Technical Documentation

Product manual AC servo drive LXM05A Document: 0198441113232 Edition: V1.04, 01.2006 LXM05A

Important information

The drive systems described here are products for general use that conform to the state of the art in technology and are designed to prevent any dangers. However, drives and drive controllers that are not specifically designed for safety functions are not approved for applications where the functioning of the drive could endanger persons. The possibility of unexpected or unbraked movements can never be totally excluded without additional safety equipment. For this reason personnel must never be in the danger zone of the drives unless additional suitable safety equipment prevents any personal danger. This applies to operation of the machine during production and also to all service and maintenance work on drives and the machine. The machine design must ensure personal safety. Suitable measures for prevention of property damage are also required.

See safety section for additional critical instructions.

Not all product variants are available in all countries. Please consult the current catalogue for information on the availability of product variants. We reserve the right to make changes during the course of technical de- velopments. All details provided are technical data and not promised characteristics. In general, product names must be considered to be trademarks of the respective owners, even if not specifically identified as such. 0198441113232, V1.04, 01.2006

-2 AC servo drive 0198441113232, V1.04, 01.2006 LXM05A ACdrive servo Table ofContents Technical Data 3 Safety 2 Introduction 1 .. eeec au dpe V...... 3-11 Reference value adapter RVA. . . . 3-10 . . . . . brake Holding controller HBC 3-10 ...... mains filter External 3.5.5 3-10 ...... reactor. Line 3.5.4 3-10 . . . . . braking resistors External 3.5.3 3-10 Technical . . . . . 3.5.2 Dataaccessories. 3-9 ...... mainsfilter Internal 3.5.1 3-8 ...... Braking resistor. 3.5 3-7 ...... Safety functions 3.4.6 3-6 ...... Signals 3.4.5 3-6 . . . . 24VDC controller power supply 3.4.4 3-4 . . Performance. datafor power amplifier. 3.4.3 3-4 ...... Data Electrical 3.4.2 3-3 . drawings. . Dimensional . . . 3.4.1 3.4 3-3 ...... data Mechanical 3-2 ...... Degree of protection 3.3.1 3.3 3-1 . . . . . Environmental conditions 3.2.1 3-1 . . . . Testing agencies andcertificates 3.2 3.1 2-3 ...... functions Monitoring 2-3 ...... Safety functions. 2.5 2-2 . . . . . General safety instructions 2.4 2-1 . Intended . use . . . . . 2.3 2-1 . . . . . Qualification of personnel 2.2 2.1 1-6 for . functionalsafety. . certificate TÜV . . 1-5 . . Declaration . . ofconformity. . 1.7 1-3 . . . . . Directives and standards. 1.6 1-3 . . . Documentation and literature references 1.5 1-3 . . . Type. . . . . code 1.4 1-2 . . . . . Components and interfaces 1.3 1-1 ...... Unit overview. 1.2 1.1 -9 . . . . . Writing conventions and symbols. -3 ...... Table of Contents -2 ...... Important information. -3 LXM05A

3.5.6 Cable ...... 3-12

4 Basics 4.1 Safety functions ...... 4-1

5 Engineering 5.1 Logic type ...... 5-1 5.2 Specification of the control mode ...... 5-2 5.3 Safety function "Power Removal" ...... 5-2 5.3.1 Definitions ...... 5-2 5.3.2 Function ...... 5-2 5.3.3 Requirements for safe application ...... 5-3 5.3.4 Application examples ...... 5-4

6 Installation 6.1 Electromagnetic compatibility, EMC ...... 6-1 6.1.1 Operation in an IT mains ...... 6-5 6.2 Mechanical installation ...... 6-6 6.2.1 Mounting the device...... 6-7 6.2.2 Installing mains filter, mains reactor and braking resistor ...... 6-9 6.3 Electrical installation ...... 6-11 6.3.1 Overview of procedure...... 6-13 6.3.2 Overview of all connections ...... 6-14 6.3.3 Reference value signals and limits...... 6-16 6.3.4 Motor phase connections...... 6-16 6.3.5 Connection of braking resistor ...... 6-20 6.3.6 Connection of power amplifier supply voltage . . . . 6-26 6.3.7 Connection for parallel operation ...... 6-28 6.3.8 Connection of motor encoder (CN2) ...... 6-28 6.3.9 Connection of holding brake controller (HBC) . . . . 6-31 6.3.10 Connection of controller supply voltage (24V at CN3) ...... 6-33 6.3.11 Connecting encoder signals A, B, I (CN5) ...... 6-35 6.3.12 PULSE (CN5) connection ...... 6-36 6.3.13 Connection of encoder simulation (CN5) ...... 6-39 6.3.14 CANopen connection (CN1 or CN4) ...... 6-41 6.3.15 Modbus connection (CN4) ...... 6-43 6.3.16 Connection of analogue inputs (CN1) ...... 6-43 6.3.17 Connection of digital inputs/outputs (CN1) ...... 6-45 6.3.18 Connection to PC or remote terminal (CN4) . . . . . 6-47 6.3.19 Reference value adapter ...... 6-49 6.4 Checking installation...... 6-52

7 Commissioning 7.1 General safety instructions ...... 7-1 7.2 Overview...... 7-4 0198441113232, V1.04, 01.2006

-4 AC servo drive 0198441113232, V1.04, 01.2006 LXM05A ACdrive servo 8Operation .. prto oeHmn...... 8-31 Operation . . . mode Homing. . 8-29 . . . Operation mode Profilevelocity 8-25 . . . Profile position operating mode 8.5.7 8-21 . . . Electronic gear operation mode 8.5.6 8-19 Speed control operating . . mode . 8.5.5 8-17 . . . Current controloperating mode 8.5.4 8-15 ...... Jog operation mode 8.5.3 8-15 ...... Operating modes. 8.5.2 8-13 . . . . Change operating mode 8.5.1 8-12 . . . . . operating mode Start 8.5 8-12 . . andchanging operating modes Starting 8.4.2 8-10 . Displaying . . 8.4.1 theoperating states. 8-8 . . . . . Changing operating8.4 states 8-4 Status diagram ...... 8.3.3 8-4 ...... Operating states 8.3.2 8-3 ...... via hardware8.3.1 inputsignals 8-3 . . . . . commissioningsoftware via 8.3 8-3 ...... fieldbus via 8.2.4 8-2 ...... HMI via 8.2.3 8-2 ...... Access monitor 8.2.2 8.2.1 8-1 . . Control mode and operating modemanagement 8.2 8.1 7-47 theposition . Optimising controller . . 7-45 . . Checking and optimising default settings 7-41 . . . Optimising thespeed controller 7.5.5 7-40 ...... Optimisation 7.5.4 7-39 ...... structure Controller 7.5.3 7-39 . Controller optimisation. . with stepresponse 7.5.2 7.5.1 7-37 . . . Extendedsettingsfor autotuning 7.5 7-35 ...... Runautotuning 7-33 Setting parameters7.4.14 . for. braking resistor. 7-31 . . . Settingparameters for7.4.13 encoder 7-30 . . Setting parameters7.4.12 for encoder simulation 7-29 . . . . Check direction of rotation 7.4.11 7-28 . . . . Checking holdingbrake 7.4.10 7-27 . . . . Testing safety functions 7.4.9 7-26 Testing limitswitches . signals infieldbus devices 7.4.8 7-24 . . . . . inputs/outputs Digital 7.4.7 7-21 . . . . . Analogue inputs 7.4.6 Setting basicparameters a 7.4.5 7-18 . . . Operating status (statediagram) 7.4.4 7-13 ...... "First Setup" 7.4.3 7-13 . Commissioning . . procedure. . 7.4.2 7-11 . . software Commissioning (PowerSuite) 7.4.1 7-6 . . . . Human-MachineInterface HMI: 7.4 7-5 ...... Overview. 7.3.3 7-5 . . . Tools . . . 7.3.2 for commissioning 7.3.1 7.3 dlmtvle ...... 7-19 . . nd limitvalues -5 LXM05A

8.6 Functions ...... 8-45 8.6.1 Monitoring functions...... 8-45 8.6.2 Scaling ...... 8-57 8.6.3 Movement profile ...... 8-60 8.6.4 Quick Stop ...... 8-63 8.6.5 Halt...... 8-64 8.6.6 Fast position capture ...... 8-65 8.6.7 Standstill window ...... 8-68 8.6.8 Braking function with HBC ...... 8-69 8.6.9 Reversal of direction of rotation ...... 8-71 8.6.10 Restoring default values...... 8-73

9 Examples 9.1 Wiring of local control mode ...... 9-1 9.2 Wiring of fieldbus control mode ...... 9-2 9.3 "Power Removal" wiring ...... 9-3 9.4 Parameterisation of local control mode ...... 9-3

10 Diagnostics and troubleshooting 10.1 Service ...... 10-1 10.2 Error responses and error classes ...... 10-2 10.3 Error display ...... 10-3 10.3.1 Status diagram...... 10-3 10.3.2 Error display on HMI ...... 10-5 10.3.3 Error display with commissioning software ...... 10-6 10.3.4 Error display over the fieldbus ...... 10-7 10.4 Troubleshooting ...... 10-10 10.4.1 Resolution of malfunctions...... 10-10 10.4.2 Error resolution sorted by error bit ...... 10-11 10.5 Table of error numbers ...... 10-13

11 Parameters 11.1 Layout of parameters ...... 11-1 11.2 List of all parameters ...... 11-3

12 Accessories and spare parts 12.1 Optional accessories ...... 12-1 12.2 External braking resistors...... 12-1 12.3 Motor cable...... 12-2 12.4 Encoder cables...... 12-2 12.5 RS 422: pulse/direction, ESIM and A/B ...... 12-3 12.6 Mains filter ...... 12-3 12.7 Mains reactor s ...... 12-4 0198441113232, V1.04, 01.2006

-6 AC servo drive 0198441113232, V1.04, 01.2006 LXM05A ACdrive servo 5Index 15 Glossary 14 maintenance and Service, disposal 13 42Poutnm 14-2 ...... Product name 14-1 Terms . . . . andAbbreviations. 14.2 14.1 13-4 . . . . Shipping, storage, disposal 13-4 . . . . . Changing the motor. 13.5 13-3 ...... Replacing units 13.4 13-2 "Power Removal" operating life . safety function. 13.3 13-2 ...... Maintenance 13.2.1 13-2 ...... address Service 13.2 13.1 12-5 ...... Mountingmaterial 12-4 . . . MODBUS. . . . . 12.10 12-4 ...... CANopen. 12.9 12.8 -7 LXM05A 0198441113232, V1.04, 01.2006

-8 AC servo drive 0198441113232, V1.04, 01.2006 LXM05A ACdrive servo Writing conventions andsymbols Making work easier Parameter display Work steps Work Lists cally arranged by parameter name. chapteron Parameters on page 11-1.parameter The alphabeti- list is code, e.g. The parameters are shown inthe text with parameter name and HMI instructions. See the chaptersafety on forexplanation an of the safety easier. This offers information supplementary on making work Information onmaking easier work be can found this at symbol: •Point•Point 3 •Point follows:as alphanumerically orLists bycan besorted priority. Lists are structured 2 1 in the given sequence. Unless otherwise stated,theindividualmust steps instruction carried be correctly. out carried been has stepisspecifi a work to If aresponse lows: Ifwork steps must outsequence,in becarried they are shown asfol- ̈ ୵ ̈ ࡯ Subpoint to 2 – Subpoint to 2 – Step 2 step work to this response Important Step 1 for prerequisites Special thefollowing steps work CTRL_n_max ( NMAX ). The tabular view The explained ). is the in ed, this will inform youed, thiswill thatthestep -9 LXM05A 0198441113232, V1.04, 01.2006

-10 AC servo drive 0198441113232, V1.04, 01.2006 X0AIntroduction Unit overview 1.1 Introduction 1 LXM05A ACdrive servo Reference value default Safety function Drive system and the response times. response the and supply voltage must not be interrupted. Thisreduces the system costs without external power 0or 1asper contactors. EN60204-1 gory The The integrated safety function"Power Removal" enablesstopa of cate- Position interface: pulse/directions signalsA/B or encodersignals • ±10V analogue signals for torque controlor speed control.Positio- • Fieldbus: Modbus or CANopen for profile positioning movements, • The setpointvalue be can specified via: with display and keypadfor settingparameters. The front panel includes an input panel (HMI, selected servomotors. SchneiderElectric It offers avery compact and powerful drive systemin combination with velPLC, e.g. Premium. Reference values specifiedmonitored are and normally by ahigher-le- an AC is servo drive that canbe usedanywhere.The LXM05A forimplementation an of electronic gear encoder signals nal feedbackthe of actual motor positionis accomplished byA/B speed control and torque/speed control H uman M achine I nterface) 1-1 Introduction LXM05A

1.2 Components and interfaces

1 3 4 5 2 6 7

(1) CN1, I/O signal connection (spring-loaded terminals) • Two ±10 V analogue setpoint inputs in the speed control and current control operating modes (torque regulation) • Eight digital inputs/outputs. The assignment depends on the selected operating mode • CANopen for fieldbus control (2) 12-pin CN2 socket for motor encoder (SinCos Hiperface® sensor) (3) CN3, terminal for 24 V power supply (4) CN4, RJ45 socket for connecting • Fieldbus: Modbus or CANopen • PC with "PowerSuite" software • Decentralised control terminal (5) 10-pin CN5 socket for • Output of actual motor position via A/B encoder signals in speed control and current control operating modes for position feedback for a higher level position controller (e.g. PLC with motion-control card). • Feed of pulse/direction of A/B encoder signals in electronic gear operating mode (6) Screw terminals for connecting the mains supply (7) Screw terminals for connecting the motor and external braking resistors (8) Bracket for EMC mounting plate (9) Heat sink 0198441113232, V1.04, 01.2006

1-2 AC servo drive 0198441113232, V1.04, 01.2006 X - no integrated mains filter integratedmains no X - filter Mains Peakvalue current (peak [A Î) LXM -Lexium name Product 05 -AC drive servo for axis one type Product F1 115V - 1~, F1 Power voltagesupply amplifier [V ProfibusB - and A fieldbus - analogue, and Modbus) direction (CANopen pulse Interfaces te pin X 05 LXM options Other D10 - 10A - D10 . Directives andstandards 1.5 Documentation andliteraturereferences 1.4 Introduction N4 -3~,480V M3 -3~, 230V M2 -1~, 230V 57A - D57 42A - D42 34A - D34 28A - D28 17A - D17 14A - D14 10A current Lexium peak universalExample: 05, drive, Type code 1.3 LXM05A amplifier supply voltage 3~,230V ACdrive servo pk pk pk pk pk pk pk AC AC AC AC Additional literature CE mark pk ] AC AC ] , no internal mains filter mains internal , no Kuo, Benjamin; Golnaraghi, Farid: Automatic Control Systems. John • Ellis, George: ControlSystem De • We recommendthe following literature formore in-depthinformation: • The followingUser's manuals are http://www.telemecanique.com The user's manualscan befound the on at CDor • • used anywhere inthe world. allrelevantof be here can directives. EC described The drivesystems manufacturer thattheproduct compliescertifies with the requirements With the declaration of conformity and the on the CEmark product the Wiley &Sons Product manual includingcorrect installation and commissioning. Motor manual afieldbus.into Fieldbus manual missioning and alloperating modesoperating and functions. pk , power , describes the technical properties ofthe the motors,, describes technical properties , describes the technical, describes data, installation, com- , important ofdescription integrating, important the product X 05 LXM LXM X 05 LXM X 05 LXM 05 LXM ( X M3 D10 A LXM 05 LXM . 05 05 supplied with this drive system: sign Guide.sign Academic Press • •• ••• • • •• ••• • ••• • •• • ••• • • •• ••• • • •• ••• • • •• ••• •• X X( X( X( X( X( X ( ( ••• ••• ••• ••• ••• ••• ••• ••• 1-3 ) ) ) ) ) ) ) ) Introduction LXM05A

