value of the motor encoder for
compensating possibly occurring slip between drive motor and material.

and Controls
When the command is started, the position data reference of both
encoders to the axis is cleared.
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.3.39
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P4
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
P-0-0241, Actual pos. smoothing time constant for hybrid pos. control
Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
For hybrid position control (e.g. measuring wheel mode) the actual position
value difference between encoder 2 (e.g. optional encoder) and encoder 1 (e.g.
motor encoder) is filtered via a 1st order low pass with the time constant entered
in this parameter.
The filter can be deactivated by writing the value "0" to this param
eter.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
ms
--
Input
MPB:
MPC:
MPD:
MPH:
5.3.40
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,00 / 655,35
0,00 / 655,35
0,00 / 655,35
0,00 / 655,35
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
2
--
Default value
0,00
0,00
0,00
0,00
P-0-0242, Current actual slip value in %

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays the currently occurred deviation of the actual position
values of motor encoder (S00051) and external encoder (S00053) in the
case of hybrid position control.
It is referring to

and Controls
one measuring wheel revolution, if "feed constant 2" is active in parameter

P00185 (typical case: measuring wheel is measuring linear infeed)
one revolution of the external encoder, if "feed constant 2" is not active in
parameter P00185 (encoder is measuring rotary infeed).
During initialization the value "0" is written to this parameter. The
value of the parameter is also maintained after hybrid position con
trol has been completed.

Function:
Memory:
Unit:
Cycl. tra.:
Par
-%
AT
Input
MPB:
MPC:
MPD:
MPH:
5.3.41
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_OV
1
--
Default value
---------
P-0-0243, Maximum occurred actual slip value in %

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter stores the maximum slip value (%) that has occurred between
the actual position values of motor encoder and measuring wheel encoder with
active measuring wheel mode. The current slip value is displayed in "P00242,
Current actual slip value in %".
During initialization the value "0" is written to this parameter. The
last value of the parameter is also maintained after hybrid position
control has been completed. The value "0" can be written to the
parameter in order to activate maximum value storage again.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-%
AT
Input
MPB:
MPC:
MPD:
MPH:
5.3.42
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
1
--
Default value
---------
P-0-0244, Monitoring window of slip in %

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
MPB
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
--
MPD
MPC
The value of this parameter defines the maximum allowed deviation of the ac
tual position values of motor encoder (S00051) and external encoder
(S00053) in the case of hybrid position control, related to one measuring
wheel revolution (%).
When this value is exceeded the "F2036 Excessive position feedback differ
ence" error message is generated. The monitor is only active for hybrid position
control (measuring wheel mode).
rameter.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
%
--
Input
MPB:
MPC:
MPD:
MPH:
5.3.43
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,0 / 2000,0
0,0 / 2000,0
0,0 / 2000,0
0,0 / 2000,0
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
1
--
Default value
0,0
0,0
0,0
0,0
P-0-0300, Digital I/Os, assignment list

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Parameter "P-0-0300" serves to assign the drive signals to the digital inputs/
outputs of the control section by configuring the appropriate IDN in the list pa
rameter.
The bit number desired for the output and input (cf. "P00301, Dig
ital I/Os, bit numbers") and the output direction (cf. "P-0-0302,
Digital I/Os, direction") must be defined in addition to the IDN.
Use
Selection lists
The IDNs allowed for the configuration are contained in the following list pa
rameters:
Output signals: "S00398, IDN-list of configurable data in signal status

word"
Input signals: "S00399, IDN-list of configurable data in signal control

word"
Default configurations

and Controls
The default configurations depending on the control section are de
scribed in the chapter on the digital inputs/outputs in the Functional
Description!
Notes on the parameterization of single-axis devices (HCS, HMS, ...)
Please observe the following instructions when parameterizing P-0-0300:
Assign the analog command value input to a parameter IDN (e.g.

"S-0-0036 Velocity command value") in "P00213" or "P00236, Analog
input, assignment A or B, target parameter".
Where the parallel interface is concerned, master-sided control signals

and command values are specified via the parallel interface (X15).
Notes on the parameterization of double-axis devices (HMD)

Where the double-axis device is concerned (HMD01.1-..., control section
CDB01.1-...), all digital inputs/outputs of the control section of each of the two
axes can be used. Either axis has the assignment parameters "P00300",
"P00301" and "P00302".
Observe the following aspects:
Digital inputs or inputs/outputs (I/Os) used as digital input can be simul

taneously used by either axis if the assignment parameters of either axis
have the same IDN ("P00300"), bit number ("P00301") and direction
("P-0-0302") in the respective line!
Digital inputs or inputs/outputs (I/Os) used as digital input cannot be si

multaneously used by either axis if the assignment parameters of either
axis do not have the same IDN ("P00300"), bit number ("P00301") or
direction ("P0-0302") in the respective line! The respective line of
P00300 of one of the two axes must contain S00000 (no assignment)!
Digital outputs or inputs/outputs (I/Os ...) used as digital output cannot be

simultaneously used by either axis! The respective line of P-0-0300 of one
of the axes must contain S-0-0000 (no assignment) if the same line of the
other axis contains an assignment.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.44
PM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte var.
IDN
0
--
P-0-0301, Digital I/Os, bit numbers

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter is used to configure the digital inputs/outputs of the control

section.

and Controls
"P-0-0301, Digital I/Os, bit numbers" specifies for each assigned parameter (cf.
P-0-0300, Digital I/Os, assignment list ) the desired bit number which is to be
assigned to the digital input or output is
The IDN desired for the output or input must be defined via
"P-0-0300, Digital I/Os, assignment list" in addition to the bit num
ber.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.45
PM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
2Byte var.
DEC_MV
0
--
P-0-0302, Digital I/Os, direction

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter is used to configure the digital inputs/outputs of the control

section.
In parameter "P00302, Digital I/Os, direction" the desired function (direction)
is indicated for each assigned parameter (cf. "P-0-0300, Digital I/Os, assign
ment list"). This means that parameter P00302 sets the digital input or output.
"0" for "input" function
"1" for "output" function

Apart from determining the "digital I/Os, direction", the desired IDN
and bit number for the output or input has to be defined via
"P00300, Digital I/Os, assignment list" or "P00301, Digital I/Os,
bit numbers".

Use
Notes on Default Configuration

As regards the default configuration (= condition as supplied), observe the fol
lowing facts:
The inputs determined on the hardware side (Ex) are automatically pro
vided with the correct value for the direction in their default status!
The combined inputs/outputs (EAx) are configured as inputs in their de

fault status!
Other values than "0" or "1" are rejected when the list is checked and reset
to the default value!
See also Parameter Description "P-0-0300, Digital I/Os, assignment list"

and Controls
See also Parameter Description "P-0-0301, Digital I/Os, bit numbers"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.3.46
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
2Byte var.
DEC_MV
0
--
P-0-0303, Digital I/Os, inputs

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Parameter "P-0-0303, Digital I/Os, inputs" represents the states of the digital
inputs, i.e. the current signal level (or switching state with MP*02VRS). The
table below illustrates the significance of the bits, which varies depending on
the control section and the firmware.
See also Parameter Description "P-0-0301, Digital I/Os, bit numbers"
Structure
Bit
Control section
Designation/function (MP*02VRS)
(MP*03VRS and above)
Comment
All*
Relay 1 activated
Not assigned
In MP*03VRS and
above, the status of the
outputs is displayed in
P-0-0304.
0: No /
1: Yes
5..1
All*
Status of dig. inputs 1..5
Same as MP*02VRS
0: Low level /
1: High level
6
CDB01.1C
Status of dig. input 6
CSB01.1C
0: Low level / 1: High level
Same as MP*02VRS
CSH01.1C
CSB01.1N-FC
Relay 2 activated
0: No /
1: Yes
Not assigned
In MP*03VRS and
P-0-0304.

and Controls
Bit
Control section
Designation/function (MP*02VRS)
(MP*03VRS and above)
CDB01.1C
Same as MP*02VRS
CSB01.1C
Comment
CSH01.1C
CSB01.1N-FC
Relay 3 activated
Not assigned
In MP*03VRS and
P-0-0304.
In MP*03VRS and
P-0-0304.
0: No /
1: Yes
10..8
CDB01.1C
Status of dig. inputs/outputs 8..10
CSB01.1CCSB 0: Low level / 1: High level

01.1NANCSB01.1NPBCSB01.1NSE
CSH01.1C
CSB01.1N-FC
Same as MP*02VRS

11
22..12
CDB01.1C
Status of dig. input/output 11
CSB01.1N-AN
0: Low level /
0: Low level /
CSH01.1C
1: High level
1: High level
CDB01.1C
Same as MP*02VRS
In MP*03VRS and
P-0-0304.

31..23
All*
Not assigned
Not assigned
All*: CDB01.1C, CSB01.1C, CSB01.1N-AN, CSB01.1N-FC, CSB01.1N-PB, CSB01.1N-SE, CSH01.1C
Fig.5-98:
Bits of "P-0-0303, Digital I/Os, inputs"
In version MP*03VRS and above, the function of P-0-0303 has

been changed such that all status bits regarding the outputs (relay
or digital) are no longer contained in P00303 but are displayed in
"P-0-0304 Digital I/Os, outputs".
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.3.47
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
BIN
0
--
Default value
---------
P-0-0304, Digital I/Os, outputs

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
MPB
MPB
MPB
MPB
MPB
--
-
MPH
MPH
MPH
MPH
MPH
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function

+
The states of the digital and relay outputs are displayed in parameter "P00304,
Digital I/Os, outputs". This means that the current signal level or switch status
is displayed; the following cases have to be distinguished for inputs/outputs that
can be switched:
With configuration as output, the output signal status is displayed in

P00304.
With configuration as input, the input signal status is displayed in

"P00303, Digital I/Os, inputs".

See also Parameter Description "P-0-0303, Digital I/Os, inputs"
Configuration takes place via "P00302, Digital I/Os, direction".
Structure
Bit
Control section
Comment
all*
relay-1 activated
in MP*02VRS, status of
P00303
0: no
1: yes
5..1
all*
not assigned
CSB01.1N-FC
relay-2 activated
0: no
1: yes
CSB01.1N-FC
relay-3 activated
0: no
1: yes
10..8
CDB01.1C
status dig. output 8...10
CSB01.1N-AN
0: low level
CSB01.1N-PB
1: high level
CSB01.1N-SE
CSH01.1C
11
15..12
CDB01.1C
status dig. output 11
CSB01.1N-AN
0: low level
CSH01.1C
1: high level
all*
not assigned
all*: CDB01.1C, CSB01.1C, CSB01.1N-AN, CSB01.1N-FC, CSB01.1N-PB,

CSB01.1N-SE, CSH01.1C
Fig.5-99:
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Relevant bits of "P-0-0304, Digital I/Os, outputs"

Par
--MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
2Byte
BIN
0
--

and Controls
MPD:
MPH:
5.3.48
--- / ----- / ---
-----
P-0-0326, Multiplication of measuring encoder

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Function
The parameter P00326 displays the factor with which the signals of the meas
uring encoder are multiplied in the drive.
Use
The multiplication of the measuring encoder is resulting depending on the pa

rameters "P00765, Modulo factor measuring encoder" and "P00327, En
coder resolution of measuring encoder".
The internal encoder resolution for the measuring encoder is calculated as fol
lows:
Fig.5-100:
Internal encoder resolution for the measuring encoder

Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.3.49
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_OV
0
--
Default value
---------
P-0-0327, Encoder resolution of measuring encoder

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The resolution of the measuring encoder is indicated in this parameter.

For rotary encoders the value means the number of division periods or cycles
per revolution of the encoder shaft (DP/rev).
At present, only rotary encoders can be evaluated as measuring
encoders!
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
4Byte
DEC_OV

and Controls
Unit:
Cycl. tra.:
DP/Rev
--
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.50
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
0
--
Default value
0
0
0
0
P-0-0328, Type of position encoder for measuring encoder

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter defines essential properties of the measuring encoder.

See Functional Description "Measuring Encoder"
Structure
Bit
Kind of encoder
Comment
0: Rotary
1: Not allowed
3
0: Not inverted
1: Inverted
7/6
Absolute evaluation, option and deactivation

x0: Absolute evaluation impossible (bit 7 irrelevant)
01: Absolute evaluation possible and active (encoder is
handled as absolute encoder)
11: Absolute evaluation possible, but deactivated
Absolute evaluation in case of missing absolute evalua As of MPx04

tion option
Not defined in
0: Bit 7 and bit 6 define the status of absolute evaluation SERCOS yet
1: Absolute evaluation is activated, irrespective of bit 7
and bit 6

and Controls
Bit
Comment
Cyclic marker monitoring
As of MPx06V08
0: Inactive
1: Active
Monitoring of real markers can be activated for distance
and failure
13
As of MPx04V26
0: Encoder replacement monitoring has been activated, Not defined in

i.e. encoder replacement is recognized (only for encoders SERCOS
with data memory)
1: Encoder replacement monitoring has been deactiva
ted, i.e. no error (F2176) is signaled when encoder is
replaced and the reference is possibly maintained; this
does not affect position initialization
ATTENTION: Only makes sense for mechanically adjus
ted encoders!
Fig.5-101:
P00328, Type of position encoder for measuring encoder
Only the bits mentioned above are supported by the software. In

the case of absolute measuring systems with data memory, bit 6 is
automatically set.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.3.51
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
0
0
0
0
P-0-0329, Smoothing of actual position value 3 of measuring encoder

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter defines the time constant of the filter for smoothing "P00052,
Actual position value of measuring encoder". Time constants can be set within
a range from 0 to 1000 ms. There is no smoothing if "0" is entered.
The delay of the filter is compensated by feedforward.

and Controls
Record of Revisions
Version
Attribute
MPx06V02, MPx05V14, MPx04V32 and below
50 ms
MPx06V06, MPx05V16; MPx04V34 and below
200 ms
MPx06V08, MPx05V18, MPx04V36 and above
1000 ms
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
ms
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.52
PM+OM
PM->OM
+
--
Comment
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0 / 1000
0 / 1000
0 / 1000
0 / 1000
2Byte
DEC_OV
0
--
Default value
0
0
0
0
P-0-0330, Control word of measuring encoder

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used to activate or deactivate the reference mark evaluation.

Structure
Bit
Comment
reference mark evaluation

0: deactivated
1: activated
Fig.5-102:
Function:
Memory:
Unit:
Cycl. tra.:
Reference mark evaluation

Par
PARAM_SP
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.3.53
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
0
0
0
0
P-0-0331, Status of measuring encoder

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Function
This parameter displays whether the actual position values in P00052 have
been homed.
Structure
Bit
Comment
status of measuring encoder

0: not homed
1: homed
Fig.5-103:
Function:
Memory:
Unit:
Cycl. tra.:
Status of measuring encoder

Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.3.54
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
0
0
0
0
P-0-0332, Actual velocity value of measuring encoder

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays the filtered measuring encoder velocity in rpm at the
measuring gear output.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-Rpm
AT
Input
MPB:
MPC:
MPD:
MPH:
5.3.55
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
4
--
Default value
--0,0000
--0,0000
P-0-0334, Absolute encoder range of measuring encoder

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Function
selected so that an absolute measuring encoder can be evaluated in absolute
form.
Use
feedback type parameter (P00328) is set to zero. The actual position value
displayed is no longer unequivocal and the reference of the measuring encoder
is cleared. The reference status of the position encoders connected to the drive
is displayed in parameter "P00331, Status of measuring encoder".
Function:
Memory:
Unit:
Cycl. tra.:
Par
-Rev
--
Input
MPB:
MPC:
MPD:
MPH:
5.3.56
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_OV
0
--
Default value
---------
P-0-0340, C3500 Command Determine encoder correction values

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
-
-
-closed loop
--
MPH
MPH
MPH
MPH
-
-
MPD
MPD
MPD
MPD
-
-
-
-
This command allows determining the correction values stored in a table of

"P00342, Correction value table for encoder correction" for an encoder with
sine-wave signals or signals similar to sine waves.
See also Functional Description "Encoder Error Correction"
Use
The encoder for which the correction values are to be determined is selected
from "P00341, Control word for encoder correction". Once the required num
ber of measured values has been recorded and the correction value table has
been created, the controller automatically finishes the command. If encoder
correction is activated during operation of the drive (P00341), the signal shape
errors of the encoder tracks are compensated by adding a correction value. The
correction values are generated from the table values of parameter
"P00342".
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.3.57
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
P-0-0341, Control word for encoder correction

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
2Byte
BIN
0
--

and Controls
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
-closed loop
--
-
-
-
-
-
-
This parameter defines
for which encoder correction values ("P00340, C3500 Command Deter

mine encoder correction values") are to be determined
for which encoder the "encoder correction" function is to be activated.

Only activate encoder correction for the encoder for which the cor
rection values ("P00342, Correction value table for encoder cor
rection") were recorded!
See also Functional Description "Encoder Correction"

Structure
Bit
1/0
encoder selection
Comment
00: no encoder
01: motor encoder
10: opt. encoder
11: measuring enc.
4
correction
0: deactivated
1: activated
Fig.5-104:
Function:
Memory:
Unit:
Cycl. tra.:
Relevant bits of P-0-0341

Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.3.58
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
HEX
0
--
Default value
0
0
0
0
P-0-0342, Correction value table for encoder correction

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
-
-
-closed loop
--
MPH
MPH
MPH
MPH
-
-
MPD
MPD
MPD
MPD
-
-
-
-
The correction values for "encoder correction" which can be used to compen
sate signal shape errors of sine-wave encoder signals or encoder signals
similar to sine waves are stored in this list parameter.
See also Functional Description "Encoder Error Correction"

and Controls
Use
This parameter contains 2048 values. If all values entered are "0", the com
mand "P00340, C3500 Command Determine encoder correction values" is
not started yet. The values are phase angle correction values and cannot be
interpreted by the customer.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Incr
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.59
PM+OM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
-32767 / 32767
-32767 / 32767
-32767 / 32767
-32767 / 32767
Default value
---------
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte var.
DEC_MV
0
--
P-0-0343, Encoder 1, cosine signal

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC
The current, analog-digital converted value of the voltage applied at the differ
ential input of track A of the motor encoder is displayed in this parameter.
Use
The level of the voltage applied at the differential input (between A+ and A-)
can be calculated:
Kind of motor encoder
Respective values of
P00074
Voltage between A+/A-
encoder with 1Vpp signals
1; 2; 4; 6; 8; 14
UA+/A-= P-0-0343 * 0.0003 *

1V
resolver encoder
3; 10
UA+/A-= P-0-0343 * 0.0026 *

1V
Fig.5-105:
Function:
Memory:
Unit:
Cycl. tra.:
Calculating the current voltage level at the differential input of track A of

the motor encoder
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.60
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------
P-0-0344, Encoder 1, sine signal

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
MPB
MPB
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Hardware
Funct. package(s):
Device parameter:
Function
-closed loop
--
ential input of track B of the motor encoder is displayed in this parameter.
Use
The level of the voltage applied at the differential input (between B+ and B-)
can be calculated:
Kind of motor encoder
P00074
Voltage between B+/B-
1; 2; 4; 6; 8; 14
UB+/B-= P-0-0344 * 0.0003 *

1V
resolver encoder
3; 10 (with transfer ratio 0.5) UB+/B-= P-0-0344 * 0.0048 *

1V
Fig.5-106:
Function:
Memory:
Unit:
Cycl. tra.:
Calculating the current voltage level at the differential input of track B of

the motor encoder
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.61
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
ential input of track A of the external encoder is displayed in this parameter.
Use
can be calculated:
Kind of encoder
P00075
1; 2; 4; 8;
UA+/A-= P-0-0345 * 0.0003 *

1V
Resolver encoder (with

transfer ratio 0.5)
3; 10
UA+/A-= P-0-0345 * 0.0048 *

1V
Fig.5-107:

the external encoder

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.62
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
ential input of track B of the external encoder is displayed in this parameter.
Use
can be calculated:
Kind of encoder
P00075
1; 2; 4; 8;
UB+/B-= P-0-0346 * 0.0003 *

1V
resolver encoder (with

transfer ratio 0.5)
3; 10
UB+/B-= P-0-0346 * 0.0048 *

1V
Fig.5-108:
Function:
Memory:
Unit:
Cycl. tra.:

the external encoder
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.63
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_MV
0
--

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC

and Controls
Function
ential input of track A of the measuring encoder is displayed in this parameter.
Use
can be calculated:
Kind of measuring encoder
P00076
encoder with 1 Vpp signals
1; 2; 4; 6; 8;
UA+/A-= P-0-0347 * 0.0003 *

1V
Fig.5-109:
Function:
Memory:
Unit:
Cycl. tra.:

the measuring encoder
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.64
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_MV
0
--

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
ential input of track B of the measuring encoder is displayed in this parameter.
Use
can be calculated:
Kind of measuring encoder Respective values of
P00076
UB+/B-= P-0-0348 * 0.0003 *

1V
Fig.5-110:
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
1; 2; 4; 6; 8;

the measuring encoder
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
DEC_MV
0
--

and Controls
5.3.65
P-0-0391, Actual position value difference encoder1 - encoder2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter indicates the difference of the actual position values of encod
er 1 and encoder 2. The value is updated every 2 msec.
P-0-0391
S-0-0051
S-0-0053
Actual position value difference encoder1 - encoder2

Actual position value encoder 1
Actual position value encoder 2
Fig.5-111:
Definition of actual position value difference P-0-0391

Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.3.66
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0077
S-0-0078
--
P-0-0393, IDN groups: control word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter determines which IDN group is output in "P00394, IDN groups:
List".
P-0-0393
P-0-0394
IDN groups: Con

trol word
IDN groups: List
0000H
No selection
0001H
All parameters with scaling-dependent attributes (aren't changed

any more in phase 4).
0002H
All parameters the attributes of which can still change in phase 4.
0010H
All parameters with position scaling (S00076).
0011H
All parameters with speed scaling (S00044).

and Controls
Use
0012H
All parameters with acceleration scaling (S00160).
0013H
All parameters with torque scaling (S00086).
In the case of new control units it is aimed at relieving the non-cyclical data
channel of unnecessary or iterative requests. This primarily implies repeated
collection of the attributes. This is also done if the attributes cannot change
online in the drive. As there are attributes that are changing online (due to scal
ing-dependence of the parameter or free assignment of signals as, for example,
in the case of the oscilloscope), it is necessary to give the control unit a possi
bility to recognize the different characteristics of the attributes. Up to now
SERCOS hasn't provided any procedure for this purpose. An aggravating fact
is that the existing parameters are depending on the firmware version.
An online procedure was therefore realized with which the control unit can read
via an IDN list which parameters are pertaining to the individual attribute var
iants.
The current enabling of functional packages is taken into account
for determination by means of the list.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.3.67
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
0
0
0
0
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
P-0-0394, IDN groups: list

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter contains the IDN group selected in the parameter "P00393,
IDN groups: Control word".
See also Parameter Description "P00393, IDN groups: Control word"
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.3.68
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
P-0-0395, Average value filter for display: signal selection

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
MPB
MPB
MPB
MPH
MPH
MPH
MPD
MPD
MPD
4Byte var.
IDN
0
--

and Controls
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPC
MPC
This list parameter is used for configuring the signals which are to be filtered
by means of average value filter for display. It has exactly 2 elements (IDNs)
for the two filters:
Element 1: Signal selection for display filter 1
Element 2: Signal selection for display filter 2

The two filters are independent of each other and can be separately
activated or deactivated. The average value filter for display is cal
culated in the position clock (TA,position)!
Fig.5-112:
Use
Function - Average Value Filter for Display
Observe the following aspects for signal selection:
It is only possible to select signals from the parameter "P00396, Average

value filter for display: Signal selection list".
The filter function is deactivated, when the signal "S00000" has been
selected.
Observe the following aspects in conjunction with the recording of the signals
in the oscilloscope function or the output at the analog outputs:
The order of parameterization must be observed!
If first the signal for the average value filter for display is set and then
the same signal is selected as measuring signal in the oscilloscope,
the filtered value is recorded in the oscilloscope.
If the order is inverse, the non-filtered value is recorded.
If the signal for the average value for display is changed or cleared, au
tomatic switching does not take place with the oscilloscope function. The
has to be selected again as measuring signal.

and Controls
See also Parameter Description "P00396, Average value filter for display:
Signal selection list"
Time constant"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.69
PM+OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
IDN
0
--
Default value
---------
P-0-0396, Average value filter for display: signal selection list

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The parameter S00396 contains all parameters (IDNs) which can be used as
signals for the average value filter for display (cf. P00395).
Time constant"
Structure
The following parameters are contained in the signal list:
S00040, Velocity feedback value
S00084, Torque/force feedback value
S00164, Acceleration feedback value 1
S00195, Acceleration feedback value 2
S00347, Velocity error
S00380, DC bus voltage
S00382, DC bus power
P-0-0038, Torque-generating current, command value
P00039, Flux-generating current, command value
P00043, Torque-generating current, actual value
P00044, Flux-generating current, actual value
P00048, Effective velocity command value
P00049, Effective torque/force command value
P00141, Thermal drive load
P00440, Actual output current value (absolute value)
P00442, Actual value torque limit positive (stationary)
P00443, Actual value torque limit negative (stationary)
P04046, Effective peak current
...

and Controls
As the content of the list can be permanently extended, it is recom
mended to read the list at the respective drive to get the current list
content.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.70
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
P-0-0397, Average value filter for display: time constant

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The parameter P00397 is used to parameterize the filter effect (= time con
stant of the PT1 filter) of the average value filters for display. It has exactly
2 elements (IDNs) for the two display filters:
Element 1: Time constant for display filter 1
Element 2: Time constant for display filter 2

The two filters are independent of each other and can be separately
activated or deactivated. The average value filter for display is cal
culated in the position clock (TA,position)!
Fig.5-113:
Function - Average Value Filter for Display

and Controls
Use
With "0" the filter function is inactive in spite of signal input.
Inputs on a time base of 0.5 ms (max. position loop clock) are accepted.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
ms
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.71
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0,0 / 2000,0
0,0 / 2000,0
0,0 / 2000,0
0,0 / 2000,0
2Byte var.
DEC_OV
1
--
Default value
---------
P-0-0399, Configuration of simulation mode

Allocation
Function
Structure
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
--
MPC
MPC
Bit
Comment
Permanently parked axis
Automatic start of the command "parking

axis" (S00139) -> "permanently parked"
with enabling of axis simulation
1: Active
Fig.5-114:
-
-
-
-
MPD
MPD
The function axis simulation is parameterized with this control word.
0: Inactive
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.3.72
PM+OM
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
-+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
StdNul / StdOne
StdNul / StdOne
StdNul / StdOne
StdNul / StdOne
2Byte
BIN
0
--
Default value
0
0
0
0
P-0-0400, Axis correction external correction value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
-
MPH
-
MPH
-
MPH
-
MPH
-
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
Via this parameter the control master can cyclically send a position correction
value to the drive.

and Controls
Use
Thereby, on the control side, correct errors in the actual position value of the
drive. The control-side correction is activated when P00400 has been included
in the master data telegram. The values for P00400 must have position scaling
according to "S00076, Position data scaling type". The control-side correction
is contained in the "servo" expansion package and is only available after func
tional package has been enabled.
See also Parameter Description "S-0-0076, Position data scaling type"
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.3.73
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
0,0000
0,0000
0,0000
0,0000
P-0-0401, Axis correction active correction value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays the currently effective correction value for the actual
position value.
The actual position value system to be corrected is selected via the
respective bit of "P00413, Axis correction control word".
See also Parameter Description "S-0-0076, Position data scaling type"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.3.74
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
P-0-0402, Axis correction reference temperature

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
-
MPH
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Function
The reference temperature for the position-dependent and the position-inde

pendent, temperature-related axis error correction is entered in this parameter.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
S-0-0208
MDT
Input
MPB:
MPC:
MPD:
MPH:
5.3.75
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
-+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
S-0-0208 / S-0-0208
S-0-0208 / S-0-0208
S-0-0208 / S-0-0208
S-0-0208 / S-0-0208
2Byte
DEC_MV
1
--
Default value
20,0
20,0
20,0
20,0
P-0-0403, Axis correction reference position for temp. corr.

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
-
MPH
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
The reference position for the position-dependent, temperature-related axis

error correction is entered in this parameter.
For determining the value of P00403 see Functional Description "Axis Error
Correction"
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.3.76
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
0,0000
0,0000
0,0000
0,0000
P-0-0404, Axis correction actual temperature pos.-dependent

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
-
MPH
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
Via this parameter the actual temperature of the axis can be transmitted to the
controller. This value acts on the position-dependent, temperature-related axis
error correction.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
S-0-0208
MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
-+
--
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
1
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.3.77
min./max.
S-0-0208 / S-0-0208
S-0-0208 / S-0-0208
S-0-0208 / S-0-0208
S-0-0208 / S-0-0208
Default value
20,0
20,0
20,0
20,0
P-0-0405, Axis correction actual temperature pos.-independent

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
-
MPH
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
Via this parameter the actual temperature of the axis can be transmitted to the
controller. This value acts on the position-independent, temperature-related
axis error correction.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
S-0-0208
MDT
Input
MPB:
MPC:
MPD:
MPH:
5.3.78
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
-+
--
min./max.
S-0-0208 / S-0-0208
S-0-0208 / S-0-0208
S-0-0208 / S-0-0208
S-0-0208 / S-0-0208
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
1
--
Default value
20,0
20,0
20,0
20,0
P-0-0406, Axis correction temperature factor pos.-dependent

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
-
MPH
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
The position-dependent temperature correction factor is entered in this param

eter. The value is scaled with 1/Kelvin (1/K).
Correction"
Use
The position-dependent temperature correction is used to compensate for the

temperature-dependent linear expansion of the mechanical transfer elements
of a servo axis or the measuring system. The function becomes active when
the correction factor is unequal "0", it is contained in the "servo" expansion
package.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
PARAM_SP
1/K
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
-+
--
min./max.
StdNul / 10,000000
StdNul / 10,000000
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0,000000
0,000000
4Byte
DEC_MV
6
--

and Controls
MPD:
MPH:
5.3.79
StdNul / 10,000000
StdNul / 10,000000
0,000000
0,000000
P-0-0407, Axis correction temperature factor pos.-independent

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
-
MPH
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
The position-independent temperature correction factor is entered in this pa

rameter. The value is scaled with the quotient position data scaling 10K
(S00076/10K).
Correction"
Use
The position-independent temperature correction is used to compensate for

purely temperature-dependent linear expansion of tools, workpieces and
slides. The function becomes active when the correction factor is unequal "0".
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.3.80
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
0,0000
0,0000
0,0000
0,0000
P-0-0408, Axis correction start position

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
-
MPH
-
MPH
-
MPH
-
MPH
-
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
The start position of the correction range for the precision axis error correction
is determined in this parameter. The correction range is between P00408 and
"P00409, Axis correction end position".
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
min./max.
S-0-0076 / S-0-0076
Default value
0,0000
4Byte
DEC_MV
S-0-0077
S-0-0078
--

and Controls
MPC:
MPD:
MPH:
5.3.81
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
0,0000
0,0000
0,0000
P-0-0409, Axis correction end position

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
-
MPH
-
MPH
-
MPH
-
MPH
-
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
The end position of the correction range for the precision axis error correction
is displayed in this parameter. The correction range is between "P00408, Axis
correction start position" and P00409.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.3.82
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
P-0-0410, Axis correction support point distance

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
-
MPH
-
MPH
-
MPH
-
MPH
-
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
The support point distance for the correction range of the precision axis error
correction is determined by means of this parameter. The correction values
entered in "P00411" or "P00412, Axis correction, correction table positive/
negative" are referring to the support points of the correction range.
With the value "0" in P00410 the precision axis error correction is
deactivated, if the value is greater than "0" it is activated!
Use
The correction range is between "P00408, Axis correction start position" and
"P00409, Axis correction end position" and has a number of support points
corresponding to the maximum number of lines from "P00411" or "P00412".
The value of "P00410" is the distance between the neighboring support points.

and Controls
Version
Attribute
GEN-02VRS
MPB Default value: 1
GEN-02VRS
MPH Default value: 1
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.3.83
Comment
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
P-0-0411, Axis correction, correction table positive

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
-
MPH
-
MPH
-
MPH
-
MPH
-
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
For precision axis error correction the position correction values for the support
points of the correction range are entered in the table lines of this list parameter.
The correction values for P00411 have to be determined with positive direc
tion of motion because they only take effect with positive direction of motion.
Use
The first and last of the table lines used have to written with the value "0" be
cause otherwise an abrupt change of the actual position value occurs at the
start and end position of the correction range!
Table line index
P-0-0411 (positive direction)
0 (corr. value at start position P-0-0408)
corr. value at support point 2
...
...
498
499
0 (corr. value at end position P-0-0409)
Fig.5-115:
Assignment of support point correction values to table line index of cor

rection tables P-0-0411 when using 500 support points
The number of correction values can be 6...500, otherwise the error

"datum not correct" is signaled when this parameter is written!

and Controls
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.3.84
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte var.
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
P-0-0412, Axis correction, correction table negative

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
-
MPH
-
MPH
-
MPH
-
MPH
-
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
For precision axis error correction the position correction values for the support
points of the correction range are entered in the table lines of this list parameter.
The correction values for P00412 have to be determined with negative direc
tion of motion because they only take effect in the drive with negative direction
of motion.
Use
The first and last of the table lines used have to written with the value "0" be
cause otherwise an abrupt change of the actual position value occurs at the
start and end position of the correction range!
Table line index
P-0-0412 (negative direction)
0 (corr. value at start position P-0-0408)
....
....
498
499
0 (corr. value at end position P-0-0409)
Fig.5-116:
Assignment of support point correction values to table line index of cor

rection tables P-0-0412 when using 500 support points
The number of correction values can be 6...500, otherwise the error

"datum not correct" is signaled when this parameter is written!
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
4Byte var.
DEC_MV
S-0-0077
S-0-0078
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.3.85
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
---------
P-0-0413, Axis correction control word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
By means of axis error correction it is possible to correct systematic errors of

the mechanical system and the measuring systems in the actual position value
system. The actual position value system to be corrected is selected in this
parameter.
Structure
Bit
Comment
actual position value correction of motor encoder

0: no
1: yes
actual position value correction of external encoder

0: no
1: yes
Fig.5-117:
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.3.86
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0/2
0/2
0/2
0/2
Default value
0
0
0
0
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
P-0-0414, Analog Output 3

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
V
AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.3.87
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
-10,000 / 10,000
-10,000 / 10,000
-10,000 / 10,000
-10,000 / 10,000
Default value
0,000
0,000
0,000
0,000
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_MV
3
--

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
V
AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.3.88
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
-10,000 / 10,000
-10,000 / 10,000
-10,000 / 10,000
-10,000 / 10,000
Default value
0,000
0,000
0,000
0,000
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
MPD
MPD
MPD
MPD
2Byte
DEC_MV
3
--

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
This parameter displays the voltage value that is output via the analog output 5
Analog output 5 is only available in conjunction with a double-axis
device with configuration of 2 optional cards MA1!
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
PARAM_SP
V
AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
-10,000 / 10,000
-10,000 / 10,000
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0,000
0,000
2Byte
DEC_MV
3
--

and Controls
MPD:
MPH:
5.3.89
-10,000 / 10,000
-10,000 / 10,000
0,000
0,000
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
MPD
MPD
MPD
MPD

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
This parameter displays the voltage value that is output via the analog output 6
Analog output 6 is only available in conjunction with a double-axis
device with configuration of 2 optional cards MA1!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
V
AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.3.90
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
-10,000 / 10,000
-10,000 / 10,000
-10,000 / 10,000
-10,000 / 10,000
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
3
--
Default value
0,000
0,000
0,000
0,000
P-0-0418, Analog output, assignment A, signal value at 0V

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In this parameter the reference of the analog output of assignment A (value with
an output of 0 V) is defined. The unit is determined by the parameter assigned
in "P00420, Analog output, assignment A, signal selection".
When assigning parameters with the "binary" display attribute, the parameter
is not active.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
0
0
0
4Byte
DEC_MV
0
--

and Controls
5.3.91
P-0-0419, Analog output, assignment B, signal value at 0V

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In this parameter the reference of the analog output of assignment B (value with
an output of 0 V) is defined. The unit is determined by the parameter assigned
in "P00423, Analog output, assignment B, signal selection".
When assigning parameters with the "binary" display attribute, the parameter
is not active.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.3.92
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0
P-0-0420, Analog output, assignment A, signal selection

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter can be used to assign a parameter IDN to the analog outputs
1 and 3 of the drive controller. The current parameter value is output as voltage
at the analog output if the mode of the analog output in "P00427, Control
parameter of analog output" is set to putting out assignment A. The output volt
age can, for example, be made visible by means of an oscilloscope.
Only such IDNs can be assigned that are listed in "P00426, Analog output,
IDN list of assignable parameters".
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
IDN
0
--

and Controls
5.3.93
P-0-0422, Analog output, assignment A, scaling [1/V]

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used to scale the voltage output by analog output 1 and 3.
The unit is determined by the parameter assigned in "P00420, Analog output,
assignment A, signal selection".
When assigning parameters with the "binary" display attribute, the number of
the bit to be output at the analog output is defined in this parameter. When the
respective bit has not been set, the output voltage is 0 V. When the bit has been
set, 1 V is output.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.3.94
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
0
--
Default value
0
0
0
0
P-0-0423, Analog output, assignment B, signal selection

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter can be used to assign a parameter IDN to the analog outputs
2 and 4 of the drive controller. The current parameter value is output as voltage
at the analog output if the mode of the analog output in "P00427, Control
parameter of analog output" is set to putting out assignment B. The output volt
age can, for example, be made visible by means of an oscilloscope.
Only such IDNs can be assigned that are listed in "P00426, Analog output,
IDN list of assignable parameters".
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
IDN
0
--

and Controls
5.3.95
P-0-0425, Analog output, assignment B, scaling [1/V]

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used to scale the voltage output by analog output 2 and 4.
The unit is determined by the parameter assigned in "P00423, Analog output,
assignment B, signal selection".
When assigning parameters with the "binary" display attribute, the number of
the bit to be output at the analog output is defined in this parameter. When the
respective bit has not been set, the output voltage is 0 V. When the bit has been
set, 1 V is output.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.3.96
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
0
--
Default value
0
0
0
0
P-0-0426, Analog output IDN list of assignable parameters

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains a list of all parameter IDNs which can be assigned via
"P00420, Analog output, assignment A, signal selection" and
"P00423, Analog output, assignment B, signal selection."

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte var.
IDN
0
--

and Controls
5.3.97
P-0-0427, Control parameter of analog output

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The configuration parameter control parameter serves to define the signal

source and restrictions for the analog outputs.
Structure
Bit
Assignment A, limitation
Comment
0: Overflow
1: Limitation
2
Analog output 1, signal source

0: Direct output of voltage signals via P00139
1: Output of parameter values via "Analog output: Assignment
A"

Only with
CDB01.1C or
CSH01.1C

Only compati
A"
ble with some
drive configu
rations.
5
MP*04VRS
and above On
ly with
1: Output of parameter values via "Analog output: Assignment CDB01.1C
A"
Only compati
ble with some
drive configu
rations.
Bit 8: Assignment B, limitation

0: Overflow
1: Limitation
10
Bit 10: Analog output 2, signal source

B"

and Controls
Bit
Comment
12
Only with
CDB01.1C or
CSH01.1C

Only compati
B"
ble with some
drive configu
rations.
13
Only compati
ble with some
drive configu
1: Output of parameter values via "Analog output: Assignment rations.
B"
As of
MPx04VRS
Only with
CDB01.1C
Fig.5-118:
Use
Relevant Bits of P-0-0427, Control parameter of analog output
The following special aspects must be observed for double-axis devices

(CDB01.1-...):
The analog outputs available on the device are used by either axis.
The parameters (IDNs) assigned to the particular analog output are iden
tical for either axis.
For this reason, the IDN (P-0-0420, P-0-0423) for each analog output can
be assigned by one of the two axes only.
There is an assignment if the "analog output 16, signal source" is

set to "1".
" 0" means "No assignment" in which case the parameter assigned
to the analog output is directly output.
If there is no IDN assignment to the particular analog output by neither of the

two axes, writing to the parameter directly assigned to the analog output is
possible for both axes. The value last written is active provided the master
communication does not cyclically write to the directly assigned parameter for
one of the two axes.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.3.98
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-0434, Position command value of controller

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPB
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
closed loop
--
This parameter is used to display the position command value effective at the
position loop input. Depending on the active operation mode, this position com
mand value can be
the position command value generated and filtered by the drive itself (e.g.,
in the case of interpolation modes)
the position command value cyclically set by a control unit, and filtered
and fine-interpolated in the drive.
The internal position command value "P00434, Position command
value controller" is generated in the position loop clock (cf.
P00556)!
See also Functional Description "Cyclic Position Control"

Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.3.99
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
P-0-0435, Control word of position controller

Allocation
Function
Structure
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In this parameter it is possible to activate additional functions of the position

loop.
Bit
quadrant error correction
Comment
0: inactive
1: active
Fig.5-119:
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:

Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
-+
--
min./max.
StdNul / StdOne
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
2Byte
BIN
0
--

and Controls
MPC:
MPD:
MPH:
5.3.100
StdNul / StdOne
StdNul / StdOne
StdNul / StdOne
0
0
0
P-0-0436, Reference radius for quadrant error correction

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Function
In this parameter the radius of a circular path, that is used as reference for
quadrant error correction, is determined.
Use
This radius is used for calculating the path velocity and should correspond to a
radius, characteristic for the machine, for circularly interpolating machining.
See also Functional Description "Quadrant Error Correction"
Version
Attribute
GEN-02VRS
Editability: P2
GEN-02VRS
Validity ch.: P2-3
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.3.101
Comment
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
100,0000
100,0000
100,0000
100,0000
P-0-0437, Velocity time range for quadrant error correction

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In this parameter the absolute value of the velocity time range of the velocity
pulse is entered that, with active quadrant error correction, is added to the ve
locity command value in case the direction of movement is changed.
The value "0" deactivates the quadrant error correction!
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
4Byte
DEC_OV

and Controls
Unit:
S-0-0044
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.3.102
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0045
S-0-0046
--
Default value
0,0000
0,0000
0,0000
0,0000
P-0-0438, Table of path velocities for quadrant error correction

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter corresponds to "P00439, Table of velocity pulse for quadrant

error correction".
In the lines of this list parameter a maximum of 20 path velocities can be entered
in ascending order. A velocity pulse amplitude for quadrant error correction can
be assigned in P00439 to each entered path velocity.
Version
Attribute
GEN-02VRS
Memory: PARAM_SP
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.3.103
Comment
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
4Byte var.
DEC_MV
S-0-0045
S-0-0046
--
Default value
---------
P-0-0439, Table of velocity pulse for quadrant error correction

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter corresponds to "P00438, Table of path velocities for quadrant

error correction".
In the lines of this list parameter a maximum of 20 velocity pulse amplitudes
can be entered in ascending order. The values are assigned to the path veloc
ities of the corresponding lines of P00438.

and Controls
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.3.104
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
4Byte var.
DEC_MV
S-0-0045
S-0-0046
--
Default value
---------
P-0-0440, Actual output current value (absolute value)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Display parameter for the measured actual current value which is the rms value
of the motor phase current.
The phase currents are scanned in the current controller cycle, converted as a
current vector and the rms value is calculated from these data. This parameter
displays the value averaged during 2 ms and is used as the input value for the
overload models of amplifier and motor.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-A eff
AT
Input
MPB:
MPC:
MPD:
MPH:
5.3.105
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
3
--
P-0-0441, Overload warning

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Parameter for determining a threshold value for the thermal controller work
load.
If the value displayed in "P00141, Thermal drive load" exceeds the determined
threshold, the warning "E2061 Amplifier overload prewarning" is generated.
The unit of the threshold value corresponds to the one of P00141 (%).

and Controls
When 100% is entered, "E2061 Amplifier overload prewarning" is
not displayed. Instead, the warning "E8057 Amplifier overload, cur
rent limit active" is already generated with approx. 97% of the
thermal work load.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
%
AT
Input
MPB:
MPC:
MPD:
MPH:
5.3.106
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0 / 100
0 / 100
0 / 100
0 / 100
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
80
80
80
80

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Display parameter for the effective positive torque limit value. The displayed
value is the smallest value of
S00092, Bipolar torque/force limit value
P00109, Torque/force peak limit
S00082, Torque/force limit value positive
load-dependent limitations by motor and controller
motor-dependent limitations.

Use
P00442 displays the positive torque/force limit value (with regard
to load torque/load force) effective at a stationary (constant) veloc
ity. For acceleration processes, a higher limit value can be effective,
if the lower value of P00109 and S00092 is greater than
S00082, and acceleration feedforward has been activated. The
parameter "P00444, Actual value peak torque limit" shows the
maximum allowed drive torque or the maximum allowed drive force
(stationary load torque + acceleration torque) effective for acceler
ation processes.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
min./max.
--- / ----- / ---
Default value
-----
2Byte
DEC_MV
S-0-0093
S-0-0094
--

and Controls
MPD:
MPH:
5.3.107
--- / ----- / ---
-----

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Display parameter for the effective negative torque limit value. The displayed
value is the smallest value of
"S00092, Bipolar torque/force limit value"
"P00109, Torque/force peak limit"
"S00083, Torque/force limit value negative"
load-dependent limitations by motor and controller
motor-dependent limitations.

Use
P00443 displays the negative torque/force limit value (with regard
to load torque/load force) effective at a stationary (constant) veloc
ity. For acceleration processes, a higher limit value can be effective,
if the lower value of P00109 and S00092 is greater than
S00083, and acceleration feedforward has been activated. The
parameter "P00444, Actual value peak torque limit" shows the
maximum allowed drive torque or the maximum allowed drive force
(stationary load torque + acceleration torque) effective for acceler
ation processes.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.3.108
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
S-0-0093
S-0-0094
--
Default value
---------
P-0-0444, Actual value peak torque limit

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Function
Display parameter for the maximum drive torque or the maximum drive force.
The value is the limit value for positive and negative torque/force command
values.
The value displayed is the lower value of
"P-0-0109, Torque/force peak limit"
"S-0-0092, Bipolar torque/force limit value"
work load-dependent limits by motor and controller
motor-dependent limits.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.3.109
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
S-0-0093
S-0-0094
--
Default value
---------
P-0-0445, Status word torque/current limit

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains the status messages (bits) for the torque/current lim
itation.
See also Functional Description "Torque/Force and Current Limitation"
Structure

Bit
positive torque command value limited?

0: no: P-0-0442 = S-0-0082
1: yes: P-0-0442 < S-0-0082
negative torque command value limited?

0: no: P-0-0443 = S-0-0083
1: yes: |P-0-0443| < |S-0-0083|
3,2
reserved
amplifier overload warning (E2061)?

0: no: P-0-0141 < P-0-0441
1: yes: P-0-0141 >= P-0-0441
Comment

and Controls
Bit
speed-dependent torque limitation
Comment
0: limitation not active

1: limitation active: maximum torque < min (S-0-0109 /
S-0-0110)
6
regenerative power limitation

0: limitation not active
1: limitation active: maximum torque < min (S-0-0109 /
S-0-0110)
torque/force limitation equal zero (E2056)? (P-0-0442=0 or

P-0-0443=0 or P-0-0444 =0 ?)
0: no
1: yes
amplifier overload peak current limitation active?

0: no
1: yes
motor overload (E8055), peak current limitation active?

0: no
1: yes
10
reserved
1311
effective current limitation

display of limitation resulting in active limit value P00444
000: no limitation active
001: amplifier temperature model
as of
MP*03V20
as of
MP*04VRS
010: motor temperature model

011: speed-dependent torque limitation
100: regenerative limitation
101: S-0-0092
110: P-0-0109
111: motive torque switched off
14
E2051 Motor overtemp. prewarning active?

0: no
1: yes
15
F2019 Motor overtemperature shutdown or F2021 Motor tem

perature monitor defective?
0: no
1: yes
Fig.5-120:
Function:
Memory:
Unit:
Cycl. tra.:
Structure of P-0-0445, Status word torque/current limit

Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.3.110
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
--
-
-
-
-
MPD
MPD
P-0-0446, Thermal motor load

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Parameter "P00446" serves to check the thermal load of the motor. A thermal
load of 100 percent corresponds to the maximum motor temperature.
The parameter can be preset to a high value to allow checking the thermal motor
load on commissioning more quickly without having to perform machining cy
cles within this time interval.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-%
AT
Input
MPB:
MPC:
MPD:
MPH:
5.3.111
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
--
-
-
-
-
MPD
MPD
2Byte
DEC_OV
1
--
P-0-0447, Motor shaft power

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter indicates the current power of the motor. The power is calcu
lated from the mechanical data provided by the current torque/force and current
speed/velocity.
See also Functional Description "Correction of Torque/Force Constant"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
-Watt
AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
DEC_MV
0
--

and Controls
5.3.112
P-0-0448, Temperature-dependent torque/force coefficient

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
--
-
-
-
-
MPD
MPD
MPC
MPC
This parameter influences the effective torque/force constant, depending on the

measured winding temperature of the motor. Based on the value of "P00051,
Torque/force constant", a reduction takes effect. The current value is displayed
in "P00450, Current torque/force constant".
The parameter is motor-specific and for synchronous Rexroth motors it is made
available on the manufacturer side:
Where MSK motors are concerned, parameter "P03058, Temperaturedependent torque/force coefficient, enc. memory" is automatically written
to this parameter in encoder memory version 4.5 and above.
For other synchronous Rexroth motors, it is made available, if required,

via IWD or the drive database "DriveBase".
The reduction only works correctly, when "P00051, Torque/force
constant" refers to the ambient temperature 20 C.

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
%
--
Input
MPB:
MPC:
MPD:
MPH:
5.3.113
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
1
--
Default value
0,0
0,0
0,0
0,0
P-0-0449, Speed-dependent torque/force coefficient

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
--
-
-
-
-
MPD
MPD
MPC
MPC
This parameter influences the effective torque/force constant, depending on the

velocity of the motor. Based on the value of "P00051, Torque/force con
stant", a reduction takes effect depending on the arithmetic average value of
the absolute velocity value. The current value is displayed in "P00450, Current
torque/force constant".
The reduction only works correctly, when "P00051, Torque/force
constant" refers to the ambient temperature 20 C.

and Controls
The parameter is motor-specific and for synchronous Rexroth motors it is made
available on the manufacturer side:
Where MSK motors are concerned, parameter "P03057, Speed-de

pendent torque/force coefficient, enc. memory" is automatically written to
this parameter in encoder memory version 4.5 and above.
For other synchronous Rexroth motors, it is made available, if required,

via IWD or the drive database "DriveBase".
See also Functional Description Correction of Torque/Force Constant

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
s
--
Input
MPB:
MPC:
MPD:
MPH:
5.3.114
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
5
--
Default value
0,00000
0,00000
0,00000
0,00000
P-0-0450, Current torque/force constant

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
--
-
-
-
-
MPD
MPD
MPC
MPC
The currently effective value of the torque/force constant is displayed in this

parameter. The torque or the force at the motor can be calculated, by means
of approximation, by multiplying "P00450" and "P00043, Torque-generating
current, actual value".
For synchronous motors, the value of the torque/force constant depends on the
value of the currently flowing motor current: Reduction of torque/force

constant at currents greater Inominal
temperature of motor winding and rotor: Reduction of torque/force con

stant at rising temperature
For asynchronous motors, the torque/force constant is reduced, when the motor
is operated with field weakening.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-Nm/A eff
--
Input
MPB:
MPC:
MPD:
MPH:
5.3.115
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
2
--
Default value
---------
P-0-0451, Actual acceleration torque/force value

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
MPB
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPD
MPC
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
S-0-0093
S-0-0094
--
Default value
---------
P-0-0452, Actual process torque/force value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The current process torque is determined from the current total torque in pa
rameter "S00084, Torque/force feedback value" and the determined
"P00451, Actual acceleration torque/force value". The process torque is dis
played in "P00452, Actual process torque/force value".
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.3.117
MPH
The acceleration torque is determined from the total inertia (determined using
the automatic control loop setting) and the value in "S00164, Acceleration
feedback value 1". The acceleration torque is displayed in "P00451, Actual
acceleration torque/force value".
Input
MPB:
MPC:
MPD:
MPH:
5.3.116
MPB
-closed loop
--
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
S-0-0093
S-0-0094
--
Default value
---------
P-0-0453, Integral-action component velocity loop

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The integral-action component of the velocity loop is displayed in parameter

P00453.

and Controls
Function:
Memory:
Par
--
Editability:
Validity ch.:
OM
--
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.3.118
min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
2Byte
DEC_MV
S-0-0093
S-0-0094
--
Default value
---------
P-0-0454, Velocity feedforward actual value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays the present velocity feedforward value.

The parameter depends on "S-0-0044, Velocity data scaling type".
Use
In the case of lagless operation modes, the velocity feedforward is calculated

in the position loop from the position command values and depending on
"P00040, Velocity feedforward evaluation" is added to the velocity command
value.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.3.119
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0045
S-0-0046
--
Default value
---------
P-0-0455, Acceleration feedforward actual value

Allocation
Function
Use
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays the present acceleration feedforward value.

The acceleration feedforward is generated as follows:
1. For lagless, position-controlled operation modes, the feedforward value is
calculated from the position command values, depending on "S00348,
Acceleration feedforward gain".
2. In velocity control, the feedforward value is calculated from the velocity
command values, depending on "P01126, Velocity control loop: Accel
eration feedforward".

and Controls
The parameter depends on "S0-0086, Torque/force data scaling type".
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.3.120
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
S-0-0093
S-0-0094
--
Default value
---------
P-0-0456, Position command value delay

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPB
-closed loop
--
-
-
-
-
-
MPH
-
-
-
-
-
MPD
-
MPC
This parameter is used to set the position command value delay, it specifies
the number of position clocks to be delayed.
The position command value generator (P-0-0457) is the input value of the
command value delay function, the output value is the position command value
of controller (P-0-0434). The output value can be delayed by up to 32 position
clocks. The default setting is "0", that is to say the position command value
delay function is not active.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.3.121
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0 / 32
0 / 32
0 / 32
0 / 32
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
0
0
0
0
P-0-0457, Position command value generator

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPB
-closed loop
--
-
-
-
-
-
MPH
-
-
-
-
-
MPD
-
MPC
This parameter displays the position command value without delay. Depending
on the active operation mode, this position command value can be
the position command value generated and filtered by the drive itself (e.g.,
in the case of interpolation modes) or
the position command value cyclically set by a control unit, filtered and
fine interpolated in the drive.

and Controls
The position command value generator is the input value of the command value
delay function, the output value is the position command value of controller
(P-0-0434). The output value can be delayed by up to 32 position clocks. The
number of clocks is set with "P-0-0456, Position command value delay".
The internal position command value "P-0-0457, Position command
value generator" is generated in the position loop clock (cf.
P-0-0556)!
Input"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.3.122
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
P-0-0460, Module group, control word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays the information that is transmitted by a device (inverter

or converter) to the module bus. Due to the hierarchical structure of the module
bus, only the most significant information takes effect!
This parameter only displays the control information that the re
spective controller is transmitting via the module bus. The bits of
this parameter cannot be externally written!
Structure
Bit
All module bus nodes without error?

0: no
1: yes
Ready for power output ("DC bus ok")?

0: no
1: yes
Prewarning supply overload?

0: no
1: yes
Comment

and Controls
Bit
Comment
DC bus voltage error, mains failure ("DC bus not ok")?

0: no
1: yes
Inverter error?
0: no
1: yes
Supply error?
0: no
1: yes
Clear supply error?

0: not active
1: active
Module bus communication error?

0: no
1: yes
Fig.5-121:
Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.123
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-0461, Module group, status word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays the currently active information of the module bus.
Structure
Bit
All module bus nodes without error?

0: no
1: yes
Ready for power output ("DC bus ok")?

0: no
1: yes
Comment

and Controls
Bit
Comment
Prewarning supply overload?

0: no
1: yes
DC bus voltage error, mains failure ("DC bus not ok")?

0: no
1: yes
Inverter error?
0: no
1: yes
Supply error?
0: no
1: yes
Clear supply error?

0: not active
1: active
Module bus communication error?

0: no
1: yes
Fig.5-122:
Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.3.124
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-0470, Block patch: Block selection

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter, along with parameter "P00471", is intended for extended di

agnostic purposes.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
2
2
2Byte
HEX
0
--

and Controls
MPD:
MPH:
5.3.125
2
2
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
-
MPD
MPD
MPD
P-0-0471, Block patch: Block data

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter, along with parameter "P004710", is intended for extended

diagnostic purposes.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.126
--- / ----- / ---
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
-
-
-
-
-
-
-
-
+
MPD
MPD
MPD
MPD
MPD
MPD
4Byte var.
HEX
0
--
P-0-0477, Logbook axis number

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
This parameter displays the logic axis number of the last entry in "P00478,
Logbook event".
0 = logic axis "0" (left axis)
1 = logic axis "1" (right axis)
0xFFFF = both axes

Users cannot utilize this parameter! It is write-protected and cannot
be changed!
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
Editability:
-Extr. val. ch.:
-Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte var.
HEX
0
--

and Controls
5.3.127
P-0-0478, Logbook event

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Function
This parameter displays a code which allows the drive development staff to
diagnose drive-internal states.
Use
The entries in this parameter are realized automatically by the controller subject
to internal states. The entry time is retained in "P00479, Logbook time stamp".
The value displayed in this parameter can only be interpreted with
internal knowledge of the firmware! Therefore, the user cannot uti
lize this parameter! It is write-protected and cannot be changed!
Function:
Memory:
Unit:
Cycl. tra.:
Par
Editability:
-Extr. val. ch.:
-Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.128
PM+OM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
4Byte var.
HEX
0
--
P-0-0479, Logbook time stamp

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter displays the time of the last entry in "P00478, Logbook event".
At the respective point of time, the value of "P00190, Operating hours control
section" is retained in parameter P00478.
Therefore, users cannot utilize this parameter! It is write-protected
and cannot be changed!
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
Editability:
s
Extr. val. ch.:
-Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte var.
DEC_OV
1
--

and Controls
5.3.129
P-0-0480, Patch function 1, source pointer

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter allows selecting a controller-internal memory cell. This memory

cell can be read or written by means of the patch function 1.
See also Functional Description
The patch function allows the development staff to diagnose inter
nal signal states and data; customers cannot use this function!
Therefore, only the development staff know the values of this pa
rameter (memory addresses)!
See also Functional Description "Patch Function"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.130
PM+OM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
HEX
0
--
P-0-0481, Patch function 1, attribute

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
By means of this parameter the access to and output of the controller-internal

memory address selected in "P00480, Patch function 1, source pointer" are
configured.

and Controls
Structure
Bit
2/1/0
type of source data
Comment
0: INT4
1: INT2
2: INT1
3: FLOAT8
4: FLOAT4
6/5/4
output format of source data

0: BIN
1: DEZ m VZ
2: DEZ o VZ
3: HEX
4: FLOAT
5: BOOL
Fig.5-123:
Relevant bits of parameter P00481

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.131
PM+OM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
48
48
48
48
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
P-0-0482, Patch function 1, bit mask

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter defines a bit mask that acts on the output of the value of the
controller-internal memory cell selected by "P00480, Patch function 1, source
pointer". This parameter acts subject to "P00481, Patch function 1, attribute".
It is only active in certain configuration constellations.
The patch function allows the development staff to diagnose firm
ware-internal signal states and data; customers cannot use this
function!
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
4Byte
HEX

and Controls
Unit:
Cycl. tra.:
---
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.132
---
min./max.
--- / ----- / ----- / ----- / ---
Decim. pl.:
Switchable:
0
--
Default value
0xFFFFFFFF
0xFFFFFFFF
0xFFFFFFFF
0xFFFFFFFF
P-0-0483, Patch function 1, exponent

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter defines an exponent that acts on the output of the value of the
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.133
PM+OM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
-32 / 32
-32 / 32
-32 / 32
-32 / 32
Default value
0
0
0
0
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_MV
0
--
P-0-0485, Patch function 1, display

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
By means of this parameter it is possible to read or write a value to the content

of a controller-internal memory cell. Further specifications and configurations
are made in the other parameters relevant to the patch function (for details
please see the Functional Description).
function! As unqualified writing to this parameter can interfere with
the drive function, this parameter is write-protected!

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.134
PM+OM
-+
--
min./max.
0 / 10000
0 / 10000
0 / 10000
0 / 10000
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
HEX
0
--
Default value
0
0
0
0
P-0-0486, Patch function 2, source pointer

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter allows selecting a controller-internal memory cell. This memory

cell can be read or written by means of the patch function 2.
See also Functional Description
Therefore, only the development staff know the values of this pa
rameter (memory addresses)!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.135
PM+OM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
HEX
0
--
P-0-0487, Patch function 2, attribute

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
By means of this parameter the access to and output of the controller-internal

memory address selected in "P00486, Patch function 2, source pointer" are
configured.

and Controls
Structure
Bit
0/1/2
type of source data
Comment
0: INT4
1: INT2
2: INT1
3: FLOAT8
4: FLOAT4
4/5/6
output format of source data

0: BIN
1: DEZ m VZ
2: DEZ o VZ
3: HEX
4: FLOAT
5: BOOL
Fig.5-124:
Relevant bits of parameter P-0-0487

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.136
PM+OM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
48
48
48
48
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
P-0-0488, Patch function 2, bit mask

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter defines a bit mask that acts on the output of the value of the
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
4Byte
HEX

and Controls
Unit:
Cycl. tra.:
---
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.137
---
min./max.
--- / ----- / ----- / ----- / ---
Decim. pl.:
Switchable:
0
--
Default value
0xFFFFFFFF
0xFFFFFFFF
0xFFFFFFFF
0xFFFFFFFF
P-0-0489, Patch function 2, exponent

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter defines an exponent that acts on the output of the value of the
function!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.138
PM+OM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
-32 / 32
-32 / 32
-32 / 32
-32 / 32
Default value
0
0
0
0
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_MV
0
--
P-0-0491, Patch function 2, display

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
By means of this parameter it is possible to read or write a value to the content

of a controller-internal memory cell. Further specifications and configurations
are made in the other parameters relevant to the patch function.
function! As unqualified writing to this parameter can interfere with
the drive function, this parameter is write-protected!

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.3.139
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
-+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0 / 10000
0 / 10000
0 / 10000
0 / 10000
4Byte
HEX
0
--
Default value
0
0
0
0
P-0-0492, PLC patch function 1, data source

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
This parameter is used to select a memory location of the PLC. This memory
location can be read via the "PLC patch function 1, display". The address is
selected from the symbol file of the PLC using "area/offset". The data type (sign,
number of bytes) and the display format can be attached to the address selec
ted in the form of a string and separated by a comma.

The following strings are permitted as data type:

BOOL
1 byte
BYTE, USINT
1 byte without sign
SINT
1 byte with sign
WORD, UINT
2 bytes without sign
INT
2 bytes with sign
DWORD, UDINT
DINT
4 bytes with sign
REAL
4 bytes
Fig.5-125:
Data type
The following output formats are evaluated:

2#
Binary display
10#
Decimal display
16#
Hexadecimal display

and Controls
This function can be easily used for displaying and recording PLC
variables, supported by the IndraWorks input function.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.3.140
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
ASCII
0
--
Default value
---------
P-0-0493, PLC patch function 1, display

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
This parameter displays the content of a memory cell selected via the PLC
patch function.
The IndraWorks input support allows easily using the function for
displaying and recording PLC variables.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.3.141
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
HEX
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
selected from the symbol file of the PLC using (area/offset). The data type (sign,

and Controls

The following strings are permitted as data type:

BOOL
1 byte
BYTE, USINT
1 byte without sign
SINT
1 byte with sign
WORD, UINT
INT
2 bytes with sign
DWORD, UDINT
DINT
4 bytes with sign
REAL
4 byte
Fig.5-126:
Data type

2#
Binary display
10#
Decimal display
16#
Hexadecimal display
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.3.142
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
ASCII
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
patch function.

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.3.143
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
HEX
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
selected from the symbol file of the PLC using "Range/Offset". The data type
(sign, number of bytes) and the display format can be attached to the address
selected in the form of a string and separated by a comma.

The following strings can be used as data type:

BOOL
1 byte
BYTE, USINT
1 byte without sign
SINT
1 byte with sign
WORD, UINT
INT
2 bytes with sign
DWORD, UDINT
DINT
4 bytes with sign
REAL
4 bytes
Fig.5-127:
Data type

and Controls
2#
Binary display
10#
Decimal display
16#
Hexadecimal display
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.3.144
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
ASCII
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
patch function.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.3.145
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
HEX
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Function
selected from the symbol file of the PLC using (area/offset). The data type (sign,

The following strings can be used as data type:

BOOL
1 byte
BYTE, USINT
1 byte without sign
SINT
1 byte with sign
WORD, UINT
INT
2 bytes with sign
DWORD, UDINT
DINT
4 bytes with sign
REAL
4 bytes
Fig.5-128:
Data type

2#
Binary display
10#
Decimal display
16#
Hexadecimal display
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.3.146
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
ASCII
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
-
MPB
MPB
MPB
--
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
motion logic
+
patch function.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
5.4
5.4.1
P-0-0506, Amplitude for angle acquisition

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
4Byte
HEX
0
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter presets the start value for the amplitude of the test signal for
the automatic commutation offset determination methods with current.
See also Functional Description "Commutation Setting"
Use
The value for this parameter is stored. It can be changed for adjustment pur
poses.
This parameter takes effect for commutation setting by means of saturation
method and sine-wave method:
When the saturation method is activated, this parameter is a voltage value,

unit "V".
When the sine-wave method is activated, this parameter is a torque/force

value with unit "%". The reference value 100% is the motor torque at
standstill of the motor according to the data in "S00086, Torque/force
data scaling type".
The value for this parameter can be automatically generated by the
controller. By the start value "0" further values are iteratively gen
erated for P00506 and "P00507, Test frequency for angle ac
quisition" until the commutation offset determination is successfully
completed. After the iteration the values are stored and used for
every further commutation offset determination.
See also Parameter Description "S00086, Torque/Force data scaling type"

and Controls
See also Parameter Description "P00522, Control word for commutation set
ting"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
V
--
Input
MPB:
MPC:
MPD:
MPH:
5.4.2
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
-+
--
min./max.
0 / 1000
0 / 1000
0 / 1000
0 / 1000
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
+
Default value
0
0
0
0
P-0-0507, Test frequency for angle acquisition

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter sets the start frequency of the test signal for the automatic
commutation offset determination.
Use
The value for this parameter is stored. It can be changed for adjustment pur
poses.
The value for this parameter can be automatically generated by the
controller. By the start value "0" further values are iteratively gen
erated for "P00506" and "P00506, Voltage amplitude for angle
acquisition" until the commutation offset determination is success
fully completed. After the iteration the values are stored and used
for every further commutation offset determination.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Hz
--
Input
MPB:
MPC:
MPD:
MPH:
5.4.3
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
-+
--
min./max.
0 / 1000
0 / 1000
0 / 1000
0 / 1000
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
+
Default value
500
500
500
500
P-0-0508, Commutation offset

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In the case of synchronous motors that are delivered with fixed, mechanical
configuration of the rotor and the absolute encoder system (MHD, MKD, MKE)

and Controls
this value is determined once at the factory and stored in the motor encoder
(P03008, Commutation offset, encoder memory).
During the initialization, after switching on and detecting the encoder memory,
the parameter value is automatically loaded to the controller (P03008 ->
P00508) and at drive enable the motor is immediately ready for operation!
In the case of synchronous kit motors with absolute measuring system, the
value is determined once on the axis side and stored in the controller (in
P00508 and, if available on the motor encoder side, in P03008, too). After
switching on the motor is immediately ready for operation at drive enable!
Use
In the case of synchronous kit motors with incremental measuring system the
commutation offset must be determined again each time the drive is switched
on again. After drive enable a procedure for determining the correct value for
the effective commutation offset (P00521) is automatically started. It is only
after the procedure has been successfully completed that the motor can pro
duce force! You can select the saturation method or the sine-wave method as
the procedure for commutation setting (see also "method of commutation set
ting" in "P00522, Control word for commutation setting"). It is preferable to
use the saturation method because it runs without motion!
During the subsequent homing procedure of the incremental measuring system
a commutation offset fine adjustment is carried out. To do this the value of
P00521 converted to the home point is compared to P00508 and corrected,
if necessary. The motor then runs with the optimum commutation offset from
P03008 / P00508 determined during the initial commissioning procedure.
The commutation fine adjust is deactivated, when the value "0" is entered in
P00508.
The values of P00521 and P00508 are generally different, because
P00521 is related to the position of the motor encoder at the time the drive is
switched on and P00508 is related to the home point of the axis!
P00508 can only be written in communication phase "P2". It can
only be indirectly written for the purpose of optimization via
"P00521, Effective commutation offset" in the initial commission
ing mode with active drive!
The value for P00508 must always be determined again if:
the mechanical arrangement of the measuring system is

changed in the case of rotary motors or
the primary and secondary part are mechanically changed in

the case of kit motors.
This parameter is irrelevant for asynchronous motors.

See also Parameter Description "P-0-0522, Control word for commutation set
ting"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
StdNul / 1024
StdNul / 1024
StdNul / 1024
StdNul / 1024
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
0
0
0
2Byte
DEC_OV
0
+

and Controls
5.4.4
P-0-0510, Rotor inertia

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Depending on "P04014, Type of construction of motor", bit 9, the value of this

parameter varies in its significance:
Rotor inertia (without load inertia) in the case of rotary motors
Primary part mass (without load mass) in the case of linear motors
Automatically on initial commissioning of MSK, MHD, MKD,

MKE MAD, MAF motors.
By loading the motor parameters with the commissioning soft

ware (e.g. IndraWorks) where 2AD, ADF, linear and rotary kit
motors are concerned.

Systems"
construction of motor":
Unit for type of constr. of motor (P-04014) Decimal places for type of constr. of motor
(P04014)
Rotary
Linear
Rotary
Linear
kgm2
kg
Fig.5-129:
Use
Unit and Decimal Places of P00510, Depending on P04014
This parameter is used for:
Automatic control loop setting (C1800)
Sensorless, flux-controlled operation of asynchronous motors
If none of the mentioned cases is used, it is not obligatory to enter a value!

The rotor inertia or motor mass is important, in conjunction with the load inertia
or load mass, for optimizing the velocity control loop.
Sensorless, flux-controlled operation of asynchronous motors (FXC)
For sensorless, flux-controlled operation of asynchronous motors, the value of
the rotor inertia is important, in conjunction with the (motor-related) load inertia,
for the setting of the frequency loop.
See also Functional Description "Sensorless Motor Operation, Flux-Controlled
(FXC Control)"

and Controls
Automatic control loop setting (C1800) and sensorless, flux-con
trolled operation of asynchronous motors are mutually exclusive!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
kgm
--
Input
MPB:
MPC:
MPD:
MPH:
5.4.5
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
StdNul / 500,00000
StdNul / 500,00000
StdNul / 500,00000
StdNul / 500,00000
Default value
0,00000
0,00000
0,00000
0,00000
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_OV
5
+
P-0-0512, Temperature sensor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The controller monitors the motor temperature by means of temperature sen

sors installed in the motor. The controller can directly evaluate standard tem
perature sensors because the characteristics of the sensors are stored in the
firmware.
Use
In the case of motors with encoder data memory (MHD, MKD,

MKE), this parameter is automatically set correctly when the
motor parameters are loaded!
In the case of motors without encoder data memory (2AD,

ADF, LSP, MSS, 1MS), the parameter must be set to the cor
rect value! When you use the DriveTop commissioning tool,
the value is automatically set correctly!
The temperature sensors that can be directly evaluated by the controller are
characterized by an identification number:
1: SNM150-DK, by Thermik, (PTC with switching performance, three-core

circuitry) incorporated in MHD, MKD, MBS, MBT and LSF motors
2: K227, by Siemens (NTC, analog characteristic), incorporated in 2AD,

ADF and 1MB motors
3: KTY84, by Siemens (PTC, analog characteristic)
4: SNM150-DK, by Thermik, (PTC with switching performance, three-core

circuitry) incorporated in MKE motors
5: temperature sensor for Bosch SF motors (NTC)
In addition, it is also possible to evaluate less ordinary temperature sensors,

but the customer must enter the characteristics of those sensors in a list pa
rameter. Please select the following setting:
100: unknown temperature sensor
The characteristic of the unknown temperature sensor must be entered in the

list parameter "P00513, Temperature sensor characteristic".

and Controls
If a (third-party) motor is operated that does not have a built-in temperature
sensor, the following setting has to be selected:
0: no monitoring of the motor temperature

In the case of overload, the controller cannot protect motors without
temperature sensor against thermal damage!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
+
min./max.
Default value
StdNul / awMaxWertParTem
1
peratu
--- / --1
StdNul / awMaxWertParTem
1
peratu
--- / --1
MPB:
MPC:
MPD:
MPH:
5.4.6
PM
PM->OM
-+
P-0-0513, Temperature sensor characteristic

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
If a temperature sensor is to be evaluated the characteristic of which has not

been stored in the firmware, the characteristic has to be entered in this param
eter in the form of a value table.
Use
The values must be strictly and monotonously ascending or descending, i.e. in

the table the values assigned to an increasing temperature must either be al
ways higher than all preceding values or always lower than all preceding values.
In the table, the values must not descend and ascend in different sections of
the table!
Row no. of P-0-0513
Temperature in Celsius Resistance value in ohm []

[C]
-20
-10
10
20
30
40
50
60
10
70

and Controls
Row no. of P-0-0513
Temperature in Celsius Resistance value in ohm []

[C]
11
80
12
90
13
100
14
110
15
120
16
130
17
140
18
150
19
160
20
170
21
180
22
190
23
200
24
210
25
220
26
230
27
240
28
250
Fig.5-130:
List for Temperature Sensor Characteristic
See also Parameter Description "P00512, Temperature sensor"

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Ohm
--
Input
MPB:
MPC:
MPD:
MPH:
5.4.7
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
StdNul / Max500M
StdNul / Max500M
StdNul / Max500M
StdNul / Max500M
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_OV
0
+
Default value
---------
P-0-0517, Commutation: required harmonics component

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used as threshold for determining a minimum harmonics

component of the current for commutation determination by means of the sat
uration method.

and Controls
Use
If the percentage-based harmonics component of the current related to the

fundamental wave during automatic commutation determination is smaller than
the value entered in P00517, this results in an incorrect result value for
"P00521, Effective commutation offset" which can cause positive feedback of
the motor ("F8078 Speed loop error"). The drive therefore aborts the command
with the command error "F8013" or "C1218 Automatic commutation: current
too low".
In most cases the default value of 4% does not have to be changed.
Only in exceptional cases is it necessary to correct this threshold
value iteratively during commissioning:
If error "F8013" or "C1218 Automatic commutation: current too

low" occurs and if similar values (+/- approx. 30) are deter
mined for "P00521, Effective commutation offset" with re
peated commutation setting for different motor positions (drive
remains in "Ab"), reduce P00517 until error message no lon
ger occurs; finally check correct functioning of commutation
setting several times!
If error "F8078 Speed loop error" occurs although commuta

tion determination hasn't signaled any error, increase value in
parameter "P00517, Commutation: required harmonics com
ponent"!
Record of Revisions
Version
Attribute
GEN-02VRS
Memory: --
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
%
--
Input
MPB:
MPC:
MPD:
MPH:
5.4.8
Comment
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
-+
--
min./max.
1,0 / 10,0
1,0 / 10,0
1,0 / 10,0
1,0 / 10,0
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
1
+
Default value
4,0
4,0
4,0
4,0
P-0-0518, C5600 Command subsequent optimization of commutation

offset
Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-closed loop
--
-
-
MPH
MPH
MPH
MPH
-
-
MPD
MPD
MPD
MPD
MPC
MPC
This command is used to subsequently optimize the commutation offset which

was previously determined by means of sine-wave method or saturation meth
od.
The command can only be executed in control (status "AF").

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.4.9
OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
P-0-0520, Encoder validation error threshold factor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The mechanical link between motor encoder and rotor is monitored. If a mal
function is detected, e.g. breakage of encoder shaft, the error message F8023
is output.
See also Functional Description "Compensation Functions/Corrections"
Use
Parameter P-0-0520 influences the upper (P-0-0621) and lower (P-0-0622)

monitoring thresholds of encoder validation monitoring. For the commissioning
of third-party motors or the commissioning of motors without encoder data
memory, it might be required to increase the value of the parameter to make
sure that the error F8023 won't be generated.
Example:
P-0-0520
100% - changed to - 150%
50%
P-0-0621
20V - changed to - 30V
10V
P-0-0622
-10V - changed to - 15V
-5V
Version
Attribute
up
MPx04VRS
to
up
MPx04VRS
to
up
MPx04VRS
to
up
MPx04VRS
to
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Comment
Validity ch.: no
Extr. val. ch.: no
MPx_Min Value: 30
MPx_Max Value: 1000
Par
PARAM_SP
%
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
30,0 / 3000,0
30,0 / 3000,0
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
2Byte
DEC_OV
1
--

and Controls
MPD:
MPH:
5.4.10
30,0 / 3000,0
30,0 / 3000,0
-----
P-0-0521, Effective commutation offset

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In the case of synchronous motors, the value of the commutation offset that is
currently active in the drive is displayed in this parameter. This value refers to
the actual position value of the motor encoder at the time the drive is switched
on.
Use
In the initial commissioning mode (to be set in "P00522, Commutation setting

control word") this value can be written with immediate effect and can be used
for optimization.
Optimization is carried out by measuring the drive force with con
stant force command value and variation of the automatically de
termined value of P00521. The value with which the highest force
was reached is the optimum value!
Based on the automatically determined value, the value of P00521
should be changed by a maximum of +/-256!
During the initial commissioning of synchronous motors with incremental meas
uring system the value of P00521 converted to the home point is taken over
to "P00508, Commutation offset" when executing "S00148, C0600 Drivecontrolled homing procedure command".
During the initial commissioning of synchronous motors with absolute measur
ing system the value of P00521 is directly taken over to P00508 when the
command "P00524, C1200 Commutation offset setting command" is execu
ted.
If an encoder data memory is available the commutation offset is also stored in
"P03008, Commutation offset, encoder memory".
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.4.11
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
-+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
StdNul / 1024
StdNul / 1024
StdNul / 1024
StdNul / 1024
2Byte
DEC_OV
0
--
Default value
0
0
0
0
P-0-0522, Control word for commutation setting

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
MPB
MPB
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Hardware
Funct. package(s):
Device parameter:
Function
-closed loop
--
By this parameter it is possible to select the method by means of which the

commutation offset is determined when starting "P00524, C1200 Commuta
tion offset setting command".
See also Functional Description "Commutation Setting".
Structure
Bit
1/0
Commutation setting method
Comment
00: Disabled
01: Currentless (without "AF"), manual distance measure
ment for linear motors
10: With current (with "AF"), automatically determined for
all SY motor models by "saturation method"
11: With current (with "AF"), automatically determined for
all SY motor models by "sine-wave method"
4
"Search direction" for sine-wave method

0: Increase of amplitude with priority
1: Increase of frequency with priority
Moving back to start position with sine-wave method

Moving back to start position*
* As of MPx03V12
0: Automatically moving back

1: No moving back
6
Reserved
Setting of test signal for sine-wave method

0: Fixed duration
1: Fixed number of signal periods
Releasing holding brake with active sine-wave method

0: No, brake remains applied
1: Yes, brake is released
14
Commutation with encoder gear on commissioning
As of MPx06V08
0: No, commutation only allowed in AF

1: Yes, commutation on commissioning allowed, if neces
sary
15
Initial commissioning mode

0: Inactive
1: Active
Fig.5-131:
Use
Relevant Bits of P00522, Control word for commutation setting
The controller is told via "P00522" whether the initial commissioning of a syn
chronous motor is to be carried out. This causes the values stored in "P00508,
Commutation offset" / "P03008, Commutation offset, encoder memory" to be
overwritten.
In the case of motors with absolute measuring system, the result is directly
taken over to P00508 when determining the commutation offset (com

and Controls
mand P00524). In addition, the value can be optimized by changing
"P00521, Effective commutation offset", because it is directly copied to
P00508.
In the case of motors with incremental measuring system, the result is not
taken over directly to P00508 when determining the commutation offset
by means of the P00524 command (only possible with current!) and with
active "initial commissioning" mode. It is only by the subsequent homing
of the measuring system that the value of P00521 converted to the home
point of the axis is written to P00508.
If an encoder data memory is available, the commutation offset is also

stored in "P03008, Commutation offset, encoder memory".
The sine-wave method which requires unrestricted movement can only be used
for freely moving axes! A possibly available holding brake has to be released
while the commutation settings are made!
Vertical axes without weight compensation may move down while the
holding brake is automatically released by activating the sine-wave
method!
WARNING
The sine-wave method can only be used for equilibrated axes!

If the "sine wave method" with current was selected, the time re
quired for commutation setting can be considerably reduced by
setting bit 7 to "fixed number of signal periods" if the values of
"P00507, Test frequency for angle acquisition" are >approx. 50.
Using this setting is only recommended for synchronous motors
with relative measuring system in conjunction with home-point-re
lated commutation offset value, because the quality of the deter
mined commutation setting can be poor!
This parameter is stored!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.4.12
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
+
Default value
0
0
0
0
P-0-0523, Commutation setting measured value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
If the commutation setting is to be carried out in a currentless way (can be set

in "P00522, Control word for commutation setting") in the case of synchronous
linear motors with absolute measuring system, the defined distance

and Controls
(see Functional Description for synchronous linear motors) must be entered in
this parameter.
The currentless commutation setting only makes sense in the case
of synchronous linear motors with absolute measuring system, be
cause the distance measurement is only carried out once during the
initial commissioning. The determined value is stored and in con
nection with the absolute measuring system it automatically causes
the current and magnetic field to be correctly coordinated in the
motor at each new start of the machine axis.
See also Functional Description "Rexroth Kit Motors"
Function:
Memory:
Unit:
Cycl. tra.:
Par
-mm
--
Input
MPB:
MPC:
MPD:
MPH:
5.4.13
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
-+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
MinLong / MaxLong
MinLong / MaxLong
MinLong / MaxLong
MinLong / MaxLong
4Byte
DEC_MV
1
--
Default value
0,0
0,0
0,0
0,0
P-0-0524, C1200 Commutation offset setting command

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
By means of parameter P00524 it is possible to activate the command for

setting the commutation offset.
Use
After starting the command the drive automatically determines the value for the
commutation offset of the synchronous motor and stores it in "P00521, Ef
fective commutation offset". With the initial commissioning mode activated (see
"P00522, Commutation setting control word") and absolute motor encoder the
value is also stored in "P00508, Commutation offset". If an encoder memory
is available the commutation offset is also stored in "P03008, Commutation
offset, encoder memory".
The correct value for the commutation offset causes the appropriate assign
ment of the current flow in the motor to the permanent magnetic field so that
the maximum force is caused by the flowing current.
This command is only required for synchronous motors that are
delivered without fixed, mechanical assignment of the rotor or mov
able part of the motor to the encoder system (e.g. synchronous kit
motors).
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.4.14
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
P-0-0525, Holding brake control word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter informs the controller of the type of holding brake and the way
it is controlled.
Self-releasing or self-holding brake
Main drive brake or servo brake
Automatic brake check on drive enable activation and deactivation
Activation of the "release holding brake" command
For Rexroth motors MHD, MKD, MKE und MSK with encoder
data memory, bit 0 and bit 2 are automatically set!
For motors without encoder data memory, bit 0 and bit 2 must
be manually set to the appropriate value, depending on wheth
er a holding brake is available!
For motors without integrated holding brake, an external hold

ing brake can be controlled by the controller (set bit 2 to "1").
Set bit 0 according to type of holding brake!

Structure
Bit
Type of holding brake

0: Self-holding, applied at 0 V
1: Electrically holding, applied at 24 V
Functional Principle
0: Servo brake, brake is activated after max. braking time
1: Main drive brake, brake is only activated when nact <
10 rpm
Holding brake available?

0: No
1: Yes (possibly external holding brake, if no motor-inter
nal brake available!)
Automatic holding brake monitoring

0: No
1: Yes, on drive enable (AF) activation and deactivation
Comment

and Controls
Bit
Comment
Resurfacing of the brake (if the brake check command is In MPx02; no lon
executed)
ger in MPx03 and
above!
0: No
1: Yes
Command "release holding brake" allowed

0: No
1: Yes
Activate time interval of holding brake check?
As of MPx03
0: No
1: Yes
7
Activating command "release holding brake" allowed via As of MPH04

control panel?
0: No
1: Yes
Brake current monitoring
As of MPx05
0: Deactivated
1: Active
Note: This functionality requires further settings and ad
ditional hardware.
10/9
Test direction of brake check
As of MPx05V12
00: Test in both directions (default)

01: Test in positive direction
10: Test in negative direction
11
Activation of control of external holding brake
As of MPx05V16
0: Inactive (default, from motor feedback)

1: Active, possible extension of drive delay times
(S00206/207)
Fig.5-132:
Use
If the safe braking and holding system is used, it is not allowed to

select bit 3!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.4.15
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
-+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
0
0
0
P-0-0528, Flux control loop proportional gain

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
MPB
MPB
MPB
MPH
MPH
MPH
MPD
MPD
MPD
2Byte
BIN
0
--

and Controls
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPC
MPC
For asynchronous motors, the gain of the flux loop is entered in this parameter.
See also Functional Description "Field-Oriented Closed-Loop Current Control"
Use
In the case of asynchronous motors, the rotor flux is the product of motor mag
netizing inductance and magnetizing current. The rotor flux, however, only
occurs with a delay via the rotor time constant. The task of the flux loop is to
generate the rotor flux command value as quickly as possible by the corre
sponding overshoot of the magnetizing current. The flux-loop was realized as
a P-loop with command value feedforward as is illustrated in the figure below.
The controller output is divided by the current magnetizing inductance, the re
sult is the id command value for the current loop. The double nominal magnet
izing current is considered to be the limit value for the id command value.
Fig.5-133:
Flux Loop
For dynamic applications, the flux loop gain can be determined from the motor
data according to the following estimate formula.
Fig.5-134:
Formula for Determination of Flux Loop Proportional Gain
For less dynamic applications or if the id command value P00039 has the
tendency to oscillate, this value can be reduced. Basically it is also possible to
run without flux loop, in this case make the setting P00528 = 0.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.4.16
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,00 / 100,00
0,00 / 100,00
0,00 / 100,00
0,00 / 100,00
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
2
+
Default value
1,00
1,00
1,00
1,00
P-0-0529, Scaling of stall current limit

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
MPB
MPB
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Hardware
Funct. package(s):
Device parameter:
Function

--
The stall current limit is the limit for the torque-generating current of asynchro
nous motors.
Use
With higher currents the torque at the shaft is reduced. In practical application
this limit is only important in the upper field weakening range when the mag
netizing current has very low values. The determining elements of the stall
current limit are the inductances of the equivalent circuit diagram (P04039,
P04040, P04041) and the active rotor flux that is generated in the stationary
case from the magnetizing current id.
iq,lim:
:
stall current limit for torque-generating current

leakage factor of the asynchronous motor
Fig.5-135:
Stall current limit of an asynchronous machine
With the value set in P00529 it is possible to change the stall current limit
relatively. With the setting P-0-0529 = 100% it is exactly the limit value defined
above that takes effect, lower values are reducing the stall current limit accord
ingly. For Bosch Rexroth motors the parameter value is stored in the "Drive
Base". For third-party motors it is recommended to make the input via the motor
type plate P04032. The command "P04033, C3200 Command Calculate
data for asynchronous motor" also calculates the value for P00529.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
%
--
Input
MPB:
MPC:
MPD:
MPH:
5.4.17
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
10 / 150
10 / 150
10 / 150
10 / 150
Default value
100
100
100
100
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_OV
0
+
P-0-0530, Slip increase

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter is only used for asynchronous motors. In the asynchronous

motor the rotor resistance and therefore the rotor time constant change as the
temperature changes.
Use
For calculating the load-dependent slip value required for the torque output the
rotor time constant is taken into account. The rotor time constant that changes
depending on the temperature is compensated by the temperature-dependent
slip increase.

and Controls
The value for the slip increase (referring to 100K temperature difference) is
motor-specific and determined individually for each asynchronous motor type.
Function:
Memory:
Unit:
Cycl. tra.:
In the case of 2AD, ADF and 1MB (1MS), by loading the motor
parameters with the commissioning software (e.g.
IndraWorks).
In the case of other motors manual input.
Par
PARAM_SP
1/100K
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.4.18
PM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
1,00 / 2,00
1,00 / 2,00
1,00 / 2,00
1,00 / 2,00
Default value
1,50
1,50
1,50
1,50
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_OV
2
+
P-0-0532, Premagnetization factor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
With this parameter it is possible to reduce the magnetizing current of an asyn

chronous motor and therefore the rotor flux. The factor is referring to "P04004,
Magnetizing current".
Systems"
Use
Reducing Magnetizing Current De

pending on Work Load
The magnetizing current is reduced depending on the setting of the respective

bit in "P00045, Control word of current controller"
depending on work load (default) - or -
independent of work load.
In no-load operation, the magnetizing current (P04004) can be reduced to the

percentage indicated in P00532. Possible values are between 50% and
100%. Under load the magnetizing current increases proportionally to the re
quired torque or to the torque-generating current. When the torque-generating
current has reached the 2-fold value of P04004, the full magnetizing current
(value of P04004) is flowing, independent of the value of the premagnetization
factor P00532. The motor reaches the maximum possible torque!

and Controls
id
iq
flux-generating current (P00039)

torque-generating current (P00038)
Fig.5-136:
Reducing Magnetizing Current In

dependent of Work Load
Load-depending operating principle of the premagnetization factor
The magnetizing current of an asynchronous motor can also be reduced or

increased permanently, i.e. independent of the currently effective load. Values
between 50% and 150% can be set.
With values lower than 100% the torque output at the motor shaft is de
layed compared to the command value. The torque of the motor available
at maximum allowed or possible current can be reduced, too!
With values higher than 100% the maximum available torque can also be
reduced, because the torque-generating current component of the total
current is lower due to the increased magnetizing current. With increased
magnetizing current, saturation effects can occur in the magnetic circuit
of the motor, the torque-increasing effect does not appear in this case!
In the case of previously known changes of load, parameter P00532 can

be entered in the MDT for cyclic input in order that the control master can
precontrol the possibly reduced magnetization of the motor in an appro
priate way. Short-time overmagnetization with values greater than 100%
can be useful for peak loads.
In the case of 2AD, ADF and rotary kit motors, by loading the
motor parameters with the DriveTop commissioning tool (de
fault value P00532 = 50%!).
In the case of other motors: default value or manual input.
Notes on Application

and Controls
Spindle Drives
Servo Drives
Due to the reduction of the magnetizing current there is less motor temperature
rise and noise generation resulting in no-load operation; a setting smaller than
100% in P00532 is therefore recommended for spindle drives.
Closed-loop: 50% (operating principle "depending on load")
Open-loop: 70% (operating principle "independent of load")
For servo drives with asynchronous motors it is recommended to set 100%,

because with lower values the torque at the shaft is only available with a delay
compared to the command value!
After having set P00532 check whether the machining, accelera
tion and deceleration processes have the desired result!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
%
MDT
Input
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
ausFREG_Magnetisierungs
FaktorM
FaktorM
FaktorM
FaktorM
MPB:
MPC:
MPD:
MPH:
5.4.19
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
2Byte
DEC_OV
0
+
Default value
100
100
100
100
P-0-0533, Voltage loop proportional gain

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
By means of this parameter the proportional gain of the voltage loop is entered.
The voltage loop is used to control the motor voltage in the field-weakening
range.
In the case of MAD and MAF with encoder data memory au

tomatically during initial commissioning.
ing the motor parameters with the commissioning software
(e.g. IndraWorks).
See also Functional Description "Third-Party Motors at IndraDrive Controllers"

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
PARAM_SP
A/V
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
StdNul / StdUMax
StdNul / StdUMax
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0,500
0,500
2Byte
DEC_OV
3
+

and Controls
MPD:
MPH:
5.4.20
StdNul / StdUMax
StdNul / StdUMax
0,500
0,500
P-0-0534, Voltage loop integral action time

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
By means of this parameter the integral action time of the voltage loop is en
tered. The voltage loop is used to control the motor voltage in the fieldweakening range.

(e.g. IndraWorks).
See also Functional Description "Determining the Motor Parameter Values"

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
ms
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.4.21
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
Default value
600,0
600,0
600,0
600,0
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_OV
1
+
P-0-0535, Motor voltage at no load

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
As a matter of principle, this parameter only takes effect in field weakening

operation. It defines a voltage that is indicated in percent of the maximum con
verter output voltage.
See also Functional Description "Determining the Parameter Values of ThirdParty Motors"
Use
In addition, its function depends on the selected type of motor construction:

1) Asynchronous motor:

and Controls
The parameter defines the voltage at no load of the motor in field weakening
operation. By means of this voltage the command value of the rotor flux is precontrolled.
2) Synchronous motor:
The parameter defines the command value of the e.m.f. voltage for acceleration
or deceleration processes in the field weakening range. By reducing this value
more torque can possibly be generated in these cases.
Function:
Memory:
Unit:
Cycl. tra.:
In the case of MAD and MAF with encoder data memory, au

ing the motor parameters via the commissioning software (e.g.
IndraWorks).
In the case of other motors: Default value or manual input, set

a maximum of 80% because of the required control margin!
Par
PARAM_SP
%
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.4.22
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0,0 / 100,0
0,0 / 100,0
0,0 / 100,0
0,0 / 100,0
Default value
80,0
80,0
80,0
80,0
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_OV
1
+
P-0-0536, Maximum motor voltage

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter defines the command voltage of the voltage loop. It is indicated
in percent of the maximum converter output voltage.

(e.g. IndraWorks).
In the case of other motors: Default value or manual input, set

a maximum of 90% because of the required control margin!

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
%
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
1
+

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.4.23
min./max.
50,0 / 100,0
50,0 / 100,0
50,0 / 100,0
50,0 / 100,0
Default value
90,0
90,0
90,0
90,0
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
P-0-0539, Holding brake status word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter displays the current status of the holding brake.

Structure
Bit
Comment
output voltage for motor holding brake

0: 0V
1: 24V
status of holding brake check

0: carried out without success
brake check negative, brake not released or not enough
holding torque or brake check required, as interval since
last check is greater than value of P00550, Time interval
brake check
1: carried out successfullybrake release and holding tor
que checked and without error
status of "brake release" check
as of MPx03VRS
0: brake not released or

brake release not checked or
release check required, as interval since last check is
greater than value of P00550, Time interval brake check
1: brake has been released, further brake check not yet
required
3
status of "holding torque" check
as of MPx03VRS
0: holding torque too low or

holding torque not checked or
holding torque check required, as interval since last check
is greater than value of P00550, Time interval brake
check
1: holding torque is sufficient, further brake check not yet
required
Fig.5-137:
Function:
Memory:
Relevant bits of P-0-0539, Holding brake status word

Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
2Byte
BIN

and Controls
Unit:
Cycl. tra.:
-AT
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.4.24
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
0
--
Default value
---------
P-0-0540, Torque of holding brake

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The nominal torque of the holding brake has to be entered in this parameter.
With motor holding brake monitor active, the brake is checked with regard to
this value unless this was differently set in the parameters "P00545, Test tor
que for releasing motor holding brake" and "P00547, Nominal load of holding
system" ("P00547, Test torque with holding brake applied" for MPx02).
In the case of motors with holding brake and encoder data memory (MHD, MKD,
MKE), the correct value is automatically written to parameter P00540. In the
case of motors without encoder data memory, the value has to be entered
manually.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Nm
--
Input
MPB:
MPC:
MPD:
MPH:
5.4.25
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0,0 / StdUMax
0,0 / StdUMax
0,0 / StdUMax
0,0 / StdUMax
2Byte
DEC_OV
1
+
Default value
0,0
0,0
0,0
0,0
P-0-0541, C2100 Holding system check command

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In MPx04VRS and below: P-0-0541, C2100 Brake check command

With this command it is possible to check the motor holding brake. For this
purpose, drive enable is required. Initially, the motor holding brake is released
and the motor is energized with half the braking torque. If the motor does not
move, the error message "F2069 Error when releasing the motor holding brake"
is output and the command is exited.
Use
If the motor moves (2 degrees), the brake is correctly released. The holding
torque of the brake is now checked. For this purpose, the brake is applied by

and Controls
the controller and the holding torque of the brake is generated by the motor. If
the rotor does not move, the brake has the given holding torque. If the rotor
moves (>2 degrees), either the brake check command is exited or an attempt
is made to restore the braking torque. This depends on bit 4 in "P-0-0525,
Holding brake control word".
To achieve restoration of the braking torque, the rotor is moved by 520 de
grees ("resurfacing" of the brake). At the same time, the holding brake is
cyclically applied and released. Thereafter, the controller once more checks the
brake holding torque and finally exits the command.
If the brake fails to reach its holding torque at the end of the command, the
message "C2103, Holding brake: Torque too low" is output. The result of the
brake check is displayed by a bit of "P-0-0539, Holding brake status word" or
"P-0-3301, Redundant holding brake: status word".
Property damage caused by drive-controlled axis movements during

brake check!
Before starting the command, move the axis to a noncritical position!
CAUTION
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.4.26
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
P-0-0542, C2000 Command Release holding brake

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Function
Up to MPx05, the name of this parameter was "C2000 Command

Release motor holding brake".
By means of this parameter, it is possible to release the motor holding brake
when drive enable has been switched off. At the start of the command, the
holding brake is released; upon completion of the command, the brake is ap
plied again.
When drive enable is set with the command being active, the holding brake
remains released; when drive enable is switched off, the brake, however, is
automatically applied.
The command has to be enabled via bit 5 in "P00525, Holding
brake control word".