EC Machine Directive The drive systems described here are not machines as defined by the EC Machine Directive (98/37/EEC) but components for installation in machines. They do not have moving parts designed for specific purposes. However, they can be components of a machine or system. The manufacturer must certify that the complete system conforms to the machine directive with the CE mark. EC EMC Directive The EC Electromagnetic Compatibility Directives (89/336/EEC) applies to products that cause electromagnetic interference or whose operation may be be adversely affected by electromagnetic interference. Conformity with the EMC Directive can only be expected of drive systems after correct installation in the machine. The information on ensu- ring electromagnetic compatibility given in the chapter on "Installation" must be followed to ensure that the drive system in the machine or system is EMC-compatible and that the product can legally be operated. EC Low-Voltage Directive The EC Low-Voltage Directive (73/23/EEC) lays down safety requirements for 'electrical apparatus' as protection against the risks that can originate in such devices and can be created in response to external in- fluences. The drive systems described here comply with the EN 50178 Standard as per the Low-Voltage Directive. Declaration of conformity The declaration of conformity certifies that the drive system complies with the specific EC directive. Standards for safe operation EN 60204-1: Electrical equipment of machines, General requirements EN 60529: IP degrees of protection IEC 61508; SIL 2; Functional safety of safety-related electric, electronic and programmable electronic systems. pr IEC 62061; SIL 2; Safety of Machines - Functional safety of electrical, electronic and programmable controllers of machines EN 954-1: Safety of machines, Safety of components of control devices, Part 1: General design requirements pr EN 13849-1; Safety of machines - safety-related components of controllers - Part 1: General design requirements Standards for retention of EMC EN 61000-4-1: Measuring and test procedures, overview limiting values EN 61800-3: Variable-speed electrical drives 0198441113232, V1.04, 01.2006

1-4 AC servo drive 0198441113232, V1.04, 01.2006 X0AIntroduction Declaration ofconformity 1.6 LXM05A ACdrive servo Directives withres becomes invalidwithanymodification Designation: AC We declarethatthe Year 2005 EC DeclarationofConformity Wolfgang Brandstätter/R&DDriveSystems Name/ Department: 28July2005 Date/ Signature: Company stamp: especially: specifications, and technical national standards Applied especially: standards, harmonized Applied 01637x1701xxx,01637x1721xxx Product number: Type: to ECDirectiveEMC2004/108/EEC according accordingtoECDirectiveonMachinery98/37/EEC accordingtoECDirectiveLowVoltage

p ect todesi LXM05Axxxxxx, LXM05Bxxxxxx p EMC test conditions EMCtestconditions EN 61800- EN 50178:1998 EN 61508: EN ISO13849-1:2004, PerformanceLevel"d" Product documentation EN conditions200.47-01 Berger LahrEMCtest UL 508C roducts listedbelowmeetthere Servo Drive g n, constructionandversiondistributedb 2002, SIL 2 2002, SIL2 3:2001, second environment according to Berger Lahr 3:2001, secondenvironment accordingtoBergerLahr 73/23/EEC; changedbyCEMarkingDirective93/68/EEC on the

products notauthorizedbyus.

q uirements ofthementionedEC y us.Thisdeclaration

1-5 Introduction LXM05A

1.7 TÜV certificate for functional safety 0198441113232, V1.04, 01.2006

1-6 AC servo drive 0198441113232, V1.04, 01.2006 X0ASafety Intended use 2.2 Qualification ofpersonnel 2.1 2SafetyLXM05A ACdrive servo explosion hazard (exexplosionhazard area). mustThe drive systems notbeoperated inanenvironment to subject parts. spare approvedaccessories. In general, and accessories use only original operated be The drive must system warrantyif madeallno and Changes and modifications of the drive systems are notand permitted tems mustnot beinstalledoperated. or To prevent damaged and damage drive personal to injury property sys- specifications inthis manual. pletionof installation inaccordance with the EMCregulationsthe and comm be not must The drivesystem observed. be must data, conditions,such as environmental conditionsspecified and technical In all cases the applicable safety regulationsandthe specified operating applicationsindustrial and only must have afixed connection only. In the system configuration thedrive described systems must beused in required. also safety.sonal are damage forprevention Suitable measures property of work on drives and the machine. The machine design must ensure per- the machine production during and and also maintenance to allservice equipmentprevents any personal danger. This applies to operation of be inthe danger zone of the drivesadditional unless suitable safety hout additional safety equipment. For this reason personnel must never unbrakednever movements unexpected or can excluded wit- totally be the functioning of thedrive could en designed forsafety functions are not approved for applications where dangers.However, drives and drive controllers that are not specifically form to the state in technology of the art and are designed to prevent any for con- that products use are general here described systems drive The The techniciansmust be experience to recognise and avoid dangers. The technicians must have sufficient technical training, knowledge and electronic equipment. rameter valuesand generally by the mechanical, and electrical tential dangers that may be caused by setting parameters, changing pa- po- abledetect to must be technicians The drive system. this with and this manual and the other relevantmanuals are authorisedwork to on Only technicians whoare familiar wit system. and safety regulations that must be observed when working on the drive familiar withtherelevant liabilitywill be accepted. danger persons. of The possibility only with the specified wiring and wiring with thespecified only issioned and operated until com- andoperatedissioned h and understandh and the contents of standards, regulations 2-1 Safety LXM05A

2.3 General safety instructions

$ DANGER Electric shock, fire or explosion • Only qualified personnel who are familiar with and understand the contents of this manual are authorised to work on and with this drive system. • The system manufacturer is responsible for compliance with all applicable regulations relevant to earthing the drive system. • Many components, including printed wiring boards, operate at mains voltage. Do not touch. Do not touch unshielded components or screws of the terminals with voltage present. • Install all covers and close the housing doors before applying power. • The motor generates voltage when the shaft is rotated. Lock the shaft of the motor to prevent rotation before starting work on the drive system. • Before working on the drive system: – Switch off power to all terminals. – Place a sign "DO NOT SWITCH ON" on the switch and lock to prevent switching on. – Wait 6 minutes (for discharge of DC bus capacitors). Do not short-circuit DC bus – Measure voltage at DC bus and check for <45V. (The DC bus LED is not a safe indication for absence of the DC bus voltage). Failure to follow these instructions will result in death or serious injury.

@ WARNING Injury from unexpected movements Drives may execute unexpected movements because of incorrect wiring, incorrect settings, incorrect data or other errors. Malfunctions (EMC) may cause unpredictable responses in the system. • Install the wiring carefully in accordance with the EMC requirements. • Disable the inputs PWRR_A and PWRR_B (status 0) to prevent unexpected movements before switching on and configuring the drive system. • Do not operate a drive system with unknown settings or data. • Carry out a comprehensive commissioning test. Failure to follow these instructions can result in death or serious injury. 0198441113232, V1.04, 01.2006

2-2 AC servo drive 0198441113232, V1.04, 01.2006 oioigTs Protective function protection System safety Functional and safety Functional and device fo Monitoring I Overtemperature undervoltage for excessively Monitoring phases motor the in current high Overvoltage and mo between variation of Monitoring Motor overload inevent response Error break ofconnection area Trackingof travel permissible of Monitoring error Task Limit switch signals Data link Monitoring Monitoring functions 2.5 Safety Safety functions 2.4 LXM05A ACdrive servo 2 ii oe iiaini vn foelaigDevice protection Power inevent limitation of overloading t Limit Monitoring for overvoltage and undervoltage of the power supply Functional safety Functional and for Monitoring ofthe power overvoltage supply undervoltage and risk in eventthe risk malfuncti system of inthedriv functions The monitoring val"“ onpage5-2. planning. For more information see 5.3 “Safety function"Power Remo- careful requires product this in integrated safety the functions Using tions“ from page 8-45. For thedescription of the monitoring function8.6.1see “Monitoring func- functions Monitoring Table 2.1 monitored: designed for personal safety. The followingfaults and limit valuescan be vreprtr Deviceprotection r overtemperature rious injury. se- or indeath result can followFailure to instructions these effective. takenare measures Check that • Suitable redundant controlpaths mustplacein be fordange- • of error possib assessment The • The system manufacturer must take the potential error possibi- • the Observe accident prevention regulations. (Forsee USA • by of injury Danger losscontrol! of rous functions. pecteddelays the and failuresignals offunctions. or restart. are:emergency stop, final positionlimitation, power failure and ensuresafea state and after during errors. Some examples to account into functions critical the and signals of the lities ICS7.1) NEMA and ICS1.1 NEMA also tor position and setpoint position Functional safety Functional position and setpoint position tor @ WARNING e protect the system and reduce the andreduce thesystem e protect on. The monitoring on. Themonitoring ilities mustilities alsoincludeunex- device protection device protection system protection functions are functions not 2-3 Safety LXM05A 0198441113232, V1.04, 01.2006

2-4 AC servo drive 0198441113232, V1.04, 01.2006 X0ATechnical Data Environmental conditions 3.2 Testing andcertificates agencies 3.1 Technical Data 3 LXM05A ACdrive servo Ambient climate forand transport ambient operating temperature Installation height Relative humidity Pollution degree storage Temperature [°C] -25 to+70 -25 [°C] Temperature noicing 1) Temperature tant. 2010-01-13 relevant requirements in the chapter on installation are also impor- very pends on the clearance between the units and the required output. The The maximum permissibleambient temperature air operation during de- sible storage temperature. and transport E153659 File ween the permissible temperatures during operation and the permis- theWhen ambient considering temperature adistinction ismade bet- SAS-0078/05 CiA200412-301V402/20-0044 Assign CiA (CaninAutomation) UL RWTÜV Testing agency lowing independent testing agencies: productThis or functions ofproduct this have by been the certified fol- accessories. the and family unit the of properties electrical and mechanical the on and tions This chapter contains information on the required environmental condi- rel. air humidity conforming to IEC60721-3-3, IEC60721-3-3, to conforming level for power 100% above height Installation meansea 2 Step humidity rel. air Pollution degree The relative humidityis allowed asfollows: the specified range. cified limits. temperatureThe bearing and transport must remain within free. Themaximum and oscillation sh The environment and storage and transport dust-during must be dry 1) [°C] 0 to +50 0to [°C] m <1000 [m] dnme Validity ed number ock stressmust bewithin the spe- mitted per- no condensation to85%, 5% 3K3, Class 3-1 Technical Data LXM05A

Max. ambient temperature 40°C, [m] <2000m no protective foil and side distance >50 mm

Vibration and shock loading The strength during oscillation stress on the units corresponds to EN 50178 Section 9.4.3.2 and EN 61131 Section 6.3.5.1.

Oscillation and vibration Conforming to IEC/EN 60068-2-6: 1.5 mm peak to peak from 3 to 13 Hz, 1 gn from 13 to 150 Hz Shock loading 15 gn for 11 ms conforming to IEC/ EN 60068-2-27

Wiring Use copper wiring resistant to at least 60°C or 75°C.

3.2.1 Degree of protection

The devices have the degree of protection IP20. The degree of protection IP40 is met for the top of the housing if the protective cover on top of the device has not been removed. The safety cover may need to be removed because of the ambient temperature or the device clearances, see chapter 6.2.1 “Mounting the device“ page 6-7. Degree of protection when using It is important to ensure that there a re no conductive deposits on the "Power Removal" product for the "Power Removal" function (pollution degree 2). Protect the product appropriately against dust and spray. 0198441113232, V1.04, 01.2006

3-2 AC servo drive 0198441113232, V1.04, 01.2006 X0ATechnical Data Dimensional drawings 3.3.1 Mechanical data 3.3 LXM05A ACdrive servo Figure Figure Figure Figure LXM05 drawing Dimensional 3.2 Figure drawing Dimensional 3.1 Figure )Width ofadapterplate 2) m/s >1 1) o-a alisalto 77.5 Top-hat rail installation egtk . . 4.8 17 2 20.5 160 210 1.4 16.5 170 126 157 232 18.5 1.1 Convec- 150 180 121.5 mm 93 kg 184 121.5 150 140 mm 60 143 mm 140 105 mm 145 Typecooling of mm 72 Weight mm K Jmm556.55H G c b a • . D10 ... c c

b b 4xØ5 3.1 tion M4 ••• 1) 2) == 2xØ5 M4 D17 D14 105 Ventilator Ventilator Ventilator 3.1 Figure == ••• •• 2) G a G D4 D3 D2 -- 3.2 Figure a •••• ••• •••

H H D5 3.2 Figure

••• K J K J 3-3 Technical Data LXM05A

3.4 Electrical Data

3.4.1 Performance data for power amplifier

Mains voltage: range and tolerance 115VAC [V] 100V -15% to 120V +10%

230VAC [V] 200V -15% to 240V +10%

400VAC [V] 380V -15% to 480V +10% Frequency [Hz] 50Hz-5% to 60 Hz +5%

transient overvoltages overvoltage category III

Starting current and leakage current Starting current [A] <60 Leakage current (as per [mA] <30 1) IEC 60990, Figure 3) 1) measured on mains with earthed neutral point, with no external mains filter. When using residual-current devices make sure that a 30 mA residual-current device can trigger at 15 mA. A high-frequency leakage current also flows, which is not considered in the measurement. Residual current devices respond differently to this.