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.4.27
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
P-0-0543, C3800 Command Apply holding brake

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Function

Apply motor holding brake".
By means of this parameter, it is possible to apply the holding brake in com
munication phase 4.
Use
At the start of the command, the holding brake is applied. Upon completion of
the command, the brake is released again, if drive enable has been set. When
drive enable is removed with the command being active, the holding brake re
mains applied, even if the command is cleared. If drive enable is set when the
command has been set, the brake is nevertheless released.
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.4.28
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
P-0-0544, C3900 Command Holding brake resurfacing

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Function

Resurfacing of motor holding brake".
Up to MPx04, the name of this parameter was "C3900 C3900
Command Brake resurfacing".
With this command, a holding brake, which no longer attains its holding torque,
can be resurfaced. For this purpose, drive enable is required. During the exe
cution of the command, the motor is moved against the applied brake.
Use
After the start of C3900, the drive is accelerated to 100 min-1 or 100 mm/min.
Active acceleration and deceleration ramps, as well as filters (P01201,
P01202, P01203, P01211, P01213 und P01222) are taken into account!
After the command velocity has been reached, the brake is applied for 400 ms.
After that the drive is shut down by velocity control.

brake check!
CAUTION
When using a redundant holding brake, you have to make sure that
this brake has been released.
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.4.29
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
P-0-0545, Test torque for releasing holding system

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
If the "C2100 Command Holding system check" or the automatic brake check
function is executed while drive enable is activated, releasing of the motor
holding brake is monitored in the first step.
Use
In this parameter you can set a test torque with which the drive is to move in
any case with the motor holding brake released. If no movement is detected
when "P00545" takes effect, an error message is output and the status "error
when releasing the holding system" is set in "P00539" and "P-0-3301". It is
not possible to detect which of the brakes failed to release. If "P00545" has
been set to "0", the check is run with the value in "P00540, Torque of holding
brake".

and Controls
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.4.30
min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
2Byte
DEC_MV
S-0-0093
S-0-0094
--
Default value
0,0
0,0
0,0
0,0
P-0-0546, Starting torque for releasing holding system

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The first step of the "C2100 Brake check command" checks the release of the
motor holding brake.
If the load due to weight is not sufficient for the motor to move, a torque is preset.
The torque which results in motion is displayed in this parameter (the torque
due to weight and the force due to weight are not contained in P00546). The
parameter is updated during every brake check.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.4.31
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
S-0-0093
S-0-0094
--
Default value
---------
P-0-0547, Nominal load of holding system

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
For monitoring the holding brake ("C2100 Brake check command" or automat
ically, as determined in P00525) the motor generates test torque in order to
check the releasing of the brake or its holding torque.
Use
When the holding torque of the brake is checked, the motor mustn't move when
the test torque is applied. A possibly existing static axis load (e.g. weight) is
recognized and taken into account.

and Controls
When parameter P00547 has been set to "0", the test is carried out with the
value in parameter "P00540, Torque of motor holding brake".
For vertical axes the weight load should not exceed 50% of the
nominal holding force of the holding system!
Observe the respective regulations of the concerned institution for
statutory accident insurance and prevention ("Berufsgenossen
schaft") with regard to dimensioning and testing of axis holding
systems!
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.4.32
min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
2Byte
DEC_MV
S-0-0093
S-0-0094
--
Default value
0,0
0,0
0,0
0,0
P-0-0549, Oper. hours control sec. at last succ. holding system check
Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-closed loop
--
-
MPH
MPH
MPH
MPH
MPH
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays the point of time of the operating hours counter of the
control section at which the last successful holding system check was carried
out.
The operating hours counter of the control section runs while control
voltage is applied to the controller!
Function:
Memory:
Unit:
Cycl. tra.:
Par
RETAIN_GER
AET
s
--
Input
MPB:
MPC:
MPD:
MPH:
5.4.33
Editability:
nein
Data length:
4Byte
Validity ch.:
--
Format:
DEC_OV
Extr. val. ch.:

Comb. check:
---
Decim. pl.:
Switchable:
1
--
min./max.
--- / ----- / ----- / ----- / ---
Default value
0,0
0,0
0,0
0,0
P-0-0550, Time interval holding system check

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
-
MPB
MPB
MPB
MPB
-
MPH
MPH
MPH
MPH
-
MPD
MPD
MPD
MPD
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
-closed loop
--
MPH
MPD
MPC
If the holding brake check time interval is activated in P00525, or the safe
braking and holding system has been activated, the value of P00550 is used
for monitoring the time interval to the last successful, drive-side brake check:
If the time interval to the last successful brake check approaches the value
of P00550 up to 15 min., the warning "E3115 Prewarning, end of brake
check time interval" is output.
If the interval exceeds the value of P00550, the error message "F3115
Error, brake check time interval exceeded" is generated.

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
s
--
Input
MPB:
MPC:
MPD:
MPH:
5.4.34
PM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
900,0 / 604800,0
900,0 / 604800,0
900,0 / 604800,0
900,0 / 604800,0
Default value
28800,0
28800,0
28800,0
28800,0
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
4Byte
DEC_OV
1
--
P-0-0551, Current load torque

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
In this parameter, the maximum occurring load torque of the axis in standstill is
displayed and cyclically compared to "P-0-0547, Nominal load of holding sys
tem". When "P-0-0547, Nominal load of holding system" is exceeded, the error
message "F3116 Nominal load torque of holding system exceeded" is output.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.4.35
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
S-0-0093
S-0-0094
--
Default value
---------
P-0-0552, Input holding brake current monitoring

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
-
-
MPB
MPB
--
-
-
-
-
MPH
MPH
-
-
-
-
MPD
MPD
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function

--
This parameter is used to return and evaluate the acknowledgement signal of

the HAS 5.1 via the digital I/Os X31/X32.
The digital I/Os are configured via:
"P00300, Digital I/Os, assignment list," (P-0-0552)
"P00301, Digital I/Os, bit numbers" (bit 0)
"P00302, Digital I/Os, direction" (input 0)
Use
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.4.36
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
P-0-0554, Current torque value of the motor holding brake

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
-
MPD
MPD
MPD
MPC
MPC
The torque maintained by the motor holding brake during the execution of the
command "C2100 Command Holding system check" is entered in this param
eter; as a maximum the test torque, independent of whether the check was
successful or not. After a failed brake check and the resulting resurfacing pro
cedure, the value should be taken as the basis for improving the holding torque
of the brake.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.4.37
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
S-0-0093
S-0-0094
--
Default value
---------
P-0-0555, Status word of axis controller

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPB
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function

--
This parameter contains the following status information (messages) regarding

axis control in the form of individual status bits:
Velocity messages
Limits that have been reached, i.e. information regarding an active limita
tion

See also Functional Description "Closed-Loop Axis Control (Closed-Loop Op
eration)"
Structure

Bit
1: If n_feedback = n_command (S-0-0330)
1: If n_feedback < nx (S-0-0332)
1: If n_feedback = 0 (S-0-0331)
1: If n_command > n_limit (S-0-0335)
1: If T >= Tx (S00333)
1: If T >= Tlimit (S-00334)
1: If velocity limitation active
1: If T (S00084) > 90% of the currently possible maxi

mum load (P00444)
As of MPx03V08
10
1: If acceleration limitation is active
As of MPx04VRS
11
1: If positive torque limitation is active
12
1: If negative torque limitation is active
14
1: If position feedback value is in "Inpos win

dow" (S00336)
15
1: If position feedback value is in "Inpos coarse win

dow" (S00341)
Fig.5-138:
Comment
Message Bits of the Velocity Control Loop
The bits 12 and 13 are set when the output variable of the velocity
loop is limited by "S00082, Torque/force limit value positive" or
"S00083, Torque/force limit value negative" or "S00092, Bipolar
torque/force limit value".
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
BIN
0
--

and Controls
5.4.38
P-0-0556, Config word of axis controller

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used for configuring functions specific to axis control and
setting the control performance.
See also Functional Description "Closed-Loop Axis Control (Closed-Loop Op
eration)"
Structure

Bit
Comment
Fine interpolator
In MP*02V18 and
MP*03V06 and
above, the fine in
terpolator is off by
default!
If necessary, fine interpolation of the velocity command

value can be activated.
0: On
1: Off (default configuration!)
Velocity control loop monitoring (F8078)

0: On (default configuration!)
1: Off
Performance level selection (Advanced) 1)

If required, this bit can increase the performance, i.e. re
duce the clock rates, of Advanced control sections with
MPH firmware.
Execution mode for "Thermal torque/force coefficient, en

coder memory" "S00262, C07_x Load defaults proce
dure command"
0: Execution of C07_x Load defaults procedure com
mand takes place at the same time as the error is cleared
("C0500 Reset class 1 diagnostics" or "F2008 RL The mo
tor type has changed")
1: No, i.e. C07_x Load defaults procedure command is
executed independently of the clearing of the error
Torque/force limitation warning (E8260)

If required, the display of the warning in the case of active
torque/force limitation can be deactivated.
0: E8260 is displayed (active)
1: E8260 is not displayed (masked)
No longer applica
ble for MPx05 and
above!

and Controls
Bit
Comment
5 1)
Performance level selection (Economy) 1)
Applicable to
MP*03VRS and
above!
If required, this bit can increase the performance, i.e. re

duce the clock rates, of Basic control sections with MPB
firmware.
6
Initialization of motor data The motor data are read from

the motor data memory:
Applicable to
MPx04 and above
0: Once during the booting process

1: Always when the drive is switched to the operating
mode
7
Torque limitation in case of an error reaction and fatal

warning
Only applicable to
MPx04VRS
0: Limit is minimum of P00109, S00092, S00082,

S00083
1: Limit is P00109; S00092, S00082, S00083 are
ignored
Function always
corresponding to
value "1" in
MPx05 and above
PWM frequency switching depending on load:
As of MPx05
0: Not active
In P-0-0045 bit 7 in
MPx06 and above
1: Active
9
Point at which "P-0-0059, Additive position command val As of

ue, controller"" takes effect
MP*04V16VRS
0: Has no effect on feedforward
1: Has an effect on feedforward
10
Range of values for unipolar torque limitation ("S00082, As of MPx05V08

Torque/force limit value positive" and "S00083, Torque/
force limit value negative")
0: Standard range of values (default): S00082, can only
assume positive values. S00083, can only assume neg
ative values (negative sign required!).
1: Extended range of values: The value of S00082 must
be greater than S00083 (with sign!). Both values can be
entered with the same sign (positive and negative sign!).
11
Activation of torque correction for synchronous motors
As of MPx06V08
0: No dynamic correction of the torque constant

1: Dynamic correction of the torque constant depending
on the saturation and the motor temperature.
12
Activation of automatic determination of counterbalance of As of MPx06V10

load due to weight
0: No automatic determination. The value parameterized
in "S00163, Weight counterbalance" is used when drive
enable is switched on.
1: Automatic determination. When drive enable is switch
ed off, the current holding torque is copied to parameter
"S00163, Weight counterbalance". This value is used
when drive enable is switched on the next time.

and Controls
Bit
Comment
13
Asynchronous motors: Reduction of velocity control loop

gain in field weakening operation
As of MPx04V20
0: Reduction not active (default in MP04)
As of MPx06V08
1: Reduction is proportional to field weakening (default

value in MP05)
Synchronous motors: Correction of velocity control loop
gain when correction of torque constant (see bit 11)
0: Adjustment of control loop gain to corrected torque con
stant
1: Correction switched off
14
Acceleration monitoring in velocity loop

0: Off
1: On
15
Applicable to
MP*04VRS and
above
No longer used in
MPx05VRS and
above
Acceleration monitoring of position command value

0: On
1: Off
No longer suppor
ted in MP05 and
above
Bit 2 and bit 5 1) These bits must be observed in combination. The possible combina
tions are explained in the appendix.
Fig.5-139:
Use
Bit 0: Fine interpolator: The fine interpolator is also effective in velocity

control mode!
Bit 1: Velocity control loop monitoring: If required, the monitoring function

can be switched off; but this is not recommended and should only be done
in the case of an emergency (e.g. in the case of highly non-linear gears).
Bits 5, 2: Performance level: As described above, the performance of the

control loops is preset in parameter "P00556". Bits 5, 2 can be combined
as follows:
00 Basic performance: with MPH and MPB
01 Advanced performance: with MPH (or Basic perf. with MPB)
10 Economy performance: with MPB
11: Not allowed or reserved!

At present, the performance cannot be scaled via bit 2 and bit 5
where MPD firmware is concerned. In this case, only Basic per
formance is available.
Bit 8: PWM frequency reduction depending on load: The continuous cur

rent of the controller is reduced as the switching frequency of the power
output stage (PWM frequency) is increased. If "P00001, Switching fre
quency of the power output stage" is set to 12 kHz or 16 kHz, the controller
can automatically reduce the PWM frequency (bit 8 = 1) to relieve the
power output stage from its thermal load. This increases the allowed con
tinuous currentof the controller.

and Controls
If the value of "P00141, Thermal drive load" increases to the value

set in parameter "P00441, Overload warning", the switching fre
quency is internally reduced to 8 kHz. The warning "E2061 Device
overload prewarning" is displayed.
If "P00141" drops below a controller-specific threshold value, the

value entered for the switching frequency in "P00001" will again
take effect. Warning E2061 goes out.
Bit 9: Point at which additive position cmd value of controller takes ef

fect: In the majority of cases, feedforward values have a positive effect on
the control dynamics and reaction time of a drive. Feedforward values are
generated from command value characteristics:
Velocity feedforward from the position command value characteristic
Acceleration feedforward from the velocity command value charac

teristic
With this bit, you can set whether "P00059, Additive position com
mand value, controller" is included in the generation of the feedfor
ward values or whether it is afterwards added to the position
command value generated by command value adjustment.
"P00059" can only be used in position-controlled operation modes:
Cycl. position control
Bit 10: Range of values for unipolar torque limitation
The "extended range of values" allows using the same signs for "S00082" and
"S-0-0083". In this way it is possible to realize symmetric torque limitation with
reference to the basic load, for example for axes with basic load (vertical axes
without equilibration).
The "extended range of values" should only be used in appropriate
applications. There is increased risk of positive feedback in the
speed control loop, if, for example, the negative sign of
"S00083" is omitted.
CAUTION
Property damage caused by positive feedback and impeded axis de

celeration in the case of improper setting of "S-0-0082" and
"S-0-0083"!
The drive load which depends on the basic load must always be between the
limiting values of "S00082" and "S00083"! Any failure to observe this re
quirement will result in positive feedback. In this case, it would not be possible
to decelerate the axis! If the basic load is variable, "S00082" and "S00083"
must be adapted accordingly!
Bit 13: Asynchronous motors: Reduction of velocity control loop gain in

field weakening operation
It makes sense to activate this feature, when the asynchronous motor runs
steadily in the speed range of constant torque, but the torque command
value in field weakening operation tends to oscillation. In MPx05, this re
duction function is active by default (value "1"), but can be deactivated
(value "0").
Bit 13: Synchronous motors: Correction of velocity control loop gain (in
MPx06 and above)

and Controls
Activation only makes sense when the correction of the torque/force con
stant has been activated (bit11). The torque constant is reduced in the
overload range of the motor. Changes in the torque constant change the
effective control loop gain; this can be compensated.
Bit 14: Acceleration limitation (only in MPx04):

Activation of acceleration monitoring in the velocity loop. Acceleration is
limited to the value of "S-0-0138, Bipolar acceleration limit value" even in
the cyclic position control and synchronization modes.
Acceleration monitoring of position command value

In MPx05, bit 15 and bit 14 are not applicable any longer. Limitation
in the velocity loop is always active if parameter "S00138, Bipolar
acceleration limit value" is unequal to zero.
Record of Revisions
Version
Attribute
Up to MPx04VRS
MPx_default value: 32769
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.4.39
Comment
PM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
0x2001
0x2001
0x2001
0x2001
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
--
-
-
-
-
MPD
MPD
2Byte
BIN
0
--
P-0-0558, Drive Halt configuration

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
This parameter is used as control word for the function Drive Halt.
Structure
MPC
MPC

and Controls
Bit
Comment
Halt function
0:
Compatibility
mode
0: Quick stop
1: Operational stop
1
Control mode quick stop
0:
Compatibility
mode
0: Defined by operation modes

1: Freely selectable
2
Control type quick stop

0: Velocity-controlled
1: Position-controlled
Fig.5-140:
Use
P-0-0558
Bit 0 Kind of function Drive Halt

0: Quick stop switches to internal operation mode.
1: Operational stop decelerates in the active operation mode with Vcmd = 0.
Bit 1: Activate selection of control mode quick stop
0: The control type is defined by operation modes (S-0-0032 ...). When an op
eration mode with position control has been set, Drive Halt is carried out in
position control, otherwise in velocity control.
1: The control type can be freely selected (see bit 2).
Bit 2: Control type quick stop
0: The deceleration ramp is executed in velocity control.
1: The deceleration ramp is executed in position control.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.4.40
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
-+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0/7
0/7
0/7
0/7
2Byte
BIN
0
--
Default value
0
0
0
0
P-0-0565, C3600 Command Motor data identification

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
When this command is executed, the motor parameters of the motor connected
to the controller are optimized and the motor control parameters are calculated
from these data.
The most precise results of motor data identification are obtained
when "P00001, Switching frequency of the power output stage" is
set to the smallest value when starting C3600!

and Controls
See also Functional Description "Automatic Setting of Motor Control"
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.4.41
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-0566, C4600 Command Calculate motor control parameters

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
When this command is executed, the required motor control parameters are
calculated from the motor parameters.
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.4.42
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
P-0-0568, Voltage boost

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Function
By means of this parameter it is possible to increase the voltage at the base

point of the U/f characteristic (in the case of standstill or very low speed of an
asynchronous motor). The voltage required at the base point is determined on
the basis of the motor data and provided by the controller.
Use
Due to long motor lines, for example, starting problems can sometimes occur
for motors. In this case it is possible to improve the starting behavior by means
of this parameter by a value higher than 0V.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
V eff
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
2
+

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.4.43
min./max.
0,00 / 50,00
0,00 / 50,00
0,00 / 50,00
0,00 / 50,00
Default value
0,00
0,00
0,00
0,00
P-0-0569, Maximum stator frequency slope

Allocation
Function
Use
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains the maximum frequency command value change of

the motor voltage for sensorless operation of asynchronous motors.
U/f operation
For voltage-controlled operation (U/f) of asynchronous motors, the maximum
frequency command value change is preset via P-0-0569. The value is auto
matically determined via the commands for calculating the motor parameters
of third-party motors (C3200 and C3600). If the stall protection loop triggers
during run-up, the value set for P-0-0569 might possibly be too high and should
be reduced!
FXC operation
For sensorless, flux-controlled motor operation (FXC), this parameter is irrele
vant (inactive). In this case, the maximum stator frequency slope can be
influenced via "P-0-0596, FXC: Frequency loop scaling factor of inertia".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Hz/s
--
Input
MPB:
MPC:
MPD:
MPH:
5.4.44
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,01 / 3000,00
0,01 / 3000,00
0,01 / 3000,00
0,01 / 3000,00
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
2
+
Default value
200,00
200,00
200,00
200,00
P-0-0570, Stall protection loop proportional gain

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter presets the P-gain of the stall protection loop.

The enable signal of the stall protection loop is controlled via bit 12 in "P00045,
Control word of current controller".
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
2Byte
DEC_OV

and Controls
Unit:
Cycl. tra.:
%
--
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.4.45
+
--
min./max.
0,00 / 500,00
0,00 / 500,00
0,00 / 500,00
0,00 / 500,00
Decim. pl.:
Switchable:
2
+
Default value
100,00
100,00
100,00
100,00
P-0-0571, Stall protection loop integral action time

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
By means of this parameter it is possible to set the integral action time of the
stall protection loop.
The enable signal of the stall protection loop is controlled via a bit in "P00045,
Control word of current controller".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
ms
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.4.46
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0,0 / 6500,0
0,0 / 6500,0
0,0 / 6500,0
0,0 / 6500,0
Default value
1,0
1,0
1,0
1,0
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_OV
1
+
P-0-0572, Slip compensation factor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
By means of this parameter it is possible to trim the slip compensation feed

forward. With the setting 0.00% the feedforward is switched off completely.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
%
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,00 / 320,00
0,00 / 320,00
0,00 / 320,00
0,00 / 320,00
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0,00
0,00
0,00
0,00
2Byte
DEC_OV
2
+

and Controls
5.4.47
P-0-0573, IxR boost factor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
%
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0,00 / 320,00
0,00 / 320,00
0,00 / 320,00
0,00 / 320,00
Default value
0,00
0,00
0,00
0,00
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_OV
2
+
P-0-0574, Oscillation damping factor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
By means of this parameter it is possible to trim the oscillation damping feed

forward. With the setting 0.00% the feedforward is switched off completely.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
%
--
Input
MPB:
MPC:
MPD:
MPH:
5.4.49
MPC
MPC
By means of this parameter it is possible to trim the feedforward of the IxR boost.
With the setting 0.00% the feedforward is switched off completely.
Input
MPB:
MPC:
MPD:
MPH:
5.4.48
MPD
MPD
MPD
MPD
MPD
MPD
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
-320,00 / 320,00
-320,00 / 320,00
-320,00 / 320,00
-320,00 / 320,00
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
2
+
Default value
0,00
0,00
0,00
0,00
P-0-0575, Search mode: search current factor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Via P00045, Control word of current controller the search mode function can
be selected. During the search process a search current is generated in the still
turning machine that is to be searched.

and Controls
Search current = magnetizing current * P-0-0575 / 100%
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
%
--
Input
MPB:
MPC:
MPD:
MPH:
5.4.50
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
1,00 / 320,00
1,00 / 320,00
1,00 / 320,00
1,00 / 320,00
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
2
+
Default value
60,00
60,00
60,00
60,00
P-0-0576, Search mode: finding point slip factor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The search mode function is selected via "P00045, Control word of current
controller". As soon as the machine has been found the rated slip is added to
the speed at the "finding point". 100% are corresponding to the rated slip of the
machine.
With clockwise rotating field: V = Vfinding point + (Vslip * P-0-0576 / 100%)
With anti-clockwise rotat. field: V = Vfinding point - (Vslip * P-0-0576 / 100%)
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
%
--
Input
MPB:
MPC:
MPD:
MPH:
5.4.51
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
-320,00 / 320,00
-320,00 / 320,00
-320,00 / 320,00
-320,00 / 320,00
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
2
+
Default value
100,00
100,00
100,00
100,00
P-0-0577, Square characteristic: lowering factor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The square characteristic is selected via "P00045, Control word of current

controller". The degree of lowering in the basic range of setting is trimmed with
this parameter.
The value of 100% corresponds to the original square curve. When the per
centage value becomes lower, this lowering factor is reduced until the setting
0% has been reached which corresponds to the linear characteristic.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
2Byte
DEC_OV

and Controls
Unit:
Cycl. tra.:
%
--
Input
MPB:
MPC:
MPD:
MPH:
5.4.52
Extr. val. ch.:

Comb. check:
+
--
min./max.
0,00 / 100,00
0,00 / 100,00
0,00 / 100,00
0,00 / 100,00
Decim. pl.:
Switchable:
2
+
Default value
50,00
50,00
50,00
50,00
P-0-0578, Current for deceleration, absolute value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC
The current for deceleration, with which the asynchronous motor is decelerated
up to standstill in U/f operation or FXC operation, is entered in this parameter.
When determining the motor parameters via "P-0-0565, C3600 Command Mo
tor data identification", the value is automatically set to the rated current of the
motor.
See also Functional Description "Voltage-Controlled Operation (Open-Loop U/
f Control)"
See also Functional Description "Sensorless Motor Operation, Flux-Control
led"
Use
The current for deceleration (P-0-0578) only takes effect in U/f operation or FXC
operation of asynchronous to stop the motor.
U/f operation
In U/f operation, the current for deceleration can be deactivated by inputting
zero in "P-0-0579, Current for deceleration, time period". This means that the
motor is only stopped by U/f operation. The stopping, however, normally is im
proved by the activation of P-0-0578 by P-0-0579 unequal zero! P-0-0578 can
be changed by value input, the minimum value is "P-0-4004, Magnetizing cur
rent".
FXC operation
In FXC operation it is impossible to deactivate the current for deceleration!
When the value "0" is entered in "P-0-0579, Current for deceleration, time pe
riod", only the generated current is reduced, immediately after the detection of
stopping (by means of calculation), from the value of P-0-0578 to "P-0-4004,
Magnetizing current" * "P-0-0532, Premagnetization factor". By P-0-0579 un
equal zero, the current for deceleration can be maintained beyond the (calcu
lated) motor standstill.
See also Parameter Description "P-0-0579, Current for deceleration, time pe
riod"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
PARAM_SP
A eff
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
-+
--
min./max.
rIREG_UzuF[].lMin
Wert_P_0_0578
rIREG_UzuF[].lMin
Wert_P_0_0578
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
4Byte
DEC_MV
3
+

and Controls
rIREG_UzuF[].lMin
Wert_P_0_0578
rIREG_UzuF[].lMin
Wert_P_0_0578
MPD:
MPH:
5.4.53
-----
P-0-0579, Current for deceleration, time period

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC
In this parameter enter the time during which the current for deceleration
(P-0-0578) is generated in the asynchronous motor in U/f operation or FXC
operation.
See also Functional Description "Voltage-Controlled Operation (Open-Loop U/
f Control)"
led"
Use
U/f operation
In U/f operation, the current for deceleration starts when, at velocity command
value zero, the absolute value of the (calculated) actual velocity value falls be
low the value of "S-0-0124, Standstill window". If the absolute value of the
velocity command value again exceeds the standstill window before P-0-0579
is over, the motor in U/f operation accelerates to the preset command value. If
the command value remains at zero, the current flowing in the motor is caused
by "P-0-0568, Voltage boost" after P-0-0579 is over.
FXC operation
In FXC operation, the current for deceleration starts when, at velocity command
value zero, the absolute value of the (calculated) actual velocity value falls be
low an internal frequency threshold. With the value of P-0-0579, however, the
current for deceleration can be maintained beyond standstill (calculated actual
velocity value "0").
After the time period of P-0-0579 is over, "P-0-4004, Magnetizing current" *
"P-0-0532, Premagnetization factor" is generated.
The time period of the current for deceleration which can be set can improve
the stopping process in U/f operation or FXC operation, because the detection
of stopping is inexact for sensorless motors. Adjust the value of P-0-0579 to the
stopping behavior of the axis!
The default value of P-0-0579 is 0.5 sec. Entering zero deactivates
the d.c. braking!
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
ms
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
-+
--
min./max.
0 / 60000
0 / 60000
0 / 60000
0 / 60000
Data length:
Format:
Decim. pl.:
Switchable:
Default value
500
500
500
500
2Byte
DEC_OV
0
+

and Controls
5.4.54
P-0-0580, Motor frequency

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
--
-
-
-
-
MPD
MPD
MPC
MPC
This is a display parameter for motor control in all operation modes.

It has one decimal place and displays the motor frequency in the sign.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-Hz
AT
Input
MPB:
MPC:
MPD:
MPH:
5.4.55
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
1
--
Default value
---------
P-0-0590, Motor model frequency loop proportional gain

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter only takes effect in conjunction with field-oriented current con
trol without encoder. Together with "P00591, Motor model frequency loop
integral action time", parameter P00590 is used to parameterize the "fre
quency loop".
By means of the differences between motor model and measured currents, the
frequency loop determines the current rotational frequency of the motor shaft.
The output of the frequency loop supplies parameter "S00040, Velocity feed
back value" and is transmitted according to the velocity loop.
Field-oriented current control without encoder is activated via
"P00045, Control word of current controller". If the functional pack
age "closed-loop" is active, "operation without encoder" has to be
set in "P00074, Encoder type 1 (motor encoder)"!
See also Functional Description "Field-Oriented Current Control"
See also Functional Description "Automatic Setting of Motor Control "
Use
Observe the following for the setting of P00590:
The value of P00590 depends on the motor type to be controlled.
During initial commissioning, this value is automatically calculated by ex

ecuting "P00565, C3600 Command Motor data identification" (with "cur
rent control without motor encoder" having been set).

and Controls
The calculated value should only be changed by especially trained service

staff!
See also Parameter Description P00591 and P00592

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
%
--
Input
MPB:
MPC:
MPD:
MPH:
5.4.56
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
0,00 / 655,35
0,00 / 655,35
0,00 / 655,35
0,00 / 655,35
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
2
+
Default value
10,00
10,00
10,00
10,00
P-0-0591, Motor model frequency loop integral action time

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
trol without encoder. Together with "P00590, Motor model frequency loop
proportional gain", parameter P00591 is used to parameterize the "frequency
loop".
By means of the differences between motor model and measured currents, the
frequency loop determines the current rotational frequency of the motor shaft.
The output of the frequency loop supplies parameter "S00040, Velocity feed
back value" and is transmitted according to the velocity loop.
See also Functional Description "Automatic Setting of Motor Control "
Use


staff!

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
PARAM_SP
ms
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,0 / 100,0
0,0 / 100,0
Data length:
Format:
Decim. pl.:
Switchable:
Default value
5,0
5,0
2Byte
DEC_OV
1
+

and Controls
MPD:
MPH:
5.4.57
0,0 / 100,0
0,0 / 100,0
5,0
5,0
P-0-0592, Motor model adjustment factor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
trol without encoder.
The drive-internal motor model calculation carried out in the current loop clock
is corrected by means of the adjust factor entered in P00592 so that the motor
currents determined by means of the motor model and the rotor flux comply
with the real values.
Use


staff!

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.4.58
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,000 / 1,000
0,000 / 1,000
0,000 / 1,000
0,000 / 1,000
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
3
+
Default value
0,100
0,100
0,100
0,100
P-0-0593, FXC: Total flux loop proportional gain

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC

and Controls
Function
Parameter for the proportional gain of the flux control loop in "sensorless motor
operation, flux-controlled". It is not necessary to adjust this value to the specific
motor.
led"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
1/HENRY
--
Input
MPB:
MPC:
MPD:
MPH:
5.4.59
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,00 / 50,00
0,00 / 50,00
0,00 / 50,00
0,00 / 50,00
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
2
+
Default value
0,00
0,00
0,00
0,00
P-0-0594, FXC: Total flux loop integral action time

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC
Parameter for the integral action time of the flux loop of sensorless, flux-con
trolled motor operation. The value should be checked and adjusted in motorspecific form. What is helpful is a run-up test with ramp-shaped velocity
command value in approx. 2 s to 75% of the rated speed. The total current
P-0-0440 should rapidly fall to a stationary value after the command value
change has been started. To make the value of P-0-0440 fall more rapidly,
reduce the value of P-0-0594.
led".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
ms
--
Input
MPB:
MPC:
MPD:
MPH:
5.4.60
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,001 / 1000,000
0,001 / 1000,000
0,001 / 1000,000
0,001 / 1000,000
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
3
+
Default value
1,000
1,000
1,000
1,000
P-0-0595, FXC: Frequency loop proportional gain

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC

and Controls
Function
Parameter for the proportional gain of the frequency loop of sensorless, fluxcontrolled motor operation. Normally, it is not necessary to adjust the value in
motor-specific form!
led".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Hz/A
--
Input
MPB:
MPC:
MPD:
MPH:
5.4.61
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,001 / 1,000
0,001 / 1,000
0,001 / 1,000
0,001 / 1,000
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
3
+
Default value
0,010
0,010
0,010
0,010
P-0-0596, FXC: Frequency loop scaling factor of inertia

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPD
MPD
MPD
MPC
MPC
Parameter for the percentage-based activation of the total inertia of the axis for
the integration behavior of the frequency loop with sensorless, flux-controlled
motor operation.
:
M_th:
J:
P510:
P596:
Fig.5-141:
Use
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
frequency command value change of the frequency loop

internally calculated, theoretical maximum speed of the motor
inertia of the axis
inertia (P-0-0510)
frequency loop scaling factor of inertia (FXC) in %
Operating principle of the scaling factor of inertia
With the value of P-0-0596, you can influence the pitch of the frequency ramp
of the frequency loop (maximum frequency command value change). The op
timum value has been reached at maximum acceleration of the motor! Due to
increased motor currents, further changes in the value will only cause the motor
temperature to rise even more!
The frequency command value change (ramp) gets flatter, when
the value of P-0-0596 is increased!
led"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
Par
PARAM_SP
%
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
10,0 / 1000,0
Data length:
Format:
Decim. pl.:
Switchable:
Default value
100,0
2Byte
DEC_OV
1
+

and Controls
MPC:
MPD:
MPH:
5.4.62
10,0 / 1000,0
10,0 / 1000,0
10,0 / 1000,0
100,0
100,0
100,0
P-0-0597, FXC: Current loop proportional gain

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC
Parameter for the proportional gain of the current loop of sensorless, flux-con
trolled motor operation.
It is not necessary to adjust the value in motor-specific form. However, if over
current ("F8060 Overcurrent in power section") occurs during acceleration out
of standstill, the value of P-0-0597 should be reduced (e.g. half the value).
led"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
%
--
Input
MPB:
MPC:
MPD:
MPH:
5.4.63
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
1 / 2000
1 / 2000
1 / 2000
1 / 2000
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
+
Default value
100
100
100
100
P-0-0598, FXC: Current loop integral action time

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC
Parameter for the integral action time of the current loop of sensorless, fluxcontrolled motor operation.
It is not necessary to adjust the value in motor-specific form. However, if oscil
lation of the motor current (P-0-0440) occurs under load, you should first of all
try to attenuate the oscillation by increasing the value of P-0-0598.
led"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
PARAM_SP
ms
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,01 / 500,00
0,01 / 500,00
Data length:
Format:
Decim. pl.:
Switchable:
Default value
20,00
20,00
2Byte
DEC_OV
2
+

and Controls
MPD:
MPH:
5.4.64
0,01 / 500,00
0,01 / 500,00
20,00
20,00
P-0-0599, FXC: Slip frequency filter time constant

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC
Function
Parameter for slip compensation under load of a sensorless, flux-controlled

asynchronous motor. The time constant of the slip frequency filter influences
the reaction time of slip compensation in the case of load impulse.
Use
It is not necessary to adjust the value in motor-specific form. It should be in

creased, however, when the motor under load gets "out of balance" and
possibly stops, because the current limit of the device has been reached. Higher
values slow down the reaction time of the speed slip compensation and this
results in less current rise in the case of load impulse (Attention: The continuous
current of the device must be sufficient for the stationary load case!)
led"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
s
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.4.65
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0,001 / 1,000
0,001 / 1,000
0,001 / 1,000
0,001 / 1,000
Default value
0,050
0,050
0,050
0,050
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
2Byte
DEC_OV
3
+
P-0-0600, FXC: Rated slip frequency

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Parameter for slip compensation if a sensorless flux-controlled asynchronous

motor is subject to load. Enter the slip frequency at rated power in this param
eter to ensure that the slip of the motor can be compensated if the motor is
under load.
P18:
fnominal:
nnominal:
Fig.5-142:
number of pole pairs (P-0-0018)

rated frequency acc. to motor type plate
rated speed acc. to motor type plate
Calculating P-0-0600, FXC: Rated slip frequency

and Controls
The slip compensation acts in proportion with the value entered in
"P00600", for which reason it is ineffective if the minimum value
is entered.
led"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Hz
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.4.66
PM+OM
PM->OM
+
--
min./max.
0,00 / 100,00
0,00 / 100,00
0,00 / 100,00
0,00 / 100,00
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
2
+
Default value
0,00
0,00
0,00
0,00
P-0-0601, Configuration motor data identification

Allocation
Function
Structure
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter is used to configure the method of determination of the motor

and control parameters of third-party motors at the execution of "P-0-0565,
C3600 Command Motor data identification".
Bit
1/0 determine the magnetizing inductance (P-0-4041)

00: motor shaft cannot move freely (default)
Comment
as
MPx05VRS
of
01: motor shaft can move freely

10: reserved
11: reserved
Fig.5-143:
Use
Relevant bits of P-0-0601, Configuration motor data identification
Bit 1/bit 0
The magnetizing inductance of the asynchronous motor is an important data
for sensorless, flux-controlled operation of this motor. The exactness of the
determined value is decisive for making available the correct magnetic flux in
the motor. Automatic determination of the value is more exact when the motor
is turning than when the motor is in standstill.
Bit 0 and bit 1 determine whether, at the execution of "P-0-0565, C3600 Com
mand Motor data identification", the controller accelerates the motor to 50% of
the rated speed when determining "P-0-4041, Motor magnetizing induc
tance" (bit 1="0", bit 0="1")
- or whether the magnetizing inductance is determined at motor standstill (bit 1="0",
bit 0="0"). By means of the preset value of "P-0-4004, Magnetizing current", the
controller determines the value of "P-0-4041, Motor magnetizing inductance".

and Controls
Danger caused by errors when controlling motors and moving parts!

Motor shaft is put into rotation on the controller side! Mount cover and touch
guard!
DANGER

led"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.4.67
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
-+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
+
Default value
0
0
0
0
P-0-0602, FXC: Minimum no-load current

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
--
-
-
-
-
MPD
MPD
MPC
MPC
This parameter sets the minimum value of the no-load current for FXC operation
of sensorless synchronous motors (flux-generating current, "wattless current").
The sign causes different behavior of the intensity of the no-load current:
With positive sign, "P-0-0602" takes full effect.
With negative sign, the current at motor revolution is reduced to 0.1 *

"S-0-0111, Motor current at standstill" (plus current due to friction torque).
At motor standstill, "P-0-0602" takes full effect.
As a matter of principle, the current at motor standstill can be

influenced (reduced) proportionally to "P-0-0532, Premagne
tization factor".
The threshold for motor standstill detection is "S-0-0124,

Standstill window".
"P-0-0602" has no effect for asynchronous motors.
Use
The no-load current of the synchronous motor determines its load behavior and
the motor temperature rise at no load:
At motor revolution, the load impulse resistance rises as the no-load cur
rent is increased. The input is limited to 75% of "S-0-0111, Motor current
at standstill".
The motor standstill is improved as the no-load current is increased. The

deceleration itself, however, is realized via "P-0-0578, Current for decel
eration, absolute value" and "P-0-0579, Current for deceleration, time
period".
The no-load current improves the load impulse resistance and the motor
standstill, but causes the motor temperature to rise, even if the motor has

and Controls
not been loaded. If the operating behavior allows this, the motor temper
ature rise can be minimized:
By reducing the no-load current via P-0-0532 (e.g., 50%) at motor

standstill
By minimizing the no-load current by means of a negative sign of

P-0-0602 (see above) with the motor rotating
The default value of P-0-0602 = 0.1 * "S-0-0111, Motor current at standstill";

the correct value on the application side must be defined at initial commission
ing, if required!
See also Functional Description "Sensorless Motor Operation, Flux-Controlled
(FXC Control) "
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
A eff
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
arIREG_OpenLoopFOC
PsiH[].lMinw
arIREG_OpenLoopFOC
PsiH[].lMinw
arIREG_OpenLoopFOC
PsiH[].lMinw
arIREG_OpenLoopFOC
PsiH[].lMinw
MPB:
MPC:
MPD:
MPH:
5.4.68
PM
PM->OM
+
--
4Byte
DEC_MV
3
+
Default value
0,000
0,000
0,000
0,000
P-0-0612, Set absolute position control

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In this parameter select the absolute encode for which the position data refer
ence is to be established. In addition, set whether, next to "P-0-0012, C0300
Command Set absolute measuring", "S00148, C0600 Drive-controlled hom
ing procedure command" is to be possible with absolute measuring system.
Structure
Bit
4/3
encoder selection
Comment
00: motor encoder

10: external encoder
01: measuring encoder
15
C0600 Drive-controlled homing procedure command

allowed for abs. measuring system (only applies to motor
encoder and optional (ext.) encoder)
0: no
1: yes
Fig.5-144:
as of MPx04

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.4.69
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0 / 0x8018
0 / 0x8018
0 / 0x8018
0 / 0x8018
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
0
0
0
0
P-0-0620, Encoder validation monitoring signal

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-closed loop
--
-
-
-
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC
Display parameter for the monitoring signal of encoder validation monitoring.

Use
Depending on the flux-generating component, as well as on the speed of the

motor, a voltage value is calculated and output via this parameter. The more
exact the parameterization of the motor (commutation offset setting, motor in
ductance, ...), the lower the voltage value which is output. The parameter is
used to assess the safety of encoder validation monitoring to avoid false trig
gering. In the required speed range of the machine, you have to make sure that
the parameter value is within the limits P-0-0621 and P-0-0622. When the value
leaves the limit range, the error message F8023 is generated.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-V
AT
Input
MPB:
MPC:
MPD:
MPH:
5.4.70
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
2
--
Default value
---------
P-0-0621, Encoder validation upper monitoring threshold

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-closed loop
--
-
-
-
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC
Display parameter for the upper monitoring threshold of encoder validation

monitoring.
Use
When the value of parameter P-0-0620 exceeds the upper monitoring threshold
P-0-0621, the error "F8023 Error mechanical link of encoder or motor connec
tion" is triggered. During operation, the monitoring threshold is dynamically

and Controls
corrected and can be influenced via the parameter "P-0-0520, Encoder valida
tion error threshold factor".
Function:
Memory:
Unit:
Cycl. tra.:
Par
-V
AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.4.71
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
2
--
Default value
---------
P-0-0622, Encoder validation lower monitoring threshold

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-closed loop
--
-
-
-
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC
Display parameter for the lower monitoring threshold of encoder validation

monitoring.
Use
When the value of parameter P-0-0620 falls below the lower monitoring thresh
old P-0-0622, the error "F8023 Error mechanical link of encoder or motor
connection" is triggered.
During operation, the monitoring threshold is dynamically corrected and can be
influenced via the parameter "P-0-0520, Encoder validation error threshold fac
tor".
Function:
Memory:
Unit:
Cycl. tra.:
Par
-V
AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.4.72
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_MV
2
--
P-0-0640, Cooling type

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The motors of the MSK, MHD and MKD series can be operated in different
cooling types. Depending on the motor type, cooling can be realized as
standard cooling (natural convection, non-ventilated)
surface ventilation

and Controls
liquid cooling
cooling with additional heat supply or heat discharge

Systems" and "Current and Torque/Force Limitation"
Use
Depending on realized the cooling type, the motor can carry different continu
ous currents. The characteristic continuous current of the above motors, how
ever, is the one the motor can continuously carry with its standard cooling type
(natural convection). For the respective motor type it is stored in the parameter
"P02111, Motor current at standstill, encoder memory" and loaded, together
with other motor parameters, to the controller when the drive is switched on
(P02111 -> "S00111, Motor current at standstill").
This parameter has to be set to the realized cooling type. By the cooling type
factor assigned firmware-internally to the cooling type...
the 100% reference of the motor work load is adjusted to the realized
cooling type.
the thermal time constant of the motor effective in the firmware-internal

motor temperature model is determined by means of the value of
"P04035, Thermal time constant of motor" (refers to standard cooling).
the allowed continuous current at which the firmware-internal motor tem

perature model sets the limit is determined ("S00111, Motor current at
standstill" * cooling type factor).
P-0-0640,
Cooling type
Cooling
type fac
tor
0 (default)
1.0
surface ventilation
1.5
liquid cooling
1.9
natural convection, non-venti

lated, improved cooling (heat
discharge at motor flange)
1.2
as of MPx02V26,
MPx03V16 and
MP*04VRS

lated, thermal effect via motor
flange (e.g. gear mounting)
0.85
as of MPx02V26,
MPx03V16 and
MP*04VRS
Realized motor cooling

lated
Fig.5-145:
Comment
Cooling type factor depending on the value of P-0-0640
The default value for P00640 is "0" which means that the reference
value has been set to the standard cooling type of the motor. For
motors other than MSK, MHD and MKD, only the value "0" is al
lowed!
Adjusting the 100% value to the realized cooling type
In the case of percentage-based scaling for torque/force data (bits 0...2 of
"S00086, Torque/Force data scaling type"), the reference value (100%) for
MSK, MHD and MKD motors can be adjusted, by this parameter, to the cooling
type that has been realized.
With the cooling type factor, it is possible to calculate the reference value (100%
value), see parameter description "S00086, Torque/force data scaling type".
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
2Byte
DEC_OV

and Controls
Unit:
Cycl. tra.:
---
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.4.73
+
--
Decim. pl.:
Switchable:
min./max.
StdNul / 4
StdNul / 4
StdNul / 4
StdNul / 4
0
+
Default value
0
0
0
0
P-0-0641, Interpolation cmd value average value filter time constant

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPB
-closed loop
--
-
-
-
-
MPH
MPH
-
-
-
-
MPD
MPD
MPC
MPC
The parameter "P00641" takes effect on the filtering of the position command
values with a moving average filter (see also command value adjustment of the
interpolation modes). As an alternative to the calculation of the filter order from
acceleration and jerk, the filter order can also be determined by entering a filter
time.
With the average filter, the position command value profile can be smoothed
after command value generation, and the acceleration and jerk can be reduced.
This can be required for some mechanical systems to avoid excitation of ma
chine resonances by the command value characteristic.
Use
Parameter P00641 is used for the interpolation modes "drive-internal inter

polation", "drive-controlled positioning" and "positioning block mode" to smooth
the command value profile.
By entering the filter time (value >= TA_position), the calculation of the filter
order from acceleration and jerk is switched off.
The filter time preset in the parameter is applied during the initialization of
the operation mode or when a new position is set.
The effective filter order M is always displayed in P00042, Current posi

tion command average value filter order (P-00042 = P00641/TA_position)
The position loop cycle time TA_position depends on the performeance (cf.
Functional Description / Performance Data).
The constant filter order function is switched off by default
(P-00641 = 0); the filter order is therewith calculated from acceler
ation and jerk.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
us
MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
0
+

and Controls
Input
min./max.
Default value
0 / aulSOVA_MaxIpoFilter
0
zeit[]
0
zeit[]
0
zeit[]
0
zeit[]
MPB:
MPC:
MPD:
MPH:
5.4.74
P-0-0665, C6500 Kommando Parameter auf MMC sichern

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Command C6500 is used to store the parameters and MLD programs required
for restoration of a device configuration to the MultiMediaCard (MMC).
This is also done in cross communication (CCD), i.e. the device data of the CCD
slaves are also stored to the MMC of the CCD master. The stored device data
can either be manually restored using command C6600, or automatically by
comparing the current device data with the data stored on the MMC. Automatic
restoration is configured/activated via parameter P-0-0668.
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.4.75
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-0666, C6600 Kommando Parameter von MMC wiederherstellen

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Command C6600 is used to copy the backup data from the "user/Backup" di
rectory on the MultiMediaCard (MMC) to the active non-volatile memory of the
drive controller.
This requires that the parameters to be stored were stored to the MultiMedia
Card (MMC) at least once by using command C6500.
This command will fail if no backup data is available.
Copying is also done in cross communication (CCD) to the active non-volatile
memories of the CCD slaves.

and Controls
If CCD slaves are available, execution of the command may take
several minutes. Write accesses to the parameters to be restored
should be avoided during this time interval. For this reason, running
PLC programs are automatically stopped during the runtime of this
command.
P-0-0660 displays the backup function that is executed.
Commands C2200 and C2900 can be called from command
C6600. As long as these commands are active, the flashing display
changes from "C66" to "C22" and "C29", respectively.
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.4.76
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-0668, MMC backup function configuration

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Using command C6500, the device backup function can be executed to store
the parameters and MLD programs required for restoration of a device config
uration to the MultiMediaCard (MMC). This data can either be manually re
stored using command C6600, or automatically by comparing the current
device data with the data stored on the MMC. This parameter allows activation
of the automatic comparison and automatic restoration functions if there is a
unequality on changeover from PM to OM.
Command C660 is started internally for automatic restoration.
Structure
Bit
Activation
Comment
0:Automatic comparison and automatic restoration are not

active.
1:If the current device data is not equal to the data stored on
the MMC (inequality), the data stored on the MMC is auto
matically restored.
Fig.5-146:
Function:
Memory:
MMC Configuration Backup Function

Par
PARAM_SP
Editability:
Validity ch.:
PM
--
Data length:
Format:
2Byte
HEX

and Controls
Unit:
Cycl. tra.:
---
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.4.77
+
--
min./max.
0/1
0/1
0/1
0/1
Decim. pl.:
Switchable:
0
--
Default value
0x00
0x00
0x00
0x00
P-0-0669, MMC backup function status

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
+
-
-
-
-
MPD
MPD
MPC
MPC
Using command "C6500", the device backup function can be executed to store
the parameters and MLD programs required for restoration of a device config
uration to the MultiMediaCard (MMC). This data can either be manually re
stored using command C6600, or automatically by comparing the current
device data with the data stored on the MMC. The current status of the device
backup function is stored in this parameter.
Command C660 is started internally for automatic restoration.
Structure
Command C6600 is executed in three variants: update, device re

placement, and device data restoration.
Value Description
Comment
There is no
backup data on
the MMC or the
backup data on
the MMC is faul
ty.
Data error
An MMC has
been plugged.
1
Data is equal
The current de
vice data is
equal to the data
stored on the
MMC.
Data is unequal
The current de
vice data is not
equal to the data
stored on the
MMC.

and Controls
Value Description
Comment
Generate data (backup)
The current de
vice data is stor
ed to the MMC.
Command
C6500 is active.
Restore data
The device data

stored on the
MMC are re
stored. Restora
tion is restricted
to the device da
ta which is not
equal to each
other.
Com
mand C6600 is
active.
New device detected
A new device
has been detec
ted. The device
data is com
pletely restored.
Command
C6600 is active.
New data found (update)
New device data

has been found
on the MMC.
This data is cop
ied to the backup
data and uploa
ded to the devi
ces. Command
C6600 is active.
No MMC plugged
No MMC has
been plugged in
its slot.
Fig.5-147:
P-0-0669, MMC Backup Function Status
The values the status may assume depend on the particular device.
Values 17 are assigned to commands "C6500" nd "C6600". How
ever, values 0 and 7 can always be used independently of these
commands to indicate that there is no MMC.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
HEX
0
--

and Controls
5.4.78
P-0-0681, Assignment IDN -> parallel output 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
-
MPH
-
MPH
-
MPH
-
MPH
+
MPD
MPD
-
-
-
-
MPC
MPC
This parameter can be used to assign the value of a parameter to the parallel
output on an extension card for digital I/O (MD1 or MD2). In case of MD1, the
bottommost 8 bits of the assigned parameter are output. In case of MD2, this
is the bottommost 16 bits.
If an IDN is assigned to this parallel output, other write accesses to
the associated parameter "P00081, Parallel output 1" are no lon
ger possible.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.4.79
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
IDN
0
--
Default value
0
0
0
0
P-0-0682, Assignment parallel input 1 -> IDN

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
-
MPH
-
MPH
-
MPH
-
MPH
+
MPD
MPD
-
-
-
-
MPC
MPC
This parameter can be used to assign the value of a parameter to the parallel
input on an extension card for digital I/O (MD1 or MD2). The status of these
inputs is written right-aligned to the respective parameter in a width of 12 bits
(MD1) and 16 bits (MD2), respectively.
If inputs are assigned to a parameter using parameter "P-0-0682",
its operating date is cyclically overwritten.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
0
4Byte
IDN
0
--

and Controls
MPD:
MPH:
5.4.80
--- / ----- / ---
0
0
P-0-0686, Additive position command value, positioning velocity

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
Maximum position change (=velocity) with which "S00048, Additive position

command value" is added to the synchronous position command value of the
slave axis.
S00048 is used to preset an additive offset for the synchronous
position command value of the master axis position for slave axis.
Use
The following has to be observed for usage:
When a position synchronization mode is activated, drive-controlled syn

chronization is carried out. The profile is determined either by a 5th order
polynomial or by the parameters "P00142, Synchronization acceleration"
and "P00143, Synchronization velocity".
The way in which subsequent changes of S00048 will be processed de

pends on bit 0 of "P00155, Synchronization mode".
Bit0 = 1: Changes are smoothed by a 1st order filter
Bit0 = 0: Changes are defined via the parameters "P00686, Additive

position command value, positioning velocity" and "P00687, Addi
tive position command value, positioning acceleration".
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.4.81
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
4Byte
DEC_MV
S-0-0045
S-0-0046
--
Default value
1,0000
1,0000
1,0000
1,0000
P-0-0687, Additive position command value, positioning acceleration

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
Maximum velocity change (=acceleration) with which "S00048, Additive po

sition command value" is added to the synchronous position command value
of the slave axis.

and Controls
See also Parameter Description "P-0-0686, Additive position command value,
positioning velocity"
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.4.82
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
4Byte
DEC_MV
S-0-0161
S-0-0162
--
Default value
100,000
100,000
100,000
100,000
P-0-0688, Additive master axis position, positioning velocity

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
Maximum position change (=velocity) with which "P00054, Additive master

axis position" is added to the master axis angle.
Parameter P00054 is used to preset an additive offset to the ef
fective master axis position.
Use
The adjustment to a preset offset is carried out with defined velocity and
acceleration limitation.
The limit values are parameterized in the parameters "P00688, Additive

master axis position, positioning velocity" and "P00689, Additive master
axis position, positioning acceleration".
The velocity profile which is traveled when P00054 has been changed
then is trapezoidal.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Rpm
MDT
Input
MPB:
MPC:
MPD:
MPH:
5.4.83
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,0000 / MaxLong
0,0000 / MaxLong
0,0000 / MaxLong
0,0000 / MaxLong
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
4
--
Default value
10,0000
10,0000
10,0000
10,0000
P-0-0689, Additive master axis position, positioning acceleration

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
-
-
MPB
MPB
MPB
MPB
-
-
MPH
MPH
MPH
MPH
-
-
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Hardware
Funct. package(s):
Device parameter:
Function
--
Maximum velocity change (=acceleration) with which "P00054, Additive mas

ter axis position" is added to the master axis angle.
See also Parameter Description "P-0-0688, Additive master axis position, po
sitioning velocity"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
rad/s
MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,000 / MaxULong
0,000 / MaxULong
0,000 / MaxULong
0,000 / MaxULong
Data length:
Format:
Decim. pl.:
Switchable:
Default value
10,000
10,000
10,000
10,000
5.5
P-0-0690 to P-0-0899 Synchronization Mode
5.5.1
P-0-0690, Additive velocity command value, process loop

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
4Byte
DEC_OV
3
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In addition to S00037, parameter P00690 is used to set an additive velocity

command value.
P00690 can preferably be used for drive-based process loops (by
means of MLD)!
Use
Observe the following when using P00690:
P00690 takes effect in all operation modes in which the velocity loop is
used.
In the velocity synchronization mode, P00690 is taken into account for

generating the "In Synchronization" bit.
In the case of drive-internal command value generation (Drive Halt, error

reaction, ...), P00690 is set to "0".

Function:
Memory:
Par
--
Editability:
Validity ch.:
P234
--
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
Default value
0,0000
0,0000
0,0000
0,0000
4Byte
DEC_MV
S-0-0045
S-0-0046
--

and Controls
5.5.2
P-0-0691, Additive position command value, process loop

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Apart from S00048, the parameter P00691 is used to add a position com
mand value.
P00690 can preferably be used for drive-based process loops (by
means of MLD)!
Use
Observe the following aspects when using P00691:
P00691 takes effect in the synchronization modes with outer position

control loop (phase synchronization, cam, MotionProfile).
The preset value of P00691 is then smoothed with a 1st order filter, when
bit 0 has not been set in "P00155, Synchronization mode". In this case,
"P00060, Filter time constant additional pos. command" is used for the
filter of P00691.
When bit 1 has been set in "P00155, Synchronization mode", the pa

rameter P00691 takes effect in unfiltered form. The parameter
"P00060, Filter time constant additive position cmd value" is then used
for filtering "S00048, Additive position command value".
Parameter P00691 is taken into account for the generation of the bit "In
Synchronization" (bit 8, "P00089, Status word synchronization modes").
The bit is set when the following applies:
| Xsynch + S00048 + P00691 P00753| < S00228.
Parameter P-0-0691 is also taken into account for the generation of "
P00034, Position command additional actual value". The following ap
plies: P00034 = P00753 Xsynch P00691.
When "relative synchronization" has been set (bit 1, P00155 = 1), there
is no synchronization motion (with the master axis having stopped) when
the synchronous operation mode is activated. Changes made afterwards
in P00691 are processed in relative form.
Function:
Memory:
Par
--
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.5.3
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
0,0000
0,0000
0,0000
0,0000
P-0-0692, Additive master axis position, process loop

Allocation
Contained in 02VRS:
Contained in 03VRS:
-
MPB
-
MPH
-
MPD
4Byte
DEC_MV
S-0-0077
S-0-0078
--

and Controls
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPC
MPC
The given value of P00692 is smoothed with a 1st order filter and then added
to the sum of "P00054, Additive master axis position" and "P00053, Master
axis position" or "P00052, Actual position value of measuring encoder".
The time constant of the filter is defined with parameter P00693.
Use
Observe the following aspects for parameterizing P00692:
The maximum value (modulo value) of P00692 is determined by the

master axis cycle.
The master axis cycle is the product of "P00750, Master axis revolutions
per master axis cycle", with 2^20.
Approximation to a new value always takes place over the shortest dis
tance.
Record of Revisions
Version
Attribute
Up to MPx04VRS
Format: DEC_OV
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.5.4
Comment
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
MinLong / MaxLong
MinLong / MaxLong
MinLong / MaxLong
MinLong / MaxLong
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0
P-0-0693, Filter time constant, add. master axis pos., process loop
Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter determines the time constant of a 1st order filter. This filter is
used to smooth "P00692, Additive master axis position, process loop".
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
PARAM_SP
ms
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
-+
--
min./max.
0,00 / 655,35
0,00 / 655,35
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0,00
0,00
2Byte
DEC_OV
2
--

and Controls
MPD:
MPH:
5.5.5
0,00 / 655,35
0,00 / 655,35
0,00
0,00
P-0-0694, Gear ratio fine adjustment, process loop

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
With the percentage-based value of this parameter, a factor is generated which

takes effect in the electronic gear.
Parameterization
To generate the factor the preset value is divided by 100 and 1 is added.
See also Functional Description "Synchronization"
Function:
Memory:
Unit:
Cycl. tra.:
Par
-%
MDT
Input
MPB:
MPC:
MPD:
MPH:
5.5.6
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
-799,999999 / 799,999999
-799,999999 / 799,999999
-799,999999 / 799,999999
-799,999999 / 799,999999
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
6
--
Default value
0,000000
0,000000
0,000000
0,000000
P-0-0695, Angle offset begin of profile, process loop

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Observe the following aspects for parameterizing "P00695":
The master axis position after the electronic gear is reduced by the angle
parameterized in "P00695".
The range of values of "P00695" is from 0 to 360 degrees. 360 degrees

(one master axis revolution) corresponds to a value of "2^P00084".
Approximation to a new value always takes place over the shortest dis
tance.
See Functional Description "Control Loop Structure"

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
-Deg
MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
-+
--
min./max.
0,0000 / 359,9999
0,0000 / 359,9999
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0,0000
0,0000
4Byte
DEC_OV
4
--

and Controls
MPD:
MPH:
5.5.7
0,0000 / 359,9999
0,0000 / 359,9999
0,0000
0,0000
P-0-0696, Filter time constant, angle offset profile, process loop

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter determines the time constant of a 1st order filter. This filter is
used to smooth "P00692, Additive master axis position, process loop".
See also Functional Description "Synchronization"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
ms
--
Input
MPB:
MPC:
MPD:
MPH:
5.5.8
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,00 / 655,35
0,00 / 655,35
0,00 / 655,35
0,00 / 655,35
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
2
--
Default value
0,00
0,00
0,00
0,00
P-0-0697, Synchronization, master axis synchronous position

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
This parameter takes effect when single-step synchronization (bit 6 = 1) has

been set in "P00155, Synchronization mode". It defines the master axis po
sition at which synchronism is to have been established.
Modes"
Use
After a synchronization mode has been activated, synchronization starts the

next time "P00776, Effective master axis position" passes the master axis start
position. The master axis start position is calculated in the following way:
P-0-0697
P-0-0698
Fig.5-148:
Synchronization, master axis synchronous position

Synchronization, master axis synchronization range
Calculating master axis start position
Synchronization is completed when the master axis position has run through
the master axis synchronization range and has reached the value indicated in
this parameter. The parameter refers to the output of the electronic gear (pa
rameter "P00776, Effective master axis position").
The allowed range of values is between 0 and 359.9999.

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Deg
MDT
Input
MPB:
MPC:
MPD:
MPH:
5.5.9
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,0000 / 359,9999
0,0000 / 359,9999
0,0000 / 359,9999
0,0000 / 359,9999
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
4
--
Default value
0,0000
0,0000
0,0000
0,0000
P-0-0698, Synchronization, master axis synchronization range

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
This parameter takes effect when single-step synchronization (bit 6 = 1) has

been set in "P00155, Synchronization mode". It defines the distance within
which synchronism is to have been established.
Modes"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Deg
MDT
Input
MPB:
MPC:
MPD:
MPH:
5.5.10
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,0000 / MaxULong
0,0000 / MaxULong
0,0000 / MaxULong
0,0000 / MaxULong
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
4
--
Default value
180,0000
180,0000
180,0000
180,0000
P-0-0700, MotionProfile, master axis switching position

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
Up to MPx05VRS: Motion profile, master axis switching position

While the "MotionProfile" mode is active, changes in the sequence of motion
can be made in the second, inactive data set. The parameter defines the po
sition at which switching to the selected inactive set takes place.
Use
The active set is selected with "P00088, Control word synchronization

modes", bit 9. When all changes have been parameterized and the "profile
check" for the inactive set has been successfully carried out, it is possible to
switch to this set.
Switching takes place when "P00227, Cam table, access angle" passes the
switch angle set in this parameter. Switching is acknowledged with bit 3 of

and Controls
"P-0-0089, Status word synchronization modes". After switching has taken
place, the bits of status word and control word are identical.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Deg
MDT
Input
MPB:
MPC:
MPD:
MPH:
5.5.11
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,0000 / 359,9999
0,0000 / 359,9999
0,0000 / 359,9999
0,0000 / 359,9999
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
4
--
Default value
0,0000
0,0000
0,0000
0,0000
P-0-0701, Motion step 1, slave axis initial position

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
This parameter takes effect when absolute position processing of the "Motion
Profile" has been set in bit 10 of "P00088, Control word synchronization
modes".
After synchronization, the position command value generated in the "Motion
Profile" mode corresponds to the position set in this parameter, when
"P00227, Cam table, access angle" is zero, i.e. at the beginning of the 1st
motion step.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.5.12
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
0,0000
0,0000
0,0000
0,0000
P-0-0702, MotionProfile, diagnosis, set 0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
Up to MPx05VRS: Motion profile, diagnosis, set 0

A validation check is carried out for the sequence of motion parameterized for
the "MotionProfile" mode in set 0.
If one of the checks results in discrepancy, a number is displayed in this pa
rameter. The cause of the discrepancy can be taken from this number. For the

and Controls
significances of the numbers, see the diagnostic message "F2004 Error in Mo
tionProfile".
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.5.13
nein
----
min./max.
0 / 100
0 / 100
0 / 100
0 / 100
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
0
0
0
0
P-0-0703, Number of motion steps, set 0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
This parameter determines, for set 0 of the "MotionProfile" mode, of how many
motion steps the sequence of motion consists which is processed per master
axis revolution.
Use
When relative actual position value reference has been set ("P-0-0088, Control
word synchronization modes", bit 10 = 1), the sequence of motion must consist
of at least two steps.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.5.14
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
1/8
1/8
1/8
1/8
Default value
8
8
8
8
-
-
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
2Byte
DEC_OV
0
--
P-0-0704, Master axis velocity, set 0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter specifies at which constant velocity the master axis moves
when set 0 of the "MotionProfile" mode is active.
Use
Indicating the master axis velocity is necessary when a motion step is used for
which the slave axis velocity is determined (standard profile rest in velocity,

and Controls
velocity in velocity or velocity in rest). The given value must refer to the output
of the electronic gear.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
1/min
MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.5.15
PM+OM
PM->OM
+
--
min./max.
0,1000 / 10000,0000
0,1000 / 10000,0000
0,1000 / 10000,0000
0,1000 / 10000,0000
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
4
--
Default value
100,0000
100,0000
100,0000
100,0000
P-0-0705, List of master axis initial positions, set 0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
This parameter determines, for set 0 of the "MotionProfile" mode, at which

master axis positions (or table access angles) the motion steps begin.
Use
Setting is such that motion step 1 begins at master axis initial position "0". The
first element of this list must therefore be "zero". This list must have at least as
many elements as set 0 has motion steps (P00703).
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Deg
MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.5.16
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0,0000 / 359,9999
0,0000 / 359,9999
0,0000 / 359,9999
0,0000 / 359,9999
Default value
---------
-
-
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
4Byte var.
DEC_OV
4
--
P-0-0706, List of motion laws, set 0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Up to MPx05VRS: List of motion step modes, set 0

This parameter determines, for set 0 of the "MotionProfile" mode, which prop
erties the individual motion steps have.

and Controls
Structure
Bit
30
Profile of motion step
Comment
0000: Analytic profie

0001: Cam table 1 (P-0-0072)
0010: Cam table 2 (P-0-0092)
0011: Cam table 3 (P-0-0780)
0100: Cam table 4 (P-0-0781)
0101: Cam table 5 (P-0-0782)
0110: Cam table 6 (P-0-0783)
0111: Cam table 7 (P-0-0784)
1000: Cam table 8 (P-0-0785)
128
Profile type
0 0000: R-R with inclined sine curve
0 0001: R-R with 5th order polynomial
0 0010: R-V
0 0100: V-R
0 0110: V
0 0111: V-V
1 0010: R-R VLim
R-R
R-R VLim
R-V
V-R
V
V-V
Fig.5-149:
Use
Rest in Rest
Rest in Rest with limited velocity
Rest in Velocity
Velocity in Rest
Constant Velocity
Velocity in Velocity
Motion Laws
If the bits 03 are "0", the profile of the step is determined by bits 812.
If bits 03 represent a number between 1 and 8, the profile of this step is
determined by the corresponding cam table (no. 1...8). This list must have at
least as many elements as set 0 has motion steps (P00703).
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.5.17
PM+OM
PM->OM
+
--
min./max.
0 / 0x1200
0 / 0x1200
0 / 0x1200
0 / 0x1200
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
BIN
0
--
Default value
---------
P-0-0707, List of distances, set 0

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
MPB
MPB
MPB
MPB
--
-
MPH
MPH
MPH
MPH
MPH
-
-
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
--
This list determines, for set 0 of the "MotionProfile" mode, which distances are
traveled in the individual motion steps.
Use
If a standard profile and not a cam table has been selected in the motion step,
the distance determines the path which is traveled in the corresponding step.
If a cam table has been selected, the traveled path results from the product of
distance and last value of the table.
If absolute position processing has been set for this operation mode, the sum
of distances of the involved motion steps must be "0" or a multiple of the modulo
value.
This list must have at least as many elements as set 0 has motion steps
(P00703).
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.5.18
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte var.
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
P-0-0708, List of slave axis velocities, set 0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
This list determines, for set 0 of the "MotionProfile" mode, which slave axis
velocities occur in the individual motion steps at the beginning or at the end.
Use
Indicating the slave axis velocity is necessary when one of the standard profiles
R-V (Rest in Velocity), V-R (Velocity in Rest) or V-V (Velocity in Velocity) has
been selected in the motion step.
Taking master axis range, distance and parameterized master axis velocity
(P00704) into account, the coefficients of the 5th order polynomial are calcu
lated in such a way that the parameterized velocity results at the slave axis at
the end (for R-V) or at the beginning (for V-R and V-V) of the motion step.
If constant velocity has been selected in the mode of a step, the slave axis
velocity resulting from the values of master axis range, distance and parame
terized master axis velocity is calculated and displayed in the respective list
element.
(P00703).
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
4Byte var.
DEC_MV

and Controls
Unit:
S-0-0044
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.5.19
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0045
S-0-0046
--
Default value
---------
P-0-0709, MotionProfile, diagnosis, set 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
Up to MPx05VRS: Motion profile, diagnosis, set 1

A validation check is carried out for the sequence of motion parameterized for
the "MotionProfile" mode in set 1.
If one of the checks results in discrepancy, a number is displayed in this pa
rameter. The cause of the discrepancy can be taken from this number.
See description of diagnostic message "F2004 Error in MotionProfile"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.5.20
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
0 / 100
0 / 100
0 / 100
0 / 100
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
0
0
0
0
P-0-0710, Number of motion steps, set 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
This parameter determines, for set 1 of the "MotionProfile" mode, of how many
motion steps the sequence of motion consists which is processed per master
axis revolution.
Use
When relative actual position value reference has been set ("P00088, Control
word synchronization modes", bit 10 = 1), the sequence of motion must consist
of at least two steps.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
2Byte
DEC_OV

and Controls
Unit:
Cycl. tra.:
-MDT
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.5.21
+
--
Decim. pl.:
Switchable:
min./max.
1/8
1/8
1/8
1/8
Default value
8
8
8
8
-
-
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
0
--
P-0-0711, Master axis velocity, set 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter specifies at which constant velocity the master axis moves
when set 1 of the "MotionProfile" mode is active.
Use
Indicating the master axis velocity is necessary when a motion step is used for
which the slave axis velocity is determined (standard profile rest in velocity,
velocity in velocity or velocity in rest). The given value must refer to the output
of the electronic gear.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
1/min
MDT
Input
MPB:
MPC:
MPD:
MPH:
5.5.22
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,1000 / 10000,0000
0,1000 / 10000,0000
0,1000 / 10000,0000
0,1000 / 10000,0000
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
4
--
Default value
100,0000
100,0000
100,0000
100,0000
P-0-0712, List of master axis initial positions, set 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
This parameter determines, for set 1 of the "MotionProfile" mode, at which

master axis positions (or table access angles) the motion steps begin.
Use
Setting is such that motion step 1 begins at master axis initial position "0". The
first element of this list must therefor be "zero".
(P-0-0710).
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
4Byte var.
DEC_OV

and Controls
Unit:
Cycl. tra.:
Deg
MDT
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.5.23
+
--
Decim. pl.:
Switchable:
min./max.
0,0000 / 359,9999
0,0000 / 359,9999
0,0000 / 359,9999
0,0000 / 359,9999
Default value
---------
-
-
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
4
--
P-0-0713, List of motion laws, set 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Up to MPx05VRS: List of motion step modes, set 1

This parameter determines, for set 1 of the "MotionProfile" mode, which prop
erties the individual motion steps have.
Use
(P-0-0710).
See also Parameter Description "P-0-0706, List of motion laws, set 0"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.5.24
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0 / 0x1200
0 / 0x1200
0 / 0x1200
0 / 0x1200
Default value
---------
-
-
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
2Byte var.
BIN
0
--
P-0-0714, List of distances, set 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This list determines, for set 1 of the "MotionProfile" mode, which distances are
traveled in the individual motion steps.
Use
If a standard profile and not a cam table has been selected in the motion step,
the distance determines the path which is traveled in the corresponding step.
If a cam table has been selected, the traveled path results from the product of
distance and last value of the table. If absolute position processing has been
set for this operation mode, the sum of distances of the involved motion steps
must be "0" or a multiple of the modulo value.

and Controls
(P-0-0710).
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.5.25
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte var.
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
P-0-0715, List of slave axis velocities, set 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
This list determines, for set 1 of the "MotionProfile" mode, which slave axis
velocities occur in the individual motion steps at the beginning or at the end.
Use
Indicating the slave axis velocity is necessary when one of the standard profiles
R-V (Rest in Velocity), V-R (Velocity in Rest) or V-V (Velocity in Velocity) has
been selected in the motion step.
Taking master axis range, distance and parameterized master axis velocity
(P-0-0711) into account, the coefficients of the 5th order polynomial are calcu
lated in such a way that the parameterized velocity results at the slave axis at
the end (for R-V) or at the beginning (for V-R and V-V) of the motion step.
If constant velocity has been selected in the mode of a step, the slave axis
velocity resulting from the values of master axis range, distance and parame
terized master axis velocity is calculated and displayed in the respective list
element.
(P00710).
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.5.26
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
4Byte var.
DEC_MV
S-0-0045
S-0-0046
--
Default value
---------
P-0-0750, Master axis revolutions per master axis cycle

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
MPB
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
--
MPD
MPC
Parameter "P00750" defines the modulo range for the master axis parameters
which are involved in the generation of parameter "P0-0775, Resulting master
axis position" (including P0-0775). The information on the range of the master
axis cycle must be given to the drive so that the overflows of the master axis
position can be processed correctly.
Master Axis"
Use
The master axis cycle is defined on the control unit side. It contains the number
of master axis revolutions required in order to bring all drives, that are to follow
the master axis, back to a defined position with respect to each other. The value
of this parameter normally is set to the least common multiple (LCM) of the input
revolutions of the master drive gear "P00156" of the respective slave axes.
Special case P-0-0750 = 0
Modulo scaling of slave axis:
If the value "0" is written to the parameter, the user has to write to "S00103"
in such a way that 232 2P-0-0084, Number of bits per master axis revolution master axis rev
olutions after the master axis gear correspond to the modulo range. Application:
"flying saw".
Absolute scaling of slave axis:
In the case of absolute scaling, the value "0" must be written to parameter
"P-0-0750". Make sure that the master axis range is not exceeded, that the
master axis range value does not fall below the limit and that the derived slave
axis position is not outside of the maximum travel range. Otherwise, this causes
accidental axis motion.
Master axis range with P-0-0750 = 0
Master axis range: -231 increments to 231 1 increments.
This corresponds to 232 2P-0-0084 master axis revolutions.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.5.27
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0 / 2047
0 / 2047
0 / 2047
0 / 2047
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
1
1
1
1
P-0-0751, Synchronization divisions per command cycle slave axis

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Function
A division of the command value cycle is defined with this parameter. The num
ber of divisions that are contained in the command value cycle is indicated in
parameter P00751.
Use
This means that the command value cycle is divided by the value of parameter
P00751 in order to determine the division. The size of the command value
cycle is contained in parameter "P00754, Command value cycle". The syn
chronization division can be selected for synchronization in parameter
"P-0-0155, Synchronization mode". The distance traveled during the synchro
nization process won't be longer than the defined division. The position to which
the slave axis synchronizes is calculated by means of modulo division from the
synchronous position command value in the command value cycle. The syn
chronization division can be smaller or greater than a load revolution of the
drive.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.5.28
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
1 / 32767
1 / 32767
1 / 32767
1 / 32767
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
1
1
1
1
P-0-0752, Load revolutions per actual value cycle slave axis

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
With modulo position scaling, the actual value cycle determines the maximum
range of position data at the slave axis which is subject to the control of the
"phase synchronization, cam and MotionProfile (electric motion profile)" oper
ation modes. Parameter "P-0-0752" serves to indicate the number of modulo
ranges "S00103" making up the actual value cycle. The actual position value
within the actual value cycle can be taken from parameter "P00753, Position
actual value in actual value cycle".
Use
The actual value cycle is required if, in the operation modes mentioned, syn
chronization is to be carried out in a range that is greater than the modulo value
"S00103". In these cases, the synchronization range is determined by the
command value cycle or a division thereof.
If several electronic gear ratios are to be set at an axis (e.g. because of different
formats), there are several command value cycles resulting at this axis. The
actual value cycle then has to be set in such a way that it corresponds to the
least common multiple (LCM) of these command value cycles.
If the electronic gear is not to be changed, the actual value cycle is set in such
a way that it complies with the command value cycle or a multiple of it. If syn
chronization is to be carried out only within the modulo range, the number of
"load revolutions per actual value cycle slave axis" can be set to "1".

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.5.29
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
1 / 65535
1 / 65535
1 / 65535
1 / 65535
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
1
1
1
1
P-0-0753, Position actual value in actual value cycle

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
With "phase synchronization" or "cam shaft and modulo position scaling", this
parameter indicates a current actual position value.
Use
This value is within a range that is generated depending on bit 4 of parameter

"P00155, Synchronization mode". If this bit 4 = 0, the modulo range of the
actual value cycle is generated by multiplication of "P00752, Load revolutions
per actual value cycle slave axis" with "S00103, Modulo value". With bit 4 = 1
the actual value cycle corresponds to the value of P00754, Command value
cycle. This actual position value is set by the command "set absolute measur
ing" or by the "drive-controlled homing procedure" for the actual position value
that has been selected in the synchronization mode that was set. If, for example,
the operating mode "phase synchronization with virtual master axis, encoder 1"
has been set, "P00753, Position actual value in actual value cycle" will change
by analogy with actual position value 1. Its range, however, is limited to
"S00103, Modulo value". Homing of the actual position value 1 then causes
"P00753, Position actual value in actual value cycle" to be set to the same
value as actual position value 1. The position status of the actual position value
in the actual value cycle can be taken from bit 4 of parameter "P00089, Status
word for synchronous operating modes".
When activating the operating mode for synchronization, the travel distance for
synchronization is determined with the actual position value in the actual value
cycle. The result is a limitation of the travel distance to the synchronization
range (command value cycle, division of the command value cycle or modulo
range) that has been set.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
4Byte
DEC_MV
S-0-0077
S-0-0078
--

and Controls
5.5.30
P-0-0754, Command value cycle

Allocation
Function
Use
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In processes with different machining cycles, the drives must be able to syn
chronize over several master axis revolutions or divisions of a master axis
revolution. This property is defined via the so-called command value cycle. The
command value cycle is automatically set internally in the drive and gives the
range of the synchronous position command values of an axis operated in the
"phase synchronization", "cam" or "MotionProfile" operation modes. The data
of the following parameters are used for calculation:
P-0-0156, Master drive gear input revolutions
P-0-0157, Master drive gear output revolutions
P-0-0750, Master axis revolutions per master axis cycle
S-0-0103, Modulo value
"P-0-0755, Gear reduction"
This applies to modulo scaling:
Fig.5-150:
Modulo Scaling
For the "cam" and "MotionProfile" operation modes, a linear, phase-synchro

nous gear reduction path can be activated via bit 4 of "P-0-0086, Configuration
word synchronous operation modes". If "P-0-0755, Gear reduction"="0", the
command value cycle is calculated according to the following formula:
Fig.5-151:
Cam
The command value cycle can be selected in parameter "P00155, Synchro

nization mode" as a range for synchronization. With "P-0-0751, Synchroniza
tion divisions per command cycle slave axis", a division of the command value
cycle can be defined. This division can also be selected for synchronization in
"P-0-0155, Synchronization mode".
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
min./max.
--- / ----- / ---
Default value
-----
4Byte
DEC_MV
S-0-0077
S-0-0078
--

and Controls
MPD:
MPH:
5.5.31
--- / ----- / ---
-----
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
P-0-0755, Gear reduction

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter is used to set a movement that is phase synchronous with the
master axis, in the operation modes "cam" and "MotionProfile". With an end
lessly turning axis, the forward movement is realized with the linear component,
the compensatory movements via the cam.
The linear component is switched on by bit 4 of "P00086, Configuration word
synchronous operation modes".
Use
The following parameters are used to calculate the additive synchronous po

sition command values XSynchAdd:
P00776, Effective master axis position
P00061, Angle offset begin of profile
P00755, Gear reduction
S00103, Modulo value
Depending on the type of position scaling, the following formulas are used to
calculate the additive synchronous position command values XSynchAdd.
Fig.5-152:
Generating the Additive Synchronous Position Command Value With

Modulo Scaling
When using the parallel phase-synchronous movement, it is nec

essary to set modulo position scaling.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.5.32
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0 / 32767
0 / 32767
0 / 32767
0 / 32767
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
1
1
1
1
P-0-0756, Virtual master axis, scaling type

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
-
-
MPB
MPB
MPB
MPB
-
-
MPH
MPH
MPH
MPH
-
-
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Hardware
Funct. package(s):
Device parameter:
Function
+
This parameter determines the scaling type, unit and processing format for po
sition/velocity and acceleration data for the virtual master axis. The jerk is not
mentioned. The jerk data are derived from this parameter.
The position data and velocity data have 4 decimal places. The ac
celeration and the jerk have 2 decimal places.
Bit
Position data
2-0
Structure
Velocity data
Acceleration data
scaling type
scaling type
scaling type
001: linear scaling
001: linear scaling
001: linear scaling
010: rotary scaling
010: rotary scaling
010: rotary scaling
0: millimeter [mm]
0: mm/min
0: mm/s2
1: inch [in]
1: in/min
1: in/s2
0: angular degrees
0: revolution [rpm]
0: radian [rad/s2]
1: reserved
1: reserved
1: reserved
modulo format
without significance
without significance
0: absolute scaling
1: modulo scaling
Fig.5-153:
Function:
Memory:
Unit:
Cycl. tra.:
P-0-0756, Virtual master axis, scaling type

Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.5.33
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
0x0082
0x0082
0x0082
0x0082
P-0-0757, Virtual master axis, modulo value

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
MPD
MPD
MPD
MPD
MPC
MPC
Function
When bit 7 was set to "1" in parameter "P-0-0756, Virtual master axis, scaling
type", parameter "P00757, Virtual master axis, modulo value" determines the
numeric range in which the virtual position data run (0 to modulo value).
Use
The unit of the parameter corresponds to the selected scaling of the position
data.

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.5.34
PM
PM->OM
+
--
min./max.
0,0000 / 214748,3647
0,0000 / 214748,3647
0,0000 / 214748,3647
0,0000 / 214748,3647
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
4
--
Default value
360,0000
360,0000
360,0000
360,0000
P-0-0758, Virtual master axis, actual position value

Allocation
Function
Use
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays the virtual actual position value.

With the master axis generator deactivated ("P-0-0917, Control word of master
axis generator", bit 0 = 0), it is possible to pre-initialize the actual position value
in the parameter mode or in the operating mode.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.5.35
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
4
--
min./max.
Default value
-214748,3648 / 214748,3647 0,0000
-214748,3648 / 214748,3647 0,0000
-214748,3648 / 214748,3647 0,0000
-214748,3648 / 214748,3647 0,0000
P-0-0759, Virtual master axis, actual velocity value

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
MPD
MPD
MPD
MPD
MPC
MPC
Function
This parameter displays the virtual actual velocity value. When switching to the
operating mode, the actual velocity value is initialized with 0.
Use
With the master axis generator deactivated ("P-0-0917, Control word of master
axis generator", bit 0 = 0), it is possible to pre-initialize the actual velocity value
in the operating mode. This can be necessary, for example, when switching
from a master axis (P-0-0052, P-0-0053) to the internal virtual master axis
"P-0-0761, Master axis position for slave axis" in control.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
4
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.5.36
min./max.
Default value
-214748,3648 / 214748,3647 0,0000
-214748,3648 / 214748,3647 0,0000
-214748,3648 / 214748,3647 0,0000
-214748,3648 / 214748,3647 0,0000
P-0-0760, Virtual master axis, positioning control word

Allocation
Function
Structure
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used as control word for virtual positioning.

Bit
Comment
Acceptance of positioning command values

Applied by toggling
2/1
Positioning activation
00: Positioning active, started by changing bit 0
01: Infinite travel in positive direction
10: Infinite travel in negative direction
Kind of positioning command value

0: Absolute
1: Relative
Reference of the new target position (P-0-0767) with relative

positioning to ...
0: Previous target position
1: Current actual position value
12
Activation of secondary master

0: Positioning mode
1: Secondary master
Fig.5-154:
Use
P-0-0760, Virtual master axis, positioning control word
If bit 12 is set, the phase-synchronous motion of the secondary master

(P-0-0761) to a primary master is active. The primary master is defined via
parameter "P-0-0924, Selection primary master". If bit 12 is set, the low-order
bits are without effect in "P00760".
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
0
2Byte
BIN
0
--

and Controls
MPD:
MPH:
5.5.37
--- / ----- / ---
P-0-0761, Master axis position for slave axis

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains the value, converted to the master axis format, of the
signal source specified by parameter "P-0-0916, Master axis format converter
signal selection".
Function:
Memory:
Unit:
Cycl. tra.:
Par
-Incr
AT
Input
MPB:
MPC:
MPD:
MPH:
5.5.38
0
0
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
0
--
P-0-0764, Master axis speed

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The master axis speed corresponds to the difference of the master axis values
of parameter "P0-0775, Resulting master axis position" per position loop inter
rupt of the drive. The master axis speed is given in rpm.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-Rpm
AT
Input
MPB:
MPC:
MPD:
MPH:
5.5.39
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
4
--
Default value
---------
P-0-0765, Modulo factor measuring encoder

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
MPB
MPB
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Hardware
Funct. package(s):
Device parameter:
Function
--
The parameter "P-0-0765, Modulo factor measuring encoder" determines the

absolute range of the measuring encoder. The input is a factor of 2P-0-0084, Number
of bits per master axis revolution so that the following applies:
modulo range of measuring encoder = modulo factor measuring enc. * 2P-0-0084
When inputting "0" as value for P-0-0765, the position data range of the meas
uring encoder is from -231 increments to 231 -1 increments.
This corresponds to 232 2P-0-0084 measuring encoder revolutions.
Use
The measuring encoder is evaluated and displayed in this range. If the modulo
factor of the measuring encoder is * 2P-0-0084 smaller than the absolute display
range of the measuring encoder (automatically determined by the selected en
coder), bit 6 is set in parameter "P00328, Type of position encoder for
measuring encoder" (absolute encoder evaluation is possible).
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.5.40
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0 / 2047
0 / 2047
0 / 2047
0 / 2047
2Byte
DEC_OV
0
--
Default value
1
1
1
1
P-0-0766, Virtual master axis, positioning command value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
MPD
MPD
MPD
MPD
MPC
MPC
Via this parameter, the target position (absolute position) or a relative travel
distance is input for the master axis generator.
The effective target position at which the virtual axis positions can
be read at any time from "P-0-0767, Virtual master axis, effective
target position!
Use
When the edge of bit 0 of "P-0-0760, Virtual master axis, positioning control
word" changes, the master axis generator, controlled by an internally generated
position command value, moves to a virtual axis position which corresponds to
"P-0-0766, Virtual master axis, positioning command value".
When doing this, the master axis generator takes the following positioning data
into account:
P-0-0770, Virtual master axis, positioning velocity
P-0-0771, Virtual master axis, positioning acceleration
P-0-0772, Virtual master axis, positioning deceleration

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.5.41
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
4
--
min./max.
Default value
-214748,3648 / 214748,3647 0,0000
-214748,3648 / 214748,3647 0,0000
-214748,3648 / 214748,3647 0,0000
-214748,3648 / 214748,3647 0,0000
P-0-0767, Virtual master axis, effective target position

Allocation
Function
Use
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
MPD
MPD
MPD
MPD
MPC
MPC
Via this parameter the current target position (absolute position) can be read
when the virtual master axis is positioned.
The parameter is initialized depending on the following settings:
the value of "P-0-0766, Virtual master axis, positioning command value",

if it has been defined as absolute target position,
the sum of the previous value of "P-0-0767, Virtual master axis, effective
target position" and "P-0-0766, Virtual master axis, positioning command
value", if the new target position relates to the previous target position
( "P-0-0760, Virtual master axis, positioning control word", bit 4 = 0 (pre
vious target position)),
the sum of the actual position value "P-0-0758, Virtual master axis, actual
position value" and "P-0-0766, Virtual master axis, positioning command
value" at the time toggling takes place, if the target position relates to the
current actual position value (P-0-0760, bit 4 = 1 (current actual position
value)).
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.5.42
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
4
--
Default value
0,0000
0,0000
0,0000
0,0000
P-0-0768, Virtual master axis, positioning status

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Function
Structure
This parameter is generated when the virtual master axis is active. The pa
rameter contains the status bits of the virtual positioning generator.
Bit
Significance
target position reached P-0-0767 = P-0-0758
acknowledgment bit P-0-0760; virt. master axis, positioning

control word bit 0
IN_TARGET POSITION = (|P-0-0767 - P-0-0758 | <

P-0-0911) && | P-0-0759 | < P-0-0912
interpolator stopped
constant interpolation velocity
drive accelerates
drive decelerates
synchronization of secondary master completed
12
jog mode active (see P-0-0760, bits 1 and 2)
Fig.5-155:
Use
P-0-0768, Virtual master axis, positioning status
With the bit having been set, the secondary master (P-0-0761) moves relatively
or absolutely synchronously to the primary master.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.5.43
Comment
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
0
0
0
0
P-0-0769, Virtual master axis, command value mode

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
MPD
MPD
MPD
MPD
MPC
MPC
In the case of virtual modulo scaling, this parameter defines the allowed direc
tion of rotation of the "virtual master axis" of the master axis generator for
positioning processes.

and Controls
Structure
Bit
1/0
00: positive direction
Comment
Only positive direction of rotation is allowed for position

ing (relative/absolute).
01: negative direction
Only negative direction of rotation is allowed for position
ing (relative/absolute).
10: shortest distance
Both positive and negative directions of rotation are al
lowed for positioning (relative/absolute).
Fig.5-156:
Function:
Memory:
Unit:
Cycl. tra.:
P-0-0769, Virtual master axis, command value mode

Par
PARAM_SP
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.5.44
PM+OM
PM->OM
+
--
min./max.
0/2
0/2
0/2
0/2
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
0
0
0
0
P-0-0770, Virtual master axis, positioning velocity

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
MPD
MPD
MPD
MPD
MPC
MPC
This parameter presets the velocity command value (positioning velocity com
mand value) of the virtual master axis.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.5.45
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,0000 / 214748,3647
0,0000 / 214748,3647
0,0000 / 214748,3647
0,0000 / 214748,3647
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
4
--
Default value
10,0000
10,0000
10,0000
10,0000
P-0-0771, Virtual master axis, positioning acceleration

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Function
This parameter presets the acceleration command value of the virtual master
axis.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.5.46
PM+OM
PM->OM
+
--
min./max.
0,00 / 21474836,47
0,00 / 21474836,47
0,00 / 21474836,47
0,00 / 21474836,47
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
2
--
Default value
100,00
100,00
100,00
100,00
P-0-0772, Virtual master axis, positioning deceleration

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
MPD
MPD
MPD
MPD
MPC
MPC
This parameter presets the deceleration command value of the virtual master
axis.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.5.47
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,00 / 21474836,47
0,00 / 21474836,47
0,00 / 21474836,47
0,00 / 21474836,47
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
2
--
Default value
100,00
100,00
100,00
100,00
P-0-0774, Virtual master axis, positioning window shortest distance

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
MPD
MPD
MPD
MPD
MPC
MPC
This parameter allows determining a symmetrical position range relative to the

current position (target position window). Within the symmetrical position range
it is always possible to move to a target position over the shortest distance even
if only one direction of movement has been determined for positioning in
"P-0-0769, Virtual master axis, command value mode".
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,0000 / 214748,3647
0,0000 / 214748,3647
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0,0000
0,0000
4Byte
DEC_OV
4
--

and Controls
MPD:
MPH:
5.5.48
0,0000 / 214748,3647
0,0000 / 214748,3647
0,0000
0,0000
P-0-0775, Resulting master axis position

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The resulting master axis position is the master axis position which takes effect
at the input of the master drive gear in the synchronous operation modes. De
pending on the parameterization, the resulting master axis position consists of
several different master axis positions and is generated in the drive in the po
sition loop clock.
Master Axis"
Use
The resulting master axis position consists of the sum of three master axis po
sitions.
Position synchronization or velocity synchronization active:
The generation is defined via bit 6 and 7 of parameter "P-0-0088, Control word
synchronization modes".
Bit 7/6 Master axis
P-0-0775
00
P-0-0053 (VmAxisExt)
P-0-0053 +P-0-0054 + P-0-0692
01
P-0-0761 (VmAxisInt)
P-0-0761 +P-0-0054 + P-0-0692
10
P-0-0052 (RmAxis)
P-0-0052 +P-0-0054 + P-0-0692
11
Reserved
--
Other synchronous operation modes active:
Synchronous operation mode with real master axis:

P-0-0775 = P-0-0052 + P-0-0054 + P-0-0692
Synchronous operation mode with virtual master axis:

The resulting master axis position is generated as follows in relation to bit
6 of parameter "P-0-0088, Control word synchronization modes":
Bit 6 = 0: P-0-0775 = P-0-0053 +P-0-0054 + P-0-0692
Bit 6 = 1: P-0-0775 = P-0-0761 +P-0-0054 + P-0-0692
No synchronous operation mode active:

The "Drive PLC" functional package is activated or one of the two "position
synchronization" or "velocity synchronization" synchronization modes is con
figured.
Bit 7/6 Master axis
P-0-0775
00
P-0-0053 (VmAxisExt)
P-0-0053 +P-0-0054 + P-0-0692
01
P-0-0761 (VmAxisInt)
P-0-0761 +P-0-0054 + P-0-0692
10
P-0-0052 (RmAxis)
P-0-0052 +P-0-0054 + P-0-0692
11
Reserved
--

and Controls
If the additive "IndraMotion MLD" functional package is not activated and none
of the two "position synchronization" or "velocity synchronization" synchroni
zation modes is configured, then the following applies:
Synchronous operation mode with real master axis

P-0-0775 = P-0-0052 + P-0-0054 + P-0-0692
Synchronous operation mode with virtual master axis

The resulting master axis position is generated as follows in relation to bit
6 of parameter "P-0-0088, Control word synchronization modes":
Bit 6 = 0: P-0-0775 = P-0-0053 +P-0-0054 + P-0-0692
Bit 6 = 1: P-0-0775 = P-0-0761 +P-0-0054 + P-0-0692
Function:
Memory:
Unit:
Cycl. tra.:
Par
-Incr
AT
Input
MPB:
MPC:
MPD:
MPH:
5.5.49
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
0
--
Default value
---------
P-0-0776, Effective master axis position

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The effective master axis position is the resulting master axis position P00775
after the master drive gear P00157/P00156 and the gear ratio fine adjust
P00083.
See also Functional Description "Velocity Synchronization with Real/Virtual
Master Axis"
Function:
Memory:
Unit:
Cycl. tra.:
Par
-Incr
AT
Input
MPB:
MPC:
MPD:
MPH:
5.5.50
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
0
--
Default value
---------
P-0-0777, Effective master axis velocity

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPB
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
--
The effective master axis velocity is the master axis speed P00764 after the
master drive gear P00157/P00156 and the gear ratio fine adjust P00083.
See also Functional Description "Velocity Synchronization with Real/Virtual
Master Axis"
ter Axis"
Function:
Memory:
Unit:
Cycl. tra.:
Par
-Rpm
AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.5.51
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
4
--
Default value
---------
P-0-0778, Synchronous position command value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The synchronous position command value is the synchronous position com

mand value of the slave axis derived from the resulting master axis position
(P-0-0775). It is determined depending on the synchronous operation mode
with outer position control loop that has been set.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.5.52
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0077
S-0-0078
--
P-0-0779, Synchronous velocity

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC

and Controls
Function
The synchronous velocity is the differentiated synchronous position command

value P00778 per controller cycle.
ter Axis"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.5.53
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0045
S-0-0046
--

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Up to MPX05VRS: Cam shaft profile 3

Parameter P00780 contains a table with data points tab () for the profile of
cam 3.
is"
Use
following groups:

P00781)

P00785)
Function:
Memory:
Unit:
Cycl. tra.:
Par
FIX_IDN_SP
%
--
Input
MPB:
MPC:
MPD:
MPH:
5.5.54
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
-+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
-799,999999 / 799,999999
-799,999999 / 799,999999
-799,999999 / 799,999999
-799,999999 / 799,999999
Default value
---------
MPB
MPB
MPB
MPD
MPD
MPD

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
MPH
MPH
MPH
4Byte var.
DEC_MV
6
--

and Controls
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPC
MPC
Up to MPx05VRS: Cam shaft profile 4

cam 4.
is"
Use
following groups:

P00781)

P00785)

Function:
Memory:
Unit:
Cycl. tra.:
Par
FIX_IDN_SP
%
--
Input
MPB:
MPC:
MPD:
MPH:
5.5.55
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
-+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
-799,999999 / 799,999999
-799,999999 / 799,999999
-799,999999 / 799,999999
-799,999999 / 799,999999
Default value
---------
-
-
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
4Byte var.
DEC_MV
6
--

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Up to MPX05VRS:Cam shaft profile 5

cam 5.
is"
Use
following groups:

P00781)

P00785)

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
FIX_IDN_SP
%
--
Input
MPB:
MPC:
MPD:
MPH:
5.5.56
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
-+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
-799,999999 / 799,999999
-799,999999 / 799,999999
-799,999999 / 799,999999
-799,999999 / 799,999999
Default value
---------
-
-
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
4Byte var.
DEC_MV
6
--

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
cam 6.
is"
Use
following groups:

P00781)

P00785)

Function:
Memory:
Unit:
Cycl. tra.:
Par
FIX_IDN_SP
%
--
Input
MPB:
MPC:
MPD:
MPH:
5.5.57
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
-+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
-799,999999 / 799,999999
-799,999999 / 799,999999
-799,999999 / 799,999999
-799,999999 / 799,999999
Default value
---------
-
-
MPB
MPB
MPB
-
-
MPD
MPD
MPD
4Byte var.
DEC_MV
6
--

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
-
MPH
MPH
MPH
MPH
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
--
MPD
MPC
Up to MPx05VRS: Cam shaft profile 7

cam 7.
is"
Use
following groups:

P00781)

P00785)

Function:
Memory:
Unit:
Cycl. tra.:
Par
FIX_IDN_SP
%
--
Input
MPB:
MPC:
MPD:
MPH:
5.5.58
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
-+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
-799,999999 / 799,999999
-799,999999 / 799,999999
-799,999999 / 799,999999
-799,999999 / 799,999999
Default value
---------
-
-
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
4Byte var.
DEC_MV
6
--

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Up to MPx05VRS:Cam shaft profile 8

cam 8.
is"
Use
following groups:

P00781)

P00785)

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
FIX_IDN_SP
%
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.5.59
PM+OM
-+
--
min./max.
-799,999999 / 799,999999
-799,999999 / 799,999999
-799,999999 / 799,999999
-799,999999 / 799,999999
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_MV
6
--
Default value
---------
P-0-0786, Modulo value actual value cycle

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter serves to display the modulo value for the actual value cycle.
It is the range allowed for parameter "P-00753, Position actual value in actual
value cycle".
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.5.60
min./max.
--- / ----- / ----- / ----- / ---
Default value
0,0000
0,0000
0,0000
0,0000
-
-
-
-
-
-
-
MPH
-
MPH
-
MPH
+
-
-
-
-
-
-
4Byte
DEC_MV
S-0-0077
S-0-0078
--
P-0-0787, Group axis 1 position

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Group axis 1 position serves as group axis between the IndraMotion MLD-M
and a higher-level control unit. Via the group axis, a control unit cyclically pre
sets master axis command values to the IndraMotion MLD-M as master axis
(virtual master axis) at time-equidistant intervals (NC clock).
The IndraMotion MLD-M uses the "P00787, Group axis 1 position" for sec
ondary master operation as primary master or directly as signal selection for
the master axis format converter of the virtual axis.

and Controls
See also Functional Description "Virtual Master Axis Generator"
Function:
Memory:
Unit:
Cycl. tra.:
Par
-Incr
AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.5.61
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0
P-0-0788, Group axis 1 position, fine-interpolated

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
MPH
-
MPH
+
-
-
-
-
-
-
MPC
MPC
This parameter displays the group axis position of parameter "P00787, Group
axis 1 position" fine interpolated with regard to the position loop clock.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-Incr
AT
Input
MPB:
MPC:
MPD:
MPH:
5.5.62
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0
P-0-0789, Master axis position, fine-interpolated

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter displays the master axis position of the parameter "P00053,
Master axis position" fine interpolated with regard to the position loop clock.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
-Incr
AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
0
0
0
4Byte
DEC_MV
0
--

and Controls
5.5.63
P-0-0806, Current mains voltage crest value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
For HCS03 devices (converters), this parameter displays the current crest value
of the mains voltage.
For HCS01/02 devices (converters), this value just displays the mains voltage
at the time of the first successful soft start.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-V
AT
Input
MPB:
MPC:
MPD:
MPH:
5.5.64
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
1
--
Default value
---------
P-0-0809, Properties of charging circuit

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
-
-
-
-
MPC
MPC
This list parameter displays the data for the soft-start charging circuit. It is stored
in the power section in non-volatile form.
Structure
This list parameter consists of 5 elements which each contain decimal numer
ical values. The significance of elements 1...4 depends on what is selected in
element 0.

and Controls
Element
Name
Unit
Dec.
places
Length in
bytes
Charging circuit type
None
0.00: = No charging circuit

1.00: = Resistance charge
2.00: = Constant current source
3.00: = Thyristor charge (e.g. HCS03.1..W0210-..)
1
Feature 1:
No charging circuit: Not relevant
None
Resistance charge: Max. allowed capacity mF

Constant current source: Max. allowed ca mF
pacity
Thyristor charge: Blanking time t1
sec
From mains voltage OK until charging end;

2
Feature 2:
None
Resistance charge: Resistance value
Ohm
Constant current source: Const. charging Ampere

current
Thyristor charge: Monitoring time t2; Uzk sec
is monitored for Uzk>0.84*Umains;
Uzk>Uzkmin, (see P00114) - monitoring
time t2 elapses after gating time t1;
3
Feature 3:
None
Resistance charge: Continuous power
Watt
Constant current source: Continuous cur A

rent
Thyristor charge: Not relevant
4
Fig.5-157:
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
None
Feature 4:
None
Resistance charge: Max. allowed energy
kWs
Constant current source: Not relevant
None
Thyristor charge: Not relevant
None
Properties of Charging Circuit

Par
LT_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte var.
DEC_OV
2
--

and Controls
5.5.65
P-0-0810, Minimum mains crest value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
For HCS converters, in this parameter it is possible to set an individual minimum

value for the crest value of the mains voltage. The value is only effective, if it is
greater than the minimum value of the mains connection voltage range!
For HCS02
If the mains crest value, when the converter is switched on, is lower than the
value in P00810, the diagnostic message "E2814 Undervoltage in mains" is
generated.
For HCS03
If the mains crest value, when the converter is switched on or is in operation,
is lower than the value in P00810, the diagnostic message "E2814 Under
voltage in mains" is generated.
The mains voltage crest value detected when switching on, for HCS
devices is displayed in "P00815, Nominal mains voltage crest val
ue"!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
V
--
Input
MPB:
MPC:
MPD:
MPH:
5.5.66
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
0 / 780
0 / 780
0 / 780
0 / 780
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
---------
P-0-0815, Nominal mains voltage crest value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter for HCS converters displays the mains voltage crest value that
was measured when the mains voltage was switched in the first time.
From this value the standard value for the undervoltage threshold (P00114),
the standard minimum value of the mains voltage crest value (P00810) and
the standard switch-on threshold of a braking resistor (P00858) are derived.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-V
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.5.67
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
P-0-0816, Amplifier temperature 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Indicates the current temperature of a second temperature sensor on the power

section. This sensor is available for HCS03.1 devices.
The parameter P00816 is always available, even if there is no second tem
perature sensor available. In this case the value "0" is displayed.
The corresponding warning and switch-off thresholds are "E2040 Amplifier
overtemperature 2 prewarning" and "F2040 Amplifier overtemperature 2 shut
down".
Function:
Memory:
Unit:
Cycl. tra.:
Par
-S-0-0208
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.5.68
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
+
-
-
-
-
MPD
MPD
2Byte
DEC_MV
1
--
P-0-0817, Amplifier temperature 3

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Function
This parameter displays the current temperature of a third temperature sensor

on the power section. This sensor is provided in HCS04.2 devices with higher
power. If the device is not provided with a third temperature sensor, P-0-0817
always displays a value of "0".
Use
The related warning and shutdown thresholds are "E2040 Device overtemper
ature 2 prewarning" and "F2040 Device overtemperature 2 shutdown".
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
-S-0-0208
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
2Byte
DEC_MV
1
--

and Controls
MPD:
MPH:
5.5.69
-----
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
P-0-0819, Energy counter

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter displays the energy which was supplied to the drive. The energy
is determined by means of the operating time as the sum of the effective power.
Function:
Memory:
Unit:
Cycl. tra.:
Par
RE
TAIN_KUNDE
kWh
AT
Editability:
PM+OM
Data length:
4Byte
Validity ch.:
--
Format:
DEC_MV
Extr. val. ch.:

Comb. check:
---
Decim. pl.:
Switchable:
2
--
Input
MPB:
MPC:
MPD:
MPH:
5.5.70
--- / ----- / ---
min./max.
Default value
-20000000,00 / 20000000,00 0,00
-20000000,00 / 20000000,00 0,00
-20000000,00 / 20000000,00 0,00
-20000000,00 / 20000000,00 0,00
P-0-0833, Braking resistor threshold

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The braking resistor is only switched on via the firmware if this is required for
braking. This means that it is switched on whenever the DC bus voltage is
higher than the voltage threshold "P00833, Braking resistor threshold".
Depending on the load (P-0-0844), the threshold is dynamically adjusted. This
behavior allows loading braking resistors simultaneously operated at the DC
bus.
See also Functional Description "Information on the Braking Resistor and the
DC Bus Resistor Unit HLB01"
Use
For HCS02 and HCS03 converters with and without external braking resistor
HLR01 in the configuration parallel operation and group supply with DC bus
connection. At the involved components, set identical reference values for the
ON-OFF switching voltage of the braking resistor (see P-0-0860).
When using HLB01 resistor units, you have to operate them in the mode "in
dependent of mains voltage" and on all other involved components set the
reference value in P-0-0860 to "00".
Function:
Memory:
Unit:
Cycl. tra.:
Par
-V
AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.5.71
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter indicates the thermal energy in percent, in relation to its maxi
mum allowed energy content, currently stored in the braking resistor.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-%
AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
--
-
-
-
-
MPD
MPD
2Byte
DEC_OV
0
--
P-0-0851, Short-time energy counter

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function:
Memory:
Unit:
Cycl. tra.:
Par
-Ws
AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
MinLong / MaxLong
MinLong / MaxLong
MinLong / MaxLong
MinLong / MaxLong
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
P-0-0858, Data of external braking resistor

Allocation
MPC
MPC
Similar to "P00819, Energy counter", this parameter serves to display the en

ergy consumed by the drive. Resolution is 1 Ws. This allows evaluation of the
energy consumption of individual machining cycles which can take from a few
seconds to as long as several hours. The parameter is not stored and is zero
after the drive has been switched on.
Input
MPB:
MPC:
MPD:
MPH:
5.5.73
Default value
---------
P-0-0844, Braking resistor load

Allocation
5.5.72
min./max.
--- / ----- / ----- / ----- / ---
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
4Byte
DEC_MV
0
--

and Controls
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPB
MPH
+
MPD
MPD
MPC
MPC
For HCS02/HCS/03 converters, the type data of an externally connected brak

ing resistor are entered in this list parameter.
The HLR braking resistors which can be used are assigned to the correspond
ing HCS devices in the documentation "Rexroth IndraDrive, Supply Units and
Power Sections; Project Planning Manual". The type data of the HLR braking
resistors are contained in the documentation "Rexroth IndraDrive, Additional
Components; Project Planning Manual".
Element
no.
Name
Unit
Decimal places Length in bytes
Nominal braking re
sistance
Ohm
Braking resistor con

tinuous power
3*
Max. regenerative
KWs
power to be absorbed
Braking resistor
switch-on threshold
Not supported
As of
MPX04V22
Fig.5-158:
Use
For HCS02, higher regenerative power absorption is possible (see Proj

ect Planning Manual "Supply Units and Power Sections")
Data of External Braking Resistor
If the braking resistor control has been activated via "P-0-0860, Converter
configuration", bit 8, the braking resistor data has to be correct.
The reference voltage adjustable in element no. 4, which is responsbile

for switching on the braking resistor, can be activated via the appropriate
bits of "P-0-0860, Converter configuration" (or "P-0-0860, Control word of
power section").
The value in list element 4 must be at least 143% of "P00815, Nominal

mains voltage crest value" and may be 820V at maximum. .
If the value entered is too low, the error "F2825 Switch-on threshold
braking resistor too low" is displayed on activation of such a low
value.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte var.
DEC_OV
4
--

and Controls
5.5.74
P-0-0859, Data of internal braking resistor

Allocation
Function
Structure
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Element No.
Name
Unit
Decimal places Length in bytes
nominal braking re
sistance
Ohm
braking resistor con W

tinuous power
max. regenerative
power to be absor
bed
Function:
Memory:
Unit:
Cycl. tra.:
kWs
Data of the internal braking resistor

Par
LT_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.5.75
-
-
-
-
-
-
For converters the type data of the device-internal braking resistor are dis
played in this list parameter. The parameter is stored in non-volatile form in the
power section.
Fig.5-159:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
PM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
4Byte var.
DEC_OV
4
--
P-0-0860, Converter configuration

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
In this parameter, basic settings are made for the power section of (preferably)
converters. Parameter "P00860" is specifically used for configuring the power
section of converters (HCS02.1, HCS03.1,..).
Structure
MPC
MPC

and Controls
Bit
Source of power supply (HCS)
Comment
0: Mains voltage (default) converter mode

1: DC bus Inverter operation
1
HMS/HMD as module bus master

0: Deactivated (default)
1: Activated
Active braking resistor (internal / external)

0: Internal braking resistor activated for HCS02 (default),
device without (or with deactivated) braking transistor for
HCS03/04
1: External braking resistor active (HCS02/03/04) and inter
nal braking resistor deactivated, when an external braking
resistor has been connected (HCS02)
Braking resistor switch-on threshold adjusted depending on

load
0: Active, threshold is increased, proportionally to the ther
mal load, up to 30 V above the reference value
1: Inactive
11/10
Selection of braking resistor switch-on threshold (reference

values)
00: ON = DC820V
OFF = DC800V (default)
01: ON = list element 4 of "P00858, Data of external brak
ing resistor" (max. DC 820 V)
OFF = DC20V below switch-on voltage
10: ON = "P-0-0815, Nominal mains voltage crest value" x
1.3 (for HCS03, HCS04: 1,4)
OFF = "P-0-0815, Nominal mains voltage crest value" x 1.3
(for HCS03, HCS04: 1.4) -20V
12
Dyn. limitation of regenerative power, depending on DC bus

voltage (HCS03/04)
0: Active (default), if DC bus voltage:
Exceeds DC850V (when using HLR or the like);
Exceeds DC800V (for device without or with deactivated
braking transistor)
1: Deactivated
Set bit for combination of a device without (or with deacti
vated) braking transistor with HLB (or for DC bus connection
to a device which uses a braking resistor)
15
Setting for operation as controller or converter

0: Operation as controller
1: Operation as SERCOS analog converter
Fig.5-160:
Use
As of MPx04,
for inverter at
third-party sup
ply unit

and Controls
Bit 0: Power supply Bit 0 determines whether the power supply of the
converter takes place via mains connection (converter operation, default)
or via DC bus (inverter operation).
With regard to module bus, the converter used in inverter operation
behaves like an inverter!
Bit 1: Activation of module bus master function If the power section is not
operated at HMV or HCS, it can assume the function of the module bus
master by setting this bit and assume the signal exchange for power con
trol with another IndraDrive supply unit.
Bit 12/8: Braking resistor and regenerative power

For HCS03 devices, bit 8 is set automatically according to the design!
With design -NNB*: Bit 8 is "1"
With design -NNN*: Bit 8 is "0"
Table for Setting Bits 8 and 12 Depending On HCS Device Options and Braking
Resistor
Device
HCS02.1
W0012
HCS02.1
W0028
Relev. type
code sections
- 21 22 23 24 -
Ext. Rb at de
vice (X9)
Ext. Rb at DC
bus (L+, L-)
- NNNN -
Not possible!
Not possible!
- NNNN -
Not possible!
No
HCS02.1
- NNNN W0054 -W0070
HLR or the like
HCS03 HCS04
- NNBV -
Fig.5-161:
HLB *) possible,
Bit 8: 0 (auto
but irrelevant as
matic) Bit 12: 0
regards
(default)
P-0-0860
Bit 8: 1 (user)
Bit 12: 0 (de
fault)
No
Bit 8: 0 (auto
matic) Bit 12: 0
(default)
HLB *)
Bit 8: 0 (auto
matic) Bit 12: 1
(user)
HLB *)
Bit 8: 0 (user)
Bit 12: 1 (user)
No
Bit 8: 0 (user)
Bit 12: 0 (de
fault)
No
HLR or the like
Bit 8: 0 (auto
matic) Bit 12: 0
(default)
Bit 8: 0 (auto
matic) Bit 12: 0
(default)
Not possible!
- NNNV -
P-0-0860
HLB *) possible,
Bit 8: 1 (default)
but irrelevant as
Bit 12: 0 (de
regards
fault)
P-0-0860
Table for Setting P-0-0860 Depending on HCS Device Options and

Braking Resistor

and Controls
HCS03/04 devices have no internal braking resistor!
The device option "braking transistor" allows using a braking resis
tor which can be externally connected.
When you use the device option without braking transistor, drives
can only be decelerated by mechanical braking forces or by DC bus
connection to HLB or other devices which use a braking resistor!
Bit 9: Braking resistor switch-on threshold adjusted depending on load

When several HCS devices are connected via the DC bus, it is necessary
to balance the load of the braking resistors. This is achieved by increasing
the switch-on and switch-off thresholds in directly proportional form to the
thermal load of the braking resistor controlled by the device (default). The
maximum increase is 30 volt above the reference value. This ensures
equal thermal load for all braking resistors. The maximum regenerative
power of the axis group is possible in this way!
The current braking resistor switch-on threshold is displayed in pa
rameter P-0-0844.
Bit 11/10: Selection of braking resistor switch-on threshold (reference val

ues) The switch-on threshold for the braking resistor is dynamic by default,
i.e. it is increased depending on the load. The values to be selected are
reference values and refer to 0 percent thermal load of the braking resistor.
Bit 12: Dyn. limitation of regenerative power, depending on DC bus voltage

(HCS03/04)
HCS03/04 devices have no internal braking resistor. When you use the
device option without braking transistor or in the case of deactivated brak
ing transistor, the threshold of the regenerative power limitation is already
required at DC800V and has been set as default value. This avoids inad
missible voltage overshoot (>DC900V) when switching off the energy
regeneration to the DC bus.
If for a device without braking transistor (or with deactivated braking tran
sistor), there is a DC bus connection to HLB or other devices which use a
braking resistor, the regenerative power limitation starting at DC800V
does not make sense and therefore has to be deactivated! For HLB, the
braking resistor switch-on threshold has been fixed to DC820V on the
hardware side. As a standard, other braking resistors at the common DC
bus have a switch-on threshold of DC820V, too.
Bit 15:SERCOS analog converter mode is only possible with CDB01.1-...

control sections! Operate both axes in the same way, either as controller
or as SERCOS analog converter. After having changed the setting, switch
control section off and on again!
The setting will only take effect after the control section has been
switched on again!
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
-+
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
2Byte
BIN
0
--

and Controls
MPD:
MPH:
5.5.76
--- / ----- / ---
-----
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
P-0-0861, Power supply status word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter is used for status display of the power supply.