Power consumption and impedance The specified power consumption refers to a mains with the specified re- of mains supply ference voltage and the assumed short-circuit impedance at nominal power output. The power consumption depends strongly on the impedance of the supply mains. This is specified by a possible short-circuit current. If the actual mains deviates from this, mains reactors must be installed upstream. Monitoring the continuous output The continuous output current at 4kHz and 8kHz is monitored by the de- current vice. If the value is continuously exceeded, the output current is reduced by the device. The internal overtemperature monitoring does not respond at the specified values so long as the ambient temperature remains below 40°C and no heat is generated at the internal braking resistor. Peak output current for 3 seconds The peak output current at 4kHz and 8kHz can be output by the device for 3 seconds. If the peak current flows at motor standstill, the higher heat build-up enables the current limiting of the device earlier that when the motor is rotating. Continuous and peak currents are lower at 8kHz because of higher losses. This is particularly clear in devices with higher DC bus voltage. Voltage against PE The insulation of the devices is designed for a nominal voltage corresponding to the value of the reference voltage. The voltage against earth must not exceed these values. Approved motors For an overview of the approved motor series (BSH, SER, USD) that can be attached to this device series see the product catalogue. When making the selection consider the type and amount of the mains voltage. 0198441113232, V1.04, 01.2006

3-4 AC servo drive 0198441113232, V1.04, 01.2006 otnosotu urn t4H [A 4kHz at current continuous output )Fss uil ik fcasC rJa e L248-4, alter Fuses: fusible links of class CC or Jas per UL 2) condition: braking internal resistornot active; value withnominal current,nominal voltageand nominalpower 1) (3~) 400 (3~) 400 400 (3~) 400 (3~) (3~) 230 (3~) 230 230 (3~) power loss 142 rent of mains [V] circuit cur- max. short permissible 74 put) powernominal (device power out- voltage 48 Power at nominal consumption voltage Nominal 150 LXM05 Technical Data 76 43 [W] (1~) 230 230 (1~) 230 (1~) (1~) 115 [A 4kHz at current continuous output (1~) 115 115 (1~) power loss rent of mains [V] circuit cur- max. short permissible put) powernominal (device power out- voltage Power at nominal consumption voltage Nominal LXM05 LXM05A Primary fuse Primary [A 25 8kHz at current output peak 15/16 [A 8kHz at current continuous output [A 10 4kHz at current output peak 25 15/16 10 [A] fuse Primary [A 8kHz at current output peak [A 8kHz at current continuous output [A 4kHz at current output peak ACdrive servo specification: circuitbreakers areavailablewith16A nominal current, ULfuses with15A. • • . 1MXD73 4MXD44D24D44D57N4 D34N4 D22N4 D14N4 D42M3X D17M3X D10M3X ... D28M2 D17M2 D10M2 D28F1 D17F1 D10F1 ... 1) 2) W 36 3 59 4 240 147 90 65 132 68 43 [W] A 01 51 51 51 25 15/16 15/16 10 25 10 10 [A] [A [A [A [A [A [A [A k]07 . . . . . 6.0 [A 3.0 2.0 1.4 3.2 1.4 [kA]55555522 0.75 [kW] [A 2.5 1.2 0.75 0.85 0.65 [kA]111111 0.4 [kW] [A rms pk rms pk rms rms pk rms pk rms pk rms pk rms rms pk rms pk .91.64.31.11.02.642.43 28.28 25.46 15.56 19.80 56.57 9.90 10.61 33.94 42.43 35.36 7.07 22.63 15.56 21.21 21.21 14.14 12.73 8.49 9.90 ] 42.43 8.49 4.53 16.97 ] 24.04 9.90 11.31 ] 5.66 ] 28.28 15.56 18.38 8.49 9.90 28.28 28.28 4.53 16.97 15.56 21.21 18.38 9.90 11.31 8.49 9.90 ] 28.28 5.66 4.53 16.97 ] 21.21 9.90 11.31 ] 5.66 ] 23 01 440 20 24 11 25 16 7 15 10 5 9 15 30 16.8 6 7 12 9.2 17 ]3.2 7 6 8 ] ]4 4 16.5 13 20 7.75 11 7 4.5 ] 6 3.2 20 15 20 12 13 11 8 7 7 ]6 4 20 3.2 15 12 ] 8 ]7 20 ]4 11 7 21.6 11 ]7.3 13 . 41 30 18 14 7.5 30 11 6 ] nothave anintegratedmains filter. mains filter. Devices withthe The nameplate indicateswhether or not yourdevice has an integrated natively miniature circuit-breakers with Bor C-characteristic. 15 product identification LXM05 •••• M3X do /16A 3-5 Technical Data LXM05A

3.4.2 24VDC controller power supply

Spring loaded terminals The spring loaded terminals have a maximum cross-section of 0.75mm2 and a maximum current loading capacity of 2A. 24V power supply The 24V supply voltage must meet the requirements of IEC 61131-2 (PELV standard power supply):

Input voltage [V] 24V -15% / +20% Power consumption (without load) [A] ≤1 Ripple voltage <5%

3.4.3 Signals

Signal inputs are reverse polarity protected, outputs are resistant to short-circuit. There is an electrical connection to 0VDC. 24V input signals When configured for "source", the input levels correspond to EN 61131- 2, type 1

Logic 1 (Vhigh) [V] +15 to +30

Logic 0 (Vlow) [V] -3 to +5 Input current (typical) [mA] 10 Debouncing time 1) [ms] 1 to 1.5 Debounce time PWRR_A and [ms] 1 to 5 PWRR_B Debounce time CAP1 and CAP2 [µs] 1 to 10 1) except for PWRR_A, PWRR_B, CAP1 and CAP2

24V output signals The 24V output signals correspond to IEC 61131-2.

Output voltage [V] ≤30 max. switching current [mA] ≤50 voltage drop at 50 mA load [V] ≤1

Analogue input signals Differential input voltage range [V] -10 to +10 Input resistance [kΩ] ≥10 ResolutionANA1 [Bit] 14 Resolution ANA2 [Bit] 14 Sampling time ANA1 [ms] 0.25 Sampling time ANA2 [ms] 0.25 0198441113232, V1.04, 01.2006

3-6 AC servo drive 0198441113232, V1.04, 01.2006 Data for maintenance schedule and schedule forData maintenance Safety functions 3.4.4 Technical Data LXM05A ACdrive servo Pulse/direction, Pulse/direction, Encoder simulation output signal safety calculations A/B input signals CAN bus signals Sensor signals Sensor uptfeunyttl[MHz] frequency total Output [kHz] frequency,Input A/B fier) shutdown ofpower(until time Response ampli- cifications cifications The pulse/direction and A/Bsignals conform to theinterface RS422 spe- RS485. transmission protocolasynchronous is half-duplex incompliancewith The output voltage protected and isshort-circuit overload resistant. The cuit resistant. The CANbus signals complythe with CANstandard and are short-cir- specifications The encoder simulationoutput signalcomplies with theRS422 interface culations: Use the following datafor your maintenance schedule and the safety cal- rbblt ffiue(F)(E 10 2.85*10 70% 61508 offailureProbability (PFH) (IEC SFF (Safe Failure Fraction)(IEC61508) 61508) (IEC lifeService correspondingtosafety life cycle [ 100mA / +10V Input resistance RS422 to conforming range signalVoltage SIN/COS input voltageOutput for encoder [kHz] signal per frequency Output RS422 to conforming level Logic [k [kHz] frequency,Input pulse/direction Input resistance Symmetrical Ω Ω ]120 ]5 ≤ ≤ 1V ≤ ≤ 0.5V 1.6 400 450 200 pp pp with 2.5V offset, at 100kHz at <10ms 20 years -9 1/h 3-7 Technical Data LXM05A

3.4.5 Braking resistor

The device has an internal braking resistor. If this is insufficient, it will be necessary to use one or more external braking resistors, see chapter 6.3.5 “Connection of braking resistor“ page 6-20. For an overview of the available external braking resistors see the chapter on accessories on page 12-1. The following minimum resistance values are required for the use of one or more external braking resistors. The internal resistance must be disabled, see also Commissioning, page 6-21. The continuous output of the connected external braking resistors must not exceed the nominal power of the device.

LXM05•... D10F1 D17F1 D28F1 D10M2 D17M2 D28M2 Energy consumption of internal [Ws] 10.8 16.2 26.0 17.7 26.6 43.0 capacitors Evar resistance internal [Ω]404010404020

Continuous output PPR [W]204060204060

Peak energy ECR [Ws] 500 500 1000 900 900 1600 Switch-on voltage [V] 250 250 250 430 430 430 External braking resistor min [Ω]272010502716 External braking resistor max [Ω]452720754527

LXM05•... D10M3X D17M3X D42M3X D14N4 D22N4 D34N4 D57N4 Energy consumption of internal [Ws] 17.7 26.6 43.0 26.0 1) 52.0 2) 52.0 2) 104.0 3) capacitors Evar resistance internal [Ω]40402040303020

Continuous output PPR [W]204060406060100

Peak energy ECR [Ws] 900 900 1600 1000 1600 1600 2000 Switch-on voltage [V] 430 430 430 770 770 770 760 External braking resistor min [Ω]50271060252510 External braking resistor max [Ω]75452080363621 1) at 480V: 6.0Ws 2) at 480V: 12.0Ws 3) at 480V: 10.0Ws 0198441113232, V1.04, 01.2006

3-8 AC servo drive 0198441113232, V1.04, 01.2006 Devices with internal mains filter second environment (industrial, category C3) up to 10m motor cable motor 10m length to up C3) category environment(industrial, second filter mains Devicesinternal with Technical Data operation in industrial mains areas, inliving operation e.g. saleby hardware supplier second environment; C3 category first environment, availability;limited C2 category C1 first environment, availability;general category 6180 IEC 61800-3:2001-02; EN Internal mainsfilter 3.4.6 LXM05A ACdrive servo -,E. Description 0-3, Ed.2 filtersthe seepagechapter on12-3. onaccessories EMC directives arein observed this case. Fororderdata for external line line filterwith or long motor lines. The operator must ensure thatthe externalAn filter line isrequiredwhenwithout usingaunit integrated an by compatibleEMC designs: The followinglimiting values for wiring nothave anintegratedmains filter. mains filter. Devices withthe The nameplate indicateswhether or not yourdevice has anintegrated arerequired, external linefilters mustbe connected inseries. If the limit values forthe first environment (public networks, C2) category and also the structure, e.g. on installation inan enclosed switch cabinet. Better values can be achieved depending on the unit and the application the following: note area tion applica- this outside operating When account. taken are into installation 61800-3 standard if the measures for described the ment under the IEC driveThis system meetstherequirements EMC for the second environ- The EMCstandards differentiate between variousapplication cases: required. rence, mitigation inwhichcase supplementary measures may be In adomestic environment,this product may causeradio interfe- operation in living areas, sale through dealers areas, only inliving dealers operation through sale @ WARNING product identification LXM05 related fault disturbances are met •••• M3X do 3-9 Technical Data LXM05A

3.5 Technical Data accessories

3.5.1 External braking resistors

VW3A760... 1Rxx 2Rxx 3Rxx 4Rxx 5Rxx 6Rxx 7Rxx Resistance value [Ω]10272727727272 Continuous output [W] 400 100 200 400 100 200 400 max. make time at 115V [ms] 300 180 420 1080 636 1680 4200 max. make time at 230V [ms] 72 55.2 108 264 144 372 960 max. make time at 400V [ms] 12 8.4 21.6 50.4 30 78 192 Peak output at 115V [kW] 6.3 2.3 2.3 2.3 0.9 0.9 0.9 Peak output at 230V [kW] 18.5 6.8 6.8 6.8 2.6 2.6 2.6 Peak output at 400V [kW] 60.8 22.5 22.5 22.5 8.5 8.5 8.5 max. peak energy at 115V [Ws] 18800 4200 9700 25000 5500 14600 36500 max. peak energy at 230V [Ws] 13300 3800 7400 18100 3700 9600 24700 max. peak energy at 400V [Ws] 7300 1900 4900 11400 2500 6600 16200

3.5.2 Line reactor

Line reactor If the mains power does not correspond to the requirements described for impedance, line reactors may need to be installed, see also the chapter on installation. For order data see the chapter on accessories on page 12-4.

3.5.3 External mains filter

The EMC standards differentiate between various application cases; see Chapter 3.4.6 “Internal mains filter“, page 3-9. Better values can be achieved depending on the unit and the application and also the structure, e.g. on installation in an enclosed switch cabinet. If the limit values for the first environment (public networks, category C2) are required, external line filters must be connected in series. The following limiting values for wiring related fault disturbances are met by EMC compatible designs:

All devices with an external mains filter first environment, restricted availability (public mains, category C2) up 20m motor cable length, device installed in an enclosed switching cabinet with 15 dB attenuation. second environment (industrial, category C3) up to 40m motor cable length (100m with 8kHz switching frequency)

An external line filter is required when using a unit without an integrated line filter or with long motor lines. The operator must ensure that the EMC directives are observed in this case. For order data for external line filters see the chapter on accessories on page 12-3.

3.5.4 Holding brake controller HBC

For motors with holding brake we recommend appropriate control logic (HBC) that releases the brake when the motor is powered and locks the 0198441113232, V1.04, 01.2006

3-10 AC servo drive 0198441113232, V1.04, 01.2006 .. Reference value adapter RVA 3.5.5 Technical Data LXM05A ACdrive servo Electrical data Electrical Electrical data Electrical Dimensions Dimensions page 6-31, 7-28, 8-69 and 12-1. brake see Forand input output. information control more 24 V input, the The HBCholding brake controller hasa tage is switched off and optionally reduces the braking voltage. motor axisat the correct moment before the power amplifier supply vol- aiu uptcret[A 300 [mA] overload-proof and short-circuit sense-controlled, to30 19,2 current Maximum output 5VSE [V] Encoder Output, ( Current consumption ( Current consumption Supply voltage 37 * 135 * 77 Input [mm] rail top-hat on Installation (H Dimensions * B *D) 1.6 19 to 17 [A] [V] 1000 voltageDC voltage with reduction to30 19.2 [ms] current braking + 0.5 to voltage time Nominal reduction [V] [A] current Maximum output tion voltageDC before voltagereduc- brake Output, consumption Current Supply voltage 114.5 22.5* * 99 Input [mm] rail top-hat on Installation (H Dimensions * B *D) 5VSE 5VSE 300mA) unloaded) [V] 4,75 to5,25 4,75 [V] 150 [mA] 50 [mA] to 25 23 [V] safe isolation between electrical 3-11 Technical Data LXM05A

3.5.6 Cable

Overview of cables required

max. length [m] min. cross-section corr. PELV shielded, twisted pair [mm2] earthed both ends Controller supply voltage − 0.75 X Power amplifier supply voltage −−1) Motor phases − 2) − 3) X Cable for HBC ⇒ motor − 2), max. 0.12 − 3) 4) X see motor phases unshielded Cable for HBC ⇒ device − 0.75 4) ext. braking resistor 3 as in power ampli- X fier supply voltage Motor sensor 100 10*0,25mm² and XXX 2*0,5mm² Encoder signals A/B/I 100 0.25 X X X PULSE/DIR 100 0.14 5) XXX ESIM 100 0.14 5) XXX Fieldbus CANopen − 6) 0.14 X X X Fieldbus Modbus 400 0.14 X X X Analogue inputs 10 0.14 - 1.5 X X 7) X Digital inputs/outputs 15 0.14 X PC, decentralised control terminal 400 0.14 X X X 1) see 6.3.6 “Connection of power amplifier supply voltage“ 2) Length depends on required limit values for line interference, see 3.4.6 “Internal mains filter“ and 3.5.3 “External mains filter“. 3) see 6.3.4 “Motor phase connections“ 4) Temperature range: up to 105°C 5) inside the switching cabinet 6) Depending on baud rate, see 6.3.14 “CANopen connection (CN1 or CN4)“ 7) Earth shield of analogue signal lines directly on device (signal input). At the other end of the cable insulate the shield or if interference occurs earth via a capacitor (e.g. 10nF).

Table 3.1 Cable specifications

Motor and encoder cable The motor cable and encoder cables are suitable for trailing and are available in various lengths. For the corresponding types see the accessories section on page 12-4.