Structure
Bit
drive ready for power output?

0: no
1: yes
soft start process completed (only converters)

0: no
1: yes
mains voltage available (only converters)

0: no
1: yes
power supply unit ready for power output

0: no, DC bus "not ok"!
1: yes, DC bus "ok"!
error during soft start (only converters)

0: no
1: yes
soft start relay supplied with current (only converters)

0: no
1: yes
error converter supply unit F28xx (only converters)

0: no
1: yes
braking resistor overload warning active?

0: no
1: yes
Comment

and Controls
Bit
Comment
power supply unit ready for operation (only converters, for

control of "Bb" contact!)
0: no
1: yes
12
E2050 Device overtemp. Prewarning active?

0: no
1: yes
13
F2018 Device overtemperature shutdown orF2022 Device

temperature monitor defective active?
0: no
1: yes
14
E2040 Device overtemperature 2 prewarning active?

0: no
1: yes
15
F2040 Device overtemperature 2 shutdown orF2022 Device

temperature monitor defective (for temperature measure
ment 2) active?
0: no
1: yes
Fig.5-162:
Function:
Memory:
Unit:
Cycl. tra.:

Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
5.6
P-0-0900 to P-0-0999 Encoder Emulation
5.6.1
P-0-0900, Encoder emulation signal selection list

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The following table represents the signals possible for emulation and their spe
cial features with regard to emulation.
Incremental encoder emulation

and Controls
Emulation signal
Scaling (P00903,
Encoder emulation
resolution)
Scaling, P-0-0904,
Encoder emulation
zero pulse offset
P-0-0905, Encoder
emulation zero pulse
distance
Sources for signal jumps Handling of signal

jumps
S00051, Position feed

back value 1
S00076 [mm] or
[lines/revolution]
Lines
Indirectly through control Internally with extrapo

via S00148, P00012 lation on changeover
S00053, Position feed

back value 2
S00076 [mm] or
[lines/revolution]
Lines

S00386, Active position

feedback value
S00076 [mm] or
[lines/revolution]
Lines

P00434, Position com

mand value of controller
S00076 [mm] or
[lines/revolution]
Lines
P-0-0902 via control unit Externally by stopping

the emulation via the
control unit
P00052, Actual position [Lines/revolution]

value of measuring en
coder
Lines

via P-0-0012, internally lation on changeover
on mark detection
P00087 via control unit Externally by stopping
control unit
P00775, Resulting mas [Lines/revolution]

ter axis position
Lines
P00053 via control unit Externally by stopping

control unit
P00776, Effective mas

ter axis position
[Lines/revolution]
Lines
P00053 via control unit, Externally by stopping

changeover "AB -> AF" the emulation via the
control unit
P03280 = Actual posi

tion value, channel 2
S00076 [mm] or
[lines/revolution]
Lines
--
Motor encoder signal
P-0-4014 [mm] or
[lines/revolution]
No parameterization
possible
Internally on mark detec Internally with extrapo

tion
lation on changeover
Fig.5-163:
Externally by stopping
control unit
"Features" Emulator Signals
See also Functional Description "Encoder Emulation".

Absolute encoder emulation (SSI encoder emulation)
Emulation signal
Scaling (P00903,
Encoder emulation
resolution)
Sources for signal

jumps
Handling of signal
jumps
S00051, Position
feedback value 1
Bit per revolution

Unit [Bit]
Indirectly through
Internally with ex
control via
trapolation on
S00148, P00012 changeover
S00053, Position
feedback value 2
Bit per revolution

Unit [Bit]
Indirectly through
Internally with ex
control via
trapolation on
S00386, Active po Bit per revolution

sition feedback val Unit [Bit]
ue
Indirectly through
Internally with ex
control via
trapolation on

and Controls
P00434, Position
command value of
controller
Bit per revolution

Unit [Bit]
P00902 via control Externally by stop

unit
ping the emulation
via the control unit
P00052, Actual
Bit per revolution
position value of
Unit [Bit]
measuring encoder
Indirectly through
Internally with ex
control via
trapolation on
P-0-0012, internally changeover
on mark detection
unit
ping the emulation
P00775, Resulting Bit per revolution

master axis position Unit [Bit]

unit
ping the emulation
P00776, Effective Bit per revolution

master axis position Unit [Bit]

unit, changeover
ping the emulation
"AB -> AF"
P03280 = Actual
position value,
channel 2
--
Fig.5-164:
Bit per revolution

Unit [Bit]
Externally by stop
ping the emulation
"Features" Emulator Signals
The signal selection list is limited to the signals of "S00051" and

"S00053" for double-axis devices in combination with the analog
interface card HCC11 (DCB01.1C-AN).
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.6.2
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
P-0-0901, Encoder emulation signal selection

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter serves to configure (control) the incremental and SSI encoder
emulation. It allows defining the signal to be emulated.
See also Functional Description "Encoder Emulation"
Use
Supported emulation signals, signal selection list

The signals to be emulated, which are supported by the drive, can be found in
parameter "P00900, Encoder emulation signal selection list".
Configuration

and Controls
Configuration is achieved by entering the desired IDN from the list parameter
"P00900" in parameter "P00901, Encoder emulation signal selection list".
If incremental encoder emulation is activated, it is also possible, if
necessary, to activate a mere emulation of the motor encoder signal
via bit 12 of "P00902", irrespective of the setting in "P00901"!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.6.3
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
IDN
0
--
Default value
0
0
0
0
P-0-0902, Encoder emulation control parameter

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used for configuring (controlling) the encoder emulation.

Except for bit 7, changes in parameter P00902 can only be made
in PM (phase 2 up to MPX03VRS)!
Structure

Bit
1-0:
activation of emulation (SSI or incremental)

00: encoder emulation deactivated
01: incremental encoder emulation
10: absolute encoder emulation
4:
dead time compensation (only for IGS)

0: switched off
1: active
7:
temporary stop (only for IGS)

0: emulation active
1: emulation stopped
9-8:
oversampling/clock increase (only for IGS)

00: 8-fold
01: 16-fold
10: 32-fold
Comment

and Controls
Bit
Comment
10
SSI synchronization (only for SSI)
as of MP*04VRS
0: synchronization switched off

1: synchronization activated
12:
kind of incremental encoder emulation

0: signal emulation
1: motor encoder emulation
Fig.5-165:
Use
Structure of P-0-0902, Encoder emulation control parameter
Bit 7: temporary stop Bit 7 is used to temporarily stop the emulator output.
When the control unit sets this bit, there aren't any more increments out
put. This is required when the control unit abruptly changes the signal to
be emulated, but this jump is not to be emulated because it can cause the
error message F2053!
Bit 9-8 oversampling/clock increase Bits 8..9 are used to select the tem
porary clock increase of the emulator signals, in order to increase the
resolution of the emulation signals and to reduce signal jitter.
By increasing the clock increase, the maximum output frequency is
reduced (oversampling of 8 1MHz, with 16 500kHz and with 32
250kHz)!
Bit 10: SSI synchronization (only available for MPH!) When synchroniza
tion has been activated, the probe function (MT1) cannot be used any
more!
Synchronization only works correctly when the "sampling rate" of
the external control unit is lower than the internal position loop clock
which depends on the performance of the firmware variant used
(see section "Performance Data" in the Functional Description)!
Bit 12: kind of incremental encoder emulation Bit 12 defines whether it is

the signal defined via P00901 that is emulated or directly the signal of
the motor encoder.
The setting of bit 12 influences the output of the zero pulse. With
bit 12 = 0, the zero pulse is only output when the drive has been
homed (cf. S-0-0403), with bit 12 = 1 the zero pulse is output im
mediately after the drive has been switched on!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-MDT
Input
MPB:
MPC:
MPD:
MPH:
5.6.4
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
-+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
0
0
0
P-0-0903, Encoder emulation resolution

Allocation
Contained in 02VRS:
Contained in 03VRS:
MPB
MPB
MPH
MPH
MPD
MPD
2Byte
BIN
0
--

and Controls
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPC
MPC
P-0-0903 serves to parameterize the resolution
of the emulated incremental encoder (incrementally)
of of the emulated SSI encoder (absolute).
Units, limit values and reference variables are depending on the

encoder emulation used, the motor type and the scaling parame
terized in "S-0-0076".
Use
Incremental encoder emulation

If an incremental encoder is emulated, the number of encoder lines of the in
cremental encoder to be emulated must be entered in "P-0-0903, Encoder
emulation resolution".
Formats and units are variable:
Rotary motor: Lines/revolution
Linear motor: mm or inch
Input range for incremental encoder emulation: 1 262144 (=218)
The maximum signal frequency of the emulated signals may not exceed
the maximum allowed output frequency of 1 MHz. The number of incre
ments must be accordingly adjusted to the velocity.
If overclocking is increased, the maximum output frequency is re
duced (oversampling of 8: 1 MHz, with 16 500 kHz and with 32
250 kHz!
See also Troubleshooting Guide "F2053 Incr. encoder emulator: Pulse fre
quency too high"
Example parameteration for incremental encoders with linear scaling:
How high can the number of encoder lines be set with linear scaling (with load
reference), a velocity of max. 3000 rpm, a feed constant of 65 mm, and a gear
ratio of max. 5?
Note: fmax. = 1 MHz, since overclocking is only 8-fold!!
If vload = 39000 mm/min = 650 mm/s = 0.65 m/s
P00903max = vmax/fmax = 650 mm/s /1 MHz = 0.00065 mm = 0.65 m
SSI emulation
If an absolute encoder in SSI format is emulated, the desired bit width of the
SSI position to be output must be entered here.
Formats and units are variable:
Rotary motor: Bit/revolution
Linear motor (linear scaling): bits/mm or bits/inch

and Controls
The input range for SSI emulation is "8 bits ... 24 bits"
SSI emulation always involves a transfer of 24 bits, wherein the resolution

of one motor revolution and therefore the absolutely representable travel
range can be defined through the input in "P-0-0903".
Example parameterizationfor SSI emulation:

If P00903 = 12 bits/revolution, then one motor revolution has a resolution of
12 bits (= 4096 increments) and can be absolutely represented with a maximum
of 212 (4096) revolutions.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Lines/Rev
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.6.5
PM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0 / 16777216
0 / 16777216
0 / 16777216
0 / 16777216
4Byte
DEC_OV
0
--
Default value
4000
4000
4000
4000
P-0-0904, Encoder emulation zero pulse offset

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In case of incremental encoder emulation, this parameter allows offsetting the

position of the reference pulse (zero pulse) within the parameterized zero pulse
distance (P-0-0905).
Use
Entries can be made in any phase, even during ongoing operation. How
ever, the drive should be at standstill while a value is entered.
The input is made in lines of the emulator resolution, with formats and units
being variable as follows:
Rotary motor: Lines
Linear motor (or linear scaling): mm or inch

The offset must be less than the zero pulse distance parameterized
in P-0-0905.
Record of Revisions
Version
Attribute
Up to MPx04VRS
Editability: PM
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Lines
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Comment
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.6.6
min./max.
0 / 16777216
0 / 16777216
0 / 16777216
0 / 16777216
Default value
0
0
0
0
P-0-0905, Encoder emulation zero pulse distance

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In the case of incremental encoder emulation, this parameter, depending on

the travel distance, defines the distance of two successive zero pulses.
The formats, units and maximum values in this case are different:
rotary motor: lines (max. value = 2^32 lines)
linear motor: mm or inch (max. value = S-0-0278)

Use
Observe the following for parameterizing P00905:
Parameter setting P-0-0905 = P-0-0903 (standard case!): One zero pulse

is generated per revolution (or per mm).
Parameter setting P-0-0905 < P-0-0903 (cyclic zero pulse output): Several
zero pulses are generated per revolution (or per mm). (If a zero pulse is
demanded, for example, each time after 180 degrees, the parameter set
ting has to be P00905 = 0.5 * P00903.)
For cyclical output you have to take into consideration that a max
imum of one zero pulse can be output per output cycle (i.e. position
loop clock).
Parameter setting P-0-0905 = N * P-0-0903:

One zero pulse is generated within N revolutions (or per N mm). This al
lows, for example, generating only one single zero pulse over the entire
travel range at the machine zero point!
Inputting "0" is not allowed!
Input is made in lines of the emulator resolution.

If one zero pulse per revolution is desired, which normally is the case, P00905
= P00903 has to be set, i.e. the same value as in P00903 has to be input in
P00905. It is also possible to output a zero pulse only every x revolutions, in
this case P00905 = x * P00903 is correct. Input is only possible in phases 2
and 3.
Version
Attribute
GEN-02VRS
MPB Min Value: 0
GEN-02VRS
MPH Min Value: 0
Comment

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Lines
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.6.7
PM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
1 / 4294967295
1 / 4294967295
1 / 4294967295
1 / 4294967295
Default value
4000
4000
4000
4000
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
MPD
MPD
MPD
MPD
4Byte
DEC_OV
0
--
P-0-0910, SSI control parameter

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Function
This parameter is used for hardware configuration of the SSI encoder input on
the option "MD2".
Structure
The following bits have been defined:

Bit
3-0
baud rate
Comment
0x1 -> 125kHz

0x3 -> 250kHz
0x7 -> 500kHz
0xf ->1000kHz
4
coding
0 -> Gray
1 -> binary
7-5
error bits
000 -> none
001 -> GA13 (PFB)
010 -> GA14 (PosErr)
100 -> GA15 (SenderErr)
12-8
SSI data format (bit 8..12) (=> number of transmitted

bits)
single-turn (13bits = 0x0dxx)
multi-turn (25bits = 0x19xx)
linear encoder according to data format
15
deactivation of 24V monitoring

0: 24V monitoring activated
1: 24V monitoring deactivated
Fig.5-166:
Use
P-0-0910, SSI control parameter
deactivation makes
sense when there
aren't any I/Os used

and Controls
The maximum cable length is directly connected with the baud rate!
The encoder manufacturer must disclose the coding and the error bits.
The same applies to the data format; the data formats indicated above,
however, are suited for most of the encoders.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.6.8
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
HEX
0
--
Default value
0
0
0
0
P-0-0911, Virtual master axis, positioning window

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used to generate bit 2 of "P00768, Virtual master axis, po

sitioning status".
See also Parameter Description "P-0-0768, Virtual master axis, positioning
status"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.6.9
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,0000 / 214748,3647
0,0000 / 214748,3647
0,0000 / 214748,3647
0,0000 / 214748,3647
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
4
--
Default value
1,0000
1,0000
1,0000
1,0000
P-0-0912, Virtual master axis, standstill window

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
MPD
MPD
MPD
MPD
MPC
MPC
To recognize the standstill of the virtual master axis a threshold value for the
velocity is entered in this parameter. Standstill is detected, if the absolute value
of the actual velocity value falls below this threshold. This parameter is required
to generate bit 2 of P00768, Virtual master axis, positioning status.
See also Parameter Description "P-0-0768, Virtual master axis, positioning
status"
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
4Byte
DEC_MV

and Controls
Unit:
Cycl. tra.:
---
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.6.10
min./max.
0,0000 / 214748,3647
0,0000 / 214748,3647
0,0000 / 214748,3647
0,0000 / 214748,3647
Decim. pl.:
Switchable:
4
--
Default value
10,0000
10,0000
10,0000
10,0000
P-0-0913, Virtual master axis, positioning jerk

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
MPD
MPD
MPD
MPD
MPC
MPC
The jerk limits the change in acceleration per time unit positioning and velocity
modes of the virtual master axis.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.6.11
+
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,00 / 21474836,47
0,00 / 21474836,47
0,00 / 21474836,47
0,00 / 21474836,47
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
2
--
Default value
0,00
0,00
0,00
0,00
P-0-0914, Virtual master axis, velocity threshold positioning

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
MPD
MPD
MPD
MPD
MPC
MPC
By means of this parameter it is possible to set a threshold value for the actual
velocity.
If the actual velocity is above the threshold value, the drive moves to a target
position without reversing the direction of rotation, even if the setting in
"P-0-0769, Virtual master axis, command value mode" should cause the direc
tion of rotation to be reversed.
By entering the value "0" the velocity threshold is deactivated, i.e.
drive always moves to the target position as determined in
"P-0-0769, Virtual master axis, command value mode"!
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
Par
PARAM_SP
-MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,0000 / 214748,3647
Data length:
Format:
Decim. pl.:
Switchable:
Default value
10,0000
4Byte
DEC_OV
4
--

and Controls
MPC:
MPD:
MPH:
5.6.12
0,0000 / 214748,3647
0,0000 / 214748,3647
0,0000 / 214748,3647
10,0000
10,0000
10,0000
P-0-0915, Master axis format converter IDN list signal selection

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
MPD
MPD
MPD
MPD
MPC
MPC
This parameter specified all parameters which can be converted into the master
axis format.
S-0-0000, Dummy parameter
S00051, Position feedback value 1
S00053, Position feedback value 2
S-0-0386, Active position feedback value
P-0-0052, Actual position value of measuring encoder
P-0-0434, Position command value controller
P-0-0753, Position actual value in actual value cycle
P-0-0758, Virtual master axis, actual position value
P-0-1270, PLC Global Register A0
P-0-1771, CCD: AT real-time container 1, slave 1
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte var.
IDN
0
--

and Controls
5.6.13
P-0-0916, Master axis format converter signal selection

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used to select the parameter whose value is to be converted

into the format of the master axis.
The IDNs of the parameters that can be selected are listed in "P-0-0915, Master
axis format converter IDN list signal selection". It is only possible to select these
parameters!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.6.14
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
IDN
0
--
Default value
0
0
0
0
P-0-0917, Control word of master axis generator

Allocation
Function
Structure
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
MPD
MPD
MPD
MPD
MPC
MPC
The virtual master axis generator is activated or deactivated via this parameter.
Bit
Comment
activation of master axis generator

0: master axis generator deactivated
1: master axis generator activated
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-MDT
Input
MPB:
MPC:
MPD:
MPH:
5.6.15
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
0/1
0/1
0/1
0/1
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
0
0
0
P-0-0918, Feed travel internal virtual master axis

Allocation
Contained in 02VRS:
Contained in 03VRS:
-
-
-
-
-
-
2Byte
BIN
0
--

and Controls
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPC
MPC
This parameter is required for the virtual master axis of the internal master axis
generator when it has been scaled in absolute form. The distance parameter
ized in this parameter when converted corresponds to 220 increments (one
master axis revolution).
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.6.16
MPD
MPD
MPD
MPD
PM+OM
PM->OM
+
--
min./max.
0,0000 / 214748,3647
0,0000 / 214748,3647
0,0000 / 214748,3647
0,0000 / 214748,3647
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
4
--
Default value
360,0000
360,0000
360,0000
360,0000
P-0-0919, Synchronization mode, secondary master

Allocation
Function
Structure
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter determines how the secondary master synchronizes to the pri
mary master.
Bit
Comment
relative synchronization
0
0: absolute synchronization
1: relative synchronization
synchronization range
0: 360 (1 master axis revolution)

1: master axis cycle
Fig.5-167:
Use
Synchronization mode, secondary master
Bit 0: Absolute synchronization (bit 0 = 0)

An absolute position with regard to the primary master is always established.
Relative synchronization (bit 0 = 1)
Only velocity adjustment is carried out.
Bit 1: In the case of absolute synchronization, the synchronization range is de
fined with this bit. The distance to be traveled is limited to this range.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.6.17
min./max.
0 / 255
0 / 255
0 / 255
0 / 255
Default value
0
0
0
0
P-0-0920, Synchronization acceleration, secondary master

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter indicates the acceleration or deceleration with which the sec
ondary master accelerates or decelerates when its velocity is adjusted to the
velocity of the primary master. For position adjustment, this parameter is used
to set the acceleration and deceleration of the superimposed motion.
Scaling / unit: 1E-3 rad/s2.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
rad/s
MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.6.18
PM+OM
PM->OM
---
min./max.
0,000 / MaxULong
0,000 / MaxULong
0,000 / MaxULong
0,000 / MaxULong
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
3
--
Default value
100,000
100,000
100,000
100,000
P-0-0921, Synchronization velocity, secondary master

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
-
MPD
MPD
MPD
MPC
MPC
For position adjustment, this parameter is used to set the velocity of the super
imposed motion.
Scaling / unit: 1E-4 rpm.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Rpm
MDT
Input
MPB:
MPC:
MPD:
MPH:
5.6.19
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
0,0000 / MaxULong
0,0000 / MaxULong
0,0000 / MaxULong
0,0000 / MaxULong
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
4
--
Default value
100,0000
100,0000
100,0000
100,0000
P-0-0922, Preferred synchronization direction, secondary master

Allocation
Contained in 02VRS:
Contained in 03VRS:
-
-
-
-
-
-

and Controls
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
MPB
MPH
MPB
MPH
MPB
MPH
+
-
MPD
MPD
MPD
MPC
MPC
The disttance to be traveled for transition to absolute synchronization is deter

mined in the second step of synchronization position adjustment).
Where modulo axes are concerned, the overlaid motion of the secondary mas
ter can be made in positive or negative direction. The preferred synchronization
direction defines the direction in which the drive is to move.
Structure
Bit
Shortest distance
Positive direction
negative direction
Fig.5-168:
Use
Preferred Synchronization Direction, Secondary Master
If the shortest distance to absolute synchronization is shorter than parameter

"P-0-0923, Synchroniz. window for shortest distance, secondary master", the
shortest way distance is traveled while the preferred direction specified is ig
nored.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.6.20
Comment
PM+OM
PM->OM
+
--
min./max.
0/2
0/2
0/2
0/2
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
0
0
0
0
P-0-0923, Synchroniz. window for shortest distance, secondary master

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
-
MPD
MPD
MPD
MPC
MPC
For synchronization of the secondary master, a preferred direction (P-0-0922)

must have been parameterized for position adjustment. This window suspends
the preferred direction within a defined window. If the difference between pri
mary master and secondary master is within the window, synchronization takes
place over the shortest distance. With P-0-0923 = 0, the function is deactivated.
Scaling / unit: 1E-4 degrees.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
Par
PARAM_SP
Deg
MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
0,0000 / MaxULong
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0,1000
4Byte
DEC_OV
4
--

and Controls
MPC:
MPD:
MPH:
5.6.21
0,0000 / MaxULong
0,0000 / MaxULong
0,0000 / MaxULong
0,1000
0,1000
0,1000
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
-
MPD
MPD
MPD
P-0-0924, Selection primary master

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter is used to select the primary master for secondary master op
eration of the virtual axis. This functionality is mainly used for the CCD master
axis with active MLD-M system mode.
Structure
Bit
0: P-0-0053, Master axis position (VmAxisExt) or P-0-0787,
Group axis 1 position (LinkAxis1)
1: P-0-0052, Actual position value of measuring encoder
(RmAxis)
Fig.5-169:
Use
Comment
P-0-0924, Selection primary master
Bit 0: If bit 0 = 0, it depends on the axis type whether the virtual axis in the form
of parameter "P-0-0761, Master axis position for slave axis" synchronizes to
parameter "P-0-0053, Master axis position" or to parameter "P-0-0787, Group
axis 1 position".
If secondary master operation is activated in a CCD master axis with active
MLD-M system mode, the primary master defined in "P-0-0787, Group axis 1
position" is selected. In all other cases, the primary master defined in parameter
"P-0-0053, Master axis position" (VmAxisExt) is selected.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-MDT
Input
MPB:
MPC:
MPD:
MPH:
5.6.22
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0/1
0/1
0/1
0/1
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
1
1
1
1
P-0-0925, Master drive gear input revolutions, secondary master

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
-
MPD
MPD
MPD
MPC
MPC
Together with P-0-0926, this parameter determines the master drive gear which
is used for phase-synchronous operation of the virtual axis.

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-MDT
Input
MPB:
MPC:
MPD:
MPH:
5.6.23
PM+OM
PM->OM
---
min./max.
1 / 65535
1 / 65535
1 / 65535
1 / 65535
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
1
1
1
1
P-0-0926, Master drive gear output revolutions, secondary master

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
-
MPD
MPD
MPD
MPC
MPC
Together with P-0-0925, this parameter determines the master drive gear which
is used for phase-synchronous operation of the virtual axis.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-MDT
Input
MPB:
MPC:
MPD:
MPH:
5.6.24
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
1 / 65535
1 / 65535
1 / 65535
1 / 65535
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
1
1
1
1
P-0-0927, Master drive gear fine adjustment, secondary master

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter sets a factor used for phase-synchronous operation of the vir
tual axis. With this factor (1 + P-0-0927), the position of the primary master is
multiplied after the master drive gear.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
%
MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
-799,999999 / 799,999999
-799,999999 / 799,999999
-799,999999 / 799,999999
-799,999999 / 799,999999
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0,000000
0,000000
0,000000
0,000000
4Byte
DEC_MV
6
--

and Controls
5.6.25
P-0-0928, Additive master axis position, secondary master

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
+
-
-
-
-
MPD
MPD
MPC
MPC
This parameter allows offsetting the secondary master in relation to the master
axis position which is calculated from the primary masster and the electronic
gear by means of fine adjustment.
The unit of the parameter is degrees and the data has 4 decimal places.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-Deg
MDT
Input
MPB:
MPC:
MPD:
MPH:
5.6.26
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
MinLong / MaxLong
MinLong / MaxLong
MinLong / MaxLong
MinLong / MaxLong
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
4
--
Default value
0,0000
0,0000
0,0000
0,0000
P-0-0929, Change velocity of add. master axis posit., secondary master

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
+
-
-
-
-
MPD
MPD
MPC
MPC
Parameter "P00929" serves to define the maximum velocity at which the cur
rent value of a "P00928, Additive master axis position, secondary master" is
moved to a new one.
The unit of the parameter is rpm and the data has 4 decimal places.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Rpm
MDT
Input
MPB:
MPC:
MPD:
MPH:
5.6.27
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,0000 / MaxLong
0,0000 / MaxLong
0,0000 / MaxLong
0,0000 / MaxLong
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
4
--
Default value
10,0000
10,0000
10,0000
10,0000
P-0-0930, Change accel. of add. master axis posit., secondary master

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
-
-
MPB
MPB
--
-
-
-
-
MPH
MPH
-
-
-
-
MPD
MPD
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
+
Parameter "P00930" indicates the acceleration and deceleration with which

"P00928" is changed.
The unit of the parameter is rad/s and the data has 3 decimal places.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
rad/s
MDT
Input
MPB:
MPC:
MPD:
MPH:
5.6.28
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,000 / MaxULong
0,000 / MaxULong
0,000 / MaxULong
0,000 / MaxULong
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
3
--
Default value
10,000
10,000
10,000
10,000
P-0-0931, Synchronous position, secondary master

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
+
-
-
-
-
MPD
MPD
MPC
MPC
This parameter is only effective during single-step synchronization in secondary

master operation.
This requires that the absolute master-axis-synchronous synchronization mode
is set. These settings are made in parameter "P00919, Synchronization mode,
secondary master".
This parameter indicates the position of the primary master, at which the syn
chronization motion is completed and the secondary master is synchronous.
The value range is defined by the master axis cycle (P-0-0750).
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Deg
MDT
Input
MPB:
MPC:
MPD:
MPH:
5.6.29
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
0,0000 / MaxLong
0,0000 / MaxLong
0,0000 / MaxLong
0,0000 / MaxLong
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
4
--
Default value
0,0000
0,0000
0,0000
0,0000
P-0-0932, Synchronization range, secondary master

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
+
-
-
-
-
MPD
MPD
MPC
MPC
This parameter specifies the range of the primary master, within which the syn
chronization of the secondary master takes place. This specification refers to
the output of the electronic gear of the secondary master.

and Controls
This parameter is only effective during single-step synchronization
in secondary master operation.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Deg
MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
PM+OM
PM->OM
---
min./max.
0,0000 / MaxULong
0,0000 / MaxULong
0,0000 / MaxULong
0,0000 / MaxULong
5.7
P-0-1000 to P-0-1099 Encoder Evaluation
5.7.1
P-0-1000, Kind of encoder 1, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
4
--
Default value
180,0000
180,0000
180,0000
180,0000
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In the case of motors with encoder data memory (MHD, MKD, MKE, MSK) the
characteristic value for the type and specific features of encoder 1 (motor en
coder) can be read from this parameter.
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"
Use
The value that has been read allows identifying the encoder incorporated in the
motor:
Value of P-0-1000
Encoder type
Specific feature
0x0000
resolver
single-turn encoder
0x0010
resolver
multi-turn encoder
0x0004
HSF
single-turn encoder
0x0014
HSF
multi-turn encoder
0xc001
EnDat
single-turn encoder
0xe001
EnDat
multi-turn encoder
0x4001
EnDat
length measurement sys

tem
0x00x2
HIPERFACE
single-turn encoder
0x00x7
HIPERFACE
multi-turn encoder
This parameter is invalid for motors without encoder data memory!

Function:
Memory:
Par
FEEDB_I2C
Editability:
Validity ch.:
PM
--
Data length:
Format:
2Byte
HEX

and Controls
Unit:
Cycl. tra.:
---
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.7.2
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
0
--
Default value
---------
P-0-1001, Encoder 1 resolution, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The value for the motor encoder resolution that is stored in the encoder data
memory is stored in this parameter.
In the case of motors with encoder data memory (MSK, MHD, MKD and MKE
motors), the value is copied to the effective parameter "S00116, Feedback 1
Resolution" when the controller is initialized (transition to phase 4).
Memory"
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
---
Input
MPB:
MPC:
MPD:
MPH:
5.7.3
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_OV
0
--
Default value
---------
P-0-1002, Absolute encoder offset 1, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is required for homing absolute motor encoders. The value is
the difference between the zero point of the motor encoder and the machine
zero point in the position data format of the motor encoder.
Customers cannot interpret the value!
Memory"
Function:
Memory:
Par
FEEDB_I2C
Editability:
Validity ch.:
PM
--
Data length:
Format:
4Byte
HEX

and Controls
Unit:
Cycl. tra.:
---
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.7.4
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
0
--
Default value
---------
P-0-1003, Pulse wire encoder offset 1, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The offset of the pulse wires in relation to the resolver (motor encoder) is stored
in this parameter. The offset is determined at the factory and stored in the en
coder memory. This parameter is only required with multi-turn resolvers!
Memory"
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
---
Input
MPB:
MPC:
MPD:
MPH:
5.7.5
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
HEX
0
--
Default value
---------
P-0-1004, Pulse wire encoder status 1, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains the information of the absolute position of the resolver
encoder (motor encoder).
The value is updated with every position initialization. It cannot be written by
the user. This parameter is only required with multi-turn resolvers!
Memory"

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.7.6
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
HEX
0
--
Default value
---------

Allocation
Function
Use
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In the case of optional encoders with encoder data memory the characteristic
value for the type and specific features of encoder 2 can be read from this
parameter.
The encoder 2 can be identified by the value that has been read:
Value of P-0-1010
Encoder type
Specific feature
0x0000
resolver
single-turn encoder
0x0010
resolver
multi-turn encoder
0x0004
HSF
single-turn encoder
0x0014
HSF
multi-turn encoder
0x0003
DSF
single-turn encoder
0x0013
DSF
multi-turn encoder
0x4001
EnDat
absolute encoder lin.
0xc001
EnDat
single-turn encoder rot.
0xe001
EnDat
multi-turn encoder rot.
0x00x2
HIPERFACE
single-turn encoder
0x00x7
HIPERFACE
multi-turn encoder
This parameter is invalid for encoders without data memory!

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
FEEDB_I2C
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
HEX
0
--

and Controls
5.7.7

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The value for the resolution of the optional encoder (encoder 2) that is stored
in the encoder data memory is stored in this parameter.
The value is copied to the effective parameter "S00117, Feedback 2 Resolu
tion" when the controller is initialized (transition to phase 4).
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
---
Input
MPB:
MPC:
MPD:
MPH:
5.7.8
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_OV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is required for homing absolute optional encoders. The value
is the difference between the zero point of the optional encoder and the machine
zero point in the position data format of the encoder 2.
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
---
Input
MPB:
MPC:
MPD:
MPH:
5.7.9
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
P-0-1013, Pulse wire encoder offset 2, encoder memory

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
4Byte
HEX
0
--

and Controls
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPB
-closed loop
--
MPH
MPH
MPD
MPD
MPC
MPC
The offset of the pulse wires in relation to the optional encoder (resolver) is
stored in this parameter. The offset is determined at the factory and stored in
the encoder memory. This parameter is only required with multi-turn resolvers!
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
---
Input
MPB:
MPC:
MPD:
MPH:
5.7.10
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
HEX
0
--
Default value
---------
P-0-1014, Pulse wire encoder status 2, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains the information of the absolute position of the optional
encoder (resolver encoder).
The value is updated with every position initialization. It cannot be written by
the user and is only required with multi-turn resolvers!
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
---
Input
MPB:
MPC:
MPD:
MPH:
5.7.11
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
HEX
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPB
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
--
In the case of measuring encoders with encoder data memory the characteristic
value for the type and specific features of encoder 3 can be read from this
parameter.
Use
The encoder 3 (measuring encoder) can be identified by the value that has been
read:
Value of P-0-1020
Encoder type
Specific feature
0x0000
resolver
single-turn encoder
0x0010
resolver
multi-turn encoder
0x0004
HSF
single-turn encoder
0x0014
HSF
multi-turn encoder
0x0003
DSF
single-turn encoder
0x0013
DSF
multi-turn encoder
0x4001
EnDat
absolute encoder lin.
0xc001
EnDat
single-turn encoder rot.
0xe001
EnDat
multi-turn encoder rot.
0x0002
SCS60/70
single-turn encoder
0x0007
SCM60/70
multi-turn encoder
0x0012
SNS50/60
single-turn encoder
0x0022
SCS-Kit 101
single-turn encoder
0x0027
SCM-Kit 101
multi-turn encoder
0x0032
BRC-Single
single-turn encoder
0x0037
BRC-Multi
multi-turn encoder
Fig.5-170:
Assignment value of P01020, encoder type and feature
This parameter is invalid for encoders without data memory!

Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
---
Input
MPB:
MPC:
MPD:
MPH:
5.7.12
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
HEX
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPB
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
--
The value for the resolution of the measuring encoder (encoder 3) that is stored
in the encoder data memory is stored in this parameter.
The value is copied to the effective parameter "P00327, Encoder resolution
of measuring encoder" when the controller is initialized (transition to phase 4).
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
---
Input
MPB:
MPC:
MPD:
MPH:
5.7.13
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_OV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The parameter "P01022, Absolute encoder offset 3, encoder memory" is re

quired for homing an absolute measuring encoder. The value is the difference
between the zero point of the optional encoder and the machine zero point in
the position data format of the encoder 3 (measuring encoder).
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
---
Input
MPB:
MPC:
MPD:
MPH:
5.7.14
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
HEX
0
--
Default value
---------
P-0-1044, Master comm. engineering over IP: Status IP communication

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC

and Controls
Function
Via parameter P01044, the status information on the current state of IP com
munication with engineering over IP can be read at the master communication
interface of the device. The parameter contains general information on IP com
munication and device-dependent information.
Structure
The general status information of IP communication is contained in parameter

P01044, preferably in the first 8 bits. The bits 8 to 31 contain the device-de
pendent information.
Bit
1/0
State of internal memory TCP/IP stack

00: No problem with internal memory
01: Internal memory space full
10: Internal memory space intermittently filled
3/2
Reserved
6/4
Default gateway information

000: Not set
001: From master comm. engineering over IP (S01022)
010: From SERCOS III master (CCD) (P01643)
100: From engineering (P01533)
7
9/8
Reserved
Setting of device gateway information
00: No gateway information set
01: Active gateway information manually set
10: Active gateway information automatically generated
11/10 Status of device gateway information

00: Gateway information not used
01: Gateway address which was read is active
10: Gateway address which was read has not been activated
up to now
12
Status of device network mask

0: Network mask which was read is active
1: Network mask which was read has not been activated up to
now
15/13 Reserved
17/16 Setting of device IP address
00: No IP address set
01: Active IP address manually set
10: Active IP address automatically set
Comment

and Controls
Bit
Comment
20/18 Status of IP address

000: No IP address available for activation
001: IP address which was read is active
010: IP address which was read has not been activated up to
now
100: "Duplicate IP Address", address not active
21
Reserved
22
Validity of device IP settings

0: IP settings valid
1: Invalid IP settings (address and gateway in different net
works)
23
Status of IP communication
0: IP communication possible
1: No IP communication possible (resources missing)
25/24 Status of FPGA Rx Buffer Port1

00: FPGA Rx Buffer Port1 able to receive data
01: FPGA Rx Buffer Port1 temporarily busy
10: FPGA Rx Buffer Port1 permanently busy
27/26 Status of FPGA Rx Buffer Port2
29/28 Status of FPGA Tx Buffer Port1
00: FPGA Tx Buffer Port1 able to receive data
01: FPGA Tx Buffer Port1 temporarily busy
10: FPGA Tx Buffer Port1 permanently busy
31/30 Status of FPGA Tx Buffer Port2
Fig.5-171:
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
P01044, Status information IP Communication, Master Comm. Engi

neering Over IP
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
BIN
0
--

and Controls
5.8
P-0-1100 to P-0-1299 Velocity Control
5.8.1
P-0-1119, Velocity mix factor feedback 1 & 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The "velocity mix factor" parameter determines the ratio of the actual velocity
values between the motor encoder and the optional encoder.
See also Functional Description "Notes on Commissioning"
Use
The input is percentage-based; the following applies:

0%: The speed controller works solely with the velocity of encoder 1.
100%: The speed controller works solely with the velocity of encoder 2 (optional
encoder).
If no optional encoder is available, the parameter is set to 0%.
If encoder 2 (optional encoder) is used as the only control encoder,
the value is to be set to 100%.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
%
--
Input
MPB:
MPC:
MPD:
MPH:
5.8.2
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,0 / 100,0
0,0 / 100,0
0,0 / 100,0
0,0 / 100,0
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
1
+
Default value
0,0
0,0
0,0
0,0
P-0-1120, Velocity control loop filter: filter type

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPC
MPC
This parameter allows activating and selecting up to 4 different filters (2nd order).
Use
MPD
MPD
MPD
MPD
MPD
MPD

and Controls
Fig.5-172:
Parameterizable filter cascade
The following filter types can be selected:
0: filter switched off
1: low pass activated

"P-0-1121, Velocity control loop filter: limit frequency of low pass"
2: band-stop filter activated

"P-0-1122, Velocity control loop filter: bandwidth of band-stop filter"
"P-0-1123, Velocity control loop filter: center frequency of band-stop
filter"
Depending on P01120, the parameters P01121, P01122 and P01123,

according to the activated filter type, are used for parameterizing the selected
filter type.
All above filter parameters (P01120, P01121, P01122 and
P01123) are list parameters with 4 elements each (element1 for
filter1, element2 for filter2, ...).
The content of "P01120, Velocity control loop filter: filter type" consists of 4
elements:
P-0-1120[0] filter type for filter1
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.8.3
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0/8
0/8
0/8
0/8
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
DEC_OV
0
+
Default value
---------
P-0-1121, Velocity control loop filter: limit frequency of low pass

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPB
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function

--
This parameter is used to parameterize the corner frequency of the 4 filters that
can be selectively activated via P01120. The input value is in Hz, i.e. the actual
frequency (f=1/T) is input at which it is intended to obtain an attenuation of
3dB (attenuation of the amplitude to 0.707 of the input amplitude!).
Use
Fig.5-173:
Low pass characteristic
The content of "P01121, Velocity control loop filter: limit frequency of low pass"
consists of 4 elements:
P-0-1121[0] limit frequency for low pass filter1

A list element in P01121 is only relevant, however, if the respective
list element in P01120 has been set to "1" (filter type = low pass).
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Hz
--
Input
MPB:
MPC:
MPD:
MPH:
5.8.4
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
4,0 / 4000,0
4,0 / 4000,0
4,0 / 4000,0
4,0 / 4000,0
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
DEC_OV
1
+
Default value
---------
P-0-1122, Velocity control loop filter: bandwidth of band-stop filter

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Function
This parameter is used to parameterize the bandwidth of the 4 band-stop filters

that can be selectively activated via P01120 [n] = 2. The input value is in Hz,
i.e. the actual frequency (f=1/T) is input. Notes on how to parameterize the
band-stop filter are contained in the Functional Description.
Use
Fig.5-174:
Amplitude characteristic of a band-stop filter depending on the band

width (qualitative)
The content of "P01122, Velocity control loop filter: bandwidth of band-stop

filter" consists of 4 elements:
P-0-1122[0] bandwidth for band-stop filter1

A list element in P0-1122 is only relevant, however, if the respective
list element in P01120 has been set to "2" (filter type = band-stop
filter).
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Hz
--
Input
MPB:
MPC:
MPD:
MPH:
5.8.5
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
10,0 / 1000,0
10,0 / 1000,0
10,0 / 1000,0
10,0 / 1000,0
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
DEC_OV
1
+
Default value
---------
P-0-1123, Vel. cont. loop filter: center frequency of band-stop filter

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
MPB
MPB
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Hardware
Funct. package(s):
Device parameter:
Function

--
This parameter is used to parameterize the center frequency of the 4 band-stop

filters that can be selectively activated via P01120 [n] = 2. The input value is
in Hz, i.e. the actual frequency (f=1/T) is input. Notes on how to parameterize
the band-stop filter are contained in the Functional Description.
Use
Fig.5-175:
Amplitude characteristic of a band-stop filter depending on the band

width (qualitative)
The content of "P01123, Vel. cont. loop filter: center frequency of band-stop
filter" consists of 4 elements:
P-0-1123[0] center frequency for band-stop filter1

A list element in P01123 is only relevant, however, if the respective
list element in P01120 has been set to "2" (filter type = band-stop
filter).
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Hz
--
Input
MPB:
MPC:
MPD:
MPH:
5.8.6
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
4,0 / 4000,0
4,0 / 4000,0
4,0 / 4000,0
4,0 / 4000,0
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
P-0-1125, Velocity control loop: average value filter clock

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
MPB
MPB
MPB
MPH
MPH
MPH
MPD
MPD
MPD
2Byte var.
DEC_OV
1
+

and Controls
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
-
-
-
-
--
-
-
-
-
-
This parameter allows filtering the velocity control loop deviation with a moving
average filter. In the case of this filter type and with constant input value, the
output is always:
Fig.5-176:
Velocity control loop deviation
This means that the filter output, with constant input value, increases in a linear
way and has reached its final value at the filter output after the time .
This filter type therefore does not show the typical "creep behav
ior" (filter output increases and decreases according to an e-func
tion!) of the usual VZ1 and VZ2 filters.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.8.7
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
1 / 16
1 / 16
1 / 16
1 / 16
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
+
Default value
1
1
1
1
P-0-1126, Velocity control loop: acceleration feedforward

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used for activating and setting a variable acceleration feed
forward in the "velocity control" mode.
Use
Operating principle
The differentiated velocity command value (= acceleration command value) is
multiplied with the value of parameter "P-0-1126" in order to add (feedforward)
a corresponding additive torque command value.
The feedforward value (= additive torque/force command value) can be
smoothed by a subsequent low-pass filter "(cf. P-0-0180)".

and Controls
This kind of feedforward can, for example, be used to minimize the
command value deviation in the acceleration phase.
Input values
Entering a value greater "0" in "P-0-1126" activates the acceleration
feedforward! ("P-0-1126" = 0 switched off!)
For optimum parameterization of the acceleration feedforward, the following
values have to be entered in "P-0-1126":
Total mass (motor + load) in kg (linear motor), and the
Total mass inertia (motor + load), referring to the motor output shaft, in
kgm^2 (rotary motor)
The input value of "P01126, Velocity control loop: Acceleration
feedforward" has to be adjusted on site depending on the respective
mechanical system.

Rotary motor: mN*m / rad/s^2 g*m^2
Linear motor: mN / mm/s^2 kg.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
mNm/(rad/s)
--
Input
MPB:
MPC:
MPD:
MPH:
5.8.8
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0,0000 / MaxLong
0,0000 / MaxLong
0,0000 / MaxLong
0,0000 / MaxLong
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
4
+
Default value
0,0000
0,0000
0,0000
0,0000
P-0-1130, Table of cogging torque compensation values pos. Direction

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
MPC
-
MPH
MPD
MPC
-Servo(compensation), synchronisation (ELS)
--
In this list parameter, 1024 position-dependent cogging torque/force correction

values for positive (non-negated) direction of motion are stored. With active
cogging torque/force compensation, the correction values are added to the tor
que/force command value depending on the motor position, when the motor
moves in positive direction.
See also Functional Description of firmware "Compensation Functions / Cor
rections"
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
2Byte var.
DEC_MV

and Controls
Unit:
S-0-0086
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.8.9
min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0093
S-0-0094
--
Default value
---------
P-0-1131, Control word of cogging torque compensation

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
MPC
-
MPH
MPD
MPC
--
With this parameter, cogging torque compensation is activated and the method
of compensation table determination is set.
rections"
Structure

Bit
Comment
Activation of cogging torque/force compensation
As of MPx04VRS
0: No
1: Yes
8/15
Settings for determining the cogging torque compensa As of MPx04Vxx

tion tables
00: Determine new tables in the case of axis motion:
They refer to motor and connected mechanical axis
system.
01: Determine new tables in the case of axis motion:
Eliminate influence of unbalanced inertia by means of
calculation, then store tables.
10: No action
11: Correct existing tables without axis motion: Deter
mine influence of unbalanced inertia by means of cal
culation and eliminate it from the tables.
14...9
Fig.5-177:
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Reserved
Relevant Bits of P-0-1131, Control word of cogging torque compensa

tion
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
0
2Byte
BIN
0
--

and Controls
MPD:
MPH:
5.8.10
--- / ----- / ---
0
0
P-0-1132, Table of cogging torque compensation values neg. direction

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
MPC
-
MPH
MPD
MPC
--
In this list parameter, 1024 position-dependent cogging torque/force correction

values for negative (non-negated) direction of motion are stored. With active
cogging torque/force compensation, the correction values are added to the tor
que/force command value depending on the motor position, when the motor
moves in negative direction.
rections"
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.8.11
min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
2Byte var.
DEC_MV
S-0-0093
S-0-0094
--
Default value
---------
P-0-1133, Status word of cogging torque compensation

Allocation
Function
Structure
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
MPC
-
MPH
MPD
MPC
--
This parameter displays:
The velocity-dependent effectiveness of cogging torque compensation.
The status of measured value recording during the determination of the

compensation tables.

and Controls
Bit
Comment
1, 0
Status of effectiveness of cogging torque/force compensa

tion
0 0: Cogging torque compensation not active!
0 1: Effective, because S00040 < P-0-1134
1 0: Effective in attenuated form, because P-0-1134 <
S-0-0040 < P-0-1135
1 1: Without effect, because S-0-0040 > P-0-1135
72
Reserved
Required number of measured values per position raster

reached?
0: Yes
1: No
Drive in range of measured value recording?

0: No
1: Yes
1510
Reserved
Fig.5-178:
Relevant Bits of P-0-1133, Status word of cogging torque compensation

rections"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.8.12
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-1134, Velocity threshold for attenuation of detent cogging compens

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
MPC
-
MPH
MPD
MPC
--
In this parameter, enter the velocity threshold above which the cogging torque/
force compensation values stored in P-0-1131 or P-0-1133 are used in attenu
ated form for motor control. At velocities below this velocity threshold, the
compensation values are fully effective!
rections"
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
P3->P4
Data length:
Format:
4Byte
DEC_MV

and Controls
Unit:
S-0-0044
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.8.13
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0045
S-0-0046
--
Default value
0,0000
0,0000
0,0000
0,0000
P-0-1135, Velocity threshold for switching off cogging torque compens.

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
MPC
-
MPH
MPD
MPC
--
In this parameter, enter the velocity threshold above which the cogging torque/
force compensation values stored in P-0-1130 or P-0-1132 are no longer used
for motor control. At velocities below this velocity threshold and above the
threshold of P-0-1134, the compensation values take effect proportionately,
depending on the velocity! (100% with P-0-1134, 0% with P-0-1135)
rections"
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
P3->P4
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.8.14
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
4Byte
DEC_MV
S-0-0045
S-0-0046
--
Default value
0,0000
0,0000
0,0000
0,0000
P-0-1136, Lead time cogging torque compensation

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
MPC
-
MPH
MPD
MPC
--
With active cogging torque compensation, the dead time and dynamic response
of the current loop, given high cogging torque frequency, can have a negative
effect on the compensation result. By means of this parameter, the dead time
and dynamic response of the current loop can be compensated.
rections"
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
P3->P4
Data length:
Format:
2Byte
DEC_OV

and Controls
Unit:
Cycl. tra.:
us
--
Input
MPB:
MPC:
MPD:
MPH:
5.8.15
Extr. val. ch.:

Comb. check:
+
--
min./max.
0 / 65535
0 / 65535
0 / 65535
0 / 65535
Decim. pl.:
Switchable:
0
--
Default value
125
125
125
125
P-0-1138, C4800 Command Determine cogging torque compensation

table
Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
MPC
-
MPH
MPD
MPC
--
Via this parameter, the command C4800 can be started. By means of this com
mand, cogging torque compensation values are determined with regard to a
motor position raster with 1024 positions and stored in table form in the list
parameters P-0-1130 or P-0-1132. The command is signaled to have been
completed, when 40 measured values per position raster range are available
for the possible directions of motion of the axis.
rections"
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.8.16
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-1150, Command value generator output

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays the output value of the command value generator. The
output value is displayed in the format of the assigned parameter.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
4Byte
DEC_MV
4
--

and Controls
MPD:
MPH:
5.8.17
--- / ----- / ---
P-0-1151, Command value generator, list of possible target parameters

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This list parameter contains the IDNs of the parameters entered in "P01152,
Command value generator, target parameter assignment". These parameters
are available for assigning the command value generator and command value.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.8.18
-----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
IDN
0
--
Default value
---------
P-0-1152, Command value generator, target parameter assignment

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Function
In this parameter, enter the IDN of the parameter to which the result of the
command value generator is to be written.
Use
By selecting the target parameter, the display (unit and scaling) of the param
eters
P01150, Command value generator output
P01154, Command value generator, offset
P01155, Command value generator, amplitude
switches to that of the target parameter.

Record of Revisions
Version
Up to MPx04VRS
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
Par
PARAM_SP
---
Attribute
Editability: PM+OM
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ---
Comment
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
4Byte
IDN
0
--

and Controls
MPC:
MPD:
MPH:
5.8.19
--- / ----- / ----- / ---
0
0
0
P-0-1153, Command value generator, control word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used for configuring the integrated command value genera
tor.
See also Functional Description "Drive-Integrated Command Value Genera
tor"
Structure
Bit
3-0
signal selection (selection of signal shape of command

value generator)
0001: noise signal
0010: sine signal
0011: square-wave signal
0100: modified sine signal
enabling
0: disabled
The command value generator is stopped and the com
mand value zero is output.
1: enabled
The command value generator is enabled and command
value output to the target parameter takes place.
periodic signal
0: one-time sequence
1: periodic signal generation
Note: The setting of the periodic time for noise signal is
fixed to 4095 cycles!
switch-off delay
For generating signals free of mean values the switch-off
of signal generation can be delayed until a complete sig
nal period is output.
0: enable signal switched off immediately
1: switch-off delayed until period complete
Comment

and Controls
Bit
Comment
amplitude of noise generator

The noise signal can be generated with constant ampli
tude (square-wave pulses with different periodic time) or
with continuous amplitude.
0: amplitude as square-wave signal
1: amplitude as factor
reset of enabling
as of MPx05
The enabling of the command value generator can be

automatically reset after a drive error.
0: Enabling is maintained, i.e. after drive error has been
cleared and drive enabled, the command value becomes
effective.
1: Repeated enabling of the command value generator is
required after a drive error has been cleared.
Fig.5-179:
Function:
Memory:
Unit:
Cycl. tra.:
P-0-1153, Command value generator, control word

Par
PARAM_SP
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.8.20
PM+OM
PM->OM
-+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
HEX
0
--
Default value
0
0
0
0
P-0-1154, Command value generator, offset

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
MinLong / MaxLong
MinLong / MaxLong
MinLong / MaxLong
MinLong / MaxLong
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0,0000
0,0000
0,0000
0,0000
P-0-1155, Command value generator, amplitude

Allocation
MPC
MPC
This parameter is used for setting the direct component (offset) for the selected
signal (sine, square-wave, noise). The display, i.e. unit and scaling of the pa
rameter, are set according to the assigned parameter.
Input
MPB:
MPC:
MPD:
MPH:
5.8.21
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
-
MPB
MPB
-
MPH
MPH
-
MPD
MPD
4Byte
DEC_MV
4
--

and Controls
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPD
MPD
MPD
MPC
MPC
This parameter is used for setting the amplitude (double crest value, peak-topeak value). The range of values of the selected signal shape (sine, squarewave, noise) is between half the plus/minus amplitude. The display, i.e. unit
and scaling of the parameter, are set according to the assigned parameter.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.8.22
MPB
MPH
MPB
MPH
MPB
MPH
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
StdOne / MaxLong
StdOne / MaxLong
StdOne / MaxLong
StdOne / MaxLong
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
4
--
Default value
10,0000
10,0000
10,0000
10,0000
P-0-1156, Command value generator, duration 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used for setting the square-wave signal. For the duration
"P01156, Command value generator, duration 1" the command value gener
ator output "P01150, Command value generator, command value" is set to
half the positive amplitude "P01155, Command value generator, amplitude"
plus offset "P01154, Command value generator, offset".
When the duration 1 is over, the output of the command value generator is set
to half the negative amplitude "P01155, Command value generator, ampli
tude" plus offset "P01154, Command value generator, offset". Duration 2
starts as of this point of time.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
s
AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.8.23
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
3
--
Default value
0,000
0,000
0,000
0,000
P-0-1157, Command value generator, duration 2

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
MPB
MPB
MPB
MPB
MPB
--
-
MPH
MPH
MPH
MPH
MPH
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function

--
This parameter is used for setting the square-wave signal for command value
generator.
When duration 1 is over, duration 2 starts. For this duration "P01157, Com
mand value generator, duration 2" the command value generator output
"P01150, Command value generator, command value" is set to half the neg
ative amplitude "P01155, Command value generator, amplitude" plus offset
"P01154, Command value generator, offset". When duration 2 is over, the
output signal is set to the offset "P01154, Command value generator, offset"
until the periodic time has been reached.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
s
AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.8.24
PM+OM
PM->OM
+
--
min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
3
--
Default value
0,000
0,000
0,000
0,000
P-0-1158, Command value generator, periodic time

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used for setting the square-wave signal and the sine signal
for command value generator. When the periodic time is over, the signal output
is repeated.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
s
AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.8.25
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
StdOne / StdUMax
StdOne / StdUMax
StdOne / StdUMax
StdOne / StdUMax
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
3
--
Default value
10,000
10,000
10,000
10,000
P-0-1200, Control word 1 velocity control

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In the "velocity control" mode, parameter "P-01200, Control word 1 velocity

control" is used to control or configure the following functions:

and Controls
Channel for velocity command value input (memory of fixed values or

S00036)
Behavior of ramp-function generator (run-up stop)
Command value generator (motor potentiometer)

The control word can be cyclically written, the assignment of indi
vidual bits from signal control word or digital inputs is possible, too.
In contrast to "P01214", parameter "P01200" is stored in the
drive in volatile form!
See also Functional Description of operation mode "Notes on Commission

ing"
Structure
Bit
Comment
4-0
Activation of command value P-0-1206
Binary coded com

mand value selec
tion possible as of
MPx04V06!
00000: Command value S-0-0036 active

xxxxx: Fixed command value P-0-1206[i] and/or ramps
and filters P-0-1223[i], P-0-1224[i], P-0-1225[i] active
7-5
Run-up stop
000: Deactivated
xx1: Unconditionally active
010: If command value limitation active
100: If torque limitation active
110: If command value limitation or torque limitation ac
tive
9/8
Ramp inputs for motor potentiometer

00: Command value is maintained
01: Command value is increased
10: Command value is reduced
11: Command value is maintained
10
Inversion of velocity command value
As of MPx05
0: Not active
1: Active
Fig.5-180:
Use
Take the following aspects into account for parameter setting:
Bit 4-0: Activation of command value P-0-1206:

If one of the bits 0...4 has been set in "P01200", it is not the velocity
command value "S00036" that is used, but a list element from the com
mand value memory "P01206". For this purpose, the selection mode can
be selected and the current command value, ramp and filter memories can
be activated or deactivated in parameter "P-0-1214, Control word 2 ve
locity control". Selection mode:
Direct selection (max. 5 command values)
Binary coding (up to 31 command values)
Bit 7-5: Run-up stop: The run-up stop function interrupts an acceleration
process of the ramp-function generator, i.e. the output of the ramp-function
generator is frozen. The ramp-function generator can continue carrying

and Controls
out deceleration processes, i.e. slowing down the drive is always possible.
The run-up stop function can be carried out in three ways, either via ex
ternal selection by the user (bit 5 = 1) or controlled by the warning
command value limit active (bit 6 = 1) or torque limit active (bit 7 = 1).
Bit 9/8: Motor potentiometer: Bits 8 and 9 of "P01200, Control word 1

velocity control" only take effect after bit 0 was set in "P01214, Control
word 2 velocity control" and are used to change the ramp acceleration or
velocity when using the motor potentiometer function.
Bit 8: "Ramp" Ramp acceleration or velocity increased
Bit 9: "Ramp" Ramp acceleration or velocity reduced

If both bits are equal ("00" or "11"), the command value remains
unchanged!
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.8.26
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
-+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0 / 0xFFF
0 / 0xFFF
0 / 0xFFF
0 / 0xFFF
Default value
0
0
0
0
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
P-0-1201, Ramp 1 pitch

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The acceleration entered in "P01201, Ramp 1 pitch" takes effect in the "ve
locity control" mode during acceleration.
Use
With the acceleration entered in this parameter, the acceleration takes place
from the last effective command value to the new preset command value, as
long as the velocity at the ramp output is smaller than the value entered in
"P01202, Final speed ramp 1".
Influence of P-0-1209
If the function "speed masking in command value channel" is used (P01207,
P01208, P01209), the content of P01201 is multiplied with the content of
P01209 and this influences the effective acceleration.
Up to MPx04VRS: If the value in parameter "P-0-1201, Ramp 1
pitch" = 0, ramp 1 is not active.

and Controls
As of MPx05VRS: The value of parameter "P-0-1201, Ramp 1 pitch"
should always be smaller than the value of parameter "S-0-0138,
Bipolar acceleration limit value", because otherwise the warning
"E2070 Acceleration limit active" is output. When the value "0" is
input in the parameter and with values greater than S-0-0138, pa
rameter S-0-0138 takes effect.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.8.27
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
Default value
0,000
0,000
0,000
0,000
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0161
S-0-0162
+
P-0-1202, Final speed ramp 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The parameter "P01202, Final speed ramp 1" takes effect in the "velocity
control" mode during acceleration and deceleration.
When exceeding (acceleration) or falling below (deceleration) the velocity in
dicated in "P01202, Final speed ramp 1", the pitch of the drive-internal speed
command value ramp changes as follows:
from the value indicated in "P01201, Ramp 1 pitch" to the value indicated
in "P01203, Ramp 2 pitch" (acceleration)
or from the value indicated in "P01211, Deceleration ramp 1" to the value
indicated in "P01213, Deceleration ramp 2" (deceleration)
See also Functional Description "Velocity Command Value Reset With Filter
and Ramp"
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.8.28
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
Default value
0,0000
0,0000
0,0000
0,0000
MPB
MPB
MPB
MPB
MPB
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0045
S-0-0046
+
P-0-1203, Ramp 2 pitch

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
MPH
MPH
MPH
MPH
MPH
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
--
MPD
MPC
The acceleration entered in "P01203, Ramp 2 pitch" takes effect in the "ve
locity control" mode during acceleration.
With the acceleration entered in this parameter, the acceleration takes place
from the last effective command value to the new preset command value as
soon as the velocity at the ramp output is greater than the value entered in
Use
Influence of P01209
If the function "speed masking in command value channel" is used (P01207,
P01208, P01209), the content of P01201 is multiplied with the content of
P01209 and this influences the effective acceleration.
Up to MPx04VRS: If the value in parameter "P-0-1203, Ramp 2
pitch" = 0, ramp 2 is not active.
As of MPx05VRS: The value of parameter "P-0-1203, Ramp 2 pitch"
should always be smaller than the value of parameter "S-0-0138,
Bipolar acceleration limit value", because otherwise the warning
"E2070 Acceleration limit active" is output. When the value "0" is
input in the parameter and with values greater than S-0-0138, pa
rameter S-0-0138 takes effect.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.8.29
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
4Byte
DEC_MV
S-0-0161
S-0-0162
+
Default value
0,000
0,000
0,000
0,000
P-0-1206, Memory of velocity command values

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This list parameter is used as a memory of fixed command values for velocity
command values. The individual values can be selected via the control word
P01200.
As of MP*04VRS, selection via P-0-1200 takes place in binarily co
ded form!

and Controls
See also Parameter Description "P-0-1200, Control word 1 velocity control"
Structure
Use
The parameter has a list structure; the following assignments apply to it:
P-0-1206
Significance
element 1 - 5
fixed command value 1 5
element 6 31
fixed cmd value 6 31
as of MP*04VRS
The following has to be observed for using the fixed command values:
The function for selecting the fixed command values P01206 only takes
effect in the "velocity control" mode.
In contrast to S-0-0036, the parameter P-0-1206 cannot be cyclically

changed.
The range of values and unit of the parameter elements in P01206 cor
respond to those of the velocity command value S00036.
When P-0-1200 = 0 is selected, no fixed command value takes effect, but

S-0-0036 or possibly the command value of the motor potentiometer func
tion.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.8.30
Comment
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
4Byte var.
DEC_MV
S-0-0045
S-0-0046
--
Default value
---------
P-0-1207, Lower limit of velocity masking window

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In conjunction with the parameter P01208 (upper limit of velocity masking

window), the list parameter P01207 defines four velocity ranges (velocity win
dows).
The ranges apply to positive and negative velocities, the definitions of the rang
es are mirrored with regard to speed zero.
The function "velocity masking window" is only effective in the

"velocity control" mode.
The parameter "P01210, Status word of velocity control

mode" contains information on the status of the current com
mand value with regard to a velocity masking window.


and Controls
Version
Attribute
GEN-02VRS
Memory: PARAM_SP
GEN-02VRS
Validity ch.: no
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.8.31
Comment
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
4Byte var.
DEC_MV
S-0-0045
S-0-0046
--
Default value
---------
P-0-1208, Upper limit of velocity masking window

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The list parameter "P01208", in conjunction with the parameter

"P01207" (lower limit of velocity masking window), defines four velocity ranges
(velocity windows).
The ranges apply to positive and negative velocities, the definitions of the rang
es are mirrored with regard to speed zero.
The function "velocity masking window" is only effective in the

"velocity control" mode.
The parameter "P01210, Status word of velocity control

mode" contains information on the status of the current com
mand value with regard to a velocity masking window.

Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.8.32
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
4Byte var.
DEC_MV
S-0-0045
S-0-0046
--
Default value
---------
P-0-1209, Acceleration factors for velocity masking window

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
MPB
MPB
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Hardware
Funct. package(s):
Device parameter:
Function

--
The list parameter P01209 contains the acceleration factors that take effect
in the velocity ranges defined with P01207 and P01208.
The ramp generator passes the range of the velocity window (P01207 and
P01208). But the acceleration factors indicated in P01209 have a multiplying
effect on the acceleration and deceleration values or, in the case of alternative
scaling of the acceleration, on the ramp times of the ramp generator (P01201,
P01203, P01211 and P01213).
Use
The effect of P01209 is as follows:
With P-0-1209 = 1.000 the ramp generator behaves in a neutral way.
With P-0-1209 > 1.000 the acceleration increases accordingly within the
velocity window.
The units of P01201, P01203, P01211 and P01213 depend
on the scaling (cf. S00160).
Function:
Memory:
Unit:
Cycl. tra.:
The acceleration factors (P-0-1209) only take effect in the "ve

locity control" mode. They are neither active during the com
mand "Drive Halt".
The status word of the "velocity control" mode P01210 con

tains information on the current status of the command value
or the ramp output with regard to a velocity masking window.
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.8.33
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
1,00 / 100,00
1,00 / 100,00
1,00 / 100,00
1,00 / 100,00
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
DEC_OV
2
--
Default value
---------
P-0-1210, Status word of velocity control mode

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
For the velocity control mode the parameter P01210 contains information on
the current status of the ramp generator and the current command value.
The parameter P01210 can be configured in the cyclic actual val
ue channel (e.g. AT with SERCOS) in "S00144, Signal status
word" and assigned to the digital outputs.

and Controls
Structure
Bit
command value reached
Comment
the output of the ramp generator and the jerk filter corre
sponds exactly to the provided velocity command value
1
run-up stop active

The run-up stop function has been activated either directly
or via cmd value limitation or torque limitation. The ramp
generator keeps the output frozen, as long as there isn't any
cmd value provided that is higher than the current ramp out
put. The jerk filter is not influenced.
acceleration active
the ramp generator is in the acceleration status
deceleration active
the ramp generator is in the deceleration status
cmd value within masking window

Command value input hits a velocity masking window, the
active command value is therefore influenced.
V ramp within masking window

The ramp generator is in acceleration or deceleration status.
An acceleration factor from P-0-1209 is active, because the
current value is within a velocity masking window.
Fig.5-181:
P-0-1210, Status word of velocity control mode
All status displays of P01210 are only active in the "velocity con
trol" mode.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.8.34
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
P-0-1211, Deceleration ramp 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The deceleration entered in "P01211, Deceleration ramp 1" only takes effect
in the "velocity control" mode.

and Controls
With the deceleration entered in this parameter, the deceleration takes place
from the last effective velocity command value to the new velocity command
value as soon as the velocity at the ramp output is smaller than the value in
See also Functional Description "Velocity Command Value Reset with Filter
and Ramp ("Quick Stop")"
Use
Influence of P01209
If the function "speed masking in command value channel" is effective
(P01207, P01208, P01209), the content of P01211 is multiplied with the
content of P01209 and this influences the effective deceleration.
Up to MPx04VRS: If the value in parameter "P-0-1211, Deceleration
ramp 1" = 0, ramp 1 is not active.
As of MPx05VRS: The value of parameter "P-0-1211, Deceleration
ramp 1" should always be smaller than the value of parameter
"S-0-0138, Bipolar acceleration limit value", because otherwise the
warning "E2070 Acceleration limit active" is output. When the value
"0" is input in the parameter and with values greater than S-0-0138,
parameter S-0-0138 takes effect.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.8.35
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
Default value
0,000
0,000
0,000
0,000
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_MV
S-0-0161
S-0-0162
+
P-0-1213, Deceleration ramp 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The deceleration entered in "P01213, Deceleration ramp 2" takes effect in the
"velocity control" mode during the deceleration process.
With the deceleration entered in this parameter, the deceleration takes place
from the last effective velocity command value to the new velocity command
value, as long as the velocity at the ramp output is greater than the value in
Use
Influence of P-0-1209
If the function "speed masking in command value channel" is used (P-0-1207,
P-0-1208, P-0-1209), the content of P01213 is multiplied with the content of
P01209 and this influences the effective deceleration.

and Controls
Up to MPx04VRS: If the value in parameter "P-0-1213, Deceleration
ramp 2" = 0, ramp 2 is not active.
As of MPx05VRS: The value of parameter "P-0-1213, Deceleration
ramp 2" should always be smaller than the value of parameter
"S-0-0138, Bipolar acceleration limit value", because otherwise the
warning "E2070 Acceleration limit active" is output. When the value
"0" is input in the parameter and with values greater than S-0-0138,
parameter S-0-0138 takes effect.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.8.36
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
4Byte
DEC_MV
S-0-0161
S-0-0162
+
Default value
0,000
0,000
0,000
0,000

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Via this parameter it is possible to control the execution of a velocity control

mode in the operating mode.
See also Functional Description "Velocity control"
Structure
You can make the following settings in this parameter:

Bit
Motor potentiometer, enabling

0: Locked, i.e. S00036 or P01206[i] active
1: Motor potentiometer is active
2/1
Motor potentiometer, initial value after drive enable

00: Start with command value 0
01: Drive moves to old command value again
10: Actual velocity value S00040 is maintained
11: Not allowed!
Motor potentiometer, acceleration for ramp command val

ue
0: Constant:Velocity increased or reduced in linear form
with activation time of ramp inputs (ramp+, ramp-)
1: Linear change: Velocity increased or reduced in square
form with activation time of ramp inputs (ramp+, ramp-)
Comment

and Controls
Bit
Comment
Motor potentiometer, evaluation mode of ramp inputs

0: Continuously: Acceleration as long as a ramp input
(ramp+, ramp-) is activated
1: Edge-controlled: Velocity increased by step size in the
case of 0->1 edge at a ramp input (ramp+, ramp-)
Enabling of motor potentiometer for easy startup mode
As of MPx05V14
0: Locked, i.e. P01460 or P01206[i] active

1: Motor potentiometer is active
8
Selection mode of active command value, ramp and filter

memories
As of MPx04V06
0: Direct selection by P01200, bit 0-4

1: Binarily coded selection by P01200, bit 0-4
10,9
Selection of active command value, ramp and filter mem

ories
00: Only memory of fixed command values (P01206)
01: No selection
10: Fixed command values (P01206) and ramps
(P01223, P01224) and filter time constants (P01225)
11: Only ramps (P01223, P01224) and filter time con
stants (P01225), no fixed command values
Fig.5-182:
In contrast to "P01200", parameter "P01214" is stored in the

drive in non-volatile form!
Use
Bit 8: Selection of memory of fixed command values, of filter time constant

memory and of ramp pitch lists
0: Direct selection: Each bit in "P01200" selects exactly one ele

ment of the command value memory. If more than one bit of the group
of bits 0...4 has been set, the least significant bit determines the
command value selection. Bit 0 has the highest priority.
1: Binary coding: The binary numeric value of P01200, bit 4...0,

selects an element of the command value memory.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.8.37
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
0
0
0
P-0-1215, Motor potentiometer, acceleration

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
-
MPB
MPB
MPB
-
MPH
MPH
MPH
-
MPD
MPD
MPD
2Byte
BIN
0
--

and Controls
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPB
MPH
--
MPD
MPD
MPC
MPC
In conjunction with the motor potentiometer available in the "velocity control"

mode, this parameter is used for the following purposes:
For linear velocity change: Definition of the velocity change by which the
ramp velocity changes when setting P01214, bit8 ("ramp+")
P-0-1218 = activation time * [P-0-1215]
For square velocity change: Definition of the acceleration change by which

the ramp velocity changes within 2 s when setting P01214, bit8 ("ramp
+") acceleration = activation time * ( [P-0-1215] / 2 s)
With the input activated the velocity is increased in linear or square
form (see "P01214, Motor potentiometer, control parameter") until
the effective positive velocity limit value, i.e. minimum value
(S00091, S00038), has been reached.

Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.8.38
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
4Byte
DEC_MV
S-0-0161
S-0-0162
--
Default value
100,000
100,000
100,000
100,000
P-0-1216, Motor potentiometer, deceleration

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used in conjunction with the motor potentiometer available in

the velocity control mode as follows:
With a linear change in velocity:

Definition of the change in ramp velocity taking effect on setting of
P-0-1214, bit 9 ("ramp").
P-0-1218 = activation time * [P01216]
With a square change in velocity:

Definition of the change in ramp acceleration taking effect within 2 sec on
setting of P-0-1214, bit 9 ("ramp").
deceleration = activation time * ( [P01216] / 2 sec)

and Controls
With activated input, the velocity is reduced in linear or square form
(see motor potentiometer, control parameter) until the effective
negative velocity limit value, i.e. the minimum value (S-0-0091,
S-0-0039) is reached.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.8.39
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
4Byte
DEC_MV
S-0-0161
S-0-0162
--
Default value
100,000
100,000
100,000
100,000
P-0-1217, Motor potentiometer, step size

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter takes effect when bit 4 "change by constant velocity step" is
one in "P01214, Motor potentiometer, control parameter".
"P01218, Motor potentiometer, command value", i.e. the velocity command
value, is increased by the velocity value with every positive edge at the ramp
input ramp+ until the positive velocity limit value S00038 has been reached.
With every negative edge at the ramp input ramp- it is reduced by the velocity
value until the negative velocity limit value S00039 has been reached.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.8.40
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
4Byte
DEC_MV
S-0-0045
S-0-0046
--
Default value
50,0000
50,0000
50,0000
50,0000
P-0-1218, Motor potentiometer, command value

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Function
The parameter "P01218, Motor potentiometer, command value" is used to

display the velocity command value generated by the motor potentiometer. Af
ter it was processed in the ramp-function generator, this value is also displayed
in "P-0-0048, Effective velocity command value".
The value of parameter P01218 is stored in case the control volt
age fails so that it is possible to reuse the value.
Function:
Par
RE
TAIN_KUNDE
Editability:
PM
Data length:
4Byte
Validity ch.:
PM->OM
Format:
DEC_MV
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Memory:
Input
MPB:
MPC:
MPD:
MPH:
5.8.41
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
S-0-0045
S-0-0046
--
P-0-1222, Velocity command filter

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameters serves to smooth acceleration jumps in the velocity command

value characteristic in order to achieve gentle starting and stopping of the drive
in velocity control mode.
See also Functional Description "Velocity Command Value Reset With Ramp
and Filter"
Use
In the "velocity command" mode, the time constant entered in parameter

"P01222, Velocity command filter" is used to filter the velocity command value
(cf. S-0-0036) deformed via the ramp function (cf. P01201, "P01202",
"P01203", "P01211", "P001213").
Via "P-0-1214, control word 2 velocity control", bit 11, you can select whether
a PT1 filter or an average value filter takes effect.
"P01214, Control word 2 velocity control", bit 11 = 0:
PT1 filter, max. filter time = 10 sec
"P01214, Control word 2 velocity control", bit 11 = 1:
Average value filter, filter time = 16 msec
The effective velocity command vlaue (cf. P-0-0048) at the controller input re
sults from the sum of
the ramped and filtered value in "S-0-0036, Velocity command value" and
the direct value in "S-0-0037, Additive velocity command value".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
ms
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
+

and Controls
Input
min./max.
Default value
0
/
ausSOVA_Max
0
Wert_P_1222[]
0
/
ausSOVA_Max
0
Wert_P_1222[]
0
/
ausSOVA_Max
0
Wert_P_1222[]
0
/
ausSOVA_Max
0
Wert_P_1222[]
MPB:
MPC:
MPD:
MPH:
5.8.42
P-0-1223, List of acceleration ramps

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC
This list parameter is used as memory for the pitch values of the acceleration
ramps. The individual values can be selected via the control word "P01200".
Structure
P-0-1223
Significance
Elements 1 to 31
Acceleration ramp pitch 1 to 31
Fig.5-183:
Use
Acceleration Ramps
Observe the following aspects for using the fixed command values:
The function for selecting the acceleration and deceleration ramp pitches
P-0-1223 and P-0-1224 only takes effect in the "velocity control" mode.
The unit of P-0-1223 and P-0-1224 corresponds to the setting made in

S-0-0160 (acceleration data scaling type).
When setting P-0-1200, bit 0-4 = 0, the ramp pitches set in P-0-1201,
P-0-1202, P-0-1203, P-0-1211, P-0-1213 become active.
Parameter "P-0-1214, Control word 2 velocity control", bit 10, 9 deter

mines whether the control bits 0...4 in P-0-1200 only select fixed command
values, only ramp pitches and filter time constants or both.

See also Parameter Description "P-0-1206, Memory of velocity command val
ues"
See also Parameter Description "P-0-1225, List of smoothing time constants"
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
Default value
---------
4Byte var.
DEC_MV
S-0-0161
S-0-0162
--

and Controls
5.8.43
P-0-1224, List of deceleration ramps

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC
This list parameter is used as memory for the pitch values of the deceleration
ramps. The individual values can be selected via the control word "P01200".
Structure
P-0-1224
Significance
Elements 1 to 31
Acceleration ramp pitch 1 to 31
Fig.5-184:
Use
Deceleration Ramps
Observe the following aspects for using the fixed command values:
The function for selecting the acceleration and deceleration ramp pitches
P-0-1223 and P-0-1224 only takes effect in the "velocity control" mode.
The unit of P-0-1223 and P-0-1224 corresponds to the setting made in

S-0-0160 (acceleration data scaling type).
When setting P-0-1200, bit 0-4 = 0, the ramp pitches set in P-0-1201,
P-0-1202, P-0-1203, P-0-1211, P-0-1213 become active.


ues"
See also Parameter Description "P-0-1225, List of smoothing time constants"
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.8.44
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
4Byte var.
DEC_MV
S-0-0161
S-0-0162
--
Default value
---------
P-0-1225, List of smoothing time constants

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC

and Controls
Function
This list parameter is used as memory for velocity command value filter time
constants for jerk limitation in the "velocity control" mode. The individual values
can be selected via the control word P01200.
Structure
P-0-1225
Significance
element 1 to 31
velocity command value filter time constant 1 to 31
Fig.5-185:
Use
Filter time constants
The following has to be observed for using the fixed command values:
The function for selecting the velocity command value filter time constants
P-0-1225 only takes effect in the "velocity control" mode.
With the setting P-0-1200, bit 0-4 = 0, the velocity command value filter
time constant defined by P-0-1222 becomes active.


ues"
See also Parameter Description "P-0-1223, List of acceleration ramps"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
ms
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.45
PM+OM
PM->OM
+
--
min./max.
0 / 10000
0 / 10000
0 / 10000
0 / 10000
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Access via "parameters for general purpose" (global registers) can be used for
data exchange of MLD with a neighboring drive (as of MP*04VRS via CCD) or
a higher-level control unit or an external operator terminal (e.g. BTV).
The global registers (G0...G31 or A0...A31) do not have any direct
influence on the drive, but only take effect in conjunction with MLD.
Use
The display format for this parameter can be individually adjusted with
"P01386, PLC display format Global Register".

and Controls
The content of this parameter is lost in case the control voltage fails.
Therefore, the parameter can be used for cyclic communication with ex
ternal devices (similar to the process image [PII, POI]).
In contrast to the PII/POI, access to the global registers does not take
place automatically at the beginning of the task or at the end, but by access
to specific parameters, if required (e.g. by means of MX_ReadParam).
Apart from P-0-1270, there are the following global registers available:
G0 ... G15: P-0-1370 P-0-1385
G16 ... G31: P-0-1316 P-0-1331 (as of MP*05VRS)
A1 ... A31: P-0-1271 P-0-1301 (as of MP*05VRS)
See also Application Manual "Rexroth IndraMotion MLD"

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.46
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
See also "P-0-1270, PLC Global Register A0"

See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.47
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Function

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.48
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.49
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---
4Byte
DEC_MV
0
--

and Controls
MPC:
MPD:
MPH:
5.8.50
--- / ----- / ----- / ---
-------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.51
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.52
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
-
-
-
MPB
MPB
-
-
-
MPH
MPH
-
-
-
-
-
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
-motion logic
+
MPH
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.53
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.54
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Par
--
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
4Byte
DEC_MV

and Controls
Unit:
Cycl. tra.:
-AT + MDT
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.55
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.56
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
DEC_MV
0
--

and Controls
5.8.57

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.58
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.59
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
-
MPB
MPB
MPB
--
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
motion logic
+

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.60
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.61
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Par
--
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
4Byte
DEC_MV

and Controls
Unit:
Cycl. tra.:
-AT + MDT
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.62
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.63
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
DEC_MV
0
--

and Controls
5.8.64

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.65
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.66
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
-
MPB
MPB
MPB
--
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
motion logic
+

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.67
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.68
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Par
--
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
4Byte
DEC_MV

and Controls
Unit:
Cycl. tra.:
-AT + MDT
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.69
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.70
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
DEC_MV
0
--

and Controls
5.8.71

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.72
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.73
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
-
MPB
MPB
MPB
--
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
motion logic
+

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.8.74
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
P-0-1300 to P-0-1499 Drive-Integrated PLC
5.9.1
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
4Byte
DEC_MV
0
--
Default value
---------
5.9
Allocation
Data length:
Format:
Decim. pl.:
Switchable:
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-

MPC
MPC

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.2
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.3
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------
P-0-1311, PLC Global Register GL1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
This parameter is a list register with 1024 elements (4 bytes each) and is used
for data exchange of the integrated PLC with the drive or a higher-level external
PLC or control unit.
The display format for this parameter can be individually adjusted with param
eter "P01386, PLC display format Global Register".
The data length of P01311 is fixed to 4 bytes and cannot be
changed. The content of P-0-1311 is backed up in case control
voltage fails.
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
FIX_IDN_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.4
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
The display format for this parameter can be individually adjusted with param
eter "P01386, PLC display format Global Register".
changed. The content of P-0-1312 is backed up in case control
voltage fails.
Function:
Memory:
Unit:
Cycl. tra.:
Par
FIX_IDN_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.5
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_MV
0
--
Default value
---------
P-0-1316, PLC Global Register G16

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
See also "P01370, PLC Global Register G0"

See also "Rexroth IndraMotion MLD (Drive PLC)"
MPC
MPC

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.6
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.7
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
0
0
0
4Byte
DEC_MV
0
--

and Controls
5.9.8

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.9
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.10
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
-
MPB
MPB
MPB
--
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
motion logic
+

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.11
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.12
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
4Byte
DEC_MV

and Controls
Unit:
Cycl. tra.:
-AT + MDT
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.13
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
0
--
Default value
0
0
0
0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.14
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
0
0
0
4Byte
DEC_MV
0
--

and Controls
5.9.15

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.16
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.17
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
-
MPB
MPB
MPB
--
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
motion logic
+

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.18
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.19
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
4Byte
DEC_MV

and Controls
Unit:
Cycl. tra.:
-AT + MDT
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.20
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
0
--
Default value
0
0
0
0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-motion logic
+
-
-
-
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.9.21
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0
P-0-1350, PLC control word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
16-bit control parameter for controlling the drive-integrated PLC (MLD).

With a positive edge the bits activate the corresponding process. By the onlinewrite function short edges are taken into account, too. While one action is
running, other start edges of this action aren't taken into account. When several
edges have been activated, they are processed one after the other from MSB
to LSB.
The end of the actions can be identified in "P01351, PLC status word".

and Controls
Structure
Bit
RUN
Comment
The PLC is put into the status RUN. Only works if a project
was loaded. The status goes to RUN.
1
STOP
The PLC is stopped and goes to the status STOP. After
their current run the tasks aren't started any more.
Attention:
If necessary, running tasks are aborted by force after their
cycle time. The PLC, however, immediately signals
STOP.
not used
not used
RESET hot
The PLC is reset without initializing the retain variables.
The status goes to STOP.
RESET cold
The PLC is reset and the retain variables are initialized.
The status goes to STOP.
RESET hard
All data of the PLC are cleared. The boot project thereby
is cleared, too.
reload boot project

The boot project in loaded.
The PLC remains in STOP.
15-8
not used
Fig.5-186:
Function:
Memory:
Unit:
Cycl. tra.:
PLC control word

Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.9.22
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
0
0
0
0
P-0-1351, PLC status word

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Function
This parameter can only be read.

16-bit status parameter of the drive-integrated PLC (MLD)
Structure
Bit
RUN
Comment
The PLC is in the status RUN.

1
breakpoint
The PLC is at a breakpoint (with !RUN).
not used
runtime error
as of MPx03VRS
The PLC has a runtime error (e.g. watchdog, division by

0 etc.)
4
project loaded
A project was loaded (in RAM).
not used
Indicates whether the PLC is presently having temporary

control
15-9
not used
Fig.5-187:
Function:
Memory:
Unit:
Cycl. tra.:
PLC status word

Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.9.23
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
P-0-1352, PLC user program administration data

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Several system files of the PLC are stored in this parameter.

The parameter is administrated by the system and mustn't be changed by the
user.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
4Byte var.
HEX

and Controls
Unit:
Cycl. tra.:
---
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.24
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
0
--
Default value
---------
P-0-1353, PLC user program area 0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
The PLC boot project is stored in the parameters P01353 - P01358.

These parameters are administrated by the system and cannot be
changed by the user.
Function:
Memory:
Unit:
Cycl. tra.:
Par
SPS_IDN_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.25
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
HEX
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
The PLC boot project is stored in the parameters P01353 to P01358.

Function:
Memory:
Unit:
Cycl. tra.:
Par
SPS_IDN_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
HEX
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.9.26
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
SPS_IDN_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.27
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
HEX
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
Par
SPS_IDN_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---
4Byte var.
HEX
0
--

and Controls
MPC:
MPD:
MPH:
5.9.28
--- / ----- / ----- / ---
-------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
-
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
The PLC boot project is stored in these parameters. The parameter is admin
istrated by the system and mustn't be changed by the user.
Function:
Memory:
Unit:
Cycl. tra.:
Par
SPS_IDN_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.29
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
HEX
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
-
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
The PLC boot project is stored in these parameters. The parameter is admin
istrated by the system and mustn't be changed by the user.
Function:
Memory:
Unit:
Cycl. tra.:
Par
SPS_IDN_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.9.30
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
P-0-1359, PLC retain data

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
-
-
MPB
-
-
MPH
-
-
-
4Byte var.
HEX
0
--

and Controls
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
-
-
-
MPC
MPC
When a PLC program with retain data is used, the retain data can be saved by
means of this list parameter and transmitted to other drives.
Use
Observe the following aspects for usage:
This parameter does not show the structure of the individual retain varia
bles.
Reading and writing data from/to P-0-1359 mustn't take place while the
PLC is running, because these processes directly write data to the working
memory of the PLC or read data from the working memory. This would
cause inconsistent data.
The retain data are always initialized, when the drive detects that a boot
project was changed. When a new boot project is loaded together with
P-0-1359, the drive must be switched off afterwards so that it does not
detect the change of the boot project.
The parameter is not contained in the list "S-0-0192, IDN-list of backup

operation data", as otherwise loading a drive parameter backup would
overwrite the PLC retain data.
Function:
Memory:
Unit:
Cycl. tra.:
Par
RE
TAIN_KUNDE
---
Editability:
Data length:
4Byte var.
Validity ch.:
PM->OM
Format:
HEX
Extr. val. ch.:

Comb. check:
---
Decim. pl.:
Switchable:
0
--
Input
MPB:
MPC:
MPD:
MPH:
5.9.31
PM
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
P-0-1360, PLC program identifier

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
List parameter with two elements
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Element
Significance
#0
Date: Program compilation time (time_t)

If no program has been loaded, this value is 0. After a HARD reset, there
will still be the old date.
#1
PID: Unique program identification

If no program has been loaded, this value is 0.
Fig.5-188:
Function:
Memory:
Unit:
Cycl. tra.:
PLC Project Identification

Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.32
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
HEX
0
--
Default value
---------
P-0-1361, PLC program name

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
This parameter displays the filename of the current MLD project. The name is
assigned to the MLD project during compilation from the project name in In
droLogic.
After a HARD reset, the name of the previously opened MLD project is still
displayed.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.33
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
1Byte var.
ASCII
0
--
Default value
---------
P-0-1362, PLC boot project info

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
-
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Function
This parameter is only used for diagnostic purposes and contains information
regarding the PLC boot project; the information is automatically generated and
entered by the drive when
the drive is started or
when the boot project is loaded with IndraLogic.
Reading the parameter allows clearly identifying the present PLC boot project.
Maximum and actual length of the list parameter always are 322
elements with 4 Bytes each!
Use
Element
Significance
time stamp of PLC boot project in time_t format (seconds since

19700101); 0 = no project existing
Project ID
The project ID in the case of a new loaded boot project is only filled after
switching on again or when the boot project is activated. Directly after
loading, the project ID first contains "0".
The length is always constant and the space for strings is completely
filled with 0-characters (1).
2..17
project name (file name)
18..33
project designation
34..49
project version
50..65
author
66..321
Data writing (multiple-line) - max. 1024 characters incl. 0-character.
Fig.5-189:
PLC boot project info
If no boot project is existing, all elements contain "0".

Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.9.34
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
HEX
0
--
Default value
---------
P-0-1363, PLC project info

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
-
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Function
This parameter is only used for diagnostic purposes and contains information
regarding the PLC project currently loaded in the memory; the information is
automatically generated and entered by the drive when
the drive is started or
when the boot project is loaded with IndraLogic.
Reading the parameter allows clearly identifying the currently loaded PLC proj
ect.
Maximum and actual length of the list parameter always are 322
elements with 4 bytes each! The space for strings is completely
filled with 0-characters.
Use
Element
Significance
time stamp of PLC project in time_t format (seconds since 19700101);

0 = no project existing
Project ID
The length is always constant and the space for strings is completely
filled with 0-characters (1).
2..17
project name (file name)
18..33
project designation
34..49
project version
50..65
author
66..321
Data writing (multiple-line) - max. 1024 characters incl. 0-character.
Fig.5-190:
PLC project info
If no PLC project is existing, all elements contain "0".

Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.9.35
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
HEX
0
--
Default value
---------
P-0-1364, PLC idle time

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
This parameter displays the last available part of the PLC time slice.

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
-us
AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.36
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_OV
0
--
Default value
---------
P-0-1365, PLC error message

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
This parameter displays the current error state of the PLC runtime system for
Example
Id:00000017 Time:00000005; Par:FFFFFFFF; Text:Too few memory for code
on controller!; Task = UNKNOWN
Message in IndraLogic
Cause
Remedy
Watchdog expired %s - reset Runtime error in PLC program. The run

PLC to continue
time monitor (watchdog) for a task has
been activated. In this task, processing
was not completed in the preset time.
Eliminate the error by modifying the program
Too few memory for code on

controller!
PLC project too big for memory
Reduce the prohect size or use a control section

with a higher-capacity code memory
Boot project not loaded and

deleted
Boot project could not be loaded, as it is

incompatible with firmware
Re-create project with corresponding target
(by correcting an endless loop, if any) ...
Retain memory corrupt or can Corrupt retain data were detected

not be mapped
(as of Mpx05V08)
Save P-0-1359 again and reload project. If error

occurs repeatedly, replace control section or
drive controller
Array lower bounds violation - Array limits exceeded

%s (see also call stack menu)
- RESET to continue
Modify PLC program: Check and correct array

accesses
Division by zero - %s (see also Division by "0"

call stack menu) - RESET to
continue
Modify PLC program: Remove division by "0"
Lower range bounds (*) viola A subrange type has been exceeded
tion - %s (see also call stack
menu) - RESET to continue
Modify PLC program: Eliminate incorrect assign

ment
Invalid point access (ad

Invalid access with a pointer in PLC pro
dress), %s (see also call stack gram. As of MPx05, every access with
pointer is monitored. Access outside of
PLC data ranges cause this error

ment

and Controls
Invalid pointer access (area), Invalid access with a pointer in PLC pro
%s (see also call stack menu) gram. As of MPx05, every access with
- RESET to continue

ment
Invalid pointer access (Write

access on input), %s (see also
call stack menu) - RESET to
continue
Invalid access with a pointer in PLC pro

gram. As of MPx05, every access with

ment
Invalid pointer access (Align Invalid access with a pointer in PLC pro
ment), %s (see also call stack gram. As of MPx05, every access with

ment
Error loading symbols - se

lect / reduce symbols!
Memory not sufficient for defined symbols Reduce number of symbols or use a control sec
tion with a higher-capacity project memory
Not enough memory for per

sistent variables - please re
duce variables!
Memory not sufficient for persistent varia Reduce number of persistent variables or use a
bles
control section with a higher-capacity project
memory
Callback function has false

Error in system event
parameters or local variables
Modify PLC program: Modify incorrect use or pro

gramming see notes in task configuration
Called unallowed POU from

callback function
Error in system event

System event not provided by Error in system event

this hardware

System event needs function Error in system event

named "callback..."

Fig.5-191:
Function:
Memory:
Unit:
Cycl. tra.:
PLC Error Messages

Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.9.37
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
1Byte var.
ASCII
0
--
Default value
---------
P-0-1367, PLC configuration

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
This parameter serves to configure the fundamental behavior of the integrated

PLC (LDC).

and Controls
Structure
Bit
1,0
PLC start behavior
Comment
00: Default start behavior: The PLC starts in boot 2.9 if it

was in RUN state on switchoff. Else, it remains in STOP
state.
01: Start when booting: The PLC starts in boot 2.9, irre
spective of the previous state (enters RUN state).
10: Stop: The PLC remains in STOP state.
11:Start in operating mode: The PLC starts automatically
on transition to operating mode.
Attention: The PLC does not start automatically on
changeover to operating mode if, beforehand, a new pro
gram was loaded (in parameter mode) or a start/stop or
reset was made.
3,2
Reserved
Continuous control
0: PLC does not have control
1: PLC has continuous control over drive (ON, HALT, op
eration mode selection).
Attention: The primary operation mode and the secon
dary operation modes 16 are automatically configured.
If a field bus is used, the profile FFFD must be set there,
and the parameters of the operation modes of PLC mo
tion blocks may not be configured cyclically.
Reserved
AxisData activation
The global AxisData structure is supported.
Attention: The structure is always there, but the data is
only transmitted if this bit is set to 1.
Reaction to FB error
Behavior on call of motion function blocks resulting in an
error (e.g. if MC_MoveAbsolute is called while MC_Stop
is active).
0: An axis error F2150 (or F2140 with MLD-M and FB
error on slave) is generated.
1:No axis error is generated.
Boot project filing location

In case of CSH1.2 and MMC, setting of this bit causes
activation of the memory extension of the MLD. The
memory location for the boot project is changed from
"PLC program parameters" to "system file on MMC". This
setting will not become active before the drive is switched
on the next time. After activation, the boot project must
be reloaded (boot projects are not automatically copied
or deleted).
As of MPx05V06

and Controls
Bit
Comment
Selection of PLC retain data size and PLC retain data

memory location
As of MPx06V08
By default, approx. 240 bytes are available for PLC retain

data. These bytes are kept in the normal parameter mem
ory. If this memory is not enough, the memory size can
be increased to approx. 32 kbytes. To achieve this, bit 9
must be set. The larger retain data memory is available
in firmware MPx06 only if the optional module MD1, MD2
or the control section CSH01.3C is used. If you wish to
change bit 9, you must perhaps delete the PLC project.
0:The memory location for PLC retain data is the active
parameter memory (internal device parameter memory or
optional MMC parameter memory, see "P04065, Active
non-volatile memory"). The PLC retain data size is ap
prox. 240 bytes.
1:The memory location for PLC retain data is on addi
tional hardware. The PLC retain data size is approx. 32
kbytes. Device replacement might possibly require exe
cution of commands C5400 and C5500.
31...1 Reserved
0
Fig.5-192:
Function:
Memory:
Unit:
Cycl. tra.:
P01367, PLC Configuration

Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.38
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
BIN
0
--
Default value
0x0080
0x0080
0x0080
0x0080
P-0-1368, PLC Global Register AL0

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
-
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Function
Use
The data length of P01368 is 4 bytes and cannot be changed. The
content of P01368 is not backed up in case control voltage fails.
For non-volatile data use P01389!

and Controls
See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated
PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.39
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_MV
0
--
Default value
---------
P-0-1369, PLC internally reserved

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
For internal use only.

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.40
PM+OM
----
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Access via "parameters for general purpose" (global registers) can be used for
data exchange of MLD with a neighboring drive (as of MP*04VRS via CCD) or
a higher-level control unit or an external operator terminal (e.g. BTV).
Structure
Use
Single parameter / register with 4 bytes (32 bits)

The global registers (G0...G32, A0...A31 or AT0, AT1) do not have any
direct influence on the drive, but only take effect in conjunction with MLD.

and Controls
The content of this parameter is backed up in case control voltage fails;

this is why you should make those settings by means of the global regis
ters which do not take place cyclically. Cyclic data to external devices are
usually carried out with the process image (PII, POI).
In contrast to the PII/POI, access to the global registers does not take
place automatically at the beginning of the task or at the end, but by access
to specific parameters, if required (e.g. by means of MX_ReadParam).
Apart from P-0-1370, there are the following global registers available:
G1 ... G15: P-0-1371 P-0-1385
G16 ... G31: P-0-1316 P-0-1331 (as of MP*05VRS)
A0 ... A31: P-0-1270 P-0-1301 (as of MP*05VRS)
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.41
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
This parameter is a register with individual values for data exchange of the PLC
with the drive or a higher-level PLC or control unit. The display format for this
parameter can be individually adjusted with "P01386, PLC display format
Global Register". The content of this parameter is buffered in case the control
voltage fails.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.42
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
-
MPB
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Hardware
Funct. package(s):
Device parameter:
Function
-motion logic
+
voltage fails.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.43
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
voltage fails.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.44
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
motion logic
+
with the drive or a higher-level PLC or control unit.
"P01386, PLC display format Global Register". The content of this parameter
is buffered in case the control voltage fails.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.45
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
See also "P-0-1370, PLC Global Register G0"

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.46
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.47
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.48
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.9.49
min./max.
--- / ----- / ----- / ----- / ---
Default value
0
0
0
0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.50
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
0
0
0
4Byte
DEC_MV
0
--

and Controls
5.9.51

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.52
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.53
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
motion logic
+

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.54
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.55
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.56
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
0
0
0
0
P-0-1386, PLC display format Global Register

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
This list parameter serves to adjust the display format for the "PLC Global Reg
isters".
Each element in the list has the following structure:
Structure
Bit
3-0
Data length
Comment
0: 4 bytes
1:2 bytes (only possible in MPH02)
7-4
Display format
0: BIN
1: DEC w sign
2: DEC w/o sign
3: HEX
4: FLOAT
11-8
Number of decimal places

0 to 7 decimal places
Fig.5-193:
The elements have the following relation to the register parameters:

Ele
ment
no.
Affected parameter
1..16
P01370 ...P01385, Global Register G0 ...G15
17
P01389, Global Register GL0
As of MP*03
18
P01368, Global Register AL0
As of MP*03
19..34
P01316 ...P01331, Global Register G16 ...G31
As of MP*05
35..66
P01270 ...P01301, Global Register A0 ...A31
As of MP*05
67..68
P01311 ...P01312, Global Register GL1 ...GL2
As of MP*05
Fig.5-194:
Comment

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.57
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
HEX
0
--
Default value
---------
P-0-1387, PLC Global Register AT0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Freely usable text parameter with a maximum of 255 characters plus terminat
ing zero character. It is used for data exchange between the integrated PLC
and the drive or a higher-level PLC or control unit.

The content of this parameter is not buffered in the event of a control
voltage failure.
See also Functional Description "Rexroth IndraMotion MLD (Drive PLC)"

Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.58
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
ASCII
0
--
Default value
---------
P-0-1388, PLC Global Register AT1

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Function
Freely usable text parameter with a maximum of 255 characters plus terminat
ing zero character. It is used for data exchange between the integrated PLC
and the drive or a higher-level PLC or control unit.

The content of this parameter is not buffered in the event of a control
voltage failure.
See also Functional Description "Rexroth IndraMotion MLD (Drive PLC)"

Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.59
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
ASCII
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
-
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
changed. The content of this parameter is buffered in case the con
trol voltage fails.
PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
Par
FIX_IDN_SP
-AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---
4Byte var.
DEC_MV
0
--

and Controls
MPC:
MPD:
MPH:
5.9.60
--- / ----- / ----- / ---
-------
P-0-1390, PLC input WORD0 AT %IB0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
This parameter belongs to the I/O channel (process image) which is MLD's
contact to external devices, as it allows evaluating and addressing digital and
analog inputs/outputs. In this context, this parameter is used for display and for
transporting the inputs to the process image of the inputs (PII) in MLD.
PLC)"
Use
Fig.5-195:
PII - PLC inputs
This parameter contains the process image of a PLC input (PII) and there
fore is not backed up, which means that its content gets lost in case voltage
fails.
It contains 16 bits and is assigned to the hardware in the corresponding

dialog (e.g. "X31/32") of the commissioning software (e.g. IndraWorks).
At the beginning of the task, the PLC (IndraMotion MLD) reads the values
of the hardware to the parameter (the PII).
To connect the input, the corresponding assignment of the IDN (e.g.

P01390) to a digital input of "X31/32" is required.
Apart from P-0-1390, there are the following input registers available:

and Controls
32 bits: P-0-1440 - P-0-1447
16 bits: P-0-1391 - P-0-1397, P-0-1398 - P-0-1409 (as of MP*04VRS)
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.9.61
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
See also "P-0-1390, PLC input WORD0 AT %IB0"

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.9.62
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.9.63
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.9.64
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
DEC_MV
0
--

and Controls
5.9.65

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.9.66
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.9.67
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
motion logic
+

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.9.68
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.9.69
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.9.70
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Parameter for the PLC input image. The parameter contains the process image
of a PLC input (input process image). It contains 16 bits and is assigned in the
corresponding dialog (e.g. "X31/32") of the commissioning software (e.g.
IndraWorks). At the beginning of the task the PLC reads the values from this
parameter to the input process image.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.9.71
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Par
--
Editability:
Validity ch.:
P234
--
Data length:
Format:
2Byte
DEC_MV

and Controls
Unit:
Cycl. tra.:
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.9.72
Extr. val. ch.:

Comb. check:
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.9.73
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Par
--
Editability:
Validity ch.:
P234
--
Data length:
Format:
2Byte
DEC_MV

and Controls
Unit:
Cycl. tra.:
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.9.74
Extr. val. ch.:

Comb. check:
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.9.75
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Par
--
Editability:
Validity ch.:
P234
--
Data length:
Format:
2Byte
DEC_MV

and Controls
Unit:
Cycl. tra.:
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.9.76
Extr. val. ch.:

Comb. check:
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.9.77
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Par
--
Editability:
Validity ch.:
P234
--
Data length:
Format:
2Byte
DEC_MV

and Controls
Unit:
Cycl. tra.:
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.9.78
Extr. val. ch.:

Comb. check:
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.9.79
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
DEC_MV
0
--

and Controls
5.9.80
P-0-1410, PLC output WORD0 AT %QB0

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
transporting the data from the process image (POI) to the outputs.
Use
Fig.5-196:
POI - PLC outputs
This parameter contains the process image of a PLC output (POI) and
therefore is not backed up, which means that its content gets lost in case
voltage fails.

dialog (e.g. "X31/32") of the commissioning software (e.g. IndraWorks), or
directly read by the master communication (possibly via the serial inter
face).
At the end of the task, the PLC (IndraMotion MLD) writes the values from
the POI to the hardware.
To connect the output, the corresponding assignment of the IDN (e.g.

P01410) to a digital output of "X31/32" is required.
16 bits: P-0-1411 P-0-1417

P-0-1418 P-0-1429 (as of MP*04VRS)

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.9.81
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
See also "P-0-1410, PLC output WORD0 AT %QB0"

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.9.82
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
2Byte
DEC_MV
0
--

and Controls
MPD:
MPH:
5.9.83
--- / ----- / ---
-----

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.9.84
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.9.85
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
-
MPB
MPB
MPB
MPH
MPH
MPH
MPH
-
-
-
-
2Byte
DEC_MV
0
--

and Controls
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPB
-motion logic
+
MPH
MPH
-
-
MPC
MPC

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.9.86
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.9.87
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-motion logic
+
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.88
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
transporting the data from the process image (POI) to the outputs.
Use
Fig.5-197:
POI - PLC outputs
This parameter contains the process image of a PLC output (POI) and
therefore is not backed up, which means that its content gets lost in case
voltage fails.

and Controls

dialog (e.g. "X31/32") of the commissioning software (e.g. IndraWorks), or
directly read by the master communication (possibly via the serial inter
face).
At the end of the task, the PLC (IndraMotion MLD) writes the values from
the POI to the hardware.
To connect the output, the corresponding assignment of the IDN (e.g.

P01410) to a digital output of "X31/32" is required.
16 bits: P-0-1411 P-0-1417

P-0-1418 P-0-1429 (as of MP*04VRS)
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.9.89
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
The parameter contains the process image of a PLC output (output process
image). It contains 16 bits and is assigned in the corresponding dialog (e.g.
"X31/32") of the commissioning software (e.g. IndraWorks). At the end of the
task the PLC writes the values from the output process image to this parameter.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.9.90
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
MPB
MPB
MPB
MPB
--
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
motion logic
+
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.9.91
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.9.92
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Function
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.9.93
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.9.94
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.9.95
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.9.96
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.9.97
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.9.98
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
2Byte
DEC_MV

and Controls
Unit:
Cycl. tra.:
-AT
Input
MPB:
MPC:
MPD:
MPH:
5.9.99
Extr. val. ch.:

Comb. check:
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.9.100
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------
P-0-1440, PLC input DWORD25 AT %IB100

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
accessing the process image of the inputs (PII) in MLD.

and Controls
Fig.5-198:
Use
PII - PLC inputs
This parameter contains the process image of a PLC input (PII) and there
fore is not backed up, which means that its content gets lost in case voltage
fails.
It contains 32 bits and is assigned in the corresponding dialog (e.g.

"X31/32") of the commissioning software (e.g. IndraWorks).
At the beginning of the task, the PLC (IndraMotion MLD) reads the values
to the PII.
To write the input, the corresponding assignment of the IDN (e.g. P01390
to a digital input of "X31/32") is required.
32 bits: P-0-1441- P-0-1447
16 bits: P-0-1390 - P-0-1397, P-0-1398 - P-0-1409 (as of MP*04VRS)
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.9.101
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
MPB
MPB
MPB
MPB
--
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
motion logic
+
See also "P-0-1440, PLC input DWORD25 AT %IB100"

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.9.102
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.9.103
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.9.104
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.9.105
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
4Byte
DEC_MV
0
--

and Controls
MPD:
MPH:
5.9.106
--- / ----- / ---
-----

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.107
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.9.108
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
P-0-1449, C4900 PLC command

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
-
-
MPB
MPB
-
-
MPH
MPH
-
-
-
-
4Byte
DEC_MV
0
--

and Controls
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPB
-motion logic
--
MPH
MPH
-
-
MPC
MPC
With this parameter a PLC program can be controlled via the standardized
command mechanisms.
PLC)"
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.9.109
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-1450, PLC/setting-up mode Positioning command value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter is used to input a positioning command value for drive-control

led positioning via IndraMotion MLD with temporary control or via the settingup mode.
To use positioning with the setting-up mode, the operation mode
must first be preselected with "P0-0120, Control word easy start
up".
Use
Regarding its function, parameter "P-0-1450" corresponds to parameter

"S-0-0282, Positioning command value" the operating principle of which is ex
plained in detail in the Functional Description.
Record of Revisions
Version
Up to MPx04VRS
Up to MPx04VRS
Attribute
Cyclic: AT
Editability: No
Comment
Function:
Memory:
Par
--
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
4Byte
DEC_MV
S-0-0077
S-0-0078
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.9.110
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
P-0-1451, PLC/setting-up mode, positioning velocity

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter is used to input a positioning velocity for drive-controlled posi

tioning via IndraMotion MLD with temporary control or via the setting-up mode.
up".
Use

"S-0-0259, Positioning velocity" the operating principle of which is explained in
detail in the Functional Description.
Record of Revisions
Version
Attribute
Up to MPx04VRS
MPx Default value: --
Up to MPx04VRS
Cyclic: AT
Up to MPx04VRS
Editability: No
Up to MPx04VRS
Memory: --
Up to MPx04VRS
Validity ch.: No
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.9.111
Comment
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_OV
S-0-0045
S-0-0046
--
Default value
0,0000
0,0000
0,0000
0,0000
P-0-1452, PLC/setting-up mode, positioning acceleration

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
-
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPH
-
-
-
MPD
MPD
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
-closed loop
--
MPH
MPD
MPC
This parameter is used to input a positioning acceleration for drive-controlled

positioning via IndraMotion MLD with temporary control or via the setting-up
mode.
up".
Use

"S-0-0260, Positioning acceleration" the operating principle of which is ex
Record of Revisions
Version
Attribute
Up to MPx04VRS
Up to MPx04VRS
Cyclic: AT
Up to MPx04VRS
Editability: No
Up to MPx04VRS
Memory: --
Up to MPx04VRS
Validity ch.: No
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.9.112
Comment
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0161
S-0-0162
--
Default value
0,000
0,000
0,000
0,000
P-0-1453, PLC/setting-up mode, positioning deceleration

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter is used to input a positioning deceleration for drive-controlled

positioning via IndraMotion MLD with temporary control or via the setting-up
mode.

and Controls
up".
Use

"S-0-0359, Positioning deceleration" the operating principle of which is ex
Record of Revisions
Version
Attribute
Up to MPx04VRS
Up to MPx04VRS
Cyclic: AT
Up to MPx04VRS
Editability: No
Up to MPx04VRS
Memory: --
Up to MPx04VRS
Validity ch.: No
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.9.113
Comment
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0161
S-0-0162
--
Default value
0,000
0,000
0,000
0,000
P-0-1454, PLC/setting-up mode, positioning command value accept

ance
Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter is used to control the positioning process (e.g., start of posi
tioning) for drive-controlled positioning via IndraMotion MLD with temporary
control or via the setting-up mode.
up".

and Controls
Use

"S-0-0346, Positioning control word" the operating principle of which is ex
Record of Revisions
Version
Attribute
Up to MPx04VRS
Cyclic: AT
Up to MPx04VRS
Editability: No
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.9.114
Comment
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-1455, PLC/setting-up mode, positioning command value acknowl

edge
Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter is used for internal analysis of the positioning process for drivecontrolled positioning via IndraMotion MLD with temporary control or via the
setting-up mode.
up".
Use

"S-0-0419, Positioning command acknowledge" the operating principle of
which is explained in detail in the Functional Description.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
BIN
0
--

and Controls
5.9.115
P-0-1460, PLC/setting-up mode, velocity command value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter is used to input a velocity command value in velocity control via
IndraMotion MLD with temporary control or via the setting-up mode.
Use

"S-0-0036, Velocity command value" the operating principle of which is ex
Record of Revisions
Version
Attribute
Up to MPx04VRS
Cyclic: AT
Up to MPx04VRS
Editability: No
Function:
Memory:
Par
--
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.9.116
Comment
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0045
S-0-0046
--
Default value
---------
P-0-1461, PLC/setting-up mode ramp pitch

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter is used to set a ramp in velocity control via IndraMotion MLD
with temporary control or via the setting-up mode.
Use

"P-0-1203, Ramp 2 pitch" the operating principle of which is explained in detail
in the Functional Description.
Record of Revisions

and Controls
Version
Attribute
Up to MPx04VRS
Up to MPx04VRS
Cyclic: AT
Up to MPx04VRS
Editability: No
Up to MPx04VRS
Memory: --
Up to MPx04VRS
Validity ch.: No
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.9.117
Comment
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0161
S-0-0162
--
Default value
0,000
0,000
0,000
0,000
P-0-1463, PLC/setting-up mode deceleration ramp

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter is used to set a deceleration in velocity control via IndraMotion

MLD with temporary control or via the setting-up mode.
Use

"P-0-1213, Deceleration ramp 2" the operating principle of which is explained
in detail in the Functional Description.
Record of Revisions
Version
Attribute
Comment
Up to MPx04VRS
Up to MPx04VRS
Cyclic: AT
Up to MPx04VRS
Editability: No
Up to MPx04VRS
Memory: --
Up to MPx04VRS
Validity ch.: No
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
min./max.
--- / ---
Default value
0,000
4Byte
DEC_MV
S-0-0161
S-0-0162
--

and Controls
MPC:
MPD:
MPH:
5.9.118
--- / ----- / ----- / ---
0,000
0,000
0,000
P-0-1465, PLC/setting-up mode Torque/force command value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter is used to input a torque/force command value in torque control

via IndraMotion MLD-S with temporary control or via the setting-up mode.
To use torque/force control with the setting-up mode, the operation
mode must first be preselected with "P0-0120, Control word easy
startup".
Use

"S-0-0080, Torque/force command value" the operating principle of which is
explained in detail in the Functional Description.
Record of Revisions
Version
Attribute
Up to MPx04VRS
Cyclic: AT
Up to MPx04VRS
Editability: No
Function:
Memory:
Par
--
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.9.119
Comment
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
S-0-0093
S-0-0094
--
Default value
---------
P-0-1466, PLC Torque/force ramp

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-closed loop
--
-
-
-
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC
With the torque/force ramp time (S-0-0823), the PLC torque/force ramp defines
a pitch for the PLC torque/force command value (P-0-1465) in the operating
mode torque/force control of the PLC (only with temporary control).

and Controls
Use
The parameter is operated by the function blocks of MLD and only used for
display (on the local axis with temporary control in MLD).
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.9.120
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
S-0-0093
S-0-0094
--
Default value
0,0
0,0
0,0
0,0
P-0-1499, PLC retain data on-board

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
-
-
-
-
-motion logic
+
MPH
MPH
-
-
-
-
Function:
Unit:
Cycl. tra.:
Par
RE
TAIN_KUNDE
---
Input
MPB:
MPC:
MPD:
MPH:
Editability:
nein
2Byte var.
--
Format:
HEX
Extr. val. ch.:

Comb. check:
---
Decim. pl.:
Switchable:
0
--
min./max.
--- / ----- / ----- / ----- / ---
P-0-1500 to P-0-1599 Device Parameters
5.10.1
P-0-1506, Circuit board code optional module 1

Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Data length:
Validity ch.:
5.10
Function
-
-
This parameter is for internal use only.

Memory:
Allocation
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
Default value
---------
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains identification data for the circuit board of the optional
module 1 (control section). It is stored on a memory chip on the circuit board
and data are written to it once when the circuit board is assembled.
See also Functional Description "Circuit Board Code"
Use
The parameter contains a list. The following data are included in the elements
of the list:

and Controls
Element no.
Function
circuit board designation (1)
component number
serial number
circuit board type and version
release/revision index
writing cycles
Fig.5-199:
Elements of parameter P-0-1506
By means of circuit board code parameters the controller firmware identifies all
circuit boards incorporated in the control section and in the basic device and
thus generates the type designation of the control section ("P01520, Control
section type") and the basic device ("S00140, Controller type"). The type des
ignation of the control section also implies firmware dependencies.
Function:
Memory:
Unit:
Cycl. tra.:
Par
I2C_OPM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.10.2
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
HEX
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
-
MPH
-
MPH
-
MPH
-
MPH
-
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Use
of the list:
Element no.
Function
component number
serial number

and Controls
Element no.
Function
writing cycles
Fig.5-200:
Function:
Memory:
Unit:
Cycl. tra.:
Par
I2C_OPM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.10.3
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
HEX
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
-
MPH
-
MPH
-
MPH
-
MPH
-
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Use
of the list:
Element no.
Function
component number
serial number
writing cycles
Fig.5-201:

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
I2C_OPM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.10.4
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
HEX
0
--
Default value
---------
P-0-1509, Circuit board code master communication

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains identification data about the master communication

circuit board (control section). It is stored on a memory chip on the circuit board
Use
of the list:
Element number
Function
Circuit board designation (1)
Part number
Serial number
Circuit board type and version
Release/revision index
Writing cycles
Fig.5-202:
Elements of Parameter P-0-1509
By means of circuit board code parameters, the controller firmware identifies

all circuit boards incorporated in the control section and in the basic device and
thus generates the type designation of the control section "P-0-1520, Control
section type" and basic device "S-0-0140, Controller type". The type designa
tion of the control section also implies firmware dependencies.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
I2C_OPM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte var.
HEX
0
--

and Controls
5.10.5
P-0-1510, Circuit board code power section

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains identification data for the power section circuit board
(basic device). It is stored on a memory chip on the circuit board and data are
written to it once when the circuit board is assembled.
Use
of the list:
Element no.
Function
component number
serial number
writing cycles
Fig.5-203:
Function:
Memory:
Unit:
Cycl. tra.:
Par
LT_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.10.6
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
HEX
0
--
Default value
---------
P-0-1511, Circuit board code control section

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Function
This parameter contains identification data for the basic circuit board of the
control section. It is stored on a memory chip on the circuit board and data are
written to it once when the circuit board is assembled.
Use
of the list:
Element no.
Function
component number
serial number
writing cycles
Fig.5-204:
Function:
Memory:
Unit:
Cycl. tra.:
Par
Editability:
-Extr. val. ch.:
-Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.10.7
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
HEX
0
--
Default value
---------
P-0-1512, Circuit board code of optional module 4

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
MPD
MPD
MPD
MPD
MPD
MPD
-
-
Use
of the list:

and Controls
Element number
Function
component number
serial number
writing cycles
Fig.5-205:
Function:
Memory:
Unit:
Cycl. tra.:
Par
I2C_OPM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.10.8
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
HEX
0
--
Default value
---------
P-0-1513, Circuit board code optional module 1 for safety technology

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains identification data about the circuit board of the op
tional module 1 for safety technology (control section). It is stored on a memory
chip on the circuit board and data are written to it once when the circuit board
is assembled.
Use
of the list:
Element number
Function
Part number
Serial number

and Controls
Element number
Function
Writing cycles
Fig.5-206:

Function:
Memory:
Unit:
Cycl. tra.:
Par
I2C_OPM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.10.9
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
HEX
0
--
Default value
---------
P-0-1514, Circuit board code optional module 2 for safety technology

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
MPD
MPD
MPD
MPD
MPD
MPD
-
-
This parameter contains identification data about the circuit board of the op
tional module 2 for safety technology (control section). It is stored on a memory
chip on the circuit board and data are written to it once when the circuit board
is assembled.
Use
of the list:
Element number
Function
Part number
Serial number
Writing cycles
Fig.5-207:


and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
I2C_OPM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.10.10
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
HEX
0
--
Default value
---------
P-0-1518, Module code of control section

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains identification data for the control section. It is stored
on a memory chip on the control section and data are written to it once when
the circuit board is assembled.
Use
of the list:
Element number
Function
Part number
Serial number
Writing cycles
Fig.5-208:
The type designation of the control section also implies firmware dependencies.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
Editability:
-Extr. val. ch.:
-Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte var.
HEX
0
--

and Controls
5.10.11
P-0-1519, Module code of power section

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains identification data for the power section. It is stored on
a memory chip on the power section and data are written to it once when the
circuit board is assembled.
Use
of the list:
Element number
Function
Basic module designation (1)
Part number
Serial number
Power section firmware code
Writing cycles
Fig.5-209:
Function:
Memory:
Unit:
Cycl. tra.:
Par
LT_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.10.12
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
4Byte var.
HEX
0
--
P-0-1520, Control section type

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter displays the type designation of the control section. By means
of circuit board code parameters the controller firmware identifies all circuit

and Controls
boards incorporated in the control section and thus generates the type desig
nation.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.10.13
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
ASCII
0
--
Default value
---------
P-0-1530, Engineering: MAC address

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function
Parameter P01530 contains the MAC address for the engineering interface
which is required within the scope of Ethernet communication. The MAC ad
dress (Media Access Control) is used for unequivocal identification for the
Ethernet communication in the network.
Structure
The MAC address is a list parameter with the following structure:
Fig.5-210:
P01530, Engineering: MAC address
Use

"S-0-1019, Master comm. engineering over IP: MAC address"
Function:
Memory:
Par
Editability:
PM
--
Data length:
Format:
1Byte var.
HEX

and Controls
Unit:
Cycl. tra.:
---
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.10.14
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
0
--
P-0-1531, Engineering: IP address

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Parameter P01531 contains the IP address for the engineering interface

which is required within the scope of IP communication.
ternet.
Structure

settings"
Fig.5-211:
P-0-1531, Engineering: IP address
Use

"P01532, Engineering: Network mask"
"P01533, Engineering: Gateway address"
"S01020, Master comm. engineering over IP: IP address"
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
1Byte var.
DEC_OV

and Controls
Unit:
Cycl. tra.:
---
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.10.15
---
min./max.
--- / ----- / ----- / ----- / ---
Decim. pl.:
Switchable:
0
--
Default value
---------
P-0-1532, Engineering: Network mask

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Parameter "P0-1532" contains the network mask for the engineering interface
which is required within the scope of IP communication. Each IP address (In
ternet Protocol) consists of a network and a device part. The network mask is
used to distinguish between the network and device parts.
Structure
Executing the drive command C6100 Command Activate IP

settings
Fig.5-212:
P-0-1531, Engineering: Network Mask
Use
The network mask must be set with regard to the specific applica
tion.
See also Parameter Description "P01531, Engineering: IP address",
"P01533, Engineering: Gateway address", "S01021, Master comm. engi
neering over IP: Network mask"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
DEC_OV
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.10.16
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
P-0-1533, Engineering: Gateway address

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Parameter "P0-1533" contains the gateway address for the engineering inter
face which is required within the scope of IP communication.
If the communication node wants to transmit an IP package (Internet Protocol),
the network parts of the source IP address and the target IP address are com
pared. If they do not match, the IP package is transmitted to the gateway IP
address.
Structure

settings
Fig.5-213:
Gateway Address
Use
The gateway address must be set with regard to the specific appli
cation.
See also Parameter Description "P-0-1531, Engineering: IP address",
"P-0-1532, Engineering: Network mask", "S-0-1022, Master comm. engineer
ing over IP: Gateway address"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---
1Byte var.
DEC_OV
0
--

and Controls
MPC:
MPD:
MPH:
5.10.17
--- / ----- / ----- / ---
-------
P-0-1534, C6100 Command Activate IP settings

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC
This command activates the IP settings (IP address, network mask and default
gateway) made by the user for the devices available in the controller.
If the IP settings are changed, the settings made before the change
keep being active until the command is started.
Use
When the command is started, communication is aborted of all devices (hard

ware via which IP communication can take place, cf. network card in PC) for
which the settings were changed. After the command was successfully com
pleted, IP communication can be established with the new settings.
The command can be started via the control panel or via a commissioning tool
("IndraWorks D" or "SynTop").
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.10.18
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-1544, Engineering: Status IP communication

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
By means of the parameter "P-0-1544, Engineering: Status IP communication",

you can read the status information on the current state of IP communication
via the engineering interface of the device.
The parameter contains both general information on IP communication and
device-dependent information.
Structure
The general status information on IP communication is contained in parameter

"P-0-1544, Engineering: Status IP communication", preferably in the first 8 bits.
The bits 8 to 31 contain the device-dependent information.

and Controls
Bit
1..0
State of internal memory TCP/IP stack

00: No problem with internal memory
01: Internal memory space full
10: Internal memory space intermittently filled
3..2
Reserved
6..4
Default gateway information

000: Not set
001: From master comm. engineering over IP (S-0-1022)
010: From SERCOS III master (CCD) (P-0-1643)
100: From engineering (P-0-1533)
Reserved
9..8
Setting of device gateway information

00: No gateway information set
01: Active gateway information manually set
10: Active gateway information automatically generated
11..10
Status of device gateway information

00: Gateway information not used
01: Gateway address which was read is active
10: Gateway address which was read has not been activa
ted up to now
12
Status of device network mask

0: Network mask which was read is active
1: Network mask which was read has not been activated up
to now
15..13
Reserved
17..16
Setting of device IP address

00: No IP address set
01: Active IP address manually set
10: Active IP address automatically set
20..18
Status of IP address
000: No IP address available for activation
010: IP address which was read has not been activated up
to now
21
Reserved
22
Validity of device IP settings

1: Invalid IP settings (address and gateway in different net
works)
Comment

and Controls
Bit
Comment
23
Status of IP communication
1: No IP communication possible (resources missing)
25..24
Status of FPGA Rx Buffer

00: FPGA Rx Buffer able to receive data
01: FPGA Rx Buffer temporarily busy
10: FPGA Rx Buffer permanently busy
27..26
Reserved
29..28
Status of FPGA Tx Buffer

00: FPGA Tx Buffer able to receive data
01: FPGA Tx Buffer temporarily busy
10: FPGA Tx Buffer permanently busy
31..30
Reserved
Fig.5-214:
Function:
Memory:
Unit:
Cycl. tra.:
P-0-1544, Engineering: Status IP communication

Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
5.11
P-0-1600 to P-0-1999 Drive Cross Communication
5.11.1
P-0-1600, CCD: configuration

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
4Byte
BIN
0
--
-
-
-
-
-
-
MPC
MPC
This parameter serves to configure the CCD communication in the CCD master.
See also Functional Description "Cross Communication (CCD)"
Structure
The individual bits of the configuration word have the following significance and
function:
Bit
Activation of cross communication in the master

0 = CCD master not active
1 = CCD master active
Reserved
Comment

and Controls
Bit
Reserved
4,3
CCD operation mode

00 = CCD system mode
01 = MLD-M system mode
10 = CCD basic mode
6/5
Reserved
8/7
CCD error reaction

00: No reaction:
There is no reaction to errors of the CCD node. Any desired
reaction has to be programmed in the control unit.
01: Simple error reaction:
In the case of errors in a CCD node, the warning E2140 is
displayed in the master.
10: Master-controlled synchronous error reaction
If this error reaction is active, parameter P-0-170x, CCD:
Diagnostic message number slave x is cyclically evaluated
with the appropriate reactions in the master and the other
slaves. With bit 10 it is possible to select whether the con
figuration of P-0-1790x and S-0-0390 takes place automat
ically for all slaves.
11: Automatically complete error reaction:
As soon as an error occurs in an axis, all axes are deceler
ated as parameterized in P-0-0119. Error F2140/E2140 is
set in the master.
Only in effect if bit 8/7 = 10

Definition of the reaction of the CCD master to an F8xxx
error in the CCD group
0: Torque disable
1: Best possible deceleration
10
CCD group error reaction if bit 8/7 = 10

Definition of whether S-0-0390 of the slaves is automatically
configured in AT, i.e. whether all slaves participate in the
error reaction.
0: Group reaction active
1: Selective error reaction of the slaves (manual configura
tion)
Comment

and Controls
Bit
11
Reaction in case of telegram failure
Comment
If the number of telegram failures in phase 4 exceeds the

number parameterized in P-0-1639, error F4140 is gener
ated.
Bit 11 = 0: The master attempts a phase return to phase 2
via phase 0.
Bit 11 = 1: The master continues to preset phase 4.
12
Enable for I/Os
(as of MPx06)
To ensure that the outputs of the SERCOS I/Os are affec

tive, the outputs in the resource control word must be acti
vated.
Bit 11 = 0: The master automatically sets the bit for activation
of the outputs in the resource control word P01660.x.20.
Bit 11 = 1: The bits for enabling the outputs must be operated
by the application in the resource control words of the I/Os
P01660.x.20.
Fig.5-215:
Use
CCD Configuration

P-0-1600 is only set in the CCD master because the CCD slaves
are mere SERCOS III drives.
Bit 4/3: CCD operation mode for the CCD group. Depending on the ap
plication, the appropriate mode must be selected:
00: CCD system mode:

Command triggering of the CCD slaves by higher-level control unit
(remote external with profile interpreter in case of profiles 0xFFFE
and 0xFFFD) or, if necessary, process data can be exchanged be
tween the CCD master and the slaves as well as between the
external control unit and the CCD slaves via local MLD with perma
nent control and profile type FFFD --> CCD slaves are known in the
external control unit.
01: MLD-M system mode:

Commands for the CCD slaves are triggered by the external control
unit via MLD in the master drive or via P165x in the master. Process
data is only exchanged between the CCD master and the slaves -->
CCD slaves not known in the external control unit.
10: CCD basic mode:

Commands for the CCD slaves can be triggered by a higher-level
control unit (remote external but without profile interpreter) via P165x
in the master, via the MLD in the master drive or, if necessary, via
the local MLD-S with perm./local control. Process data can only be
exchanged between the CCD master and the slaves --> CCD slaves
are not known in the external control unit.
Bit 8/7: Error reaction:
00: No reaction
In the case of an error in a CCD axis, other CCD axes are not auto
matically decelerated. A group error reaction has to be explicitly
programmed by the control unit.

and Controls
01: Simple error reaction:

In the case of errors in a CCD node, the warning E2140 is displayed
in the master.
10: Master-controlled synchronous error reaction
If the error reaction is active, parameter "P-0-170x, Diagnostic mes
sage number slave x" is cyclically evaluated. For this purpose,
"P-0-170x" must be configured for each slave in "P01624". In
"P-0-1626", parameter "S-0-0390" must have been entered at the
corresponding place. The error reactions of both master and slaves
are dependent on the error number detected.
11: Automatically complete error reaction:
If the CCD master detects that an axis in the CCD group (master or
slave) signals a class 1 diagnostics error, all axes are decelerated
with best possible deceleration, as parameterized in P00119. The
CCD master outputs the error F2140 CCD slave error. If the CCD
master is not in control mode, only the warning E2140 is displayed.
Bit 10: CCD error reaction on the master side (only in case of a mastercontrolled synchronous error reaction)
If a slave in the CCD axis group is not to participate in the activated error
reaction in the master, the automatic parameterization of the slave diag
nosis for all slaves must be switched off with bit 10 of P01600. In this
case, the entries for the diagnostic message numbers of the slaves to
participate in the error reaction must be made manually in P-0-1624 and
P-0-1626.
(P01624[i] = P0170x und P01626[i] = S00390).
Use
See also Functional Description Cross Communication (CCD)

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.2
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
1
0
1
0
P-0-1601, CCD: addresses of projected drives

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
This parameter is used along with the drive cross communication (CCD) to list
the addresses of the CCD slaves (drives) projected in the CCD group, thus
establishing the assignment of the actual drive address and drive number (log
ical drive address) in the CCD group.
If all projected drives are detected (contained in P-0-1603), the addresses are
entered in the same order as given in P-0-1601 and applied to P-0-4031. The
order can be selected as desired and is applied after the address of the CCD

and Controls
master according to P-0-4031(P0->P1). On transition to P2, it is verified wheth
er the addresses projected here are also of the drive type.
If the address of a SERCOS III slave, which is not contained in the
list of device addresses, is mentioned in "P-0-1601", command
error E4013 is generated.
Structure
The list parameter (2 bytes per element) has the following structure and content:
Fig.5-216:
Use
P01601, CCD: Addresses of projected drives
P-0-1601 is only present in the CCD master and must therefore be para
meterized there.
The drive having the address entered in list element 0 corresponds to CCD
drive 1, etc.
A projected slave can be deactivated via bit 15 = 1 in a list element. As a

result, the order of parameterization in the CCD lists and the PLC pro
grams can be identical for similar applications.
When all CCD slaves have been deactivated, X24 has to be con
nected to X25 with a SERCOS cable.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.3
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
2Byte var.
DEC_OV
0
--
P-0-1602, CCD: timing settings

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter contains the cycle times and timing settings used for cross
communication (CCD), which are automatically configured internally in the CCD
master.

and Controls
Parameter "P01602" is for diagnostic purposes only. The cycle
time is set via "S01001".
See also Parameter Description "S01001, SERCOS III: NC cycle time
(TNcyc)"
Structure
The list parameter has the following content:
Fig.5-217:
Function:
Memory:
Unit:
Cycl. tra.:
Content of P01602, CCD: Timing settings

Par
-us
--
Input
MPB:
MPC:
MPD:
MPH:
5.11.4
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_OV
3
--
Default value
---------
P-0-1603, CCD: Actual topology addresses

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
The parameter is used in conjunction with drive cross communication (CCD).

It displays the addresses of the SERCOS III slaves (drives and I/Os) found in
phase 0, in ascending order according to their topology (list element 0 corre
sponds to CCD slave directly at CCD master, etc.). Only the slaves contained
in this list can be addressed as of CCD phase 2. Up to phase 2, multiple ad
dresses can exist.
If P-0-1601 contains drives not contained in P-0-1603, the warning E4013 or
C0265 is generated during the execution of command C0200.
If the command topology in P-0-1636 and the actual topology differ, the warning
E4013 is generated in CCD phase 2. It is impossible to progress to CCD phase
3 or 4.

and Controls
The command topology and the actual topology always must be identical. You
either have to adjust the entries in P-0-1636 to the actual topology or set the
addresses of the CCD slaves to the command topology with the command C70
"P-0-1635, CCD: command adjust slave addresses".
Structure
Fig.5-218:
Function:
Memory:
Unit:
Cycl. tra.:
P-0-1603, CCD: actual topology

Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.11.5
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
DEC_OV
0
--
Default value
---------
P-0-1604, CCD: addresses of projected I/Os

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
This parameter is used along with the drive cross communication (CCD) to list
the addresses of the CCD slaves (I/Os) projected in the CCD group, thus es
tablishing the assignment of the actual I/O address and I/O number (logical I/
O address) in the CCD group.
If all configured I/Os are detected (contained in P-0-1603), the addresses are
entered in the same order as given in P-0-1604 and applied to P-0-4031. The
order can be selected as desired and is applied after the drive addresses ac
cording to P-0-4031(P0->P1). On transition to P2, it is verified whether the
addresses configured here are also of the I/O type.
If the address of a SERCOS III slave, which is not contained in
P-0-1603, CCD: Actual topology addresses, is mentioned in
"P-0-1604", command error E4013 is generated.
Structure

and Controls
Fig.5-219:
Use
P01604, CCD: Addresses of projected I/Os
P-0-1604 is only present in the CCD master and must therefore be para
meterized there.
The I/O module having the address entered in list element 0 corresponds
to CCD I/O 1, etc.
A configured slave can be deactivated via bit 15 = 1 in a list element. As a result,

the order of parameterization in the CCD lists and the PLC programs can be
identical for similar applications.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.11.6
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
DEC_OV
0
--
Default value
---------
P-0-1605, CCD: command communication phase

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
This parameter is used to preset the command phase for the CCD group.
P-0-1605 is only available in the CCD master!
Use
MPC
MPC
Observe the following aspects when writing this parameter:
Possible phase input:
0: P0
1: P1
2: P2
3: P3
4: P4

and Controls
The CCD phase is normally input automatically by the commands

S00420 and S-0-0422 in the CCD master, i.e. P-0-1605 is internally writ
ten by the CCD master!
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.11.7
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
0/4
0/4
0/4
0/4
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------
P-0-1606, CCD: actual communication phase

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
This parameter displays the actual communication phase of the CCD group.
The user cannot change P-0-1606 and this parameter is available
in the CCD master for diagnostic purposes only!
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.11.8
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
2Byte
DEC_MV
0
--
P-0-1607, CCD: axis error

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter contains the class 1 diagnostics error bits of the CCD nodes.
Bit No.
Description
class 1 diagnostics bit of master
class 1 diagnostics bit of slave 1

and Controls
3
Fig.5-220:
Function:
Memory:
Unit:
Cycl. tra.:
Class 1 diagnostics error bits

Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.11.9
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
2Byte
BIN
0
--
P-0-1608, CCD: control word

Allocation
Function
Structure
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter can be used to control the functions of the CCD master during
ongoing operation. The parameter is not stored.
Bit
Comment
Target phase
As of MPx05
0: Synch. osci. function in CCD master deactivated (default)

1: Synch. osci. function in CCD master activated
Fig.5-221:
Function:
Memory:
Unit:
Cycl. tra.:
CCD Control Word

Par
--MDT
Input
MPB:
MPC:
MPD:
MPH:
5.11.10
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
0
0
0
0
P-0-1609, CCD: status word

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
-
-
-
-
-
-
-
MPH
MPH
-
-
-
-
-
-
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
Structure
-
-
+
MPC
This parameter provides information about the CCD status.

Bit
Comment
3-0 Target phase

SERCOS phase which is to be entered
7-4 Actual phase
Currently active SERCOS phase
8
Phase switch active

At present, there is an attempt to switch to the target phase
Phase switch aborted with error

An error has occurred during switching to the target phase
10
Parameter channel not available

At present, parameter channel is not available, because actual
phase < 2 or phase switch is active
Fig.5-222:
CCD Status

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.11.11
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
2Byte
HEX
0
--
P-0-1610, CCD: cycle time

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
With this parameter, it is possible to set a CCD cycle time smaller than the
master communication cycle time (S-0-0001 or S-0-1001).
Use
The resulting NC cycle time which the CCD master presets to the CCD slaves
in S-0-1001 results from the smaller value of S-0-0001 or S-0-1001 and
P-0-1610 of the master. This means that if the value in "P-0-1610, CCD: cycle
time" in unequal 0 and smaller than the master communication cycle time of
the master (S-0-0001 or S-0-1001), P-0-1610 is preset as NC cycle time for the
CCD slaves.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
4Byte
DEC_OV

and Controls
Unit:
Cycl. tra.:
us
--
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.11.12
+
--
Decim. pl.:
Switchable:
min./max.
250,000 / 4000,000
0,000 / 4000,000
250,000 / 4000,000
0,000 / 4000,000
Default value
---------
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
3
--
P-0-1610.0.3, CCD: Actual topology

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Parameter P01610.0.3 displays the actual topology (status of the SERCOS

ring) of the slave interfacing.
0 = no line at port and port 2
1 = line at port 1
2 = line at port 2
3 = line 1 at port 1 and line at port 2
4 = dual ring

Use
P-0-1610.0.3 - Attributes
The actual topology is used to monitor the command topoloy (see

P-0-1620.003).
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.11.13
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
---------
P-0-1610.0.21, CCD: Slave addresses at end of line

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Parameter P01610.0.21 is a list parameter with two list element. In the topol
ogy is a line topology, this parameter is filled with the addresses of the CCD
slaves at the end of the lines.. If there is a dual ring, both list elements contain
the value 0.
List element 0 = address of the CCD slave at the end of the line at port 1
List element 1 = address of the CCD slave at the end of the line at port 2

and Controls
If no slave is connected to anyone port of the CCD master, the associated list
element displays the value 0. This parameter can be used for diagnosing a ring
breakage.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.11.14
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
DEC_OV
0
--
Default value
---------
P-0-1610.0.30, CCD: Diagnostic message text

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Parameter P01610.0.30 displays the status of the CCD master, i.e. of the CCD
communication.
The status is displayed in plaintext (ASCII characters).
Use
In combination with the diagnostic message number (cf. S-0-0390), this exten
ded diagnostic message text is helpful for analyzing the CCD axis system
during commissioning, i.e. during configuration.
For example, the following text messages can be displayed:
The numbers following the slave, drive or I/O have the following significance:
Drive 0 or slave 0, local axis or virtual slave
Slave 1 to slave x, real SERCOS slaves
Drive 1 to drive x, removed SERCOS axes
I/O 1 to I/O x, removed SERCOS I/Os
"Run-up not yet started"
"Initialization started"
"Telegram configuration drive started "
"Telegram configuration I/O started "
"Offset calculation started"
"Timing calculation started"
"Initialization successfully completed!"
"Number of slaves configured > number of slaves found!" More CCD

slaves have been configured in P01601 and P01604 than are connec
ted to the CCD master or found during scanning.

and Controls
"Configured slave was not recognized in P01603!" A slave projected in

P01601 or P01604 was not found in parameter P-0-1603, CCD, Actual
topology.
"Configured slave was not recognized in P01636!" A slave projected in

P01601 or P01604 was not found in parameter P-0-1636, Command
topoloy addresses.
"Error during PLC initialization in MLDM-Mode!"During switchover from

phase 2 to phase 4, an error occurred while initialization of the PLC was
in progress, e.g. write task to a remote axis failed. Maybe the flash or
control section is defective. Contact the service team!
"Error: NC cycle time is not supported!" The NC cycle time is not suppor
ted. See documentation for allowed combinations of CCD mode, perform
ance and CCD cycle time.
"Error: Config. of signal status/control word (P01611/12)" Non-allowed

IDNs are enterd in the configuration for the signal control/status word of
the virtual slave (element 0-15 P01611/12).
"Error: Timing calculation" An error occurred during calculation of

SERCOS timing.
"Error: CC cycle time not supported" A cycle time which is not supported
by the CCD master is entered in the CCD slave (S01050.2.10 oder
S01050.3.10) with a connection that was configured externally. Or a cy
cle time which is not supported by the CCD master is entered for a CC
connection of the master (P-0-1645.x.10).
"Error: Calculation of MS-MDT/ATConnection!" The initialization of the

parameterized connections in the CCD master and the CCD slaves failed.
"Error: Config. ext. Connection S01050.2.x or S01050.3.x" The calcu

lations for parameterized connections in the CCD master and the CCD
slaves failed. No producer connection was found to one of the consumer
connections (see SE-2 in S-0-1050.x.2 of the slaves or P-0-1645.x.2 of
the master).
"Error: Number of aktiv Slaves in P01603/P01636 not equal" The num

ber of active slaves whose address is contained in P-0-1636 was not found
by the master. In phase 0, the master waits for further slaves or addresses
must be deleted from P-0-1636.
"Error: Values in P01603 and P01636 not equal" Not all of the ad
dresses of active slaves entered in P-0-1636 were found in the actual
topology. There are duplicate addresses or other addresses were found.
Set the address on the slaves or assign remote addresses after having
checked the address topology assignment of P-0-1636.
"The CCD motion cycle time is not allowed for motion task" (see Section
"Tast System " in Chapter "Basic Functions of Rexroth IndraMotion MLD").
"Error: Address of projected drive and I/O must be unique" There may be
no duplicate address for the projected drives and I/Os in P01601 and
P01604!
"Number of CCD-Slaves not allowed at this mode or cycletime" The num

ber of slaves in this mode and this cycle time is not allowed.
"MLDM-Mode not allowed in advanced performance" MLD-M not allowed

with Advanced performance.
"Error when reading T4min-Time (S01005)" Error while the T4min time
S01005 of a slave of the drive type is read.

and Controls
"Error: IDN in Master CC Connection not allowed" An IDN which is not

cyclically allowed for this connection type (producer/consumer) is para
meterized in parameter P-0-1645.x.6.
"Error: Length/Typ of Master CC Connection not allowed" The total length

of all data of the CC connection or the type of an IDN of the CC connection
in P01645.x.6 is not allowed.
"Error: Konfiguration real-time bits Master CC" The parameterization of

the real-time bits of a CC connection of the CCD master is faulty (IDN not
suitable for real-time bits). See P01645.x.20/21.
"Error: Writing I/O x konfiguration (S01504.0.20)" Error during configu

ration of the I/O x S01504.0.20.
"Error when writing S/P-X-XXXX Slave x (Code 0x....)" An error with

SERCOS code 0xXXXX has occurred during writing parameter S/P-XXXXX to slave x via the service channel.
"Error when reading S/P-X-XXXX Slave x (Code 0x....)" An error with

SERCOS code 0xXXXX has occurred during reading parameter S/P-XXXXX from slave x via the service channel.
"Error at command execution of S/P-0-XXXX Slave x" An error has oc

curred during execution of command S/P-0-XXXX on slave x. For more
details, please refer to the slave diagnostics.
"Timeout for command acknowledgment of S/P-0-XXXX Slave x" The

command S/P-0-XXXX that has been started on slave x was not comple
ted within 25 s with or without error.
"Switching to phase x successfully carried out"
"Error when switching to phase x (Code 0x)" An error with code

0xXXXXXX was signaled during SERCOS phase transition (soft phase
switch). It was not possible to switch to SERCOS phase X.
"Error: Typ of SERCOS-I/O x unknown" The type of the SERCOS I/O is

not allowed. It is only allowed to operate SERCOS I/Os for which a defined
length and SCP version 1.1 are entered in parameter S-0-1000 = 0x0101.
"Error: Len of SERCOS-I/O x not allowed" Error: The length of the

SERCOS I/O data exceeds the allowed length of 48 bytes.
"Error: Drive x in P01601 is not an allowed drive type" The drive projected
in P01601 is not supported by the CCD master; no IndraDrive with ex
pected parameters.
"Error: I/O x in P01604 is not an allowed I/O type" The I/O projected in
P01604 is not supported by the CCD master; no compact I/O with ex
pected SCP version 1.1.
"Data length for I/O x Output exceeded, P01627" The maximum length
of the output data of an I/O has been exceeded. Correction required in
P-0-1627.
"Data length for I/O x Input exceeded, P01628" The maximum length of
the input data of an I/O has been exceeded. Correction required in
P-0-1628.
"Data length for MDT drive x exceeded, P01621/25" The maximum

length of the MDT data of a drive has been exceeded. Correction required
in P01621 or P01625.
"Data length for AT drive x exceeded, P01622/26" The maximum length

of the AT data of a drive has been exceeded. Correction required in
P01622 or P01626.

and Controls
"Error: Configured IDN P/S-x-xxxx I/O x Output, P01627" The configured

IDN for the output data of the I/O is not allowed. Correction required in
P-0-1627.
"Error: Configured IDN P/S-x-xxxx I/O x Input, P01628" The configured

IDN for the input data of the I/O is not allowed. Correction required in
P-0-1628.
"Number of IDN for MDT exceeded drive x" The number of configured
IDNs for a drive is too high. Correction required in P01621 or
P01623/25.
"Number of IDN for AT exceeded drive x" The number of configured IDNs
for a dirve are too high. Correction required in P01622 or P01624/26.
"Error: Config. IDN P/S-x-xxxx for MDT drive x, P01621/23/25" The con
figured IDN for the MDT data of the drive is not allowed. Correction
required in P01621 or P01623/25.
"Error: Config. IDN P/S-x-xxxx for AT drive x, P01622/24/26" The con

figured IDN for the AT data of the drive is not allowed. Correction required
in P01622 or P01624/26.
"Different number of IDN for MDT drive x, P01623/25" The number of

IDNs configured for the MDT data is different in P01623 and P01625.
"Different number of IDN for AT drive x, P01624/26" The number of IDNs

configured for the AT data is different in P-0-1623 and P01625.
"IDN mismatch P/S-x-xxxx for MDT drive x, P01623/25" The IDNs in a

master->slave MDT connection do not match each other, e.g. S00084 > S00036 (different length). Correction required in P01623 or
P01625.
"IDN mismatch P/S-x-xxxx for AT drive x, P01624/26" The IDNs in a

master<-slave AT connection do not match each other, e.g. S00036 ->
S00084 (different length). Correction required in P01624 or P01626.
"IDN P/S-x-xxxx is auto.config. for MDT drive x, P01625" The IDN con
figured for the MDT is used for internal purposes and cannot be assigned
by the user any more. Correction required in P-0-1625.
See also Application Manual "IndraMotion MLD"

Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.11.15
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
ASCII
0
--
Default value
---------
P-0-1610.0.31, CCD: Diagnosis code

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

and Controls
Function
This parameter displays a diagnosis code for error "F4140 CDD communica
tions error" which does not allow a more detailed diagnosis of the error cause.
0x00000000 = no error
0x00000001 = unallowed phase return (P-0-1605 was set to a value un

equal to 4 without taking the CCD master into account)
0x0001xxxx = Failure of Bus-Slave-Valid in S-Dev of Slave x; slave does

not enter any data in AT (bit 0 = slave 1, bit 1 = slave 2, etc.)
0x00020020 = no link at port 1 and port 2
0x00020021 = double AT failure
0x00022001 = no valid topology detected (line P1, line P2 or dual ring)

Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.11.16
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
HEX
0
--
Default value
0
0
0
0
P-0-1611, CCD: configuration list signal status word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
List parameter for configuring the signals (cf. S-0-0026) of the signal status
words in all CCD slaves.
Structure
The parameter has a list structure; and the following applies:
The first 16 list elements are reserved for the virtual slave in the master.
The next 16 list elements are written to "S00026" of slave 1.

etc.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.17
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
P-0-1612, CCD: configuration list signal control word

Allocation
Contained in 02VRS:
Contained in 03VRS:
-
-
-
-
-
-
4Byte var.
IDN
0
--

and Controls
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
-
-
-motion logic
+
MPH
MPH
MPH
MPH
-
-
-
-
MPC
MPC
List parameter for configuring the signals (cf. S-0-0027) of the signal status
words in all CCD slaves.
Structure
The parameter has a list structure; and the following applies:
The first 16 list elements are reserved for the virtual slave in the master.

etc.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.18
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
P-0-1613, CCD: assignment list signal status word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
List parameter to configure the bits (cf. S-0-0328) of the signal status words in
all CCD slaves.
Structure
The parameter has a list structure; the following points apply to it:
the first 16 list elements are reserved for the virtual slave in the master
the next 16 list elements are written in S-0-0328 of slave 1
the next 16 list elements are written in S-0-0328 of slave 2 etc.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte var.
DEC_OV
0
--

and Controls
5.11.19
P-0-1614, CCD: assignment list signal control word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
List parameter to configure the bits (cf. S-0-0329) of the signal control words in
all CCD slaves.
Structure
The parameter has a list structure; the following points apply to it:
the first 16 list elements are reserved for the virtual slave in the master
the next 16 list elements are written in S-0-0329 of slave 1
the next 16 list elements are written in S-0-0329 of slave 2 etc.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.20
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
DEC_OV
0
--
Default value
---------
P-0-1615, CCD: extrapolated cmd value IDN list signal selection

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
The transmission delay between CCD master and slaves must be compensated
for which reason the command value for the slaves is extrapolated. This is
achieved by means of parameter "P01618, CCD: Extrapolated command val
ue" which serves as a selection list for the parameterization of P-0-1616.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte var.
IDN
0
--

and Controls
5.11.21
P-0-1616, CCD: extrapolated cmd value signal selection

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
for which reason the command value for the slaves is extrapolated. To achieve
this, parameter "P-0-1616" is used for configuring the CCD master signal used
for extrapolation.
The extrapolated value is then entered in parameter "P01618,
CCD: Extrapolated command value".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.22
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
IDN
0
--
Default value
---------
P-0-1617, CCD: number of extrapolation steps

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
for which reason the command value for the slaves is extrapolated. To achieve
this, the number of extrapolation steps to be taken is specified in "P-0-1617".
Use
Observe the following aspects for setting "P-0-1617":
The extrapolation covers n SERCOS cycles.
The parameter is automatically configured internally and can also be set

manually if necessary.
The range of input values is from 0 to 2.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
--- / --0/3
Data length:
Format:
Decim. pl.:
Switchable:
Default value
--2
2Byte
DEC_OV
0
--

and Controls
MPD:
MPH:
5.11.23
--- / --0/3
--2
P-0-1618, CCD: extrapolated command value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
To compensate the transmission dead time between the CCD master and the
slaves, the command value for the slaves is extrapolated. The extrapolated
command value is entered in P-0-1618 and can be assigned to the slaves.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.11.24
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------
P-0-1620.0.3, CCD: Command topology

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Parameter "P01620.0.3" servese to define the command topology of the slave

interfacing.
0 = no monitoring
1 = line at port 1
2 = line at port 2
3 = line 1 at port 1 and line at port 2
4 = dual ring
Monitoring of the "actual topology" is active if a value unequal to 0 is parame

terized in the parameter. If the "actual topology" from "P01610.0.3" is different
from the "command topology", the warning "E4016" is output.
Use
The command topology from "P01620.0.3" is used to monitor the "actual top
ology" (see P01610.0.3).
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.11.25
min./max.
0/4
0/4
0/4
0/4
Default value
---------
P-0-1620.0.21, CCD: Command Close ring

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
The CCD master provides the command "P01620.0.21" (C7100) for ring heal
ing purposes. This allows closing the line or the two lines to the dual ring in the
"command topology" P01620.0.3 = 4 (dual ring). If an error occurs during the
command "C7100", the message "C7101 CCD: Impossible to close ring" is
displayed.
Cause:
CCD group not in phase 4
Topology does not consist of a line or dual line
No line available between the last nodes of the lines.
New ring delay could not be transmitted to the slave.

Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.11.26
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-1621, CCD: configuration list master communication cmd values

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Parameter "P01621" serves to configure the command values in "CCD sys

tem mode". In the group field bus connection, these command values are
transmitted from the external field bus master via the CCD master to the CCD
slaves in the MDT.
As a result, parameter "P01621" corresponds to a list of command values
which are provided via the master communication command value telegram (cf.
P04081) and which the master directly copies to the MDT CCD interface for
the appropriate CCD slaves.

and Controls
The content of "P01621", along with the content of "P01625", is
also directly copied to "S00024, Configuration list of MDT" of the
associated slave.
Structure
The configuration list has the following structure:
Fig.5-223:
Use
Structure of P01621, CCD: Configuration list master communication

cmd values
Parameter "P01621" allows only command values to be entered that can

be configured cyclically (cf. S00188).
The cyclic master communication command values of the slaves are con
figured via "P01621". The master communication command values of
the CCD master are still entered in "P04081".
Due to the allowed maximum of 16 IDNs for each slave, the number of
maximum possible entries is limited in "P01621".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.27
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
P-0-1621.0.1, CCD: Slave address in high level network

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
+
MPC
This parameter defines the SERCOS address of the CCD slaves in the master
communication network of the CCD master. The parameter must be set by the
user.
The reference to the CCD slave in the lower-level SERCOS III network is es
tablished via parameter "P01601, CCD: Addresses of projected drives".
Parameter "P01621.0.1" refers to the CCD slave with the SERCOS III address
which is entered in element 0 of "P01601".
Parameter "P01621.1.1" refers to the CCD slave with the SERCOS III address
which is entered in element 1 of "P01601".
In CCD system mode, parameter "P01621.x.1" has the additional function of
the appropriate master communication parameter "S01040" for SERCOS II.
During writing to or reading from parameter "S01040", a bypass to parameter
"P01621.x.1" takes place in the CCD master since parameter "S01040" is
used for SERCOS III communication in the CCD slave.
See also Parameter Description "S01040, Drive address of master commu
nication"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.28
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
0 / 99
0 / 99
0 / 99
0 / 99
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
---------
P-0-1621.0.2, CCD: S2 AT Transmission starting time (T1)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
-
MPC
In CCD system mode, parameter "P01621.x.12" has the function of the ap

propriate master communication parameter "S-0-0006" for SERCOS II. During
writing to or reading from parameter "S-0-0006", a bypass to parameter
"P01621.x.2" takes place in the CCD master since parameter "S-0-0006" is
not present in the CCD slave.
See also Parameter Description "S-0-0006, AT Transmission starting time
(T1)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
us
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
----
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.11.29
min./max.
4 / 65000
4 / 65000
4 / 65000
4 / 65000
Default value
200
200
200
200
P-0-1621.0.3, CCD: S2 Position of data record in MDT

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
-
MPC
In CCD system mode, parameter "P01621.x.3" has the function of the appro
priate master communication parameter "S-0-0009" for SERCOS II. During
writing to or reading from parameter "S-0-0009", a bypass to parameter
"P01621.x.3" takes place in the CCD master since parameter "S-0-0009" is
not present in the CCD slave.
See also Parameter Description "S-0-0009, Position of data record in MDT"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.30
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
----
min./max.
1 / 65531
1 / 65531
1 / 65531
1 / 65531
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
1
1
1
1
P-0-1621.0.4, CCD: SERCOS Telegram type parameter

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
-
MPC
priate master communication parameter "S-0-0015, Telegram type parame
ter" for SERCOS II. During writing to or reading from parameter
"S0104015", a bypass to parameter "P01621.x.4" takes place in the CCD
master since parameter "S00015" is not present in the CCD slave or is used
for SERCOS III communication with the CCD master.
See Functional Description "Cross Communication (CCD)"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
----
min./max.
--- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
2Byte
BIN
0
--

and Controls
MPC:
MPD:
MPH:
5.11.31
--- / ----- / ----- / ---
0
0
0
P-0-1621.0.5, CCD: Master comm. configuration list of AT

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
-
MPC
priate master communication parameter "S-0-0016, Configuration list of AT" for
SERCOS II. During writing to or reading from parameter "S-0-0016", a bypass
to parameter "P01621.x.5" takes place in the CCD master since parameter
"S-0-0016" is not present in the CCD slave.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.32
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
P-0-1621.0.6, CCD: Master comm. configuration list of MDT

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
-
MPC
priate master communication parameter "S-0-0024, Configuration list of
MDT" for SERCOS II. During writing to or reading from parameter "S-0-0024",
a bypass to parameter "P01621.x.6" takes place in the CCD master since
parameter "S-0-0024" is not present in the CCD slave.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P2
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte var.
IDN
0
--

and Controls
5.11.33
P-0-1621.0.7, CCD: S2 Slave arrangement (SLKN)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
-
MPC
priate master communication parameter "S-0-0096, Slave arrangement
(SLKN)" for SERCOS II. During writing to or reading from parameter
"S-0-0096", a bypass to parameter "P01621.x.7" takes place in the CCD mas
ter since parameter "S-0-0096" is not present in the CCD slave.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.11.34
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
HEX
0
--
Default value
---------
P-0-1621.0.8, CCD: S2 Mask class 3 diagnostics

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
-
MPC
priate master communication parameter "S-0-0098, Mask class 3 diagnos
tics" for SERCOS II. During writing to or reading from parameter "S-0-0098", a
bypass to parameter "P01621.x.68" takes place in the CCD master since pa
rameter "S-0-0098" is not present in the CCD slave.
A bit of class 3 diagnostis is not supplied in the status word of the
CCD slave of the SERCOS II master communication, because this
function is not supported by the CCD slave.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0xFFFF
0xFFFF
0xFFFF
0xFFFF
2Byte
BIN
0
--

and Controls
5.11.35
P-0-1621.0.9, CCD: Master comm. C0100 Comm. phase 3 transition

check
Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
-
MPC

propriate master communication parameter "S-0-0127, C0100 Communication
phase 3 transition check" for SERCOS II. In the CCD master, initiation of the
command is bypassed to parameter "P01621.x.9" because parameter
"S00127" is reserved for SERCOS III communication in the CCD slave. The
appropriate action for the associated SERCOS II slave is carried out in the CCD
master.
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.11.36
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P23
----
min./max.
0/3
0/3
0/3
0/3
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
0
0
0
0
P-0-1621.0.10, CCD: Master comm. C5200 Comm. phase 4 transition

check
Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
-
MPC

propriate master communication parameter "S-0-0128, C5200 Communication
phase 4 transition check" for SERCOS II. In the CCD master, initiation of the
command is bypassed to parameter "P01621.x.10" because parameter
"S00128" is reserved for SERCOS III communication in the CCD slave. The
appropriate action for the associated SERCOS II slave is carried out in the CCD
master.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Cmd
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
min./max.
0/3
0/3
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
0
2Byte
BIN
0
--

and Controls
MPD:
MPH:
5.11.37
0/3
0/3
0
0
P-0-1621.0.11, CCD: Mater comm. master control word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
-
MPC

propriate master communication parameter "S-0-0134, Master control word" for
SERCOS II. During reading from parameter "S-0-0134", a bypass to parameter
"P01621.x.11" takes place in the CCD master since parameter "S-0-0134"
has a different structure in the CCD slave.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.11.38
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-1621.0.12, CCD: Master comm. drive status

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
-
MPC

propriate master communication parameter "S-0-0135, Drive status word" for
SERCOS II. During reading from parameter "S-0-0135", a bypass to parameter
"P01621.x.12" takes place in the CCD master since parameter "S-0-0135"
has a different structure in the CCD slave.
See Functional Description: "Cross Communication (CCD)"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
BIN
0
--

and Controls
5.11.39
P-0-1621.0.13, CCD: S2 Allocation of real-time control bit 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
-
MPC

propriate master communication parameter "S-0-0301, Allocation of real-time
control bit 1" for SERCOS II. During writing to or reading from parameter
"S-0-0301", a bypass to parameter "P01621.x.13" takes place in the CCD
master since parameter "S-0-0301" is not present in the CCD slave.
See Functional Description: Cross Communication (CCD)
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.40
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
IDN
0
--
Default value
0
0
0
0
P-0-1621.0.14, CCD: S2 Allocation of real-time control bit 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
-
MPC

control bit 2" for SERCOS II. During writing to or reading from parameter
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.41
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
--0
--0
P-0-1621.0.15, CCD: S2 Allocation of real-time status bit 1

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
-
-
-
-
-
-
-
-
-
4Byte
IDN
0
--

and Controls
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
-
-
-
-
+
-
-
-
-
MPC

status bit 1" for SERCOS II. During writing to or reading from parameter
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.42
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
IDN
0
--
Default value
0
0
0
0
P-0-1621.0.16, CCD: S2 Allocation of real-time status bit 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
-
MPC

status bit 2" for SERCOS II. During writing to or reading from parameter
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.43
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
IDN
0
--
Default value
0
0
0
0
P-0-1621.0.17, CCD: S2 Bit number allocation of real-time control bit 1

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
MPC

and Controls
Funct. package(s):
Device parameter:
Function

+

propriate master communication parameter "S-0-0413, Bit number allocation
of real-time control bit 1" for SERCOS II. During writing to or reading from pa
rameter "S-0-0413", a bypass to parameter "P01621.x.17" takes place in the
CCD master since parameter "S-0-0413" is not present in the CCD slave.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.44
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
min./max.
0 / 15
0 / 15
0 / 15
0 / 15
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
0
0
0
0
P-0-1621.0.18, CCD: S2 Bit number allocation of real-time control bit 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
-
MPC

of real-time control bit 2" for SERCOS II. During writing to or reading from pa
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.45
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
min./max.
0 / 15
0 / 15
0 / 15
0 / 15
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
0
0
0
0
P-0-1621.0.19, CCD: S2 Bit number allocation of real-time status bit 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
-
MPC


and Controls
of real-time status bit 1" for SERCOS II. During writing to or reading from pa
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.46
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
min./max.
0 / 15
0 / 15
0 / 15
0 / 15
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
0
0
0
0
P-0-1621.0.20, CCD: S2 Bit number allocation of real-time status bit 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
-
MPC

of real-time status bit 2" for SERCOS II. During writing to or reading from pa
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.47
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
min./max.
0 / 15
0 / 15
0 / 15
0 / 15
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
0
0
0
0
P-0-1621.0.21, CCD: Master comm. IDN-list of invalid operation data

for CP2
Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
-
MPC

propriate master communication parameter "S-0-0021, IDN-list of invalid oper
ation data for CP2" for SERCOS II. During writing to or reading from parameter

and Controls
master since parameter "S00021" is reserved for SERCOS III communication
in the CCD slave.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.11.48
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
P-0-1621.0.23, CCD: Master comm. diagnosis

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
-
MPC

propriate master communication parameter "S-0-0095" for SERCOS II. During
reading from parameter "S-0-0095", a bypass to parameter "P01621.x.22"
takes place in the CCD master in specific cases since parameter "S-00095"
idoes not contain any diagnostic massages of SERCOS II communication in
the CCD slave.
See Parameter Description"S-0-0095, Diagnostic message"
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.11.49
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
ASCII
0
--
Default value
---------
P-0-1622, CCD: configuration list master communication actual values

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
In "CCD system mode", parameter "P01622" serves to configure the actual

values which are transferred from the individual CCD slaves via the CCD mas
ter to the external field bus master in the group field bus connection.

and Controls
As a result, P-0-1622 corresponds to a list of actual values which are supplied
by the particular CCD slave via CCD-AT and which the master directly copies
to the master communication actual value telegram (cf. P-0-4080).
The content of "P01622", along with the content of "P01626", is
also directly copied to "S00016, Configuration list of AT" of the
associated slave.
Structure
Fig.5-224:
Use
Structure of P01622, CCD: Configuration list master communication

actual values .
Parameter P01622 allows only actual values to be entered that can be

configured cyclically (cf. S00188).
The cyclic master communication actual values of the slaves are config
ured via P01622. The master communication actual values of the CCD
master are still entered in P04080.
Due to the allowed maximum of 16 IDNs for each slave, the number of
maximum possible entries is limited in "P01621".
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte var.
IDN
0
--

and Controls
5.11.50
P-0-1623, CCD: configuration list master cmd values

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Parameter "P01623" serves to configure the command values. These are

transmitted from the CCD master to the CCD slaves in the MDT. The list con
tains command values which the CCD master files in the MDT (SERCOS III).
Parameter "P01625, CCD: Configuration list slave cmd values"
describes how these values are interpreted by the CCD slave.
Structure
Fig.5-225:
Structure of P01623, CCD: Configuration list master cmd values
The first 16 list elements are reserved for configuring the data for
the CCD master axis in MLD-M system mode with "virtual slave
operation".
Use
Observe the following aspects for parameterizing "P-0-1623":
Parameter "P01623" allows actual values and command values to be

entered that can be configured cyclically (cf. "S00187", "S00188").
Due to the allowed maximum of 16 IDNs, the number of maximum possible

entries is limited and therefore depends on the number of entries in
"P01621".

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.51
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
P-0-1624, CCD: configuration list actual master values

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Parameter P01624 serves to configure the actual values. These are trans
mitted from the CCD slaves to the CCD master in the AT. The list contains the
IDNs of the data which is put into the AT by the CCD slave and is determined
for the CCD master. The CCD master internally copies this data to the param
eters mentioned.
Parameter "P-0-1626, CCD: Configuration list actual slave values"
describes which data is put into the AT by the slave to achieve this.
Structure
Fig.5-226:
Structure of P01624, CCD: Configuration list actual master values

and Controls
operation".
Use
Observe the following aspects for parameterizing P-0-1624:
Parameter P01624 allows command values to be entered that can be

configured cyclically (cf. S00188).

P01622.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.52
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
P-0-1625, CCD: configuration list slave cmd values

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Parameter "P01625" serves to configure the command values. These are

transmitted from the CCD master to the CCD slaves in the MDT.
The list contains IDNs which are also copied to "S-0-0024, Config
uration list of MDT" of the associated slave. The command values
are generated by the master. "P01623" (z.B. "P00434" ->
"S00047") is applicable as a reference list for the CCD master.
Structure

and Controls
Fig.5-227:
Structure of P01625, CCD: Configuration list slave cmd values
operation".
Use
Parameter P01625 allows only command values to be entered that can

be configured cyclically (cf. S00188).

P01621.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.53
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
P-0-1626, CCD: configuration list actual slave values

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Function
Parameter "P01626" serves to configure the actual values. These are trans
mitted from the CCD slaves to the CCD master in the AT.
The list contains actual values for the CCD master (internal) which
are put into the SERCOS III AT by the slave. The parameters of the
list are directly copied to "S00016, Configuration list of AT" of the
associated slave. Parameter "P01624, CCD: Configuration list
actual master values" describes how the CCD master interprets this
data. The first 16 list elements belong to slave 1, the next ones to
slave 2, etc.
Structure
Fig.5-228:
Structure of P01626, CCD-Master configuration list AT data
operation".
Use
Parameter "P01626" allows actual values and command values to be

entered that can be configured cyclically (cf. S00187, S00188).

"P01622".
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
4Byte var.
IDN
0
--

and Controls
MPD:
MPH:
5.11.54
--- / ----- / ---
-----
P-0-1627, CCD: configuration list master cmd values I/Os

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
This parameter serves to configure the command values which are transmitted
from the CCD master to the SERCOS III I/Os in the MDT.
Structure
Fig.5-229:
Use
Structure of P01627, CCD: Configuration list master cmd values I/Os
The CCD master files the data of the parameters contained in the list in the
MDT, and the data is output by the SERCOS III I/O via the latter's outputs. The
outputs of the SERCOS III I/O module can be operated by the MLD writing to
the parameters configured here. A compact I/O has only one 16-bit output port
so that the maximum size of the parameter assigned by the master is 16 bits.
The parameter in element 0 corresponds to the outputs of the first I/O module,
element 16 to those of the second one, element 32 to those of the third one,
and element 48 to those of the forth one.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.55
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
P-0-1628, CCD: configuration list act. master values I/Os

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
-
-
-
-
-
-
-
MPH
-
-
-
-
4Byte var.
IDN
0
--

and Controls
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
-
-
+
-
-
MPC
MPC
This parameter serves to configure the actual values which are transmitted from
the SERCOS III I/Os to the CCD master in the AT.
Structure
Fig.5-230:
Use
Structure of P01628, CCD: Configuration list act. master values I/Os
The master writes the AT data from the SERCOS III I/O to the parameters
contained in the list. The inputs of the SERCOS III I/O module can be inquired
by the MLD reading the parameters configured here. A compact I/O can have
a 16-bit or 32-bit input port so that a corresponding parameter must be entered
here. The parameter in element 0 corresponds to the inputs of the first I/O
module, element 16 to those of the second one, element 32 to those of the third
one, and element 48 to those of the forth one.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.56
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
P-0-1629, CCD: configuration compact I/Os

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
This parameter serves to configure the analog compact I/Os connected to the
CCD master and has a direct effect on "S01504.0.20", Parameter channel
output (EIDN) in the S-III I/O module.

and Controls
Paramter "P01629" can be used to parameterize the behavior of the analog
inputs and outputs. To achieve this, the CCD master writes the content of the
associated 4 elements of "P-0-1629" to the "S-0-1504.0.20" in the appropriate
S-III I/O module in phase 2.
The parameter has list structure, with 16 elements being assigned to one S-III
I/O module each. The first 16 elements (0-15) belong to I/O 1, the next 16 el
ements (16-31) to I/O 2, etc. Only the first elements are used of each element
group (see picture). Parameterization involves only those I/O numbers which
have analog S-III I/O modules assigned to them. To digital I/Os, the entries of
the elements assigned are of no relevance.
Structure
Fig.5-231:
Function:
Memory:
Unit:
Cycl. tra.:
Structure of P01629, CCD: Configuration compact I/Os

Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.57
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
-
MPH
-
MPH
-
MPH
-
MPH
+
-
-
-
-
-
-
2Byte var.
HEX
0
--
P-0-1630, CCD: diagnosis

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Parameter P01630 displays the status of the CCD master, i.e. of the CCD
communication.
The status is displayed in plaintext (ASCII characters).

and Controls
See also Functional Description "Diagnostic System"
Use
In combination with the diagnostic message number (cf. S-0-0390), this exten
ded diagnostic message text is helpful for analyzing the CCD axis system
during commissioning, i.e. during configuration.
The numbers following the slave, drive or I/O have the following significance:
Drive 0 or slave 0: Local axis or virtual slave
Slave 1 to slave x: Real SERCOS slaves
Drive 1 to drive x: Remote SERCOS axes
I/O 1 to I/O x: Remote SERCOS I/Os
The following messages can be displayed:
"Run-up not yet started"
"Initialization started"
"Telegram configuration drive started "
"Telegram configuration I/O started "
"Offset calculation started"
"Timing calculation started"
"Initialization successfully completed!"
"Number of slaves configured > number of slaves found!"

More CCD slaves have been configured in "P01601" and " P01604"
than are connected to the CCD master or found during scanning.
"Configured slave was not recognized in P-0-1603!"

A slave projected in "P01601" or "P01604" was not found in parameter
"P-0-1603, CCD, Actual topology".
"Configured slave was not recognized in P-0-1636!"

A slave projected in "P01601" or "P01604" was not found in parameter
"P-0-1636, CCD, Command topology addresses".
"Error during PLC initialization in MLDM-Mode!"

During switchover from phase 2 to phase 4, an error occurred while initi
alization of the PLC was in progress, e.g. an internal write task to a remote
axis via the service channel failed. Maybe the flash or control section is
defective. Contact the service team!
"Error: NC cycle time is not supported!"

The NC cycle time is not supported. See documentation for allowed com
binations of CCD mode, performance and CCD cycle time.
"Error: Config. of signal status/control word (P01611/12)" slave(0)

Non-allowed IDNs are entered in the configuration for the signal control/
status word of the virtual slave (elements 0-15, P-0-1611/12).
"Error: Timing calculation"

An error occurred during calculation of SERCOS timing.
"Error: CC cycle time is not supported!"

A check of the parameterized CC connections showed that the parame
terized cycle time is not allowed. See S-0-1050.x.10 in connections 2 or
3 of the CCD slaves or in P-0-1645.x.10 of the CCD master.
"Error: Config. ext. Connection S-0-1050.2.x or S-0-1050.3.x!"

and Controls
An error occurred while the connection table was set up in the CCD mas
ter. The parameterization of the CC connections in the CCD slaves
S-0-1050.2.x or S-0-1050.3.x must be checked for non-allowed values.
These may be caused by an invalid connection type of an exceeded max
imum length.
"Error: Length/Typ of Master CC Connection not allowed"

A wrong type or unallowed length is entered in the parameterization of a
CC connection with participation of the CCD master. See P-0-1645.x.1 or
P-0-1645.x.6.
"Error: IDN in Master CC Connection not allowed"

An unallowed parameter for transmission is entered in the parameteriza
tion of a CC connection with participation of the CCD master. See
P-0-1645.x.6.
"Error: Konfiguration real-time bits Master CC"

An unallowed parameter for the real-time bits is entered in the parame
terization of a CC connection with participation of the CCD master. See
P-0-1645.x.20 or P-0-1645.x.21.
"Error: Len of P-0-1603 and P-0-1636 not equal"

The lengths of the command and actual topologies specified in
"P01603" and "P01636" must be equal.
"Error: Values in P-0-1603 and P-0-1636 not equal"

Command and actual topologies are different.
"The CCD motion cycle time is not allowed for motion task"
(See Section "Task System" in Chapter "Basic Functions of Rexroth
IndraMotion MLD")
"Error: Address of projected drive and I/O must be unique"

Duplicate addresses are not allowed for the projected drives and I/Os in
"P01601" and "P01604"!
"Number of CCD-Slaves not allowed at this mode or cycletime"

The number of slaves is not allowed in this mode and in this cycle time.
For allowed combinations, please refer to the documentation.
"MLDM-Mode not allowed in advanced performance"

MLD-M is not allowed with Advanced performance.
"Error when reading T4min-Time (S01005)"

An error occurred during reading of the T4 min time S-0-1005 of a slave
of drive type.
"Error when writing S/PXXXXX Slave x (Code 0x....)"