Permissible voltage [VAC] 600 (UL and CSA) Shield Shield braiding Sheath Oil-resistant PUR Temperature range [°C] -40 to +90 (fixed) -20 to +80 (movable) Minimum bending radius 4 x diameter (fixed) 7.5 x diameter (moving) 0198441113232, V1.04, 01.2006

3-12 AC servo drive 0198441113232, V1.04, 01.2006 X0ABasics Safety functions 4.1 4BasicsLXM05A ACdrive servo PFH, Probabilityofadangerous PFH, SIL, Safety Integrity Level SafetySIL, Integrity IEC61508 standard IEC61508 failure per hour HFT and SFF and HFT proportion of safeproportion failures SFF(safe failure fraction). The hardware fault thesafety system depending ontheSIL inconnection with aspecific The standard alsorequires aspecific hardware fault tolerance HFTfor notexceed themaximum value specified inthe standard. PFH of achainmust becalculated together,thetotal of thePFH must individual The SIL. the on depending system protective complete the correctly executed. The PFHmust notexceed thevalues calculated for temfails inahazardous manner and the protective function cannot be protectiveis theprobab systems.This must cover. function chainrequires safetya function and which hazard potential it hazard analysis. and risk used This is to decide whether the relevant This isbased on an assessment of the hazard potential derived from the safety functions.thelowest SIL1 is levelSIL4 andis the highest level. four levels safety specifies integrity for (SIL) IEC61508 standard The developed base. inthis invariousused for applications sa specific safety levelas awhole. Systems and components that canbe one single unit.function The chain must meet the requirementsthe of rough thelogical processing unitto the actuator) thatis considered as ponent but alwayscompletea functionchain (e.g. fromthe sensorth- safety-relevant function. Thismeans thatnotonlyitsingle one is com- grammable electronic safety-related systems" covers the relevant standard "Functional safetyThe IEC61508 of electrical/electronic/pro- Working withIEC61508 zard potential from thespecific arising application. tion. The degreethe of requirements to andis oriented the the risk ha- In general the safetyengineering requirements dependthe onapplica- greatlyby simplified integrating safety functions. tegrated. Planningandinstallation of complexautomation solutionsare separate inthe past but more recently have become more and more in- Automation and safety engineering are two areas that werecompletely 1 requirement continuous or rate requirement athigh 2 PFH 3 4 SIL of probability failure PFH measures thatwere taken. Thisas the toassess analysis probability measures. Allcomponents of asafety functionmust besubjected to a the required SIL, requires staged fault-control and fault-prevention To maintain the safety function the IEC61508 standard, depending on ≥ ≥ ≥ ≥ 10 10 10 10 -6 -7 -8 -9 to <10 to <10 to <10 to <10 to (probability of a of (probability -5 -6 -7 -8 fetywith comparable tasks canbe risk effectiveness ofthefault-control sessment the dangerousdetermines ility perhourthat dangerous failuredangerous a protective sys- perhour)for 4-1 Basics LXM05A

tolerance is the property of a system that enables it to execute the desired safety function in spite of the presence of one or more hardware faults. The SFF of a system is defined as the ratio of the rate of safe failures to the total failure rate of the system. Under IEC61508 the maximum achievable SIL of a system is determined by the hardware fault tolerance HFT and the safe failure fraction SFF of the system.

SFF HFT type A subsystem 012 < 60% SIL1 SIL2 SIL3 60%- <90% SIL2 SIL3 SIL4 90%- < 99% SIL3 SIL4 SIL4 ≥99% SIL3 SIL4 SIL4

Fault-prevention measures Systematic faults in the specifications, in the hardware and the software, usage faults and maintenance faults of the safety system must be avo- ided as much as possible. IEC61508 specifies a series of fault-prevention measures that must be implemented depending on the required SIL. The fault-prevention measures must accompany the complete life cycle of the safety system, i.e. from design to decommissioning of the system. 0198441113232, V1.04, 01.2006

4-2 AC servo drive 0198441113232, V1.04, 01.2006 X0AEngineering Logic type 5.1 Engineering 5 LXM05A ACdrive servo gic type "Source". Sn"outputabsorbscurrent output sends current status active "Sink" "Source" Logic type iolt This product can switch the 24V inputs and outputs as follows ( duct, whichare essential forthe engineering. chapterThiscontains basic informationon optionsfor useof the proof application. fore be thoroughly during engineering clarified with reference to the area "Sink" This setting affects and the the wiring control of sensors and must there- the with setup" "first via "Source" ismade setting The (2) (1) Logic type 5.1 Figure Takeextra with thewiring care • torecognised be asOn an condition. Use of the logic type fault setting "Sink"allowsthe earth ofsignal a Unintended equipment operation rious injury orequipmentinjury damage. rious se- indeath, result can followFailure to instructions these +24V 0V earth fault.earth ). Exception: the safety signals 1 ACTIVE1_OUT ENABLE @ WARNING current flowscurrent input from the current flows to theinput to exclude any ofan possibility PWRR_A +24V 0V and IOLogicType PWRR_B 2 ACTIVE1_OUT ENABLE are always lo- parameter. DRC- 5-1 / Engineering LXM05A

Special case: "Power Removal" The inputs for the "Power Removal" safety function (inputs PWRR_A and safety function PWRR_B) are always executed in "Source" independently of the setting.

5.2 Specification of the control mode

Controller type: local or fieldbus The basic specification of whether the system should be controlled lo- cally or over the fieldbus must be made when the product is started for the first time. This specification can only be modified by restoring the factory setting, see chapter 8-73. The availability of operating modes of the product also depends on this setting. Local control mode With a local control mode the movement is preset with analogue signals (±10V) or with RS422 signals (e.g. pulse/direction). Limit switches and reference switches cannot be connected with the control mode. Fieldbus control mode In the fieldbus control mode all communications are made via fieldbus commands.

5.3 Safety function "Power Removal"

For some general information on the application of IEC 61508 see page 4-1.

5.3.1 Definitions

Power Removal The "Power Removal" safety function switches off the motor torque safely. The supply voltage must not be interrupted. There is no monitoring at standstill. Category 0 stop (EN60204-1) Standstill by immediate power shutdown to the machine drive elements (i.e. an uncontrolled stop). Category 1 stop (EN60204-1) A controlled stop in which the machine drive elements are retained to effect the standstill. Power feed is only interrupted when everything has come to a standstill.

5.3.2 Function

The "Power Removal "safety function integrated into the product can be used to implement the "Standstill in Emergency" control function (EN 60204-1) for Category 0 Stop and Category 1 Stop. In addition, this safety function prevents the drive from restarting unexpectedly. The safety function meets the following requirements of the standards for functional safety: • IEC 61508:2000 SIL 2 • pr IEC 62061:2003 SIL 2 • EN 954-1 category 3 • pr EN ISO 13849-1:2004 PL d (Performance Level d) 0198441113232, V1.04, 01.2006

5-2 AC servo drive 0198441113232, V1.04, 01.2006 X0AEngineering Requirements for safe application 5.3.3 LXM05A ACdrive servo Prevention of unexpectedrestart Degree of protection when using Vertical axes, forces external tpo aeoy1 category of Stop 0 category of Stop "Power Removal" Function undant The "Power Removal" safetyfunction cantriggered be viathe two red- HALT 1acontrolledstopbecan requested withthe Forstop a of category taken.be must suitable measures analysis), machinedown while itisrunning is ahazard (result of hazard and risk 0the drive down runs uncontrolled. to Iftheaccess In astop of category setting the error message. error the setting torque down and runs without isonly possible braking. Arestart after re- if onethe oftwo shut inputs down. is Then the motor cannot generate The power amplifierwithout is power and anerrorsent,is message even (skew forinputs <1s). both simultaneous be must process be separate from eachother to retain the twochannels. The switching PWRR_B The final shutdownis ensured by shutting down the systemandis not guaranteed if power failsthein orevent of anerror. the product appropriately against dust and spray. and dust against appropriately product the productfor the "Power Removal" function(pollution degree 2). Protect ensure to that thereItis important no are conductive deposits onthe Notethat ahigher levelcontroller mustnottrigger adangerous restart. corresponding to the required safety. must notoperated be without additional measuresfor drop protection ment,for exampleby caused gravity, couldcause ahazard, the drive If external forces act on the drive (vertical axis) and an unwanted move- STOPGENCY safewith module delay. time power failure), the parameter power parameter failure), the To powerafter (e.g. of restoration after prevent restart unexpected an rious injury. se- or indeath result can followFailure to instructions these for safety the requirements the function. Observe • function. Incorrect usage may cause asafetyhazard byof the loss safety Loss of the safety function rious injury. orse- death in result Failurefollowwill to instructions these Turn offthemains voltage usinganswitch appropriate to • inter circui connection. The The "Power Removal" function does Electric shockcaused by incorrect use! achieve avoltage-free condition. or over the fieldbus. The standstill is notmonitoredby the drive PWRR_A inputs. This is generally controlled by a standard EMER- and and PWRR_B @ WARNING $ DANGER t voltagepresent. still is inputs. The circuits of the two inputs must inputs two the of circuits The inputs. IO_AutoEnable not effect any dis- electrical must be set to "off". "off". to set be must PWRR_A and 5-3 Engineering LXM05A

Protected layout If short circuits and cross connections can be expected on the wiring of the PWRR_A and PWRR_B signals and they are not detected by upstream units, a protected layout is required. A protected layout can be achieved as follows: •Layout of PWRR_A and PWRR_B signal lines in different cables. If there are additional wires in the cables they must only carry voltages corresponding to PELV. • Use of a shielded cable. The earthed shield protects the signals from outside voltages. If there are additional wires in the cable, the PWRR_A and PWRR_B signals are separated by the earthed shield of these wires.

Data for maintenance schedule and Use the following data for your maintenance schedule and the safety cal- safety calculations culations:

Service life corresponding to safety life cycle 20 years (IEC 61508) SFF (Safe Failure Fraction) (IEC61508) 70% Probability of failure (PFH) (IEC 61508 2.85*10-9 1/h Response time (until shutdown of power ampli- <10ms fier)

Hazard and risk analysis As a system manufacturer you must conduct a hazard and risk analysis (e.g. as per EN 1050) of the system. The results must be taken into account in the application of the "Power Removal" safety function. The circuit resulting from the analysis may deviate from the following application examples. Additional safety components may be required. The results of the hazard and risk analysis always have priority.

5.3.4 Application examples 0198441113232, V1.04, 01.2006

5-4 AC servo drive 0198441113232, V1.04, 01.2006 X0AEngineering LXM05A ACdrive servo xml:ctgr 0 stop Example: category Circuit without EMERGENCY STOP withoutEMERGENCY Circuit 0. module, category Stop • When the EMERGENCY STOP theEMERGENCY When switch is • Please note: 0 stop category Example: 5.2 Figure aeoy0 category 24V Stop Emergency- 24V RESET FAULT 24V ENABLE tripped it initiates a stop of a stop itinitiates tripped PWRR_A PWRR_B FAULT RESET ENABLE 3~ M 5-5 Engineering LXM05A

Example: category 1 stop Circuit with EMERGENCY STOP module, Stop category 1,

24V24V 24V 24V 24V 24V Emergency- Stop

FAULT A1 S31 S21 S22 S32 03 13 23 37 47 57 Y+ RESET ENABLE

Preventa Undelayed XPS-AV Delayed M A2 S11 S12 S13 S14 04 14 24 38 48 58 Y64 Y74 Y84 3~ ENABLE

FAULT RESET

HALT

PWRR_A

PWRR_B

Figure 5.3 Example of category 1 stop with external Preventa XPS-AV EMERGENCY STOP module

Please note: • A "Halt" is initiated without delay through the HALT input. •The PWRR_A and PWRR_B inputs are shut down in accordance with the delay time specified in the EMERGENCY STOP module. If the drive has not yet stopped at this time, it runs down without control (uncontrolled standstill). • The specified minimum current and the allowed maximum current of the relay must be maintained in the circuitry of the relay outputs at the EMERGENCY STOP module. 0198441113232, V1.04, 01.2006

5-6 AC servo drive 0198441113232, V1.04, 01.2006 . Electromagnetic compatibility, EMC 6.1 Installation Installation 6 LXM05A ACdrive servo you should know beforethe installation. starting The chapteron engineering containsinformation basic that tion area note the the following: note area tion applica- this outside operating When account. taken are into installation 61800-3 standard if the measures for described the ment under the IEC driveThis system meetstherequirements EMC for the second environ- rious injury orequipmentinjury damage. rious se- indeath, result can followFailure to instructions these Check compliancethein with EMCrequirements, particularly • inaccordance Installthewithwiring the EMCrequirements. • signalsunexpected cancause Distorted device responses. Interference withsignals and devices maycause injury rious injury. se- or indeath result can followFailure to instructions these effective. takenare measures Check that • Suitable redundant controlpaths mustplacein be fordange- • of error possib assessment The • The system manufacturer must take the potential error possibi- • the Observe accident prevention regulations. (Forsee USA • by of injury Danger losscontrol! of required. rence, mitigation inwhichcase supplementary measures may be In a domestic environment,this product may causeradio interfe- an environment subject to strong interference. rous functions. pecteddelays the and failuresignals offunctions. or restart. are:emergency stop, final positionlimitation, power failure and ensuresafea state and after during errors. Some examples to account into functions critical the and signals of the lities ICS7.1) NEMA and ICS1.1 NEMA also @ WARNING @ WARNING @ WARNING ilities mustilities alsoincludeunex- 6-1 Installation LXM05A

An EMC-compliant design is required to maintain the specified limit values. Depending in the case better results can be achieved with the following measures: • Upstream mains reactors. Information on current distortions can be obtained on request. • Upstream external mains filters, particularly to maintain limit values for the first environment (living area, category C2) • Particularly EMC-compliant design, e.g. in an enclosed switch cabinet with 15dB damping of radiated interference EMC scope of supply and The scope of supply includes earth clamps and an EMC plate. accessories For information on the prefabricated wiring see page 12-2. Switching cabinet setup EMC measures Effect Use EMC plate (included) or galvanised/chromed Good conductivity due mounting plates, connect metal parts over wide to two-dimensional con- area, remove coatings on contact surfaces. tacts Earth the control cabinet, door and EMC plate with Reduction of emissions. metal tapes or cables with a cross section area greater than 10 mm2. Fit switching devices such as contactors, relays or Reduction of mutual solenoids with interference suppressors or spark interference suppressors (e.g.diodes, varistors, RC elements) Install power and control components separately. Reduction of mutual interference

Cabling EMC measures Effect Keep wiring as short as possible. Do not install Avoidance of capacitive "safety loops", short cables from the star point in the and inductive interfe- switch cabinet to outlying earth connection. rence injection Use cable clamps to connect a large surface area of Reduction of emissions. the shield of all shielded cables to the mounting plate at the control cabinet entry. Fieldbus lines and signal lines must not be laid in Prevention of mutual the same conduit with lines for DC and AC voltage interference over 60 V. (Fieldbus lines can be laid in the same conduit with signal and analogue lines) Recommendation: lay in separate conduits at least 20 cm apart. Connect large surface areas of cable shields, use Reduction of emissions. cable clamps and tapes Earth shields on digital signal lines over a wide area Preventing interference at both ends or via conductive plug housing. on control cables, reduction of emissions Use bonding conductors in system with Protection of wiring, – wide-area installation reduction of emissions. – different voltage infeed – networking between different buildings Use fine-core bonding conductors Deflect even high-frequency interference currents 0198441113232, V1.04, 01.2006

6-2 AC servo drive 0198441113232, V1.04, 01.2006 X0AInstallation LXM05A ACdrive servo EMC requirement:motormotor and Equipotential bonding conductors bonding Equipotential Power supply sensor cable “twisted pair”. Effect measures EMC cabinet output andon the motor. overout be laid with low awidearea The motor cable and the motor sensor cable on the drive system must be testedfor EMCsafety andmust Use the cables recommended by your localrepresentative. Theymust Motor leads and motor sensor cables are especially signalcritical lines. in at h oo iha at ie>0mm wire >10 the motor withanearth tion, earth connec- anon-flat e.g. or byted, flange insulated an conductively not connec- are machine and motor If face at end. theshield area each of at 85%covering,ding and least ground sur- alarge cables brai- motor Use onlyshielded withcopper interference occurs, e.g. 10 NF. if via a capacitor cableother end of the earth or device atthe shield the insulate input), and (signal the at directly lines signal analogue on shield Earth ̈ ̈ Effect lightning strike Circuit breaker overvoltage isdanger of ifthere or ply to PE. Connect the negative 24Vpower the of output sup- point (not IT mains). neutral withearthed mains driveOperate systemon measures EMC ̈ Lay connections of the 24V Lay the of connections (>6 AWG) orground strap. a cablea cross section ofmm 20 length a cable cross section of 16 mm m Iflines over 100 mare approved,thefollowing applies:up200 to cables. conductor vented bonding by equipotential ferences canresult inexcessive currentsshield onthemust and pre-be Theare shieldsconnected both at ends for fault protection. Potential dif- cross section must beused section cross For long lines equipotential bonding conductors with asuitable mustbe separated by grounded screening plates. If thedistance islessthan this, the motor cable and signal cables cable. Lay the signal cable cm from 20 motor least at the mustcasing used be to prevent interference. Ifline a has to be interrupted, shielded connections and metal install switch components) fromthemotor andsensor to the unit. Layoutmotor and motor sensor cable without interruption (do not DC voltagesupply as 2 is required. be suitable for trailing cables. resistance on the unit, the switch the unit, the on resistance 2 is sufficient, for is sufficient, greater lengths 2

tion ofemissions on controlcables, reduc- Preventing interference reduction of emissions reduction interference currents, of discharge Controlled interference low-frequency to due Preventing loops ripple damage bydamage overvoltage against Protection sions, safety of EMC emis- Reduction point. star earthed tive onsystems withan Mains filteris effec-only interference increase inresistanceto of emissions,Reduction 6-3 Installation LXM05A

Earthing to star point Control cabinet Shield on Mains filter mounting plate (optional)

System earth Star point for earthing HBC

Machine bed

Earth motor to machine bed

Braking resistor Motor cable

Encoder cable

Field bus Position

Figure 6.1 EMC measures 0198441113232, V1.04, 01.2006

6-4 AC servo drive 0198441113232, V1.04, 01.2006 Insulation monitoring error (1a) Y-capacitors (1a) filter of the internal error monitoring Insulation LXM05 Installation Operation inanITmains 6.1.1 LXM05A ACdrive servo • ... D10F1, D10M2, D14N4, D10F1, D10M2, ... 1b 1a PE CAUTION: the motor must be designed for operation in the IT mains. lationsstandards. and filter“3-9 Separate measures are required to comply with national regu- maintained(specific seechapterpage)!3.4.6 categories mains “Internal for thetransmissionof electroma connectionIf to the the Y-earth capacitors is removed, the specifications Y- capacitorsmust bemaintained. With all other networks except for connection viatheIT mains the earth Y- tothe connection (deactivate the Y- capacitors capacitors). theproductscase of with integrated mains filters, disconnect theearth If, Gerin). perfect despite Merlin wiring, monitor, itmustbe suited fornon-linear loads (e.g. TypeXM200from insulation . youIf apermanent use impedance ahigh through earthed ITAnis characterised mains by aneutral conductorthatis insulated or al . Y-capacitors Table 6.1 disabledmains) (IT Y-capacitors(1b) filter of the internal effective (standard) D34N4 D28F1, D28M2, D22N4, D17F1, D17M2, gnetic interferencegnetic willnolongerbe 2b 2a disabled (IT mains) Y-capacitors(2b) filter internal the of effective (standard) Y-capacitors(2a) filter internal the of D57N4 a fault is indicated, you can, in you fault can, a indicated, is 6-5 Installation LXM05A

6.2 Mechanical installation

$ DANGER Electric shock from foreign bodies or damage. Conductive foreign bodies in the product or serious damage can cause accidental energisation. • Do not use damaged products. • Prevent foreign bodies such as chips, screws or wire clippings from entering the product. • Do not use products that contain foreign bodies. Failure to follow these instructions will result in death or serious injury.

@ WARNING Danger of injury by loss of safety function! The safety function may fail because of conductive foreign bodies, dust or liquids. • The "Power Removal" safety function must only be used if the system is protected against conductive contamination.. Failure to follow these instructions can result in death or serious injury.

@ CAUTION Hot surfaces can cause burns and damage to system components! The heat sink on the product may heat up to over 100°C depending on the operating mode. • Prevent contact with the hot heat sink. • Do not install flammable or heat-sensitive components in the immediate vicinity. • Follow the actions described for heat dissipation. Failure to follow these instructions can result in injury or equipment damage. 0198441113232, V1.04, 01.2006

6-6 AC servo drive 0198441113232, V1.04, 01.2006 3) by 2.2% per °C above 40°C (by 1.22% per °F above per°F 104°F) (by 1.22% above per°C 40°C by 2.2% 3) Recommendation: remove protective foil oncompletion ofthe installation 2) Distancein front the of device: 10mm(0.39 in.), above: 50mm(1.97in.), below:200(7.87 in.) mm 1) Distance Temperature Installation Mounting thedevice 6.2.1 LXM05A (104°F to to 122°F) (104°F +50°C to +40°C 104°F) (32°F to 0°Cto+40°C ACdrive servo Installation spacing;ventilation (d <1.97 in.) d <50mm (d >1.97 in.) d >50mm (d <1.97 in.) d <50mm (d >1.97 in.) d >50mm Switching cabinet 1) current continuous and current nominal Reduce Measures without protective foil None Reduce nominal current and and continuous current nominal Reduce mm 10 > d None None None None 3) • The drive The willswitch offasaresu • airflow The warm from other devices and componentsmust not • The device mustnot beinstalled closeheat to or sources mounted • Adequate cooling of the devicemust ensured be by complying with • the following instructions: When selecting the position of the device inthe switching cabinet, note generated by alldevices and components installed inthe switch cabinet. The switchingcabinet ventilationmust becapableof extracting the heat ponents include a holding brake controller or braking resistors. com- The EMC standards. to meet be fixed can wired and inplace sories devicesacces- all and so dimensioned must be switchingThe cabinet Figure 6.2 Installation spacing and aircirculation and spacing Installation 6.2 Figure The connecting cables come out of the bottom of the housing. At least At50 least mmof freerequired space is abovethe device. accessible. are elements operator the that of freerequired space is front in of the device.At least 10mm Makesure tedabove limits. the thermal heat theused air for cooling thedevice. on flammablematerials. theminimum installation distances. Prevent heataccumulation. d 2) Operation not possible Operation not Measures with protective foil in place current (d >0.39 in.) d lt of overtemperature when opera- 3) 6-7 Installation LXM05A

200mm free space under the device is required to ensure that wiring can be installed without excessive bending. Installing the device For the dimensions of the fastening holes see 3.3.1 “Dimensional drawings“ from page 3-3. ̈ Install the device in a vertical position (±10°). This is particularly important for cooling the device. ̈ Attach the supplied EMC plate at the bottom of the device, see also Figure 6.1, or use alternative attaching elements (comb bars, shield clamps, busbars).

Attach plate with safety instructions ̈ Attach the plate with safety instructions included with the device in a visible position on the front panel as specified by the national regulations.

An alternative to fastening the unit directly to the switching cabinet mounting plate is adapter plates for mounting to top-hat rails, see chapter .12-1 In this case mains filters cannot be attached directly beside or behind the device. Painted surfaces have an insulating effect. Remove the paint from the attachment points over a wide area (bright metal) before attaching the unit to a painted mounting plate.

Remove the protective foil

Figure 6.3 Removing protective foil

Remove the protective foil only after completion of all installation work. The protective foil must be removed if required by the thermal conditions. 0198441113232, V1.04, 01.2006

6-8 AC servo drive 0198441113232, V1.04, 01.2006 X0AInstallation Installing mainsfilter, ma 6.2.2 LXM05A ACdrive servo External line filter line External filter cannot be mounted directly beside or behind the unit. Ifyou arethe using top-hat rail mounting plates, the line EMC plate. accessiblewill notbe terminals Ifthe linefiltermounted is behind the unit, thefilter line ̈ Mounting of mains filters Figure 6.4 For directions onelectrical installation seemains supply from page 6-26. For specifications of external mains filters seepage3-9. case. this in observed directivesare EMC line filterwith or long motor lines. The operator must ensure thatthe externalAn filter line isrequiredwhenwithout usingaunit integrated an type code and the specificationspage (see3-1). You can check whether the your unit has an integrated line filter by the Mount thefilter mains atthe rear the or leftof side the device. ins reactorand braking resistor after installationofthe 6-9 Installation LXM05A

Line reactor A line reactor must be used under the following conditions: • operation on power supply networks with low impedance (maximum possible short circuit current of the network greater than specified in the Technical Data), see Technical Data from page 3-4 • at high average output power that is greater than half the rated power • where there are special requirements for the service life of the unit (24h operation) • operation on networks with reactive-current compensation systems • for improvement of the power factor at the network input and to reduce the network feedback • if overvoltages greater than overvoltage category III could occur Multiple units can be operated with one line reactor. The rated current of the reactor must be considered. In the case of a network impedance that allows a short-circuit current greater than 1kA the inductivity of the reactor must be greater than 0.8mH. Supplementary current harmonics place a heavy load on the DC bus capacitors. This has a substantial influence on the service life of the unit. For appropriate line reactors see accessories from page 12-4. The information sheet included with the mains reactor contains additional information on mounting. For directions on electrical installation see power supply from page 6-26.

External braking resistor @ WARNING Hot surfaces can cause burns, fire and damage to system components. The braking resistor may heat up to over 250°C depending on the operating mode. • Prevent contact with the hot braking resistor. • Do not place flammable or heat-sensitive components in the immediate vicinity of the braking resistor. • Ensure good heat dissipation. • Check the temperature of the braking resistor by conducting a test run under the most critical conditions. Failure to follow these instructions can result in death, serious injury or equipment damage.

The braking resistors recommended in accessories from page 12-1 comply with degree of protection IP65. They can be installed outside a switching cabinet in an environment with this degree of protection. The information sheet included with the external braking resistor contains additional information for the mounting. For information on the function and the electrical installation see page 6-20. 0198441113232, V1.04, 01.2006

6-10 AC servo drive 0198441113232, V1.04, 01.2006 X0AInstallation Electrical installation 6.3 LXM05A ACdrive servo rious injury. orse- death in result Failurefollowwill to instructions these rious injury. orse- death in result Failurefollowwill to instructions these Do not useproducts that contain foreign bodies. • Prevent foreign bodies such as ch • Do not usedamaged products. • cause accidental energisation. Conductive foreign bodiesdamage intheproduct or can serious Electric shockfrom foreign bodies ordamage. Before working onthedrive system: • The motor generates voltage when the shaft is rotated. Lock • Install all covers and close the housing doors before applying • are qualifiedpersonnelwho Only • Electric shock, fire orexplosion Manycomponents, boards, including wiring printed operate at • manufacturersystem The responsible is for with compliance • fromentering the product. Measurevoltage at DCbusandcheck for<45V. (The DC – – "DO NOT switch the on asign lock ON" and Place SWITCH – offpower Switch to allterminals. – on the drive system. work to prevent motor ofthe before shaft the rotation starting power. voltage present. with terminals the screws of or ponents mains voltage.mains all applicable regulations relevant the drive to system.earthing this drive system. the contents of this manual are authorised to on work and with voltage). bus LED is not a safe indication for absence of the DC bus not minutes 6 Wait preventto switching on. short-circuit DC bus short-circuit Do not touchDo not (for dischargebusof DC capacitors). Do $ DANGER $ DANGER . Do familiar an with ips, clippings screwsor wire not touch unshielded com- d understand 6-11 Installation LXM05A

$ DANGER Electric shock because of insufficient earthing. With insufficent earthing these is hazard of electric shock. • Earth the drive system before applying power. • Do not use metallic conduits as a earth conductor. Use a conductor housed within the conduit as the earth conductor. • Use cross-sections of the protective earth conductor that comply with the applicable codes. • Earth the cable shields on both ends, but do not regard the shields as protective earth. Failure to follow these instructions will result in death or serious injury.

@ WARNING This product can cause a direct current in the protective earth conductor! If a residual current device (FI protection switch, RCD) is used then peripheral conditions are to be observed. Failure to follow these instructions can result in death or serious injury.

Peripheral conditions for the use of If the installation regulations foresee upstream protection in the form of a residual-current-operated a residual-current-operated protective device (FI protection switch, protective device RCD) then a residual-current-operated protective device "Type A" can be used for a single-phase drive booster with a connection between N and L. A "Type B" device must be used in all other cases. The following properties should be taken into account: • Filtering high frequency currents. • Delay which prevents triggering due to possible charged fault capa- cities when switching on. This delay is not possible for 30 mA devices. In this case you should select devices which are not prone to unintentional triggering, for example a residual-current-operated protective device with increased interference resistance of the type s.i (super-immunised) (trademark Merlin Gerin). If the plant consists of a number of drive boosters then a residual-current-operated protective device must be used for each drive booster. Suitability of wiring Cables must not be twisted, stretched, crushed or kinked. Use only cables that comply with the cable specification. For example, make sure that it is suitable for: • Use as a trailing cable • Temperature range • Chemical resistance • Layout outdoors • Layout underground 0198441113232, V1.04, 01.2006

6-12 AC servo drive 0198441113232, V1.04, 01.2006 X0AInstallation Overview ofprocedure 6.3.1 LXM05A ACdrive servo 5.3 “Safety function "Power Removal"“Chapter from page5-2 • 5.2“Specification of the control mode“Chapter frompage5-2 • page5-1 from type“Chapter “Logic 5.1 • ̈ ̈ ̈ ̈ ̈ Co eoetria N 6-47 6-45 6-43 6-43 CN4 CN1 CN1 6-41 6-35 CN4 6-39 6-36 CN1orCN4 overview Installation 6-26 Table 6.2 CN5 terminal remote PC or 6-28 6-33 6-16 CN5 CN5 inputs/outputs Digital 6-20 inputs Analogue Fieldbus Modbus 6-31 CN2 CN3 Fieldbus CANopen ESIM simulation, Encoder CN3 CN1and PULSE Pulse direction, frompage A,B,Encoder I Connection to voltage supply controller 24V brakeHolding (HBC) controller encoder rotary Motor supply Mains braking resistor External phases Motor Connection from 5-1.selected The settingsinfl Observe the basic settings described in 5 “Engineering“ from page Then lock the front panel. Follow the EMCrequirements, see page 6-1. may be coveredby other lines. Table is followed, sequence Ifadifferent 6.2. connection terminals Connect the required corresponding terminal to the sequence of starpoint of the system. earthing of the device terminal Connecttheor the earth EMCplate to the Unlock thefront panel of the device and open it. uence the complete installation: 6-13 Installation LXM05A