An error with SERCOS code 0xXXXX occurred during writing parameter
S/P-X-XXXX to slave x via the service channel.
"Error when reading S/PXXXXX Slave x (Code 0x....)" An error with

SERCOS code 0xXXXX occurred during reading parameter S/P-X-XXXX
from slave x via the service channel.
"Error at command execution of S/P0XXXX Slave x "

An error occurred during execution of command S/P-0-XXXX on slave x.
More detailed information can be found in the diagnostic message of the
slave.
"Timeout for command acknowledgment of S/P0XXXX Slave x"

and Controls
The command S/P-0-XXXX started on slave x was not completed within
25 s with or without error.
"Switching to phase x successfully carried out"
"Error when switching to phase x (Code 0x)"

An error with code 0xXXXXXX was signaled during SERCOS phase tran
sition (soft phase switch). It was not possible to switch to SERCOS phase
X.
"Error: Typ of SERCOS-I/O x unknown"

The type of SERCOS I/O is not allowed. It is only allowed to operate
SERCOS I/Os for which a defined length and SCP version 1.1 are entered
in parameter S01000 = 0x0101.
"Error: Len of SERCOS-I/O x not allowed"

Error: The length of the SERCOS I/O data exceeds the allowed length of
48 bytes.
"Error: Drive x in P01601 is not an allowed drive type"

The drive projected in P-0-1601 is not suppored by the CCD master (no
IndraDrive with expected parameters).
"Error: I/O[%d] in P01604 is not an allowed I/O type"

The I/O projected in P-0-1604 is not supported by the CCD master; no
compact I/O with expected SCP version 1.1.
Data length for I/O x Output exceeded, P01627

The maximum length of the output data of an I/O has been exceeded.
Correction required in P-0-1627.
"Data length for I/O x Input exceeded, P01628"

The maximum length of the input data of an I/O has been exceeded. Cor
rection required in P-0-1628.
"Data length for MDT drive x exceeded, P01621/25"

The maximum length of the MDT data of a drive has been exceeded. Cor
rection required in P01621 or P01625.
"Data length for AT drive x exceeded, P-0-1622/26"

The maximum length of the AT data of a drive has been exceeded. Cor
rection required in P01622 or P-01626.
"Error: Configured IDN %s I/O[%d] Output, P01627"

The configured IDN for the output data of the I/O is not allowed. Correction
required in P-0-1627.
"Error: Configured IDN %s I/O[%d] Input, P-0-1628"

The configured IDN for the input data of the I/O is not allowed. Correction
required in P-0-1628.
"Error when writing analog-I/O x konfiguration (S01504.0.20)"

Error during configuration of the analog I/Os S-0-1504.0.20
"Number of IDN for MDT exceeded drive x"

The number of IDNs configured for a drive is too high. Correction required
in P01621 or P01623/25.
"Number of IDN for AT exceeded drive x"

The number of IDNs configured for a drive is too high. Correction required
in P01622 or P01624/26.
"Error: Config. IDN %s for MDT drive x, P01621/23/25"

and Controls
The configured IDN for the MDT data of the drive is not allowed. Correction
"Error: Config. IDN %s for AT drive x, P01622/24/26"

The configured IDN for the AT data of the drive is not allowed. Correction
"Different number of IDN for MDT drive x, P01623/25"

The number of IDNs configured in P-0-1623 for the MDT data is different
from that configured in P-0-1625.
"Different number of IDN for AT drive x, P01624/26"

The number of IDNs configured in P-0-1623 for the AT data is different
from that configured in P-0-1625.
"IDN mismatch %s for MDT drive[%d], P01623/25"

The IDNs in a master->slave MDT connection do not match each other,
e.g. S00084 -> S00036 (different length). Correction required in
P01623 or P01625.
"IDN mismatch %s for AT drive[%d], P01624/26"

The IDNs in a master<-slave AT connection do not match each other, e.g.
S00036 <- S00084 (different length). Correction required in P01624
or P01626.
"IDN %s is auto.config. for MDT drive[%d], P01625"

The IDN configured for the MDT is used for internal purposes and cannot
be assigned by the user. Correction required in P-0-1625.
See also Application Manual "IndraMotion MLD"

Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.11.58
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
ASCII
0
--
Default value
---------
P-0-1630.0.1, CCD: Slave IP address

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
The master displays the IP addresses of the SERCOS III master communica
tion of the CCD slaves in parameter P01630.x.1. The safety technology (SI)
is used as slave index (0 = virt. slave, 1 = slave 1, etc.). The master reads the
IP addresses of the CCD slaves immediately after phase 2 has been reached.
These IP addresses are displayed in this parameter.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
1Byte var.
DEC_OV

and Controls
Unit:
Cycl. tra.:
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.59
Extr. val. ch.:

Comb. check:
---
min./max.
--- / ----- / ----- / ----- / ---
Decim. pl.:
Switchable:
0
--
Default value
---------
P-0-1630.0.2, CCD: Device status word (S-Dev)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Parameter "P01630.x.2" displays the SERCOS III: Device Status (S-Dev)

(S01045) of the CCD slaves, which is transmitted from the CCD slaves to the
CCD master in the AT. The safety technology (SI) is used as slave index (0 =
virt. slave, 1 = slave 1, etc.). This parameter is an image of the Device Status
(S-Dev) of the CCD slaves. It is read-only and can be used for diagnostic pur
poses.
See also Parameter Description "S01045, SERCOS III: Device Status (SDev)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.11.60
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-1630.0.3, CCD: Connection-Control #0 (C-Con)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Parameter P01630.x.3 displays the connection control word (C-Con) of con

nection #0 of the CCD slaves, which is transmitted from the CCD slaves to the
CCD master in the AT. The CCD master uses connection #0 (S01050.0.x) of
the CCD slaves for classic MS-AT data. The safety technology (SI) is used as
slave index (0 = virt. slave, 1 = slave 1, etc.). The parameter is an image of CCon of connection #0 in the CCD slave. It is read-only and can be used for
See also Parameter Description "S01050.0.8, SIII-Connection: Connection
control (C-Con)"

and Controls
Structure
Bit
ProducerReady
Comment

yet
1
NewData bit
Edge indicates that there is new data in the connection
CC DataFieldDelay
1: CC producer data has a SERCOS cycle delay, because
it was copied via the bus master. The consumer shall prefer
ProducerSynchonized
of the ring
the ring
Real-time bit 1
Real-time bit 2
Fig.5-232:
Function:
Memory:
Unit:
Cycl. tra.:
P01630.x.3, CCD: Connection-Control #0 (C-Con)

Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.11.61
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-1630.0.20, CCD: Resource-Status (S-Res)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Parameter P01630.x.20 displays the drive status word S00135 of the CCD
slaves for drive slaves and the I/O status word S01500.0.2 for I/O slaves. The
master parameterizes the resource status word to connection #0 of the CCD
slaves. The CCD slaves cyclically transmit the resource status word to the
master. The safety technology (SI) is used as slave index (0 = virt. slave, 1 =
slave 1, etc.). For slaves of drive type, this parameter is an image of the drive
status word of the CCD slaves. It is read-only and can be used for diagnostic
purposes.
See also Parameter Description "S-0-0135, Drive status word"

and Controls
Structure
S00135, Drive status word

Bit
Comment
0: Drive ignores command value input

1: Drive follows command value input
4
Status Drive Halt

0: Drive Halt not active, bit 13 in S-0-0134 is 1
1: Drive Halt active, bit 13 in S-0-0134 was set to 0,
actual velocity within "S-0-0124, Standstill window"
Position feedback value status (S00403)
Hardware enable (emergency stop)

0: Hardware enable not active (bits 15 and 14 of
S-0-0134 are ignored, emergency stop is active)
1: Hardware enable active
10-8

12
Class 2 diagnostics warning (cf. S 0-0012)

13
Class 1 diagnostics drive error (cf. S 0-0011)

The bit is set if a class 1 diagnostics error is present
(drive interlock).
15/14
Ready for operation (P 0-0116, bit 14/15)

("Ab")
Fig.5-233:
Structure of Drive Status Word (S-Res)
S01500.0.2, I/O status

Bit
12
I/O warning
Not supported by EasyIO
13
I/O error
The bit is set if a class 1 diagnostics error is present.
Comment

and Controls
Bit
14
Inputs valid
Comment
0: Inputs not valid

1: Inputs valid
15
Outputs ready for operation

0: Outputs not active
1: Outputs active
Fig.5-234:
Function:
Memory:
Unit:
Cycl. tra.:
Structure of I/O Status SERCOS III (S-Res)

Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.11.62
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
2Byte
BIN
0
--
P-0-1631, CCD: AT error counter

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter displays an error counter for ATs. This parameter serves to
monitor ATs in which the value entered in parameter "S-0-1012, SERCOS III:
Length of ATs" of the CCD slaves is greather than 0. The error counters count
all invalid drive telegrams (ATs) in phases 3 and 4 and has its upper limit at
65535.
See also Functional Description "Cross communication"
Use

The error counter is incremented once per communication cycle.
The counter is only incremented as well, if the corresponding AT fails both

on Port 1 and on Port 2.
The error counter is cleared on transition from phase 2 to phase 3.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
0
2Byte
DEC_OV
0
--

and Controls
MPD:
MPH:
5.11.63
--- / ----- / ---
0
0
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
P-0-1632, CCD: system data 2 bytes

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter is a dummy parameter which is required for internal configura

tion of the fixed MDT and AT data in the system mode.
The user cannot edit this parameter!
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.11.64
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
2Byte
HEX
0
--
P-0-1633, CCD: system data 4 bytes

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter is a dummy parameter which is required for internal configura

tion of the fixed MDT and AT data in the system mode.
The user cannot edit this parameter!
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
HEX
0
--

and Controls
5.11.65
P-0-1635, CCD: command adjust slave addresses

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
This command is used to set the addresses of the CCD slaves. In this way, the
addresses from "P-0-1636, CCD: command topology" are preset for the corre
sponding CCD slaves.
The command topology from P-0-1636 is thereby applied to the CCD slaves.
"List element 0" corresponds to the command address for the first CCD slave
connected to the CCD master. Only in this way is it possible to assign an un
equivocal address to the compact I/Os.
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.11.66
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-1636, CCD: Command topology addresses

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
This parameter is used in conjunction with the drive cross communication

(CCD). All addresses of the CCD slaves (drives and I/Os) connected to the CCD
master must be specified in ascending order of their topology (list element 0
corresponds to the CCD slave directly next to the CCD master, etc.). Each
address may be assigned only once.
Also those addresses of the SERCOS III slaves must be listed which are only
connected to the CCD master, but have not been projected.
If drives are projected in "P01601" or I/Os in "P01604", which are not con
tained in "P01636", this will result in warning E4013 or in C0265 while
command C0200 is executed.
If the command topology in "P01636" differs from the actual topology, warning
E4013 is generated in CCD phase 2. Continued switching to CCD phase 3 or
4 is impossible.
The command and actual topologies must always be identical. Either the entries
in P01636 must be adjusted to the actual topology or the addresses of the
CCD slaves must be set to the command topology by means of command "C70

and Controls
(P01635) CCD: Command Adjust slave addresses" mssen die Adressen der
CCD-Slaves auf die Soll-Topologie gesetzt werden.
Structure
Fig.5-235:
P01636, CCD: Command typology addresses
Element 0 corresponds to the CCD slave which is directly connected to the CCD
master.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.11.67
PM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
2Byte var.
DEC_OV
0
--
P-0-1637, CCD: error counter Port-1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
These list parameters display the telegram errors of the SERCOS III FPGAs
for the particular port according to SERCOS III:
Element
Error counter
Counter for received ethernet frames with FCS error
Counter for received ethernet frames with an alignment error
Counter for dicarded receive ethernet frames based on missing rx

buffer ressources
Counter for dicarded forwarding ethernet frames based on missing

collision buffer ressources
Counter for ethernet frames which violate the IP channel window
The counters are running through. Counter levels remain preserved in case of
phase return.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
2Byte var.
DEC_OV

and Controls
Unit:
Cycl. tra.:
---
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.11.68
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
0
--
P-0-1638, CCD: error counter Port-2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
These list parameters display the telegram errors of the SERCOS III FPGAs
for the particular port according to SERCOS III:
Element
Error counter
Counter for received ethernet frames with FCS error
Counter for received ethernet frames with an alignment error
Counter for dicarded receive ethernet frames based on missing rx

buffer ressources
Counter for dicarded forwarding ethernet frames based on missing

collision buffer ressources
Counter for ethernet frames which violate the IP channel window
The counters are running through. Counter levels remain preserved in case of
phase return.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.11.69
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
DEC_OV
0
--
Default value
---------
P-0-1639, CCD: allowed telegram failures

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
This parameter allows parameterizing the telegram failures allowed before the
error F4140 is triggered.

and Controls
The parameter sets the number of allowed telegram failures (MDT or AT) which
may occur directly one after the other in phase 4, before the drive triggers an
F4 error. The parameter can be changed and is retained in the parameter
memory (default value = 1).
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.70
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0 / 65000
0 / 65000
0 / 65000
0 / 65000
Default value
---------
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
2Byte
DEC_OV
0
--
P-0-1640, CCD: MAC address

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Parameter P0-1640 contains the MAC address of the CCD master which is
required within the scope of Ethernet communication. The MAC address (Media
Access Control) is used for unequivocal identification for the Ethernet commu
nication in the network.
Fig.5-236:
CCD: MAC address
See also Parameter Description "P-0-1643: CCD: Gateway address"

See also Parameter Description "S-0-1019: Master comm.: Gateway address"
Function:
Memory:
Par
Editability:
PM
--
Data length:
Format:
1Byte var.
HEX

and Controls
Unit:
Cycl. tra.:
---
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.11.71
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
0
--
P-0-1641, CCD: IP address

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Parameter "P-0-1641" contains the IP address of the CCD master as IP node

which is required within the scope of IP communication.
ternet.
Structure

settings"
Fig.5-237:
P-0-1641, IP address
Use

See also Parameter Description "P-0-1642, CCD: Network mask", "P-0-1643,
CCD: Gateway address", "S-0-1020, Master comm. IP address"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
DEC_OV
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.11.72
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
P-0-1642, CCD: network mask

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
Parameter "P-0-1642" contains the network mask of the CCD master as IP

node which is required within the scope of IP communication. Each IP address
(Internet Protocol) consists of a network and a device part. The network mask
is used to distinguish between the network and device parts.
Changes to the parameter do not become effective before the drive
is switched on again.
Fig.5-238:
Network Mask
See also Parameter Description: "P-0-1641, CCD: IP address", "P-0-1643,

CCD: Gateway address", "S-0-1021, Master comm. network mask"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.11.73
PM+OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
-
MPH
-
MPH
-
-
-
-
-
-
-
-
-
-
1Byte var.
DEC_OV
0
--
P-0-1643, CCD: gateway address

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function

+
Parameter "P-0-1643" contains the gateway address of the CCD master as IP

node which is required within the scope of IP communication.
If the communication node wants to transmit an IP package (Internet Protocol),
the network parts of the source IP address and the target IP address are com
pared. If they do not match, the IP package is transmitted to the gateway IP
address.
Fig.5-239:

settings
CCD Gateway Address
See also Parameter Description: "P-0-1641, CCD: IP address"

See also Parameter Description: "P-0-1642, CCD: Network mask"
See also Parameter Description: "S-0-1021, Master comm. network mask"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.74
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
DEC_OV
0
--
Default value
---------
P-0-1644, CCD: status IP communication

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Via the parameter "P-0-1644, CCD: status IP communication", you can read
the status information on the current status of IP communication at the CCD
master of the device.

and Controls
The parameter contains both general information on IP communication and
device-dependent information for the CCD master in the device.
Structure
The general status information on IP communication is preferably contained in

the first 8 bits of parameter P-0-1644. The bits 8 to 31 contain the device-de
pendent information for the CCD master.
Bit
1..0
status internal memory TCP/IP stack

00: no problem with internal memory
01: internal memory space full
10: internal memory space intermittently filled
3..2
reserved
6..4
default gateway information

000: not set
001: from Ethernet slave (S-0-1022)
010: from SERCOS III master (P-0-1643)
100: from Engineering Port (P-0-1533)
reserved
9..8
setting of device gateway information

00: no gateway information set
01: active gateway information manually set
10: active gateway information automatically generated
11..10
status of device gateway information

00: gateway information not used
01: gateway address which was read is active
10: gateway address which was read has not been activated
up to now
12
status of device network mask

0: network mask which was read is active
1: network mask which was read has not been activated up
to now
15..13
reserved
17..16
setting of device IP address

00: no IP address set
01: active IP address manually set
10: active IP address automatically set
20..18
status of IP address
000: no IP address available for activation
010: IP address which was read has not been activated up
to now
Comment

and Controls
Bit
Comment
21
reserved
22
validity of device IP settings

1: invalid IP settings (address and gateway in different net
works)
23
status of IP communication
1: no IP communication possible (resources missing)
25..24
status of FPGA Rx Buffer Port1

27..26
status of FPGA Rx Buffer Port2

29..28
status of FPGA Tx Buffer Port1

30..31
status of FPGA Tx Buffer Port2

Fig.5-240:
Function:
Memory:
Unit:
Cycl. tra.:
P-0-1644, CCD: status IP communication

Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.11.75
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
BIN
0
--
Default value
---------
P-0-1645.0.1, CCD connection: Configuration

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

and Controls
Function
This parameter contains the configuration data of a CC connection with partic

ipation of the CCD master.
This data consists of:
Structure
Activate configuration
Connection type
Configuration source
Configuration type
Bit
Comment
2-0
MPx16 only sup

ports "00"
00: Synchronous operation

01: Asynchronous operation (with watchdog)
10: Asynchronous operation (without watchdog)
11: Reserved
3

0: Synchronous
1: Asynchronous
5-4
Configuration type
00: Configuration list with EIDNs (SE-6 relevant)
01: Container without assigned contents (SE-5 relevant)
MPx16 only sup

ports "00" and
"10"
10: Telegram type parameter FSP-Drive (S-0-0015 rele

vant)
11: Reserved
13-12 Configuration source
00: Bus master
01: Not bus master
10: Not bus master
11: Not bus master
14
Connection type
0: Consumer
1: Producer
15
Configuration activation
0: Slave does not need to evaluate/take into account con
figuration
1: Slave needs to evaluate/take into account configuration
Fig.5-241:
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
P01645.x.1, CCD connection: Configuration

Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
0
2Byte
BIN
0
--

and Controls
MPD:
MPH:
5.11.76
--- / ----- / ---
0
0
P-0-1645.0.2, CCD connection: Connection number

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
This parameter is used to unequivocally identify a connection. A bus master

requires this parameter to determine the telegram offset, for example.
Rules:
1. Producer and consumer of one connection have the same connection
number.
2. A slave cannot have the same connection numbers for its connections.
3. MS-AT and MS-MDT in a slave have different connection numbers.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.77
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
0
--
Default value
0
0
0
0
P-0-1645.0.3, CCD connection: Telegram assignment

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

which telegram (MDT or AT, telegram number) the connection is. The telegram
offset points to the connection control (C-Con) of this connection. The param
eter describes the CC connection with participation of the CCD master. Since
the CCD master generates the telegram structure itself, this parameter is for
display purposes only.

and Controls
Structure
Bit
10-0
11
Telegram type
Comment
0: AT
1: MDT
15-12 Telegram number
0: MDT0 / AT0
1: MDT1 / AT1
2: MDT2 / AT2
3: MDT3 / AT3
Fig.5-242:
Function:
Memory:
Unit:
Cycl. tra.:
P01645.x.3, CCD connection: Telegram assignment

Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.11.78
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
HEX
0
--
Default value
0
0
0
0
P-0-1645.0.4, CCD connection: Max. length of connection

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
With this parameter, the CCD master shows how many bytes it allows for this
connection. The 2 bytes are included for the connection control C-Con.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.11.79
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
---------
P-0-1645.0.5, CCD connection: Current connection length

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function

+
With this parameter, the CCD master shows how many bytes are currently re
quired for this connection. The 2 bytes are included for the connection control
C-Con.
The date of this parameter is made available by the CCD master for all config
uration types which can be set ("P-0-1645.x.1, CCD connection: Configura
tion") and is always updated after "P01645.x. 6 , CCD connection:
Configuration list" has been written.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.11.80
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
---------
P-0-1645.0.6, CCD connection: Configuration list

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
The parameter describes the CC connection with participation of the CCD

master.
This parameter contains the IDNs (4 bytes) which are cyclically transmitted in
this connection. The content only takes effect in configuration type
00: Configuration with EIDNs ("P-0-1645.x.1, CCD connection: Connection").
With this configuration type, the CCD master determines the parameter
"P-0-1645.x.5, CCD connection: Current connection length" from the content
of this parameter.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.81
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
P-0-1645.0.8, CCD connection: Connection control (C-Con)

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
Structure

+
This parameter contains the image of the connection control (C-Con) of the
connection. This applies to producer and consumer connections.
Bit
ProducerReady
Comment

yet
1: Producer generates valid command values Slave can ap
ply command values by toggling bit 1
1
NewData bit
CC DataFieldDelay
ProducerSynchonized
of the ring
the ring
Real-time bit 1
Real-time bit 2
Fig.5-243:
Function:
Memory:
Unit:
Cycl. tra.:
P01645.x.8, CCD connection: Connection control (C-Con)

Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.11.82
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
P-0-1645.0.10, CCD connection: Producer cycle time

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
This parameter indicates the cycle time within which the producer updates the
data of the cyclic connection. In addition, the NewData bit in the connection
control is toggled. The consumer of the connection uses the time as a moni
toring time to detect failures. The number of failures is displayed in "P-0-1645.x.
12, CCD connection: Error counter data losses".

and Controls
master.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
us
--
Input
MPB:
MPC:
MPD:
MPH:
5.11.83
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
3
--
Default value
1000,000
1000,000
1000,000
1000,000
P-0-1645.0.11, CCD connection: Allowed losses of producer data

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
This parameter indicates the number of allowed losses of producer data, before
a connection is considered to be broken, the consumer does not process data
anymore and sets the Err-Con bit for the bus master in the device status (SDev, S-IF).
master.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.84
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
2
2
2
2
P-0-1645.0.12, CCD connection: Error counter data losses

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
This parameter indicates how many losses of producer data the consumer has
already detected. This counter is without overflow and ends with 65535. The
counter will be reset through the positive edge of ProducerReady in the con
nection control (C-Con).
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.11.85
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
P-0-1645.0.20, CCD connection: IDN allocation of real-time bits

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
This parameter contains the IDN assignment (4Byte) of the real-time bits in the
connection control (C-Con). The list contains a maximum of 2 IDNs. The bit
assignment takes place in parameter "P-0-1645.x.21, CCD connection: Bit al
location of real-time bits".
master.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.11.86
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
P-0-1645.0.21, CCD connection: Bit number allocation of real-time bits

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
This parameter contains the bit assignment of the real-time bits parameterized
in "P-0-1645.x.20, CCD connection: IDN allocation of real-time bits". The list
contains a maximum of 2 bit offsets with values from 0...31.
master.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte var.
DEC_OV
0
--

and Controls
5.11.87
P-0-1650, CCD: control word compact I/Os

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
-
-
This parameter is used to input the operating status and identify the compact
I/Os. There are 4 bits per compact I/O.
Structure
Bit
Comment
3-0
bit 15-12 in I/O control word of compact I/O 1
7-4
11-8
15-12 bit 15-12 in I/O control word of compact I/O 4
Fig.5-244:
CCD: control word compact I/Os

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.11.88
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-1651, CCD: master control word, slave 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Parameter "-0-165x, CCD: Master control word, slave x" contains the control
word which the CCD master delivers to CCD slave x and which arrives in
"S-0-0134, Master control word" of the CCD slave.
"x" is the slave number e.g. slave "1"
Use
The internal PLC writes to the master control words (cf. P-0-165x) in MLDM system mode.
In CCD system mode and with active field bus connection, the internal
profile interpreter writes to the master control words.

and Controls
In CCD basic mode and CCD system mode, direct writing to the param
eters is allowed with a parallel interface and SERCOS master communi
cation.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.11.89
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
See also Parameter Description "P-0-1651, CCD: Master control word, slave
1"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.11.90
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
1"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
2Byte
BIN
0
--

and Controls
MPD:
MPH:
5.11.91
--- / ----- / ---
-----

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
1"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.11.92
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
1"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.11.93
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
-
-
-
MPH
-
MPH
-
-
-
-
-
-
-
-
-
-
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function

+
1"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.11.94
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
1"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.11.95
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
1"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.11.96
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
1"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.11.97
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-1660, CCD: status word compact I/Os

Allocation
Function
Structure
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
-
-
This parameter serves to display the operating status of the compact I/Os. The
individual status words of the compact I/Os 1...4 are combined in this param
eter.
Bit
3-0
Bit 15-12 in I/O status word of compact I/Os 1
7-4
11-8
Comment
15-12 Bit 15-12 in I/O status word of compact I/Os 4
Fig.5-245:
CCD: Status Word of Compact I/Os

Use
An error message of the compact I/O generates an error F4140 in

the CCD group. The exact error cause can be read via parameter
S-0-0390 of the compact I/O.

and Controls
I/O Status Word of Compact I/O
Bit
15
14
13
12
0: Outputs are disabled
1: Outputs are enabled
Reserved
0: There is no error
1: There is a class 1 diagnostics error
Reserved
Fig.5-246:
Function:
Memory:
Unit:
Cycl. tra.:
I/O Status Word of Compact I/O

Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.11.98
Comment
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
P-0-1660.0.2, CCD: Device control word (C-Res)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Parameter "P01660.x.2" displays the SERCOS III: Device control word

(S01044) of the CCD slaves, which is transmitted from the CCD master to the
CCD slaves in the MDT. The safety technology (SI) is used as slave index (0
= virt. slave, 1 = slave 1, etc.).
This parameter is an image of the Device Control (C-Dev) of the CCD slaves.
See also Parameter Description "S01044, SERCOS III: Device Control (CDev)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.11.99
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
P-0-1660.0.3, CCD: Conection-Control #1 (C-Con)

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
-
-
-
-
-
-
-
-
-
2Byte
BIN
0
--

and Controls
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
-
-
-
-
+
-
-
-
MPC
MPC
Parameter "P01660.x.23" displays the Connection Control #1 (C-Con) of the

CCD slaves, which is transmitted from the CCD master to the CCD slaves in
the MDT. The CCD master uses connection #1 (S01050.1.x) of the CCD
slaves for classic MS-MDT data. The safety technology (SI) is used as slave
index (0 = virt. slave, 1 = slave 1, etc.).
The parameter is an image of C-Con of connection #1 in the CCD slave.
See also Parameter Description "S01050.0.8, SIII-Connection: Connection
control (C-Con)"
Structure
Bit
ProducerReady
Comment

yet
1
NewData bit
CC DataFieldDelay
ProducerSynchonized
of the ring
the ring
Real-time bit 1
Real-time bit 2
Fig.5-247:
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
P01660.x.3, CCD: Connection-Control #1 (C-Con)

Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
BIN
0
--

and Controls
5.11.100 P-0-1660.0.20, CDD: Resource-Control (C-Res)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Parameter P01660.x.20 displays the master status word S00134 of the CCD
slaves for drive slaves and the I/O control word S01500.0.1 for I/O slaves. The
master parameterizes the resource contrl word to connection #1 of the CCD
slaves. The master cyclically transmit the resource control word to the master.
The safety technology (SI) is used as slave index (0 = virt. slave, 1 = slave 1,
etc.).
For slaves of drive type, this parameter is an image of the master status word
of the CCD slaves.
In MLD-M mode and CCD system mode, this parameter is for display purposes
only. In CCD basic mode, the parameter can be used to preset the master
control word S-0-0134 of the CCD slaves.
Bit 12 in parameter P-0-1600 can be used for slaves of I/O type to select
whether the CCD master always automatically activates the outputs or whether
this is determined by the application via parameter P-0-1660.x.20.
The parameter is read-only and can be used for diagnostic purposes.
See also Parameter Description "S-0-0134, Master status word"
Structure
S-0-0134, Master control word

Bit
10-8
Comment

010: Secondary oper. mode 1, etc. ...
111: Secondary oper. mode 7
13
Drive Halt, 1-0 change

Deceleration of drive while maintaining max. accelera
tion (S-0-0138) (only possible if bits 14 and 15 = 1)
14
Drive enable
of bit 15 or 13)
15
Drive ON
1-0 change: Best possible deceleration (only possible if
bit 14 = 1)
Fig.5-248:
Structure of Master Control Word SERCOS III (C-Res)
S01500.0.1, I/O control

and Controls
Bit
15
Enable outputs
Comment
0: Outputs deactivated
1: Outputs activated
Fig.5-249:
Function:
Memory:
Unit:
Cycl. tra.:
Structure of I/O Control SERCOS III (C-Res)

Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
5.11.101 P-0-1661, CCD: drive status word, slave 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Parameter "P0166x, CCD: Drive status word, slave x" contains the status
word delivered from CCD slave x to the CCD master (corresponds to the con
tent of "S-0-0135, Drive status word" of CCD slave x).
Use
Observe the following aspects when using parameters "P-0-166x":
The internal PLC evaluates the drive status words (cf. P0-166x) in MLDM system mode.
profile interpreter implements the drive status words.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
-
-
-
-
-
MPH
-
-
-
2Byte
BIN
0
--

and Controls
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
MPH
-
-
-
-
+
-
-
-
MPC
MPC
See also Parameter Description "P-0-1661, CCD: Drive status word, slave 1"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
BIN
0
--

and Controls

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
-
-
-
-
-
MPH
-
-
-
-
-
-
-
-
-
-
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function

+
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
5.11.110 P-0-1670, CCD: active actual position value, master

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
See also Parameter Description "P-0-1671, CCD: active actual position value,
slave 1"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
5.11.111 P-0-1671, CCD: active actual position value, slave 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
The parameters "P0167x, CCD: active actual position value, master... slave
x" display the active actual position values of the CCD slaves which are trans
mitted from the CCD slaves to the CCD master in the motion channel (AT) of
the MLD-M.

and Controls
The character "x" is the slave number e.g. slave "1"!
Use
Data are only transmitted to this parameter with active MLD-M, i.e. in the
MLD system mode (cf. P-0-1600).
In the case of error, this parameter can be used for diagnostic purposes.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
slave 1"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

and Controls
Function
slave 1"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
slave 1"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
slave 1"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
4Byte
DEC_MV

and Controls
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
S-0-0077
S-0-0078
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
slave 1"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
slave 1"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
min./max.
--- / ----- / ---
Default value
-----
4Byte
DEC_MV
S-0-0077
S-0-0078
--

and Controls
MPD:
MPH:
--- / ----- / ---
-----

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
slave 1"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
slave 1"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
4Byte
DEC_MV
S-0-0077
S-0-0078
--

and Controls
5.11.120 P-0-1680, CCD: actual velocity value, master

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
See also Parameter Description "P-0-1681, CCD: actual velocity value, slave 1"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0045
S-0-0046
--
Default value
---------
5.11.121 P-0-1681, CCD: actual velocity value, slave 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
The parameters "P0168x, CCD: actual velocity value, master... slave x" dis
play the actual torque/force values of the CCD slaves which are transmitted
from the CCD slaves to the CCD master in the motion channel (AT) of the MLDM.
Use
In the case of error, this parameter can be used for diagnostic purposes.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
min./max.
--- / ----- / ---
Default value
-----
4Byte
DEC_MV
S-0-0045
S-0-0046
--

and Controls
MPD:
MPH:
--- / ----- / ---
-----

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0045
S-0-0046
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
-
-
-
-
-
MPH
-
-
-
4Byte
DEC_MV
S-0-0045
S-0-0046
--

and Controls
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
MPH
-
-
-
-
+
-
-
-
MPC
MPC
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0045
S-0-0046
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0045
S-0-0046
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

and Controls
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0045
S-0-0046
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0045
S-0-0046
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
min./max.
--- / ----- / ---
Default value
-----
4Byte
DEC_MV
S-0-0045
S-0-0046
--

and Controls
MPD:
MPH:
--- / ----- / ---
-----

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0045
S-0-0046
--
Default value
---------
5.11.130 P-0-1690, CCD: actual torque/force value, master

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
See also Parameter Description "P-0-1691, CCD: actual torque/force value,

slave 1"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
5.11.131 P-0-1691, CCD: actual torque/force value, slave 1

Allocation
Contained in 02VRS:
Contained in 03VRS:
-
-
-
-
-
-
2Byte
DEC_MV
S-0-0093
S-0-0094
--

and Controls
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
MPC
MPC
The parameters "P0169x, CCD: actual torque/force value, master... slave x"
display the actual torque/force values of the CCD slaves which are transmitted
from the CCD slaves to the CCD master in the motion channel (AT) of the MLDM.
Use
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
S-0-0093
S-0-0094
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

slave 1"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
2Byte
DEC_MV
S-0-0093
S-0-0094
--

and Controls

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

slave 1"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
S-0-0093
S-0-0094
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

slave 1"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
-
-
-
-
-
-
MPH
MPH
-
-
-
-
2Byte
DEC_MV
S-0-0093
S-0-0094
--

and Controls
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
-
-
+
-
-
MPC
MPC

slave 1"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
S-0-0093
S-0-0094
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

slave 1"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
S-0-0093
S-0-0094
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

and Controls
Function

slave 1"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
S-0-0093
S-0-0094
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

slave 1"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
S-0-0093
S-0-0094
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

slave 1"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
2Byte
DEC_MV

and Controls
Unit:
S-0-0086
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
S-0-0093
S-0-0094
--
Default value
---------
5.11.140 P-0-1701, CCD: diagnostic message number slave 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
This parameter is used to display and evaluate the diagnostic message number
of the CCD slaves x in the CCD master.
Use
With active CCD error reaction (P-0-1600, bit 8 = 1), the CCD master au
tomatically configures S00390 in the AT of slave x (cf. S01016) and
copies the content to P-0-170x.
A special handling for these P-0-170x was implemented in the master to

interpret the diagnostic message of a slave and, if necessary, trigger a
reaction in the master; see "CCD error reaction" in Functional Description
"Cross Communication (CCD).
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
HEX
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

and Controls
Function
See also Parameter Description "P-0-1701, CCD: diagnostic message number

slave 1"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
HEX
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

slave 1"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
HEX
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

slave 1"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
HEX
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

slave 1"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
HEX
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

slave 1"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
HEX
0
--

and Controls

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

slave 1"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
HEX
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

slave 1"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
HEX
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
-
-
-
-
-
-
-
-
MPH
-
-
-
-
-
-
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
+
MPC

slave 1"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
HEX
0
--
Default value
---------
5.11.149 P-0-1710, CCD: signal status word, master

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
See also Parameter Description "P-0-1711, CCD: signal status word, slave 1"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
5.11.150 P-0-1711, CCD: signal status word, slave 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
The parameter in the CCD master contains the bits corresponding to the con
tent of the signal status word (S-0-0144) in the CCD slave. Parameterization is
done via:
P-0-1611, CCD: Configuration list signal status word

and Controls
P-0-1613, CCD: Assignment list signal status word


Use
The following must be observed during use of this parameter:
The signal status word of slave x is automatically configured and inter

preted only in MLD system mode and CCD system mode.
In CCD basic mode, the signal status word of slave x is not operated.
Parameter "P-0-1710" is reserved for the virtual slave in the master.
At present, "0" is always displayed!
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
-
-
-
MPH
-
MPH
-
-
-
-
-
-
-
-
-
-
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function

+
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
-
-
-
-
-
-
2Byte
BIN
0
--

and Controls
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
-
MPH
-
-
-
-
+
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
5.11.159 P-0-1720, CCD: signal control word, master

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
See also Parameter Description "P-0-1721, CCD: signal control word, slave 1"

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
5.11.160 P-0-1721, CCD: signal control word, slave 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
The parameter in the CCD master contains the bits written to the signal control
word (S-0-0145) in CCD slave x via the CCD bus.
Use
The following must be observed during use of this parameter:
In MLD-M system mode, the internal PLC writes to the signal control
words.
profile interpreter writes to the signal control words.
In CCD basic mode, there is direct write access to the parameters.
Parameterization is done via:
P01612, CCD: Configuration list signal control word
P01614, CCD: Assignment list signal control word

Parameter "P-0-1720" is reserved for the virtual slave in the master.
No function at present!
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
-
-
-
-
-
-
2Byte
BIN
0
--

and Controls
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
BIN
0
--

and Controls

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
-
-
-
-
-
MPH
-
-
-
-
-
-
-
-
-
-
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function

+
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
5.11.169 P-0-1730, CCD: Command value data container 1, Master 4Byte

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Up to MPx05: CCD: MDT real-time container 1, master

See also Parameter Description "P-0-1731, CCD: Command value data con
tainer 1, Slave 1 4Byte "
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------
5.11.170 P-0-1731, CCD: Command value data container 1, Slave 1 4Byte

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Up to MPx-05: CCD: MDT real-time container 1, master ... slave x

In MLD system mode (cf. P-0-1600), parameters P-0-173x are used for the realtime channel.

and Controls
Use
In CCD system mode and CCD basic mode, the parameters can be used
as copy containers.
The data container can be used for transmission of 4 bytes data to the
CCD slave in the command value telegram (e.g. P01731 -> S00036).
Example:
Slave 1 files P00434 to the AT -> Master copies to "P01731" and files
"P01731" to the MDT for slave 1 as "S00047".
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Up to MPx05: CCD: MDT real-time container 1, master

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
-
-
-
-
-
-
-
-
MPH
MPH
-
-
-
-
-
-
-
-
MPC
MPC

and Controls
Hardware
Funct. package(s):
Device parameter:
Function

+
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
4Byte
DEC_MV
0
--

and Controls
MPD:
MPH:
--- / ----- / ---
-----

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
-
-
-
-
-
-

and Controls
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
-
-
-motion logic
+
MPH
MPH
MPH
MPH
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Use
as copy containers.
Example:
Slave 1 files S00040 to the AT -> Master copies to "P01741" and files
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
DEC_MV
0
--

and Controls

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
tainer 2, Slave 1 4Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
-
-
-
-
-
-
-
MPH
MPH
-
-
-
-
-
-
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
+
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

and Controls
"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---
4Byte
DEC_MV
0
--

and Controls
MPC:
MPD:
MPH:
--- / ----- / ----- / ---
-------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
DEC_MV
0
--

and Controls

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Use
as copy containers.
Example:
The PLC writes to "P01751" -> Master files this parameter to the MDT for slave
1 as "S00282".
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
DEC_MV
0
--

and Controls

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
-
-
-
-
-
-
-
MPH
MPH
-
-
-
-
-
-
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
+
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Use
as copy containers.

and Controls
Example:
PLC writes to P01761 -> Master files this parameter to the MDT for slave 1
as S00282.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
See also "P01761, CCD: Command value data container 4, Slave 1 4Byte "
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
-
-
-
-
-
-

and Controls
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------
5.11.209 P-0-1770, CCD: Actual value data container 1, Master 4Byte

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
DEC_MV
0
--

and Controls
5.11.210 P-0-1771, CCD: Actual value data container 1, Slave 1 4Byte

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
as copy containers.
The data container can be used for transmission of 4 bytes data from the
CCD slave in the actual value telegram (e.g. P01771 <- S00051).
Example:
The slave files "S00051" to the AT. The master copies the content of the AT
to P01771. P-01771 is used in the master for internal processing.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
See also "P01771, CCD: Actual value data container 1, Slave 1 4Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
See also "P-0-1771, CCD: Actual value data container 1, Slave 1 4Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
-
-
-
-
-
-
4Byte
DEC_MV
0
--

and Controls
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
DEC_MV
0
--

and Controls

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
as copy containers.
Example:
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
-
-
-
-
-
-
4Byte
DEC_MV
0
--

and Controls
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
DEC_MV
0
--

and Controls

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-motion logic
+
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
-
-
-
MPH
-
MPH
-
-
-
-
-
-
-
-
-
-
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function

+
as copy containers.
Example:
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
See also "P-0-1791, CCD: Actual value data container 3, Slave 1 4Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
-
-
-
-
-
-
4Byte
DEC_MV
0
--

and Controls
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
DEC_MV
0
--

and Controls

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
-
-
-
-
--
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
motion logic
+
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
as copy containers.
Example:
The slave files "P00303" to the AT. The master copies the content of the AT
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
-
-
-
-
-
-
4Byte
DEC_MV
0
--

and Controls
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
DEC_MV
0
--

and Controls

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
-
-
-
-
-
MPH
-
-
-
-
-
-
-
-
-
-
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function

+
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_MV
0
--
Default value
---------
5.11.249 P-0-1810, CCD: Status word synchronous operation modes, master

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
In preparation!
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
5.11.250 P-0-1811, CCD: Status word synchronous operation modes, slave 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
This parameter displays the status word of the synchronous operating mode of
CCD slave x in the CCD master which is transmitted by CCD slave x in the
motion channel (AT) of MLD-M.

and Controls
Use
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
See also "P-0-0089, Status word for synchronous operating modes"

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---
2Byte
BIN
0
--

and Controls
MPC:
MPD:
MPH:
--- / ----- / ----- / ---
-------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
-
-
-
-
-
-
MPH
MPH
-
-
-
-

and Controls
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
-
-
+
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
MPH
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
See also Parameter Description "P-0-1811, CCD: status word synchronous

operating modes, slave 1"

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
See also Parameter Description "P-0-1811, CCD: status word synchronous

operating modes, slave 1"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-motion logic
+
-
-
-
-
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
2Byte
DEC_MV
0
--

and Controls
MPD:
MPH:
--- / ----- / ---
-----

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Use
as copy containers.
Example:
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Par
--
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
2Byte
DEC_MV

and Controls
Unit:
Cycl. tra.:
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Extr. val. ch.:

Comb. check:
---
min./max.
--- / ----- / ----- / ----- / ---
Decim. pl.:
Switchable:
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
DEC_MV
0
--

and Controls

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
+
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-motion logic
+
-
-
-
-
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Use
as copy containers.

and Controls
Example:
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Par
--
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
2Byte
DEC_MV

and Controls
Unit:
Cycl. tra.:
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Extr. val. ch.:

Comb. check:
---
min./max.
--- / ----- / ----- / ----- / ---
Decim. pl.:
Switchable:
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
DEC_MV
0
--

and Controls

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
+
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-motion logic
+
-
-
-
-
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Use
as copy containers.
Example:
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function

+
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
-
-
-
-
+
-
-
-
MPD
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
-
-
-
-
+
-
-
-
MPD
-
-
MPC
MPC
Function:
Memory:
Par
--
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
2Byte
DEC_MV

and Controls
Unit:
Cycl. tra.:
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Extr. val. ch.:

Comb. check:
---
min./max.
--- / ----- / ----- / ----- / ---
Decim. pl.:
Switchable:
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
-
-
-
-
+
-
-
-
MPD
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
-
-
-
-
+
-
-
-
MPD
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
DEC_MV
0
--

and Controls

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
-
-
-
-
+
-
-
-
MPD
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
-
-
-
-
+
-
-
-
MPD
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
-
-
-
MPB
-
-
-
-
MPH
-
-
-
-
MPD
-
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
+
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-motion logic
+
-
-
-
-
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC

and Controls
Use
as copy containers.
Example:
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function

+
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Par
--
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
2Byte
DEC_MV

and Controls
Unit:
Cycl. tra.:
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Extr. val. ch.:

Comb. check:
---
min./max.
--- / ----- / ----- / ----- / ---
Decim. pl.:
Switchable:
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
DEC_MV
0
--

and Controls

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
-
-
-
-
-
-
-
-
-
MPH
-
-
-
-
-
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-motion logic
+
MPH
MPC
See also Parameter Description "P-0-1861, CCD: Actual value data container
1, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
as copy containers.
Example:
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
DEC_MV
0
--

and Controls

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
1, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
1, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
+
MPC
1, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
1, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
1, Slave 1 2Byte"

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
1, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
1, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
2Byte
DEC_MV
0
--

and Controls
MPD:
MPH:
--- / ----- / ---
-----

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
1, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-motion logic
+
-
-
-
-
MPH
MPH
-
-
-
-
-
-
MPC
MPC
2, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
-
-
-
-
-
-
2Byte
DEC_MV
0
--

and Controls
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
-
-
-
-
-
-
+
-
-
-
-
MPC
MPC
as copy containers.
Example:
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
2, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
DEC_MV
0
--

and Controls

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
2, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
2, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
+
MPC
2, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
2, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
2, Slave 1 2Byte"

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
2, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
2, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
2Byte
DEC_MV
0
--

and Controls
MPD:
MPH:
--- / ----- / ---
-----

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-motion logic
+
-
-
-
-
MPH
MPH
-
-
-
-
-
-
MPC
MPC
3, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
as copy containers.
Example:
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
2Byte
DEC_MV

and Controls
Unit:
Cycl. tra.:
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Extr. val. ch.:

Comb. check:
---
min./max.
--- / ----- / ----- / ----- / ---
Decim. pl.:
Switchable:
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
3, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
3, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
DEC_MV
0
--

and Controls

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
3, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
3, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
+
MPC
3, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
3, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
3, Slave 1 2Byte"

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
3, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-motion logic
+
-
-
-
-
MPH
MPH
-
-
-
-
-
-
MPC
MPC
4, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
2Byte
DEC_MV
0
--

and Controls
MPD:
MPH:
--- / ----- / ---
-----

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
as copy containers.
Example:
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
4, Slave 1 2Byte"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
2Byte
DEC_MV

and Controls
Unit:
Cycl. tra.:
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Extr. val. ch.:

Comb. check:
---
min./max.
--- / ----- / ----- / ----- / ---
Decim. pl.:
Switchable:
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
4, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
4, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
DEC_MV
0
--

and Controls

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
4, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
4, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
+
MPC
4, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
4, Slave 1 2Byte"
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_MV
0
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
MPC
MPC
4, Slave 1 2Byte"

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_MV
0
--
Default value
---------
5.12
P-0-2000 to P-0-2999 General Device Parameters
5.12.1
P-0-2002, Oper. hours of contr. sect. at change of functional packages

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used in conjunction with the enabling of functional packages.

In parameter "P02002" the count of the operating hours counter of the control
section, at the time of a change in the functional package selection in "P02003,
Selection of functional packages", is stored.
The value is stored on the control section and therefore gets lost
when the device is replaced. Parameter P02002 cannot be
changed but only be read.
See also Functional Description "Enabling of Functional Packages"
See also Functional Description "Functional Packages"
Function:
Memory:
Unit:
Cycl. tra.:
Par
Editability:
s
Extr. val. ch.:
-Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.12.2
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
1
--
Default value
---------
P-0-2003, Selection of functional packages

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Parameter P-0-2003 is used for selecting the desired and licensed functional
packages for functional package enable. There may be cases where functional

and Controls
packages are enabled ("ALL") which may only be used alternatively (MSP,
SNC, SRV). The effective alternative package is selected through P-0-2003.
Structure
The individual bits of the parameter are not illustrated in more detail at this point
since they of no relevance to the user.
The structure of "P-0-2003" corresponds to that of "P-0-2004"!
Use
When the mode is switched from parameter mode (PM) to operation mode
(OM), this parameter is marked as invalid if enabled packages were se
lected which may be active only alternatively in relation to each other.
Changes in this parameter only take effect at the next restart of the drive.
If the optional module for safety technology (S1) has been plugged, the
functional package "Open Loop" cannot be activated.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.12.3
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
HEX
0
--
Default value
---------
P-0-2004, Active functional packages

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays the active functional packages.

On start, the functional packages selected in "P02003, Selection of functional
packages" are activated, the corresponding bits being set or cleared in
"P02004" thereafter. This allows the user to see the actually active functional
packages at any time.
There is no write access to this parameter nor can it be stored. It is
only for display purposes.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
4Byte
HEX
0
--

and Controls
MPD:
MPH:
5.12.4
--- / ----- / ---
-----
P-0-2051, Operating hours counter, motor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter displays the current count of the operating hours counter of the
motor. The operating hours counter records the duration of three different op
erating states:
motor enabled (AF, electric load)
motor in motion (actual velocity unequal "0")
motor temperature less than 10K away from "S-0-0204, Motor shutdown
temperature"
See Functional Description "Diagnostic Data of Motor Operation"

Structure
List parameter with three elements

List el Operating time
ement
Default Unit
value
Definition
duration drive
enable
0.0
duration during which drive enable (AF)

had been set for the motor
duration motion 0.0
duration during which the actual velocity of

the motor was unequal "0" (or >S-0-0124?)
duration motor
warning tem
perature
duration during which the motor tempera

ture was less than 10K below the switchoff threshold
Fig.5-250:
Use
0.0
List elements P-0-2051, Operating hours counter, motor
The parameter can be written in the parameter mode (PM). For Rexroth motors
of the "IndraDyn S" and "IndraDyn A" ranges as of the 3rd quarter of year 2007
with encoder option "1", "2" or "6" (motor type code section no. 18), the values
from the encoder data memory of the motor (P-0-3051), when switching to the
operating mode (bb, Ab, OM), are compared to the values of P-0-2051 and
synchronized, if necessary.
For motors without encoder data memory, the values of P-0-2051 remain un
changed when switching to the operating mode (bb, Ab, OM). After switching
to the operating mode, time recording continues on the basis of the values of
P-0-2051, when the corresponding time recording criterion has been fulfilled.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
s
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte var.
DEC_OV
1
--

and Controls
5.12.5
P-0-2052, Thermal operating data, motor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter displays the current status of the thermal operating data:
Maximum temperature of motor
Average motor temperature during total operating time (motor in "AF")

The values of the thermal operating data are only realistic, when
the temperature sensor allows winding temperature measurement!
This is impossible for temperature sensors with switching perform
ance!

Structure
List Parameter With Two Elements

List ele
ment
Operating
time
Default val Unit

ue
Definition
Maximum
tempera
ture
0.0
Maximum winding temperature which

ever occurred during the operating
time (AF)
Average
tempera
ture
0.0
Average winding temperature, aver

aged over the total operating time (AF)
of the motor
Fig.5-251:
Use
List Elements of P-0-2052, Thermal operating data, motor
The parameter can be write-accessed in the parameter mode (PM). In case of

Rexroth motors of the "IndraDyn S" and "IndraDyn A" series which were fitted
with encoder option "1", "2" or "6" (motor type code field no. 18) in and after the
third quarter of 2007, the values from the encoder data memory of the motor
(P-0-3052) are compared with the values of P-0-2052 and synchronized on
switching to the operating mode (bb, Ab, OM); see Functional Description.
changed on switching to the operating mode (bb, Ab, OM). After switching to
the operating mode, temperature operating data measurement continues on
the basis of the values of P-0-2052, provided the measurement criteria are ful
filled.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
C
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte var.
DEC_MV
1
--

and Controls
5.12.6
P-0-2053, Mechanical operating data, motor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter displays the current status of the mechanical operating data:
Maximum velocity of motor shaft or of moving part of motor
Average velocity of motor shaft or of moving part of motor during total

operating time (motor in "AF")

Structure
List Parameter With Two Elements

List el Operating time
ement
Definition
Maximum ve
locity
S-0-00 Maximum velocity of motor which ever oc

44
curred during the operating time (AF)
Average veloci 0
ty
S-0-00 Average velocity of motor, averaged over

44
the total operating time (AF) of the motor
Fig.5-252:
Use
Default Unit
value
List Elements of P-0-2053, Mechanical operating data, motor
The parameter can be write-accessed in the parameter mode (PM). In case of

Rexroth motors of the "IndraDyn S" and "IndraDyn A" series which were fitted
with encoder option "1", "2" or "6" (motor type code field no. 18) in and after the
third quarter of 2007, the values from the encoder data memory of the motor
(P-0-3053) are compared with the values of P-0-2053 and synchronized on
switching to the operating mode (bb, Ab, OM); see Functional Description.
changed on switching to the operating mode (bb, Ab, OM).
After switching to the operating mode, measurement of the mechanical oper
ating data continues on the basis of the values of P-0-2053, when the meas
urement criteria have been fulfilled.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM
--
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.12.7
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
DEC_OV
S-0-0045
S-0-0046
--
Default value
---------
P-0-2054, Operational performance, motor

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
-
-
-
MPB
MPB
MPB
-
-
-
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC

and Controls
Hardware
Funct. package(s):
Device parameter:
Function

--
This parameter displays the current operational performance of the motor. De

pending on "P-0-4014, Type of construction of motor", bit 9, the unit is switched
between "1000 rev" and "m".
This parameter displays the current status of the operational performance of
the motor. The operational performance is determined from the current values
of:
P-0-2051, Operating hours counter, motor, "list element 1, duration mo

tion" - and -
P-0-2053, Mechanical operating data, motor, "list element 1, average ve

locity"

Function:
Memory:
Unit:
Cycl. tra.:
Par
-1000 Rev
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.12.8
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
4Byte
DEC_OV
0
--
P-0-2055, Serial number, motor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
In case of Rexroth motors of the "IndraDyn S" and "IndraDyn A" which were
fitted with encoder option "1", "2" or "6" (motor type code field no. 18) in and
after the third quarter of 2007, the serial number of the motor is automatically
entered in this parameter. This serial number serves to identify the motor model
currently connected to the controller. This also indicates whether the motor
model connected to the controller was replaced. Depending on the motor model
connected, the operating data stored in the motor encoder are applied to the
controller or, if necessary, synchronized with the operating data available in the
controller.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
DEC_OV
0
--

and Controls
5.12.9
P-0-2100, Velocity loop proportional gain, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The parameter contains the initial value (default) for the proportional gain of the
velocity controller.
This value is stored in the encoder data memory. During the basic load (loading
controller parameters) the content of P-0-2100 parameter is copied to the
S-0-0100 parameter.
S-0-0100 and P-0-2100 have different units and a different number
of decimal places!
See also Parameter Description "S-0-0100, Velocity controller proportional
gain"
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
mA/(rad/s)
--
Input
MPB:
MPC:
MPD:
MPH:
5.12.10
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
2Byte
DEC_OV
0
--
Default value
---------
P-0-2101, Velocity loop integral-action time, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The parameter contains the initial value (default) for the integral-action time of
the integrator in the velocity controller.
controller parameters) the content of the P-0-2101 parameter is copied to the
S-0-0101 parameter.
See also Parameter Description "S-0-0101, Velocity loop integral-action time"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
Par
FEEDB_I2C
ms
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
StdNul / StdUMax
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---
2Byte
DEC_OV
1
--

and Controls
MPC:
MPD:
MPH:
5.12.11
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
-------
P-0-2104, Position loop Kv-factor, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The parameter contains the initial value (default) for the proportional gain of the
position controller.
controller parameters) the content of the P-0-2104 parameter is copied to the
S-0-0104 parameter.
See also Parameter Description "S-0-0104, Position loop Kv-factor"
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
1000/min
--
Input
MPB:
MPC:
MPD:
MPH:
5.12.12
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
2Byte
DEC_OV
2
--
Default value
---------
P-0-2106, Current loop proportional gain 1, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains the appropriate value for "S00106, Current loop pro
portional gain 1" for operating the connected motor, at a PWM switching
frequency of 4000 Hz.
See Parameter Description "P-0-0001, Switching frequency of the power output
stage"
Use
This value is stored in the encoder data memory, e.g. in the case of the motor
types MSK, MHD, MKD, MKE and possibly MAD and MAF. During the load
defaults procedure (load controller parameters) the parameter P02106 is con
verted to parameter S00106, depending on the current setting in "P00001,
Switching frequency of the power output stage" and the parameterized per
formance setting in "P00556, Control word of axis controller".
You mustn't change the values for the current controller that have
been set at the factory.

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
V/A
--
Input
MPB:
MPC:
MPD:
MPH:
5.12.13
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
StdNul / Max50T
StdNul / Max50T
StdNul / Max50T
StdNul / Max50T
2Byte
DEC_OV
2
--
Default value
---------
P-0-2107, Current loop integral-action time 1, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The parameter contains the appropriate value for the integral-action time of the
integrator in the current controller for the connected motor.
This value is stored in the encoder data memory. During the load defaults pro
cedure (loading controller parameters) the P02107 parameter is copied to the
S00107 parameter.
You mustn't change the values for the current controller that have
been set at the factory.
See also Parameter Description "S00107"
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
ms
--
Input
MPB:
MPC:
MPD:
MPH:
5.12.14
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
2Byte
DEC_OV
1
--
Default value
---------
P-0-2109, Motor peak current, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Value available in the encoder data memory for the maximum current that can
temporarily flow in the motor without the motor being destroyed.
In the case of MHD, MKD and MKE motors the value is copied to the effective
"S00109, Motor peak current" parameter when the controller is switched on.
Memory"

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
A
--
Input
MPB:
MPC:
MPD:
MPH:
5.12.15
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
StdNul / Max500T
StdNul / Max500T
StdNul / Max500T
StdNul / Max500T
4Byte
DEC_OV
3
--
Default value
---------
P-0-2111, Motor current at standstill, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Value available in the encoder data memory for the current that can continu
ously flow in the motor without the motor being destroyed.
"S00111, Motor current at standstill" parameter when the controller is switch
ed on.
Memory"
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
A
--
Input
MPB:
MPC:
MPD:
MPH:
5.12.16
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
StdNul / Max500T
StdNul / Max500T
StdNul / Max500T
StdNul / Max500T
4Byte
DEC_OV
3
--
Default value
---------
P-0-2113, Maximum velocity of motor, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Value available in the encoder data memory for the maximum possible motor
speed.
"S00113, Maximum motor speed (nmax)" parameter when the controller is
switched on.
Memory"

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
Rpm
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.12.17
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
StdOne / 250000,0000
StdOne / 250000,0000
StdOne / 250000,0000
StdOne / 250000,0000
4Byte
DEC_OV
4
--
Default value
---------
P-0-2141, Motor type, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Text for the motor type stored in the encoder data memory. During "C07_x Load
defaults procedure command (load controller param.)", the content of this pa
rameter is copied to parameter "S00141, Motor type". This is only possible
with BRC housing motors with encoder data memory, such as MSK, MHD,
MKD, MKE and, if necessary, MAD and MAF.
Load defaults procedure
P-00556, bit 6
Function
The diagnostic message "F2008 RL The motor type has changed" is based on
the comparison of S00141 and P02141.
Examples:
MKD 071B-061-KP1-BN
MKE 096B-047-GG0-KN
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
---
Input
MPB:
MPC:
MPD:
MPH:
5.12.18
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
ASCII
0
--
Default value
---------
P-0-2204, Motor shutdown temperature, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Value available in the encoder data memory for the maximum allowed operating
temperature of the motor.

and Controls
In the case of MSK, MHD, MKD, MKE and, if required, MAD and MAF motors,
the value is copied to the effective parameter "S00204, Motor shutdown tem
perature" when the controller is switched on.
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
C
--
Input
MPB:
MPC:
MPD:
MPH:
5.12.19
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
1
--
Default value
---------
P-0-2206, Drive On delay time, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Value available in the encoder data memory for the release delay of the motor
holding brake.
In the case of MSK and, if required, MAD and MAF motors, the value is copied
to the effective parameter S00206, Drive on delay time when the controller is
switched on.
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
ms
--
Input
MPB:
MPC:
MPD:
MPH:
5.12.20
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_OV
0
--
Default value
---------
P-0-2207, Drive Off delay time, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Value available in the encoder data memory for the clamping delay of the motor
holding brake.
In the case of MSK and, if required, MAD and MAF motors, the value is copied
to the effective parameter "S00207, Drive off delay time" when the controller
is switched on.
Function:
Memory:
Par
FEEDB_I2C
Editability:
Validity ch.:
PM
--
Data length:
Format:
4Byte
DEC_OV

and Controls
Unit:
Cycl. tra.:
ms
--
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.12.21
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
0
--
Default value
---------
P-0-2216, Parameter set switching, configuration

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPB
MPB
MPB
MPB
MPB
-main spindle
--
-
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
Parameter set switching is configured with this parameter. You determine the
parameter groups which are included in parameter set switching and you can
parameterize the switching behavior.
In MP*04VRS and above, the parameter set switching function can
also be started in operating mode for all parameter groups.
Structure

Bit
Comment
4-0
Parameter group selection
In MP*06VRS and
above, the param
eter set switching
function is also
contained in the
SNC and SRV
functional pack
ages. However,
only the "applica
tion parameter"
and "control loop
parameter" groups
can be switched..
Bit 0: Group application parameters

0: Cannot be switched
1: Can be switched
Bit 1: Group control loop parameters
1: Can be switched
Bit 2: Group load gear parameters
1: Can be switched
Bit 3: Group winding parameters
1: Can be switched
Bit 4: Group motor control and motor encoder parame
ters
1: Can be switched
7-5
Not used
All of the groups in

the functional
package MSP can
be switched.

and Controls
Bit
Comment
Activation of "drive-controlled parameter set switching"
As of MP*04VRS
0: Deactivated
1: "Drive-controlled parameter set switching" is active
14-9
Not used
15
Activation of "maintain reference bit at gear switching"
See note!
0: Deactivated
In MP*04VRS only
1: Although the reference position gets lost, the reference

bit is not cleared at gear switching
Fig.5-253:
Use
Parameter Set Switching, Group Selection
Observe the following aspects for using the parameter:
It is possible to select none, several or all parameter groups for parameter

set switching.
The parameters which are combined in the respective group are described
in chapter "Parameter Set Switching" of the Functional Description!
Which parameters are really switched can be checked in parameter

"S00219, IDN-list of parameter set" immediately after changing
"P02216".
Up to MP*04VRS: If the gear ratio changes at gear switching, the exact

reference position cannot be guaranteed any more! This is signaled by the
fact that the reference bits in "S00403, Position feedback value status"
are cleared.
In MP*04VRS only Some control units do not allow motion if S00403 =

0. To move the axis nevertheless, you can avoid the clearing of the ref
erence bits by activating "maintain reference bit", although the reference
is lost.
Reference is only safely reestablished, when a new homing proce
dure was executed!
As of MP*05VRS: If the gear ratio changes, the reference remains pre

served.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.12.22
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
-+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
HEX
0
--
Default value
0
0
0
0
P-0-2217, Parameter set switching, preselection range

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
MPB
MPB
MPB
MPB
MPB
--
-
MPH
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
main spindle
--
This parameter determines how many switchable parameter sets are available
in the drive firmware.
Use
Parameter set No.

Value in P-0-2217
0
1
2
3
4
5
6
7
Fig.5-254:
Function:
Memory:
Unit:
Cycl. tra.:
Preselecting parameter sets for parameter set switching

Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.12.23
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
0/7
0/7
0/7
0/7
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
0
0
0
0
P-0-2218, Parameter set switching, delay time

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-main spindle
--
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC
In this parameter you can enter a delay time for defined delay of parameter set
switching.
Use
The delay time only takes effect with active parameter group "winding pa
rameters" or "encoder parameters".
The delay time is used to wait for successful switching of the motor con
tactors in the case of winding or encoder switching.
With active parameter group "winding parameters" switching on drive en

able again is delayed, with active parameter group "encoder parameters"
the internal start of command C02 is delayed.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
P234
PM->OM
Data length:
Format:
2Byte
DEC_OV

and Controls
Unit:
Cycl. tra.:
ms
AT + MDT
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.12.24
---
Decim. pl.:
Switchable:
min./max.
0 / 60000
0 / 60000
0 / 60000
0 / 60000
Default value
0
0
0
0
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
+
-
-
-
-
MPD
MPD
0
--
P-0-2300, List of 32-bit IDNs

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The parameter lists
P-0-2300, List of 32-bit IDNs and
P-0-2301, List of 16-bit alias IDNs
allow converting 32-bit EIDNs to 16-bit alias IDNs. By means of the 16-bit alias
IDNs, it is possible to parameterize the functionality accessible via EIDNs via
a conventional communication interface which cannot handle 32-bit EIDNs.
P-0-2300 contains the list of those EIDNs for which 16-bit alias IDNs have been
defined. The list is displayed in hexadecimal form and classified in ascending
order. For each entry there is a corresponding entry in P-0-2301 which indicates
the associated 16-bit alias IDN.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.12.25
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
+
-
-
-
-
MPD
MPD
4Byte var.
HEX
0
--

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The parameter lists
P-0-2300, List of 32-bit IDNs and
allow converting 32-bit EIDNs to 16-bit alias IDNs. By means of the 16-bit alias
IDNs, it is possible to parameterize the functionality accessible via EIDNs via
a conventional communication interface which cannot handle 32-bit EIDNs.

and Controls
P-0-2301 contains the list of the 16-bit alias IDNs. The list is displayed in hex
adecimal form and is not classified. For each entry there is a corresponding
entry in P-0-2300 which indicates the associated EIDN.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.12.26
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
HEX
0
--
Default value
---------
P-0-2310, Master communication: Protocol

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
-
-
-
-
-
Replacement parameter of P04089.0.1 for 16-bit access.

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.12.27
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
0 / 20
0 / 19
0 / 20
0 / 19
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
0
--
Default value
---------
P-0-2311, Master communication: Device name

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
1Byte var.
ASCII
0
--

and Controls
5.12.28
P-0-2312, Master communication: MAC address device

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function:
Memory:
Unit:
Cycl. tra.:
Par
I2C_OPM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
HEX
0
--
Default value
---------
P-0-2313, Master communication: MAC address Port1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-

Function:
Memory:
Unit:
Cycl. tra.:
Par
I2C_OPM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.12.30
-
-
Input
MPB:
MPC:
MPD:
MPH:
5.12.29
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
HEX
0
--
Default value
---------
P-0-2314, Master communication: MAC address Port2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-

Function:
Memory:
Par
I2C_OPM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
1Byte var.
HEX

and Controls
Unit:
Cycl. tra.:
---
Input
MPB:
MPC:
MPD:
MPH:
5.12.31
Function
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
0
--
Default value
---------
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
DEC_OV
0
--
Default value
---------
P-0-2316, Master communication: Network mask

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.12.33
---
P-0-2315, Master communication: IP address

Allocation
5.12.32
Extr. val. ch.:

Comb. check:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
DEC_OV
0
--
Default value
---------
P-0-2317, Master communication: Gateway address

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-

and Controls
Hardware
Funct. package(s):
Device parameter:
Function

+

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
P-0-3000 to P-03199 Encoder Memory
5.13.1
P-0-3000, Module code of motor, encoder memory
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
1Byte var.
DEC_OV
0
--
Default value
---------
5.13
Allocation
Data length:
Format:
Decim. pl.:
Switchable:
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains the identification data for motors with encoder data
memory. For MSK and, if required, MAD and MAF motors the parameter is
stored in the encoder data memory and is written once when the motor is man
ufactured.
In case the encoder is replaced, the elements 3 and 4 of P03000
are cleared (i.e. the content is "0") for motors with encoder data
memory. This signals that the parameter contents are no longer
corresponding to the condition as supplied.
Use
The list parameter contains the following elements:

Element no.
Function
module designation (1)
part number
serial number
module firmware code
writing cycles
Fig.5-255:
The firmware of the controller identifies the following parameters from the mod
ule firmware code:
P-0-3100, Version of data structure in encoder memory

and Controls
P-0-4014, Type of construction of motor
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
---
Input
MPB:
MPC:
MPD:
MPH:
5.13.2
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
HEX
0
--
Default value
---------
P-0-3001, Encoder type 1 (motor encoder), encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Value for the encoder type of the motor encoder stored in the encoder data
memory. The content of this parameter is copied to the effective parameter
"P00074, Encoder type 1 (motor encoder)" when the controller is switched on.
This is only possible with BRC housing motors with encoder data memory of
the type MSK and possibly MAD and MAF!
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
---
Input
MPB:
MPC:
MPD:
MPH:
5.13.3
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
0
--
Default value
---------
P-0-3002, Number of pole pairs/pole pair distance, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Value for the number of pole pairs or the pole pair distance of the motor stored
in the encoder data memory. The content of this parameter is copied to the
effective parameter "P00018, Number of pole pairs/pole pair distance" when
the controller is switched on. This is only possible with BRC housing motors
with encoder data memory like MHD, MKD and MKE, for example!
Memory"

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
Pole pairs
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.4
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
StdOne / 2000
StdOne / 2000
StdOne / 2000
StdOne / 2000
2Byte
DEC_OV
0
--
Default value
---------
P-0-3003, Rotor inertia, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Value for the rotor inertia of the motor stored in the encoder data memory. The
content of this parameter is copied to the effective parameter "P00510, Rotor
inertia" when the controller is switched on. This is only possible with BRC hous
ing motors with encoder data memory like MHD, MKD and MKE, for example!
Memory"
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
kgm
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.5
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
StdNul / Max100T
StdNul / Max100T
StdNul / Max100T
StdNul / Max100T
4Byte
DEC_OV
5
--
Default value
---------
P-0-3004, Speed loop smoothing time constant, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The parameter contains the initial value (default) for the smoothing time con
stant of the actual speed value and the speed command value.
Use
This value is stored in the encoder data memory. During the load defaults pro
cedure (loading controller parameters) the P03004 parameter is copied to the
P00004 parameter.
See also Parameter Description "P-0-0004, Velocity loop smoothing time con
stant"

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
us
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.6
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
250 / 65500
250 / 65500
250 / 65500
250 / 65500
2Byte
DEC_OV
0
--
Default value
---------
P-0-3005, Torque/force constant, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Value for the torque/force constant of the motor stored in the encoder data
memory. The content of this parameter is copied to the effective parameter
"P00051, Torque/force constant" when the controller is switched on. This is
only possible with BRC housing motors with encoder data memory like MHD,
MKD and MKE, for example!
Memory"
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
Nm/A
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.7
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
StdNul / MaxLong
StdNul / MaxLong
StdNul / MaxLong
StdNul / MaxLong
2Byte
DEC_OV
2
--
Default value
---------
P-0-3006, Rated motor speed, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Value stored in the encoder data memory for the rated speed of an asynchro
nous motor.
For MAD and MAF motors with encoder data memory the value is copied to the
effective parameter "P04036, Rated motor speed" when the controller is
switched on.
Function:
Memory:
Par
FEEDB_I2C
Editability:
Validity ch.:
PM
--
Data length:
Format:
4Byte
DEC_OV

and Controls
Unit:
Cycl. tra.:
Rpm
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.8
Extr. val. ch.:

Comb. check:
---
Decim. pl.:
Switchable:
min./max.
StdNul / MaxULong
StdNul / MaxULong
StdNul / MaxULong
StdNul / MaxULong
4
--
Default value
---------
P-0-3007, Stator resistance, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Value for the stator resistance of the motor stored in the encoder data memory.
The content of this parameter is copied to the effective parameter "P04048,
Stator resistance" when the controller is switched on. This is only possible with
BRC housing motors with encoder data memory like MHD, MKD and MKE, for
example!
Memory"
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
Ohm
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.9
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
2Byte
DEC_OV
3
--
Default value
---------
P-0-3008, Commutation offset, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Value for the commutation offset of the synchronous motor stored in the en
coder data memory. The content of this parameter is copied to the effective
parameter "P00508, Commutation offset" when the controller is switched on.
This is only possible with BRC housing motors with encoder data memory like
MHD, MKD and MKE, for example!
Memory"
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.13.10
min./max.
StdNul / 1024
StdNul / 1024
StdNul / 1024
StdNul / 1024
Default value
---------
P-0-3009, Holding brake control word, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Bit information on the motor holding brake stored in the encoder data memory.
In the case of MSK and, if required, MAD and MAF motors, the bits are written
to the bits 0 and 2 of the effective parameter "P00525, Holding brake control
word" when the controller is switched on. All other bits of P00525 can be freely
written.
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
---
Input
MPB:
MPC:
MPD:
MPH:
5.13.11
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
P-0-3010, Torque of motor holding brake, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Value for the nominal torque of the motor holding brake stored in the encoder
data memory.
Torque of motor holding brake" when the controller is switched on. This is only
possible with Rexroth housing motors with encoder data memory, such as
MSK, MHD, MKD, MKE and, where applicable, MAD and MAF!
Memory"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
FEEDB_I2C
Nm
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
2Byte
DEC_OV
1
--

and Controls
MPD:
MPH:
5.13.12
--- / ----- / ---
-----
P-0-3011, Holding brake current, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Value for the current of the motor holding brake stored in the encoder data
memory.
As the monitoring of the holding brake current is not available in the IndraDrive
controllers, the value is not copied to an effective parameter. The parameter is
exclusively used for writing the value to the encoder memory of Rexroth housing
motors with encoder data memory, such as MSK, MHD, MKD, MKE and, where
applicable, MAD and MAF!
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
A
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.13
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_OV
3
--
Default value
---------
P-0-3012, Temperature sensor, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Characteristic value, stored in the encoder data memory, for the temperature
sensor incorporated in the motor winding. The content of this parameter is cop
ied to the effective parameter "P00512, Temperature sensor" when the con
troller is switched on. This is only possible with Rexroth housing motors with
encoder data memory, such as MSK, MAD and MAF, but not with MHD, MKD
and MKE!
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
FEEDB_I2C
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
DEC_OV
0
--

and Controls
5.13.14
P-0-3014, Magnetizing current, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Value for the magnetizing current in the rated point of the motor stored in the
encoder data memory.
In the case of MAD and MAF motors the value is copied to the effective pa
rameter "P04004, Magnetizing current" when the controller is switched on.
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
A eff
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.15
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_OV
3
--
Default value
---------
P-0-3015, Flux-generating current, limit value, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Limit value for the flux-generating current stored in the encoder data memory.
Flux-generating current, limit value" when the controller is switched on. This is
only possible with synchronous BRC motors with encoder data memory, such
MSK, but bot with MHD, MKD and MKE!
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
A eff
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.16
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
3
--
Default value
---------
P-0-3016, Direct-axis inductance of motor, encoder memory

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPB
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
closed loop
--
Value available in the encoder data memory for the direct-axis inductance of a
synchronous motor. When the controller is switched on, the value, in the case
of MSK motors, is copied to the effective parameter "P04016, Direct-axis in
ductance of motor".
Memory"
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
mH
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.17
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_OV
3
--
Default value
---------
P-0-3017, Quadrature-axis inductance of motor, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Value available in the encoder data memory for the quadrature-axis inductance
of a synchronous motor.
When the controller is switched on, the value, in the case of MSK motors, is
copied to the effective parameter "P0-4017, Quadrature-axis inductance of
motor".
Memory"
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
mH
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.18
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_OV
3
--
Default value
---------
P-0-3018, Charact. quadr.-axis induct. of motor, induct., enc. Memory

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPB
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
closed loop
--
List of inductance values of the characteristic of the motor quadrature-axis in

ductance stored in the encoder data memory.
When the controller is switched on, the content of the parameter, in the case of
MSK motors, is copied to the effective parameter "P04002, Charact. of quad
rature-axis induct. of motor, inductances".
See also Parameter Description "P-0-4002, Charact. of quadrature-axis induct.
of motor, inductances"
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
---
Input
MPB:
MPC:
MPD:
MPH:
5.13.19
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte var.
DEC_OV
3
--
Default value
---------
P-0-3019, Charact. quadr.-axis induct. of motor, currents, enc. Memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
List of current values of the characteristic of the motor quadrature-axis induc

tance stored in the encoder data memory.
MSK motors, is copied to the effective parameter "P04003, Charact. of quad
rature-axis inductance of motor, currents".
See also Parameter Description "P04003, Charact. of quadrature-axis induc
tance of motor, currents"
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
---
Input
MPB:
MPC:
MPD:
MPH:
5.13.20
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte var.
DEC_OV
3
--
Default value
---------
P-0-3020, Thermal time constant of winding, encoder memory

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPB
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
closed loop
--
Value available in the encoder data memory for the thermal time constant of
the motor winding.
MSK motors, is copied to the effective parameter "P04034, Thermal time
constant of winding".
See also Parameter Description "P04034, Thermal time constant of winding"
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
s
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.21
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
1
--
Default value
---------
P-0-3021, Thermal time constant of motor, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Value for the thermal time constant of the motor stored in the encoder data
memory.
MSK motors, is copied to the effective parameter "P04035, Thermal time
constant of motor".
See also Parameter Description "P-0-4035, Thermal time constant of motor"
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
min
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.22
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
1
--
Default value
---------
P-0-3022, Thermal short-time overload of winding, encoder memory

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Function
Value for the temporary thermal overload of the winding stored in the encoder
data memory.
MSK motors, is copied to the effective parameter "P04037, Thermal shorttime overload of winding".
See also Parameter Description "P-0-4037, Thermal short-time overload of
winding"
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
---
Input
MPB:
MPC:
MPD:
MPH:
5.13.23
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
1
--
Default value
---------
P-0-3023, Current limit value of demagnetization, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Factor for the current limit value for synchronous motors stored in the
encoder data memory; if the limit value is exceeded, the magnets run the risk
of being demagnetized.
MSK motors, is copied to the effective parameter "P04013, Current limit value
of demagnetization".
See also Parameter Description "P04013, Current limit value of demagneti
zation"
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
%
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.24
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
0
--
Default value
---------
P-0-3025, Brake voltage, encoder memory

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-closed loop
--
-
-
MPH
MPH
MPH
MPH
-
-
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Function
For KSD motors (IndraDrive Mi) the brake voltage is derived from the DC bus
voltage. This parameter defines the brake voltage required for the installed
brake.
This parameter is only relevant for IndraDrive Mi!
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
V
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.25
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
0,0 / 6553,5
0,0 / 6553,5
0,0 / 6553,5
0,0 / 6553,5
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
1
--
Default value
---------
P-0-3028, Flux loop proportional gain, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The parameter contains the initial value (default) for "P00528, Flux control
loop proportional gain".
In the case of MAD and MAF motors, this value is stored in the encoder data
memory, if they have such a memory. During the load defaults procedure (load
ing controller parameters) the parameter P03028 is copied to parameter
P00528.
See also Parameter Description "P00528, Flux control loop proportional gain"
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
---
Input
MPB:
MPC:
MPD:
MPH:
5.13.26
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
2
--
Default value
---------
P-0-3029, Scaling of stall current limit, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The parameter contains the initial value (default) for "P00529, Scaling of stall
current limit".

and Controls
P00529.
See also Parameter Description "P00529, Scaling of stall current limit"
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
%
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.27
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
---------
P-0-3032, Premagnetization factor, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The parameter contains the initial value (default) for "P00532, Premagneti
zation factor".
P00532
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
%
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.28
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
---------
P-0-3033, Voltage loop proportional gain, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The parameter contains the initial value (default) for "P00533, Voltage loop
proportional gain".

and Controls
P00533.
See also Parameter Description "P00533, Voltage loop proportional gain"
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
A/V
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.29
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
3
--
Default value
---------
P-0-3034, Voltage loop intergral action time, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The parameter contains the initial value (default) for "P00534, Voltage loop
integral action time".
P00534.
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
ms
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.30
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
1
--
Default value
---------
P-0-3035, Motor voltage at no load, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The parameter contains the initial value (default) for "P00535, Motor voltage
at no load".
P00535.
See also Parameter Description "P00535, Motor voltage at no load"

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
%
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.31
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
1
--
Default value
---------
P-0-3036, Maximum motor voltage, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The parameter contains the initial value (default) for "P00536, Maximum mo
tor voltage".
P00536.
See also Parameter Description "P00536, Maximum motor voltage"
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
%
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.32
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
1
--
Default value
---------
P-0-3039, Stator leakage inductance, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Value for the stator leakage inductance of an asynchronous motor stored in the
In the case of MAD and MAF motors with encoder data memory, the value is
copied to the effective parameter "P04039, Stator leakage inductance" when
the controller is switched on.
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
mH
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
3
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.13.33
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
P-0-3040, Rotor leakage inductance, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Value for the rotor leakage inductance of an asynchronous motor stored in the
copied to the effective parameter "P04040, Rotor leakage inductance" when
the controller is switched on.
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
mH
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.34
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
3
--
Default value
---------
P-0-3041, Motor magnetizing inductance, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Value stored in the encoder data memory for the magnetizing inductance of an
asynchronous motor.
copied to the effective parameter "P04041, Motor magnetizing inductance"
when the controller is switched on.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
FEEDB_I2C
mH
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
DEC_OV
3
--

and Controls
5.13.35
P-0-3042, Characteristic of motor magnetizing inductance, encoder

mem.
Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
List of values stored in the encoder data memory. These values are describing
the characteristic of the magnetizing inductance of an asynchronous motor.
copied to the effective parameter "P04042, Characteristic of motor magnet
izing inductance" when the controller is switched on.
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
---
Input
MPB:
MPC:
MPD:
MPH:
5.13.36
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte var.
DEC_OV
3
--
Default value
---------
P-0-3043, Rotor time constant, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Value stored in the encoder data memory for the rotor time constant of an
asynchronous motor.
In the case of MAD and MAF motors the value is copied to the effective pa
rameter "P04043, Rotor time constant" when the controller is switched on.
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
ms
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.37
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_OV
3
--
Default value
---------
P-0-3050, Motor inductance, encoder memory

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
MPB
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
-closed loop
--
MPH
MPD
MPC
Value for the winding inductance of the motor stored in the encoder data mem
ory. The content of this parameter is copied to the effective parameter
"P04047, Motor inductance" when the controller is switched on. This is only
possible with BRC housing motors with encoder data memory like MHD, MKD
and MKE, for example!
Memory"
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
mH
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.38
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
2
--
Default value
---------
P-0-3051, Encoder memory, operating hours counter, motor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter is only valid for Rexroth motors of the "IndraDyn S" and "Indra
Dyn A" ranges as of the 3rd quarter of year 2007 with encoder option "1", "2"
or "6" (motor type code section no. 18)! It shows the data of the operating hours
counter stored in the motor encoder, see "Structure" below.
The count of the operating hours counter is determined by the controller in a 2
ms clock (P-0-2051) and stored hourly in the active, non-volatile memory (flash
or MMC) of the controller.
P-0-3051 is only updated, however, after the control voltage supply has been
switched on by, if necessary, storing the value of parameter P-0-2051 in pa
rameter P-0-3051!
To store the current operating data of the motor, stored in the

controller, in the encoder memory for servicing, switch control
voltage on again before replacing the motor!
Resetting the operating hours counter is impossible for the

above-mentioned Rexroth motors!

and Controls
Structure
List parameter with the elements

List ele
ment
Operating time
Default val Unit

ue
Definition
duration drive
enable
0.0
duration during which drive

enable (AF) had been set for
the motor
duration motion 0.0
duration during which the ac

tual velocity of the motor was
unequal "0" (or >S-0-0124?)
duration motor
warning tem
perature
duration during which the

motor temperature had ex
ceeded the warning thresh
old (S-0-0201)
Fig.5-256:
Use
List elements P-0-3051, Encoder memory, operating hours counter,

motor
The operating hours counter data of the above-mentioned Rexroth motors are
available in the encoder data memory for servicing and can be used for as
sessing the motor failure!
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
s
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.39
0.0
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_OV
1
--
Default value
---------
P-0-3052, Encoder memory, thermal operating data, motor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter is used to display the thermal operating data of the motor stored
in the encoder data memory.
The parameter is write-protected and cannot be changed by cus
tomers.
or "6" (motor type code section no. 18)! It shows the thermal operating data of
the motor stored in the motor encoder, see "Structure" below.
The thermal operating data (P-0-2052) are determined by the controller in a 2
ms clock and stored hourly in the active, non-volatile memory (flash or MMC)
of the controller.

and Controls
rameter P-0-3052!

Resetting the thermal operating data is impossible for the


Structure

List ele
ment
Operating time
Default val Unit

ue
Definition
maximum tem
perature
0.0
maximum winding tempera

ture which ever occurred dur
ing the operating time (AF)
average tem
perature
0.0
average winding tempera

ture, averaged over the total
operating time (AF) of the
motor
Fig.5-257:
Use
List elements P-0-3052, Encoder memory, thermal operating data, mo

tor
The thermal operating data of the above-mentioned Rexroth motors are avail
able in the encoder data memory for servicing and can be used for assessing
the motor failure!
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
C
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.40
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
DEC_MV
1
--
Default value
---------
P-0-3053, Encoder memory, mechanical operating data, motor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
MPD
MPD
MPD
MPC
MPC
or "6" (motor type code section no. 18)! It shows the mechanical operating data
of the motor stored in the motor encoder, see "Structure" below.
The mechanical operating data (P-0-2053) are determined by the controller in
a 2 ms clock and stored hourly in the active, non-volatile memory (flash or MMC)
of the controller.

and Controls
rameter P-0-3053!

Resetting the thermal operating data is impossible for the


Structure

Operating time
List ele
ment
maximum
locity
ve 0
min-1
maximum velocity of motor

which ever occurred during
the operating time (AF)
average veloci 0
ty
min-1
average winding tempera

ture, averaged over the total
operating time (AF) of the
motor
List elements P-0-3053, Encoder memory, mechanical operating data,

motor
The mechanical operating data of the above-mentioned Rexroth motors are

available in the encoder data memory for servicing and can be used for as
sessing the motor failure!
Function:
Memory:
Par
FEEDB_I2C
Editability:
Validity ch.:
PM
--
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.13.41
Definition
Fig.5-258:
Use
Default val Unit

ue
min./max.
--- / ----- / ----- / ----- / ---
4Byte var.
DEC_OV
S-0-0045
S-0-0046
--
Default value
---------
P-0-3055, Maximum motor torque/force, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
+
-
-
-
-
MPD
MPD
MPC
MPC
Motor-specific value for the maximum torque of the motor stored in the encoder
data memory. When the controller is switched on, the value, in the case of MSK
motors (as of encoder memory version 4.5), is copied to the effective parameter
"S-0-0534, Maximum torque/force of motor".

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
Nm
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.42
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
StdNul / MaxLong
StdNul / MaxLong
StdNul / MaxLong
StdNul / MaxLong
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
3
--
Default value
---------
P-0-3056, Nominal motor torque/force, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
--
-
-
-
-
MPD
MPD
MPC
MPC
Motor-specific value for the continuous torque at standstill of the motor stored
in the encoder data memory. When the controller is switched on, the value, in
the case of MSK motors (as of encoder memory version 4.5), is copied to the
effective parameter "S-0-0533, Nominal torque/force of motor".
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
Nm
--
Input
MPB:
MPC:
MPD:
MPH:
5.13.43
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
StdNul / MaxLong
StdNul / MaxLong
StdNul / MaxLong
StdNul / MaxLong
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
3
--
Default value
---------
P-0-3057, Speed-dependent torque/force coefficient, encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
--
-
-
-
-
MPD
MPD
MPC
MPC
Motor-specific value for the speed-dependent torque/force coefficient stored in

the encoder data memory. When the controller is switched on, the value, in the
case of MSK motors (as of encoder memory version 4.5), is copied to the ef
fective parameter "P-0-0449, Speed-dependent torque/force coefficient".
See also Functional Description "Correction of Torque/Force Constant".
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
Par
FEEDB_I2C
s
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
StdNul / StdUMax
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---
2Byte
DEC_OV
5
--

and Controls
MPC:
MPD:
MPH:
5.13.44
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
-------
P-0-3058, Temperature-dependent torque/force coefficient, enc. mem

ory
Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
--
-
-
-
-
MPD
MPD
MPC
MPC
Motor-specific value for the thermal torque/force coefficient stored in the en

coder data memory. When the controller is switched on, the value, in the case
of MSK motors (as of encoder memory version 4.5), is copied to the effective
parameter "P00448, Temperature-dependent torque/force coefficient".
Function:
Memory:
Unit:
Cycl. tra.:
Par
FEEDB_I2C
%
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.13.45
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
2Byte
DEC_OV
1
--
Default value
---------
P-0-3100, Version of data structure in encoder memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
There are differences in the data structure in the encoder memory of the BRC
housing motors. The following types are distinguished:
P-0-3100
Motor types
MHD, MKD, MKE
SF
MSK
MSK, MAD, MAF
Selecting the data structure version in P03100, however, is only

required when the motor encoder data memory is written at the
factory. The parameter therefore is irrelevant for the user!

and Controls
By means of this parameter it is possible to set according to which version of
data structure the encoder memory parameters are stored. The version of data
structure basically decides on the data format and in addition on the storage
address in the encoder memory for each individual parameter.
You have to take into account that parameter "P00077, Assign
ment motor encoder->optional slot" and, if necessary, also the
parameters "P00078, Assignment optional encoder ->optional
slot" and "P00079, Assignment measuring encoder ->optional
slot" already have to be set before this parameter is written.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
min./max.
--- / ----- / ----- / ----- / ---
5.14
P-0-3200 to P-0-3599 Safety Technology
5.14.1
P-0-3200, Safety technology firmware code

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
---------
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter contains the version designation of the safety technology firm
ware.
See also Functional Description "Integrated Safety Functions"
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.14.2
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
ASCII
0
--
Default value
---------
P-0-3201, Change counter of safety technology memory

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC

and Controls
Function
This parameter is incremented with each change of the safety technology

memory, i.e. whenever the following commands are triggered:
P03204, C3000 Synchronize and store safety technology IDN command
S00262, C07_x Load defaults procedure command (with "P04090,

Configuration for loading default values" = 165 hex)

Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.14.3
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
---------
P-0-3202, Operating hours at last change of memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter reflects the time of the last change of the safety technology
memory. It is part of the safety technology memory.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-s
--
Input
MPB:
MPC:
MPD:
MPH:
5.14.4
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
1
--
Default value
---------
P-0-3203, Memory image of safety technology memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter produces a hexadecimal list that contains an image of the last
states of the safety technology memory. By means of an external program it is
possible to trace back the last two states.
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
4Byte var.
HEX

and Controls
Unit:
Cycl. tra.:
---
Input
MPB:
MPC:
MPD:
MPH:
5.14.5
Extr. val. ch.:

Comb. check:
---
min./max.
--- / ----- / ----- / ----- / ---
Decim. pl.:
Switchable:
0
--
Default value
---------
P-0-3204, C3000 Synchronize and store safety technology IDN com

mand
Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This command causes safety technology channel 2 to apply the data of channel
1 and store it to parameter memory channel 2 (optional safety technology mod
ule). The command can only be executed in operating mode in and after phase
3 and with firmware version MPx-03 and above.
Use
After having been correctly entered twice, the safety parameters are stored to
the parameter memory of channel 1 by means of the standard mechanisms
available. Channel 2 of the safety technology, however, receives the data only
if the "C3000 Synchronize and store safety technology IDN command" is exe
cuted.
Every change of the safety technology memory can be assigned to an un
equivocal change status which has to be documented together with the pass
word within the scope of the safety acceptance test. This is achieved with the
following parameters:
P0-3201, Change counter of safety technology memory
P-0-3202, Operating hours at last change of memory
P0-3203, Memory image of safety technology memory
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.14.6
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-3205, Safety technology device identifier

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function

--
The safety technlogoy device identifier contains a text which uniquely describes
the function of the axis and the application in which it is used. This allows un
equivocal assignment of the parameter file of the parameter backup to an
application.
Within the scope of the safety acceptance test, the safety technol
ogy device identifier must be described and documented in the
acceptance report with due care. The parameter is stored in the
safety memory, thus becoming an integral part of "P03208, Back
up of safety techn. data channel 2".
Use
After the control section hardware has been replaced, an appropriate sequence
is used to ensure that the safety data is loaded from channel 1 and channel 2.
After the safety memory has been loaded, the service technician uses the safety
technology device identifier to check whether the loaded parameter file is the
same as that specified in the safety documentation.
If the loaded parameter file is the same as that in the safety docu
mentation, the service technician makes an appropriate note in the
documentation. In this case, it is not necessary to repeat the safety
acceptance test.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.14.7
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
ASCII
0
--
Default value
---------
P-0-3206, Safety technology password

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Via parameter "P03206" the safety technology can be activated. The safety
technology password serves to disable the write access to all parameters that
are relevant for the safety technology. "INDRASAVE" has been entered as the
default password ex works in "P03206, Safety technology password".


and Controls
Use
Allowed characters and length

The safety technology password
must comprise at least 3 characters and has a maximum length of 10

characters,
may contain the following characters: "A Z", "a - z", numerals "0 9".
Password states
The safety technology password function can assume 3 different states:
Fig.5-259:
Function:
Memory:
Unit:
Cycl. tra.:
Possible Password States

Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.14.8
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
ASCII
0
--
Default value
---------
P-0-3207, Safety technology password level

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC

and Controls
Function
This parameter shows the current status of the "P03206, Safety technology
password".
Structure
The safety technology password can assume 3 different states:

Level
Safety technology password status
Safety technology status
No safety technology password activated, Safety technology not active

write access to safety technology param
eter allowed
Safety technology password activated and Safety technology active

enabled,
write access to safety technology param
eter allowed
Safety technology password activated and Safety technology active

disabled,
no write access to safety technology pa
rameter allowed
Fig.5-260:
Function:
Memory:
Unit:
Cycl. tra.:
Safety Technology Password States

Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.14.9
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
---------
P-0-3208, Backup of safety techn. data channel 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter allows replacement of the control section hardware without re

quiring a subsequent safety commissioning procedure. This is possible only if
the user has used parameter "P03205, Safety technology device identifier" to
ensure that he loaded the parameter pertaining to the application. The replace
ment procedure must be documented by the user.
Use
This parameter consists of a variable list of hex values, which represents a

binary image of the safety technology memory. Along with other parameters,
"P03208" can be read from and written back to a parameter file as a part
thereof. Writing back of this parameter (variable list with hex values) is only
possible with deactivated safety technology.
The stored parameter file can be loaded to the new hardware as follows:
If you use a commissioning software (e.g. IndraWorks), ensure that the

safety technology is not activated and that you are in parameter mode,

and Controls
open the "File->Load" menu item, select the file and start the loading pro
cedure.
If you use an MMC, the new hardware, when run up for the first time,
displays "New MMC", "there". Acknowledge this message so that you can
continue working on the drive with this MMC. If the safety technology card
has been plugged, another prompt is displayed: "load new", "safety ?".
This message prompts you to once more actively confirm loading of the
data stored to the MMC via "P-0-3208, Backup of safety techn. data chan
nel 2".
With the safety technology being deactivated, parameter "P03208" is trans

mitted to channel 2 of the safety technology during the transition command
phase 3 to phase 4. This is followed by a checksum check and re-initialization
on channel 2. If the check is unsuccessful, the message "F3152 Incorrect back
up of safety technology data" is displayed. To verify that the safety technology
parameter is properly assigned to the application, an ASCII parameter is avail
able which contains a description of the application. This parameter is buffered
in the safety memory and must be uniquely written to and documented during
the safety acceptance test.
After having loaded the safety technology memory, verify and document that
the loaded data complies with the safety documentation. If yes, the safety ac
ceptance test does not have to be repeated. If an MMC is used, parameter
"P-0-3205, Safety technology device identifier" can be read from the display.
In MPx04 and above, the steps described are already completed in
parameter mode if an MMC is used.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.14.10
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte var.
HEX
0
--
Default value
---------
P-0-3209, Safety technology commissioning identifier

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
The commissioning software (e.g. IndraWorks) is intended to facilitate com

missioning by means of customized dialog windows. This parameter defines
the status of commissioning via the software. This parameter serves to ensure
that the commissioning software is running synchronously with the drive.

and Controls


Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.14.11
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
ASCII
0
--
Default value
---------
P-0-3210, Safety technology configuration

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter is used for configuration of safety technology functions.

This parameter is a 2-byte list parameter. Element 2 is a copy of
element 1. The default setting is 0x2012, 0x2012.
Structure
Bit
Special mode "Safe standstill"

0: "Safe operational stop (SBH)" (in MPx06 and below) or
"Safe stop 2 (SS2)" (in MPx-07 and above)
1: "Safe standstill (SH)" (in MPx06 and below) or
"Safe stop 1 (SS1)" (in MPx-07 and above)
Diagnostic output
0: Activation of a PLC (I/O 10n = output)
1: Activation of a safety door (I/O 10n: internal relay, which
switches against 0 V, select only if bit 2 = 1)
Safety diagnosis and acknowledgement, I/O10, I/O10n, I/O20

0: Slave
1: Master (only select it when bit 8 = 0)
Dynamization of safety function selection, I/30

0: Slave
1: Master (for external dynamization, all axes of the safety zone
must be slaves)
Comment

and Controls
Bit
Safety technology operation mode transitions
Comment
0: NC-controlled (transfer time can be shortened by control unit,

P03212, bit 11)
1: Drive-controlled (except for transitions after special mode
"motion", (SBB1..4 in MPx06 and below and SMM14 in MPx07
and above)
5
Safe homing procedure Evaluation of the home switch for chan

nel 2
0: Dynamic evaluation (edge, configure bit 11)
1: Static evaluation; configure reference input channel 2
(P03211)
Type of dynamization of safety function selection

0: Jointly
1: Separately for channels 1 and 2 (dynamization signal required
for channel 1, P03212, bit 10)
Deactivation of acknowledgement support at I/O 20

0: Zone acknowledgement. Several drives are connected via
acknowledgement I/O 20
As of
MPx03V12
1: Single acknowledgement. Drive operates autonomously with

out acknowledgement support. Acknowledgement signal is stat
ic 24 V (only effective if bit 2 = 0)
9
Reaction to F7 error
0: As of MPx03V20: Velocity command value reset
As of
MPx03V20
As of MPx05: According to settings in P-0-0119, bit 7...4

1: Torque disable
The torque disable setting should only be made after the system
or machine has been subjected to a risk assessment.
Attention: Observe note
10
Diagnostic output channel 2 (I/O10n) is only effective if bit 2 = 0

0: Active
1: Not active (prevents mutual interference of axes in case of bus
wiring of the optional safety technology module)
11
Edge evaluation of home switch is only effective if bit 5 = 0

0: Positive
1: Negative
12
Defined safety with parked axis

0: No safety
As of
MPx03V12
1: Safety (observe safety instructions in the functional and op

erator descriptions)
13
Safely-monitored deceleration
0: Not active
1: Active
As of MPx03

and Controls
Bit
Comment
14
Scaling of the safety parameters
As of MPx03
0: According to setting of scaling system

1: Fixed format with relation to motor
15
Gear independence with safety technology encoder mounted on As of

the load side
MPx05V10
0: Not active
1: Active (only select it when bit 14 = 0)
Fig.5-261:
P03210, Safety technology configuration
The F7 error reaction "torque disable" should be used only in special

cases. It is intended for applications where a mandatory decelera
tion by velocity command value reset causes general problems, e.g.
with mechanically coupled axes. The machine manufacturer is re
sponsible for the F7 error reaction "torque disable" and his risk
analysis has to show his responsibility.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.14.12
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
BIN
0
--
Default value
---------
P-0-3211, Safety technology I/O configuration list, channel 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter provides a list for the functional linking of the individual I/Os of
the optional safety technology module (at connector X41) with defined safety
technology control signals.

and Controls
Structure
Comment
0: Unassigned
1: Mode selector (BA up to MPx06 / MS as of MPx-07)
2: "Drive interlock (ASP)" (in MPx06 and below) or
"Safe stop 1 (Emergency stop) (SS1 ES)" (in MPx-07 and above)
3: Enabling control (ZT up to MPx06 / EC as of MPx-07)
4: Home switch (REF)
5: Safety switch 1 (S1)
6: Safety switch 2 (S2)
7: HAT diagnosis
0xC: Safety techn. input 1
Only in connec
tion with
PROFIsafe, in
MPx04 and
above
0xD: Safety techn. input 2

0xE: Safety techn. input 3
0xF: Safety techn. input 4
List elements
03
List elements
4...7
Fig.5-262:
Function:
Memory:
Unit:
Cycl. tra.:
correspond to the input signals E1n, E2n, E3n, E4n of the optional safety
technology module
are the copy of values 0...3 for duplicate entry purposes
Safety technology I/O configuration list, channel 2
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.14.13
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
HEX
0
--
Default value
---------
P-0-3212, Safety technology control word, channel 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter provides binary control signals for online control of the safety
technology functions via digital hardware inputs or via the master communica
tion (e.g. SERCOS) of the drive. To achieve this, the desired control bits from
"P-0-3212" must be appropriately configured in the particular interfaces.
See also Functional Description "SERCOS Interface"

and Controls
Structure
Bit
Comment
Mode selector (BA up to MPx06 / MS as of MPx-07)
"Drive interlock (ASP)" (in MPx06 and below) or "Safe stop

1 (Emergency stop) (SS1 ES)" (in MPx-07 and above)
Enabling control (ZT in MPx06 and below / EC in MPx-07

and above)
Safety switch 1 (S1)
Diagnostic input channel 1 (E10)

(Feedback from the relay of the safety door control or mon
itoring of the safe output)
10
Dynamization input for channel 1

(I/O30 alternative with separate dynamization of safety func
tion selection, P-0-3210, bit 7 = 1)
11
NC-Ready
(In case of NC-controlled safety technology mode transi
tions, P03210, bit 4 = 0, the control unit can shorten the
transfer times P03220/P03225; the selected monitoring
functions will be reactivated immediately!)
12
Safety techn. input 1
Only in connec
tion with
PROFIsafe, in
MPx04 and
above
13
Only in connec
tion with
PROFIsafe, in
MPx04 and
above
14
Only in connec
tion with
PROFIsafe, in
MPx04 and
above
15
Only in connec
tion with
PROFIsafe, in
MPx04 and
above
Fig.5-263:
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Safety Technology Control Word Channel 1

Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
2Byte
BIN
0
--

and Controls
MPD:
MPH:
5.14.14
--- / ----- / ---
-----
P-0-3213, Safety technology operating status

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter provides binary status signals for online monitoring of the safety
technology states. By means of this status word, the individual status signals
can be optionally programmed to existing real-time bits of the master commu
nication, hardware I/Os or I/O extensions.
Structure

Bit
6...0
Safety technology state
Comment
0000000: - 0000001: Normal operation (NO)

0000010: "Drive interlock (ASP)" (in MPx06 and below)
or "Safe stop 1 (emergency stop) (SS1 ES)" (in MPx-07
and above)
0000100: "Safe standstill (SH or SBH)" (with MPx06 and
below) and "(SS1 or SS2)" (with MPx-07 and above)
0001000: "Special mode "Safe Motion" (SBB1)" (with
MPx06 and below) and "(SMM1)" (with MPx-07 and
above)
above)
above)
above)
7
Safe position status

1: Safe reference available
0: Safe reference not available
As of MP*03VRS

and Controls
Bit
9,8
Safety technology error
Comment
11: Error clearance through optional safety technology

module "(S1)" with (MPx-06) and below and "(S2)" (with
MPx-07 and above) and controller assembly
10: Error clearance through optional safety technology
module "(S1)" with (MPx-06) and below and "(S2)" (with
MPx-07 and above) and controller assembly
01: Error clearance through controller assembly
00: No safety technology error
10
Parameter mode
1: Parameter mode active, i.e. safety technology param
eters can be changed
0: Operating mode active
11
Status of parking axis
As of MPx03 V12
1: Parking axis active

0: Parking axis inactive
14
Safety technology use level
As of MPx03 V12
1: Use of safety technology not possible

0: Free use of safety technology
15
Safety technology activation

1: Safety technology functionality deactivated
0: Safety technology functionality activated
Fig.5-264:
Function:
Memory:
Unit:
Cycl. tra.:
P03213, Safety technology operating status

Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.14.15
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-3214, Safety technology status word, channel 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter provides binary status signals of the safety technology functions
of channel 1. By means of this status word, the individual status signals can be
optionally programmed to existing real-time bits of the master communication,
hardware I/Os or I/O extensions.
See also documentation

and Controls
Structure
Up to MPx06: "Integrated Safety Technology"
As of MPx07: "Integrated Safety Technology According to IEC61508"
Bit
Comment
Safety technology status output of controller
I/O_10 with safety technolo

gy I/O
Safety technology output
Only in connection with

PROFIsafe, with MPx04 and
above
Fig.5-265:
Function:
Memory:
Unit:
Cycl. tra.:
P03214, Safety technology status word, channel 1

Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.14.16
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-3215, Selected safety technology operating status

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter serves to display the selected safety technology operating

states.
Parameter "P-0-3213, Safety technology operating status" indi
cates whether the selected safety technology operating status will
indeed become active.
Structure

Value Designation/function
0x0
Normal operation (NO)
0x1
"Drive interlock (ASP)" (with MPx06 and below) or

"Safe stop 1 (emergency stop) (SS1 ES)" (with MPx-07
and above)
0x2
Special mode Safe standstill

"Safe standstill (SH)" (with MPx06 and below) or safe stop
1 (with MPx-07 and above) /
"Safe operational stop (SBH)" (with MPx06 and below) or
safe stop 2 (with MPx-07 and above)
Comment

and Controls
Value Designation/function
0x3
"Special mode "Safe Motion" 1 (SBB1)" (with MPx06 and

below) and (SMM1) (with MPx-07 and above)
0x4

0x5

0x6

0x7
Parking axis
Fig.5-266:
Function:
Memory:
Unit:
Cycl. tra.:
As of MPx03V12
Coding of the Selected Safety Technology Operating States

Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.14.17
Comment
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
HEX
0
--
Default value
---------
P-0-3216, Active safety technology signals

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This list parameter serves to display the active safety technology signals, i.e.
the current state of the safety technology signals of channels 1 and 2.
The list has the following structure:
The first element corresponds to the state of the input/selection signals of

channel 1.
The second element corresponds to the state of the input/selection signals

of channel 2.
Parameter "P03216, Active safety technology signals" allows lo
calization of errors in the configuration of the wiring of the input
signals.

Structure
An element in the list has the following structure:

Bit
"Mode selector" (BA with MPx06 and below and

MS with MPx-07 and above)
"Drive interlock (ASP)" (with MPx06 and below)

and (ES) (with MPx-07 and above)
Comment

and Controls
Bit
"Enabling control (ZT)" (with MPx06 and below)

and (EC) (with MPx-07 and above)
"Safety switch 1 (S1)"
"Safety switch 2 (S2)"
Safety technology output
Home switch (REF)
Diagnostic input E10 (channel 1 only)
12

PROFIsafe, with MPx04
and above
13

and above
14

and above
15

and above
Fig.5-267:
Function:
Memory:
Unit:
Cycl. tra.:

and above
Active Safety Technology Signals

Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.14.18
Comment
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
HEX
0
--
Default value
---------
P-0-3217, I/O status channel 2 (optional safety technology module)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter displays the current state of the inputs/outputs of the optional
safety technology module.

and Controls
Structure
Bit
Input E1n
Input E2n
Input E3n
Input E4n
E/A 10n Diagnosis/Door locking
E/A 20 Acknowledgement
E/A 30 Dynamization of safety function selection
Status bit: Dynamic signal at E/A20
Fig.5-268:
Function:
Memory:
Unit:
Cycl. tra.:
P-0-3217, I/O status channel 2 (optional safety technology module)

Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.14.19
Comment
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
P-0-3218, C3700 Command Manually unlocking the safety door

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter serves to start command "C3700" which allows manual un

locking of the safety door in the event of an encoder error.
See also Troubleshooting Guide "C3700, Command Manually unlocking the
safety door"
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.14.20
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
P-0-3219, Extended safety technology diagnosis

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
-
-
-
-
-
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
--
MPC
Function
In MPx06 and below, the name of this parameter was "Diagnostic

safety technology message".
In the event of certain safety technology errors (cf. F3xxx and F7xxx), param
eter "P03219" displays detailed error codes of channels 1 and 2.
The error codes allow extended diagnosis and provide information
about the error location and the exact cause [see Troubleshooting
Guide "Extended Diagnosis (P-0-3219)" or "Extended Diagnosis
(P-0-3219) as of MPx07"].
If an error code is not contained in the documentation, please con
tact our service department.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.14.21
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte var.
DEC_OV
0
--
Default value
---------
P-0-3220, Tolerance time transition from normal operation

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
In case of transitions from normal operation to a safety function, this parameter

defines the maximum time available for adjusting the command value system
of the drive to the new safety function.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
s
--
Input
MPB:
MPC:
MPD:
MPH:
5.14.22
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
0,1 / 120,0
0,1 / 120,0
0,1 / 120,0
0,1 / 120,0
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
P-0-3221, Max. tolerance time for different channel states

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
-
-
-
MPH
MPH
MPH
MPD
MPD
MPD
4Byte var.
DEC_OV
1
--

and Controls
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter defines the maximum time permitted to elapse while the input/
section signals (safety technology states) of the two monitoring channels are
different from each other. If this time is exceeded, the error message "F3141
Selection validation error" is generated.
See also Troubleshooting Guide "Error Message F3141 Selection validation
error"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
s
--
Input
MPB:
MPC:
MPD:
MPH:
5.14.23
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
0,1 / 2,0
0,1 / 2,0
0,1 / 2,0
0,1 / 2,0
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_OV
1
--
Default value
---------
P-0-3222, Max. activation time of enabling control

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
The numerical value entered in parameter "P03222" defines the maximum

time permitted for actuating the enabling control. After the time entered in this
parameter has elapsed, the enabling control must be removed. The time is
effective if the "mode selector" or "drive interlock" selection signals are actuated
in addition to the enabling control.
The special mode "motion" is therefore limited in time.
In MPx-05 and above, this time is only effective if the "individual
activation times of enabling control" are not activated in parameter
"P-0-3239, Configuration of global safety technology functions".
This time monitoring function allows discovering unallowed manipulations of
the enable control; if the maximum activation time of enabling control is excee
ded, the error "F3142 Activation time of enabling control exceeded" is gener
ated.
Use
Observe the following aspects for parameterizing "P-0-3222":
The maximum activation time of enabling control must be defined in rela

tion to the maximum application-related travel time plus a safety allowance
(e.g. 10%).

and Controls
In special applications, the monitoring function can be deactivated by en

tering "0".
You can do without the monitoring of the activation time, if it is not
common practice to use an enabling control in your industrial sector
and if constant motion does not represent any danger. The machine
manufacturer is responsible for the monitoring of the activation time
and his risk analysis has to show his responsibility.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
s
--
Input
MPB:
MPC:
MPD:
MPH:
5.14.24
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P23
P2->P3
+
--
min./max.
0,0 / 3600,0
0,0 / 3600,0
0,0 / 3600,0
0,0 / 3600,0
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_OV
1
--
Default value
---------
P-0-3223, Time interval for dynamization of safety function selection

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter defines the cycle time for the "Dynamization of safety function
selection" (period of the dynamization signal).
The "dynamization of safety function selection" serves to discover "sleeping
errors" in the wiring of the input signals or selection elements. A dynamic signal
is applied to the selection elements. If functioning properly, this dynamic signal
is visible at the appropriate input of channel 1 or channel 2, depending on the
switching state of the NC/NO contacts.
Use
Dynamization variants:
The variants available are internal, external or separate dynamization of safety
function selection.
If "internal dynamization" is used, the drive configured as "master for dynami
zation of safety function selection" (P03210, Safety technology control word,
bit 3 = 1) generates the "dynamization signal". The following parameter is output
at I/O30 at a time complying with the parameterization:
P03223, Time interval for dynamization of safety function selection
P03224: Duration of dynamization pulse of safety function selection
If "external dynamization" (P03210, Safety technology configuration, bit 3 = 0

on all axes involved) or "separate dynamization " (P03210, Safety technology
configuration, bit 7 = 1) is used, the parameterized time serves only as an upper
limit for monitoring the signal shape of the dynamization signal. The signal that
is generated externally may also be shorter.
Dynamization signal:
If internal or external dynamization of safety function selection is used, only E/
A30 is connected.

and Controls
If separate dynamization is used, the dynamization signal for channel 1, which
has been generated by the control unit, must be applied in "P03212, Safety
technology control word, channel 1", bit 10.
The "time interval for dynamization of safety function selection" has
an effect on the reaction time, because during the dynamization of
safety function selection, the evaluation of the selection signals in
evitably has to be suspended. This is why the time should not be
too short.
If the "time interval for dynamization of safety function selection" is exceeded,
the warning "E3103 Dynamization failed" is output in normal operation mode;
if the operating status refers to safety technology, the error message "F3134
Dynamization time interval incorrect" is emitted.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
s
--
Input
MPB:
MPC:
MPD:
MPH:
5.14.25
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
1,0 / 3600,0
1,0 / 28800,0
1,0 / 3600,0
1,0 / 28800,0
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_OV
1
--
Default value
---------
P-0-3224, Duration of dynamization pulse of safety function selection

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter defines the maximum duration of the dynamization pulse.

Use
The value refers to the signal at the dynamization input I/O30 and, if separate
dynamization is used (P03210, Safety technology configuration, bit 7), addi
tionally to the dynamization input for channel 1 (P03212, Safety technology
control word, channel 1, bit 10).
In case of external or separate dynamization, the parameterized time value
represents an upper limit. A dynamization signal that has been generated ex
ternally may fall below this value. The minimum pulse duration is 30 millisec
onds. In case of "internal dynamization", the drive generates a dynamization
signal with the pulse length parameterized here.
In order to discover errors in the wiring of the input signals or selection elements,
a dynamic signal is applied to the selection elements. If functioning properly,
this dynamic signal is visible at the appropriate input of channel 1 or channel 2,
depending on the switching state of the NC/NO contacts.
The "duration of dynamization pulse of safety function selection"
has an effect on the reaction time, because during the dynamization
of safety function selection the evaluation of the selection signals
inevitably has to be suspended. This is why the duration should not
be too long.

and Controls
If the "duration of dynamization pulse of safety function selection" is exceeded,
the error message "F3135 Dynamization pulse width incorrect".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
s
--
Input
MPB:
MPC:
MPD:
MPH:
5.14.26
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
0,1 / 1,0
0,1 / 1,0
0,1 / 1,0
0,1 / 1,0
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_OV
1
--
Default value
---------
P-0-3225, Tolerance time transition from safe operation

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
In case of transitions from one safety function to another, this parameter defines
the maximum time available for adjusting the command value system of the
drive to the new safety function.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
s
--
Input
MPB:
MPC:
MPD:
MPH:
5.14.27
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
0,1 / 120,0
0,1 / 120,0
0,1 / 120,0
0,1 / 120,0
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_OV
1
--
Default value
---------
P-0-3226, Delay Safely-monitored deceleration

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Function
In MPx06 and below, the name of this parameter was "NC delay
trend monitoring".
This numerical value defines a time interval which is used within the scope of
the functionality of "Safely-monitored deceleration".
The deceleration ramp "P03282" is offset by this time interval as compared
with the start of transfer (transitions from one safety technology operating status
to the other). As early as during this time interval, the actual velocity is monitored
to ensure that it does not exceed the value at the start of transition.

and Controls
The "delay trend monitoring" is effective in case of the following changeovers
among safety technology operating states from:
Normal operation with drive enable to "Drive interlock" (in MPx06 and be
low) or "Safe stop 1 (emergency stop) (Emergency stop)" (in MPx-07 and
above), or
"Safe standstill" (in MPx06 and below) or "safe stop 1" (in MPx-07 and
above), or
"Safe operational stop" (in MPx06 and below) or "safe stop 2" (in MPx-07
and above).
Special mode "motion" with drive enable to "Drive interlock" (in MPx06 and
below) or "Safe stop 1 (Emergency stop)" (in MPx-07 and above), or
"Safe standstill" (in MPx06 and below) or "safe stop 1" (in MPx-07 and
above), or
"Safe operational stop" (in MPx06 and below) or "safe stop 2" (in MPx-07
and above).
During all transitions to the internal error state with drive enable.

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
ms
--
Input
MPB:
MPC:
MPD:
MPH:
5.14.28
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
0 / 1000
0 / 1000
0 / 1000
0 / 1000
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_OV
0
--
Default value
---------
P-0-3228, C4000 Homing procedure command channel 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Command parameter for establishing the safe homing procedure to safety

technology channel 2.
Channel 2 waits for a parameterized homing event which is, for example, trig
gered by a traversing motion of the drive within the scope of the "C0600 Drivecontrolled homing procedure command". After the homing event has been
detected and the homing procedure of "P03280, Actual position value, chan
nel 2" has been completed without fault, the drive sets the status "safely
homed", parameter "P03213, Safety technology operating status", bit 7=1.
Use
Parameter "P03210, Safety technology configuration", bits 5 and 11, defines

whether a static or a dynamic homing signal is used and whether the positive
or the negative edge of the dynamic signal is to be evaluated.
The command does not trigger any independent motion of the drive.

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.14.29
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-3229, Tolerance window for safe homing procedure

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter defines the maximum allowed deviation of the actual position
values from channels 1 and 2 while the "C4000 Homing procedure command
channel 2 " is executed. Once the command has been executed successfully,
"P03280, Actual position value, channel 2" is offset a second time to be
synchronized with the actual position value of channel 1.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.14.30
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte var.
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
P-0-3230, Monitoring window for safe stop 2

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Function
In MPx06 and below, the name of this parameter was "Monitoring

window for safety related operational stop".
This parameter defines the maximum allowed travel distance in relation to ac
tual position taken at the time of activation of "Safe operational stop
(SBH)" (with MPx06 and below) or "Safe stop 2 (SS2)" (with MPx-07 and
above).
If the monitoring window is exceeded, the error "F7030 Position window Safe
stop 2 exceeded" is generated.

and Controls
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.14.31
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte var.
DEC_OV
S-0-0077
S-0-0078
--
Default value
---------
P-0-3231, Reference position for safe reference

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter is used to define the position value for channel 2, which will
become effective as actual position value after execution of the command
"C4000 Homing procedure command channel 2", provided the parameterized
homing event was detected by channel 2.
Parameter "P-0-3231" can be used to establish a certain position
reference system for channel 2.
See also Troubleshooting Guide "C4000 Homing procedure command chan
nel 2"
Record of Revisions
Version
Attribute
GEN-02VRS
Format: DEC_0V
GEN-02VRS
Validity ch.: P2-3
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.14.32
Comment
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte var.
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
P-0-3232, Standstill window for safe direction

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
-
-
-
-
-
-
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Hardware
Funct. package(s):
Device parameter:
Function

--
This parameter is used as monitoring window in connection with the safe di

rection within the scope of the "Special mode "Safe Motion"".
The parameter defines the maximum allowed travel distance in the non-enabled
direction, in relation to the actual position taken at the time of activation of
"Special mode "Safe Motion"" 1..4.
If the standstill window for safe direction is left into the non-enabled direction,
the error "F7031 Incorrect direction of motion" is generated.
See also Troubleshooting Guide "F7031 Incorrect direction of motion"
See also Troubleshooting Guide "F7021 Safety-related end position excee
ded" (with MPx06 and below)
See also Troubleshooting Guide "F7021 Safely-limited position excee
ded" (with MPx06 and above)
See also Application Manual "Integrated Safety Technology"
Use

Up to MPx06
In addition, the monitoring window is used for the safely-limited absolute

end position (with MPx04 and above), if the axis is outside of the safe end
positions. This allows the axis to return to the allowed position range.
The parameter defines the maximum allowed travel distance in the nonenabled direction in relation to the previous actual position (coupledmotion threshold). If the monitoring window is left in the non-enabled
direction, the error "F7021 Safety-related end position exceeded" is gen
erated.
As of MPx07
In addition, the monitoring window is used for the safely-limited absolute

end position, if the axis is outside of the safely-limited position. This allows
the axis to return to the allowed position range.
The parameter defines the maximum allowed travel distance in the nonenabled direction in relation to the previous actual position (coupledmotion threshold). If the monitoring window is left in the non-enabled
direction, the error "F7021 Safely-limited position exceeded" is generated.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.14.33
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte var.
DEC_OV
S-0-0077
S-0-0078
--
Default value
---------
P-0-3233, Velocity threshold for safe standstill

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function

--
This parameter defines a velocity threshold for the "Special mode "Safe stand
still"" or for the "Drive interlock" (in MPx06 and below) or "Safe stop 1 (Emer
gency stop)" (in MPx-07 and above).
Use
MPx06
If, on a changeover to the "Special mode "Safe standstill"" or after a drive in

terlock, this threshold is not fallen below within the "transition tolerance time",
the message "F7050 Time for stopping process exceeded" is emitted. In addi
tion, this threshold is used for monitoring the velocity command values in the
safe operational stop mode (except for torque control).
MPx07
If, on a changeover to the "Special mode "Safe standstill"" or after a "Safe stop
1 (Emergency stop)", this threshold is not fallen below within the "transition
tolerance time", the message "F7050 Time for stopping process exceeded" is
emitted. In addition, this threshold is used for monitoring the velocity command
values in the safe operational stop mode (except for torque control). In the event
of an error, the message "F7030 Position window Safe stop 2 exceeded" is
generated.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.14.34
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
4Byte var.
DEC_OV
S-0-0045
S-0-0046
--
Default value
---------
P-0-3234, Safe maximum speed

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter defines a velocity limit which is effective both in normal opera
tion and in special modes "SBB, SBH" (with MPx06 and below) or "SMM,
SS2" (with MPx-07 and above).
If the drive exceeds this threshold, the error message "F7020 Safe maximum
speed exceeded" is generated. The drive is decelerated (default is velocity
command value reset) with the configured F7 error reaction (P-0-3210, bit 9).
See also Troubleshooting Guide "F7020 Safe maximum speed exceeded"

Use

and Controls
In firmware version MPx-04 and above, this functionality can be configured

via a bit in "P03239, Configuration of global safety technology func
tions".
In older firmware version, monitoring cannot be deactivated but must be

made ineffective in applications where it is not required; this is achieved
by parameterizinig an accordingly high value.
In firmware version MPx-05 and above, this functionality can be combined

with a global monitoring of the direction of motion via a bit in "P03239,
Configuration of global safety technology functions".
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.14.35
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
4Byte var.
DEC_OV
S-0-0045
S-0-0046
--
Default value
---------
P-0-3235, Safely-limited position, positive

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Function
In MPx06 and below, the name of this parameter was "Safety

related end position, positive".
The end positions set in P03235 and P03236 relate to the actual
position value in P03280. This value might possibly deviate from
the actual position value in S00051 or S00053 (e.g., when en
coder corrections or the command C3300/C3400 are used).
The allowed travel range of an axis can defined by position limit values. The
"Safety related end position, positive" (in MPx06 and below) or "Safely-limited
position, positive" (in MPx-07 and above) defines the maximum allowed actual
position value in positive direction.
The parameterized position limits (P03235 and P03236) are monitored via
two channels by means of the functionality "Safety related limited absolute po
sition" (in MPx06 and below) and "Safely-limited position" (in MPx-07 and
above) if this is configured in parameter "P03239, Configuration of global
safety technology functions". Monitoring will then be effective both in normal
operation and in special mode.
Use

and Controls
Monitoring of the "Safety related limited absolute position" (in MPx06 and
below) and "Safely-limited position" (in MPx-07 and above) will not be
come effective before the drive has been safely homed (P03213, bit 7).
If "P-0-3235") is exceeded, the message "F7021 Safely-limited position

exceeded" is generated and the drive is decelerated (default is velocity
command value reset) with the configured F7 error reaction (P03210, bit
9).
If, depending on the current operation mode, position or velocity command

values are specified to the drive, which are outside of "P03235, Safety
related end position, positive" (in MPx06 and below) and "P03235, Safe
ly-limited position, positive" (in MPx-07 and above), the error message
"F7021 Safely-limited position exceeded" is generated and the drive is
decelerated (default is velocity command value reset) with the configured
F7 error reaction (P03210, Bit 9).
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.14.36
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte var.
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
P-0-3236, Safely-limited position, negative

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Function

related end position, negative".
The end positions set in P03235 and P03236 relate to the actual
position value in P03280. This value might possibly deviate from
the actual position value in S00051 or S00053 (e.g., when en
coder corrections or the command C3300/C3400 are used).
The allowed travel range of an axis can defined by position limit values. The
"Safety related end position, negative" (in MPx06 and below) or "Safely-limited
position, negative" (in MPx-07 and above) defines the maximum allowed actual
position value in negative direction.
The parameterized position limits (P03235 and P03236) are monitored via
two channels by means of the functionality "Safety related limited absolute po
sition" (in MPx06 and below) and "Safely-limited position" (in MPx-07 and
above) if this is configured in parameter "P03239, Configuration of global
safety technology functions". Monitoring will then be effective both in normal
operation and in special mode.

and Controls
Use
Monitoring of the "Safety related limited absolute position" (in MPx06 and
below) and "Safely-limited position" (in MPx-07 and above) will not be
come effective before the drive has been safely homed (P03213, bit 7).
If the "P-0-3236, Safety related end position, negative" (in MPx06 and
below) or "P-0-3236, Safely-limited position, negative" (in MPx-07 and
above) is exceeded, the message "F7021 Safely-limited position excee
ded" is generated and the drive is decelerated (default is velocity com
mand value reset) with the configure F7 error reaction (P-0-3210, bit 9).
If, depending on the current operation mode, position or velocity command

values are specified to the drive, which are outside of "P-0-3236", the error
message "F7021 Safely-limited position exceeded" is generated and the
drive is decelerated (default is velocity command value reset) with the
configured F7 error reaction (P-0-3210, bit 9).
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.14.37
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte var.
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
P-0-3237, Safety technology absolute offset

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
With safety technology this parameter is required for homing distance-coded

motor encoders. It is the offset between the zero point of the motor encoder
(position of the 1st reference mark of the motor encoder) and the axis zero point.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
---------
4Byte var.
DEC_MV
S-0-0077
S-0-0078
--

and Controls
5.14.38
P-0-3238, Extended safety technology status

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
This parameter makes available binary status signals for online monitoring of
safety technology status signals. By means of this status word the individual
status signals can be optionally programmed to existing real-time bits of the
master communication or hardware I/Os or I/O extensions.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.14.39
MPC
MPC
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
BIN
0
--
Default value
---------
P-0-3239, Configuration of global safety technology functions

Allocation
Function
Structure
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter provides binary control signals for statically influencing global
safety technology functions. By setting the respective bit, the associated mon
itor in normal operation and special mode (with highest priority) is activated.
Bit
0
Comment
Safe maximum speed
As of MPx-04
0: Not active
1: Active (default)
1
"Safety related limited absolute end position" (in MPx06 and

below) or "Safely-limited position "(in MPx-07 and above)
As of MPx-04
0: Not active (default)

1: Active
2
Safe direction, positive

1: Active
As of MPx-05

and Controls
Bit
3
Comment
Safe direction, negative
As of MPx-05

1: Active
4
Individual activation times of enabling control
As of MPx-05
The times selected are only effective if the drive interlock or

mode selector selection signals are actuated in addition to the
enabling control.
0: Global activation time of enabling control for all special
modes "Motion" (default) "SBB1-4" (in MPx06 and below)
"SMM 1-4" (in MPx-07 and above) -> P03222
1: Individual activation times of enabling control
SBB1/SMM1 -> P03246
SBB2/SMM2 -> P03256
SBB3/SMM3 -> P03266
SBB4/SMM4 -> P03276
Fig.5-269:
Function:
Memory:
Unit:
Cycl. tra.:
Configuration of Global Safety Technology Functions

Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.14.40
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
BIN
0
--
Default value
---------
P-0-3240, Configuration of safe motion 1

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Function
In MPx06 and below, the name of this parameter was "Control word
Safe motion 1".
Up to four different motion configurations "SBB 1...4" (in MPx06 and below) or
"SMM 1...4" (in MPx-07 and above) can be compiled for the safety technology
operating status "Special mode Safe Motion".
safety technology functions (SBB/SMM). By setting the respective bit, the as
sociated monitor for motion process 1 is activated.
Bit 0 (safely-reduced speed) is always active.

and Controls
Structure
Bit
"Safety-related reduced speed (SG)" (in MPx06 and below) or

"Safely-limited speed (SLS)" (in MPx-07 and above)
Reserved
"Safely-limited increment SM" (in MPx06 and below) or

"SLI" (in MPx-07 and above)
"Safety-related limited absolute position (SL)" (in MPx06 and below) or

"Safely-monitored position SMP" (in MPx-07 and above)
8-15
Copy of bit 0-7 (because of duplicate entry)
Fig.5-270:
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.14.41
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
257
257
257
257
P-0-3241, Safely-monitored position 1, positive

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Function

related limited absolute position 1, positive".
The end positions set in P03241, P03242, P03251 and
P03252 relate to the actual position value in P03280. This value
might possibly deviate from the actual position value in S00051 or
S00053 (e.g., when encoder corrections or the command C3300/
C3400 are used).
This parameter defines a positive position limit for the "Special mode "Safe
Motion" 1" and forms a safely limited absolute position range together with
"P-0-3242".
See also Troubleshooting Guide "F7011 Safely-monitored position, exceeded
in pos. direction"

and Controls
Use
The parameterized position limit is monitored via two channels for the du
ration of the "Special mode "Safe Motion" 1" if the "Safety-related limited
absolute position (in MPx06 and below) or "Safely-monitored position" (in
MPx-07 and above) is configured in "P-0-3240".
If the value is exceeded, the error message "F7011 Safely-monitored po

sition, exceeded in pos. direction" is generated.
Before the safety function "Safety-related limited absolute posi
tion" (in MPx06 and below) and "Safely-monitored position" (in
MPx-07 and above) is selected, a "safe homing procedure" must
be carried out.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.14.42
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte var.
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
P-0-3242, Safely-monitored position 1, negative

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Function

related limited absolute position 1, negative".
C3400 are used).
This parameter defines a negative position limit for the "Special mode "Safe
Motion" 1" and forms a safely limited absolute position range together with
"P-0-3241".
Use

and Controls
ration of the "Special mode "Safe Motion" 1" if the "Safety-related limited
absolute position" (in MPx06 and below) or "Safely-monitored position" (in
MPx-07 and above) is configured in "P-0-3240, Configuration of safe mo
tion 1".

sition, exceeded in negative direction" is generated.
tion" (in MPx06 and below) or "Safely-monitored position" (in
be carried out.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.14.43
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte var.
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
P-0-3243, Safely-limited increment 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter defines a relative position window for the "Special mode "Safe
Motion" 1". This window is defined on start of the "Special mode "Safe Motion"
1". For duration of the "Special mode "Safe Motion" 1", the drive can be freely
moved within this position window. If the function "Safely-limited increment" is
activated in motion process 1 ("P-0-3240, Configuration of safe motion 1", bit
4 = 1), the error message "F7010 Safely-limited increment exceeded" is emitted
if this position window is exceeded in the "Special mode "Safe Motion" 1".
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
---------
4Byte var.
DEC_OV
S-0-0077
S-0-0078
--

and Controls
5.14.44
P-0-3244, Safely-limited speed 1

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Function
In MPx06 and below, the name of this parameter was "Safetyrelated reduced speed 1".
This parameter defines a velocity threshold (bipolar) for the safety function
"Safety-related reduced speed" (in MPx06 and below) or "Safely-limited
speed" (in MPx-07 and above); this velocity threshold is always active in the
special mode "Safe Motion 1".
If the threshold is exceeded, the error message "F7013 Safely-limited speed
exceeded" is generated.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.14.45
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
4Byte var.
DEC_OV
S-0-0045
S-0-0046
--
Default value
---------
P-0-3245, Safety related deceleration/acceleration ramp 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
-
-
--
MPC
-
With this parameter the limit acceleration (positive and negative) that is moni
tored can be defined for the safety related motion 1 mode.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
Default value
-----
4Byte var.
DEC_MV
S-0-0161
S-0-0162
--

and Controls
MPD:
MPH:
5.14.46
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
-----
P-0-3246, Max. activation time of enabling control 1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC

time permitted for actuating the enabling control in the special mode "Safe Mo
tion 1". That means that the enabling control must be deactivated not later than
after the time interval entered in "P-0-3246". This time is only effective if "Indi
vidual activation times of enabling control" are configured in parameter
"P-0-3239, Configuration of global safety technology functions". Else, the
"P-0-3222, Max. activation time for enabling control" is commonly effective in
all four special modes "Safe Motion".
the enabling control; if the maximum activation time of enabling control is ex
ceeded, the error "F3142 Activation time of enabling control exceeded" is
generated.
Use
The "maximum activation time of enabling control 1" must be defined in

relation to the maximum application-related travel time plus a safety al
lowance (e.g. 10%).

tering "0".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
s
--
Input
MPB:
MPC:
MPD:
MPH:
5.14.47
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
0,0 / 3600,0
0,0 / 3600,0
0,0 / 3600,0
0,0 / 3600,0
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
-
-
-
-
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
4Byte var.
DEC_OV
1
--

and Controls
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Function

"Configuration of safe motion 2 (SBB2)".
This parameter provides binary control signals for configuring the special mode
"Safe Motion". By setting the respective bit, the associated monitor is activated
in the motion process.
Structure
Bit 0 (safe speed) is always active.

See also Parameter Description "P-0-3240, Configuration of safe motion 1"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.14.48
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
257
257
257
257
P-0-3251, Safely-monitored position 2, positive

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Function

related limited absolute position 2, positive".
C3400 are used).
This parameter defines a positive position limit for the special mode "Safe Mo
tion 2" and forms a safely limited absolute position range together with
"P-0-3252".

and Controls
Use
ration of the special mode "Safe Motion 2" if the "Safety-related limited
MPx-07 and above) is configured in "P-0-3250".

sition, exceeded in positive direction" is generated.
tion" (in MPx06 and below) or "Safely-monitored position" (in
be carried out.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.14.49
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte var.
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------
P-0-3252, Safely-monitored position 2, negative

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Function

related limited absolute position 2, negative".
C3400 are used).
This parameter defines a negative position limit for the special mode "Safe Mo
tion 2" and forms a safely limited absolute position range together with
"P-0-3251".
See also Troubleshooting Guide: "F7012 Safely-monitored position, exceeded

in neg. direction"
Use

and Controls
ration of the special mode "Safe Motion 2" if the "Safety-related limited
MPx-07 and above) is configured in "P-0-3250, Configuration of safe mo
tion 2".

sition, exceeded in neg. direction" is generated.
tion" (in MPx06 and below) and "Safely-monitored position" (in
be carried out.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.14.50
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte var.
DEC_MV
S-0-0077
S-0-0078
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter defines a relative position window for the special mode "Safe
Motion 2". This window is defined on start of the special mode "Safe Motion
2". For duration of the special mode "Safe Motion 2", the drive can be freely
moved within this position window.
If the function "Safely-limited increment" is activated in motion process 2
(P-0-3250, bit 4 = 1), the error message "F7010 Safely-limited increment ex
ceeded" is emitted if this position window is exceeded in the special mode
"Safe Motion 2".
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
---------
4Byte var.
DEC_OV
S-0-0077
S-0-0078
--

and Controls
5.14.51

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Function
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.14.52
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
4Byte var.
DEC_OV
S-0-0045
S-0-0046
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
-
-
--
MPC
-
This parameter can be used for the special mode "Safe Motion 2" to define the
acceleration limit (positive and negative) to be monitored.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
4Byte var.
DEC_MV
S-0-0161
S-0-0162
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.14.53
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC

tion 2".
That means that the enabling control must be deactivated not later than after
the time interval entered in "P-0-3256". This time is only effective if "Individual
activation times of enabling control" are configured in parameter "P-0-3239,
Configuration of global safety technology functions". Else, the "P-0-3222, Max.
activation time for enabling control" is commonly effective in all four special
modes "motion".
generated.
Use
Observe the following aspects for parameterizing "P-0-3256, Max. activation

time for enabling control":

lowance (e.g. 10%).

tering "0".
and if constant motion does not represent any danger.
The machine manufacturer is responsible for the monitoring of the
activation time and his risk analysis has to show his responsibility.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
s
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
0,0 / 3600,0
0,0 / 3600,0
0,0 / 3600,0
0,0 / 3600,0
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte var.
DEC_OV
1
--

and Controls
5.14.54

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Function

Up to four different motion configurations "SBB 1...4" (in MPx06 and below) or
"SMM 1...4" (in MPx-07 and above) can be compiled for the safety technology
operating status "Special mode Safe Motion".
safety technology functions (SBB3/SMM3). By setting the respective bit, the
associated monitor for the "Special mode Safe Motion 3" is activated.
Bit 0 (safely-reduced speed) is always active.
Structure
Bit
"Safety-related reduced speed (SG)" (in MPx06 and below) or

"Safely-limited speed (SLS)" (in MPx-07 and above)
Reserved
Safely-limited increment (SM) (in MPx06 and below)

or "SLI" (in MPx-07 and above)
15-8
Copy of bit 7...0 (because of duplicate entry)
Fig.5-271:
Function:
Memory:
Unit:
Cycl. tra.:

Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.14.55
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
257
257
257
257

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
-
-
-
MPH
MPH
MPH
MPD
MPD
MPD
2Byte
BIN
0
--

and Controls
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Motion 3". This window is defined on start of the special mode "Safe Motion
3". For duration of the special mode "Safe Motion 3", the drive can be freely
moved within this position window.
(P-0-3260, Configuration of safe motion 3, bit 4 = 1), the error message "F7010
Safely-limited increment exceeded" is emitted if this position window is excee
ded in the special mode "Safe Motion 1".
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.14.56
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte var.
DEC_OV
S-0-0077
S-0-0078
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Function
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
4Byte var.
DEC_OV

and Controls
Unit:
S-0-0044
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.14.57
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0045
S-0-0046
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
-
-
--
MPC
-
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.14.58
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
4Byte var.
DEC_MV
S-0-0161
S-0-0162
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC


and Controls
generated.
Use

lowance (e.g. 10%).

tering "0".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
s
--
Input
MPB:
MPC:
MPD:
MPH:
5.14.59
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
0,0 / 3600,0
0,0 / 3600,0
0,0 / 3600,0
0,0 / 3600,0
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_OV
1
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Function

This parameter provides binary control signals for configuring the special mode
"Safe Motion". By setting the respective bit, the associated monitor is activated
in the motion process.
Bit 0 (safe speed) is always active.
See also Parameter Description "P-0-3260, Configuration of safe motion 3"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
257
257
2Byte
BIN
0
--

and Controls
MPD:
MPH:
5.14.60
--- / ----- / ---
257
257

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Motion". This window is defined on start of the special mode "Safe Motion 4".
For duration of the "Special mode Safe Motion 4", the drive can be freely moved
within this position window.
("P-0-3270, Configuration of safe motion 4", bit 4 = 1), the error message
"F7010 Safely-limited increment exceeded" is emitted if this position window is
exceeded in the "Special mode Safe Motion 4".
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.14.61
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte var.
DEC_OV
S-0-0077
S-0-0078
--
Default value
---------

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Function

and Controls
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.14.62
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
4Byte var.
DEC_OV
S-0-0045
S-0-0046
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
-
-
--
MPC
-
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.14.63
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
4Byte var.
DEC_MV
S-0-0161
S-0-0162
--
Default value
---------

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC


and Controls
generated.
Use

lowance (e.g. 10%).

tering "0".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
s
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.14.64
PM
PM->OM
+
--
min./max.
0,0 / 3600,0
0,0 / 3600,0
0,0 / 3600,0
0,0 / 3600,0
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_OV
1
--
Default value
---------
P-0-3280, Actual position value, channel 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
The actual position value of channel 2 indicates the current position of the safety
technology encoder present at optional slot 1. The absolute reference is es
tablished through the "C4000 Homing procedure command channel 2".
See also Parameter Description "P03228, C4000 Homing procedure com
mand channel 2"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
4Byte
DEC_MV

and Controls
Unit:
S-0-0076
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.14.65
min./max.
--- / ----- / ----- / ----- / ---
S-0-0077
S-0-0078
--
Default value
---------
P-0-3281, Actual velocity value, channel 2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
The actual velocity value, channel 2 represents the current velocity evaluated
on channel 2 of the encoder plugged into optional slot 1.
See also Application Description "Integrated Safety Technology"
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.14.66
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
S-0-0045
S-0-0046
--
Default value
---------
P-0-3282, Safely-monitored deceleration

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter defines the deceleration threshold (bipolar) for "Safely-moni

tored deceleration".
"Safely-monitored deceleration" is carried out during transition from one safety
technology operating status to another or to the internal error state, provided
the monitoring function is activated.
If the value falls below the deceleration, the following error message is gener
ated:
F7051 Safely-monitored deceleration exceeded or
F8135 SMD: Velocity exceeded
See Parameter Description "P03210, Safety technology configuration"


and Controls
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.14.67
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
4Byte var.
DEC_OV
S-0-0161
S-0-0162
--
Default value
---------
P-0-3283, Safely-monitored deceleration, veloc. envelope curve

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter represents the velocity envelope curve of the monitoring func
tion "Safely-monitored deceleration". The envelope curve is updated as long as
one of the three monitoring variants is executed.
Monitoring function 1: "Safely-monitored deceleration with safely-moni

tored deceleration time and braking ramp" (to standstill)
Monitoring function 2: "Safely-monitored deceleration with safely-moni

tored deceleration time and braking ramp" (to special mode "Safe Mo
tion")
Monitoring function 3: "Safely-monitored deceleration on basis of actual

velocity"
The previously updated value remains between the intermediate times.

If the threshold is exceeded, one ore more of the following diagnostic messages
are generated:
E3108 Safely-monitored deceleration exceeded
F7051 Safely-monitored deceleration exceeded
F8135 SMD: Velocity exceeded
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
4Byte
DEC_MV
S-0-0045
S-0-0046
--

and Controls
5.14.68
P-0-3290, PROFIsafe: F_Destination_Address

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
MPC
-
MPH
MPD
MPC
optional master communication card, option
al safety technology module
--
Hardware
Funct. package(s):
Device parameter:
Function
SMD: Velocity exceeded

The value "0" must be entered to deactivate the safe channel
"PROFIsafe".
See also Functional Description "PROFIBUS-DP"
Use
Observe the following aspects for parameterizing P-0-3290:
Values "0" and "65535" are no allowed destination addresses.
The "destination" must always be interpreted as the drive.
The content of "P03290" must be equal to the destination address con

figured in the control unit.
With an established connection, the destination address configured in the

control unit can be read as element 12 from "P03292".
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.14.69
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
DEC_OV
0
--
Default value
---------
P-0-3291, PROFIsafe: F_Source_Address

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
MPC
-
MPH
MPD
MPC
--
In this parameter the source address (F_Source_Address) of the safety related

communication connection has to be entered. The values "0" and "65535" are
not allowed. The source always is the control unit. The data of this parameter
has to be identical to the one configured in the control unit. When a connection
is existing, the source address configured in the control unit can be read as
element 11 of P03292.

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.14.70
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
DEC_OV
0
--
Default value
---------
P-0-3292, PROFIsafe: F_Parameters

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
MPC
-
MPH
MPD
MPC
--
Hardware
Funct. package(s):
Device parameter:
Function
Structure
When Profibus connection is existing, this parameter displays the parameters

of the safety related connection configured in the control unit.
Element
Valid values
14
lenght of Set_Prm data
command (F_Parameter / F_Device)
2 or 5
0 or 1
1 to 3
F_SIL, this is the SIL level demanded by the control unit.
2 or 4
length of checksum (CRC2) in bytes
F_Block_ID, always has to be set to 0
F_Par_Version, is always 0
10
Reserved bits, 0 must always be displayed in this case.
11
1 to 65534
F_Source_Add, this value is compared to that of

P03291.
12
1 to 65534
F_Dest_Add, this value is compared to that of P03290.
13
10 to 2000
F_WD_Time, monitoring time in ms for the PROFIsafe

connection. It should approximately be the fourfold Tar
get Rotation Time.
14
0 to 65535
F_Par_CRC, checksum over the parameter data (CRC1)
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Significance
slot of F_module, 2 means first axis, 5 is second axis for

double-axis devices
specifier
F_Check_SeqNr, when the value is 1, the current num
ber (Seq_Nr) is used for checksum (CRC2) calculation.
F_Check_iPar, is not supported
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
DEC_OV
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.14.71
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
P-0-3295, Safety technology field bus configuration

Allocation
Function
Structure
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter is used to configure safety technology field buses.

Bit
Safe output
Comment
0: Without safe output

1: With safe output
1
Safe output (only in conjunction with bit 0 = 1)

0: P-P-switching output
1: P-M-switching output
Fig.5-272:
Function:
Memory:
Unit:
Cycl. tra.:
P-0-3295, Safety technology field bus configuration

Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.14.72
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
BIN
0
--
Default value
---------
P-0-3296, Safety technology field bus control word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter is used to display the request transmitted from the command
value channel of the master (control unit) to the slave (drive).

and Controls
Structure
Bit
Comment
Mode selector "BA" (in MPx06 and below) or "MS" (in

MPx-07 and above)
0: Select safe operation
1: Deselect safe operation
Safe drive interlock "ASP" (in MPx06 and below) or

Safe stop 1 (Emergency stop) "SS1 ES" (in MPx-07 and
above)
0: Select ASP/ SS1 ES
1: Deselect ASP/ SS1 ES
Enabling control "ZT" (in MPx06 and below) or "EC" (in

MPx-07 and above)
0: Select enabling control
1: Deselect enabling control

0: Select safety switch 1
1: Deselect safety switch 1

0: Select safety switch 2
1: Deselect safety switch 2
Safe output
0: Output not active (safe state or safety default in case
of an error)
1: Output active
Fig.5-273:
Function:
Memory:
Unit:
Cycl. tra.:
P03296, Safety technology field bus control word

Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.14.73
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-3297, Safety technology field bus status word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter is used to display the status transmitted from the actual value
channel of the slave (drive) to the master (control unit). It describes the result
from the crosswise data comparison between channel 1 and channel 2.

and Controls
Structure
Bit
Comment
Safety technology status output of controller

0: Drive is in unsafe state (default value!)
1: Drive has established safety
Status Safe drive interlock (in MPx06 and below) or

Safe stop 1 (Emergency stop) (in MPx-07 and above)
0: Not active
1: Active
Status safe input 1

0: Input not active (safe state or safety default in case
of an error)
1: Input active
Status safe input 2

of an error)
1: Input active
Status safe input 3

of an error)
1: Input active
Status safe input 4

of an error)
1: Input active
Fig.5-274:
Function:
Memory:
Unit:
Cycl. tra.:
P03297, Safety technology field bus status word

Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.14.74
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-3300, Redundant holding brake: configuration

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
This parameter is used to configure the redundant holding brake.
MPC
MPC

and Controls
Structure
Bit
Comment
Redundant holding brake available

0: No
1: Yes
Type of redundant holding brake

0: Form-locking (applied with a delay, no resurfac
ing)
1: Friction-fitting
Continuous load monitoring

0: Active
1: Not active
Intention to use the C6200 Command Enabling spe As of MPx05V12

cial mode without valid brake status (allows single
temporary retraction of the axis)
0: No
1: Yes
Warning:If this function is used, an error in the safe
braking and holding system cannot be excluded due
to the unknown time which has passed since the last
brake check. Use of this function must be documen
ted during the safety technology acceptance test.
When using this function, you have to make an ad
ditional risk assessment. "Danger to persons in the
safety area due to brake defect"!
10/9
Brake check in preselected direction
As of MPx05V12
00: Test in both directions (default)

Special cases:
01: Preselected test direction positive
10: Preselected test direction negative
The brake test special cases (in a preselected di
rection) may be selected only if brakes are used
which build up a holding torque in only one direction
or if the brake test can be carried out in one direction
only due to the mechanics of the axis.
Fig.5-275:
Function:
Memory:
Unit:
Cycl. tra.:
P03300, Redundant holding brake: Configuration

Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.14.75
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
-+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
P-0-3301, Redundant holding brake: status word

Allocation
Contained in 02VRS:
Contained in 03VRS:
-
-
-
-
-
-
2Byte var.
BIN
0
--

and Controls
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
Structure
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
This parameter is used to display the status of the redundant holding brake.
Bit
Comment
control of redundant holding brake
Only electrically re
leasing systems al
lowed!
0: not controlled
1: controlled
1
control acknowledgment redundant holding brake

0: not controlled
1: controlled
status of redundant holding brake

0: not successful: no brake release, or holding torque too
low, or time interval brake check exceeded (P03302)
1: successful: brake released and holding torque tested
without error
status of "brake release" check

0: brake has not released during the check, or brake re
lease not tested, or time interval brake check exceeded
(P-0-3302)
1: brake has released during the check
status of "holding torque" check

0: holding torque too low or not tested or time interval
brake check exceeded (P-0-3302)
1: holding torque is sufficient
Fig.5-276:
Use
P-0-3301, Redundant holding brake: status word
Bit 2 "status of redundant holding brake" is used to force a repeated brake check
in the case of critical errors in time monitoring of the "safety related braking and
holding system". That is why there are further causes of bit 2 = 0:
"C3000 Synchronize and store safety technology IDN" was executed.
Repeated brake check is required due to defined errors in "safety related

braking and holding system".
Signal "HAT-Diagnose" is zero (control module "HAT" signals error or

connection to control module has been interrupted).
Signal "HAT-Diagnose" does not correspond to expectations from control

status of redundant holding brake.
During deceleration due to an error, the redundant holding brake had to

be applied at Vact > standstill.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.14.76
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
P-0-3302, SBS: Time interval brake check

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Function
In MPx06 and below, the name of this parameter was "Safetyrelated holding system: time interval brake check".
If "Redundant holding brake available" was activated in parameter
"P03300", the drive monitors the time having elapsed since the last time the
holding brake was monitored.
If the distance in time from the last successful brake check approaches
15 min from the value specified in "P-0-3302", the warning "E3115 Pre
warning, end of brake check time interval" is output. Exception: The drive
has been in drive enable mode for less than 10 seconds since the last
brake check. In this case, the warning is only output after 5 minutes with
drive enable.
If the interval exceeds the value of "P-0-03302", the error message

"F3115" is generated. Exception:The drive has been in drive enable mode
for less than 10 seconds since the last brake test. In this case, the error
message "F3115 Prewarning, end of brake check time interval" is only
generated after 5 minutes with drive enable.

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
s
--
Input
MPB:
MPC:
MPD:
MPH:
5.14.77
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
900,0 / 604800,0
900,0 / 604800,0
900,0 / 604800,0
900,0 / 604800,0
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_OV
1
--
Default value
---------
P-0-3303, SBS: Nominal load

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC

and Controls
Function
In MPx06 and below, the name of this parameter was "Safetyrelated holding system: nominal load".
The nominal load torque of the axis is entered in this parameter. According to
the Information Sheet for gravity-loaded axes published by the institution for
statutory accident insurance and prevention ("Berufsgenossenschaft"), the
nominal load of a system has to be dimensioned with 50% of the nominal load
of the holding brake.
Use
If the load torque on the axis reaches the value specified in "P-0-3303", a warn
ing "E3116 Nominal load torque of holding system reached" is output. If the
load torque exceeds the value specified "P-0-3303" by more than 30 percent,
the error "F3116 Nominal load torque of holding system exceeded" is gener
ated.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0086
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.14.78
min./max.
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
S-0-0086 / S-0-0086
2Byte var.
DEC_OV
S-0-0093
S-0-0094
--
Default value
---------
P-0-3304, SBS: Torque/force constant

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Function
In MPx06 and below, the name of this parameter was "Safetyrelated holding system: torque/force constant"
The torque/force constant specifies the ratio between the motor torque/force
and the current of a motor, which generates the associated torque. The value
should correlate with the value of parameter "P00051, Torque/force con
stant". The value is used by the safe brake and holding system for monitoring
the load torque.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
PARAM_SP
Nm/A eff
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
2Byte var.
DEC_OV
2
--

and Controls
MPD:
MPH:
5.14.79
--- / ----- / ---
-----
P-0-3306, SBS: Delay time motor holding brake

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Function
In MPx06 and below, the name of this parameter was "Delay time
motor holding brake".
The value of this parameter specifies the time distance between the activation
for applying the motor holding brake and the occurrence of the clamping delay.
This value should be at least as high as the clamping delay of the motor holding
brake. If the value is too low, the redundant holding brake will be applied too
early.
The value corresponds to a minimum delay between the activation of the motor
brake and that of the redundant holding brake. If the delay of the motor holding
brake in engagement exceeds the value specified in "P03282, Safely-moni
tored deceleration", the redundant holding brake is not activated for being
applied before standstill.
If the redundant holding brake is to be controlled together with the
motor holding brake, set the value to 0.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
ms
--
Input
MPB:
MPC:
MPD:
MPH:
5.14.80
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
StdNul / Max100T
StdNul / Max100T
StdNul / Max100T
StdNul / Max100T
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_OV
0
--
Default value
---------
P-0-3307, SBS: Safety technology - drive off delay time

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Function

technology - drive off delay time".

and Controls
The value of this parameter is the time distance between the activation for ap
plying the motor holding brake or redundant holding brake and the torque/force
disable of the motor (drive-internal switching off of drive enable).
Use
The value should be at least as high as the maximum clamping delay of the
holding brakes to make sure that vertical axes which are not equilibrated do not
move down when the drive enable is switched off!
With active safe brake and holding system, the value of parameter
"P03307" is written to "S00207" on transition to OM mode. In OM mode, the
value is write-protected.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
ms
--
Input
MPB:
MPC:
MPD:
MPH:
5.14.81
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
StdNul / Max100T
StdNul / Max100T
StdNul / Max100T
StdNul / Max100T
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_OV
0
--
Default value
---------
P-0-3310, SBS: Travel range brake check

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Function
In MPx06 and below, the name of this parameter was "Safetyrelated holding system: Travel range brake check".
The travel range permitted during the brake check is entered in this parameter.
This is required to account for torsion and backlash in the system. Particularly
where holding systems mounted on the load side are concerned, the deflection
during the brake check may be considerable.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
--
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.14.82
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
4Byte var.
DEC_OV
S-0-0077
S-0-0078
--
Default value
---------
P-0-3311, SBS: Duration test torque injection brake check

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
MPC
MPC

and Controls
Funct. package(s):
Device parameter:

--
Function
In MPx06 and below, the name of this parameter was "Safetyrelated holding system: Duration test torque injection brake
check".
This value defines the duration of the test torque injection while the "C2100
Command Holding system check" is executed.
This value is applicable for both brakes if "Redundant holding brake availa
ble" is selected in parameter "P-0-3300, Redundant holding brake: configura
tion".
Use
The suggested default value should only be increased, if the complete test tor
que cannot be applied to the brake during the parameterized time due to the
mechanical properties (e.g. backlash).
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
s
--
Input
MPB:
MPC:
MPD:
MPH:
5.14.83
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
0,1 / 2,0
0,1 / 2,0
0,1 / 2,0
0,1 / 2,0
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_OV
1
--
Default value
---------
P-0-3313, C5800 Command Apply redundant holding brake

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
By means of this parameter, it is possible to apply the redundant holding brake

in operating mode.
At the start of the command, the redundant holding brake is applied. On termi
nation of the command, it is released if the drive enable is still present;
otherwise, it remains applied. If the status changes to drive enable while the
command is still active, the redundant holding brake will be released.
If the redundant holding brake is applied below the speed, the brake
may be destroyed.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
Cmd
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---
2Byte
BIN
0
--

and Controls
MPC:
MPD:
MPH:
5.14.84
--- / ----- / ----- / ---
-------
P-0-3314, C5900 Command Resurfacing of redundant holding brake

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC
Function
In MPx05 and below, the name of this parameter was "C5900

Command Resurfacing of redundant holding brake".
With this command, a friction-fitting redundant holding brake, which no longer
attains its holding torque, can be resurfaced. For this purpose, drive enable is
required. During the execution of the command, the motor is moved against the
applied brake.
After the start of C5900, the drive is accelerated to 100 min-1 or 100 mm/min.
Active acceleration and deceleration ramps, as well as filters (P01201,
P01202, P01203, P01211, P01213 und P01222) are taken into account!
After the command velocity has been reached, the brake is applied for 400 ms.
After that the drive is shut down by velocity control.
If a form-locking redundant BRC holding brake (P-0-3300, Redun
dant holding brake: configuration, bit 1) is selected, the command
cannot be activated.

brake check!
CAUTION

Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.14.85
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-3315, C6200 Comm. Enabling SM without valid brake status

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
MPH
MPD
-
MPH
MPD
-
MPH
MPD
--
MPC
MPC

and Controls
Function
In MPx06 and below, the name of this parameter was "C6200

Command Enabling special mode without valid brake status".
This command allows enabling the special mode (safety technology operating
status) without valid brake status for a maximum of 15 minutes for axes with
"safe brake and holding system" if:
the "safe brake and holding system" was configured and the intention to
use command "C6200" was defined on commissioning by setting the con
figuration bit in "P03300",
the holding brake monitoring states of the motor holding brake and/or re
dundant holding brake are set to "completed unsuccessfully",
command C6200 has not yet been executed since control voltage ON,
command "C2100" is not presently executed.
In the default sequence, a brake test must be completed successfully during

normal operation, which sets the brake status to valid for the duration set in
"P03302". The special mode can always be executed if the brake status is
valid. The brake status is valid if the holding brake monitoring status bits of the
motor holding brake (P-0-0539) and redundant holding brake (P-0-3301) are
set to "successful".
If the axis must be moved to an appropriate position for the "C2100 Command
Holding system check" brake test in special mode, e.g. after an axis with open
separating safety equipment and position-dependent selection has been re
started, the user can enable such movement of the axis for a limited time using
this command. As has been the case before, command C2100 can only be
executed during normal operation. Command C6200 must be completed be
forehand.
When this function is used, an error in the safe braking and holding system
cannot be excluded due to the unknown time which has passed since the last
brake check. Use of this function must be documented during the safety tech
nology acceptance test.
WARNING
When using this function, you have to make an additional risk assessment.
"Danger to persons in the safety area due to brake defect"!
Use
If the above-mentioned conditions are fulfilled and the command is started, the
following actions are once carried out for a maximum of 15 minutes:
The holding brake monitoring status of the motor holding brake and the
redundant holding brake is set to "successful".
The remaining time of the brake test time interval defined in "P03302" is
set to 15 minutes.
The prewarning E3115 which is usually emitted during the last 15 minutes
is suppressed in favor of the command diagnostic message.
Existing error messages, e.g. "F3115" or "F3123", can be cleared. In special

mode, "Safe" is acknowledged via the safe feedback function.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Cmd
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
OM
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
2Byte
BIN
0
--

and Controls
MPD:
MPH:
5.14.86
--- / ----- / ---
-----
P-0-3333, Code word for tests

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
MPH
MPD
+
-
MPC
This parameter is for firmware testing purposes.

A code word can be stored in the non-volatile memory. After switch-on, this
code word will be available prior to parameter inputs. This allows causing errors
immediately after switch-on in order to test the error detection function. The
assignment of a code word to an error to be triggered is made by the firmware
development engineer.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
PM+OM
PM->OM
---
min./max.
0 / StdUMax
0 / StdUMax
0 / StdUMax
0 / StdUMax
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
0
0
0
5.15
P-0-3600 to P-0-4067 General Device Parameters
5.15.1
P-0-3610, CANopen: Heartbeat/NodeGuard Configuration

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
2Byte
HEX
0
--
-
-
-
-
-
-
MPB
MPH
-
MPB
MPH
-
MPB
MPH
-
MPB
MPH
-
+
MPC
MPC
Up to MPX04: CANopen: Heartbeat Configuration

Parameter P03610 is a CANopen-specific parameter with which you can con
figure the node monitoring (heartbeat or Node Guarding).
See also Functional Description "CANopen Interface"
Structure

Element
Comment
Object
Producer Heartbeat Time

(ms)
default value: 0
0x1017/00
Consumer Heartbeat Time

(ms)
default value: 0
min./max. value: 0/60000

0x1016/01
Low word

and Controls
Element
Comment
Object
Consumer Heartbeat Node

ID
default value: 127

0x1016/01
High word
Node Guard Time (ms)
default value: 0 (switched

off)
0x100C0x100
C

5
Life Time Factor
default value: 3
0x100D
Fig.5-277:
Use
P-0-3610, CANopen: Heartbeat/NodeGuard Configuration
As only one kind of monitoring may be switched on at a time, element 4 must

be set to 0, when a value is written to element 1 or 2, and vice versa.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.15.2
PM+OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte var.
DEC_OV
0
--
Default value
---------
P-0-3611, CANopen: COB-IDs

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
-
MPB
MPH
-
MPB
MPH
-
MPB
MPH
-
+
MPC
MPC
Parameter P03611 is a CANopen-specific parameter with which the COB IDs

(CAN identifiers) are set. When the default values are not changed, an address
change (P04025) is applied to the COB IDs.
See also Functional Description "CANopen"
Structure

Element
Default value
Object
COB-ID PDO1(tx)
0x180 + Node-ID
0x1800/01
COB-ID PDO1(rx)
0x200 + Node-ID
0x1400/01
COB-ID PDO2(tx)
0x280 + Node-ID
0x1801/01
COB-ID PDO2(rx)
0x300 + Node-ID
0x1401/01
COB-ID PDO3(tx)
0x380 + Node-ID
0x1802/01
COB-ID PDO3(rx)
0x400 + Node-ID
0x1402/01
COB-ID PDO4(tx)
0x480 + Node-ID
0x1803/01
COB-ID PDO4(rx)
0x500 + Node-ID
0x1403/01

and Controls
Element
Default value
Object
COB-ID EMCY
0x80 + Node-ID
0x1005/00
10
COB-ID SYNC
0x80
0x1014/00
Fig.5-278:
Function:
Memory:
Unit:
Cycl. tra.:
P-0-3611, CANopen: COB-IDs

Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.15.3
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
HEX
0
--
Default value
---------
P-0-3612, CANopen: Transmission Types

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
-
MPB
MPH
-
MPB
MPH
-
MPB
MPH
-
+
MPC
MPC
Parameter P03612 is a CANopen-specific parameter with which the trans

mission types of the PDOs are set.
Structure

Element
Comment
Object
Transmission Type PDO1(tx)
default value: 254
0x1800/02
Transmission Type PDO1(rx)
default value: 254
0x1400/02
default value: 254
0x1801/02
default value: 254
0x1401/02
default value: 254
0x1802/02
default value: 254
0x1402/02
default value: 254
0x1803/02
default value: 254
0x1403/02
Fig.5-279:
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
P-0-3612, CANopen: Transmission Types

Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte var.
DEC_OV
0
--

and Controls
5.15.4
P-0-3613, CANopen: List of the Event Parameters

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
-
MPB
MPH
-
MPB
MPH
-
MPB
MPH
-
+
MPC
MPC
This list contains parameters which are monitored for changes during cyclic
configuration. If such a parameter is configured in a PDO which is transmitted
cyclically and the parameter changes, the PDO is transmitted.
See also Functional Description "CANopen Interface"
Use
A typical application is the transmission of probe values.
This list cannot be edited by the user.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.15.5
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
P-0-3900, Command values for control section adjustment

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
List parameter for reading the voltage values to be preset that are required for
the amplification adjust of the analog channels.
This parameter is only relevant for the production process of the
control section. It is irrelevant for the application side!
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
Editability:
-Extr. val. ch.:
-Comb. check:
PM
PM->OM
---
min./max.
StdNul / MaxULong
StdNul / MaxULong
StdNul / MaxULong
StdNul / MaxULong
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte var.
DEC_OV
3
--

and Controls
5.15.6
P-0-3901, Adjustment values of control section

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
List parameter with the adjust values for the analog channels of the control
section.
During the production process the adjust values for the analog
channels are individually determined for each control section. They
are irrelevant for the application side and cannot be changed!
Function:
Memory:
Unit:
Cycl. tra.:
Par
Editability:
-Extr. val. ch.:
-Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.15.7
PM
PM->OM
---
min./max.
MinLong / MaxLong
MinLong / MaxLong
MinLong / MaxLong
MinLong / MaxLong
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_MV
3
--
Default value
---------
P-0-3902, Command values for power section adjustment

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
List parameter for reading the values to be preset for the amplification adjust of
the current and voltage measurement.
This parameter is only relevant for the production process of the
power section. It is irrelevant for the application side!
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
LT_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
StdNul / MaxULong
StdNul / MaxULong
StdNul / MaxULong
StdNul / MaxULong
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte var.
DEC_OV
3
--

and Controls
5.15.8
P-0-3903, Adjustment values of power section

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
List parameter with the adjust values for the current and voltage measurement
of the power section.
During the production process the adjust values are individually
determined for each power section. The values are displayed by
this parameter, changes are not required and not allowed (writeprotected parameter)!
Function:
Memory:
Unit:
Cycl. tra.:
Par
LT_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.15.9
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
MinLong / MaxLong
MinLong / MaxLong
MinLong / MaxLong
MinLong / MaxLong
4Byte var.
DEC_MV
3
--
Default value
---------
P-0-3904, Adjustment values analog I/O interface 3-4

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
List parameter with the adjust values for the analog channels 3 and 4 of the
add-on card for analog I/Os (MA1).
channels are individually determined for each I/O module. The val
ues are displayed via this parameter. Changes are not allowed
(write-protected parameter)!
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
I2C_OPM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte var.
DEC_MV
3
--

and Controls
5.15.10
P-0-3905, Adjustment values analog I/O interface 5-6

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
MPD
MPD
MPD
MPD
-
-
List parameter with the adjust values for the analog channels 5 and 6 of the
add-on card for analog I/Os (MA1).
Function:
Memory:
Unit:
Cycl. tra.:
Par
I2C_OPM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.15.11
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_MV
3
--
Default value
---------
P-0-3906, Adjustment values analog inputs interface 3-6

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
+
-
-
-
MPD
MPD
MPD
-
-
List parameter with the adjust values for the analog channels 3 to 6 of the analog
master communication card (control section configuration CDB01.1C-AN).
During the production process, the adjust values for the analog
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
I2C_OPM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
4Byte var.
DEC_MV
3
--

and Controls
MPD:
MPH:
5.15.12
--- / ----- / ---
-----
P-0-3972, FOCsl: estimated angle

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-closed loop
--
-
-
-
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC
Parameter with internal values of sensorless positioning of synchronous mo

tors.
This parameter is for service purposes only and irrelevant on the
application side!
Function:
Memory:
Unit:
Cycl. tra.:
Par
-Deg
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.15.13
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
4
--
Default value
---------
P-0-3973, FOCsl: correction angle

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-closed loop
--
-
-
-
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC

tors.
application side!
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
-Deg
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
DEC_MV
4
--

and Controls
5.15.14
P-0-3974, FOCsl: encoder angle

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-closed loop
--
-
-
-
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC

tors.
application side!
Function:
Memory:
Unit:
Cycl. tra.:
Par
-Deg
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.15.15
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
4Byte
DEC_MV
4
--
Default value
---------
P-0-3975, FOCsl: control deviation

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-closed loop
--
-
-
-
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC

tors.
application side!
Function:
Memory:
Unit:
Cycl. tra.:
Par
-A
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.15.16
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
P-0-3980, FOCsl: configuration word

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
-
-
-
MPB
-
-
-
MPH
-
-
-
MPD
4Byte
DEC_MV
4
--

and Controls
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPB
-closed loop
--
MPH
MPH
MPD
MPD
MPC
MPC
This parameter is used to configure the sensorless positioning of synchronous

motors.
Changes in the parameter values can cause uncontrolled drive mo
tion.
Structure
Bit
Reserved
Reserved
Reserved
Current loop low pass
Comment
0: Inactive
1: Active
8
Reserved
Reserved
16
Reserved
18/1 Velocity filter

7 00: Inactive
01: 2 ms filter
10:8 ms filter
11: Reserved
21
Reserved
22
Reserved
28
Evaluation structure
0: Inactive
1: Active
29
Reserved
30
Reserved
31
Reserved
Fig.5-280:
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Current Loop Configuration

Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
--+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
0
0
0
4Byte
BIN
0
--

and Controls
5.15.17
P-0-3981, FOCsl: motor model configuration

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-closed loop
--
-
-
-
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter is configures the motor model of sensorless positioning of syn

chronous motors.
tion.
Use
The parameter contains data in the internal format. The values are made avail
able by Bosch Rexroth for every released motor type.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.15.18
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_MV
5
--
Default value
---------
P-0-3982, FOCsl: carrier signal configuration

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
MPB
MPB
MPB
-closed loop
--
-
-
-
MPH
MPH
MPH
-
-
-
MPD
MPD
MPD
MPC
MPC
This parameter is configures the carrier signal for sensorless positioning of

synchronous motors.
tion.
Use
The parameter contains data in the internal format. The values are made avail
able by Bosch Rexroth for every released motor type.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte var.
DEC_MV
4
--

and Controls
5.15.19
P-0-4002, Charact. of quadrature-axis induct. of motor, inductances

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter, together with parameter "P04003, Charact. of quadratureaxis inductance of motor, currents", describes the characteristic of the motor
quadrature-axis inductance Lq depending on the torque-generating current Iq.
If required (e.g. saturation phenomena), it is thereby possible to
achieve a reduction of the current loop gain for higher currents.
Structure
P04002 has a list structure; its list elements form pairs of values with those of
P04003 and these pairs of values define the characteristic.
Fig.5-281:
Significance and Function of P-0-4002 and P-0-4003
The values in parameter P04002 are factors that are referring to the parameter
"P04017, Quadrature-axis inductance of motor". The inductance values Lq of
the characteristic are resulting by multiplication with this parameter.
Use
The parameter always has to contain 4 list elements. The values of these ele
ments have to be monotonously descending.

and Controls
The parameter is exclusively used if the bit "synchronous motor with
reluctance torque" or "adjustment of current loop to saturation of
quadrature-axis inductance of motor" was set in parameter
"P04014, Type of construction of motor".
In the case of Bosch Rexroth MBS high speed motors, by

loading the motor parameters with the commissioning tool
"DriveTop" or "IndraWorks".
In the case of MSK motors, the value is loaded from the data
memory of the motor encoder when the control voltage of the
drive is switched on.
In the case of all other Rexroth motors, the use of the param
eter is prevented by the setting of parameter P04014 either
made automatically in the firmware or by the commissioning
tool "DriveTop" or "IndraWorks".

Record of Revisions
Version
Attribute
GEN-02VRS
Editability: P2
GEN-02VRS
Validity ch.: P2-3
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.15.20
Comment
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
StdNul / Max30T
StdNul / Max30T
StdNul / Max30T
StdNul / Max30T
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
DEC_OV
3
+
Default value
---------
P-0-4003, Charact. of quadrature-axis inductance of motor, currents

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter, together with parameter "P04002, Charact. of quadratureaxis inductance of motor, inductances", describes the characteristic of the
motor quadrature-axis inductance Lq depending on the torque-generating cur
rent Iq.
If required (e.g. saturation phenomena), it is thereby possible to
achieve a reduction of the current loop gain for higher currents.
Structure
P04002 has a list structure; its list elements form pairs of values with those of
P04003 and these pairs of values define the characteristic.

and Controls
Fig.5-282:
Significance and Function of P-0-4002 and P-0-4003
The values in parameter P04003 are factors that are referring to the parameter
"S00111, Motor current at standstill". The current values Iq of the character
istic are resulting by multiplication with this parameter.
Use
The parameter always has to contain 4 list elements. The values of these
elements have to be monotonously ascending.
The parameter is exclusively used if the bit "synchronous motor with re

luctance torque" was set in parameter "P04014, Type of construction of
motor".
In the case of Bosch Rexroth MBS high speed motors, by loading the
motor parameters with the commissioning tool "DriveTop" or
"IndraWorks".
In the case of all other Rexroth motors, the use of the parameter is
prevented by the setting of parameter P04014 either made auto
matically in the firmware or by the commissioning tool "DriveTop" or
"IndraWorks".
In the case of other motors, manual input according to manufacturer's

specification.
Record of Revisions
Version
Attribute
GEN-02VRS
Editability: P2
GEN-02VRS
Validity ch.: P2-3
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
PARAM_SP
---
Comment
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
StdNul / Max30T
StdNul / Max30T
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
2Byte var.
DEC_OV
3
+

and Controls
MPD:
MPH:
5.15.21
StdNul / Max30T
StdNul / Max30T
-----
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
P-0-4004, Magnetizing current

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
In the case of asynchronous motors, the nominal magnetizing current defined

by Bosch Rexroth is entered in this parameter. The actually flowing magnetizing
current in the base speed range results by multiplication of the value of
P04004 with "P00532, Premagnetization factor". In the field weakening
range the magnetizing current, with increasing speed, is reduced by the flux
loop based on the value of this product.
In the case of Rexroth motors of the 2AD, ADF lines and in the
case of linear and rotary kit motors, by loading the motor pa
rameters with the commissioning software (e.g. IndraWorks).
In the case of other asynchronous motors: manual input ac

cording to manufacturer's specification.
In the case of synchronous motors, the parameter is not used

and automatically set to Aeff = 0.

Systems"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
A eff
--
Input
MPB:
MPC:
MPD:
MPH:
5.15.22
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
StdNul /
WertP4004[
StdNul /
WertP4004[
StdNul /
WertP4004[
StdNul /
WertP4004[
Data length:
Format:
Decim. pl.:
Switchable:
aulFREG_Max
aulFREG_Max
aulFREG_Max
aulFREG_Max
4Byte
DEC_OV
3
+
Default value
1,000
1,000
1,000
1,000
P-0-4005, Flux-generating current, limit value

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In this parameter a negative limit value for the flux-generating current can be
entered.

and Controls
This limit value is available for field weakening operation of synchronous motors
and therefore exclusively takes effect for synchronous motors for which field
weakening operation was allowed (see parameter "P00045, Control word of
current controller").
In the case of Rexroth motors of the MHD, MKD, MKE and

MSK lines, automatically at initial commissioning.
In the case of linear and rotary synchronous kit motors by

loading the motor parameters with the commissioning soft
ware (e.g. IndraWorks).
In the case of other synchronous motors: manual input ac

cording to manufacturer's specification.
In the case of asynchronous motors, this parameter is auto

matically set to Aeff = 0.

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
A eff
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
aulFREG_MinWertId
Grenz[] / 0,0
aulFREG_MinWertId
Grenz[] / 0,0
aulFREG_MinWertId
Grenz[] / 0,0
aulFREG_MinWertId
Grenz[] / 0,0
MPB:
MPC:
MPD:
MPH:
5.15.23
PM
PM->OM
+
--
4Byte
DEC_MV
3
+
Default value
0,000
0,000
0,000
0,000
P-0-4006, Positioning block target position

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
In the operation mode "positioning block mode", this parameter is used to define
the target positions of the max. 64 positioning blocks individually and in different
form ( list parameter with 64 elements).
The significance and internal interpretation of the entered value de
pends on "P04019, Positioning block mode"!
Record of Revisions
Version
Attribute
GEN-02VRS
Cycl. tra.: no
Function:
Memory:
Par
PARAM_SP
Comment
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
4Byte var.
DEC_MV

and Controls
Unit:
S-0-0076
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.15.24
min./max.
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
S-0-0076 / S-0-0076
Default value
---------
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPD
MPD
MPD
MPD
MPD
MPD
S-0-0077
S-0-0078
--
P-0-4007, Positioning block velocity

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC
the travel velocities of the max. 64 positioning blocks individually and in different
form ( list parameter with 64 elements).
Record of Revisions
Version
Attribute
GEN-02VRS
Cycl. tra.: no
GEN-02VRS
Extr. val. ch.: yes
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0044
Extr. val. ch.:
--
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.15.25
Comment
min./max.
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
S-0-0044 / S-0-0044
4Byte var.
DEC_MV
S-0-0045
S-0-0046
--
Default value
---------
P-0-4008, Positioning block acceleration

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
the positioning accelerations of the max. 64 positioning blocks individually and
in different form ( list parameter with 64 elements).

and Controls
In conjunction with the corresponding jerk value entered in
P0-4009, the positioning acceleration entered in P0-4008 defines
the parameter content of "P00042, Current position command
average value filter order".
Record of Revisions
Version
Attribute
Comment
GEN-02VRS
Cycl. tra.: no
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
5.15.26
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
Default value
---------
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte var.
DEC_MV
S-0-0161
S-0-0162
--
P-0-4009, Positioning block jerk

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPH
MPH
MPH
MPH
MPH
MPH
MPC
MPC
the positioning jerk values of the max. 64 positioning blocks individually and in
different form ( list parameter with 64 elements).
P0-4009, the positioning acceleration entered in P0-4008 defines
Record of Revisions
Version
Attribute
Comment
GEN-02VRS
Cycl. tra.: no
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
Default value
---------
4Byte var.
DEC_MV
S-0-0161
S-0-0162
--

and Controls
5.15.27
P-0-4010, Load inertia

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays the (motor-related) load inertia reduced to the motor.
It is used for:
automatic control loop setting (C1800)
sensorless, flux-controlled operation of asynchronous motors (FXC)
If none of the mentioned cases is used, it is not necessary to enter a value!

Depending on bit 9 of parameter "P-0-4014, Type of construction of motor", the
value has a different significance:
load inertia, motor-related (without rotor inertia) for rotary motor
load mass (without primary part mass) for linear motor

Use

If desired, the load inertia can be automatically determined by executing the
command "P-0-0162, C1800 Command Automatic control loop adjust". If you
know the exact axis-side inertia value, you should enter this value in P-0-4010!
The load inertia or load mass is important for optimizing the velocity control
loop.
Sensorless, flux-controlled operation of asynchronous motors (FXC)
For sensorless, flux-controlled operation of asynchronous motors, the value of
the motor-related load inertia is important for the setting of the frequency loop.
Therefore, enter the motor-related, axis-side inertia value. The value can be
available from the machine construction, otherwise it has to be determined by
a run-up test.
led"
Automatic control loop setting (C1800) and sensorless, flux-con
trolled operation of asynchronous motors are mutually exclusive!
Unit for
Decimal places for

rotary
linear
rotary
linear
kgm2
kg
Fig.5-283:
Function:
Memory:
Unit and decimal places of P-0-4010, depending on P-0-4014

Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
4Byte
DEC_OV

and Controls
Unit:
Cycl. tra.:
kgm
--
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.15.28
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
6
+
Default value
0,000000
0,000000
0,000000
0,000000
P-0-4013, Current limit value of demagnetization

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains a percentage value which is referring to parameter

"S00109, Motor peak current" for synchronous motors. If you multiply this
percentage value with the value of S00109, the result is the current limit value.
If the current limit value is exceeded, the magnets of the synchronous motor
risk being permanently demagnetized.
In case the limit value is exceeded, the power output stage of the controller is
temporarily locked to protect the motor, until the current has fallen below the
limit value again. While the power output stage is locked the warning "E8028
Overcurrent in power section" is generated.
In the case of MSK, MHD, MKD, MKE, automatically when the

control voltage of the drive is switched on.
In the case of synchronous motors without encoder memory,

by loading the motor parameters by means of the commis
sioning software (e.g. IndraWorks) or default value (from firm
ware).


Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
%
--
Input
MPB:
MPC:
MPD:
MPH:
5.15.29
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
100 / 150
100 / 150
100 / 150
100 / 150
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
+
Default value
120
120
120
120

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
MPB
MPB
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Hardware
Funct. package(s):
Device parameter:
Function

--
By this parameter the controller is informed of control-relevant features of the

connected motor, such as
functional principle
type of construction
encoder data memory
See also Functional Description "General Information on the Operation of Mo

tors with IndraDrive"
Structure
Bit
functional principle
Comment
0: synchronous
1: asynchronous
9
type of construction
0: rotary
1: linear
10
encoder data memory

0: not available
1: available
11
type of construction for synchronous motors

0: without reluctance torque
1: with reluctance torque
12
adjustment of current loop to saturation of quadratureaxis inductance of motor

0: no
1: yes
13
P-0-0640, Cooling type taken into account

0: P-0-0640 is inactive
1: P00640 is active and has to be adjusted to the real
ized motor cooling!
14
Thermal time constant reduced in standstill?

0: no reduction
1: thermal time constant reduced to half the val
ue(P-0-4034, P-0-4035)
Fig.5-284:
Use
Units, decimal places

For some parameters it is necessary that the drive firmware adjusts the units
and decimal places to the type of construction of the motor (rotary or linear). In
this case the respective units and decimal places are indicated directly for the
concerning parameter.
Motors with encoder data memory
In the case of Rexroth motors with encoder data memory (e.g. MSK, MHD,
MKD, MKE, MAD, MAF), the bits of this parameter are automatically set cor

and Controls
rectly! This is done during the booting process (after switching on the controller)
and with every transition to phase 4 (status ready for operation).
Motors without encoder data memory
In the case of Rexroth motors without encoder data memory (e.g. 2AD, ADF,
MSS, 1MS, LSP, MTS), the bits of this parameter are automatically set correctly
when the motor parameters are loaded from the data base of the commission
ing tool "DriveTop" (as of 15VRS).
When the motor parameters of motors without encoder data memory (e.g. 2AD,
ADF, MSS, 1MS, LSP, MST) are loaded via an NC, the mentioned bits of
P04014, Type of construction of motor have to be set to the appropriate value
on the user side!
Third-party motors
In case the characteristic of the quadrature-axis inductance of the motor is in
dicated for synchronous third-party motors (there are manufacturer-side data
for P04002, Charact. of quadrature-axis induct. of motor, inductances and
P04003, Charact. of quadrature-axis inductance of motor, currents available),
the following applies to bit 11 and bit 12:
Possibly available reluctance property cannot be used for synchronous

third-party motors! Determining motor parameter values which are safe to
operate for using the reluctance property is impossible for third-party mo
tors, therefore bit 11 mustn't be set!
If during velocity loop setting or optimization the drive is subject to oscil

lation due to a lack of bandwidth in the current control loop, set bit 12 to
"1" by way of trial. If there is no improvement, reset the bit.
Version
Attribute
Comment
GEN-02VRS
Editability: P2
GEN-02VRS
Validity ch.: P2-3
.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.15.30
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
-+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
+
Default value
---------
P-0-4016, Direct-axis inductance of motor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
For synchronous motors, the direct-axis inductance of the motor is entered in

this parameter. The direct-axis inductance is the inductance of the d-axis in the
field-oriented d-q coordinate system and is also called Ld. Observe that for the

and Controls
direct-axis inductance of the motor a value is expected that was determined
from the inductances of the 3-phase motor model by space vector transforma
tion.
for Rexroth motors of the MHD, MKD, MKE and MSK lines
automatically at initial commissioning
for linear and rotary synchronous kit motors by loading the

motor parameters with the commissioning software (e.g.
IndraWorks)
for other synchronous motors manual input according to man

ufacturer's specification (see completed form for the output
data of synchronous motors!)
The parameter is not used for asynchronous motors.

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
mH
--
Input
MPB:
MPC:
MPD:
MPH:
5.15.31
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
4Byte
DEC_OV
3
+
Default value
1,000
1,000
1,000
1,000
P-0-4017, Quadrature-axis inductance of motor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
For synchronous motors, the quadrature-axis inductance of the motor is en

tered in this parameter. The quadrature-axis inductance is the inductance of
the q-axis in the field-oriented d-q coordinate system and is also called Lq.
Observe that for the quadrature-axis inductance of the motor a value is expec
ted that was determined from the inductances of the 3-phase motor model by
space vector transformation.
for Rexroth motors of the MHD, MKD, MKE and MSK lines
automatically at initial commissioning
for linear and rotary synchronous kit motors by loading the

motor parameters with the commissioning software (e.g.
IndraWorks)
for other synchronous motors manual input according to man

ufacturer's specification (see completed form for the output
data of synchronous motors!)
The parameter is not used for asynchronous motors.

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
mH
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.15.32
PM
PM->OM
+
--
min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
3
+
Default value
1,000
1,000
1,000
1,000
P-0-4018, Positioning block delay time

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
MPB
MPB
MPB
MPB
-closed loop
--
-
-
MPH
MPH
MPH
MPH
-
-
MPD
MPD
MPD
MPD
MPC
MPC
In the positioning block mode, parameter P04018 is used to parameterize a

defined delay time between the individual positioning blocks.
Use
As this is a list parameter with 64 elements, you can define individual and dif
ferent delay times at block transition for all 64 positioning blocks.
The positioning block mode delay time only takes effect for a sequential
block with intermediate stop.
When the programmed target position of the block has been reached, the
drive waits for the delay time P04018[n] until the sequential block block[n
+1] is started.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
ms
AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.15.33
PM+OM
PM->OM
+
--
min./max.
0 / 60000
0 / 60000
0 / 60000
0 / 60000
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
DEC_OV
0
--
Default value
---------
P-0-4019, Positioning block mode

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
the positioning block mode. It is possible to define the mode for each of the
max. 64 available positioning blocks individually and in different form.

and Controls
Structure
The table below illustrates the operating principle (function) of the individual bits
in P04019:
Bit
0 = Abs.
Comment
1 = Rel.
2
Infinite travel in positive direction
Infinite travel in negative direction
Sequential block without halt mode 1
Sequential block without halt mode 2
Sequential block with halt
Sequential block at switch signal
Residual path processing for relative travel blocks
Fig.5-285:
P-0-4019, Positioning block mode
Bit 0 of P04019 is not relevant for IndraDrive. Bit 1 controls wheth

er the positioning block is absolute or relative. For reasons of
compatibility with EcoDrive, "old parameter settings" are still ac
cepted!
Record of Revisions
Version
Attribute
GEN-02VRS
Cycl. tra.: no
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Comment
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.15.34
PM+OM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
2Byte var.
BIN
0
--
P-0-4021, Baud rate RS-232/485

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
By means of this parameter it is possible to set several baud rates (transmission

rates) for the serial interface. The required setting depends on the communi
cation partner.
Structure
MPC
MPC

and Controls
Baud rate [baud]
Setting in P-0-4021
9600
19200
38400
57600
115200
6
settings 4 and 5 are reserved
Fig.5-286:
Baud rate setting
The preset value is 9600 baud (default value).

All bus nodes must be set to the same baud rate.
WARNING
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.15.35
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
StdNul / 6
StdNul / 6
StdNul / 6
StdNul / 6
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
0
0
0
0
P-0-4022, Drive address of serial interface

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
By means of this parameter, the address for the serial interface can be set. This
can be done either via the control panel, the serial interface or the master com
munication interface.
The effective address can be taken either directly from P04022 or
from the list "P04031, Overview of device addresses"!
Use
With the setting P04022 = "256" (default value), the address set in "P04025,
Drive address of master communication" is used for serial communication.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
1 / 99
Data length:
Format:
Decim. pl.:
Switchable:
Default value
256
2Byte
DEC_OV
0
--

and Controls
MPC:
MPD:
MPH:
5.15.36
1 / 99
1 / 99
1 / 99
256
256
256
P-0-4023, C0400 Communication phase 2 transition

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
Transition command from operating mode or from phase 3 (P3) to the param
eterization mode or phase 2 (P2). The command can only be executed when
the drive enable has been disabled.
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.15.37
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
P-0-4024, IDN list cyclic parameter display

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains the IDNs which can be selected for cyclic display on
the control panel (VCP).
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.15.38
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
P-0-4025, Drive address of master communication

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
MPB
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
--
MPD
MPC
By means of this parameter, the address for master communication (e.g.,

SERCOS, Profibus) can be set.
The effective address can be taken either directly from "S00096,
Slave arrangement (SLKN)" or from "P04031, Overview of device
addresses"!
Use
The parameter can be set via the control panel, the serial interface or the
master communication interface.
With SERCOS, it can only be changed in phase 0, with all other
devices in the parameter mode ("PM").
The entered address does not take immediate effect, but:
SERCOS:Only at the next change of communication phase from

"phase 0" to "phase 1" might it therefore be necessary to run up the
drive again
Field bus and analog/parallel:at the next change to the operating

mode ("OM")
With the setting "P04022" = "256" (default value), the address set in
"P04025, Drive address of master communication" is used for serial
communication.
See also Parameter Description "P04031, Overview of device addresses"

See also Parameter Description "S00096, Slave arrangement (SLKN)"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.15.39
PM
PM->OM
+
--
min./max.
1 / 99
1 / 99
1 / 99
1 / 99
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
---------
P-0-4026, Positioning block selection

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Selected positioning block 0 to 63

Function:
Memory:
Par
--
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
2Byte
DEC_OV

and Controls
Unit:
Cycl. tra.:
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.15.40
Extr. val. ch.:

Comb. check:
+
--
min./max.
0 / 63
0 / 63
0 / 63
0 / 63
Decim. pl.:
Switchable:
0
--
Default value
0
0
0
0
P-0-4027, Transmission length SERCOS interface

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
The length of the optic fiber connected to X20 (Tx) is entered in this parameter.
Depending on the entered optic fiber length the required transmitting power of
the light source is automatically set. The controller classifies the entered length
in one of four ranges.
Ranges of length for the connected optic fiber:
up to 15 m
15 m ... 30 m
30 m ... 45 m
more than 45 m and glass fiber

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
m
--
Input
MPB:
MPC:
MPD:
MPH:
5.15.41
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
P2->P3
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
20
20
20
20
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_OV
0
--
P-0-4028, Device control word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
For devices with analog or parallel master communication, this parameter is

used to control the drive. To control the drive, bit 15 of the parameter must be
assigned to a digital input.
It is not absolutely necessary to apply the bits 14 and 13; they have
1-signal by default value.

and Controls
Structure
Bit
Comment
11/9/
8

As of MPx05

13
Drive Halt, 1-0 change

Deceleration of drive while maintaining max. acceleration
(S00372) (only possible when bits 14 and 15 = 1)
14
Drive enable
of bit 15 or 13)
15
Drive ON
1-0 change: Best possible deceleration (only possible if
bit 14 = 1)
Fig.5-287:
Function:
Memory:
Unit:
Cycl. tra.:
Relevant Bits of P04028, Device control word

Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.15.42
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-4029, Diagnostic report SCSB module

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
Parameter for reading master communication settings and states (with

SERCOS interface).
This parameter is only relevant for the development staff! It is irrel
evant for the application side!

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.15.43
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
HEX
0
--
Default value
---------
P-0-4031, Overview of device addresses

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used to display the following addresses in clearly structured

and holistic form which is particularly important for multi-axis devices:
effective drive address of master communication that was set via param
eter P04025
effective drive address of serial interface that was set via parameter
P04022
Especially for multi-axis devices (e.g. HMD01.1) the parameter
P04031 provides a clear overview as regards the axis addresses
effective in the device.
Use
As an example of a double-axis device, the figure below illustrates the basic

structure and the relationship to the other address parameters (S00096,
P04022 and P04025):

and Controls
MC address
master communication address
Fig.5-288:
Structure and function of P04031, Overview of device addresses
Example:
In the following example the parameter settings below were made:
axis 1: (P-0-4022 = 5, P-0-4025 = 5)
axis 2:(P-0-4022 = 8, P-0-4025 = 4)
The resulting parameter content for P04031 is the following:

High word
List index
(log. axis number)
Low word
Effective address of master Effective address of serial

communication
interface
0x0005
0x0005
0x0004
0x0008
Fig.5-289:
Structure of P04031 (example double-axis module)
Parameter S00096 would then accordingly contain 0x0504 (axis

1) or 0x0405 (axis 2)!
See also Parameter Description "S-0-0096, Slave arrangement (SLKN)"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
4Byte var.
HEX
0
--

and Controls
MPD:
MPH:
5.15.44
--- / ----- / ---
-----
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
P-0-4032, Motor type plate data

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
For asynchronous third-party motors it is possible via "C3200 Command Cal

culate motor data" to calculate the values for motor parameters from the type
plate data and then the values of the motor control parameters. The activation
of C3200 first requires manual input of the motor data from the type plate of the
asynchronous motor in the list parameter P04032, Motor type plate data.
When a Rexroth motor is used, the content of P04032 and the
command C3200 are irrelevant as for these motors all parameters
required for operation are stored in the data base for motor data
(DriveBase).
Structure
The individual list elements have the following significance.

List ele
ment
Characteristic value of
motor
Default
value
Unit
Definition
rated current
4,000
Aeff
rms value of the electric

current in the motor feed
wire (motor phase) at rat
ed load
rated voltage
380,000
Veff
rms value of the phase-tophase voltage between

the motor terminal pins at
rated load
rated frequency
50,000
Hz
frequency of the feeding,

sinusoidal electric voltage
rated speed
925,000
1/min
power factor cos
0,760
power factor at rated load
rated power
1,500
kW
mechanical power that

can be continuously deliv
ered at rated load
Fig.5-290:
speed of motor output

shaft at rated load
List elements P04032
"Rated load" means load of the motor output shaft with rated torque
when feeding the motor with rated voltage and rated frequency. The
rated load point mustn't be in the field weakening range! The power
at the output shaft is the rated power!
Use
Observe the following for parameterizing or inputting the elements:

and Controls
All data in P04032 have to describe the same working point of the motor.
This working point mustn't be in the field weakening range and should
describe the S1 operation (continuous power of the motor).
All list elements are 32-bit values and have 3 decimal places.
The list parameter has a fixed length with 6 elements.
Writing data to the parameter is only possible in phase 2 or 3.
The data in P04032 do not have a direct influence on motor control: It is

only by starting the command C3200 via P04033 that all motor data
(equivalent circuit diagram) and motor control parameters are calculated.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.15.45
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
-+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0,000 / 250000,000
0,000 / 250000,000
0,000 / 250000,000
0,000 / 250000,000
4Byte var.
DEC_OV
3
+
Default value
---------
P-0-4033, C3200 Command Calculate motor data

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
For asynchronous third-party motors it is possible via "C3200 Command Cal

culate motor data" to calculate the values for motor parameters from the type
plate data and then the values of the motor control parameters. The activation
of C3200 first requires manual input of the motor data from the type plate of the
asynchronous motor in the list parameter "P-0-4032, Motor type plate data".
When a Rexroth motor is used, the content of P04032 and the
command C3200 are irrelevant as for these motors all parameters
required for operation are stored in the data base for motor data
(DriveBase).
See also Functional Description "Automatic Setting of Motor Control".
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.15.46
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
P-0-4034, Thermal time constant of winding

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
2Byte
BIN
0
--

and Controls
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPB
MPH
--
MPD
MPD
MPC
MPC
The value for the thermal time constant of the motor winding is entered in this
parameter. This is done
for Rexroth motors with encoder data memory, when the control voltage
of the drive is switched on
manually or via the motor data base of the commissioning software (e.g.
IndraWorks) for Rexroth motors without encoder data memory
manually for third-party motors
See also Functional Description "Current and Torque Limitation (ClosedLoop)"

Use
The thermal time constant of the motor winding is the time after which the motor
winding has reached 63% of its final temperature, when it is carrying constant
current.
For Rexroth motors with cooling type to be selected (MSK, MHD,
MKD, MKE), the value of P04034 is independent of the actually
realized cooling type and the corresponding setting in "P00640,
Cooling type"!
The motor temperature model calculates with a time constant for
the temperature rise of the motor winding (P04034) and a time
constant for the temperature rise of the motor housing (P004035)!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
s
--
Input
MPB:
MPC:
MPD:
MPH:
5.15.47
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
StdOne / StdSIMax
StdOne / StdSIMax
StdOne / StdSIMax
StdOne / StdSIMax
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
1
+
Default value
2,0
2,0
2,0
2,0
P-0-4035, Thermal time constant of motor

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The thermal time constant of the motor is the time after which the motor housing,
given constant current in the motor winding, has reached 63% of its final tem
perature in the case of standard cooling type (see table below).
In the firmware-internal motor temperature model, this value is the basis for
determination of the motor housing time constant which takes effect depending
on the cooling type:
For motors with non-variable cooling type, the value corresponds to the
effective motor housing time constant.

and Controls
For motors with variable cooling type, the effective motor housing time
constant is determined via P04035 and "P00640, Cooling type".
Motor type
Standard cooling
type
Notes
MSK, MHD, MKD,

MKE
non-ventilated
variable cooling type
MAD, MAL, 2AD
ventilated
set "P-0-0640, Cooling type" according to

realized cooling type
non-variable cooling type
"P-0-0640, Cooling type" is inactive
MAF, ADF, MBS,

MBT, 1MB, MLF,
LSF
liquid-cooled
third-party motor
unknown
Fig.5-291:
non-variable cooling type

"P-0-0640, Cooling type" is inactive
is considered as non-variable cooling
type, "P-0-0640, Cooling type" is inactive
Standard cooling types of motors

See also Functional Description "Current and Torque Limitation"
Use
The value for the thermal time constant of the motor is entered in P04035
parameter. This is done
of the drive is switched on.
for Rexroth motors without encoder data memory, manually or by means

of the motor database of the commissioning software (e.g. IndraWorks).
manually for third-party motors, set the value according to the realized
cooling type.
When the value "0" is entered for P-0-4035, the motor temperature
model only calculates with the time constant of the motor winding
(P04034). The output current of the controller is only limited to the
maximum KB current, not to the maximum allowed continuous cur
rent!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
min
--
Input
MPB:
MPC:
MPD:
MPH:
5.15.48
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
StdNul / StdSIMax
StdNul / StdSIMax
StdNul / StdSIMax
StdNul / StdSIMax
Default value
0,0
0,0
0,0
0,0
MPB
MPB
MPB
MPB
MPB
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_OV
1
+
P-0-4036, Rated motor speed

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
MPH
MPH
MPH
MPH
MPH
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
--
MPD
MPC
This parameter defines the speed above which the field weakening range be
gins. Voltage reference value is DC bus voltage DC540V (uncontrolled supply
at 3xAC400V 5%).
For Rexroth motors of the MAD and MAF lines, if an encoder

data memory is available, automatically at initial commission
ing
For linear and rotary asynchronous kit motors by loading the

motor parameters with the "IndraWorks D" commissioning tool
For other asynchronous motors manual input according to

manufacturer's specification (see completed form for the out
put data of asynchronous motors!)
The parameter is not used for synchronous motors.

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Rpm
--
Input
MPB:
MPC:
MPD:
MPH:
5.15.49
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
StdNul / MaxULong
StdNul / MaxULong
StdNul / MaxULong
StdNul / MaxULong
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
4
+
Default value
1000,0000
1000,0000
1000,0000
1000,0000
P-0-4037, Thermal short-time overload of winding

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The value for the thermal time short-time overload factor of the motor winding
is entered in this parameter.
This is done
of the drive is switched on
manually or via the motor data base of the commissioning software (e.g.
IndraWorks) for Rexroth motors without encoder data memory
manually for third-party motors
See also Functional Description "Current and Torque Limitation (ClosedLoop)"

Use
The thermal time short-time overload factor of the motor winding acts in a mul
tiplicative way on "S00111, Motor current at standstill". It indicates to which
value the motor current is limited with the thermal time constant of the motor

and Controls
winding, unless any other thermal limitation by the thermal time constant of the
motor (housing!) takes effect.
For Rexroth motors the value of S00111 always refers to the
standard cooling type of the motor! For motors with cooling type to
be selected (MSK, MHD, MKD, MKE), this is always the non-ven
tilated case! See also Parameter Description of P00640!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.15.50
PM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
1,0 / 4,5
1,0 / 4,5
1,0 / 4,5
1,0 / 4,5
Default value
2,2
2,2
2,2
2,2
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_OV
1
+
P-0-4039, Stator leakage inductance

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter is only used for operating asynchronous motors and takes effect
for current control of the motor.
For Rexroth motors this value is stored in the DriveBase.
For third-party motors this parameter is calculated via the command C3200
Command Calculate data for asynchronous motor that is started with P04033.
Use
Technical background:
The stator leakage inductance Ls,Sigma is a part of the equivalent circuit diagram
that is used for describing an asynchronous machine. The equivalent circuit
diagram is the basis for motor control of the asynchronous motor. The indicated
values are referring to one winding phase, the approach always implying a start
connection. This does not indicate how the windings in the motor are actually
wired.

and Controls
Rs
Ls,Sigma
LH
Lr,Sigma
Rr
Fig.5-292:
Function:
Memory:
Unit:
Cycl. tra.:
stator resistor
stator leakage inductance
magnetizing inductance
rotor leakage inductance
rotor resistor
Equivalent circuit diagram of the asynchronous machine
Par
PARAM_SP
mH
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.15.51
PM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
0,001 / MaxULong
0,001 / MaxULong
0,001 / MaxULong
0,001 / MaxULong
Default value
5,000
5,000
5,000
5,000
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_OV
3
+
P-0-4040, Rotor leakage inductance

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
For Rexroth motors this value is stored in the DriveBase.
For third-party motors this parameter is calculated via the command C3200
Command Calculate data for asynchronous motor that is started with P04033.
Use
Technical background:
The rotor leakage inductance Lr,Sigma is a part of the equivalent circuit diagram
diagram is the basis for motor control of the asynchronous motor.
The indicated values are referring to one winding phase, the approach always
implying a star connection. This does not indicate how the windings in the motor
are actually wired.

and Controls
Rs
Ls,Sigma
LH
Lr, Sigma
Rr
Fig.5-293:
Function:
Memory:
Unit:
Cycl. tra.:
stator resistor
rotor resistor
Par
PARAM_SP
mH
--
Input
MPB:
MPC:
MPD:
MPH:
5.15.52
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
0,001 / MaxULong
0,001 / MaxULong
0,001 / MaxULong
0,001 / MaxULong
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
3
+
Default value
5,000
5,000
5,000
5,000
P-0-4041, Motor magnetizing inductance

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
For Rexroth motors this value is stored in the DriveBase. For third-party motors
this parameter is calculated via the command C3200 Command Calculate data
for asynchronous motor that is started with P04033.
Use
The motor magnetizing inductance LH is a part of the equivalent circuit diagram

diagram is the basis for motor control of the asynchronous motor. The indicated
values are referring to one winding phase, the approach always implying a start
connection. This does not indicate how the windings in the motor are actually
wired.

and Controls
Rs
Ls,Sigma
LH
Lr,Sigma
Rr
Fig.5-294:
Function:
Memory:
Unit:
Cycl. tra.:
stator resistor
rotor resistor
Par
PARAM_SP
mH
--
Input
MPB:
MPC:
MPD:
MPH:
5.15.53
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
0,010 / StdUMax
0,010 / StdUMax
0,010 / StdUMax
0,010 / StdUMax
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
3
+
Default value
50,000
50,000
50,000
50,000
P-0-4042, Characteristic of motor magnetizing inductance

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This list parameter is only used for operating asynchronous motors and takes
effect for current control of the motor.
For Rexroth motors the characteristic values are made available by the
manufacturer, either by means of a data sheet or the commissioning soft
ware (e.g. IndraWorks).
For third-party motors the characteristic in the majority of cases is un

known. Via the command "C3200, Command Calculate data for asyn
chronous motor" that is started with P04033 the list is neutrally assigned.
Via the command "C3600 Command Motor data identification" that is star
ted with P00565 the characteristic of the asynchronous motor is deter
mined and entered in this list.

Use
The magnetizing inductance of an asynchronous motor normally already shows

saturation behavior in operation under rated conditions. The inductance value
of the motor magnetizing inductance depends on the currently flowing mag
netizing current and increases as the current is reduced.

and Controls
List element no. of
P-0-4042
Value factor "fLh(n)"
Reference value
(value range 0.5....2.0)

(Lh(n) = fLh(n)*(P-0-4041))
fLh(No.1) >= fLh(No.2)
0% of P-0-4004 (0,0)
20% of P-0-4004 (0,2)
40% of P-0-4004 (0,4)
60% of P-0-4004 (0,6)
80% of P-0-4004 (0,8)
1,0
100% of P-0-4004 (1,0)
fLh(No.7) <= fLh(No.6)
120% of P-0-4004 (1,2)
140% of P-0-4004 (1,4)
160% of P-0-4004 (1,6)
P-0-4041
P-0-4004
Fig.5-295:
Fig.5-296:
Function:
Memory:
Unit:
Cycl. tra.:
Motor magnetizing inductance

Magnetizing current
Characteristic of magnetizing inductance Lh in factors "fLh" referring to

P-0-4041 depending on the flowing magnetizing current (%-value of
P-0-4004)
Illustration of the Lh characteristic P04042

Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.15.54
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
0,500 / 2,000
0,500 / 2,000
0,500 / 2,000
0,500 / 2,000
Data length:
Format:
Decim. pl.:
Switchable:
2Byte var.
DEC_OV
3
+
Default value
---------
P-0-4043, Rotor time constant

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
MPB
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPC

and Controls
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
--
MPD
MPC
This parameter is only active with asynchronous motors. It has a considerable

influence on the torque generation of the motor, as it decisively determines the
so-called "slip" in the case of load.
"Slip" is the difference of the rotational frequency of the electric ro
tary field in the stator divided by the number of pole pairs of the
motor, and the mechanical rotational frequency of the rotor.
The value for P-0-4043 is motor-specific and for asynchronous Rexroth motors
is made available via the commissioning software (e.g., IndraWorks) or via the
Intranet output of the manufacturer-side data base DriveBase!
Record of Revisions
Version
Attribute
Up to MPx04VRS
Editability: PM
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
ms
--
Input
MPB:
MPC:
MPD:
MPH:
5.15.55
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Comment
PM+OM
PM->OM
+
--
min./max.
0,100 / 10000,000
0,100 / 10000,000
0,100 / 10000,000
0,100 / 10000,000
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
3
+
Default value
100,000
100,000
100,000
100,000
P-0-4045, Maximum possible continuous current

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter indicates how much current the controller can continuously
provide in the present load situation. At the same time, this current is the current
to which the continuous current limitation would reduce, if the load situation
would continue.
See also Functional Description "Current Limitation Loop"
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
-A eff
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
DEC_OV
3
--

and Controls
5.15.56
P-0-4046, Effective peak current

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter displays the maximum current that the controller can tempora
rily supply to the motor in the active load condition. This is the rms value of the
total current, i.e. torque-generating and magnetic-field-generating components
are contained!
See also Functional Description "Current Limitation Loop"
Use
This parameter is calculated and preset by the drive controller when progress
ing to the operating mode. The dynamic current limitation reduces this value in
accordance with the work load of the amplifier or the motor.
This limit value is determined considering the following parameters:
IDN
Name
Unit
S-0-0109
Motor peak current
A eff
S-0-0110
Amplifier peak current
A eff
P-0-4058
Amplifier type data
P-0-4004
Magnetizing current
Fig.5-297:
Function:
Memory:
Unit:
Cycl. tra.:
Effective peak current, dependencies

Par
-A eff
AT
Input
MPB:
MPC:
MPD:
MPH:
5.15.57
A eff
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
4Byte
DEC_OV
3
--
P-0-4048, Stator resistance

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
This parameter indicates the winding resistance of the motor between two ter
minal pins.

and Controls
In the case of MHD, MKD, MKE, automatically at initial com

missioning.
(e.g. IndraWorks).


Systems"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
Ohm
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.15.58
PM
PM->OM
+
--
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
StdNul / StdUMax
Default value
0,000
0,000
0,000
0,000
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
DEC_OV
3
+
P-0-4050, Answer delay RS-232/485

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
The RS-485 interface (also in bus mode) works in the semi-duplex mode. The
same pair of lines is used for both directions.
The data direction must be changed during the data exchange. In order to give
the connected devices (PC or PLC) sufficient time for switching between send
ing and receiving on their side, the answer time of the drive can be set by means
of this parameter.
P-0-4050 defines the minimum time in ms that has to pass after the last char
acter of a telegram has been received via the serial interface, before the first
reaction character may be sent. To operate RS-232 this parameter is not re
quired.
The required answer delay depends on the master/PC that is used. In the con
dition as supplied the value for the answer delay is set to a value with which
most of the PCs can normally work without any problem.
When communication problems occur (e.g. "TIMEOUT" message
in the commissioning software), the value for the answer delay has
to be increased step by step until the problems do not occur any
longer. For reasons of safety the limit value established in this way
should be given a factor of 1.5 and be entered as the answer delay.
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
2Byte
DEC_OV

and Controls
Unit:
Cycl. tra.:
ms
--
Input
MPB:
MPC:
MPD:
MPH:
5.15.59
Extr. val. ch.:

Comb. check:
+
--
Decim. pl.:
Switchable:
min./max.
StdOne / 200
StdOne / 200
StdOne / 200
StdOne / 200
0
--
Default value
1
1
1
1
P-0-4051, Positioning block acknowledgment

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Acknowledgment of the accepted positioning block

Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.15.60
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
0
--
Default value
---------
P-0-4052, Positioning block, last accepted

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Last accepted positioning block (retain data). In the case of sequential block
chains, this is the first block with which the sequential block chain was started.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
RE
TAIN_KUNDE
-AT
Editability:
PM
Data length:
2Byte
Validity ch.:
--
Format:
DEC_MV
Extr. val. ch.:

Comb. check:
---
Decim. pl.:
Switchable:
0
--
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------

and Controls
5.15.61
P-0-4053, Positioning block, last active

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Last accepted positioning block (retain data). For sequential block chains this
is the last active block of the sequential block chain. For individual blocks
P04052 and P04053 are always equal.
Function:
Memory:
Unit:
Cycl. tra.:
Par
RE
TAIN_KUNDE
-AT
Input
MPB:
MPC:
MPD:
MPH:
5.15.62
PM
Data length:
2Byte
Validity ch.:
--
Format:
DEC_MV
Extr. val. ch.:

Comb. check:
---
Decim. pl.:
Switchable:
0
--
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
P-0-4054, C5400 Command Save PLC retain data on MMC

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
-
-
-
-
MPC
MPC
By means of this command the PLC retain data are copied from the internal,
non-volatile memory (flash/memory on interface option "MD1") to the MultiMe
diaCard (MMC).
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.15.63
Editability:
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-4055, C5500 Command Load PLC retain data from MMC

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
-
-
MPB
MPB
MPB
MPB
--
-
-
MPH
MPH
MPH
MPH
-
-
-
-
-
-
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
By means of this command the PLC retain data are copied from the MultiMe
diaCard (MMC) to the internal, non-volatile memory (flash/memory on interface
option "MD1").
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.15.64

--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-4056, Thermal coefficients HCS04

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
+
-
-
-
-
-
-
MPC
MPC
This list parameter contains electric type data describing the power section.
Type data is defined separately for each power section and is en
tered once during the manufacturing process. Type data is dis
played via this parameter. Changes are neither required nor
allowed (write-protected parameter).
Function:
Memory:
Unit:
Cycl. tra.:
Par
LT_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.15.65
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
FLOAT
0
--
Default value
---------
P-0-4057, Positioning block, input linked blocks

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
Parameter P04057 is an image of the sequential block inputs.

Function:
Memory:
Par
--
Editability:
Validity ch.:
PM+OM
--
Data length:
Format:
2Byte
BIN

and Controls
Unit:
Cycl. tra.:
-AT + MDT
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.15.66
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
0
0
0
0
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
0
--
P-0-4058, Amplifier type data

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
In order to enable the determination of the amplifier work load, the physical
properties of the amplifier must be known to the firmware.
Characteristic data:
thermal insulation data
continuous amplifier power
thermal capacities
Function:
Memory:
Unit:
Cycl. tra.:
Par
LT_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.15.67
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
MinLong / MaxLong
MinLong / MaxLong
MinLong / MaxLong
MinLong / MaxLong
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
DEC_MV
4
--
Default value
---------
P-0-4059, Electric type data of power section

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This list parameter contains electric type data that are describing the power
section.
The type data are individually determined for each power section
and are entered one time in the production process. The type data
are displayed via this parameter. Changes are not required and not
allowed (write-protected parameter)!
Function:
Memory:
Par
LT_SP
Editability:
Validity ch.:
PM
--
Data length:
Format:
2Byte var.
DEC_OV

and Controls
Unit:
Cycl. tra.:
---
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.15.68
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
0
--
Default value
---------
P-0-4060, Positioning block control word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is used as control word for positioning block mode and has the
following structure:
Bit
Comment
acceptance of the positioning block selected in P04026 by

a 0 1 edge
(Is only relevant for parallel interface and field bus I/O
mode!)
0: traveling with the velocity of the current positioning block

1: limitation of the velocity to "S00259, Positioning velocity"
Bit 0 is only relevant in positioning block mode!
Fig.5-298:
P-0-4060, Positioning block control word

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
-AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.15.69
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
0/3
0/3
0/3
0/3
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
2
2
2
2
P-0-4061, Positioning block status word

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Function
The parameter contains the status bits that are only valid for the positioning
block mode. All other generally valid status bits for positioning are contained in
parameter "S00437, Positioning status word"!
Use
The bits in P04061 have the following significance:
Bit 4: Bit 4 "end position reached" is set when a positioning block was
completed. For sequential block chains the bit is set when the end of the
sequential block chain has been reached.
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.15.70
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
BIN
0
--
Default value
---------
P-0-4063, Positioning block deceleration

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPB
MPB
MPB
MPB
MPB
-closed loop
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
the positioning decelerations of the max. 64 positioning blocks individually and
in different form ( list parameter with 64 elements).
P0-4009, the positioning deceleration entered in P04063 defines
Record of Revisions
Version
Attribute
Comment
GEN-02VRS
Cycl. tra.: no
Function:
Memory:
Par
PARAM_SP
Editability:
Validity ch.:
PM+OM
PM->OM
Data length:
Format:
Unit:
S-0-0160
Extr. val. ch.:
Decim. pl.:
Cycl. tra.:
AT + MDT
Comb. check:
--
Switchable:
Input
MPB:
MPC:
MPD:
MPH:
min./max.
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
S-0-0160 / S-0-0160
Default value
---------
4Byte var.
DEC_MV
S-0-0161
S-0-0162
--

and Controls
5.15.71
P-0-4064, Password level

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter allows the user and the service staff reading the current pass
word protection. All passwords mentioned in the table are entered via S00267,
Password.
See also Functional Description "Using a Password"
Structure
Content
P-0-4064
Content
S-0-0267
Description
Parameters
acc. to
S00279
"007"
no password avail
able
W, R
W, R
"$$$"
customer pass
word available but
deactivated
W, R
W, R
" *** "
customer pass
word available and
activated
W, R
"$$$"
control password
entered
W, R
W, R
"Pass
word"
master password
entered
W, R
W, R
W, R
W
R
Administra Remain
tion param ing pa
eters
rame
ters
write access
read access
Fig.5-299:
Overview of password levels
"Administration parameters" are motor parameters (e.g. P03000),

device parameters (e.g. P01509,...), encoder parameters (e.g.
P01000,...), error memories (e.g. P00192,...), etc.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.15.72
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
P-0-4065, Active non-volatile memory

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
2Byte
DEC_OV
0
--

and Controls
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPB
MPH
+
MPD
MPD
MPC
MPC
Drive parameters and drive retain data are alternatively (P-0-4070) stored on
the
optional memory MultiMediaCard (MMC)
device-internal memory in the drive controller
in non-volatile form.
This parameter displays the active memory.
1: Optional memory MMC
2: Device-internal memory

Function:
Memory:
Unit:
Cycl. tra.:
Par
Editability:
-Extr. val. ch.:
-Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.15.73
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
HEX
0
--
Default value
2
2
2
2
P-0-4066, MMC identification number (CID)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter is relevant for the manufacturer's identification of the MultiMe

diaCard that has been plugged.
This parameter is only used for service purposes and is irrelevant
for the application side!
Function:
Memory:
Unit:
Cycl. tra.:
Par
Editability:
-Extr. val. ch.:
-Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.15.74
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
P-0-4067, Project identification

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
MPB
MPB
MPB
MPB
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
2Byte var.
HEX
0
--

and Controls
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPB
MPH
--
MPD
MPD
MPC
MPC
This parameter is used by IndraWorks in order to uniquely identify the axis

within an IndraWorks project. The parameter should not be edited by the user.
In case of multi-axis firmware, the parameter is available once for each axis.