6.3.2 Overview of all connections

Power connections Power connections device LXM05•... D10F1 (T1) T1 R/L1 S/L2 PA/+ PBi PBe PC/- U/T1 V/T2 W/T3 D10M2 (T1) D10M3X (T2) T2 R/L1 S/L2 T/L3 D14N4 (T4) PA/+ PBi PBe PC/- U/T1 V/T2 W/T3 D17F1 (T3) D17M2 (T3) T3 R/L1 S/L2 D17M3X (T4) PA/+ PBi PBe PC/- U/T1 V/T2 W/T3 D22N4 (T4) D28F1 (T3) T4 R/L1 S/L2 T/L3 D28M2 (T3) PA/+ PBi PBe PC/- U/T1 V/T2 W/T3 D34N4 (T4) D42M3X (T4) T5 R/L1 S/L2 T/L3 PA/+ PBi PBe PC/- U/T1V/T2W/T3 D57N4 (T5)

Table 6.3 Designations of the power connections

Power connections Description PE Earth connection (protective earth) R/L1, S/L2/N Mains connection, single phase devices R/L1, S/L2, T/L3 Mains connection, 3-phase devices PA/+ DC bus PBi Braking resistor internal PBe Braking resistor external PC/- DC bus U/T1,V/T2, W/T3 Motor connections

Table 6.4 Designations of the power connections 0198441113232, V1.04, 01.2006

6-14 AC servo drive 0198441113232, V1.04, 01.2006 X0AInstallation LXM05A ACdrive servo Signal connections Table 6.5 Assignment of the signal connections ofthesignal Assignment Switchfor resistor fieldbus terminating Table 6.5 A/B/I in signals in,encoder ESIM(A/B/Iout), PULSE/DIR depending onthe “First Setup” 1) PC,Modbus, (RJ45) remoteterminal, CANopen; S1 24VPELV supply voltagecontroller CN5 Motorencoder (Hiperface Sensor) CN4 CN3 CN2 ±10V, inputs Analogue 11to pin 14 CN1 switch Connection/ connections Overview signal of the 6.5 Figure 122 11 CN Digital inputs/outputs, 31-39 inputs/outputs, pin Digital pin21-23 CANopen, Assignments 232 12

2 13 14 21 S1 335 23 CN 4 CN1 31 OFF 338 33 34 63 36 144 41 CN 5 CN 42 37 43

3 9 1) 6-15 Installation LXM05A

6.3.3 Reference value signals and limits

External limits can be specified for the external reference value signals for operation. Table 6.6 shows the assignment options depending on the operating modes.

Operating mode External reference Terminal External limit Terminal value Current control ANA_IN1 (current) CN1, Pin 11, 12 1) None ANA_IN1 (current) CN1, Pin 11, 12 1) ANA_IN2 (current) CN1, Pin 13, 14 1) ANA_IN1 (current) CN1, Pin 11, 12 1) ANA_IN2 (rpm) CN1, Pin 13, 14 1) Speed control ANA_IN1 (rpm) CN1, Pin 11, 12 1) None ANA_IN1 (rpm) CN1, Pin 11, 12 1) ANA_IN2 (current) CN1, Pin 13, 14 1) ANA_IN1 (rpm) CN1, Pin 11, 12 1) ANA_IN2 (rpm) CN1, Pin 13, 14 1) electronic gearbox PULSE/DIR Signal CN5 None A/B Signal CN5 None Profile position None, generated by CN4 2) LIMP, LIMN CN1, Pin 34, 35 profile generator Profile velocity None, generated by CN4 2) LIMP, LIMN CN1, Pin 34, 35 profile generator Homing None, generated by CN4 2) LIMP, LIMN CN1, Pin 34, 35 profile generator Jog None, generated by Local: None - profile generator fieldbus: LIMP, LIMN CN1, Pin 34, 35 1) CN1, Pin 11-14 = 14-bit analogue input; alternatively, via parameter value in fieldbus control mode 2) CN4 = CANopen, Modbus connection

Table 6.6 Reference value signals and limits

6.3.4 Motor phase connections

$ DANGER Electric shock High voltages can occur unexpectedly at the motor connection. • The motor generates voltage when the shaft is rotated. Lock the shaft of the motor to prevent rotation before starting work on the drive system. • AC voltages may jump over unused wires in the motor cable. Isolate unused wires at both ends of the motor cable. • The system manufacturer is responsible for compliance with all applicable regulations relevant to earthing the drive system. Extend the earth through the motor cable with an additional earth at the motor housing. Failure to follow these instructions will result in death or serious injury.

Cable specifications • Shielded cable • Minimum cross section of wires: see table. 0198441113232, V1.04, 01.2006

6-16 AC servo drive 0198441113232, V1.04, 01.2006 X0AInstallation LXM05A ACdrive servo fuse at the mains connection canthe intripped beevent of afault. mustThehave wiring asufficiently largesection cross to ensure thatthe For more information see 3.5.6 “Cable“ on page 3-12. • Maximum cable length: dependsrequired on limit values forline- • of the shieldat both Earthing ends • oncincosscinmm Connection cross section AWG 14 to 20 10 to 16 6 to 6to 12 10to16 to 2.8 2.2 14 to 20 to 1.5 1.2 ̈ to 0.6 0.5 Nm end Wire ferrules or fork-type cable lugsarerequired with acrosssection 2.5 of 1) torque Starting AWG LXM05 mm 3-9 and chaptermains 3.5.3 filter“ “External page 3-10. page filter“ mains “Internal 3.4.6 interference, chapter see related page 12-2). Use prefabricated cables error ofminimise to awiring (from therisk 2 (AWG 14). • . D10 ... 2 .5t . . o43.3 to 16 1.5 to 4 0.75 to1.5 ••• D4 D3 D2 D17 D14 •••• ••• ••• ••• •• D5 ••• 1) 6-17 1) Installation LXM05A

Preparing cables Note the dimensions specified when fabricating cables.

BK L1 BK L2 2 BK L3 GN/YE WH GR

3a C 3b C BK L1 BK L2 BK L3 BK L1 BK L2 BK L3

GN/YE GN/YE WH GR WH B GR A A

Figure 6.6 Steps (1-3) for fabrication of the motor cable

LXM05•... D10•• D14•• D2••• D17••• D3••• D4•••• D5••• A mm 130 130 130 B mm 120 120 120 Cmm758590

̈ (1) Remove the cable sheath, length A depends on the device, see the table above. ̈ (2) Slide the shield braiding back over the cable sheath and store the shield braiding. Note that during installation the shield braiding must be positioned flat on the EMC plate. ̈ (3) Shorten the wires for the holding brake to length B and the three motor lines to length C. The protective conductor has length A. (3a) The two brake connection lines must have length B for motors with holding brake. (3b) The two brake connection lines must be separately insulated for motors without a holding brake.

Use fork-type cable lugs or wire end ferrules. The lead must fill the sleeve for its entire length to ensure maximum current carrying capacity and vibration resistance. 0198441113232, V1.04, 01.2006

6-18 AC servo drive 0198441113232, V1.04, 01.2006 X0AInstallation LXM05A ACdrive servo Connecting the motor cable motor the Connecting Wiring diagram Wiring Monitoring king resistor isnot monitored. circuit betweenA theshort motor phases against the DC bus or the bra- circuit betweenthemotor phases short and PE • circuit between short the motor phases • The motor lines are monitored for: /3Mtrla black L3(BK) black L2(BK) green/yellow (GN/YE) black L1(BK) brake Holding connection Protective conductor Colour Motorlead Motorlead Motorlead (1) PE W/T3 Description V/T2 U/T1 Terminal brake diagram, holding without here Motor wiring 6.7 Figure ̈ ̈ ̈ ̈ Fix the cable shielding flat ontheEMC plate. device sidesmust match. T1, V/T2, W/T3andThePE. cable assignment at the motor and Connectthe motorleads and protectiveU/ conductor to terminals 1. Pos Insulate unused wires at both ends and individually, see Figure 6.7, Follow the EMCrequirementsfor motor cables,see page 6-3. W/T3 U/T1 V/T2 see page 6-31 page see For brake motors with holding cable 1 white (WH), grey (GR) 3~ M 6-19 Installation LXM05A

6.3.5 Connection of braking resistor

@ WARNING Risk of injury and damage to system components by unbraked motor! An insufficient braking resistor causes overvoltage on the DC bus and switches off the power amplifier. The motor is no longer actively braked. • Make sure that the braking resistor is sufficiently dimensioned. • Check the setting of the parameter for the braking resistor. • Check the temperature of the braking resistor by conducting a test run under the most critical conditions. • During the test make sure that at higher mains voltage there is less reserve in the capacitors on the DC bus. Failure to follow these instructions can result in death, serious injury or equipment damage.

6.3.5.1 Internal braking resistor

A braking resistor is integrated in the device to absorb braking energy. If the DC bus voltage exceeds a specified value, this braking resistor is switched on. The returned energy is converted to heat by the resistance. See also dimensioning aid, page 6-22. The internal braking resistor is connected on delivery. The internal braking resistor is at the back of the device.

6.3.5.2 External braking resistor

An external braking resistor is required for applications in which the motor must be heavily braked and the internal braking resistor cannot dis- sipate the excess braking energy. Two or more braking resistors can also be connected. Monitoring The device monitors the power of the braking resistor. The load on the resistance can be read out. The connection of the external resistance is protected against short circuit. Selection of the external braking The size of an external braking resistor is specified by the required resistor peaks and the continuous output at which the braking resistor can be operated. If applicable, see the section on dimensioning aid, page 6-22. The resistance value R [Ω] is derived from the required peak power and the DC bus voltage.

2 R = U / Pmax U : Switching threshold [V] Pmax : Peek power [W] R: Resistance [Ohm]

Figure 6.8 Calculating the resistance R of an external braking resistor

It two or more resistances are connected, not the following criteria: 0198441113232, V1.04, 01.2006

6-20 AC servo drive 0198441113232, V1.04, 01.2006 X0AInstallation LXM05A ACdrive servo Connecting external braking Cable specifications Wiring diagram Wiring resistor and vibration resistance. sleeve for to ensu length itsentire Use fork-type cable lugs or wire end ferrules. Themust lead fillthe perature-resistantcable with alength of 0.75 mto 3m. have a3-wire, tem- inaccessories recommended resistors braking The 3m cable length: Maximum • of the shieldat both Earthing ends • power,mains with The as 6-26. page see cross-section: minimum • Shielded wires • For suitable brakingresistors, page on12-1. seeaccessories The total continuous outputof theindividual resistorsmust yield the • fall must not resistance value external below resistance of the a The • • The resistors must be wired in pa in wired be must resistors The • commissioning (page 7-19). (page commissioning Test the functionof the braking resistor underrealistic conditions during ̈ ̈ ̈ ̈ ̈ ̈ Figure 6.9 Wiring diagram, resistor braking Wiring 6.9 Figure fusethe atmains connection can betriggered inthe eventfault. of a must havewiring a sufficiently lar required continuous output. resistor“. “Braking 3.4.5 chapter see limit, bottom resistance isreached. Spread the shieldingof the cables out flatonplate. the EMC Connectthe braking resistorto the device, see Figure6.9. the PEconnectionthe of brakingEarth resistor. destroyed operation. during If thejumpernotremoved, is braking the internal resistor may be Remove jumper, the 6.9. Figure see Before opening the devicedisconnect from it thevoltage. supply theObserve safety for instructions installation. the electrical A+PiPePC/- PBe PBi PA/+ External brakingresistor (delivery status) Bridge tointernalbrakingresistor re maximum current carrying capacity capacity re maximum currentcarrying /1VT W/T3 V/T2 U/T1 ge cross sectionto ensurege cross thatthe rallel or in series sotherequired rallelor inseries 6-21 Installation LXM05A

6.3.5.3 Dimensioning aid

The elements contributing towards the absorption of braking energy are calculated to assist in specification. This is used to calculate the size of the braking resistor. An external braking resistor is required if the kinetic energy that must be absorbed exceeds the total of internal components, including the internal braking resistor. Internal energy absorption Braking energy is absorbed internally by the following mechanisms:

• DC bus capacitor WZW

• Internal braking resistor WIN

• Electrical losses in the drive WE

• Mechanical losses in the drive WM

The energy WZW depends in a square-law function on the difference between the voltage before the braking operation and the response threshold. The voltage before the braking operation depends on the line voltage. The energy absorption by the DC bus capacitors is lowest when the line voltage is highest. Use the values for the highest line voltage. Energy absorption of the internal Two characteristic values relating to the internal braking resistor deter- braking resistor mine its energy absorption.

• The continuous output PAV shows how much energy can be continuously dissipated without overloading the braking resistor.

• The maximum energy Wpeak limits the higher heat loss which can be dissipated in the short term. If the continuous output is exceeded for a specified time, the braking resistors remain unloaded for a correspondingly period. This ensures that the braking resistor is not destroyed.

The characteristic values PAV and Wpeak of the internal braking resistor can be found from page 3-8.

Electrical losses WE The electrical losses WE in the drive can be estimated from the peak power of the drive. The maximum power loss is around 10% of peak power for a typical efficiency factor of 90%. If the current on braking is lower, the power loss will be reduced accordingly.

Mechanical losses WM The mechanical losses result from absorption by friction, which occurs when the system is running. Mechanical losses can be ignored if the system requires a much longer time to coast to a stop than the time required to stop the system under braking. The mechanical losses can be calculated from the load torque and the speed from which the motor is to stop.

Example Braking of a motor with the following data (AC IN equal to 400VAC): • Starting speed: n = 4000 min-1 2 • Rotor inertia: JR= 4 kgcm 2 • Load inertia: JL= 6 kgcm The energy to be absorbed is given by: 2 WB = 1/2 * J * (2*π*n) 0198441113232, V1.04, 01.2006

6-22 AC servo drive 0198441113232, V1.04, 01.2006 X0AInstallation LXM05A ACdrive servo Ratings the external braking resistor The total inertia (J inertia total The Calculation of the energyatconstant runout: J J In theexample the ratioW brakingresistor willnotbesufficient. sufficient.sistor is If braking takes placemorefrequently, the internal be absorbed W be considered. If the cycle time is longer than the ratio of the energy to Ifthebraking process isrepeated cyclically, the continuous output must load isstopped onceunder braking. sorb apulse80 of braking Ws. Theresistorsufficient internal is ifthe brakingThe internal resistor must absorb the residual 65 Ws. It can ab- 23 Wsare absorbed inthe DC bus c and mechanical lossesareElectrical ignored. Ws 88 to J required with a shorter cycle time.cycle required with ashorter brakes are identified by(D segments of the characteristicunder consideration inwhichthe motor These twocharacteristics arefor alsoused the rating the motor. The for resistor braking Characteristics the rating 6.10 Figure J The followingis derived for the segments (D The energy for each runout segment is calculated as follows: c m t t =J isgiven by: : Load inertia : Motor inertia :with Motor and inertia without brake m + J c M M M M M n n n n 0 0 2 3 5 4 1 2 3 4 1 B and thecontinuous power P t Torque required Motor speed 1 t ) must be known. be ) must t E 2 t 3 i =J 2 1 t 4 B i ) /P t AV Cycle time t 5 ω is1.3 s. Anexternal braking resistor is t i 6 2 D1 t = 7 apacitors at apower supply of 400 V. t 8 2 1 D2 t 9 J t t 10 2π 60 1 AV D3 ) … (D ) … n i , braking the internal re- 2 t 11 t 12 3 ): t t 6-23 Installation LXM05A

2π( 2 1 n3 - n1 ) E =J 1 2 t 60

2π 2 1 n1 E =J 2 2 t 60

Units: Ei in joules, Jt in kg/m², w in rad and ni in rpm. The table shown below gives the energy uptake capacity, Evar, for the individual drive regulators (without regard to an internal or external braking resistor). When continuing with the calculation, take into account only those segments Di whose energy Ei exceeds the uptake capacity shown in the table. These excess energies EDi should be removed via the braking resistors (internal or external).