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
ASCII
0
--
Default value
---------
5.16
P-0-4068 to P-0-4095 Field Bus and Serial Communication
5.16.1
P-0-4068, Field bus: control word IO

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
The parameter "P-0-4068, Field bus: control word IO" is used as field bus con
trol word (16 bits) in the I/O mode. We distinguish the following two profile types
with freely expandable real-time data and configurable field bus status word:
"I/O mode positioning" (P-0-4084, Field bus: profile type = 0xFF82)
"I/O mode preset velocity" (P-0-4084, Field bus: profile type = 0xFF92)
See also Functional Description "Supported Profile Types"

Structure
MPC
MPC
As a bit list, P04068 has a profile-type-dependent structure:

and Controls
Bit
0
Function with I/O mode positioning
Function with I/O mode preset velocity Comment

(as of MP*04VRS!)
drive enable (P-0-0116, bit 15)

0-> 1: drive enable
1-> 0: best possible deceleration according to P00119
(Note: Bit 14 of P00116 is automatically set as soon
as the field bus is active!)
Drive Halt (P-0-0116, bit 13)

0-> 1: drive start
1-> 0: Drive Halt, i.e. the drive is immediately shut down
(speed command value reset!)
going to zero (S-0-0148)
bit 4...2: run-up stop (P-0-1200)
0->1: start homing command "C6"
000: deactivated
1->0: complete homing command "C6"
xx1: always (unconditionally) active

x10: only if command value limitation
active
1x0: only if torque limitation active
strobe (P-0-4060, bit 0)

0->1: apply travel block
positioning with limited velocity (P-0-4060, bit 1)

1: limited velocity with "positioning velocity" (S00259)
as limit
clear error (S-0-0099)

0->1: start error clearing command "C5"
1->0: complete command "C5"
13-6
bit 7,6: positioning/jogging

(S-0-0346, bit 2...1)
bit 10...6: activation of a fixed com

mand value (P-0-1200)
00: positioning active, start at change of bit 0, position 00000: command value S-0-0036 ac
ing aborted by:
tive
01: infinite travel in positive direction (jog+)
10: infinite travel in negative direction (jog-)
11: stopping the axis (positioning stop)
xxxx1: cmd value P-0-1206 element 1

active
xxx10: cmd value P-0-1206 element 2
active
xx100: cmd value P-0-1206 element 3
active
x1000: cmd value P-0-1206 element 4
active
10000: cmd value P-0-1206 element 5
active
bit 13...8: travel block select

"positioning block selection" (P-0-4026, bit 0..5)
bit 12...11: ramp inputs for motor po

tentiometer (P-0-1200)
00: command value is maintained
01: command value is increased
10: command value is reduced
11: command value is maintained

and Controls
Bit
Function with I/O mode positioning
Function with I/O mode preset velocity Comment

(as of MP*04VRS!)
bit 13: inversion of velocity command
value (P-0-1200)
14
--
enabling of motor potentiometer

(P-0-1214)
0: disabled (S-0-0036 or fixed com
mand value active)
1: motor potentiometer is active
Fig.5-300:
Use
Structure of P-0-4068
The field bus control word P-0-4068 cannot be configured and has been
preconfigured with the required control bits for the IO mode.
P04068 doesn't allow phase switching via a bit, this is why in I/O mode
phase switching has to be done by starting the transition commands
(C0200, C0400) via the parameter channel.
When changing from parameter mode to operating mode, a check is run

to make sure that the control word is always listed once in "P04081, Field
bus: config. list of cyclic command value data ch.".
The content of this parameter is only relevant for profile type "I/O
mode" (P-0-4084 = 0xFF82 and 0xFF92).
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Input
MPB:
MPC:
MPD:
MPH:
5.16.2
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
0
0
0
0
P-0-4069, Field bus: module diagnosis

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
Parameter for reading master communication settings and states (with field
buses).
This parameter is only relevant for the development staff! It is irrel
evant for the application side!
Function:
Memory:
Par
--
Editability:
Validity ch.:
nein
--
Data length:
Format:
2Byte var.
HEX

and Controls
Unit:
Cycl. tra.:
---
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.16.3
---
min./max.
--- / ----- / ----- / ----- / ---
Decim. pl.:
Switchable:
0
--
Default value
---------
P-0-4070, Parameter storage configuration

Allocation
Function
Structure
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
+
-
-
-
MPD
MPD
MPD
MPC
MPC
Parameter "P-0-4070, Parameter storage configuration" can be used to set the

mode of operation for the MMC.
Bit
Significance
Comment
0x00: MMC as init/update medium:

The MMC can be used for system initialization and as update
medium. Boot requests for the firmware (firmware update) and
parameters (Load Par from MMC). The active memory is al
ways the onboard flash (see P-0-4065 = 0x02).
0x01: Programming module mode:
1/0
All parameters and the firmware are stored to the MMC. If the
MMC is removed in off state, the error message "MMC: De
fective or missing, replace" is emitted. Operation of the system
is not possible. If the MMC is removed during ongoing opera
tion, the error message "F2006 MMC was removed" is emitted.
0x10: Backup medium mode
The MMC may be available as a storage medium and can be
accessed via PLC file services, FTP or drive commands. The
MMC is not subject to any checks during booting or ongoing
operation.
Fig.5-301:
Parameter Storage Configuration
Any change to this parameter, if present, is stored to the MMC and the onboard
flash to ensure that any removal/change of the MMC can be detected in off
state.
The changed settings of the parameter will not become active be
fore the controller has been restarted.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
FIX_IDN_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
--+
min./max.
--- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
-----
2Byte
BIN
0
--

and Controls
MPD:
MPH:
5.16.4
--- / ----- / ---
-----
P-0-4071, Field bus: length of cyclic command value data channel

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
This parameter reflects the number of bytes of the process data channel par
ameterized in "P-0-4081, Field bus: Config. list of cyclic command value data
ch.".
This length does not contain the length parameterized in "P-0-4083, Field bus:
Length of parameter channel" of a possibly available parameter channel. The
graduation takes place in word boundaries, i.e. possible values are 2, 4, 6,....
32.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-Byte
--
Input
MPB:
MPC:
MPD:
MPH:
5.16.5
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
---------
P-0-4072, C2900 Command Firmware update from MMC

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
With this command, the firmware is copied from the MultiMediaCard plugged
in the controller to the controller and to possibly available firmware-carrying
additional components.
The command can be started via the control panel or via a commissioning tool
("IndraWorks D" or "SynTop"). After successful firmware update the message
"End C29" is displayed. The user now has to switch the drive off and on again
so that the new firmware becomes active.
If you make an attempt of phase progression without the drive hav
ing been rebooted, either a switching command error will occur or
a system error (F8xxx) entered before the firmware update will be
displayed.
See also Functional Description "MultiMediaCard (MMC)"

and Controls
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.16.6
PM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-4073, Field bus: diagnostic message

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
This parameter contains the status of the field bus state machine in plain text.
The diagnostic messages depends on the field bus used and is according to
the designations used in the standard.
See also Functional Description "PROFIBUS"
Use
Significance of diagnostic message texts with PROFIBUS-DP

Display texts for PROFIBUS master communication:
Text
Significance
"OFFLINE":
initialization value of the diagnostic message
"Power-On":
A PROFIBUS card has been recognized as master communication

and the hardware is checked.
"Baud-Search": The hardware is okay; the PROFIBUS is monitored in order to rec

ognize the baud rate used.
"Wait-Prm":
The baud rate has been found, the drive waits for a parameterization
telegram of the master that contains its IDN (contained in the device
data sheet).
"Wait-Cfg":
The IndraDrive device has received a valid parameterization tele

gram and now waits for the configuration telegram in which the
master tells the drive for which modules it is waiting for input/output
configuration.
"Data-Exch WD The drive received a valid configuration, it exchanges real-time data

+":
with the master and the communication is monitored by a watchdog.
"Data-Exch
WD-":
Fig.5-302:
The drive received a valid configuration, it exchanges real-time data

with the master without the communication being monitored by a
watchdog.
Plain text and significance of the entries in parameter P04073
The states "Data-Exch WD+" and "Data-Exch WD-" are additionally

signaled by H30 being lit!
Significance of diagnostic message texts with PROFInet
Display texts for PROFInet master communication (as of MP*04VRS):

and Controls
Text
Significance
"LINK IS
DOWN":
no connection to remote station (switch)
"HALF-DU
PLEX":
half-duplex connection to remote station (switch)
"FULL DU
PLEX":
full-duplex connection to remote station (switch)
Fig.5-303:
Plain text and significance of the entries in parameter P04073
Significance of diagnostic message texts with Ethernet/IP

Display texts for Ethernet/IP master communication (as of MPH05V04):
Text
Significance
NO IP:
The IP address settings of the Engineering Port are invalid.
IP-Adress not configured

DUP IP:
IP-Adress conflicted
During the Duplicate IP Address Check, the IP address

which was set was detected to already exist in the network.
NO COM:
Since the last run-up, there hasn't any I/O connection been
no Communication after established yet.
BootUp
RUN:
The I/O connection runs without error.
Data Exchange activ

IDLE:
The master (PLC) of the I/O connection is in the stop mode.
Master in Stop-Mode
CLOSED:
closed from Master
TIMEOUT:
Master-Slave timed out
Fig.5-304:
The I/O connection was terminated by a command of the

master (Forward Close).
The monitoring of the I/O connection between master and
slave was triggered, i.e. there hasn't been any master pack
age received in the drive for a too long time.
Plain text and significance of the entries in parameter P04073 with

Ethernet/IP
Significance of diagnostic message texts with DeviceNet

Display texts for DeviceNet master communication:
Text
Significance
"BAUD SEARCH":
automatic baud rate search active
"DEVICE_SELF_TEST automatic self test active

ING"
"OPERATIONAL"
operational, no connection to master
"POLLED IO"
operational and connection to master, real-time data are

processed
"POLLED IO IDLE"
operational and connection to master, real-time data are not

processed
"RECOVERA
BLE_FAULT"
recoverable error

and Controls
"UNRECOVERA
BLE_FAULT"
unrecoverable error
"DUP_MAC_ERROR"
Duplicate MAC Check error
"RX_QUEUE_OVER
RUN"
overflow of Rx queue
"TX_QUEUE_OVER
RUN"
overflow of Tx queue
"IO_SEND_ERROR"
error when transmitting the cyclic data
"CAN_BUS_OFF"
CAN controller in status "BUS-OFF"
"CAN_OVERRUN"
overflow in CAN controller
"BUS_POWER_FAIL"
24V error
Fig.5-305:
Plain text and significance of the entries in parameter P04073 with

DeviceNet
Significance of diagnostic message texts with CANopen

Display texts for CANopen master communication:
Diagnostic message
Significance
CANopen: Offline
CANopen task is initialized.
CANopen: Auto Bau

drate Detection
Drive searches baud rate.
CANopen: Initialised
Initialization was run after switch-on or after a reset, a bootup telegram is to be transmitted.
CANopen: Initialised
CAN-Warning
In status "Initialised", too many errors were detected on CAN

bus, CAN interface is in status "Warning". This status mostly
means that boot-up telegram could not be transmitted. Pos
sible causes: Drive (currently) is only node at bus or there is
node with different baud rate at bus.
CANopen: Pre-Opera
tional
Boot-up telegram was transmitted, drive now is in status

"PreOperational". Parameters can be read and written by
means of SDO.
CANopen: Pre-Opera
tional CAN-Warning
In status "Pre-Operational", too many errors were detected

on CAN bus, CAN interface is in status "Warning".
CANopen: Operational
Drive exchanges cyclic data (see "List of Transmission

Types").
(only producer)
By received heartbeat telegram, master detected that heart

beat transmitter does not send any PDO due to network
status.
CAN-Warning
In status "Operational", too many errors were detected on

CAN bus, CAN interface is in status "Warning".
CANopen: Stopped
Drive is in status "Stopped". In this status, drive only receives

NMT commands. It is now possible to change basic com
munication parameters, such as baud rate or address.
CANopen: Stopped
CAN-Warning
In status "Stopped", too many errors were detected on CAN

bus, CAN interface is in status "Warning".

and Controls
CANopen: BUS-OFF
CAN interface detected too many transmission errors and

received incorrect telegrams. Possible causes are, among
other things, disturbances on bus cable, short circuits, in
terruptions of bus cable or nodes with different baud rates
at bus.
CANopen: BUS-OFF
(RxCounter = 0)
CAN interface detected too many transmission errors. Most

likely there wasn't any telegram received or received tele
grams were not error-free.
Fig.5-306:
Function:
Memory:
Unit:
Cycl. tra.:
Overview of diagnostic messages for CANopen communication

Par
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.16.7
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
1Byte var.
ASCII
0
--
Default value
---------
P-0-4074, Field bus: data format

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
Parameter "P04074, Field bus: data format" describes the arrangement of 32bit-values in the telegram (process data channel).
Fig.5-307:
Data format

Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.16.8
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
0/1
0/1
0/1
0/1
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
0
0
0
P-0-4075, Field bus: watchdog

Allocation
Contained in 02VRS:
Contained in 03VRS:
MPB
MPB
MPH
MPH
MPD
MPD
2Byte
BIN
0
--

and Controls
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
In this parameter the watchdog time transmitted by the master in the parame
terization telegram is stored in ms. If the master communication is interrupted
for more than this time, a communication error is generated.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-ms
--
Input
MPB:
MPC:
MPD:
MPH:
5.16.9
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
0
--
Default value
0
0
0
0
P-0-4076, Field bus: cycle time (Tcyc)

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
The content of "P04076, Field bus: Cycle time (Tcyc)" defines the time inter
vals in which the cyclic real-time data (command values and actual values) are
processed in the field bus drive.
Use
The allowed input values in P04076 depend on the position loop clock:
Minimum field bus cycle time: TPosition
Time intervals of the allowed inputs: TPosition
With the position loop clock in the different firmware variants:
CSH01.1C with MPH firmware: TPosition = 250s
CSB01.1x with MPB firmware: TPosition = 500s
CDB01.1C with MPD firmware: TPosition = 500s
The following input values result for a Basic control section, for example:
500 s, 1 ms, 2ms, to 65ms in steps of 500s
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
Par
PARAM_SP
us
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
+
--
min./max.
500 / 65000
500 / 65000
Data length:
Format:
Decim. pl.:
Switchable:
Default value
2000
2000
2Byte
DEC_OV
0
--

and Controls
MPD:
MPH:
5.16.10
1000 / 65000
500 / 65000
2000
2000
P-0-4077, Field bus: control word

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
This parameter is used as field bus control word for all BRC profiles such as
"freely configurable mode" (0xFFFE).
The significance and function of the control bits cannot be config
ured and are defined by the profile selection!
Structure
Bit
Comment
Command value acceptance
Not supported in
profile
0xFFFD
(see P-0-4084)
Upon a change (S-0-0346, bit 0)

- a positioning block is activated or
- the command position is accepted
1
Operating mode setting

0->1: Change to operating mode
1->0: Change to parameter mode
Going to zero (S-0-0148)

0->1: Start homing command "C6"
1->0: Complete homing command "C6"
Not supported in
0xFFFD
profile
(see P-0-4084)
Absolute / relative (S-0-0346, bit 3) (only effective when Not supported in

using "S-0-0282, Positioning command value")
profile
0xFFFD
0: Positioning command value (S-0-0282) is processed (see P-0-4084)
as absolute target position in the drive
1: Positioning command value (S-0-0282) is processed

as relative travel distance in the drive
4
Immediate block change (S-0-0346, bit 5) (only effective Not supported in

when using "S-0-0282, Positioning command value")
profile
0xFFFD
(see
P-0-4084)
0: Positioning command value (S-0-0282) is only applied
after the last active target position was reached
1: Positioning command value (S-0-0282) is immediately

applied upon toggling of command value acceptance
5
Clear error (S-0-0099)

0->1: Start error clearing command "C5"
1->0: Complete command "C5"

and Controls
Bit
Comment
7/6
Positioning / jogging (S-0-0346, bit 2 + S-0-0346, bit 1)
Not supported in
profile
0xFFFD
(see P-0-4084)
Positioning activated by:

00: Positioning active, start at change of bit 0
01: Infinite travel in positive direction (jog+)
10: Infinite travel in negative direction (jog-)
9/8
Command operation mode (for SERCOS: S00134,

bit 89)
01: Secondary oper. mode 1 (e.g., jogging)
12
IPOSYNC
Interpolator clock (only in cycl. pos. control):
Toggles when new command values transmitted
13
Drive Halt (P-0-0116, bit13)

0->1: Drive start
1->0: Drive Halt, i.e. the drive is immediately shut down
(speed command value reset!)
14
Drive enable (P-0-0116, bit14)

Independent of P-0-4077, bit 14 of P-0-0116 is automat
ically set internally as soon as field bus communication is
active!
15
Drive ON (P-0-0116, bit15)

0->1: Drive enable
1->0: Best possible deceleration according to P00119
Fig.5-308:
P-0-4077, Field bus: Control word
The parameter mustn't be parameterized simultaneously with

"P04068, Field bus: Control word IO" in "P04081, Field bus:
Config. list of cyclic command value data ch.".
Function:
Memory:
Unit:
Cycl. tra.:
Par
--AT + MDT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.16.11
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
P-0-4078, Field bus: status word

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
MPB
MPB
MPB
MPH
MPH
MPH
MPD
MPD
MPD
2Byte
BIN
0
--

and Controls
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
The parameter "P-0-4078, Field bus: Status word" is used as status word for
feedback of the drive status to the field bus master in the case of field bus drives
that are operated in the freely configurable profile type (P-0-4084 = 0xFFFE).
The configuration of "P-0-4078, Field bus: Status word" cannot be
changed, i.e. the bit assignment cannot be parameterized.
Structure

Bit
Comment
1/0
Operating mode acknowledgment
As of MP*04VRS
implementation of
a sep. parameteri
zation state ma
chine
10: Operating mode

01: No longer relevant as of MP*04VRS
00:Parameter mode
2
In reference (status of reference encoder)

(S-0-0403, bit 0) actual position value (encoder 1 or 2)
is
0: Relative
1: Homed
In standstill (S-0-0331, bit 0)

1: Actual velocity | < standstill window |S-0-0040| <
S-0-0124
Command value reached for ...

Velocity control
1: Command speed reached (S-0-0330, bit 0)
Cyclic position control
1: In position (S-0-0336, bit 0)
... Drive-internal interpolation
1. |(S-0-0258) - (S-0-0051/53)| S-0-0057 (S-0-0437, bit 1)
1: |(S-0-0430) - (S-0-0051/53)| S-0-0057 and "in posi
tion" (S-0-0336, bit 0) and "Nfeedback = 0" (S-0-0331,
bit 0); (S-0-0437, bit 2)
1: "End position reached" (P-0-4061, bit 4)
Other operation modes: 1. "Target position at
tained" (S-0-0342, bit 0)

and Controls
Bit
Command change bit
Comment
1: If command status has changed

0: If command status has not changed
6
Operating mode error

1: Error in transition command
0: No error in transition command

1: Drive does not follow command value input (e.g., when
Drive Halt is active)
0: Drive follows command value input (e.g., "AF" active)
9/8
Actual operation mode (P-0-0116, bit 8...9)

10
Command value acknowledgment

By toggling the bit (S00419, bit 0), the drive acknowl
edges the acceptance of the "positioning command val
ue" (S-0-0282).
11
Class 3 diagnostics message (cf. S-0-0013)

The bit is set if a class 3 diagnostics message is present.
12
Class 2 diagnostics warning (cf. S-0-0012)

13
Class 1 diagnostics drive error (cf. S-0-0011)

The bit is set if a class 1 diagnostics error is present (drive
interlock).
15/14 Ready for operation (P-0-0116, bit 14/15)

10: Control section and power section ready for op. ("Ab")
Fig.5-309:
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
P-0-4078, Field bus: Status word

Par
--AT
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
2Byte
BIN
0
--

and Controls
5.16.12
P-0-4079, Field bus: baud rate

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
Parameter P04079 contains the active baud rate of the field bus interface.
You have to distinguish the following cases:
PROFIBUS-DP and PROFInet: The baud rate used by the field bus is
automatically determined and only displayed in this parameter.
DeviceNet and CanOpen: The baud rate used by the field bus is set in
parameter P04079.
By inputting "0" as baud rate it is possible to activate automatic baud
rate detection. In some cases this however might not work correctly
so that it is recommended to make a manual input.

See also Functional Description "DeviceNet"
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
kBaud
--
Input
MPB:
MPC:
MPD:
MPH:
5.16.13
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte
DEC_OV
2
--
Default value
0,00
0,00
0,00
0,00
P-0-4080, Field bus: config. list of cyclic actual value data ch.
Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
With this parameter, the process input data channel (slave-master, i.e. "AT") is
configured independent of the field bus used.
Use
Only such operating data can be entered in parameter "P-0-4080" which is lis
ted in the parameter "S-0-0187, List of configurable data in the AT". Otherwise,
the transition command error "C0231 Field bus: IDN for cycl. actual val. not
configurable" is generated. From parameter "P04080", the field-bus-specific
configuration of the real-time data channel is generated for the direction slavemaster. By reading the field-bus-specific object or by reading "P-0-4080", the
master can get to know the position of the individual real-time data (parameters

and Controls
or objects) at the field bus. Changes in parameter "P-0-4080" only take effect
after progression of the drive to the operating mode.
In the case of "I/O operation mode with configurable real-time da
ta" (0xFF82) in "P04084, Field bus: Profile type", parameter
"S-0-0144, Signal status word" is always set as status word at the
first place in "P-0-4080, Field bus: Config. list of cyclic actual value
data ch." during phase switch from phase 2 to phase 3. The pa
rameter at this place is overwritten.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.16.14
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
4Byte var.
IDN
0
--
Default value
---------
P-0-4081, Field bus: config. list of cyclic command value data ch.
Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
With this parameter, the process output data channel (master-slave, i.e. "MDT")
is configured independent of the field bus used.
Use
Only such operating data can be entered in parameter "P-0-4081, Field bus:
Config. list of cyclic command value data ch." which is also listed in parameter
"S-0-0188, List of configurable data in the MDT". Otherwise, the transition com
mand error "C0229 Field bus: IDN for cycl. command val. not configurable" is
generated. From the parameter P04081, the field-bus-specific configuration
of the real-time data channel is generated for the direction master-slave. By
reading the field-bus-specific object or by reading "P-0-4081", the master can
get to know the position of the individual real-time data (parameters or objects)
at the field bus. Changes in parameter "P-0-4081" only take effect after pro
gression of the drive to the operating mode.
In the case of "I/O operation mode with configurable real-time da
ta" (0xFF82) in "P04084, Field bus: Profile type", parameter
"P-0-4068, Field bus: Control word IO" is always set as status word
at the first place in "P-0-4081, Field bus: Config. list of cyclic com
mand value data ch." during phase switch from phase 2 to phase
3. The parameter at this place is overwritten.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---
4Byte var.
IDN
0
--

and Controls
MPC:
MPD:
MPH:
5.16.15
--- / ----- / ----- / ---
-------
P-0-4082, Field bus: length of cyclic actual value data channel

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
This parameter indicates the number of bytes of the process data channel par
ameterized in "P04080, Field bus: config. list of cyclic actual value data ch.".
This length does not contain the length parameterized in "P04083, Field bus:
length of parameter channel" of a possibly available parameter channel. The
graduation takes place in word boundaries, i.e. possible values are 2, 4, 6, ...
32.
For communication via Interbus it is obligatory, due to the bus struc
ture (shift register), that P04071 = P04082.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-Byte
--
Input
MPB:
MPC:
MPD:
MPH:
5.16.16
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
DEC_OV
0
--
Default value
---------
P-0-4083, Field bus: length of parameter channel

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
Apart from the transmission of real-time data (also called process data), com
munication via a field bus also requires the transmission of parameters that are
not linked to a real-time cycle. In the case of PROFIBUS, for which not all control
units are supporting acyclic access, these data can be exchanged via a pa
rameter channel.
Use
The parameter channel is set by the corresponding selection of the I/O modules
in the configuration software of the PROFIBUS. The names of the parameter
channel modules are starting with "ParamCh" followed by the length in words,
e.g. "0 Words (Off)" or "5 Words". The length that was set is displayed in pa
rameter P04083 in bytes after the drive has reached the status "Data-Exch".

and Controls
The modules "ParamCh 0 Words (Off)" and "ParamCh 5 Words"
are recommended. The parameter channel module must always be
at the first slot.
Function:
Memory:
Unit:
Cycl. tra.:
Par
-Byte
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.16.17
nein
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
2Byte
DEC_OV
0
--
Default value
---------
P-0-4084, Field bus: profile type

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
--
MPC
MPC
The setting of "P04084, Field bus: Profile type" influences
the profile-dependent interpretation of the control and status words
the preselection of the primary operation mode set in the drive
the configuration of the real-time data channel (unless freely configurable)

Use
The following settings are possible:

0xFF82: I/O mode "positioning" (with configurable real-time data)
0xFF92: I/O mode "preset velocity" (with configurable real-time data) (as of
MPx04)
0xFFFD: Freely configurable mode "operation mode neutral" (as of MPx04)
0xFFFE: Freely configurable mode (positioning command value)
Changes in parameter "P04084, Field bus: Profile type" only take effect after
switching to the operating mode (phase 4)!
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.16.18
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
-+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
HEX
0
--
Default value
0xFF82
0xFF82
0xFF82
0xFF82
P-0-4085, Command Activate easy startup mode

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
-
MPB
MPB
MPB
MPB
MPB
-
MPH
MPH
MPH
MPH
MPH
-
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Hardware
Funct. package(s):
Device parameter:
Function

--
Up to MPX04VRS: C4700 Command Activate easy startup mode

This parameter is used for activating the easy startup mode via the serial in
terface. With the start of this command, the drive switches master communi
cation (SERCOS or PROFIBUS) off. The drive automatically switches to the
parameter mode, makes the parameter setting for the "easy startup mode" and
switches to the operating mode. The parameter setting is stored in volatile form.
The easy startup mode can only be deactivated by switching control voltage off
and on.
Record of Revisions
Attribute
Version
Up
MPx04VRS
to
Comment
MPx Default value: -MPx_Max Value: --
Up
MPx04VRS
to
Up
MPx04VRS
to
Function:
Memory:
Unit:
Cycl. tra.:
MPx_Default value: -Extr. val. ch.: no
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.16.19
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
-+
--
min./max.
0/3
0/3
0/3
0/3
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
0
0
0
0
P-0-4086, Master communication status

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
This parameter contains important status information regarding the current sta
tus of master communication or device control. Independent thereof some
control information for handling the communication phase switch, as well as for
enabling the hardware inputs for drive enable and Drive Halt, is controlled.
Users cannot write this parameter, it is only used for diagnostic
purposes.
See also Functional Description "Initial Start in Easy Startup Mode"
See also Functional Description "Device Control and State Machine"

and Controls
Structure
Bit
Comment
communication phase switching

0: not allowed, i.e. executing the transition command
does not cause the communication phase to be switch
ed
1: allowed, i.e. executing the transition command causes
the communication phase to be switched
phase progression after control voltage ON

0: no phase progression after control voltage ON
1: phase progression after control voltage ON
master communication synchronizes the drive

0: no
1: yes, master communication synchronizes the drive
easy startup mode active
(as of MP*03VRS!)
0: normal operation
1: easy startup mode active
Fig.5-310:
Function:
Memory:
Unit:
Cycl. tra.:
Master communication status

Par
--AT
Input
MPB:
MPC:
MPD:
MPH:
5.16.20
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
nein
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-4087, Baud rate SERCOS interface

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
The baud rate setting of the SERCOS interface is displayed in this parameter.
The drives automatically recognize the baud rate preset by the master and set
their baud rates accordingly.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
-Mbaud
--
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
P234
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
Default value
2
2
2
2
2Byte
DEC_OV
0
--

and Controls
5.16.21
P-0-4088, Master communication: Drive configuration

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
-
-
MPD
MPD
MPD
MPD
MPC
MPC
Function
This parameter contains the configuration bits of master communication or de

vice control. This means that P-0-4088 is used to configure the functions and
the behavior of the master communication interface.
Structure

Bit
0
Comment
Connection between communication phases and operating

states of the axis
As of
MPx05VRS
SERCOS:
0: With phase 4 transition check (S-0-0128), the axis is auto
matically switched to the operating mode (communication
phase is connected to axis control (S-0-0128 internally starts
S-0-0422).
1: Switching of communication phase does not automatically
lead to initialization of the axis, i.e. the axis remains in param
eter mode.
Field bus/analog operation:
0: Device carries out axis initialization independently of the bus
communication, i.e. the axis is automatically switched to oper
ating mode (OM).
1: Device does not automatically carry out axis initialization.
The axis remains in parameter mode (PM).
2, 1 Reaction to failure of cyclic communication (bus failure, bus
stop and PLC stop)
00: Bus failure as error (F4xxx) and config. error reaction of the
drive (cf. P-0-0119)
01: Bus failure as warning (E4xxx) and last command value
input is retained
11: Bus failure as warning with automatic switching to settingup mode (local mode)
10: Reserved
As of
MPx05V04

and Controls
3
Readiness for operation without active master communica

As of
tion (Only relevant with SERCOS. With EtherCat SoE, the axis MPx05V04
cannot be initialized without active master communication.
With all other master communication interfaces, the axis is al
ways initialized automatically.)
0: Readiness for operation only possible with active SERCOS
master (remote operation). Axis initialization is not carried out
automatically. The axis is triggered with the command "phase
4 transition check" by the SERCOS interface.
1:Readiness for operation even without SERCOS communi
cation, i.e. the axis automatically switches operating mode
when the control voltage is switched on even if there is no
SERCOS communcation (automatic initialization of the axis).
This is required for temporary operation of a SERCOS device
with MLD as the only control unit. As soon as SERCOS com
munication becomes active, the SERCOS interface takes over
the control of the axis. This means that with the activation of
the SERCOS interface, the master presets communication
phase 0.
Autom. I/O configuration for setting-up mode
MPx05
0: Dig. inputs are automatically configured (memory of fixed

command values, drive enable). For this reason, operation of
the axis is only possible via the dig. inputs. Control with the
commissioning tool (IndraWorks) is impossible.
1: No automatic configuration. For this reason, the axis can be
controlled and moved in the setting-up mode via the commis
sioning tool (IndraWorks).
7
Selection of PLL algorithm for synchronous master communi MPx05V08

cation
0:Hard-synchronous PLL control (default), (SERCOS II)
1: Soft-synchronous PLL control (SERCOS III, CANopen)
PLL offset for CANopen
MPx05V10
0: PLL offset switched off (default)

1: PLL offset activated
Fig.5-311:
Use
P-0-4088, Master communication, configuration
Consider the following cases when configuring the bits:

Bit 0: It makes sense to set bit 0, if the axis is to be parameterized by the control
unit before initialization is carried out.
Bit 2,1: With these bits it is possible to define how the drive behaves in case a
communication error occurs (bus failure, bus stop and PLC stop). You can
freeze the last valid command values received, which makes sense, for exam
ple, in process technology, or automatically change to a flexible local mode and
move the drive via digital/analog I/Os.
Bit 8: When an IndraDrive device has been set as Sync producer in the network,
the PLL can be offset via this bit in order to balance the telegram runtime of the
Sync telegram and thereby synchronize the Sync consumer and Sync producer
in a better way.
Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
----
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--

and Controls
Input
MPB:
MPC:
MPD:
MPH:
5.16.22
min./max.
--- / ----- / ----- / ----- / ---
Default value
0
0
0
0
P-0-4089.0.1, Master communication: Protocol

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
MPB
MPH
MPB
MPH
+
-
-
-
-
MPD
MPD
MPC
MPC
This parameter is used to select the master communication protocols which the
hardware supports.
Example:
With Profibus hardware available: You can choose between "not active"
and "Profibus"
With Multi-Ethernet hardware available: You can choose between "not

active", "EtherNet/IP", "PROFINET", "EtherCAT" and "SERCOS III"
No master communication hardware available: Only "no master commu

nication hardware available" is displayed
Make the setting by means of the corresponding number according to the fol
lowing table:
Selected master communication
No master communication hardware avail
able
Master communication not active
EtherNet/IP
PROFINET
EtherCAT
SERCOS III
PROFIBUS
SERCOS II
CANopen
DeviceNet
Associated number
1
2
3
4
5
6
16
17
18
19
The setting is only applied after the drive has been restarted.
Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
0 / 20
0 / 19
0 / 20
0 / 19
Data length:
Format:
Decim. pl.:
Switchable:
Default value
---------
4Byte
DEC_OV
0
--

and Controls
5.16.23
P-0-4089.0.2, Master communication: Device name

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
This parameter contains an unequivocal device name which is used for master
communication. A device can be identified by this name.
For PROFINET it is the "station name".
Structure
The device name must be unequivocal within an installation.


Function:
Memory:
Unit:
Cycl. tra.:
Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.16.24
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
ASCII
0
--
Default value
---------
P-0-4089.0.10, Master communication: MAC address device

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
This parameter contains the MAC address of master communication via the
Multi-Ethernet card which is required within the scope of Ethernet communica
tion. This address is used by all Ethernet-based field buses. With PROFINET,
this address has the functions of the "device MAC address". The MAC address
(Media Access Control) is used for unequivocal identification for the Ethernet
communication in the network.
Function:
Memory:
Par
I2C_OPM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
1Byte var.
HEX

and Controls
Unit:
Cycl. tra.:
---
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.16.25
---
min./max.
--- / ----- / ----- / ----- / ---
Decim. pl.:
Switchable:
0
--
Default value
---------
P-0-4089.0.11, Master communication: MAC address Port1

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
Multi-Ethernet card which is required within the scope of PROFINET commu
nication. This address is only used for PROFINET as "MAC address Port 1". It
is required for topology identification.
Function:
Memory:
Unit:
Cycl. tra.:
Par
I2C_OPM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.16.26
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
HEX
0
--
Default value
---------
P-0-4089.0.12, Master communication: MAC address Port2

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
Multi-Ethernet card which is required within the scope of PROFINET commu
nication. This address is only used for PROFINET as "MAC address Port 2". It
is required for topology identification.
Function:
Memory:
Par
I2C_OPM_SP
Editability:
Validity ch.:
PM
PM->OM
Data length:
Format:
1Byte var.
HEX

and Controls
Unit:
Cycl. tra.:
---
Extr. val. ch.:

Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.16.27
---
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
0
--
Default value
---------
P-0-4089.0.13, Master communication: IP address

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
This parameter contains the IP address which is required within the scope of
IP communication for the Ethernet-based master communication (EtherNet/IP
and PROFINET).
The IP address (Internet Protocol) is used to clearly identify a node in the net
work.
Changes in the parameter only become effective after the 24V sup
ply of the drive has been switched on again or by executing the
command "C6100 Command Activate IP settings".
Structure
Fig.5-312:
Function:
Memory:
Unit:
Cycl. tra.:
"P04089.0.13, Master communication: IP address"

Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.16.28
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
P-0-4089.0.14, Master communication: Network mask

Allocation
Contained in 02VRS:
Contained in 03VRS:
-
-
-
-
-
-
1Byte var.
DEC_OV
0
--

and Controls
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
Function
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
This parameter contains the network mask which is required within the scope
of IP communication for the Ethernet-based master communication (EtherNet/
IP and PROFINET). The network mask is used to distinguish between the net
work and device parts.
Structure
Fig.5-313:
Function:
Memory:
Unit:
Cycl. tra.:
P-0-4089.0.13, Master communication: Network mask

Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.16.29
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
DEC_OV
0
--
Default value
---------
P-0-4089.0.15, Master communication: Gateway address

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
-
-
-
-
-
-
-
-
-
-
-
-
MPB
MPH
MPD
MPB
MPH
MPD
+
MPC
MPC
This parameter contains the gateway address which is required within the
scope of IP communication for the Ethernet-based master communication
(EtherNet/IP and PROFINET).
When an IP package (Internet Protocol) is transmitted, the network part of the
target IP address and the network mask are compared. If they do not match,
the IP package is transmitted to the gateway IP address.

and Controls
Structure
Fig.5-314:
Function:
Memory:
Unit:
Cycl. tra.:
P-0-4089.0.15, Master communication: Gateway address

Par
PARAM_SP
---
Input
MPB:
MPC:
MPD:
MPH:
5.16.30
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM
PM->OM
---
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
1Byte var.
DEC_OV
0
--
Default value
---------
P-0-4090, Configuration for loading default values

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
The effects of the command "S00262, C07_x Load defaults procedure com
mand" depend on the configuration existing in P04090 at the command start.
See also Functional Description "Default Settings in the Motor Encoder Data
Memory (Load Defaults Procedure)"
See also Parameter Description "S00262, C07_x Load defaults procedure
command"
Structure
The bits of the parameter have the following significance:

and Controls
Bit
Designation/
Load basic parameters
Function
3-0
Command selection
Load
de
faults
proce
dure
MLD
Profile
C0720 C0700 C0730 C0750
0000: Load defaults procedure

0001: Load basic parameters
7...4
Load
def.
proc.
for
safety
techn.
Scaling of command execution
C0750
Bit 4: Master communication
1010:
0: Parameters of master comm. are set to Safety
their default values at command execution tech
nology
1: Parameters of master comm. are main param
tained when loading basic parameters
eters
are set
Bit 5: IndraMotion MLD
to de
0: Parameters of MLD are set to their de
fault
fault values at command execution
values
1: Parameters of MLD are maintained
when loading basic parameters.
Bit 6: Serial interface
0: Parameters of serial interface are set to
their default values when loading basic pa
rameters
1: Parameters of serial interface are main
tained when loading basic parameters
15..8
Reserved
Fig.5-315:
Significance of the Bits in P04090
The command "load defaults procedure for safety technology" is a

special case, as for reasons of compatibility it requires the setting
0x00A5 in P-0-4090 to select the command!
Use
Based on the above structure, there are the following possible settings:
Value of
P-0-4090
Effect
Display
Name of diagnostic message
Diagnostic
message
number
Comment
0x0000
(default)
Load motor-specific control loop pa C07_0

rameter values
C07_0 Load defaults proce

C0700
dure com. (load controller par
am.)
0x0001
Set all parameters to default values C07_1

C0750
dure com. (load basic parame
ters)
0x0011
Set all parameters to default values, C07_1

except for master communication
parameters

C0750
ters)
As of MP*04VRS
0x0021

except for PLC parameters

C0750
ters)
As of MP*04VRS

and Controls
Value of
P-0-4090
Effect
Display
0x0031

except for PLC and master commu
nication parameters

C0750
ters)
As of MP*04VRS
0x0041

except for serial communication pa
rameters

C0750
ters)
As of MP*04VRS
0x0051

except for entire communication pa
rameters

C0750
ters)
As of MP*04VRS
0x0061

except for serial communication and
PLC parameters

C0750
ters)
As of MP*04VRS
0x0071

except for entire communication and
PLC parameters

C0750
ters)
As of MP*04VRS
0x0002
Set entire drive PLC to default val C07_3

ues (RE6) incl. deletion of boot proj
ect
C07_3 Load def. proc. com.

(load defaults procedure for
PLC)
C0730
As of MP*04VRS
0x0004
Set parameters depending on field

bus profile to default values
C07_1

C0750
ters)
As of MP*04VRS
0x00A5
Deactivate safety technology and

C07_2
set safety technology parameters to
default values
C07_2 Load def. proc. com.

C0720
(load def. pr. for safety techn.)
Fig.5-316:
Name of diagnostic message
Diagnostic
message
number
Comment
Values for P04090
After the command "S-0-0262, C07_x Load defaults procedure

command" has been completed, parameter P04090 is always re
set to its default value.
Function:
Memory:
Unit:
Cycl. tra.:
Par
----
Input
MPB:
MPC:
MPD:
MPH:
5.16.31
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
--+
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
HEX
0
--
Default value
---------
P-0-4091, C2500 Copy IDN from optional memory to internal memory

Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
MPB
MPB
MPB
MPB
MPB
MPB
--
MPH
MPH
MPH
MPH
MPH
MPH
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC

and Controls
Funct. package(s):
Device parameter:
Function
Use

--
By means of this command the parameter values are copied from the Multi
MediaCard (MMC) to the internal, non-volatile memory (flash).

cesses!
WARNING
If the "flash" is the active, non-volatile memory, the parameter val

ues from the MMC also become active in the drive after this com
mand, i.e. they are loaded to the internal, volatile memory.
This command can be executed ...
Function:
Memory:
Unit:
Cycl. tra.:
... only in the parameter mode, when the internal flash is the
active, non-volatile memory.
... in the parameter and in the operating mode, when the MMC
is the active, non-volatile memory.
Cmd
----
Input
MPB:
MPC:
MPD:
MPH:
5.16.32
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
----
min./max.
--- / ----- / ----- / ----- / ---
Data length:
Format:
Decim. pl.:
Switchable:
2Byte
BIN
0
--
Default value
---------
P-0-4092, C2600 Copy IDN from internal memory to optional memory

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
--
MPD
MPD
MPD
MPD
MPD
MPD
MPC
MPC
By means of this command the parameter values are copied from the internal,
non-volatile memory (flash) to the MultiMediaCard (MMC).
Use
If the MMC is the active, non-volatile memory, the parameter values

from the "flash" also become active in the drive after this command,
i.e. they are loaded to the internal, volatile memory.

and Controls
This command can be executed ...
... only in the parameter mode, when the MMC is the active,
non-volatile memory.
... in the parameter mode and in the operating mode, when the
device-internal flash is the active, non-volatile memory.

cesses!
WARNING
Function:
Memory:
Unit:
Cycl. tra.:
Cmd
----
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
Input
MPB:
MPC:
MPD:
MPH:
5.16.33
PM+OM
----
Data length:
Format:
Decim. pl.:
Switchable:
min./max.
--- / ----- / ----- / ----- / ---
Default value
---------
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
MPB
MPH
+
MPD
MPD
MPD
MPD
MPD
MPD
2Byte
BIN
0
--
P-0-4095, RS-232/485 Parity

Allocation
Function
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Hardware
Funct. package(s):
Device parameter:
MPC
MPC
By means of this parameter, it is possible to set several parities for communi

cation via the serial interface.
Parity
Setting in P04095
none
odd
even
Fig.5-317:
Coding of the parity in P-0-4095
The initial setting is no parity (default value).

Function:
Memory:
Unit:
Cycl. tra.:
Input
MPB:
MPC:
MPD:
MPH:
Par
PARAM_SP
---
Editability:
Validity ch.:
Extr. val. ch.:
Comb. check:
PM+OM
PM->OM
+
--
min./max.
StdNul / 2
StdNul / 2
StdNul / 2
StdNul / 2
Data length:
Format:
Decim. pl.:
Switchable:
Default value
0
0
0
0
2Byte
DEC_OV
0
--

and Controls
Appendix
Appendix
6.1
Field Bus Objects
6.1.1
CANopen Interface
Specified CANopen Communication Objects (0x1000 to 0x1FFF)

In Subindex/ Description
dex subnum
ber
100
0h
100
1h
00h
00h
Parameter
ParameterName = Device
Type
ObjectType
= 0x7
DefaultValue =
0x00FF0192
AccessType
= ro
ParameterName = Error
Register
ObjectType
= 0x7
DataType
= 0x7
0x00FF01
92
DataType
= 0x5
AccessType
= ro
101
8h
ParameterName = Identity ObjectType

Object
= 0x9
00h
ParameterName = Number AccessType

Of Entries
= ro
DataType
= 0x5
DefaultValue = 4
01h
ParameterName = Vendor AccessType

ID
= ro
DataType
= 0x7
36
DataType
= 0x7
DefaultValue = 0x24
02h
ParameterName = Product AccessType

Code
= ro
DefaultValue = 0x4
Fig.6-1:
03h
ParameterName = Revi
sion Number
AccessType
= ro
DataType
= 0x7
P-0-1509:
element 5
(release)
04h
ParameterName = Serial
Number
AccessType
= ro
DataType
= 0x7
P-0-1509:
element 3
(serial
number)
Specified CANopen objects
Other CANopen Communication Objects

For other CANopen communication objects, see EDS files.

and Controls

and Controls
Service and Support
Service and Support

Our service helpdesk at out headquarters in Lohr, Germany, will assist you with
all kinds of enquiries. Out of helpdesk hours please contact our German service
department directly.
Helpdesk
Time 1)
Mo-Fr 7:00 am - 6:00 pm CET
Service Hotline
Service Hotline
Germany
Worldwide
Mo-Fr 6:00 pm - 7:00 am CET
Outwith Germany please con

tact our sales/service office in
your area first.
Sa-Su 0:00 am - 12:00 pm CET

Phone
+49 (0) 9352 40 50 60
+49 (0) 171 333 88 26

or
+49 (0) 172 660 04 06
Fax
+49 (0) 9352 40 49 41
e-mail
service.svc@boschrexroth.de
Internet
http://www.boschrexroth.com
For hotline numbers refer to the

sales office addresses on the
Internet.
You will also find additional notes regarding service, maintenance (e.g. delivery addresses) and
training.
1)
Preparing Information
Central European Time (CET)
For quick and efficient help please have the following information ready:
detailed description of the fault and the circumstances
information on the type plate of the affected products, especially type co

des and serial numbers
your phone, fax numbers and e-mail address so we can contact you in
case of questions.

and Controls

and Controls
Index
Index
A
Absolute encoder buffer 1 (motor encoder)...... 450

Absolute encoder buffer 2 (optional encoder)... 451
Absolute encoder buffer 3 (measuring encod
er)...................................................................... 452
Absolute encoder monitoring window for
measuring encoder........................................... 397
Absolute encoder monitoring window for mo
tor encoder........................................................ 395
Absolute encoder monitoring window for opt.
encoder............................................................. 396
Absolute encoder offset 1, encoder memory.... 701
Absolute encoder range of measuring encoder 505
Absolute encoder range of motor encoder........ 233
Absolute encoder range of optional encoder.... 233
Absolute offset 1............................................... 169
Absolute offset 2............................................... 170
Absolute voltage value, actual value................. 366
Acceleration data scaling exponent.................. 160
Acceleration data scaling factor........................ 160
Acceleration data scaling type.......................... 158
Acceleration factors for velocity masking win
dow................................................................... 732
Acceleration feedback value 1.......................... 161
Acceleration feedback value 2.......................... 178
Acceleration feedforward actual value.............. 545
Acceleration feedforward gain.......................... 224
Acceleration feedforward smoothing time
constant............................................................ 452
Activation E-Stop function................................. 329
Activation of control unit reaction on error........ 411
Active functional packages............................. 1024
Active non-volatile memory............................. 1183
Active position feedback value.......................... 236
Active safety technology signals..................... 1081
Actual acceleration torque/force value.............. 543
Actual output current value (absolute value)..... 536
Actual pos. smoothing time constant for hy
brid pos. control................................................ 493
Actual position value, channel 2..................... 1115
Actual position value difference encoder1 encoder2........................................................... 512
Actual position value offset of measuring en
coder................................................................. 388
Actual position value of measuring encoder..... 359
Actual process torque/force value..................... 544
Actual value peak torque limit........................... 538
Actual value torque limit negative (stationary). . 538
Actual value torque limit positive (stationary).... 537
Actual velocity value, channel 2...................... 1116
Actual velocity value of measuring encoder...... 505
Additive master axis position............................ 360
Additive master axis position, positioning ac

celeration.......................................................... 629
Additive master axis position, positioning ve
locity.................................................................. 629
Additive master axis position, process loop...... 631
Additive master axis position, secondary mas
ter...................................................................... 698
Additive position command value....................... 87
Additive position command value, controller..... 363
Additive position command value, positioning
acceleration....................................................... 628
Additive position command value, positioning
velocity.............................................................. 628
Additive position command value, process
loop................................................................... 631
Additive torque/force command value............... 102
Additive velocity command value........................ 80
Additive velocity command value, process
loop................................................................... 630
Adjustment values analog I/O interface 3-4.... 1137
Adjustment values analog I/O interface 5-6.... 1138
Adjustment values analog inputs interface 3-6
........................................................................ 1138
Adjustment values of control section.............. 1136
Adjustment values of power section............... 1137
Allocation............................................................ 53
Allocation of real-time control bit 1.................... 209
Allocation of real-time control bit 2.................... 209
Allocation of real-time status bit 1..................... 210
Allocation of real-time status bit 2..................... 211
Amplifier nominal current.................................. 127
Amplifier peak current....................................... 126
Amplifier temperature........................................ 235
Amplifier temperature 2..................................... 671
Amplifier temperature 3..................................... 671
Amplifier type data.......................................... 1180
Amplitude for angle acquisition......................... 564
Analog input, assignment A, dead zone........... 474
Analog input, assignment A, scaling per 10V
full scale............................................................ 473
Analog input, assignment A, signal value at
0V...................................................................... 474
Analog input, assignment A, target parameter.. 473
Analog input, assignment B, dead zone........... 492
Analog input, assignment B, scaling per 10V
full scale............................................................ 491
Analog input, assignment B, signal value at
0V...................................................................... 491
Analog input, assignment B, target parameter.. 490
Analog input, control parameter........................ 476
Analog input, list of assignable parameters...... 472
Analog input, maximum value for adjustment... 478
Analog input 1................................................... 471
Analog input 1, time constant input filter........... 475

and Controls
Index
Analog input 2................................................... 472

Analog input 3................................................... 485
Analog input 4................................................... 485
Analog input 5................................................... 470
Analog input 6................................................... 471
Analog output, assignment A, scaling [1/V]...... 529
Analog output, assignment A, signal selection. 528
Analog output, assignment A, signal value at
0V...................................................................... 527
Analog output, assignment B, scaling [1/V]...... 530
Analog output, assignment B, signal selection. 529
Analog output, assignment B, signal value at
0V...................................................................... 528
Analog output 1................................................. 426
Analog output 2................................................. 426
Analog Output 3................................................ 525
Analog Output 4................................................ 526
Analog Output 5................................................ 526
Analog Output 6................................................ 527
Analog output IDN list of assignable parame
ters.................................................................... 530
Angle offset begin of profile, process loop........ 633
Angle offset begin of table................................ 364
Angle offset change rate................................... 438
Answer delay RS-232/485.............................. 1176
Application for autom. controller setting............ 441
Application type................................................. 144
Appropriate use................................................... 41
Applications .................................................. 41
Assign list signal control word........................... 215
Assign list signal status word............................ 214
Assignment IDN -> parallel output 1................. 627
Assignment measuring encoder->optional slot. 379
Assignment motor encoder->optional slot......... 375
Assignment optional encoder->optional slot..... 378
Assignment parallel input 1 -> IDN................... 627
AT Transmission starting time (T1)..................... 60
Attributes............................................................. 53
Average value filter for display: signal selec
tion.................................................................... 513
Average value filter for display: signal selec
tion list............................................................... 515
Average value filter for display: time constant. . 516
Axis correction, correction table negative......... 524
Axis correction, correction table positive........... 523
Axis correction active correction value.............. 518
Axis correction actual temperature pos.-de
pendent............................................................. 519
Axis correction actual temperature pos.-inde
pendent............................................................. 520
Axis correction control word.............................. 525
Axis correction end position.............................. 522

Axis correction external correction value.......... 517
Axis correction reference position for temp.
corr.................................................................... 519
Axis correction reference temperature.............. 518
Axis correction start position............................. 521
Axis correction support point distance.............. 522
Axis correction temperature factor pos.-de
pendent............................................................. 520
Axis correction temperature factor pos.-inde
pendent............................................................. 521
Backup of safety techn. data channel 2.......... 1071

Baud rate RS-232/485.................................... 1156
Baud rate SERCOS interface......................... 1204
Best possible deceleration................................ 413
Bipolar acceleration limit value......................... 141
Bipolar jerk limit................................................. 226
Bipolar torque/force limit value.......................... 111
Bipolar velocity limit value................................. 110
Bit number allocation of real-time control bit 1. . 250
Bit number allocation of real-time control bit 2. . 250
Bit number allocation of real-time status bit 1... 251
Bit number allocation of real-time status bit 2... 251
Block patch: Block data..................................... 550
Block patch: Block selection............................. 549
Brake voltage, encoder memory..................... 1053
Braking resistor load......................................... 673
Braking resistor threshold................................. 672
Build date and time........................................... 462
C0100 Communication phase 3 transition

check................................................................. 135
C0200 Exit parameterization level procedure
command.......................................................... 254
C0300 Set absolute position procedure com
mand................................................................. 332
C0400 Activate parameterization level 1 pro
cedure command.............................................. 254
C0400 Communication phase 2 transition...... 1158
C0500 Reset class 1 diagnostics...................... 116
C0600 Drive-controlled homing procedure
command.......................................................... 150
C07_x Load defaults procedure command....... 191
C0900 Position spindle procedure command. . . 153
C1200 Commutation offset setting command... 576
C1300 Positive stop drive procedure com
mand................................................................. 150
C1400 Command Get marker position............. 333
C1500 Cancel reference point procedure
command.......................................................... 176
C1600 Parking axis procedure command......... 142
C1700 Command measuring wheel mode........ 492

and Controls
Index
C1800 Command Drive optimization / com

mand value box................................................. 440
C2000 Command Release holding brake......... 588
C2100 Holding system check command........... 587
C2200 Backup working memory procedure
command.......................................................... 193
C2300 Load working memory procedure com
mand................................................................. 192
C2400 Selectively backup working memory
procedure command......................................... 206
C2500 Copy IDN from optional memory to in
ternal memory................................................. 1214
C2600 Copy IDN from internal memory to op
tional memory................................................. 1215
C2800 Analog input adjustment command....... 479
C2900 Command Firmware update from
MMC............................................................... 1189
C3000 Synchronize and store safety technol
ogy IDN command.......................................... 1068
C3100 Command Recalculate actual value
cycle.................................................................. 367
C3200 Command Calculate motor data.......... 1165
C3300 Set coordinate system procedure
command.......................................................... 179
C3400 Shift coordinate system procedure
command.......................................................... 179
C3500 Command Determine encoder correc
tion values......................................................... 506
C3600 Command Motor data identification....... 601
C3700 Command Manually unlocking the
safety door...................................................... 1083
C3800 Command Apply holding brake............. 589
C3900 Command Holding brake resurfacing.... 589
C4000 Homing procedure command channel
2...................................................................... 1089
C4100 Switch parameter set command............ 184
C4200 Drive-controlled oscillation procedure
command.......................................................... 176
C4300 NC-controlled homing procedure com
mand................................................................. 147
C4400 Calculate displacement procedure
command.......................................................... 165
C4500 Displacement to referenced system
C4600 Command Calculate motor control pa
rameters............................................................ 602
C4800 Command Determine cogging torque
compensation table........................................... 721
C4900 PLC command....................................... 814
C5200 Communication phase 4 transition
check................................................................. 136
C5300 SERCOS III: SYNC delay measuring
C5400 Command Save PLC retain data on
MMC............................................................... 1178
C5500 Command Load PLC retain data from

MMC............................................................... 1178
C5600 Command subsequent optimization of
commutation offset............................................ 571
C5800 Command Apply redundant holding
brake............................................................... 1129
C5900 Command Resurfacing of redundant
holding brake.................................................. 1130
C6100 Command Activate IP settings.............. 837
C6200 Comm. Enabling SM without valid
brake status.................................................... 1130
C6500 Kommando Parameter auf MMC si
chern................................................................. 623
C6600 Kommando Parameter von MMC wie
derherstellen..................................................... 623
Cam distance.................................................... 395
Cam distance 2................................................. 369
Cam distance switch angle............................... 428
Cam switch angle.............................................. 395
Cam table, access angle................................... 484
Cam table 1....................................................... 367
Cam table 2....................................................... 394
Cam table 3....................................................... 662
Cam table 4....................................................... 662
Cam table 5....................................................... 663
Cam table 6....................................................... 664
Cam table 7....................................................... 664
Cam table 8....................................................... 665
CANopen: COB-IDs........................................ 1133
CANopen: Heartbeat/NodeGuard Configura
tion.................................................................. 1132
CANopen: List of the Event Parameters......... 1135
CANopen: Transmission Types...................... 1134
CCD: active actual position value, master........ 919
CCD: active actual position value, slave 1........ 919
CCD: actual communication phase................... 847
CCD: Actual topology........................................ 850
CCD: Actual topology addresses...................... 844
CCD: actual torque/force value, master............ 928
CCD: actual torque/force value, slave 1........... 928

and Controls
Index
CCD: Actual value data container 1, Master

2Byte............................................................... 1004
4Byte................................................................. 964
CCD: Actual value data container 1, Slave 1
2Byte............................................................... 1005
4Byte................................................................. 965
2Byte............................................................... 1006
4Byte................................................................. 965
2Byte............................................................... 1006
4Byte................................................................. 966
2Byte............................................................... 1006
4Byte................................................................. 966
2Byte............................................................... 1007
4Byte................................................................. 966
2Byte............................................................... 1007
4Byte................................................................. 967
2Byte............................................................... 1008
4Byte................................................................. 967
2Byte............................................................... 1008
4Byte................................................................. 968
2Byte............................................................... 1009
4Byte................................................................. 968
2Byte............................................................... 1009
4Byte................................................................. 969
2Byte............................................................... 1009
4Byte................................................................. 969
2Byte............................................................... 1010
4Byte................................................................. 970
2Byte............................................................... 1011
4Byte................................................................. 970

2Byte............................................................... 1011
4Byte................................................................. 970
2Byte............................................................... 1011
4Byte................................................................. 971
2Byte............................................................... 1012
4Byte................................................................. 971
2Byte............................................................... 1012
4Byte................................................................. 972
2Byte............................................................... 1013
4Byte................................................................. 972
2Byte............................................................... 1013
4Byte................................................................. 973
2Byte............................................................... 1014
4Byte................................................................. 973
2Byte............................................................... 1014
4Byte................................................................. 973
2Byte............................................................... 1015
4Byte................................................................. 974
2Byte............................................................... 1015
4Byte................................................................. 974
2Byte............................................................... 1016
4Byte................................................................. 975
2Byte............................................................... 1016
4Byte................................................................. 975
2Byte............................................................... 1016
4Byte................................................................. 976
2Byte............................................................... 1017
4Byte................................................................. 976

and Controls
Index

2Byte............................................................... 1017
4Byte................................................................. 977
2Byte............................................................... 1018
4Byte................................................................. 977
2Byte............................................................... 1018
4Byte................................................................. 977
2Byte............................................................... 1019
4Byte................................................................. 978
2Byte............................................................... 1019
4Byte................................................................. 978
2Byte............................................................... 1020
4Byte................................................................. 979
2Byte............................................................... 1020
4Byte................................................................. 979
2Byte............................................................... 1021
4Byte................................................................. 980
2Byte............................................................... 1021
4Byte................................................................. 980
2Byte............................................................... 1021
4Byte................................................................. 981
2Byte............................................................... 1022
4Byte................................................................. 981
2Byte............................................................... 1022
4Byte................................................................. 981
CCD: actual velocity value, master................... 924
CCD: actual velocity value, slave 1................... 924

CCD: addresses of projected drives................. 842
CCD: addresses of projected I/Os.................... 845
CCD: allowed telegram failures........................ 893
CCD: assignment list signal control word......... 857
CCD: assignment list signal status word........... 856
CCD: AT error counter...................................... 889
CCD: axis error................................................. 847
CCD: command adjust slave addresses........... 891
CCD: Command Close ring.............................. 860
CCD: command communication phase............ 846
CCD: Command topology................................. 859
CCD: Command topology addresses............... 891
CCD: Command value data container 1, Mas
ter 2Byte............................................................ 986
ter 4Byte............................................................ 946
CCD: Command value data container 1,
Slave 1 2Byte.................................................... 987
Slave 1 4Byte.................................................... 946
Slave 2 2Byte.................................................... 987
Slave 2 4Byte.................................................... 947
Slave 3 2Byte.................................................... 988
Slave 3 4Byte.................................................... 947
Slave 4 2Byte.................................................... 988
Slave 4 4Byte.................................................... 948
Slave 5 2Byte.................................................... 989
Slave 5 4Byte.................................................... 948
Slave 6 2Byte.................................................... 989
Slave 6 4Byte.................................................... 949
Slave 7 2Byte.................................................... 989
Slave 7 4Byte.................................................... 949
Slave 8 2Byte.................................................... 990
Slave 8 4Byte.................................................... 950
Slave 9 2Byte.................................................... 990
Slave 9 4Byte.................................................... 950
ter 2Byte............................................................ 991

and Controls
Index

ter 4Byte............................................................ 950
Slave 1 2Byte.................................................... 991
Slave 1 4Byte.................................................... 951
Slave 2 2Byte.................................................... 992
Slave 2 4Byte.................................................... 952
Slave 3 2Byte.................................................... 992
Slave 3 4Byte.................................................... 952
Slave 4 2Byte.................................................... 993
Slave 4 4Byte.................................................... 952
Slave 5 2Byte.................................................... 993
Slave 5 4Byte.................................................... 953
Slave 6 2Byte.................................................... 994
Slave 6 4Byte.................................................... 953
Slave 7 2Byte.................................................... 994
Slave 7 4Byte.................................................... 954
Slave 8 2Byte.................................................... 994
Slave 8 4Byte.................................................... 954
Slave 9 2Byte.................................................... 995
Slave 9 4Byte.................................................... 955
ter 2Byte............................................................ 995
ter 4Byte............................................................ 955
Slave 1 2Byte.................................................... 996
Slave 1 4Byte.................................................... 956
Slave 2 2Byte.................................................... 996
Slave 2 4Byte.................................................... 956
Slave 3 2Byte.................................................... 997
Slave 3 4Byte.................................................... 957
Slave 4 2Byte.................................................... 997

Slave 4 4Byte.................................................... 957
Slave 5 2Byte.................................................... 998
Slave 5 4Byte.................................................... 958
Slave 6 2Byte.................................................... 998
Slave 6 4Byte.................................................... 958
Slave 7 2Byte.................................................... 999
Slave 7 4Byte.................................................... 958
Slave 8 2Byte.................................................... 999
Slave 8 4Byte.................................................... 959
Slave 9 2Byte.................................................... 999
Slave 9 4Byte.................................................... 959
ter 2Byte.......................................................... 1000
ter 4Byte............................................................ 960
Slave 1 2Byte.................................................. 1000
Slave 1 4Byte.................................................... 960
Slave 2 2Byte.................................................. 1001
Slave 2 4Byte.................................................... 961
Slave 3 2Byte.................................................. 1001
Slave 3 4Byte.................................................... 961
Slave 4 2Byte.................................................. 1002
Slave 4 4Byte.................................................... 962
Slave 5 2Byte.................................................. 1002
Slave 5 4Byte.................................................... 962
Slave 6 2Byte.................................................. 1003
Slave 6 4Byte.................................................... 962
Slave 7 2Byte.................................................. 1003
Slave 7 4Byte.................................................... 963
Slave 8 2Byte.................................................. 1004

and Controls
Index

Slave 8 4Byte.................................................... 963
Slave 9 2Byte.................................................. 1004
Slave 9 4Byte.................................................... 964
CCD: Conection-Control #1 (C-Con)................ 912
CCD: configuration............................................ 839
CCD: configuration compact I/Os..................... 880
CCD: configuration list act. master values I/Os 879
CCD: configuration list actual master values.... 875
CCD: configuration list actual slave values....... 877
CCD: configuration list master cmd values....... 874
CCD: configuration list master cmd values I/
Os..................................................................... 879
CCD: configuration list master communica
tion actual values.............................................. 872
CCD: configuration list master communica
tion cmd values................................................. 860
CCD: configuration list signal control word....... 855
CCD: configuration list signal status word........ 855
CCD: configuration list slave cmd values.......... 876
CCD: Connection-Control #0 (C-Con).............. 886
CCD: control word............................................. 848
CCD: control word compact I/Os...................... 907
CCD: cycle time................................................ 849
CCD: Device control word (C-Res)................... 912
CCD: Device status word (S-Dev).................... 886
CCD: diagnosis................................................. 881
CCD: Diagnosis code........................................ 854
CCD: diagnostic message number slave 1....... 933
CCD: Diagnostic message text......................... 851
CCD: drive status word, slave 1........................ 915
CCD: error counter Port-1................................. 892
CCD: error counter Port-2................................. 893
CCD: extrapolated cmd value IDN list signal
selection............................................................ 857
CCD: extrapolated cmd value signal selection. 858
CCD: extrapolated command value.................. 859
CCD: gateway address..................................... 896
CCD: IP address............................................... 895

CCD: MAC address.......................................... 894
CCD: Master comm. C0100 Comm. phase 3
transition check................................................. 866
CCD: Master comm. C5200 Comm. phase 4
CCD: Master comm. configuration list of AT..... 864
CCD: Master comm. configuration list of MDT.. 864
CCD: Master comm. diagnosis......................... 872
CCD: Master comm. drive status...................... 867
CCD: Master comm. IDN-list of invalid oper
ation data for CP2............................................. 871
CCD: master control word, slave 1................... 907
CCD: Mater comm. master control word........... 867
CCD: network mask.......................................... 896
CCD: number of extrapolation steps................. 858
CCD: Resource-Status (S-Res)........................ 887
CCD: S2 Allocation of real-time control bit 1..... 868
CCD: S2 Allocation of real-time control bit 2..... 868
CCD: S2 Allocation of real-time status bit 1...... 868
CCD: S2 Allocation of real-time status bit 2...... 869
CCD: S2 AT Transmission starting time (T1).... 862
CCD: S2 Bit number allocation of real-time
control bit 1....................................................... 869
control bit 2....................................................... 870
status bit 1......................................................... 870
status bit 2......................................................... 871
CCD: S2 Mask class 3 diagnostics................... 865
CCD: S2 Position of data record in MDT.......... 863
CCD: S2 Slave arrangement (SLKN)................ 865
CCD: SERCOS Telegram type parameter........ 863
CCD: signal control word, master..................... 941
CCD: signal control word, slave 1..................... 942
CCD: signal status word, master...................... 937
CCD: signal status word, slave 1...................... 937

and Controls
Index

CCD: Slave addresses at end of line................ 850
CCD: Slave address in high level network........ 861
CCD: Slave IP address..................................... 885
CCD: status IP communication......................... 897
CCD: status word.............................................. 848
CCD: status word compact I/Os........................ 911
CCD: Status word synchronous operation
modes, master.................................................. 982
modes, slave 1.................................................. 982
modes, slave 2.................................................. 983
modes, slave 3.................................................. 983
modes, slave 4.................................................. 984
modes, slave 5.................................................. 984
modes, slave 6.................................................. 984
modes, slave 7.................................................. 985
modes, slave 8.................................................. 985
modes, slave 9.................................................. 986
CCD: system data 2 bytes................................ 890
CCD: system data 4 bytes................................ 890
CCD: timing settings......................................... 843
CCD connection: Allowed losses of producer
data................................................................... 905
CCD connection: Bit number allocation of re
al-time bits......................................................... 906
CCD connection: Configuration........................ 899
CCD connection: Configuration list................... 903
CCD connection: Connection control (C-Con). . 903
CCD connection: Connection number.............. 901
CCD connection: Current connection length..... 902
CCD connection: Error counter data losses...... 905
CCD connection: IDN allocation of real-time
bits.................................................................... 906
CCD connection: Max. length of connection..... 902
CCD connection: Producer cycle time.............. 904
CCD connection: Telegram assignment........... 901
CDD: Resource-Control (C-Res)...................... 914
Change accel. of add. master axis posit., sec
ondary master................................................... 698
Change counter of safety technology memory
........................................................................ 1066
Change history time interval of forced dynam

ization................................................................ 401
Change velocity of add. master axis posit.,
secondary master............................................. 698
Charact. of quadrature-axis induct. of motor,
inductances..................................................... 1143
Charact. of quadrature-axis inductance of
motor, currents................................................ 1144
Charact. quadr.-axis induct. of motor, cur
rents, enc. Memory......................................... 1051
Charact. quadr.-axis induct. of motor, induct.,
enc. Memory................................................... 1050
Characteristic of motor magnetizing induc
tance............................................................... 1172
Characteristic of motor magnetizing induc
tance, encoder mem....................................... 1059
Checksum of backup operation data................ 283
Circuit board code control section..................... 827
Circuit board code master communication........ 826
Circuit board code of optional module 4........... 828
Circuit board code optional module 1............... 823
Circuit board code optional module 1 for safe
ty technology..................................................... 829
Circuit board code optional module 2 for safe
ty technology..................................................... 830
Circuit board code power section...................... 827
Class 1 diagnostics............................................. 63
Coarse position window.................................... 190
Code word for tests......................................... 1132
Combination check............................................. 55
Command Activate easy startup mode........... 1202
Command value cycle....................................... 648
Command value generator, amplitude.............. 724
Command value generator, control word.......... 723
Command value generator, duration 1............. 725
Command value generator, duration 2............. 725
Command value generator, list of possible
target parameters.............................................. 722
Command value generator, offset..................... 724
Command value generator, periodic time......... 726
Command value generator, target parameter
assignment........................................................ 722
Command value generator output.................... 721
Command value mode...................................... 237
Command value proceeding time (TMTSG)..... 110
Command values for control section adjust
ment................................................................ 1135
Command values for power section adjust
ment................................................................ 1136
Command value valid time (T3).......................... 61
Commutation: required harmonics component. 570
Commutation offset........................................... 565

and Controls
Index
Commutation offset, encoder memory............ 1046

Commutation setting measured value.............. 575
Configuration for loading default values.......... 1212
Configuration for STO selector......................... 399
Configuration list for signal control word............. 74
Configuration list for signal status word.............. 73
Configuration list of AT........................................ 69
Configuration list of MDT.................................... 72
Configuration motor data identification............. 616
Configuration of global safety technology
functions.......................................................... 1097
Configuration of safe motion 1........................ 1098
Configuration of simulation mode..................... 517
Configuration word synchronous operation
modes............................................................... 385
Config word of axis controller............................ 596
Controller type................................................... 143
Control parameter of analog output.................. 531
Control section type.......................................... 832
Control word 1 velocity control.......................... 726
Control word 2 velocity control.......................... 736
Control word easy startup................................. 416
Control word for commutation setting............... 573
Control word for encoder correction.................. 506
Control word of axis controller.......................... 278
Control word of cogging torque compensation. 717
Control word of current controller...................... 351
Control word of encoder 2 (optional encoder)... 453
Control word of master axis generator.............. 692
Control word of measuring encoder.................. 504
Control word of position controller.................... 533
Control word synchronization modes................ 388
Converter configuration..................................... 675
Cooling type...................................................... 620
Coordinate offset value..................................... 197
Correction value table for encoder correction... 507
Current actual slip value in %........................... 493
Current coordinate offset.................................. 201
Current for deceleration, absolute value........... 607
Current for deceleration, time period................ 608
Current limit value of demagnetization............ 1151
Current limit value of demagnetization, en
coder memory................................................. 1053
Current load torque........................................... 593
Current loop integral action time 1.................... 123
Current loop integral-action time 1, encoder
memory........................................................... 1031
Current loop proportional gain 1....................... 121
Current loop proportional gain 1, encoder
memory........................................................... 1030
Current mains voltage crest value.................... 668
Current parameter set....................................... 187
Current position command average value fil

ter order............................................................ 349
Current torque/force constant........................... 543
Current torque value of the motor holding
brake................................................................. 594
Cyclically transmittable....................................... 55
Damping factor for autom. controller setting..... 441

Data container A: addressing............................ 229
Data container A: command value 1................. 227
Data container A: configuration list command
value-1.............................................................. 230
value 2.............................................................. 270
value 3.............................................................. 270
value 4.............................................................. 271
value 5.............................................................. 271
value 6.............................................................. 272
value 7.............................................................. 273
value 8.............................................................. 273
Data container A: configuration list feedback
value-1.............................................................. 231
value 2.............................................................. 274
value 3.............................................................. 274
value 4.............................................................. 275
value 5.............................................................. 276
value 6.............................................................. 276
value 7.............................................................. 277
value 8.............................................................. 277
Data container A: feedback value 1.................. 228

and Controls
Index

Data container A: list index command values... 228
Data container A: list index feedback values.... 229
Data length.......................................................... 53
Data of external braking resistor....................... 673
Data of internal braking resistor........................ 675
DC bus power................................................... 234
DC bus voltage................................................. 234
Dead time compensation, negative edge,
probe 1.............................................................. 281
Dead time compensation, negative edge,
probe 2.............................................................. 282
Dead time compensation, positive edge,
probe 1.............................................................. 281
Dead time compensation, positive edge,
probe 2.............................................................. 282
Deceleration ramp 1.......................................... 734
Deceleration ramp 2.......................................... 735
Decimal place..................................................... 55
Default value....................................................... 55
Delay Safely-monitored deceleration.............. 1088
Device control: control word.............................. 410
Device control: status word............................... 407
Device control word........................................ 1160
Diagnostic counter dropped SMP fragments.... 320
Diagnostic counter received SMP fragments.... 320
Diagnostic counter sent SMP fragments........... 319
Diagnostic message.......................................... 113
Diagnostic message number............................ 236
Diagnostic numbers list..................................... 232
Diagnostic report SCSB module..................... 1161
Difference probe values 1................................. 466
Difference probe values 2................................. 467
Digital I/Os, assignment list............................... 495
Digital I/Os, bit numbers.................................... 496
Digital I/Os, direction......................................... 497
Digital I/Os, inputs............................................. 498
Digital I/Os, outputs........................................... 499
Direct-axis inductance of motor...................... 1153
Direct-axis inductance of motor, encoder
memory........................................................... 1049
Display text of diagnostic message................... 329
Distance-coded reference offset A.................... 162
Distance-coded reference offset B.................... 162
Document structure............................................. 53
Drive address of master communication. 309, 1158
Drive address of serial interface..................... 1157
Drive Halt acceleration bipolar.......................... 231
Drive Halt configuration..................................... 600
Drive off delay time........................................... 182
Drive Off delay time, encoder memory........... 1034
Drive on delay time........................................... 181
Drive On delay time, encoder memory........... 1034
Drive optimization, acceleration........................ 448
Drive optimization, control word........................ 442
Drive optimization, dwell time........................... 449

Drive optimization, end position negative......... 445
Drive optimization, end position positive........... 446
Drive optimization, travel distance.................... 447
Drive optimization, velocity............................... 449
Drive status word.............................................. 140
Dummy parameter.............................................. 57
Duration of dynamization pulse of safety func
tion selection................................................... 1087
Dynamic angle offset........................................ 384
Editability............................................................. 53
Effective commutation offset............................. 573
Effective master axis position........................... 660
Effective master axis velocity............................ 660
Effective peak current..................................... 1175
Effective target position..................................... 258
Effective torque/force command value.............. 357
Effective velocity command value..................... 357
Electric type data of power section................. 1180
Emergency halt deceleration............................ 257
Encoder 1, cosine signal................................... 508
Encoder 1, sine signal....................................... 508
Encoder 1 resolution, encoder memory............ 701
Encoder emulation control parameter............... 683
Encoder emulation resolution........................... 684
Encoder emulation signal selection.................. 682
Encoder emulation signal selection list............. 680
Encoder emulation zero pulse distance............ 687
Encoder emulation zero pulse offset................. 686
Encoder memory, mechanical operating data,
motor............................................................... 1062
Encoder memory, operating hours counter,
motor............................................................... 1060
Encoder memory, thermal operating data,
motor............................................................... 1061
Encoder resolution of measuring encoder........ 501
Encoder type 1 (motor encoder)....................... 370
Encoder type 1 (motor encoder), encoder
memory........................................................... 1043
Encoder type 2 (optional encoder).................... 372
Encoder type 3 (measuring encoder)................ 374
Encoder validation error threshold factor.......... 572
Encoder validation lower monitoring threshold. 620
Encoder validation monitoring signal................ 619
Encoder validation upper monitoring threshold. 619
End position probe function 1 active................. 468
End position probe function 2 active................. 465
Energy counter.................................................. 672

and Controls
Index
Engineering: Gateway address......................... 836

Engineering: IP address.................................... 834
Engineering: MAC address............................... 833
Engineering: Network mask.............................. 835
Engineering: Status IP communication............. 837
Error memory of diagnostic numbers................ 458
Error memory operating hours of control sec
tion.................................................................... 459
Error memory power section............................. 460
Error number..................................................... 330
E-Stop input...................................................... 480
Excessive position command value.................. 331
Extended safety technology diagnosis............ 1083
Extended safety technology status................. 1097
Extreme value check........................................... 54
Feedback acquisition starting time (T4).............. 61

Feed constant................................................... 132
Feed constant 2 (optional encoder).................. 419
Feedrate override.............................................. 124
Feed travel internal virtual master axis............. 692
Field bus: baud rate........................................ 1199
Field bus: config. list of cyclic actual value da
ta ch................................................................ 1199
Field bus: config. list of cyclic command value
data ch............................................................ 1200
Field bus: control word.................................... 1195
Field bus: control word IO............................... 1185
Field bus: cycle time (Tcyc)............................ 1194
Field bus: data format..................................... 1193
Field bus: diagnostic message........................ 1190
Field bus: length of cyclic actual value data
channel........................................................... 1201
Field bus: length of cyclic command value da
ta channel....................................................... 1189
Field bus: length of parameter channel........... 1201
Field bus: module diagnosis........................... 1187
Field bus: profile type...................................... 1202
Field bus: status word..................................... 1196
Field bus: watchdog........................................ 1193
Filter time constant, add. master axis pos.,
process loop...................................................... 632
Filter time constant, angle offset profile, proc
ess loop............................................................. 634
Filter time constant additive position cmd val
ue...................................................................... 364
Final speed ramp 1........................................... 729
Firmware variants............................................... 55
Flux control loop proportional gain.................... 578
Flux-generating current, actual value................ 350
Flux-generating current, command value......... 347
Flux-generating current, limit value................. 1146
Flux-generating current, limit value, encoder
memory........................................................... 1049
Flux-generating voltage, actual value............... 365
Flux loop proportional gain, encoder memory. 1054

FOCsl: carrier signal configuration.................. 1142
FOCsl: configuration word.............................. 1140
FOCsl: control deviation.................................. 1140
FOCsl: correction angle.................................. 1139
FOCsl: encoder angle..................................... 1140
FOCsl: estimated angle.................................. 1139
FOCsl: motor model configuration.................. 1142
Following distance............................................ 175
Format................................................................. 54
Friction compensation....................................... 155
FSP Type.......................................................... 325
Function.............................................................. 53
Function, structure, use...................................... 53
FXC: Current loop integral action time.............. 614
FXC: Current loop proportional gain................. 614
FXC: Frequency loop proportional gain............ 612
FXC: Frequency loop scaling factor of inertia... 613
FXC: Minimum no-load current......................... 617
FXC: Rated slip frequency................................ 615
FXC: Slip frequency filter time constant............ 615
FXC: Total flux loop integral action time........... 612
FXC: Total flux loop proportional gain............... 611
Gear 1 encoder-side (motor encoder)............... 418

Gear 1 motor-side (motor encoder).................. 417
Gear 2 encoder-side (optional encoder)........... 420
Gear 2 load-side (optional encoder)................. 419
Gear ratio fine adjustment................................. 383
Gear ratio fine adjustment, process loop.......... 633
Gear reduction.................................................. 649
Group axis 1 position........................................ 666
Group axis 1 position, fine-interpolated............ 667
Holding brake control word............................... 577

Holding brake control word, encoder memory 1047
Holding brake current, encoder memory......... 1048
Holding brake status word................................ 586
Home switch..................................................... 240
Home switch offset............................................ 208
Homing acceleration........................................... 82
Homing enable.................................................. 245
Homing parameter............................................ 148
Homing velocity................................................... 82
I/O status channel 2 (optional safety technol

ogy module).................................................... 1082
IDN groups: control word.................................. 512
IDN groups: list................................................. 513
IDN list cyclic parameter display..................... 1158
IDN-list of all backup operation data................. 177
IDN-list of all operation data................................ 70

and Controls
Index
IDN-list of all procedure commands.................... 72

IDN list of checksum parameter........................ 214
IDN-list of configurable data in signal control
word.................................................................. 239
IDN-list of configurable data in signal status
word.................................................................. 239
IDN-list of invalid data for parameterization
levels................................................................. 255
IDN-list of invalid operation data for CP2............ 71
IDN-list of invalid operation data for CP3............ 71
IDN-list of operation data for CP2....................... 70
IDN-list of operation data for CP3....................... 70
IDN-list of parameter set................................... 185
IDN-list of password-protected operation data.. 200
IDN list of retain data (replacement of devices) 461
IDN-list of selected backup operation data....... 195
Inappropriate use................................................ 42
Consequences, exclusion of liability ............ 41
Initial coordinate value...................................... 179
Initial position value........................................... 334
Input holding brake current monitoring............. 593
Input revolutions of load gear............................ 131
Input revolutions of measuring gear.................. 421
Integral-action component velocity loop............ 544
Interface status................................................... 67
Internal position data format............................. 422
Interpolation cmd value average value filter
time constant..................................................... 622
IxR boost factor................................................. 605
Kind of encoder 1, encoder memory................. 700

Language selection........................................... 193

Last valid position command value................... 331
lead time........................................................... 425
Lead time cogging torque compensation.......... 720
Length of master data telegram.......................... 62
Length of the configurable data record in the
AT..................................................................... 173
Length of the configurable data record in the
MDT.................................................................. 173
Linear position data scaling exponent............... 100
Linear position data scaling factor.................... 100
List of 16-bit alias IDNs................................... 1038
List of 32-bit IDNs........................................... 1038
List of acceleration ramps................................. 741
List of all IDNs not corresponding to default
value................................................................. 332
List of configurable data in the AT.................... 174
List of configurable data in the MDT................. 174
List of deceleration ramps................................. 742
List of distances, set 0...................................... 639

List of distances, set 1...................................... 643
List of GDP classes........................................... 325
List of master axis initial positions, set 0........... 638
List of master axis initial positions, set 1........... 642
List of motion laws, set 0................................... 638
List of motion laws, set 1................................... 643
List of session identifiers................................... 321
List of session priorities..................................... 321
List of slave axis velocities, set 0...................... 640
List of slave axis velocities, set 1...................... 644
List of smoothing time constants....................... 742
List of supported operation modes.................... 204
Load inertia..................................................... 1150
Load revolutions per actual value cycle slave
axis.................................................................... 646
Logbook axis number........................................ 550
Logbook event.................................................. 551
Logbook time stamp.......................................... 551
Lower limit of velocity masking window............ 731
Magnetizing current........................................ 1146

Magnetizing current, encoder memory........... 1049
Manufacturer version.......................................... 75
Marker position A.............................................. 167
Marker position B.............................................. 167
Mask class 2 diagnostics.................................. 114
Mask class 3 diagnostics.................................. 115
Master axis format converter IDN list signal
selection............................................................ 691
Master axis format converter signal selection... 692
Master axis position.......................................... 359
Master axis position, fine-interpolated.............. 667
Master axis position for slave axis.................... 653
Master axis revolutions per master axis cycle. . 644
Master axis speed............................................. 653
Master axis velocity, set 0................................. 637
Master axis velocity, set 1................................. 642
Master comm. engineering over IP: Gateway
address............................................................. 302
Master comm. engineering over IP: IP ad
dress................................................................. 300
Master comm. engineering over IP: MAC ad
dress................................................................. 299
Master comm. engineering over IP: Network
mask................................................................. 301
Master comm. engineering over IP: Status IP
communication.................................................. 707
Master communication: Device name... 1039, 1208
Master communication: Drive configuration.... 1205
Master communication: Gateway address
.............................................................. 1041, 1211
Master communication: IP address....... 1041, 1210
Master communication: MAC address device
.............................................................. 1040, 1208

and Controls
Index
Master communication: MAC address Port1

.............................................................. 1040, 1209
Master communication: MAC address Port2
.............................................................. 1040, 1209
Master communication: Network mask. 1041, 1210
Master communication: Protocol........... 1039, 1207
Master communication status......................... 1203
Master control word.......................................... 139
Master drive gear fine adjustment, secondary
master............................................................... 697
Master drive gear input revolutions................... 437
Master drive gear input revolutions, secon
dary master....................................................... 696
Master drive gear output revolutions................. 438
Master drive gear output revolutions, secon
dary master....................................................... 697
Master drive polarity.......................................... 404
Max. activation time of enabling control.......... 1085
Max. activation time of enabling control 1....... 1103
Max. model deviation........................................ 397
Max. tolerance time for different channel
states.............................................................. 1084
Maximum acceleration to be parameterized..... 447
Maximum drive off delay time........................... 196
Maximum motor speed..................................... 127
Maximum motor torque/force, encoder mem
ory................................................................... 1063
Maximum motor voltage.................................... 585
Maximum motor voltage, encoder memory..... 1057
Maximum occurred actual slip value in %......... 494
Maximum possible continuous current............ 1174
Maximum stator frequency slope...................... 603
Maximum torque/force of motor........................ 284
Maximum travel range...................................... 199
Maximum velocity of motor, encoder memory 1032
MDT error counter............................................... 75
MDT Transmit starting time (T2)....................... 109
Mechanical operating data, motor................... 1027
Memory............................................................... 54
Memory image of safety technology memory. 1067
Memory of velocity command values................ 730
Minimum AT transmit starting time (T1min)........ 59
Minimum feedback acquisition time (T4min)....... 60
Minimum mains crest value.............................. 670
MMC backup function configuration.................. 624
MMC backup function status............................. 625
MMC identification number (CID).................... 1184
Module code of control section......................... 831
Module code of motor, encoder memory........ 1042
Module code of power section.......................... 832
Module group, control word.............................. 547
Module group, status word................................ 548
Modulo factor measuring encoder.................... 653
Modulo value..................................................... 119

Modulo value actual value cycle....................... 666
Monitoring window............................................ 158
Monitoring window feedback 2.......................... 237
Monitoring window for safe stop 2.................. 1090
Monitoring window of slip in %.......................... 494
MotionProfile, diagnosis, set 0.......................... 636
MotionProfile, diagnosis, set 1.......................... 641
MotionProfile, master axis switching position. . . 635
Motion step 1, slave axis initial position............ 636
Motor current at standstill.................................. 126
Motor current at standstill, encoder memory... 1032
Motor frequency................................................ 609
Motor inductance, encoder memory............... 1059
Motor magnetizing inductance........................ 1171
Motor magnetizing inductance, encoder
memory........................................................... 1058
Motor model adjustment factor......................... 611
Motor model frequency loop integral action
time................................................................... 610
Motor model frequency loop proportional gain.. 609
Motor peak current............................................ 125
Motor peak current, encoder memory............. 1031
Motor potentiometer, acceleration.................... 737
Motor potentiometer, command value.............. 739
Motor potentiometer, deceleration.................... 738
Motor potentiometer, step size.......................... 739
Motor shaft power............................................. 541
Motor shutdown temperature............................ 181
Motor shutdown temperature, encoder mem
ory................................................................... 1033
Motor temperature............................................ 235
Motor type......................................................... 144
Motor type, encoder memory.......................... 1033
Motor type plate data...................................... 1164
Motor voltage at no load................................... 584
Motor voltage at no load, encoder memory.... 1056
Motor warning temperature............................... 180
MST error counter............................................... 74
Multiplication 1 (motor encoder)........................ 187
Multiplication 2 (optional encoder).................... 188
Multiplication of measuring encoder................. 501
NC cycle time (TNcyc)........................................ 57

Negative position limit value............................... 89
Negative velocity limit value................................ 81
Nominal load of holding system........................ 591
Nominal mains voltage crest value................... 670
Nominal motor torque/force, encoder memory
........................................................................ 1064
Nominal torque/force of motor.......................... 284
Number of bits per master axis revolution........ 383
Number of motion steps, set 0.......................... 637
Number of motion steps, set 1.......................... 641
Number of pole pairs/pole pair distance........... 333

and Controls
Index
Number of pole pairs/pole pair distance, en

coder memory................................................. 1043
Offset parameter 1............................................ 168

Offset parameter 2............................................ 169
Oper. hours control sec. at last succ. holding
system check.................................................... 592
Oper. hours of contr. sect. at change of func
tional packages............................................... 1023
Oper. hours power section at last activation of
STO................................................................... 400
Operating hours at last change of memory..... 1067
Operating hours control section........................ 457
Operating hours counter, motor...................... 1025
Operating hours power section......................... 458
Operating status of STO................................... 402
Operational performance, motor..................... 1027
Optimum distance home switch-reference
mark.................................................................. 433
Oscillation cycle time........................................ 184
Oscillation damping factor................................. 605
Oscillation offset speed..................................... 183
Oscillation speed............................................... 183
Oscilloscope: control offset............................... 344
Oscilloscope: control word................................ 339
Oscilloscope: external trigger signal................. 345
Oscilloscope: internal trigger signal.................. 345
Oscilloscope: list of measured values 1............ 335
Oscilloscope: number of measured values af
ter trigger event................................................. 343
Oscilloscope: number of valid measured val
ues.................................................................... 432
Oscilloscope: Operation mode.......................... 335
Oscilloscope: signal selection 1........................ 336
Oscilloscope: signal selection list...................... 431
Oscilloscope: size of memory........................... 343
Oscilloscope: status word................................. 340
Oscilloscope: time resolution............................ 342
Oscilloscope: trigger edge................................ 341
Oscilloscope: trigger level................................. 339
Oscilloscope: trigger mask................................ 338
Oscilloscope: trigger signal selection................ 338
Output revolutions of load gear......................... 132
Output revolutions of measuring gear............... 421
Overload warning.............................................. 536
Overview of device addresses........................ 1162
P-0-0001, Switching frequency of the power

output stage...................................................... 327
P-0-0004, Velocity loop smoothing time con
stant.................................................................. 328
P-0-0007, Display text of diagnostic message. . 329
P-0-0008, Activation E-Stop function................ 329
P-0-0009, Error number.................................... 330
P-0-0010, Excessive position command value. 331
P-0-0011, Last valid position command value. . 331
P-0-0012, C0300 Set absolute position pro
cedure command.............................................. 332
P-0-0013, List of all IDNs not corresponding
to default value.................................................. 332
P-0-0014, C1400 Command Get marker po
sition.................................................................. 333
P-0-0018, Number of pole pairs/pole pair dis
tance................................................................. 333
P-0-0019, Initial position value.......................... 334
P-0-0020, Oscilloscope: Operation mode......... 335
P-0-0021, Oscilloscope: list of measured val
ues 1................................................................. 335
ues 2................................................................. 336
P-0-0023, Oscilloscope: signal selection 1....... 336
P-0-0025, Oscilloscope: trigger mask............... 338
P-0-0026, Oscilloscope: trigger signal selec
tion.................................................................... 338
P-0-0027, Oscilloscope: trigger level................ 339
P-0-0028, Oscilloscope: control word............... 339
P-0-0029, Oscilloscope: status word................ 340
P-0-0030, Oscilloscope: trigger edge................ 341
P-0-0031, Oscilloscope: time resolution........... 342
P-0-0032, Oscilloscope: size of memory.......... 343
P-0-0033, Oscilloscope: number of measured
values after trigger event.................................. 343
P-0-0034, Position command additional ac
tual value........................................................... 344
P-0-0035, Oscilloscope: control offset.............. 344
P-0-0036, Oscilloscope: external trigger signal 345
P-0-0037, Oscilloscope: internal trigger signal. 345
P-0-0038, Torque-generating current, com
mand value....................................................... 346
P-0-0039, Flux-generating current, command
value................................................................. 347
P-0-0040, Velocity feedforward evaluation....... 347
P-0-0041, Position command average value
filter time constant............................................. 348
P-0-0042, Current position command aver
age value filter order......................................... 349
P-0-0043, Torque-generating current, actual
value................................................................. 350
P-0-0044, Flux-generating current, actual val
ue...................................................................... 350
P-0-0045, Control word of current controller..... 351
P-0-0046, Status word of current controller...... 354

and Controls
Index
P-0-0047, Position command value control...... 356

P-0-0048, Effective velocity command value.... 357
P-0-0049, Effective torque/force command
value................................................................. 357
P-0-0051, Torque/force constant...................... 358
P-0-0052, Actual position value of measuring
encoder............................................................. 359
P-0-0053, Master axis position......................... 359
P-0-0054, Additive master axis position............ 360
P-0-0055, Return distance................................ 361
P-0-0056, Return velocity................................. 361
P-0-0057, Return acceleration.......................... 362
P-0-0058, Return jerk........................................ 362
P-0-0059, Additive position command value,
controller........................................................... 363
P-0-0060, Filter time constant additive posi
tion cmd value................................................... 364
P-0-0061, Angle offset begin of table................ 364
P-0-0063, Torque-generating voltage, actual
value................................................................. 365
P-0-0064, Flux-generating voltage, actual val
ue...................................................................... 365
P-0-0065, Absolute voltage value, actual val
ue...................................................................... 366
P-0-0067, Phase current U, actual value.......... 366
P-0-0068, Phase current V, actual value.......... 366
P-0-0071, C3100 Command Recalculate ac
tual value cycle................................................. 367
P-0-0072, Cam table 1...................................... 367
P-0-0073, Cam distance 2................................ 369
P-0-0074, Encoder type 1 (motor encoder)...... 370
P-0-0075, Encoder type 2 (optional encoder)... 372
P-0-0076, Encoder type 3 (measuring encod
er)...................................................................... 374
P-0-0077, Assignment motor encoder->op
tional slot........................................................... 375
P-0-0078, Assignment optional encoder->op
tional slot........................................................... 378
P-0-0079, Assignment measuring encoder>optional slot..................................................... 379
P-0-0081, Parallel output 1............................... 380
P-0-0082, Parallel input 1................................. 382
P-0-0083, Gear ratio fine adjustment................ 383
P-0-0084, Number of bits per master axis rev
olution............................................................... 383
P-0-0085, Dynamic angle offset........................ 384
P-0-0086, Configuration word synchronous
operation modes............................................... 385
P-0-0087, Actual position value offset of
measuring encoder........................................... 388
P-0-0088, Control word synchronization
modes............................................................... 388
P-0-0089, Status word synchronization modes 390
P-0-0090, Travel range limit parameter............ 392
P-0-0091, Position/travel range limit status...... 393
P-0-0092, Cam table 2...................................... 394
P-0-0093, Cam distance................................... 395

P-0-0094, Cam switch angle............................. 395
P-0-0095, Absolute encoder monitoring win
dow for motor encoder...................................... 395
dow for opt. encoder......................................... 396
dow for measuring encoder.............................. 397
P-0-0098, Max. model deviation....................... 397
P-0-0099, Position command smoothing time
constant............................................................ 398
P-0-0100, Position command value extension.. 399
P-0-0101, Configuration for STO selector......... 399
P-0-0102, Oper. hours power section at last
activation of STO.............................................. 400
P-0-0103, Time interval of forced dynamiza
tion.................................................................... 401
P-0-0104, Change history time interval of
forced dynamization.......................................... 401
P-0-0105, Time stamp for list of diagnostic
message numbers............................................ 402
P-0-0106, Operating status of STO.................. 402
P-0-0108, Master drive polarity......................... 404
P-0-0109, Torque/force peak limit..................... 404
P-0-0114, Undervoltage threshold.................... 405
P-0-0115, Device control: status word.............. 407
P-0-0116, Device control: control word............. 410
P-0-0117, Activation of control unit reaction
on error............................................................. 411
P-0-0118, Power supply, configuration............. 412
P-0-0119, Best possible deceleration............... 413
P-0-0120, Control word easy startup................ 416
P-0-0121, Gear 1 motor-side (motor encoder).. 417
P-0-0122, Gear 1 encoder-side (motor encod
er)...................................................................... 418
P-0-0123, Feed constant 2 (optional encoder). 419
P-0-0124, Gear 2 load-side (optional encoder). 419
P-0-0125, Gear 2 encoder-side (optional en
coder)................................................................ 420
P-0-0127, Input revolutions of measuring gear. 421
P-0-0128, Output revolutions of measuring
gear................................................................... 421
P-0-0129, Internal position data format............. 422
P-0-0130, Position switch signal selection list. . 422
P-0-0131, Position switch signal selection........ 423
P-0-0132, Position switch switch-on threshold. 424
P-0-0133, Position switch switch-off thresh
olds................................................................... 424
P-0-0134, Position switch lead times................ 425
P-0-0135, Position switch status word.............. 425
P-0-0139, Analog output 1................................ 426
P-0-0140, Analog output 2................................ 426
P-0-0141, Thermal drive load........................... 427
P-0-0142, Synchronization acceleration........... 427
P-0-0143, Synchronization velocity................... 428
P-0-0144, Cam distance switch angle.............. 428

and Controls
Index

ues 3................................................................. 429
ues 4................................................................. 429
P-0-0149, Oscilloscope: signal selection list..... 431
P-0-0150, Oscilloscope: number of valid
measured values............................................... 432
P-0-0151, Synchronization window for modu
lo format............................................................ 432
P-0-0152, Synchronization completed.............. 433
P-0-0153, Optimum distance home switchreference mark.................................................. 433
P-0-0154, Synchronization direction................. 434
P-0-0155, Synchronization mode...................... 435
P-0-0156, Master drive gear input revolutions. . 437
P-0-0157, Master drive gear output revolu
tions.................................................................. 438
P-0-0158, Angle offset change rate.................. 438
P-0-0159, Slave drive feed travel...................... 439
P-0-0162, C1800 Command Drive optimiza
tion / command value box................................. 440
P-0-0163, Damping factor for autom. control
ler setting.......................................................... 441
P-0-0164, Application for autom. controller
setting............................................................... 441
P-0-0165, Drive optimization, control word....... 442
P-0-0166, Drive optimization, end position
negative............................................................ 445
P-0-0167, Drive optimization, end position
positive.............................................................. 446
P-0-0168, Maximum acceleration to be para
meterized.......................................................... 447
P-0-0169, Drive optimization, travel distance. . . 447
P-0-0170, Drive optimization, acceleration....... 448
P-0-0171, Drive optimization, velocity............... 449
P-0-0172, Drive optimization, dwell time........... 449
P-0-0176, Torque/Force command smooth
ing time constant............................................... 450
P-0-0177, Absolute encoder buffer 1 (motor
encoder)............................................................ 450
P-0-0178, Absolute encoder buffer 2 (optional
encoder)............................................................ 451
P-0-0179, Absolute encoder buffer 3 (meas
uring encoder)................................................... 452
P-0-0180, Acceleration feedforward smooth
ing time constant............................................... 452
P-0-0185, Control word of encoder 2 (optional
encoder)............................................................ 453
P-0-0187, Position command processing
mode................................................................. 456
P-0-0190, Operating hours control section....... 457
P-0-0191, Operating hours power section........ 458
P-0-0192, Error memory of diagnostic num
bers................................................................... 458
P-0-0193, Error memory operating hours of

control section................................................... 459
P-0-0194, Error memory power section............ 460
P-0-0195, IDN list of retain data (replacement
of devices)......................................................... 461
P-0-0196, Build date and time.......................... 462
P-0-0197, System time..................................... 462
P-0-0198, System time error memory............... 463
P-0-0199, System time error code.................... 464
P-0-0200, Start position probe function 2 ac
tive.................................................................... 465
P-0-0201, End position probe function 2 active 465
P-0-0202, Difference probe values 1................ 466
P-0-0203, Difference probe values 2................ 467
P-0-0204, Start position probe function 1 ac
tive.................................................................... 468
P-0-0205, End position probe function 1 active 468
P-0-0206, Probe 1, max. number of marker
failures.............................................................. 469
P-0-0207, Probe 2, max. number of marker
failures.............................................................. 469
P-0-0208, Analog input 5.................................. 470
P-0-0209, Analog input 6.................................. 471
P-0-0210, Analog input 1.................................. 471
P-0-0211, Analog input 2.................................. 472
P-0-0212, Analog input, list of assignable pa
rameters............................................................ 472
P-0-0213, Analog input, assignment A, target
parameter.......................................................... 473
P-0-0214, Analog input, assignment A, scal
ing per 10V full scale......................................... 473
P-0-0215, Analog input, assignment A, signal
value at 0V........................................................ 474
P-0-0216, Analog input, assignment A, dead
zone.................................................................. 474
P-0-0217, Analog input 1, time constant input
filter................................................................... 475
P-0-0218, Analog input, control parameter....... 476
P-0-0219, Analog input, maximum value for
adjustment........................................................ 478
P-0-0220, C2800 Analog input adjustment
command.......................................................... 479
P-0-0222, Travel range limit switch inputs........ 479
P-0-0223, E-Stop input..................................... 480
P-0-0224, Probe 1, number of marker failures.. 481
P-0-0225, Probe 2, number of marker failures.. 481
P-0-0226, Probe, extended control word.......... 482
P-0-0227, Cam table, access angle.................. 484
P-0-0228, Analog input 3.................................. 485
P-0-0229, Analog input 4.................................. 485
filter................................................................... 486
filter................................................................... 487
filter................................................................... 487

and Controls
Index

filter................................................................... 488
filter................................................................... 489
P-0-0236, Analog input, assignment B, target
parameter.......................................................... 490
P-0-0237, Analog input, assignment B, scal
ing per 10V full scale......................................... 491
P-0-0238, Analog input, assignment B, signal
value at 0V........................................................ 491
P-0-0239, Analog input, assignment B, dead
zone.................................................................. 492
P-0-0240, C1700 Command measuring
wheel mode....................................................... 492
P-0-0241, Actual pos. smoothing time con
stant for hybrid pos. control............................... 493
P-0-0242, Current actual slip value in %........... 493
P-0-0243, Maximum occurred actual slip val
ue in %.............................................................. 494
P-0-0244, Monitoring window of slip in %......... 494
P-0-0300, Digital I/Os, assignment list.............. 495
P-0-0301, Digital I/Os, bit numbers................... 496
P-0-0302, Digital I/Os, direction........................ 497
P-0-0303, Digital I/Os, inputs............................ 498
P-0-0304, Digital I/Os, outputs.......................... 499
P-0-0326, Multiplication of measuring encoder. 501
P-0-0327, Encoder resolution of measuring
encoder............................................................. 501
P-0-0328, Type of position encoder for meas
uring encoder.................................................... 502
P-0-0329, Smoothing of actual position value
3 of measuring encoder.................................... 503
P-0-0330, Control word of measuring encoder. 504
P-0-0331, Status of measuring encoder........... 504
P-0-0332, Actual velocity value of measuring
encoder............................................................. 505
P-0-0334, Absolute encoder range of meas
uring encoder.................................................... 505
P-0-0340, C3500 Command Determine en
coder correction values..................................... 506
P-0-0341, Control word for encoder correction. 506
P-0-0342, Correction value table for encoder
correction.......................................................... 507
P-0-0343, Encoder 1, cosine signal.................. 508
P-0-0344, Encoder 1, sine signal...................... 508
P-0-0391, Actual position value difference en
coder1 - encoder2............................................. 512
P-0-0393, IDN groups: control word................. 512
P-0-0394, IDN groups: list................................. 513
P-0-0395, Average value filter for display: sig
nal selection...................................................... 513
P-0-0396, Average value filter for display: sig

nal selection list................................................. 515
P-0-0397, Average value filter for display:
time constant..................................................... 516
P-0-0399, Configuration of simulation mode..... 517
P-0-0400, Axis correction external correction
value................................................................. 517
P-0-0401, Axis correction active correction
value................................................................. 518
P-0-0402, Axis correction reference temper
ature.................................................................. 518
P-0-0403, Axis correction reference position
for temp. corr..................................................... 519
P-0-0404, Axis correction actual temperature
pos.-dependent................................................. 519
P-0-0405, Axis correction actual temperature
pos.-independent.............................................. 520
P-0-0406, Axis correction temperature factor
pos.-dependent................................................. 520
P-0-0407, Axis correction temperature factor
pos.-independent.............................................. 521
P-0-0408, Axis correction start position............ 521
P-0-0409, Axis correction end position............. 522
P-0-0410, Axis correction support point dis
tance................................................................. 522
P-0-0411, Axis correction, correction table
positive.............................................................. 523
P-0-0412, Axis correction, correction table
negative............................................................ 524
P-0-0413, Axis correction control word............. 525
P-0-0414, Analog Output 3............................... 525
P-0-0415, Analog Output 4............................... 526
P-0-0416, Analog Output 5............................... 526
P-0-0417, Analog Output 6............................... 527
P-0-0418, Analog output, assignment A, sig
nal value at 0V.................................................. 527
P-0-0419, Analog output, assignment B, sig
nal value at 0V.................................................. 528
P-0-0420, Analog output, assignment A, sig
nal selection...................................................... 528
P-0-0422, Analog output, assignment A, scal
ing [1/V]............................................................. 529
P-0-0423, Analog output, assignment B, sig
nal selection...................................................... 529
P-0-0425, Analog output, assignment B, scal
ing [1/V]............................................................. 530
P-0-0426, Analog output IDN list of assigna
ble parameters.................................................. 530
P-0-0427, Control parameter of analog output. 531
P-0-0434, Position command value of con
troller................................................................. 532
P-0-0435, Control word of position controller.... 533
P-0-0436, Reference radius for quadrant
error correction.................................................. 534
P-0-0437, Velocity time range for quadrant

and Controls
Index
P-0-0438, Table of path velocities for quad

rant error correction.......................................... 535
P-0-0439, Table of velocity pulse for quadrant
P-0-0440, Actual output current value (abso
lute value)......................................................... 536
P-0-0441, Overload warning............................. 536
P-0-0442, Actual value torque limit positive
(stationary)........................................................ 537
P-0-0443, Actual value torque limit negative
(stationary)........................................................ 538
P-0-0444, Actual value peak torque limit.......... 538
P-0-0445, Status word torque/current limit....... 539
P-0-0446, Thermal motor load.......................... 541
P-0-0447, Motor shaft power............................ 541
P-0-0448, Temperature-dependent torque/
force coefficient................................................. 542
P-0-0449, Speed-dependent torque/force co
efficient.............................................................. 542
P-0-0450, Current torque/force constant.......... 543
P-0-0451, Actual acceleration torque/force
value................................................................. 543
P-0-0452, Actual process torque/force value.... 544
P-0-0453, Integral-action component velocity
loop................................................................... 544
P-0-0454, Velocity feedforward actual value.... 545
P-0-0455, Acceleration feedforward actual
value................................................................. 545
P-0-0456, Position command value delay........ 546
P-0-0457, Position command value generator.. 546
P-0-0460, Module group, control word.............. 547
P-0-0461, Module group, status word............... 548
P-0-0470, Block patch: Block selection............. 549
P-0-0471, Block patch: Block data.................... 550
P-0-0477, Logbook axis number....................... 550
P-0-0478, Logbook event.................................. 551
P-0-0479, Logbook time stamp......................... 551
P-0-0480, Patch function 1, source pointer....... 552
P-0-0481, Patch function 1, attribute................ 552
P-0-0482, Patch function 1, bit mask................ 553
P-0-0483, Patch function 1, exponent............... 554
P-0-0485, Patch function 1, display.................. 554
P-0-0486, Patch function 2, source pointer....... 555
P-0-0487, Patch function 2, attribute................ 555
P-0-0488, Patch function 2, bit mask................ 556
P-0-0489, Patch function 2, exponent............... 557
P-0-0491, Patch function 2, display.................. 557
P-0-0492, PLC patch function 1, data source... 558
P-0-0493, PLC patch function 1, display........... 559
P-0-0506, Amplitude for angle acquisition........ 564
P-0-0507, Test frequency for angle acquisition 565

P-0-0508, Commutation offset.......................... 565
P-0-0510, Rotor inertia...................................... 567
P-0-0512, Temperature sensor......................... 568
P-0-0513, Temperature sensor characteristic... 569
P-0-0517, Commutation: required harmonics
component........................................................ 570
P-0-0518, C5600 Command subsequent op
timization of commutation offset....................... 571
P-0-0520, Encoder validation error threshold
factor................................................................. 572
P-0-0521, Effective commutation offset............ 573
P-0-0522, Control word for commutation set
ting.................................................................... 573
P-0-0523, Commutation setting measured
value................................................................. 575
P-0-0524, C1200 Commutation offset setting
command.......................................................... 576
P-0-0525, Holding brake control word.............. 577
P-0-0528, Flux control loop proportional gain... 578
P-0-0529, Scaling of stall current limit.............. 579
P-0-0530, Slip increase..................................... 580
P-0-0532, Premagnetization factor................... 581
P-0-0533, Voltage loop proportional gain......... 583
P-0-0534, Voltage loop integral action time...... 584
P-0-0535, Motor voltage at no load................... 584
P-0-0536, Maximum motor voltage................... 585
P-0-0539, Holding brake status word................ 586
P-0-0540, Torque of holding brake................... 587
P-0-0541, C2100 Holding system check com
mand................................................................. 587
P-0-0542, C2000 Command Release holding
brake................................................................. 588
P-0-0543, C3800 Command Apply holding
brake................................................................. 589
P-0-0544, C3900 Command Holding brake
resurfacing........................................................ 589
P-0-0545, Test torque for releasing holding
system............................................................... 590
P-0-0546, Starting torque for releasing hold
ing system......................................................... 591
P-0-0547, Nominal load of holding system....... 591
P-0-0549, Oper. hours control sec. at last
succ. holding system check.............................. 592
P-0-0550, Time interval holding system check. 592
P-0-0551, Current load torque.......................... 593
P-0-0552, Input holding brake current moni
toring................................................................. 593
P-0-0554, Current torque value of the motor
holding brake.................................................... 594
P-0-0555, Status word of axis controller........... 594
P-0-0556, Config word of axis controller........... 596
P-0-0558, Drive Halt configuration.................... 600
P-0-0565, C3600 Command Motor data iden
tification............................................................. 601

and Controls
Index
P-0-0566, C4600 Command Calculate motor

control parameters............................................ 602
P-0-0568, Voltage boost................................... 602
P-0-0569, Maximum stator frequency slope..... 603
P-0-0570, Stall protection loop proportional
gain................................................................... 603
P-0-0571, Stall protection loop integral action
time................................................................... 604
P-0-0572, Slip compensation factor.................. 604
P-0-0573, IxR boost factor................................ 605
P-0-0574, Oscillation damping factor................ 605
P-0-0575, Search mode: search current factor. 605
P-0-0576, Search mode: finding point slip fac
tor...................................................................... 606
P-0-0577, Square characteristic: lowering
factor................................................................. 606
P-0-0578, Current for deceleration, absolute
value................................................................. 607
P-0-0579, Current for deceleration, time peri
od...................................................................... 608
P-0-0580, Motor frequency............................... 609
P-0-0590, Motor model frequency loop pro
portional gain.................................................... 609
P-0-0591, Motor model frequency loop inte
gral action time.................................................. 610
P-0-0592, Motor model adjustment factor......... 611
P-0-0593, FXC: Total flux loop proportional
gain................................................................... 611
P-0-0594, FXC: Total flux loop integral action
time................................................................... 612
P-0-0595, FXC: Frequency loop proportional
gain................................................................... 612
P-0-0596, FXC: Frequency loop scaling factor
of inertia............................................................ 613
P-0-0597, FXC: Current loop proportional gain 614
P-0-0598, FXC: Current loop integral action
time................................................................... 614
P-0-0599, FXC: Slip frequency filter time con
stant.................................................................. 615
P-0-0600, FXC: Rated slip frequency............... 615
P-0-0601, Configuration motor data identifi
cation................................................................ 616
P-0-0602, FXC: Minimum no-load current........ 617
P-0-0612, Set absolute position control............ 618
P-0-0620, Encoder validation monitoring sig
nal..................................................................... 619
P-0-0621, Encoder validation upper monitor
ing threshold..................................................... 619
P-0-0622, Encoder validation lower monitor
ing threshold..................................................... 620
P-0-0640, Cooling type..................................... 620
P-0-0641, Interpolation cmd value average
value filter time constant................................... 622
P-0-0665, C6500 Kommando Parameter auf
MMC sichern..................................................... 623
P-0-0666, C6600 Kommando Parameter von

MMC wiederherstellen...................................... 623
P-0-0668, MMC backup function configuration. 624
P-0-0669, MMC backup function status............ 625
P-0-0681, Assignment IDN -> parallel output 1 627
P-0-0682, Assignment parallel input 1 -> IDN... 627
positioning velocity............................................ 628
positioning acceleration.................................... 628
P-0-0688, Additive master axis position, po
sitioning velocity................................................ 629
P-0-0689, Additive master axis position, po
sitioning acceleration........................................ 629
P-0-0690, Additive velocity command value,
process loop...................................................... 630
process loop...................................................... 631
P-0-0692, Additive master axis position, proc
ess loop............................................................. 631
P-0-0693, Filter time constant, add. master
axis pos., process loop..................................... 632
P-0-0694, Gear ratio fine adjustment, process
loop................................................................... 633
P-0-0695, Angle offset begin of profile, proc
ess loop............................................................. 633
P-0-0696, Filter time constant, angle offset
profile, process loop.......................................... 634
P-0-0697, Synchronization, master axis syn
chronous position.............................................. 634
P-0-0698, Synchronization, master axis syn
chronization range............................................ 635
P-0-0700, MotionProfile, master axis switch
ing position........................................................ 635
P-0-0701, Motion step 1, slave axis initial po
sition.................................................................. 636
P-0-0702, MotionProfile, diagnosis, set 0......... 636
P-0-0703, Number of motion steps, set 0......... 637
P-0-0704, Master axis velocity, set 0................ 637
P-0-0705, List of master axis initial positions,
set 0.................................................................. 638
P-0-0706, List of motion laws, set 0.................. 638
P-0-0707, List of distances, set 0...................... 639
P-0-0708, List of slave axis velocities, set 0..... 640
P-0-0709, MotionProfile, diagnosis, set 1......... 641
P-0-0710, Number of motion steps, set 1......... 641
P-0-0711, Master axis velocity, set 1................ 642
P-0-0712, List of master axis initial positions,
set 1.................................................................. 642
P-0-0713, List of motion laws, set 1.................. 643
P-0-0714, List of distances, set 1...................... 643
P-0-0715, List of slave axis velocities, set 1..... 644
P-0-0750, Master axis revolutions per master
axis cycle.......................................................... 644
P-0-0751, Synchronization divisions per com
mand cycle slave axis....................................... 645

and Controls
Index
P-0-0752, Load revolutions per actual value

cycle slave axis................................................. 646
P-0-0753, Position actual value in actual val
ue cycle............................................................. 647
P-0-0754, Command value cycle...................... 648
P-0-0755, Gear reduction................................. 649
P-0-0756, Virtual master axis, scaling type....... 649
P-0-0757, Virtual master axis, modulo value.... 650
P-0-0758, Virtual master axis, actual position
value................................................................. 651
P-0-0759, Virtual master axis, actual velocity
value................................................................. 651
P-0-0760, Virtual master axis, positioning
control word...................................................... 652
P-0-0761, Master axis position for slave axis. . . 653
P-0-0764, Master axis speed............................ 653
P-0-0765, Modulo factor measuring encoder.... 653
P-0-0766, Virtual master axis, positioning
command value................................................. 654
P-0-0767, Virtual master axis, effective target
position.............................................................. 655
P-0-0768, Virtual master axis, positioning sta
tus..................................................................... 655
P-0-0769, Virtual master axis, command val
ue mode............................................................ 656
P-0-0770, Virtual master axis, positioning ve
locity.................................................................. 657
P-0-0771, Virtual master axis, positioning ac
celeration.......................................................... 657
P-0-0772, Virtual master axis, positioning de
celeration.......................................................... 658
P-0-0774, Virtual master axis, positioning win
dow shortest distance....................................... 658
P-0-0775, Resulting master axis position......... 659
P-0-0776, Effective master axis position........... 660
P-0-0777, Effective master axis velocity........... 660
P-0-0778, Synchronous position command
value................................................................. 661
P-0-0779, Synchronous velocity....................... 661
P-0-0780, Cam table 3...................................... 662
P-0-0781, Cam table 4...................................... 662
P-0-0782, Cam table 5...................................... 663
P-0-0783, Cam table 6...................................... 664
P-0-0784, Cam table 7...................................... 664
P-0-0785, Cam table 8...................................... 665
P-0-0786, Modulo value actual value cycle...... 666
P-0-0787, Group axis 1 position....................... 666
P-0-0788, Group axis 1 position, fine-interpo
lated.................................................................. 667
P-0-0789, Master axis position, fine-interpo
lated.................................................................. 667
P-0-0806, Current mains voltage crest value.... 668
P-0-0809, Properties of charging circuit............ 668
P-0-0810, Minimum mains crest value.............. 670
P-0-0815, Nominal mains voltage crest value. . 670
P-0-0816, Amplifier temperature 2.................... 671
P-0-0817, Amplifier temperature 3.................... 671

P-0-0819, Energy counter................................. 672
P-0-0833, Braking resistor threshold................ 672
P-0-0844, Braking resistor load........................ 673
P-0-0851, Short-time energy counter................ 673
P-0-0858, Data of external braking resistor...... 673
P-0-0859, Data of internal braking resistor....... 675
P-0-0860, Converter configuration.................... 675
P-0-0861, Power supply status word................ 679
P-0-0900, Encoder emulation signal selection
list...................................................................... 680
P-0-0901, Encoder emulation signal selection.. 682
P-0-0902, Encoder emulation control param
eter.................................................................... 683
P-0-0903, Encoder emulation resolution........... 684
P-0-0904, Encoder emulation zero pulse off
set..................................................................... 686
P-0-0905, Encoder emulation zero pulse dis
tance................................................................. 687
P-0-0910, SSI control parameter...................... 688
P-0-0911, Virtual master axis, positioning win
dow................................................................... 689
P-0-0912, Virtual master axis, standstill win
dow................................................................... 689
P-0-0913, Virtual master axis, positioning jerk.. 690
P-0-0914, Virtual master axis, velocity thresh
old positioning................................................... 690
P-0-0915, Master axis format converter IDN
list signal selection............................................ 691
P-0-0916, Master axis format converter signal
selection............................................................ 692
P-0-0917, Control word of master axis gener
ator.................................................................... 692
P-0-0918, Feed travel internal virtual master
axis.................................................................... 692
P-0-0919, Synchronization mode, secondary
master............................................................... 693
P-0-0920, Synchronization acceleration, sec
ondary master................................................... 694
P-0-0921, Synchronization velocity, secon
dary master....................................................... 694
P-0-0922, Preferred synchronization direc
tion, secondary master...................................... 694
P-0-0923, Synchroniz. window for shortest
distance, secondary master.............................. 695
P-0-0924, Selection primary master................. 696
P-0-0925, Master drive gear input revolutions,
P-0-0926, Master drive gear output revolu
tions, secondary master.................................... 697
P-0-0927, Master drive gear fine adjustment,
P-0-0928, Additive master axis position, sec
ondary master................................................... 698
P-0-0929, Change velocity of add. master ax
is posit., secondary master............................... 698

and Controls
Index
P-0-0930, Change accel. of add. master axis

posit., secondary master................................... 698
P-0-0931, Synchronous position, secondary
master............................................................... 699
P-0-0932, Synchronization range, secondary
master............................................................... 699
P-0-1000, Kind of encoder 1, encoder memory 700
P-0-1001, Encoder 1 resolution, encoder
memory............................................................. 701
P-0-1002, Absolute encoder offset 1, encoder
memory............................................................. 701
P-0-1003, Pulse wire encoder offset 1, en
coder memory................................................... 702
P-0-1004, Pulse wire encoder status 1, en
coder memory................................................... 702
memory............................................................. 704
memory............................................................. 704
P-0-1013, Pulse wire encoder offset 2, en
coder memory................................................... 704
P-0-1014, Pulse wire encoder status 2, en
coder memory................................................... 705
memory............................................................. 706
memory............................................................. 707
P-0-1044, Master comm. engineering over IP:
Status IP communication.................................. 707
P-0-1119, Velocity mix factor feedback 1 & 2... 710
P-0-1120, Velocity control loop filter: filter type. 710
P-0-1121, Velocity control loop filter: limit fre
quency of low pass........................................... 711
P-0-1122, Velocity control loop filter: band
width of band-stop filter..................................... 712
P-0-1123, Vel. cont. loop filter: center fre
quency of band-stop filter.................................. 713
P-0-1125, Velocity control loop: average val
ue filter clock..................................................... 714
P-0-1126, Velocity control loop: acceleration
feedforward....................................................... 715
P-0-1130, Table of cogging torque compen
sation values pos. Direction.............................. 716
P-0-1131, Control word of cogging torque
compensation.................................................... 717
P-0-1132, Table of cogging torque compen
sation values neg. direction.............................. 718
P-0-1133, Status word of cogging torque
compensation.................................................... 718
P-0-1134, Velocity threshold for attenuation
of detent cogging compens............................... 719
P-0-1135, Velocity threshold for switching off
cogging torque compens................................... 720
P-0-1136, Lead time cogging torque compen

sation................................................................ 720
P-0-1138, C4800 Command Determine cog
ging torque compensation table........................ 721
P-0-1150, Command value generator output.... 721
P-0-1151, Command value generator, list of
possible target parameters............................... 722
P-0-1152, Command value generator, target
parameter assignment...................................... 722
P-0-1153, Command value generator, control
word.................................................................. 723
P-0-1154, Command value generator, offset.... 724
P-0-1155, Command value generator, ampli
tude................................................................... 724
P-0-1156, Command value generator, dura
tion 1................................................................. 725
P-0-1157, Command value generator, dura
tion 2................................................................. 725
P-0-1158, Command value generator, peri
odic time............................................................ 726
P-0-1200, Control word 1 velocity control......... 726
P-0-1201, Ramp 1 pitch.................................... 728
P-0-1202, Final speed ramp 1.......................... 729
P-0-1203, Ramp 2 pitch.................................... 729
P-0-1206, Memory of velocity command val
ues.................................................................... 730
P-0-1207, Lower limit of velocity masking win
dow................................................................... 731
P-0-1208, Upper limit of velocity masking win
dow................................................................... 732
P-0-1209, Acceleration factors for velocity
masking window................................................ 732
P-0-1210, Status word of velocity control
mode................................................................. 733
P-0-1211, Deceleration ramp 1......................... 734
P-0-1213, Deceleration ramp 2......................... 735
P-0-1214, Control word 2 velocity control......... 736
P-0-1215, Motor potentiometer, acceleration.... 737
P-0-1216, Motor potentiometer, deceleration. . . 738
P-0-1217, Motor potentiometer, step size......... 739
P-0-1218, Motor potentiometer, command
value................................................................. 739
P-0-1222, Velocity command filter.................... 740
P-0-1223, List of acceleration ramps................ 741
P-0-1224, List of deceleration ramps................ 742
P-0-1225, List of smoothing time constants...... 742
P-0-1270, PLC Global Register A0................... 743

and Controls
Index
P-0-1280, PLC Global Register A10................. 748

P-0-1311, PLC Global Register GL1................. 757
P-0-1316, PLC Global Register G16................. 758
P-0-1350, PLC control word.............................. 765
P-0-1351, PLC status word............................... 766
P-0-1352, PLC user program administration
data................................................................... 767
P-0-1353, PLC user program area 0................. 768
P-0-1359, PLC retain data................................ 770
P-0-1360, PLC program identifier..................... 771
P-0-1361, PLC program name.......................... 772
P-0-1362, PLC boot project info........................ 772
P-0-1363, PLC project info................................ 773
P-0-1364, PLC idle time.................................... 774
P-0-1365, PLC error message.......................... 775

P-0-1367, PLC configuration............................. 776
P-0-1368, PLC Global Register AL0................. 778
P-0-1369, PLC internally reserved.................... 779
P-0-1370, PLC Global Register G0................... 779
P-0-1386, PLC display format Global Register. 787
P-0-1387, PLC Global Register AT0................. 788
P-0-1388, PLC Global Register AT1................. 788
P-0-1390, PLC input WORD0 AT %IB0............ 790
P-0-1395, PLC input WORD5 AT %IB10.......... 793
P-0-1400, PLC input WORD10 AT %IB20........ 795
P-0-1410, PLC output WORD0 AT %QB0........ 800
P-0-1415, PLC output WORD5 AT %QB10...... 802
P-0-1420, PLC output WORD10 AT %QB20.... 805

and Controls
Index

P-0-1440, PLC input DWORD25 AT %IB100. . . 810
P-0-1449, C4900 PLC command...................... 814
P-0-1450, PLC/setting-up mode Positioning
command value................................................. 815
P-0-1451, PLC/setting-up mode, positioning
velocity.............................................................. 816
acceleration....................................................... 816
deceleration...................................................... 817
command value acceptance............................. 818
command value acknowledge........................... 819
P-0-1460, PLC/setting-up mode, velocity
command value................................................. 820
P-0-1461, PLC/setting-up mode ramp pitch...... 820
P-0-1463, PLC/setting-up mode deceleration
ramp.................................................................. 821
P-0-1465, PLC/setting-up mode Torque/force
command value................................................. 822
P-0-1466, PLC Torque/force ramp.................... 822
P-0-1499, PLC retain data on-board................. 823
P-0-1506, Circuit board code optional module
1........................................................................ 823
2........................................................................ 824
3........................................................................ 825
P-0-1509, Circuit board code master commu
nication.............................................................. 826
P-0-1510, Circuit board code power section..... 827
P-0-1511, Circuit board code control section.... 827
P-0-1512, Circuit board code of optional mod
ule 4.................................................................. 828
1 for safety technology...................................... 829
2 for safety technology...................................... 830
P-0-1518, Module code of control section........ 831
P-0-1519, Module code of power section......... 832
P-0-1520, Control section type......................... 832

P-0-1530, Engineering: MAC address.............. 833
P-0-1531, Engineering: IP address................... 834
P-0-1532, Engineering: Network mask............. 835
P-0-1533, Engineering: Gateway address........ 836
P-0-1534, C6100 Command Activate IP set
tings.................................................................. 837
P-0-1544, Engineering: Status IP communi
cation................................................................ 837
P-0-1600, CCD: configuration........................... 839
P-0-1601, CCD: addresses of projected drives 842
P-0-1602, CCD: timing settings........................ 843
P-0-1603, CCD: Actual topology addresses..... 844
P-0-1604, CCD: addresses of projected I/Os. . . 845
P-0-1605, CCD: command communication
phase................................................................ 846
P-0-1606, CCD: actual communication phase. . 847
P-0-1607, CCD: axis error................................ 847
P-0-1608, CCD: control word............................ 848
P-0-1609, CCD: status word............................. 848
P-0-1610, CCD: cycle time............................... 849
P-0-1610.0.21, CCD: Slave addresses at end
of line................................................................ 850
P-0-1610.0.3, CCD: Actual topology................. 850
P-0-1610.0.30, CCD: Diagnostic message text 851
P-0-1610.0.31, CCD: Diagnosis code............... 854
P-0-1611, CCD: configuration list signal sta
tus word............................................................ 855
P-0-1612, CCD: configuration list signal con
trol word............................................................ 855
P-0-1613, CCD: assignment list signal status
word.................................................................. 856
P-0-1614, CCD: assignment list signal control
word.................................................................. 857
P-0-1615, CCD: extrapolated cmd value IDN
list signal selection............................................ 857
P-0-1616, CCD: extrapolated cmd value sig
nal selection...................................................... 858
P-0-1617, CCD: number of extrapolation steps 858
P-0-1618, CCD: extrapolated command value. 859
P-0-1620.0.21, CCD: Command Close ring...... 860
P-0-1620.0.3, CCD: Command topology.......... 859
P-0-1621, CCD: configuration list master
communication cmd values............................... 860
P-0-1621.0.1, CCD: Slave address in high
level network..................................................... 861
P-0-1621.0.10, CCD: Master comm. C5200
Comm. phase 4 transition check....................... 866
P-0-1621.0.11, CCD: Mater comm. master
control word...................................................... 867
P-0-1621.0.12, CCD: Master comm. drive sta
tus..................................................................... 867
P-0-1621.0.13, CCD: S2 Allocation of realtime control bit 1................................................ 868
P-0-1621.0.14, CCD: S2 Allocation of realtime control bit 2................................................ 868

and Controls
Index
P-0-1621.0.15, CCD: S2 Allocation of realtime status bit 1................................................. 868

P-0-1621.0.16, CCD: S2 Allocation of realtime status bit 2................................................. 869
P-0-1621.0.17, CCD: S2 Bit number alloca
tion of real-time control bit 1.............................. 869
tion of real-time control bit 2.............................. 870
tion of real-time status bit 1............................... 870
P-0-1621.0.2, CCD: S2 AT Transmission
starting time (T1)............................................... 862
tion of real-time status bit 2............................... 871
P-0-1621.0.21, CCD: Master comm. IDN-list
of invalid operation data for CP2....................... 871
P-0-1621.0.23, CCD: Master comm. diagnosis 872
P-0-1621.0.3, CCD: S2 Position of data re
cord in MDT...................................................... 863
P-0-1621.0.4, CCD: SERCOS Telegram type
parameter.......................................................... 863
P-0-1621.0.5, CCD: Master comm. configu
ration list of AT.................................................. 864
P-0-1621.0.6, CCD: Master comm. configu
ration list of MDT............................................... 864
P-0-1621.0.7, CCD: S2 Slave arrangement
(SLKN).............................................................. 865
P-0-1621.0.8, CCD: S2 Mask class 3 diag
nostics............................................................... 865
P-0-1621.0.9, CCD: Master comm. C0100
Comm. phase 3 transition check....................... 866
P-0-1622, CCD: configuration list master
communication actual values............................ 872
P-0-1623, CCD: configuration list master cmd
values................................................................ 874
P-0-1624, CCD: configuration list actual mas
ter values.......................................................... 875
P-0-1625, CCD: configuration list slave cmd
values................................................................ 876
P-0-1626, CCD: configuration list actual slave
values................................................................ 877
P-0-1627, CCD: configuration list master cmd
values I/Os........................................................ 879
P-0-1628, CCD: configuration list act. master
values I/Os........................................................ 879
P-0-1629, CCD: configuration compact I/Os..... 880
P-0-1630, CCD: diagnosis................................ 881
P-0-1630.0.1, CCD: Slave IP address.............. 885
P-0-1630.0.2, CCD: Device status word (SDev).................................................................. 886
P-0-1630.0.20, CCD: Resource-Status (SRes).................................................................. 887
P-0-1630.0.3, CCD: Connection-Control #0
(C-Con)............................................................. 886
P-0-1631, CCD: AT error counter..................... 889
P-0-1632, CCD: system data 2 bytes............... 890
P-0-1633, CCD: system data 4 bytes............... 890

P-0-1635, CCD: command adjust slave ad
dresses............................................................. 891
P-0-1636, CCD: Command topology address
es...................................................................... 891
P-0-1637, CCD: error counter Port-1................ 892
P-0-1638, CCD: error counter Port-2................ 893
P-0-1639, CCD: allowed telegram failures........ 893
P-0-1640, CCD: MAC address.......................... 894
P-0-1641, CCD: IP address.............................. 895
P-0-1642, CCD: network mask......................... 896
P-0-1643, CCD: gateway address.................... 896
P-0-1644, CCD: status IP communication........ 897
P-0-1645.0.1, CCD connection: Configuration.. 899
P-0-1645.0.10, CCD connection: Producer
cycle time.......................................................... 904
P-0-1645.0.11, CCD connection: Allowed los
ses of producer data......................................... 905
P-0-1645.0.12, CCD connection: Error coun
ter data losses................................................... 905
P-0-1645.0.2, CCD connection: Connection
number.............................................................. 901
P-0-1645.0.20, CCD connection: IDN alloca
tion of real-time bits........................................... 906
P-0-1645.0.21, CCD connection: Bit number
allocation of real-time bits................................. 906
P-0-1645.0.3, CCD connection: Telegram as
signment........................................................... 901
P-0-1645.0.4, CCD connection: Max. length
of connection..................................................... 902
P-0-1645.0.5, CCD connection: Current con
nection length.................................................... 902
P-0-1645.0.6, CCD connection: Configuration
list...................................................................... 903
P-0-1645.0.8, CCD connection: Connection
control (C-Con)................................................. 903
P-0-1650, CCD: control word compact I/Os...... 907
P-0-1651, CCD: master control word, slave 1. . 907
P-0-1660, CCD: status word compact I/Os....... 911
P-0-1660.0.2, CCD: Device control word (CRes).................................................................. 912
P-0-1660.0.20, CDD: Resource-Control (CRes).................................................................. 914
P-0-1660.0.3, CCD: Conection-Control #1 (CCon).................................................................. 912
P-0-1661, CCD: drive status word, slave 1....... 915

and Controls
Index

P-0-1670, CCD: active actual position value,
master............................................................... 919
slave 1............................................................... 919
slave 2............................................................... 920
slave 3............................................................... 920
slave 4............................................................... 921
slave 5............................................................... 921
slave 6............................................................... 922
slave 7............................................................... 922
slave 8............................................................... 923
slave 9............................................................... 923
P-0-1680, CCD: actual velocity value, master. . 924
P-0-1681, CCD: actual velocity value, slave 1. . 924
P-0-1690, CCD: actual torque/force value,
master............................................................... 928
slave 1............................................................... 928
slave 2............................................................... 929
slave 3............................................................... 930
slave 4............................................................... 930
slave 5............................................................... 930
slave 6............................................................... 931
slave 7............................................................... 931
slave 8............................................................... 932
slave 9............................................................... 932
P-0-1701, CCD: diagnostic message number

slave 1............................................................... 933
slave 2............................................................... 933
slave 3............................................................... 934
slave 4............................................................... 934
slave 5............................................................... 935
slave 6............................................................... 935
slave 7............................................................... 936
slave 8............................................................... 936
slave 9............................................................... 936
P-0-1710, CCD: signal status word, master...... 937
P-0-1711, CCD: signal status word, slave 1..... 937
P-0-1720, CCD: signal control word, master.... 941
P-0-1721, CCD: signal control word, slave 1.... 942
P-0-1730, CCD: Command value data con
tainer 1, Master 4Byte....................................... 946
tainer 1, Slave 1 4Byte...................................... 946

and Controls
Index


P-0-1770, CCD: Actual value data container
1, Master 4Byte................................................. 964
1, Slave 1 4Byte................................................ 965
1, Slave 2 4Byte................................................ 965
1, Slave 3 4Byte................................................ 966
1, Slave 4 4Byte................................................ 966
1, Slave 5 4Byte................................................ 966
1, Slave 6 4Byte................................................ 967
1, Slave 7 4Byte................................................ 967
1, Slave 8 4Byte................................................ 968
1, Slave 9 4Byte................................................ 968
2, Master 4Byte................................................. 969
2, Slave 1 4Byte................................................ 969
2, Slave 2 4Byte................................................ 970
2, Slave 3 4Byte................................................ 970
2, Slave 4 4Byte................................................ 970
2, Slave 5 4Byte................................................ 971
2, Slave 6 4Byte................................................ 971
2, Slave 7 4Byte................................................ 972
2, Slave 8 4Byte................................................ 972
2, Slave 9 4Byte................................................ 973
3, Master 4Byte................................................. 973
3, Slave 1 4Byte................................................ 973
3, Slave 2 4Byte................................................ 974
3, Slave 3 4Byte................................................ 974
3, Slave 4 4Byte................................................ 975

and Controls
Index

3, Slave 5 4Byte................................................ 975
3, Slave 6 4Byte................................................ 976
3, Slave 7 4Byte................................................ 976
3, Slave 8 4Byte................................................ 977
3, Slave 9 4Byte................................................ 977
4, Master 4Byte................................................. 977
4, Slave 1 4Byte................................................ 978
4, Slave 2 4Byte................................................ 978
4, Slave 3 4Byte................................................ 979
4, Slave 4 4Byte................................................ 979
4, Slave 5 4Byte................................................ 980
4, Slave 6 4Byte................................................ 980
4, Slave 7 4Byte................................................ 981
4, Slave 8 4Byte................................................ 981
4, Slave 9 4Byte................................................ 981
P-0-1810, CCD: Status word synchronous op
eration modes, master...................................... 982
eration modes, slave 1...................................... 982

tainer 4, Master 2Byte..................................... 1000

and Controls
Index

tainer 4, Slave 1 2Byte.................................... 1000
1, Master 2Byte............................................... 1004
1, Slave 1 2Byte.............................................. 1005
1, Slave 2 2Byte.............................................. 1006
1, Slave 3 2Byte.............................................. 1006
1, Slave 4 2Byte.............................................. 1006
1, Slave 5 2Byte.............................................. 1007
1, Slave 6 2Byte.............................................. 1007
1, Slave 7 2Byte.............................................. 1008
1, Slave 8 2Byte.............................................. 1008
1, Slave 9 2Byte.............................................. 1009
2, Master 2Byte............................................... 1009
2, Slave 1 2Byte.............................................. 1009
2, Slave 2 2Byte.............................................. 1010
2, Slave 3 2Byte.............................................. 1011
2, Slave 4 2Byte.............................................. 1011
2, Slave 5 2Byte.............................................. 1011
2, Slave 6 2Byte.............................................. 1012
2, Slave 7 2Byte.............................................. 1012
2, Slave 8 2Byte.............................................. 1013

2, Slave 9 2Byte.............................................. 1013
3, Master 2Byte............................................... 1014
3, Slave 1 2Byte.............................................. 1014
3, Slave 2 2Byte.............................................. 1015
3, Slave 3 2Byte.............................................. 1015
3, Slave 4 2Byte.............................................. 1016
3, Slave 5 2Byte.............................................. 1016
3, Slave 6 2Byte.............................................. 1016
3, Slave 7 2Byte.............................................. 1017
3, Slave 8 2Byte.............................................. 1017
3, Slave 9 2Byte.............................................. 1018
4, Master 2Byte............................................... 1018
4, Slave 1 2Byte.............................................. 1019
4, Slave 2 2Byte.............................................. 1019
4, Slave 3 2Byte.............................................. 1020
4, Slave 4 2Byte.............................................. 1020
4, Slave 5 2Byte.............................................. 1021
4, Slave 6 2Byte.............................................. 1021
4, Slave 7 2Byte.............................................. 1021
4, Slave 8 2Byte.............................................. 1022
4, Slave 9 2Byte.............................................. 1022
P-0-2002, Oper. hours of contr. sect. at
change of functional packages....................... 1023
P-0-2003, Selection of functional packages.... 1023
P-0-2004, Active functional packages............. 1024
P-0-2051, Operating hours counter, motor..... 1025
P-0-2052, Thermal operating data, motor....... 1026
P-0-2053, Mechanical operating data, motor. . 1027
P-0-2054, Operational performance, motor.... 1027
P-0-2055, Serial number, motor...................... 1028
P-0-2100, Velocity loop proportional gain, en
coder memory................................................. 1029
P-0-2101, Velocity loop integral-action time,
encoder memory............................................. 1029

and Controls
Index
P-0-2104, Position loop Kv-factor, encoder

memory........................................................... 1030
P-0-2106, Current loop proportional gain 1,
encoder memory............................................. 1030
P-0-2107, Current loop integral-action time 1,
encoder memory............................................. 1031
P-0-2109, Motor peak current, encoder mem
ory................................................................... 1031
P-0-2111, Motor current at standstill, encoder
memory........................................................... 1032
P-0-2113, Maximum velocity of motor, encod
er memory....................................................... 1032
P-0-2141, Motor type, encoder memory......... 1033
P-0-2204, Motor shutdown temperature, en
coder memory................................................. 1033
P-0-2206, Drive On delay time, encoder
memory........................................................... 1034
P-0-2207, Drive Off delay time, encoder
memory........................................................... 1034
P-0-2216, Parameter set switching, configu
ration............................................................... 1035
P-0-2217, Parameter set switching, preselec
tion range........................................................ 1036
P-0-2218, Parameter set switching, delay
time................................................................. 1037
P-0-2300, List of 32-bit IDNs........................... 1038
P-0-2301, List of 16-bit alias IDNs.................. 1038
P-0-2310, Master communication: Protocol.... 1039
P-0-2311, Master communication: Device
name............................................................... 1039
P-0-2312, Master communication: MAC ad
dress device.................................................... 1040
dress Port1...................................................... 1040
dress Port2...................................................... 1040
P-0-2315, Master communication: IP address
........................................................................ 1041
P-0-2316, Master communication: Network
mask............................................................... 1041
P-0-2317, Master communication: Gateway
address........................................................... 1041
P-0-3000, Module code of motor, encoder
memory........................................................... 1042
P-0-3001, Encoder type 1 (motor encoder),
encoder memory............................................. 1043
P-0-3002, Number of pole pairs/pole pair dis
tance, encoder memory.................................. 1043
P-0-3003, Rotor inertia, encoder memory....... 1044
P-0-3004, Speed loop smoothing time con
stant, encoder memory................................... 1044
P-0-3005, Torque/force constant, encoder
memory........................................................... 1045
P-0-3006, Rated motor speed, encoder mem
ory................................................................... 1045
P-0-3007, Stator resistance, encoder memory

........................................................................ 1046
P-0-3008, Commutation offset, encoder
memory........................................................... 1046
P-0-3009, Holding brake control word, encod
er memory....................................................... 1047
P-0-3010, Torque of motor holding brake, en
coder memory................................................. 1047
P-0-3011, Holding brake current, encoder
memory........................................................... 1048
P-0-3012, Temperature sensor, encoder
memory........................................................... 1048
P-0-3014, Magnetizing current, encoder
memory........................................................... 1049
P-0-3015, Flux-generating current, limit val
ue, encoder memory....................................... 1049
P-0-3016, Direct-axis inductance of motor,
encoder memory............................................. 1049
P-0-3017, Quadrature-axis inductance of mo
tor, encoder memory....................................... 1050
P-0-3018, Charact. quadr.-axis induct. of mo
tor, induct., enc. Memory................................ 1050
P-0-3019, Charact. quadr.-axis induct. of mo
tor, currents, enc. Memory.............................. 1051
P-0-3020, Thermal time constant of winding,
encoder memory............................................. 1051
P-0-3021, Thermal time constant of motor,
encoder memory............................................. 1052
P-0-3022, Thermal short-time overload of
winding, encoder memory............................... 1052
P-0-3023, Current limit value of demagneti
zation, encoder memory................................. 1053
P-0-3025, Brake voltage, encoder memory.... 1053
P-0-3028, Flux loop proportional gain, encod
er memory....................................................... 1054
P-0-3029, Scaling of stall current limit, encod
er memory....................................................... 1054
P-0-3032, Premagnetization factor, encoder
memory........................................................... 1055
P-0-3033, Voltage loop proportional gain, en
coder memory................................................. 1055
P-0-3034, Voltage loop intergral action time,
encoder memory............................................. 1056
P-0-3035, Motor voltage at no load, encoder
memory........................................................... 1056
P-0-3036, Maximum motor voltage, encoder
memory........................................................... 1057
P-0-3039, Stator leakage inductance, encod
er memory....................................................... 1057
P-0-3040, Rotor leakage inductance, encoder
memory........................................................... 1058
P-0-3041, Motor magnetizing inductance, en
coder memory................................................. 1058
P-0-3042, Characteristic of motor magnetiz
ing inductance, encoder mem......................... 1059

and Controls
Index
P-0-3043, Rotor time constant, encoder mem

ory................................................................... 1059
P-0-3050, Motor inductance, encoder memo
ry..................................................................... 1059
P-0-3051, Encoder memory, operating hours
counter, motor................................................. 1060
P-0-3052, Encoder memory, thermal operat
ing data, motor................................................ 1061
P-0-3053, Encoder memory, mechanical op
erating data, motor.......................................... 1062
P-0-3055, Maximum motor torque/force, en
coder memory................................................. 1063
P-0-3056, Nominal motor torque/force, en
coder memory................................................. 1064
P-0-3057, Speed-dependent torque/force co
efficient, encoder memory............................... 1064
P-0-3058, Temperature-dependent torque/
force coefficient, enc. memory........................ 1065
P-0-3100, Version of data structure in encod
er memory....................................................... 1065
P-0-3200, Safety technology firmware code... 1066
P-0-3201, Change counter of safety technol
ogy memory.................................................... 1066
P-0-3202, Operating hours at last change of
memory........................................................... 1067
P-0-3203, Memory image of safety technolo
gy memory...................................................... 1067
P-0-3204, C3000 Synchronize and store
safety technology IDN command.................... 1068
P-0-3205, Safety technology device identifier. 1068
P-0-3206, Safety technology password.......... 1069
P-0-3207, Safety technology password level. . 1070
P-0-3208, Backup of safety techn. data chan
nel 2................................................................ 1071
P-0-3209, Safety technology commissioning
identifier.......................................................... 1072
P-0-3210, Safety technology configuration..... 1073
P-0-3211, Safety technology I/O configuration
list, channel 2.................................................. 1075
P-0-3212, Safety technology control word,
channel 1........................................................ 1076
P-0-3213, Safety technology operating status 1078
P-0-3214, Safety technology status word,
channel 1........................................................ 1079
P-0-3215, Selected safety technology operat
ing status......................................................... 1080
P-0-3216, Active safety technology signals.... 1081
P-0-3217, I/O status channel 2 (optional safe
ty technology module)..................................... 1082
P-0-3218, C3700 Command Manually un
locking the safety door.................................... 1083
P-0-3219, Extended safety technology diag
nosis................................................................ 1083
P-0-3220, Tolerance time transition from nor
mal operation.................................................. 1084
P-0-3221, Max. tolerance time for different

channel states................................................. 1084
P-0-3222, Max. activation time of enabling
control............................................................. 1085
P-0-3223, Time interval for dynamization of
safety function selection.................................. 1086
P-0-3224, Duration of dynamization pulse of
safety function selection.................................. 1087
P-0-3225, Tolerance time transition from safe
operation......................................................... 1088
P-0-3226, Delay Safely-monitored decelera
tion.................................................................. 1088
P-0-3228, C4000 Homing procedure com
mand channel 2.............................................. 1089
P-0-3229, Tolerance window for safe homing
procedure........................................................ 1090
P-0-3230, Monitoring window for safe stop 2.. 1090
P-0-3231, Reference position for safe refer
ence................................................................ 1091
P-0-3232, Standstill window for safe direction 1091
P-0-3233, Velocity threshold for safe stand
still................................................................... 1092
P-0-3234, Safe maximum speed.................... 1093
P-0-3235, Safely-limited position, positive...... 1094
P-0-3236, Safely-limited position, negative..... 1095
P-0-3237, Safety technology absolute offset. . 1096
P-0-3238, Extended safety technology status 1097
P-0-3239, Configuration of global safety tech
nology functions.............................................. 1097
P-0-3240, Configuration of safe motion 1....... 1098
P-0-3241, Safely-monitored position 1, posi
tive.................................................................. 1099
P-0-3242, Safely-monitored position 1, nega
tive.................................................................. 1100
P-0-3243, Safely-limited increment 1.............. 1101
P-0-3244, Safely-limited speed 1.................... 1102
P-0-3245, Safety related deceleration/accel
eration ramp 1................................................. 1102
control 1.......................................................... 1103
P-0-3251, Safely-monitored position 2, posi
tive.................................................................. 1104
P-0-3252, Safely-monitored position 2, nega
tive.................................................................. 1105
eration ramp 2................................................. 1107
control 2.......................................................... 1108
eration ramp 3................................................. 1111

and Controls
Index

control 3.......................................................... 1111
eration ramp 4................................................. 1114
control 4.......................................................... 1114
P-0-3280, Actual position value, channel 2..... 1115
P-0-3281, Actual velocity value, channel 2..... 1116
P-0-3282, Safely-monitored deceleration....... 1116
P-0-3283, Safely-monitored deceleration, ve
loc. envelope curve......................................... 1117
P-0-3290, PROFIsafe: F_Destination_Ad
dress............................................................... 1118
P-0-3291, PROFIsafe: F_Source_Address..... 1118
P-0-3292, PROFIsafe: F_Parameters............. 1119
P-0-3295, Safety technology field bus config
uration............................................................. 1120
P-0-3296, Safety technology field bus control
word................................................................ 1120
P-0-3297, Safety technology field bus status
word................................................................ 1121
P-0-3300, Redundant holding brake: configu
ration............................................................... 1122
P-0-3301, Redundant holding brake: status
word................................................................ 1123
P-0-3302, SBS: Time interval brake check..... 1125
P-0-3303, SBS: Nominal load......................... 1125
P-0-3304, SBS: Torque/force constant........... 1126
P-0-3306, SBS: Delay time motor holding
brake............................................................... 1127
P-0-3307, SBS: Safety technology - drive off
delay time........................................................ 1127
P-0-3310, SBS: Travel range brake check..... 1128
P-0-3311, SBS: Duration test torque injection
brake check..................................................... 1128
P-0-3313, C5800 Command Apply redundant
holding brake.................................................. 1129
P-0-3314, C5900 Command Resurfacing of
redundant holding brake................................. 1130
P-0-3315, C6200 Comm. Enabling SM with
out valid brake status...................................... 1130
P-0-3333, Code word for tests........................ 1132
P-0-3610, CANopen: Heartbeat/NodeGuard
Configuration................................................... 1132
P-0-3611, CANopen: COB-IDs....................... 1133
P-0-3612, CANopen: Transmission Types..... 1134
P-0-3613, CANopen: List of the Event Param
eters................................................................ 1135
P-0-3900, Command values for control sec
tion adjustment................................................ 1135
P-0-3901, Adjustment values of control sec
tion.................................................................. 1136
P-0-3902, Command values for power sec

tion adjustment................................................ 1136
P-0-3903, Adjustment values of power sec
tion.................................................................. 1137
P-0-3904, Adjustment values analog I/O in
terface 3-4....................................................... 1137
P-0-3905, Adjustment values analog I/O in
terface 5-6....................................................... 1138
P-0-3906, Adjustment values analog inputs
interface 3-6.................................................... 1138
P-0-3972, FOCsl: estimated angle.................. 1139
P-0-3973, FOCsl: correction angle................. 1139
P-0-3974, FOCsl: encoder angle.................... 1140
P-0-3975, FOCsl: control deviation................. 1140
P-0-3980, FOCsl: configuration word.............. 1140
P-0-3981, FOCsl: motor model configuration. 1142
P-0-3982, FOCsl: carrier signal configuration. 1142
P-0-4002, Charact. of quadrature-axis induct.
of motor, inductances...................................... 1143
P-0-4003, Charact. of quadrature-axis induc
tance of motor, currents.................................. 1144
P-0-4004, Magnetizing current........................ 1146
P-0-4005, Flux-generating current, limit value 1146
P-0-4006, Positioning block target position..... 1147
P-0-4007, Positioning block velocity............... 1148
P-0-4008, Positioning block acceleration........ 1148
P-0-4009, Positioning block jerk..................... 1149
P-0-4010, Load inertia.................................... 1150
P-0-4013, Current limit value of demagneti
zation.............................................................. 1151
P-0-4014, Type of construction of motor......... 1151
P-0-4016, Direct-axis inductance of motor...... 1153
P-0-4017, Quadrature-axis inductance of mo
tor.................................................................... 1154
P-0-4018, Positioning block delay time........... 1155
P-0-4019, Positioning block mode.................. 1155
P-0-4021, Baud rate RS-232/485................... 1156
P-0-4022, Drive address of serial interface..... 1157
P-0-4023, C0400 Communication phase 2
transition......................................................... 1158
P-0-4024, IDN list cyclic parameter display.... 1158
P-0-4025, Drive address of master communi
cation.............................................................. 1158
P-0-4026, Positioning block selection............. 1159
P-0-4027, Transmission length SERCOS in
terface............................................................. 1160
P-0-4028, Device control word........................ 1160
P-0-4029, Diagnostic report SCSB module.... 1161
P-0-4031, Overview of device addresses....... 1162
P-0-4032, Motor type plate data..................... 1164
P-0-4033, C3200 Command Calculate motor
data................................................................. 1165
P-0-4034, Thermal time constant of winding. . 1165
P-0-4035, Thermal time constant of motor..... 1166
P-0-4036, Rated motor speed......................... 1167

and Controls
Index
P-0-4037, Thermal short-time overload of

winding............................................................ 1168
P-0-4039, Stator leakage inductance.............. 1169
P-0-4040, Rotor leakage inductance.............. 1170
P-0-4041, Motor magnetizing inductance....... 1171
P-0-4042, Characteristic of motor magnetiz
ing inductance................................................. 1172
P-0-4043, Rotor time constant........................ 1173
P-0-4045, Maximum possible continuous cur
rent.................................................................. 1174
P-0-4046, Effective peak current.................... 1175
P-0-4048, Stator resistance............................ 1175
P-0-4050, Answer delay RS-232/485............. 1176
P-0-4051, Positioning block acknowledgment 1177
P-0-4052, Positioning block, last accepted..... 1177
P-0-4053, Positioning block, last active.......... 1178
P-0-4054, C5400 Command Save PLC retain
data on MMC.................................................. 1178
P-0-4055, C5500 Command Load PLC retain
data from MMC............................................... 1178
P-0-4056, Thermal coefficients HCS04.......... 1179
P-0-4057, Positioning block, input linked
blocks.............................................................. 1179
P-0-4058, Amplifier type data......................... 1180
P-0-4059, Electric type data of power section 1180
P-0-4060, Positioning block control word........ 1181
P-0-4061, Positioning block status word......... 1181
P-0-4063, Positioning block deceleration........ 1182
P-0-4064, Password level............................... 1183
P-0-4065, Active non-volatile memory............ 1183
P-0-4066, MMC identification number (CID)... 1184
P-0-4067, Project identification....................... 1184
P-0-4068, Field bus: control word IO.............. 1185
P-0-4069, Field bus: module diagnosis........... 1187
P-0-4070, Parameter storage configuration.... 1188
P-0-4071, Field bus: length of cyclic com
mand value data channel................................ 1189
P-0-4072, C2900 Command Firmware up
date from MMC............................................... 1189
P-0-4073, Field bus: diagnostic message....... 1190
P-0-4074, Field bus: data format.................... 1193
P-0-4075, Field bus: watchdog....................... 1193
P-0-4076, Field bus: cycle time (Tcyc)............ 1194
P-0-4077, Field bus: control word................... 1195
P-0-4078, Field bus: status word.................... 1196
P-0-4079, Field bus: baud rate....................... 1199
P-0-4080, Field bus: config. list of cyclic actual
value data ch................................................... 1199
P-0-4081, Field bus: config. list of cyclic com
mand value data ch......................................... 1200
P-0-4082, Field bus: length of cyclic actual
value data channel.......................................... 1201
P-0-4083, Field bus: length of parameter
channel........................................................... 1201
P-0-4084, Field bus: profile type..................... 1202
P-0-4085, Command Activate easy startup

mode............................................................... 1202
P-0-4086, Master communication status........ 1203
P-0-4087, Baud rate SERCOS interface......... 1204
P-0-4088, Master communication: Drive con
figuration......................................................... 1205
P-0-4089.0.1, Master communication: Proto
col................................................................... 1207
P-0-4089.0.10, Master communication: MAC
address device................................................ 1208
address Port1.................................................. 1209
address Port2.................................................. 1209
P-0-4089.0.13, Master communication: IP ad
dress............................................................... 1210
P-0-4089.0.14, Master communication: Net
work mask....................................................... 1210
P-0-4089.0.15, Master communication: Gate
way address.................................................... 1211
P-0-4089.0.2, Master communication: Device
name............................................................... 1208
P-0-4090, Configuration for loading default
values.............................................................. 1212
P-0-4091, C2500 Copy IDN from optional
memory to internal memory............................ 1214
P-0-4092, C2600 Copy IDN from internal
memory to optional memory........................... 1215
P-0-4095, RS-232/485 Parity.......................... 1216
Parallel input 1.................................................. 382
Parallel output 1................................................ 380
Parameter checksum........................................ 213
Parameter name................................................. 53
Parameter number.............................................. 53
Parameter set switching, configuration........... 1035
Parameter set switching, delay time............... 1037
Parameter set switching, preselection range. . 1036
Parameter storage configuration..................... 1188
Password.......................................................... 194
Password level................................................ 1183
Patch function 1, attribute................................. 552
Patch function 1, bit mask................................. 553
Patch function 1, display................................... 554
Patch function 1, exponent............................... 554
Patch function 1, source pointer....................... 552
Patch function 2, attribute................................. 555
Patch function 2, bit mask................................. 556
Patch function 2, display................................... 557
Patch function 2, exponent............................... 557
Patch function 2, source pointer....................... 555
PELV................................................................... 47
Phase current U, actual value........................... 366
Phase current V, actual value........................... 366
PLC/setting-up mode, positioning acceleration. 816
PLC/setting-up mode, positioning command
value acceptance.............................................. 818

and Controls
Index
PLC/setting-up mode, positioning command

value acknowledge........................................... 819
PLC/setting-up mode, positioning deceleration 817
PLC/setting-up mode, positioning velocity........ 816
PLC/setting-up mode, velocity command val
ue...................................................................... 820
PLC/setting-up mode deceleration ramp.......... 821
PLC/setting-up mode Positioning command
value................................................................. 815
PLC/setting-up mode ramp pitch...................... 820
PLC/setting-up mode Torque/force command
value................................................................. 822
PLC boot project info........................................ 772
PLC configuration............................................. 776
PLC control word.............................................. 765
PLC display format Global Register.................. 787
PLC error message........................................... 775
PLC Global Register A0.................................... 743
PLC Global Register A10.................................. 748
PLC Global Register AL0.................................. 778
PLC Global Register AT0.................................. 788
PLC Global Register AT1.................................. 788
PLC Global Register G0................................... 779
PLC Global Register G10................................. 784

PLC Global Register GL0................................. 789
PLC idle time..................................................... 774
PLC input DWORD25 AT %IB100.................... 810
PLC input WORD0 AT %IB0............................. 790
PLC input WORD10 AT %IB20......................... 795
PLC input WORD5 AT %IB10........................... 793

and Controls
Index

PLC internally reserved..................................... 779
PLC output WORD0 AT %QB0......................... 800
PLC output WORD10 AT %QB20..................... 805
PLC output WORD5 AT %QB10....................... 802
PLC patch function 1, data source.................... 558
PLC patch function 1, display........................... 559
PLC program identifier...................................... 771
PLC program name........................................... 772
PLC project info................................................ 773
PLC retain data................................................. 770
PLC retain data on-board.................................. 823
PLC status word................................................ 766
PLC Torque/force ramp.................................... 822
PLC user program administration data............. 767
PLC user program area 0................................. 768
Position/travel range limit status....................... 393
Position actual value in actual value cycle........ 647
Position command additional actual value........ 344
Position command average value filter time
constant............................................................ 348
Position command processing mode................ 456
Position command smoothing time constant.... 398
Position command value..................................... 86
Position command value control....................... 356
Position command value delay......................... 546

Position command value extension.................. 399
Position command value generator.................. 546
Position command value of controller............... 532
Position command value status........................ 243
Position data scaling type................................... 98
Position feedback 1 type................................... 197
Position feedback 2 type................................... 128
Position feedback value 1................................... 90
Position feedback value 2................................... 92
Position feedback value status......................... 242
Positioning acceleration.................................... 190
Positioning block, input linked blocks.............. 1179
Positioning block, last accepted...................... 1177
Positioning block, last active........................... 1178
Positioning block acceleration......................... 1148
Positioning block acknowledgment................. 1177
Positioning block control word........................ 1181
Positioning block deceleration........................ 1182
Positioning block delay time............................ 1155
Positioning block jerk...................................... 1149
Positioning block mode................................... 1155
Positioning block selection.............................. 1159
Positioning block status word.......................... 1181
Positioning block target position..................... 1147
Positioning block velocity................................ 1148
Positioning command acknowledge.................. 253
Positioning command value.............................. 200
Positioning control word.................................... 222
Positioning deceleration.................................... 227
Positioning Jerk................................................. 178
Positioning status.............................................. 259
Positioning velocity........................................... 189
Positioning velocity > nLimit.............................. 212
Positioning velocity threshold in modulo mode. 252
Position loop Kv-factor...................................... 120
Position loop Kv-factor, encoder memory....... 1030
Position of data record in MDT........................... 62
Position polarities................................................ 94
position switch
lead time ..................................................... 425
Position switch flag parameter............................ 97
Position switch lead times................................. 425
Position switch point 1 "Off".............................. 266
Position switch point 1 "On"................................ 98
Position switch signal selection......................... 423
Position switch signal selection list................... 422
Position switch status word............................... 425
Position switch switch-off thresholds................ 424
Position switch switch-on threshold.................. 424
Position synchronization window...................... 186
Position window.................................................. 95
Positive position limit value................................. 88
Positive velocity limit value................................. 80
Power supply, configuration.............................. 412
Power supply status word................................. 679

and Controls
Index
Power threshold Px........................................... 157

Preferred synchronization direction, secon
dary master....................................................... 694
Premagnetization factor.................................... 581
Premagnetization factor, encoder memory..... 1055
Preselect parameter set command................... 185
Primary mode of operation.................................. 76
Probe, extended control word........................... 482
Probe, IDN-list signal selection......................... 257
Probe 1............................................................. 241
Probe 1, max. number of marker failures.......... 469
Probe 1, number of marker failures.................. 481
Probe 1 enable.................................................. 244
Probe 1 negative latched.................................. 247
Probe 1 positive latched.................................... 247
Probe 2............................................................. 241
Probe 2, max. number of marker failures.......... 469
Probe 2, number of marker failures.................. 481
Probe 2 enable.................................................. 244
Probe 2 negative latched.................................. 249
Probe 2 positive latched.................................... 248
Probe control parameter................................... 163
Probe status...................................................... 170
Probe value 1 negative edge............................ 137
Probe value 1 positive edge.............................. 136
Probe value 2 negative edge............................ 138
Probe value 2 positive edge.............................. 138
Probing cycle procedure command.................. 164
PROFIsafe: F_Destination_Address............... 1118
PROFIsafe: F_Parameters.............................. 1119
PROFIsafe: F_Source_Address...................... 1118
Project identification........................................ 1184
Properties of charging circuit............................ 668
Protective extra-low voltage................................ 47
Pulse wire encoder offset 1, encoder memory.. 702
Pulse wire encoder offset 2, encoder memory.. 704
Pulse wire encoder status 1, encoder memory. 702
Pulse wire encoder status 2, encoder memory. 705
Quadrature-axis inductance of motor.............. 1154

Quadrature-axis inductance of motor, encod
er memory....................................................... 1050
Ramp 1 pitch..................................................... 728

Ramp 2 pitch..................................................... 729
Ramp reference velocity for acceleration data.. 260
Rated motor speed......................................... 1167
Rated motor speed, encoder memory............ 1045
Receive to receive recovery time (TMTSY)...... 109
Redundant holding brake: configuration......... 1122
Redundant holding brake: status word........... 1123
Reference cam shift.......................................... 207
Reference distance 1.......................................... 91
Reference distance 2.......................................... 93

Reference marker pulse registered................... 246
Reference offset 1............................................. 151
Reference offset 2............................................. 152
Reference position for safe reference............. 1091
Reference radius for quadrant error correction. 534
Resolution of feedback 1.................................. 130
Resolution of feedback 2.................................. 130
Resulting master axis position.......................... 659
Return acceleration........................................... 362
Return distance................................................. 361
Return jerk........................................................ 362
Return velocity.................................................. 361
Reversal clearance............................................. 96
Rotational position resolution............................ 101
Rotor inertia...................................................... 567
Rotor inertia, encoder memory....................... 1044
Rotor leakage inductance............................... 1170
Rotor leakage inductance, encoder memory. . 1058
Rotor time constant......................................... 1173
Rotor time constant, encoder memory............ 1059
RS-232/485 Parity........................................... 1216
S-0-0000, Dummy parameter............................. 57

S-0-0001, NC cycle time (TNcyc)....................... 57
S-0-0002, SERCOS cycle time (TScyc).............. 58
S-0-0003, Minimum AT transmit starting time
(T1min)................................................................ 59
S-0-0004, Transmit/receive transition time
(TATMT).............................................................. 59
S-0-0005, Minimum feedback acquisition time
(T4min)................................................................ 60
S-0-0006, AT Transmission starting time (T1).... 60
S-0-0007, Feedback acquisition starting time
(T4)...................................................................... 61
S-0-0008, Command value valid time (T3)......... 61
S-0-0009, Position of data record in MDT........... 62
S-0-0010, Length of master data telegram......... 62
S-0-0011, Class 1 diagnostics............................ 63
S-0-0014, Interface status................................... 67
S-0-0015, Telegram type parameter................... 68
S-0-0016, Configuration list of AT....................... 69
S-0-0017, IDN-list of all operation data............... 70
S-0-0018, IDN-list of operation data for CP2...... 70
S-0-0019, IDN-list of operation data for CP3...... 70
S-0-0021, IDN-list of invalid operation data for
CP2..................................................................... 71
S-0-0022, IDN-list of invalid operation data for
CP3..................................................................... 71
S-0-0024, Configuration list of MDT.................... 72
S-0-0025, IDN-list of all procedure commands... 72
S-0-0026, Configuration list for signal status
word.................................................................... 73

and Controls
Index
S-0-0027, Configuration list for signal control

word.................................................................... 74
S-0-0028, MST error counter.............................. 74
S-0-0029, MDT error counter.............................. 75
S-0-0030, Manufacturer version......................... 75
S-0-0032, Primary mode of operation................. 76
S-0-0033, Secondary operation mode 1............. 77
S-0-0036, Velocity command value.................... 79
S-0-0037, Additive velocity command value....... 80
S-0-0038, Positive velocity limit value................. 80
S-0-0039, Negative velocity limit value............... 81
S-0-0040, Velocity feedback value..................... 81
S-0-0041, Homing velocity.................................. 82
S-0-0042, Homing acceleration.......................... 82
S-0-0043, Velocity polarity parameter................. 83
S-0-0044, Velocity data scaling type................... 84
S-0-0045, Velocity data scaling factor................ 85
S-0-0046, Velocity data scaling exponent........... 86
S-0-0047, Position command value.................... 86
S-0-0048, Additive position command value....... 87
S-0-0049, Positive position limit value................ 88
S-0-0050, Negative position limit value............... 89
S-0-0051, Position feedback value 1.................. 90
S-0-0052, Reference distance 1......................... 91
S-0-0053, Position feedback value 2.................. 92
S-0-0054, Reference distance 2......................... 93
S-0-0055, Position polarities............................... 94
S-0-0057, Position window................................. 95
S-0-0058, Reversal clearance............................ 96
S-0-0059, Position switch flag parameter........... 97
S-0-0060, Position switch point 1 "On"............... 98
S-0-0076, Position data scaling type.................. 98
S-0-0077, Linear position data scaling factor.... 100
S-0-0078, Linear position data scaling expo
nent................................................................... 100
S-0-0079, Rotational position resolution........... 101
S-0-0080, Torque/force command value.......... 102
S-0-0081, Additive torque/force command
value................................................................. 102
S-0-0082, Torque/force limit value positive....... 103
S-0-0083, Torque/force limit value negative..... 104
S-0-0084, Torque/force feedback value............ 105
S-0-0085, Torque/force polarity parameter....... 106
S-0-0086, Torque/force data scaling type......... 107
S-0-0087, Transmit to transmit recovery time
(TATAT)............................................................ 109
S-0-0088, Receive to receive recovery time
(TMTSY)............................................................ 109
S-0-0089, MDT Transmit starting time (T2)...... 109
S-0-0090, Command value proceeding time
(TMTSG)........................................................... 110
S-0-0091, Bipolar velocity limit value................ 110
S-0-0092, Bipolar torque/force limit value......... 111
S-0-0093, Torque/force data scaling factor....... 112
S-0-0094, Torque/force data scaling exponent. 113

S-0-0095, Diagnostic message......................... 113
S-0-0096, Slave arrangement (SLKN).............. 113
S-0-0097, Mask class 2 diagnostics................. 114
S-0-0098, Mask class 3 diagnostics................. 115
S-0-0099, C0500 Reset class 1 diagnostics..... 116
S-0-0100, Velocity loop proportional gain......... 116
S-0-0101, Velocity loop integral action time...... 118
S-0-0103, Modulo value.................................... 119
S-0-0104, Position loop Kv-factor..................... 120
S-0-0106, Current loop proportional gain 1....... 121
S-0-0107, Current loop integral action time 1. . . 123
S-0-0108, Feedrate override............................. 124
S-0-0109, Motor peak current........................... 125
S-0-0110, Amplifier peak current...................... 126
S-0-0111, Motor current at standstill................. 126
S-0-0112, Amplifier nominal current................. 127
S-0-0113, Maximum motor speed..................... 127
S-0-0115, Position feedback 2 type.................. 128
S-0-0116, Resolution of feedback 1.................. 130
S-0-0117, Resolution of feedback 2.................. 130
S-0-0121, Input revolutions of load gear........... 131
S-0-0122, Output revolutions of load gear........ 132
S-0-0123, Feed constant.................................. 132
S-0-0124, Standstill window.............................. 133
S-0-0125, Velocity threshold nx........................ 134
S-0-0126, Torque threshold Tx......................... 134
S-0-0127, C0100 Communication phase 3
S-0-0128, C5200 Communication phase 4
S-0-0130, Probe value 1 positive edge............. 136
S-0-0131, Probe value 1 negative edge........... 137
S-0-0132, Probe value 2 positive edge............. 138
S-0-0133, Probe value 2 negative edge........... 138
S-0-0134, Master control word.......................... 139
S-0-0135, Drive status word............................. 140
S-0-0138, Bipolar acceleration limit value......... 141
S-0-0139, C1600 Parking axis procedure
command.......................................................... 142
S-0-0140, Controller type.................................. 143
S-0-0141, Motor type........................................ 144
S-0-0142, Application type................................ 144
S-0-0143, Sercos interface version................... 145
S-0-0144, Signal status word............................ 146
S-0-0145, Signal control word........................... 146
S-0-0146, C4300 NC-controlled homing pro
cedure command.............................................. 147
S-0-0147, Homing parameter........................... 148
S-0-0148, C0600 Drive-controlled homing
S-0-0149, C1300 Positive stop drive proce
dure command.................................................. 150
S-0-0150, Reference offset 1............................ 151
S-0-0151, Reference offset 2............................ 152

and Controls
Index
S-0-0152, C0900 Position spindle procedure

command.......................................................... 153
S-0-0153, Spindle angle position...................... 154
S-0-0154, Spindle positioning parameter.......... 154
S-0-0155, Friction compensation...................... 155
S-0-0156, Velocity feedback value 2................ 156
S-0-0157, Velocity window................................ 156
S-0-0158, Power threshold Px.......................... 157
S-0-0159, Monitoring window........................... 158
S-0-0160, Acceleration data scaling type......... 158
S-0-0161, Acceleration data scaling factor....... 160
S-0-0162, Acceleration data scaling exponent. 160
S-0-0163, Weight counterbalance.................... 161
S-0-0164, Acceleration feedback value 1......... 161
S-0-0165, Distance-coded reference offset A... 162
S-0-0166, Distance-coded reference offset B... 162
S-0-0169, Probe control parameter.................. 163
S-0-0170, Probing cycle procedure command.. 164
S-0-0171, C4400 Calculate displacement
S-0-0172, C4500 Displacement to referenced
system procedure command............................. 166
S-0-0173, Marker position A............................. 167
S-0-0174, Marker position B............................. 167
S-0-0175, Offset parameter 1........................... 168
S-0-0176, Offset parameter 2........................... 169
S-0-0177, Absolute offset 1.............................. 169
S-0-0178, Absolute offset 2.............................. 170
S-0-0179, Probe status..................................... 170
S-0-0180, Spindle relative offset....................... 172
S-0-0183, Velocity synchronization window...... 172
S-0-0185, Length of the configurable data re
cord in the AT.................................................... 173
S-0-0186, Length of the configurable data re
cord in the MDT................................................ 173
S-0-0187, List of configurable data in the AT.... 174
S-0-0188, List of configurable data in the MDT 174
S-0-0189, Following distance............................ 175
S-0-0190, C4200 Drive-controlled oscillation
S-0-0191, C1500 Cancel reference point pro
cedure command.............................................. 176
S-0-0192, IDN-list of all backup operation data 177
S-0-0193, Positioning Jerk................................ 178
S-0-0195, Acceleration feedback value 2......... 178
S-0-0197, C3300 Set coordinate system pro
cedure command.............................................. 179
S-0-0198, Initial coordinate value..................... 179
S-0-0199, C3400 Shift coordinate system
S-0-0201, Motor warning temperature.............. 180
S-0-0204, Motor shutdown temperature........... 181
S-0-0206, Drive on delay time.......................... 181
S-0-0207, Drive off delay time.......................... 182
S-0-0208, Temperature data scaling type......... 182
S-0-0213, Oscillation speed.............................. 183
S-0-0214, Oscillation offset speed.................... 183

S-0-0215, Oscillation cycle time........................ 184
S-0-0216, C4100 Switch parameter set com
mand................................................................. 184
S-0-0217, Preselect parameter set command. . 185
S-0-0219, IDN-list of parameter set.................. 185
S-0-0222, Spindle positioning speed................ 186
S-0-0228, Position synchronization window..... 186
S-0-0254, Current parameter set...................... 187
S-0-0256, Multiplication 1 (motor encoder)....... 187
S-0-0257, Multiplication 2 (optional encoder). . . 188
S-0-0258, Target position................................. 188
S-0-0259, Positioning velocity........................... 189
S-0-0260, Positioning acceleration................... 190
S-0-0261, Coarse position window................... 190
S-0-0262, C07_x Load defaults procedure
command.......................................................... 191
S-0-0263, C2300 Load working memory pro
cedure command.............................................. 192
S-0-0264, C2200 Backup working memory
S-0-0265, Language selection.......................... 193
S-0-0267, Password......................................... 194
S-0-0269, Storage mode................................... 194
S-0-0270, IDN-list of selected backup opera
tion data............................................................ 195
S-0-0273, Maximum drive off delay time.......... 196
S-0-0275, Coordinate offset value.................... 197
S-0-0277, Position feedback 1 type.................. 197
S-0-0278, Maximum travel range...................... 199
S-0-0279, IDN-list of password-protected op
eration data....................................................... 200
S-0-0282, Positioning command value............. 200
S-0-0283, Current coordinate offset.................. 201
S-0-0284, Secondary operation mode 4........... 201
S-0-0292, List of supported operation modes... 204
S-0-0293, C2400 Selectively backup working
memory procedure command........................... 206
S-0-0298, Reference cam shift......................... 207
S-0-0299, Home switch offset........................... 208
S-0-0301, Allocation of real-time control bit 1... 209
S-0-0303, Allocation of real-time control bit 2... 209
S-0-0305, Allocation of real-time status bit 1.... 210
S-0-0307, Allocation of real-time status bit 2.... 211
S-0-0315, Positioning velocity > nLimit............. 212
S-0-0323, Target position outside of travel
range................................................................. 212
S-0-0326, Parameter checksum....................... 213
S-0-0327, IDN list of checksum parameter....... 214
S-0-0328, Assign list signal status word........... 214
S-0-0329, Assign list signal control word.......... 215
S-0-0330, Status "n_feedback = n_command". 215
S-0-0331, Status "n_feedback = 0"................... 216

and Controls
Index
S-0-0332, Status "n_feedback < nx"................. 216

S-0-0333, Status "T >= Tx"............................... 217
S-0-0334, Status "T >= Tlimit"........................... 217
S-0-0335, Status "n_command > n_limit".......... 218
S-0-0336, Status "In position"........................... 218
S-0-0337, Status "P >= Px"............................... 219
S-0-0338, Status "In target position"................. 219
S-0-0341, Status "In coarse position"............... 220
S-0-0342, Status "Target position attained"...... 221
S-0-0343, Status "Interpolator halted"............... 221
S-0-0346, Positioning control word................... 222
S-0-0347, Velocity error.................................... 224
S-0-0348, Acceleration feedforward gain.......... 224
S-0-0349, Bipolar jerk limit................................ 226
S-0-0359, Positioning deceleration................... 227
S-0-0360, Data container A: command value 1 227
S-0-0362, Data container A: list index com
mand values...................................................... 228
S-0-0364, Data container A: feedback value 1. 228
S-0-0366, Data container A: list index feed
back values....................................................... 229
S-0-0368, Data container A: addressing........... 229
S-0-0370, Data container A: configuration list
command value-1............................................. 230
feedback value-1............................................... 231
S-0-0372, Drive Halt acceleration bipolar......... 231
S-0-0375, Diagnostic numbers list.................... 232
S-0-0378, Absolute encoder range of motor
encoder............................................................. 233
S-0-0379, Absolute encoder range of optional
encoder............................................................. 233
S-0-0380, DC bus voltage................................. 234
S-0-0382, DC bus power.................................. 234
S-0-0383, Motor temperature............................ 235
S-0-0384, Amplifier temperature....................... 235
S-0-0386, Active position feedback value......... 236
S-0-0390, Diagnostic message number............ 236
S-0-0391, Monitoring window feedback 2......... 237
S-0-0393, Command value mode..................... 237
S-0-0398, IDN-list of configurable data in sig
nal status word.................................................. 239
S-0-0399, IDN-list of configurable data in sig
nal control word................................................. 239
S-0-0400, Home switch..................................... 240
S-0-0401, Probe 1............................................. 241
S-0-0402, Probe 2............................................. 241
S-0-0403, Position feedback value status......... 242
S-0-0404, Position command value status....... 243
S-0-0405, Probe 1 enable................................. 244
S-0-0406, Probe 2 enable................................. 244
S-0-0407, Homing enable................................. 245
S-0-0408, Reference marker pulse registered. . 246
S-0-0409, Probe 1 positive latched................... 247
S-0-0410, Probe 1 negative latched................. 247
S-0-0411, Probe 2 positive latched................... 248
S-0-0412, Probe 2 negative latched................. 249

S-0-0413, Bit number allocation of real-time
control bit 1....................................................... 250
control bit 2....................................................... 250
status bit 1......................................................... 251
status bit 2......................................................... 251
S-0-0417, Positioning velocity threshold in
modulo mode.................................................... 252
S-0-0418, Target position window in modulo
mode................................................................. 253
S-0-0419, Positioning command acknowledge. 253
S-0-0420, C0400 Activate parameterization
level 1 procedure command.............................. 254
S-0-0422, C0200 Exit parameterization level
S-0-0423, IDN-list of invalid data for parame
terization levels................................................. 255
S-0-0424, Status parameterization level........... 255
S-0-0426, Signal selection probe 1................... 256
S-0-0427, Signal selection probe 2................... 256
S-0-0428, Probe, IDN-list signal selection........ 257
S-0-0429, Emergency halt deceleration............ 257
S-0-0430, Effective target position.................... 258
S-0-0437, Positioning status............................. 259
S-0-0446, Ramp reference velocity for accel
eration data....................................................... 260
S-0-0447, Set absolute position procedure
command.......................................................... 261
S-0-0448, Set absolute position control............ 261
S-0-0460, Position switch point 1 "Off"............. 266
command value 2.............................................. 270
command value 3.............................................. 270
command value 4.............................................. 271
command value 5.............................................. 271

and Controls
Index

command value 6.............................................. 272
command value 7.............................................. 273
command value 8.............................................. 273
feedback value 2............................................... 274
feedback value 3............................................... 274
feedback value 4............................................... 275
feedback value 5............................................... 276
feedback value 6............................................... 276
feedback value 7............................................... 277
feedback value 8............................................... 277
S-0-0520, Control word of axis controller.......... 278
S-0-0521, Status word of position loop............. 280
S-0-0524, Dead time compensation, positive
edge, probe 1.................................................... 281
S-0-0525, Dead time compensation, negative
edge, probe 1.................................................... 281
S-0-0526, Dead time compensation, positive
edge, probe 2.................................................... 282
S-0-0527, Dead time compensation, negative
edge, probe 2.................................................... 282
S-0-0531, Checksum of backup operation da
ta....................................................................... 283
S-0-0533, Nominal torque/force of motor.......... 284
S-0-0534, Maximum torque/force of motor....... 284
S-0-0822, Torque/force ramp............................ 285
S-0-0823, Torque/force ramp time.................... 286
S-0-0824, Status "Torque/force command
value attained".................................................. 287
S-0-0826, Torque/force window........................ 288
S-0-1000, SERCOS III: SCP Type & Version... 289
S-0-1001, SERCOS III: NC cycle time (TNcyc) 289
S-0-1002, SERCOS III: Communication Cy
cle time (tScyc)................................................. 290
S-0-1003, SERCOS III: Allowed MST losses
in CP3/CP4....................................................... 291
S-0-1005, SERCOS III: Minimum feedback
processing time (t5).......................................... 291
S-0-1006, SERCOS III: AT0 transmission
starting time (t1)................................................ 291
S-0-1007, SERCOS III: Feedback acquisition
capture point (t4)............................................... 292
S-0-1008, SERCOS III: Command value valid
time (t3)............................................................. 292
S-0-1009, SERCOS III: Device Control (CDev) offset in MDT............................................ 293
S-0-1010, SERCOS III: Lengths of MDTs......... 294
S-0-1011, SERCOS III: Device Status (SDev) offset in AT............................................... 294

S-0-1012, SERCOS III: Length of ATs.............. 295
S-0-1013, SERCOS III: SVC offset in MDT...... 296
S-0-1014, SERCOS III: SVC offset in AT......... 297
S-0-1015, SERCOS III: Ring delay................... 297
S-0-1016, SERCOS III: Slave delay (P/S)........ 298
S-0-1017, SERCOS III: NRT transmission
time................................................................... 298
S-0-1019, Master comm. engineering over IP:
MAC address.................................................... 299
IP address......................................................... 300
Network mask................................................... 301
Gateway address.............................................. 302
S-0-1023, SERCOS III: SYNC jitter.................. 303
S-0-1024, C5300 SERCOS III: SYNC delay
measuring procedure command....................... 304
S-0-1025, SERCOS III: ring status................... 304
S-0-1026, SERCOS III: Version of communi
cation hardware................................................ 305
S-0-1028, SERCOS III: Error counter MST-P/
S........................................................................ 306
S-0-1029, SERCOS III: MDT error counter....... 307
S-0-1030, SERCOS III: AT error counter.......... 307
S-0-1035, SERCOS III: Error counter Port1 &
Port2................................................................. 308
S-0-1040, Drive address of master communi
cation................................................................ 309
S-0-1041, SERCOS III: AT Command value
valid time (t9).................................................... 310
S-0-1044, SERCOS III: Device Control (CDev).................................................................. 310
S-0-1045, SERCOS III: Device Status (S-Dev) 310
S-0-1046, SERCOS III: List of SERCOS ad
dresses in device.............................................. 311
S-0-1050.0.1, SIII-Connection: Connection
setup................................................................. 311
S-0-1050.0.10, SIII-Connection: Producer cy
cle time.............................................................. 316
S-0-1050.0.11, SIII-Connection: Allowed data
losses................................................................ 316
S-0-1050.0.12, SIII-Connection: Error coun
ter data losses................................................... 317
number.............................................................. 312
S-0-1050.0.20, SIII-Connection: IDN alloca
tion of real-time bit............................................ 317
S-0-1050.0.21, SIII-Connection: Bit allocation
of real-time bit................................................... 318
S-0-1050.0.3, SIII-Connection: Telegram as
signment........................................................... 313
S-0-1050.0.4, SIII-Connection: Max. length of
connection......................................................... 314

and Controls
Index
S-0-1050.0.5, SIII-Connection: Current length

of connection..................................................... 314
S-0-1050.0.6, SIII-Connection: Configuration
list...................................................................... 315
control (C-Con)................................................. 315
S-0-1051, SIII-Connection: Image of connec
tion setups......................................................... 318
S-0-1095, SERCOS III: diagnostic message.... 319
S-0-1100.0.1, Diagnostic counter sent SMP
fragments.......................................................... 319
S-0-1100.0.2, Diagnostic counter received
SMP fragments................................................. 320
S-0-1100.0.3, Diagnostic counter dropped
SMP fragments................................................. 320
S-0-1101.0.1, SMP Container Data.................. 321
S-0-1101.0.2, List of session identifiers............ 321
S-0-1101.0.3, List of session priorities.............. 321
S-0-1134, SERCOS III: Master control word.... 322
S-0-1135, SERCOS III: Drive status word........ 323
S-0-1300.0.3, Vendor Code.............................. 324
S-0-1300.0.5, Vendor Device ID....................... 324
S-0-1301, List of GDP classes.......................... 325
S-0-1302.0.1, FSP Type................................... 325
Safely-limited increment 1............................... 1101
Safely-limited position, negative..................... 1095
Safely-limited position, positive....................... 1094
Safely-limited speed 1..................................... 1102
Safely-monitored deceleration........................ 1116
Safely-monitored deceleration, veloc. enve
lope curve....................................................... 1117
Safely-monitored position 1, negative............. 1100
Safely-monitored position 1, positive.............. 1099
Safely-monitored position 2, negative............. 1105
Safely-monitored position 2, positive.............. 1104
Safe maximum speed..................................... 1093
Safety instructions for electric drives and con
trols..................................................................... 43
Safety related deceleration/acceleration ramp
1...................................................................... 1102
2...................................................................... 1107
3...................................................................... 1111
4...................................................................... 1114
Safety technology absolute offset................... 1096
Safety technology commissioning identifier.... 1072
Safety technology configuration...................... 1073
Safety technology control word, channel 1..... 1076
Safety technology device identifier................. 1068

Safety technology field bus configuration....... 1120
Safety technology field bus control word........ 1120
Safety technology field bus status word.......... 1121
Safety technology firmware code.................... 1066
Safety technology I/O configuration list, chan
nel 2................................................................ 1075
Safety technology operating status................. 1078
Safety technology password........................... 1069
Safety technology password level................... 1070
Safety technology status word, channel 1...... 1079
SBS: Delay time motor holding brake............. 1127
SBS: Duration test torque injection brake
check............................................................... 1128
SBS: Nominal load.......................................... 1125
SBS: Safety technology - drive off delay time. 1127
SBS: Time interval brake check...................... 1125
SBS: Torque/force constant............................ 1126
SBS: Travel range brake check...................... 1128
Scaling of stall current limit............................... 579
Scaling of stall current limit, encoder memory 1054
Search mode: finding point slip factor............... 606
Search mode: search current factor.................. 605
Secondary operation mode 1.............................. 77
Secondary operation mode 4............................ 201
Selected safety technology operating status. . 1080
Selection of functional packages.................... 1023
Selection primary master.................................. 696
SERCOS cycle time (TScyc)............................... 58
SERCOS III: Allowed MST losses in CP3/CP4. 291
SERCOS III: AT0 transmission starting time
(t1)..................................................................... 291
SERCOS III: AT Command value valid time
(t9)..................................................................... 310
SERCOS III: AT error counter........................... 307
SERCOS III: Command value valid time (t3).... 292
SERCOS III: Communication Cycle time
(tScyc)............................................................... 290
SERCOS III: Device Control (C-Dev)................ 310
SERCOS III: Device Control (C-Dev) offset in
MDT.................................................................. 293
SERCOS III: Device Status (S-Dev)................. 310
SERCOS III: Device Status (S-Dev) offset in
AT..................................................................... 294
SERCOS III: diagnostic message..................... 319
SERCOS III: Drive status word......................... 323
SERCOS III: Error counter MST-P/S................ 306
SERCOS III: Error counter Port1 & Port2......... 308
SERCOS III: Feedback acquisition capture
point (t4)............................................................ 292
SERCOS III: Length of ATs.............................. 295

and Controls
Index
SERCOS III: Lengths of MDTs......................... 294

SERCOS III: List of SERCOS addresses in
device................................................................ 311
SERCOS III: Master control word..................... 322
SERCOS III: MDT error counter....................... 307
SERCOS III: Minimum feedback processing
time (t5)............................................................. 291
SERCOS III: NC cycle time (TNcyc)................. 289
SERCOS III: NRT transmission time................ 298
SERCOS III: Ring delay.................................... 297
SERCOS III: ring status.................................... 304
SERCOS III: SCP Type & Version.................... 289
SERCOS III: Slave delay (P/S)......................... 298
SERCOS III: SVC offset in AT.......................... 297
SERCOS III: SVC offset in MDT....................... 296
SERCOS III: SYNC jitter................................... 303
SERCOS III: Version of communication hard
ware.................................................................. 305
Sercos interface version................................... 145
Serial number, motor...................................... 1028
Service Hotline................................................ 1219
Set absolute position control..................... 261, 618
Set absolute position procedure command....... 261
Set switchable:.................................................... 55
Short-time energy counter................................ 673
Signal control word........................................... 146
Signal selection probe 1.................................... 256
Signal selection probe 2.................................... 256
Signal status word............................................. 146
SIII-Connection: Allowed data losses............... 316
SIII-Connection: Bit allocation of real-time bit... 318
SIII-Connection: Configuration list.................... 315
SIII-Connection: Connection control (C-Con). . . 315
SIII-Connection: Connection number................ 312
SIII-Connection: Connection setup................... 311
SIII-Connection: Current length of connection. . 314
SIII-Connection: Error counter data losses....... 317
SIII-Connection: IDN allocation of real-time bit. 317
SIII-Connection: Image of connection setups. . . 318
SIII-Connection: Max. length of connection...... 314
SIII-Connection: Producer cycle time................ 316
SIII-Connection: Telegram assignment............. 313
Slave arrangement (SLKN)............................... 113
Slave drive feed travel...................................... 439
Slip compensation factor................................... 604
Slip increase..................................................... 580
Smoothing of actual position value 3 of meas
uring encoder.................................................... 503
SMP Container Data......................................... 321
Speed-dependent torque/force coefficient........ 542
Speed-dependent torque/force coefficient,
encoder memory............................................. 1064
Speed loop smoothing time constant, encod
er memory....................................................... 1044
Spindle angle position....................................... 154
Spindle positioning parameter.......................... 154
Spindle positioning speed................................. 186

Spindle relative offset........................................ 172
Square characteristic: lowering factor............... 606
SSI control parameter....................................... 688
Stall protection loop integral action time........... 604
Stall protection loop proportional gain............... 603
Standstill window.............................................. 133
Standstill window for safe direction................. 1091
Starting torque for releasing holding system..... 591
Start position probe function 1 active................ 468
Start position probe function 2 active................ 465
State-of-the-art.................................................... 41
Stator leakage inductance.............................. 1169
Stator leakage inductance, encoder memory. 1057
Stator resistance............................................. 1175
Stator resistance, encoder memory................ 1046
Status "In coarse position"................................ 220
Status "In position"............................................ 218
Status "In target position".................................. 219
Status "Interpolator halted"............................... 221
Status "n_command > n_limit".......................... 218
Status "n_feedback < nx".................................. 216
Status "n_feedback = 0".................................... 216
Status "n_feedback = n_command".................. 215
Status "P >= Px"................................................ 219
Status "T >= Tlimit"........................................... 217
Status "T >= Tx"................................................ 217
Status "Target position attained"....................... 221
Status "Torque/force command value at
tained"............................................................... 287
Status of measuring encoder............................ 504
Status parameterization level............................ 255
Status word of axis controller............................ 594
Status word of cogging torque compensation... 718
Status word of current controller....................... 354
Status word of position loop.............................. 280
Status word of velocity control mode................ 733
Status word synchronization modes................. 390
Status word torque/current limit........................ 539
Storage mode................................................... 194
Support
see Service Hotline .................................. 1219
Switching frequency of the power output stage 327
Synchroniz. window for shortest distance,
Synchronization, master axis synchronization
range................................................................. 635
Synchronization, master axis synchronous
position.............................................................. 634
Synchronization acceleration............................ 427
Synchronization acceleration, secondary
master............................................................... 694
Synchronization completed............................... 433
Synchronization direction.................................. 434
Synchronization divisions per command cycle
slave axis.......................................................... 645

and Controls
Index
Synchronization mode...................................... 435

Synchronization mode, secondary master........ 693
Synchronization range, secondary master........ 699
Synchronization velocity................................... 428
Synchronization velocity, secondary master..... 694
Synchronization window for modulo format...... 432
Synchronous position, secondary master......... 699
Synchronous position command value............. 661
Synchronous velocity........................................ 661
System time...................................................... 462
System time error code..................................... 464
System time error memory................................ 463
Table of cogging torque compensation values

neg. direction.................................................... 718
Table of cogging torque compensation values
pos. Direction.................................................... 716
Table of path velocities for quadrant error cor
rection............................................................... 535
Table of velocity pulse for quadrant error cor
rection............................................................... 535
Target position.................................................. 188
Target position outside of travel range.............. 212
Target position window in modulo mode........... 253
Telegram type parameter.................................... 68
Temperature data scaling type......................... 182
Temperature-dependent torque/force coeffi
cient.................................................................. 542
Temperature-dependent torque/force coeffi
cient, enc. memory.......................................... 1065
Temperature sensor.......................................... 568
Temperature sensor, encoder memory........... 1048
Temperature sensor characteristic................... 569
Test frequency for angle acquisition................. 565
Test torque for releasing holding system.......... 590
Thermal coefficients HCS04........................... 1179
Thermal drive load............................................ 427
Thermal motor load........................................... 541
Thermal operating data, motor........................ 1026
Thermal short-time overload of winding.......... 1168
Thermal short-time overload of winding, en
coder memory................................................. 1052
Thermal time constant of motor...................... 1166
Thermal time constant of motor, encoder
memory........................................................... 1052
Thermal time constant of winding................... 1165
Thermal time constant of winding, encoder
memory........................................................... 1051
Time interval for dynamization of safety func
tion selection................................................... 1086
Time interval holding system check.................. 592
Time interval of forced dynamization................ 401
Time stamp for list of diagnostic message
numbers............................................................ 402
Tolerance time transition from normal opera

tion.................................................................. 1084
Tolerance time transition from safe operation. 1088
Tolerance window for safe homing procedure 1090
Torque/Force command smoothing time con
stant.................................................................. 450
Torque/force command value........................... 102
Torque/force constant....................................... 358
Torque/force constant, encoder memory........ 1045
Torque/force data scaling exponent.................. 113
Torque/force data scaling factor....................... 112
Torque/force data scaling type.......................... 107
Torque/force feedback value............................ 105
Torque/force limit value negative...................... 104
Torque/force limit value positive....................... 103
Torque/force peak limit..................................... 404
Torque/force polarity parameter........................ 106
Torque/force ramp............................................ 285
Torque/force ramp time..................................... 286
Torque/force window......................................... 288
Torque-generating current, actual value........... 350
Torque-generating current, command value..... 346
Torque-generating voltage, actual value........... 365
Torque of holding brake.................................... 587
Torque of motor holding brake, encoder mem
ory................................................................... 1047
Torque threshold Tx.......................................... 134
Transmission length SERCOS interface......... 1160
Transmit/receive transition time (TATMT)........... 59
Transmit to transmit recovery time (TATAT)..... 109
Travel range limit parameter............................. 392
Travel range limit switch inputs......................... 479
Type of construction of motor......................... 1151
Type of position encoder for measuring en
coder................................................................. 502
Undervoltage threshold..................................... 405

Unit...................................................................... 54
Upper limit of velocity masking window............ 732
Use
Appropriate use ............................................ 41
Inappropriate use ......................................... 42
Validity check...................................................... 54
Vel. cont. loop filter: center frequency of bandstop filter........................................................... 713
Velocity command filter..................................... 740
Velocity command value..................................... 79
Velocity control loop: acceleration feedforward 715
Velocity control loop: average value filter clock 714
Velocity control loop filter: bandwidth of bandstop filter........................................................... 712
Velocity control loop filter: filter type................. 710

and Controls
Index
Velocity control loop filter: limit frequency of

low pass............................................................ 711
Velocity data scaling exponent........................... 86
Velocity data scaling factor................................. 85
Velocity data scaling type................................... 84
Velocity error..................................................... 224
Velocity feedback value...................................... 81
Velocity feedback value 2................................. 156
Velocity feedforward actual value..................... 545
Velocity feedforward evaluation........................ 347
Velocity loop integral action time...................... 118
Velocity loop integral-action time, encoder
memory........................................................... 1029
Velocity loop proportional gain.......................... 116
Velocity loop proportional gain, encoder
memory........................................................... 1029
Velocity loop smoothing time constant.............. 328
Velocity mix factor feedback 1 & 2.................... 710
Velocity polarity parameter................................. 83
Velocity synchronization window...................... 172
Velocity threshold for attenuation of detent
cogging compens.............................................. 719
Velocity threshold for safe standstill................ 1092
Velocity threshold for switching off cogging
torque compens................................................ 720
Velocity threshold nx......................................... 134
Velocity time range for quadrant error correc
tion.................................................................... 534
Velocity window................................................ 156
Vendor Code..................................................... 324
Vendor Device ID.............................................. 324
Version of data structure in encoder memory. 1065
Virtual master axis, actual position value.......... 651

Virtual master axis, actual velocity value.......... 651
Virtual master axis, command value mode....... 656
Virtual master axis, effective target position..... 655
Virtual master axis, modulo value..................... 650
Virtual master axis, positioning acceleration..... 657
Virtual master axis, positioning command val
ue...................................................................... 654
Virtual master axis, positioning control word..... 652
Virtual master axis, positioning deceleration..... 658
Virtual master axis, positioning jerk.................. 690
Virtual master axis, positioning status............... 655
Virtual master axis, positioning velocity............ 657
Virtual master axis, positioning window............ 689
Virtual master axis, positioning window short
est distance....................................................... 658
Virtual master axis, scaling type....................... 649
Virtual master axis, standstill window............... 689
Virtual master axis, velocity threshold posi
tioning............................................................... 690
Voltage boost.................................................... 602
Voltage loop integral action time....................... 584
Voltage loop intergral action time, encoder
memory........................................................... 1056
Voltage loop proportional gain.......................... 583
Voltage loop proportional gain, encoder mem
ory................................................................... 1055
Weight counterbalance..................................... 161

and Controls
Notes

and Controls
Bosch Rexroth AG
Electric Drives and Controls
P.O. Box 13 57
97803 Lohr, Germany
Bgm.-Dr.-Nebel-Str. 2
97816 Lohr, Germany
Tel.
+49 (0)93 52-40-0
Fax
+49 (0)93 52-48 85
www.boschrexroth.com
R911297317
Printed in Germany

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Electric Drives

Linear Motion and

Bosch Rexroth AG | Electric Drives

Rexroth IndraDrive | Parameter Description

Bosch Rexroth AG, 2009

This document has been printed on chlorine-free bleached paper.

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG

Important Directions for Use ....................................................................................... 41

Safety Instructions for Electric Drives and Controls .................................................... 43

Bosch Rexroth AG | Electric Drives

Rexroth IndraDrive | Parameter Description

S-0-0013, Class 3 diagnostics........................................................................................................... 65

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG

S-0-0078, Linear position data scaling exponent............................................................................ 100

Bosch Rexroth AG | Electric Drives

Rexroth IndraDrive | Parameter Description

S-0-0130, Probe value 1 positive edge........................................................................................... 136

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG

S-0-0180, Spindle relative offset..................................................................................................... 172

Bosch Rexroth AG | Electric Drives

Rexroth IndraDrive | Parameter Description

S-0-0278, Maximum travel range.................................................................................................... 199

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG

S-0-0372, Drive Halt acceleration bipolar........................................................................................ 231

Bosch Rexroth AG | Electric Drives

Rexroth IndraDrive | Parameter Description

S-0-0447, Set absolute position procedure command.................................................................... 261

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG

S-0-1002, SERCOS III: Communication Cycle time (tScyc)............................................................ 290

Bosch Rexroth AG | Electric Drives

Rexroth IndraDrive | Parameter Description

S-0-1100.0.1, Diagnostic counter sent SMP fragments.................................................................. 319

Product-Specific Parameters..................................................................................... 327

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG

P-0-0039, Flux-generating current, command value....................................................................... 347

Bosch Rexroth AG | Electric Drives

Rexroth IndraDrive | Parameter Description

P-0-0091, Position/travel range limit status..................................................................................... 393

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG

P-0-0145, Oscilloscope: list of measured values 3.......................................................................... 429

Bosch Rexroth AG | Electric Drives

Rexroth IndraDrive | Parameter Description

P-0-0202, Difference probe values 1............................................................................................... 466

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG

P-0-0326, Multiplication of measuring encoder............................................................................... 501

Bosch Rexroth AG | Electric Drives

Rexroth IndraDrive | Parameter Description

P-0-0423, Analog output, assignment B, signal selection............................................................... 529

Parameter Description | Rexroth IndraDrive

Electric Drives | Bosch Rexroth AG

Bosch Rexroth AG | Electric Drives

Rexroth IndraDrive | Parameter Description

P-0-0558, Drive Halt configuration.................................................................................................. 600

Parameter Description | Rexroth IndraDrive