The calculation of EDi is accomplished using the formula:

EDi = Ei - Evar (in Joules)

The continuous power Pc is calculated for each machine cycle

ΣE P = Di c Cycletime

Units: Pc in [W], EDi in [J] and cycle time T in [s] Selection takes place in two steps: • The maximum energy during the braking process must be less than the peak energy that the braking resistor can accommodate: (EDi)<(ECr) . In addition the continuous output of the internal braking resistor must not be exceeded: (PC)<(PPr). If these conditions are met, then the internal braking resistor is adequate. • If any one of the conditions is not met, it is necessary to use an external braking resistor. The resistance should be chosen such that the conditions are met. The value of the resistance must be between the specified minimum and maximum values, since otherwise the load can no longer be safely braked or the product could be destroyed. For the order data for the external braking resistors see the accessories section from page 12-4. 0198441113232, V1.04, 01.2006

6-24 AC servo drive 0198441113232, V1.04, 01.2006 eitneitra [ internal resistance wtho otg V 3 3 3 7 7 7 760 770 770 770 430 430 430 430 [V] 430 [ 430 braking resistormin External Switch-on voltage 250 Peak energyE 250 250 [V] [ braking resistormin External Switch-on voltage Peak energyE )at 480V: 10.0Ws 3) at 480V: 12.0Ws Installation 2) at 480V: 6.0Ws 1) [ internal resistance capacitors E Energy internal consumption of LXM05 capacitors E Energy internal consumption of LXM05 LXM05A Continuous output P output Continuous xenlbaigrsso a [ braking resistormax External [ braking resistormax External Continuous output P output Continuous ACdrive servo • • . 1MXD73 4MXD44D24D44D57N4 D34N4 D22N4 D14N4 D42M3X D17M3X D10M3X D28M2 D17M2 D10M2 D28F1 ... D17F1 D10F1 ... var var CR CR PR PR W]1. 622. 772. 43.0 26.6 17.7 26.0 16.2 10.8 [Ws] W]909010 0010 602000 1600 1600 1000 1600 900 26.0 900 43.0 [Ws] 1600 [W]204060406060100 26.6 900 17.7 [Ws] 900 1000 500 500 [Ws] [W]204060204060 Ω Ω Ω Ω Ω Ω ]404010404020 ]50271060252510]272010502716 ]40402040303020 ]75452080363621]452720754527 1) 52.0 2) 52.0 2) 104.0 3) 6-25 Installation LXM05A

6.3.6 Connection of power amplifier supply voltage

$ DANGER Electric shock because of insufficient earthing This drive system has an increased leakage current > 3.5mA. • Use a protective conductor at least 10 mm² (AWG 6) or two protective conductors with the same cross section as the power supply conductors. Observe the local regulations for earthing. Failure to follow these instructions will result in death or serious injury.

@ WARNING Inadequate overcurrent protection • Use the external fuses specified in the "Technical Data" chapter. • Do not connect the product to mains if the short-circuit capacity exceeds the maximum short-circuit current specified in the "Technical Data" chapter. Failure to follow these instructions can result in death, serious injury or equipment damage.

CAUTION Destruction by incorrect mains voltage! The incorrect mains voltage may destroy the product. • Before switching on and configuring the product, make sure that the type is approved for the mains voltage. Failure to follow these instructions can result in equipment damage.

Cable specifications The wiring must have a sufficiently large cross section to ensure that the fuse at the mains connection can be tripped in the event of a fault. When connecting the device in an IT mains follow the directions in 6.1.1 “Operation in an IT mains“. In addition, note the suitability of the wiring, see page 6-12 and the EMC- compliant connection, see page 6-2.

LXM05•... D10••• D14•• D5••• D17••• D2••• D3••• D4•••• Connection cross section mm2 0.75 to 1.5 1.5 to 4 3.3 to 16 1) AWG 14 to 20 10 to 16 6 to 12 1) Starting torque Nm 0.5 to 0.6 1.2 to 1.5 2.2 to 2.8 0198441113232, V1.04, 01.2006

6-26 AC servo drive 0198441113232, V1.04, 01.2006 X0AInstallation LXM05A ACdrive servo Wiring diagramWiring of 1-phase device Connecting mains power Preparing cables rallybeinstead used of L2. CAUTION: inthree-phase systems the neutral conductor N must gene- nal mains filterand mains reactor . exter- optional the of wiring device. the shows diagramphase also The Figure 6.11 shows the connectionofthe mains power supply fora single The PEconnectionon the casemust beconnected to the mounting • Follow the requirements for design of corresponding UL, see page • Observethe EMC requirements. If necessary, useovervoltage • For devices mainsfilt withexternal • 3-phase devices mustconnected onlybe operated and on 3-phase. • Observe the following at alltimes: instructions and vibration resistance. sleeve for to ensu length itsentire Use fork-type cable lugs or wire end ferrules. Themust lead fillthe 1) Wire end Wire ferrules or fork-type cable lugsarerequired with acrosssection 2.5 of 1) Figure 6.11 Wiring diagram:mains power Wiring for device phase a single 6.11 Figure ̈ Product L1. filter(optional) Mains If neutral conductor Nisused instead of L2, afuseis only required with reactor Mains (optional) (3) (2) (1) mm plate becausethe of leakage high currents. 3-1. arrestors,filters mains andreactors, mains see page 6-9. device at andboth earthed ends. mmlength between the externalfilter mains and the ded from200 your device, see chapter 6.3.2 “Overviewall of connections“. Connectthe power cables. Note the exactassignment terminal of 2 (AWG 14). PE L2 L1 E1 1 S1 re maximum current carrying capacity capacity re maximum currentcarrying er the power cablemustshiel- be S/L2 R/L1 2 S/L2 R/L1 3 6-27 Installation LXM05A

Wiring diagram of 3-phase device Figure 6.12 shows the connection of the mains power supply for a 3- phase device. The diagram also shows the wiring of the optional external mains filter and mains reactor .

PE 1 2 3

E1 S1 R/L1 L1 R/L1 E2 S2 S/L2 L2 S/L2 E3 S3 T/L3 L3 T/L3

Figure 6.12 Wiring diagram:mains power for 3-phase device

(1) Mains reactor (optional) (2) Mains filter (optional) (3) Product ̈ Connect the power cables. Note the exact terminal assignment of your device, see chapter 6.3.2 “Overview of all connections“.

6.3.7 Connection for parallel operation

CAUTION Destruction of the drive system by incorrect parallel operation. Operation with a non-approved parallel circuit on the DC bus may destroy the drive systems immediately or after a delay. • Find out the general conditions and requirements for parallel circuits on the DC bus from your local representative. Failure to follow these instructions can result in equipment damage.

6.3.8 Connection of motor encoder (CN2)

Function and sensor type The motor sensor is a Hiperface sensor (SinCos sensor) integrated into the motor. It captures the rotor position of the motor and sends the motor position to the unit both analogue and digitally. Cable specifications • Shielded cable • Twisted pair lines • Minimum cross section of signal wires: 10*0.25 mm2 + 2*0.5 mm2 • Earthing of the shield at both ends • maximum cable length 100m • For more information see 3.5.6 “Cable“ on page 3-12. 0198441113232, V1.04, 01.2006

6-28 AC servo drive 0198441113232, V1.04, 01.2006 X0AInstallation LXM05A ACdrive servo 2 1 Preparing cables A m9 0 3 120 130 100 90 mm mm15151515 mm25252525C B A ̈ ̈ LXM05 for Steps (1-5) fabrication cable thesensor of 6.13 Figure ̈ ̈ ̈ ̈ ̈ housingareapplicable when the included EMC plate isused. fabricated cable. The dimensions for positioning the shieldon the even out pre- with carried be must 6.13 Figure in 5 Step 12-2). page Use prefabricated cables error ofminimise to awiring (from therisk tion). fastened there connec- atplate the EMC clampa with (shield-earth (5) Sheath the cable to length C on the position shown, the cable is pin assignment see Figure6.14. wrap.shrink Plug contacts the crimp into the connector shell; for the shield the insulated braided wire. (4) the plug Crimp contacts on the remaining braided wires and on cut off. Insulate the shield braidedwrap. wireshrink with (3) The red and the violet braided wiresare not required and can be braided requ wire is filler (2)Slide the shieldbraiding backover the cable sheath. The shield table the above. (1)Remove the cablesheath, lengthdepends A the on device, see 6.13. Figure in dimensions the If you are notprefabricated using follow wiring, the procedure and • . D10 ... 5 3 ired as the connection. ired as RD+VT • Insulate the shield braiding Insulate theshield with B D17 D14 ••• •• 4 D4 D3 D2 C ••• ••• ••• D5 ••• 6-29 Installation LXM05A

Wiring diagram

SHLD 1 12 6 A 11 12 1110 9 8 7 5 8 CN2 2 9 6 514 3 2 4 3 A NC 10 NC

Figure 6.14 Motor sensor wiring diagram

Pin Signal Motor, pin Colour 1) Pair Description I/O 1 SHLD Shielding braid 12 SIN 8 white 1 Sine signal I 6 REFSIN 4 brown 1 Reference for sine signal, 2.5 V O 11 COS 9 green 2 Cosine signal I 5 REFCOS 5 yellow 2 Reference for cosine signal, 2.5 V O 8 Data 6 grey 3 Receive and transmit data I/O 2 Data 7 pink 3 Receive and transmit data, inverted I/O 10 ENC_0V 11 blue 4 sensor reference potential (encoder) (0.5mm2)O red 4 not assigned (0.5mm2) 3 TMOT_0V 1 black 5 Reference potential for T_MOT purple 5 not assigned 9 T_MOT 2 grey/pink 6 temperature sensor PTC I

4 ENC+10V_OUT 10 red/blue 6 10 VDC power supply for sensor, max. 150 mA O 7 n.c. not assigned 1) Colour data is based on the prefabricated cables

Connecting motor sensor ̈ Make sure that the wiring, the cables and the connected interfaces meet the requirements for PELV. ̈ Note the EMC specification for motor sensor wiring from page 6-3, and ensure the equipotential bonding over equipotential bonding conductors. ̈ Connect the plug to CN2. ̈ Fasten the cable to the EMC plate and make sure that the cable shielding is spread over a wide area. 0198441113232, V1.04, 01.2006

6-30 AC servo drive 0198441113232, V1.04, 01.2006 X0AInstallation Connection ofholding 6.3.9 LXM05A ACdrive servo Selection and dimensioning brakecontr The unshielded section of the brake wiremust not exceed12 cm • The drive powerof many motors isreducedthe ifcurrent reduction • The controllersupply voltage the and power supply forthebrake • A separate poweris required. supply This must correspond to the • ver, followingis imperativetaken account: it the that into are points conditions youUnder certain can omit [A] switching A + current 0.5 = [A] HBC current Input rent fortheholding brakecalculated and is from: Notethe power requirement of the HBC. It depends on the switching cur- see accessories from page 12-1. device, the by For on for 8-69. data parameters page HBC see order the Delaytimes forthe release and theapplication of the brake canbe set motorand whichfixes the motor axlequickly when the motorstopped. is logic (HBC) which releases the brakecurrent when issuppliedthe to For a motor with holding brake,we recommendan appropriate start-up rious injury. orse- death in result Failurefollowwill to instructions these rious injury. orse- death in result Failurefollowwill to instructions these manufacturersystem The responsible is for with compliance • AC voltages mayover jump unused wires inthe motor cable. • The motor generates voltage when the shaft is rotated. Lock • High voltages can occur unexpectedly at the motor connection. Electric shock •Do Use a holding brake controller. • respond to the PELV requirements. The to the wiring brake inthe motor cable generallydoes not cor- Electric shock because of voltage spread because of possibleinterference. EMC to the brakeomitted. is be safelymustisolated. electrically brakespecified tolerances. earth at the motor housing.earth through themotor cableExtend the earth with anadditional all applicable regulations relevant the drive to system.earthing Isolate unused wiresboth at endsthe ofmotor cable. on the drive system. work to prevent motor ofthe before shaft the rotation starting not connect the brake to the controllervoltage. oller (HBC) $ DANGER $ DANGER a holdingbrake controller. Howe- 6-31 Installation LXM05A

Wiring diagram HBC

HBC

+RELEASE_BRAKE CN1.32 13/23 -RELEASE_BRAKE 14/24 0VDC CN3.42 12/22 +24VDC CN3.44 11/21 +BRAKE_OUT 32 -BRAKE_OUT 34

U/T1 M V/T2 3~ W/T3

Figure 6.15 Wiring diagram, motor with holding brake and HBC

HBC terminal HBC connection Description Colour 32 +BRAKE_OUT Brake wire white (WH) 34 -BRAKE_OUT Brake wire grey (GR) 13/23 +RELEASE_BRAKE Control line ACTIVE1_OUT 14/24 -RELEASE_BRAKE Reference potential to ACTIVE1_OUT 11/21 +24VDC Supply voltage 12/22 0VDC Reference potential for supply voltage

A maximum motor cable length of 50m is permitted for the BSH motors when using the holding brake controller. If a greater length is required, a cable with a larger cross section of the brake wires (>1mm2) is permitted. Connecting HBC ̈ Attach the holding brake controller to the right of the device, see Figure 6.1. ̈ Insulate unused leads individually.

The power supply to the holding brake must be insulated from that of the PELV circuit of the device. The insulation is internal in the HBC described in the accessories chapter. For further information on HBC see page 3-10, 7-28, 12-1. 0198441113232, V1.04, 01.2006

6-32 AC servo drive 0198441113232, V1.04, 01.2006 X0AInstallation Connectionofcontroller 6.3.10 LXM05A ACdrive servo for alloperating modes. The controller power supply ( equipment damage. or ininjury result can followFailure to instructions these Neverconnect the controller supply voltage orchangeits • Check for correct connection before switching on. • Do not interrupt the negativeconnection between powersup- • negative connection to the controller supply voltage is interrupted. Excessive currents can be created at the signal connections if the Destruction of unitcomponentsand lossof control! damage. inequipment result can followFailure instructions to these Switch the line input of the powerinsteadsupply of the output • value peak output the ofthe limits that apower Use supply • switching contacts, the contacts may bedestroyed or welded shut. does not have amake current limit.Ifthe voltageis switched onby The connection forthe controller power supply at thedrive system Destruction of contacts. rious injury. orse- death in result Failurefollowwill to instructions these Connect thenegative output of the powerto supplyPE. • Usepowera supply that meets the requirements for PELV • nals in thedrive system. The Electric shock from incorrect power supply. supply voltage (24V atCN3) supply voltage (24V wiring while thereis su wiring ply unit andwith load afuseswitch or voltage. current to avalue permissiblefor the contact. (Protective Extra Low Voltage) +24VDC supply voltage isconnectedwith many exposed sig- @ CAUTION $ DANGER CAUTION pply voltage present. +24VDC ) must be connected 6-33 Installation LXM05A

Wiring diagram

4142 43 44

CN3 24V = 0V

~ +24V HBC

Figure 6.16 Controller supply voltage wiring diagram

Pin Signal Description 41 0VDC Reference potential for 24V voltage 42 0VDC Reference potential for 24V voltage 43 +24VDC 24V controller supply voltage 44 +24VDC 24V controller supply voltage

Connecting the controller supply ̈ Make sure that the cables, the wiring and the connected interfaces voltage meet the requirements for PELV. ̈ Feed the controller supply voltage from a power supply unit (PELV) to the device. ̈ Earth the negative output at the power supply

Dimensioning • Terminal CN3, pin 42 and 44 (see Figure 6.16) can be used as a 0V/24V terminal for additional consumers. Note the maximum terminal current, see Technical Data, from page 3-1. • As long as the controller supply voltage is switched on, the position of the motor will remain the same, even if the power amplifier supply voltage is switched off. 0198441113232, V1.04, 01.2006

6-34 AC servo drive 0198441113232, V1.04, 01.2006 X0AInstallation Connectingencodersig 6.3.11 LXM05A ACdrive servo Cable specifications Connect the sensor Wiring diagram Wiring Function A CN5 • Minimum cross section of the signal wires 0.25 mm 0.25 wires signal the of section cross Minimum • Twisted pairlines • Shielded cable • ̈ ̈ ̈ ̈ 100m cable length Maximum • of the shieldat both Earthing ends • for- counting index and signal, A,B pulse diagram with Timing Figure 6.17 Figure 6.18 Wiring diagram, to CN5 Encoder Wiring 6.18 Figure gnals and index pulse (I) in electronic gear operating mode. At CN5the setpoint value preset can be made viaexternally fed A/B si- nals A,B,I(CN5) Setup", page 7-13 page Setup", Make the appropriate settings commissioning.during See "First make sure the pinassignment iscorrect. Connectthe to plugIfCN5.you are not using prefabricated wiring, page 12-2). Use prefabricated cables error ofminimise to awiring (from therisk Use equipotential bonding conductors, seepage6-3. A B 0 1 0 1 0 1 ...... 7 06 10 51 wards and backwardswards and 8 9 4 A 9 8 3 7 2 + 213 12 SHLD 13 414 14 9 4 8 3 7 2 6 1 5 15 ... 2 - 9 8.. 6-35 Installation LXM05A

Pin Signal Colour 1) Description I/O 1 ENC_A white Encoder signal channel A RS422 input signal 6 ENC_A brown Channel A, inverted RS422 input signal 2 ENC_B green Encoder signal channel B RS422 input signal 7 ENC_B yellow Channel B, inverted RS422 input signal 3 ENC_I grey Channel index pulse RS422 input signal 8 ENC_I pink Channel index pulse, inverted RS422 input signal 4 ACTIVE2_OUT red Drive ready Open collector 9 POS_0V blue Reference potential 5 SHLD Shield 10 nc not assigned 1) Information on colour refers to the wires available as accessories.

6.3.12 PULSE (CN5) connection

@ WARNING Unexpected motion may cause injury and damage to the system. Incorrect or faulty signals as reference position can trigger unexpected movements. • Use shielded cables with twisted-pair. • Operate the interface with push-pull signals. • Do not use signals without push-pull in critical applications or in an environment subject to interference. • Do not use signals without push-pull with cable lengths over 3 m and limit the frequency to 50 kHz Failure to follow these instructions can result in death, serious injury or equipment damage.

@ CAUTION Destruction of the product and loss of control! The PULSE, DIR and ENABLE inputs on this connection are only rated for 5V. Excessive voltage can cause destruction of the product either immediately or at a later time. • Check the correct connection before switching on. Failure to follow these instructions can result in injury or equipment damage.

Function The device is suitable for setpoint value default via externally fed pulse/ direction signals. For example, this is required for the electronic gear operating mode. Pulse-direction signals are used as reference signals for positioning the motor and as a control signal for power amplifier enable . Operation readiness and a possible breakdown are reported. 0198441113232, V1.04, 01.2006

6-36 AC servo drive 0198441113232, V1.04, 01.2006 X0AInstallation LXM05A ACdrive servo Circuit of the signal inputs ACTIVE2_OUT PULSE/DIR ENABLE ledgeda with falling edgeon the input signal be used to enable the poweramplifier. Afault message isalso acknow- If the caseof localcontroller operating modethe output shows that the unit isready for operation. gnal The motor executes an angular step on theedge of rising the PULSEsi- 2 ACTIVE2_OUT Ifthere isnobreakdown,theoutput Function Value The maximum frequency of Signal 1 Pin signal direction Pulse 6.19 Figure readiness for approx. 100 ms after the power amplifier is enabled. is power amplifier the after ms for approx.readiness 100 PULSE Open collector RS422 PULSE DIR DIR PULSE 0 1 0 1 . The direction of rotation is controlled by the controlled is rotation of direction . The is an open is collector output and switches against 0V.The >2,5µs + >2,5µs PULSE pnClockwise rotation 0 /open 0 -> 1 Motor step Motor 0 ->1 and ACTIVE2_OUT + >0,0µs CN5 CN5 DIR is 200 kHz. is200 ENABLE >2,5µs ENABLE +5V +5V 0 10k 10k 10k 10k 4.7k 4.7k displays operational - Ω Ω Ω Ω +5V +5V . signal can also DIR Ω Ω + + - - signal. + 6-37 Installation LXM05A

Figure 6.20 Circuit of the signal inputs PULSE, DIR and ENABLE

Cable specifications • Shielded cable • Twisted pair lines • Minimum cross section of the signal wires 0.14 mm2 • Earthing of the shield at both ends • Maximum length 100 m ̈ Use equipotential bonding conductors, see page 6-3. ̈ Use prefabricated cables to minimise the risk of a wiring error (from page 12-1).

Connecting PULSE ̈ Connect the plug to CN5. If you are not using prefabricated wiring, make sure the pin assignment is correct. ̈ Make the appropriate settings during commissioning. See "First Setup", page 7-13

Wiring diagram

SHLD 5 A 1 6 109 8 7 6 2 7 3 514 3 2 8 4 CN5 9

Figure 6.21 Wiring diagram PULSE

Pin Signal Colour 1) Description I/O 1 PULSE white Motor step "Pulse" RS422 input signal 6 PULSE brown Motor step "Pulse", inverted RS422 input signal 2 DIR green direction of rotation "DIR" RS422 input signal 7 DIR yellow direction of rotation "Dir", inverted RS422 input signal 3 ENABLE grey Enable signal RS422 input signal 8 ENABLE pink Enable signal, inverted RS422 input signal 4 ACTIVE2_OUT red Drive ready Open collector 9 POS_0V blue Reference potential - 5 SHLD Shield 10 nc not assigned 1) Information on colour refers to the wires available as accessories. 0198441113232, V1.04, 01.2006

6-38 AC servo drive 0198441113232, V1.04, 01.2006 X0AInstallation Connectionofencoder 6.3.13 LXM05A ACdrive servo Cable specification Connecting ESIM Resolution Function iiu rs eto ftesga ie .4mm 0.14 wires signal the of section cross Minimum • Twisted-pair conductors • Shielded cable • ̈ ̈ ̈ ̈ Maximum lengthm 100 • of the screenatboth Earthing ends • for- counting index and signal, A,B pulse diagram with Timing Figure 6.22 increments per revolution. The basic resolution of the encoder simulation at 4xresolution is4096 gnal. signals Aand B. The A/B signals are generated by the motor encoder si- of the actual position can be led out at CN5. They are two phase-shifted The device issuitable for encoder simulation (ESIM). Signals for output simulation (CN5) Setup", page 7-13 page Setup", Make the appropriate settings commissioning.during See "First make sure the pinassignment iscorrect. Connectthe to plugIfCN5.you are not using prefabricated wiring, page 12-2). Use prefabricated cables error ofminimise to awiring (from therisk Use equipotential bonding conductors, seepage6-3. A B 0 1 0 1 0 1 ...... 7 wards and backwardswards and 8 9 + 213 12 13 414 14 15 ... 2 - 9 8.. 6-39 Installation LXM05A

Wiring diagram

SHLD 5 A 1 6 109 8 7 6 2 7 3 514 3 2 8 4 CN5 9

Figure 6.23 ESIM wiring diagram

Pin Signal Colour 1) Description I/O 1 ESIM_A white Channel A RS422 output signal 6 ESIM_A brown Channel A, inverted RS422 output signal 2 ESIM_B green Channel B RS422 output signal 7 ESIM_B yellow Channel B, inverted RS422 output signal 3 ESIM_I grey Index pulse RS422 output signal 8 ESIM_I pink index pulse, negated RS422 output signal 4 ACTIVE2_OUT red Drive ready Open collector 9 POS_0V blue Reference potential - 5 SHLD Shield 10 nc not assigned 1) Information on colour refers to the wires available as accessories. 0198441113232, V1.04, 01.2006

6-40 AC servo drive 0198441113232, V1.04, 01.2006 X0AInstallation CANopenconnection 6.3.14 LXM05A ACdrive servo Terminating resistors Maximum buslength Cable specifications Function (CN1 orCN4) the device. resistor thatis enabled A terminating wit all length. wing table shows the maximum recommended bus lengths for the over- The maximum bus length depends onthe selected baud rate. The follo- 004 25 100 250 500 2500 1000 800 500 250 125 maximum bu 20 [kbit/s] rate baud ̈ ̈ ̈ Maximum length dependson the numberdevices, of the baud rate • of the screenatboth Earthing ends • between between 120 of resistances achieved be can terminating by using CAN the with The units at the two ends of abus cable must string This be terminated. At abaud rateof 1Mbit thespur lines are limited0.3m. to rate onthebaud Cable - withCANopen depending length Table 6.7 and 127 (7F work. It isgiven a unique, 7-bit node address (node-ID) between 1 (01 networkEvery devicemust beconfigured before operationon the net- and up to 127 devices in the extended network. ble. Up to 32 devices canbe addressed in one CANbus network branch In CANbus multiplenetwork devices canbe connected overone bus ca- The deviceis suitable for connection to CANopen. iiu rs eto ftesga ie .4mm 0.14 wires signal the of section cross Minimum • Twisted-pair conductors • Shielded cable • page 12-4. For additional in formation seethe fieldbus manual, order number, see page 7-13 Address and baud rate are commissioning.during setSee Setup", "First The baud rate must be the same for all devices in the fieldbus. meet the requirements for PELV. Make sure thatthethe wiring, cables and the connectedinterfaces page 12-4). Use prefabricated cables error ofminimise to awiring (from therisk Use equipotential bonding conductors, seepage6-3. cablebe. must times.and signal run The higherthe the baudbus rates the shorter CAN_L h ). ). and CAN_H . s length with CANopen [m] h theS1switch is integrated into 2 6-41 h Ω )

Installation LXM05A

̈ If the device is at the end of the network, slide the S1 switch for the terminating resistor to the left.

Wiring diagram

CN1

111213 14 2122 23 31 32 3334 35 36 37 38 39 S1 OFF

Figure 6.24 Wiring diagram, CANopen at CN1

Pin Signal Description I/O 21 CAN_0V CAN reference potential 22 CAN_L data wire, inverted CAN level 23 CAN_H data wire CAN level

S1 OFF

CN4 8 1

Figure 6.25 CANopen wiring diagram at CN4

Pin Signal Description I/O 1 CAN_H data wire CAN level 2 CAN_L data wire, inverted CAN level 7 MOD+10V_OUT 10V power supply (different assignment from CANopen) O 8 MOD_0V Reference potential forMOD+10V_OUT O

Connecting CANopen ̈ Connect the CANopen cable to CN1, pin 21, 22 and 23 or to CN4 (pin 1, 2 and 8) with an RJ45 plug. 0198441113232, V1.04, 01.2006

6-42 AC servo drive 0198441113232, V1.04, 01.2006 ..6Connection of 6.3.16 8 7 5 4 Pin Installation Modbus connection(CN4) 6.3.15 LXM05A ACdrive servo MOD_0V MOD+10V_OUT MOD_D0 MOD_D1 Signal Cable specifications Modbus Connecting Cable specifications Wiring diagram Wiring Function analogue inputs(CN1) Shielded cable • Figure 6.26 Wiring diagram:MODBUS Wiring 6.26 Figure ̈ ̈ ̈ page 12-4. For additional information see the Modbusmanual, order number,see page 7-13 Address and baud rate are commissioning.during setSee Setup", "First The baudrate mustthe be same forunitsall the infieldbus. work. Each is given a unique node address. networkEvery devicemust beconfigured before operationon the net- With Modbus, multiple network devices are interconnected by bus cable. The unit isdesignedfor connectionthe to Modbus iiu rs eto ftesga ie .4mm 0.14 wires signal the of section cross Minimum • Twisted-pair conductors • Shielded cable • The cables used must conformto thefollowing properties: maximum lengthm. 400 • of the screenatboth Earthing ends • Reference for potential mA Vpowersupply, 150 max. 10 transmit/receiveBidirectional inverted signal, transmit/receiveBidirectional signal Description Connectthe Modbus cable towith CN4RJ45 plug. an page 12-4). Use prefabricated cables error ofminimise to awiring (from therisk Use equipotential bonding conductors, seepage6-3. MOD+10V_OUT A S1 OFF CN4 8 2 A O O levelRS485 levelRS485 I/O

1 6-43 Installation LXM05A

• Twisted pair lines • Minimum cross section of signal wires 0.14 mm2, max. cross section 1.5 mm2 • maximum length 10 m Connecting analogue inputs ̈ Attach the cable to the EMC plate, the shield must be attached to the earth potential over a wide area.

Wiring diagram

CN1

1112 13 14 2122 2331 32 3334 35 3637 38 39

Figure 6.27 Wiring diagram, analogue inputs

Pin Signal Description I/O 11 ANA1+ ±10V, e.g. for current or speed reference value; evaluation: 14-bit I 12 ANA1- Reference potential forANA1+, pin 11 I 13 ANA2+ ±10V, e.g. for current or speed limiting; evaluation: 14-bit I 14 ANA2- Reference potential forANA2+, pin 13 I

Reference values and limits The ±10V scaling of the analogue reference values and analogue limits can be specified for operation, see page 7-21. 0198441113232, V1.04, 01.2006

6-44 AC servo drive 0198441113232, V1.04, 01.2006 X0AInstallation Connectionofdigita 6.3.17 LXM05A ACdrive servo Minimum connection assignment Terminal assignment for"Power Cable specifications Removal" function l inputs/outputs(CN1) parameters. • minimum cross-section 0.14 mm minimum cross-section • +24VDC Ifthe signals listed inthe table are not used, theymust bewired with assignment Minimum connection Table 6.8 38 37 36 35 34 33 Pin m.. Maximum lengthminimum at cross section 15 • The followingmustsignals alwaysconnected. be •Usedefaults). zards (e.g. impacton equipment damage. or ininjury result can followFailure to instructions these function This cannot provide protection against faulty functio- • The useof Losscontrol! of The functions must be enabled to use • Check the correctfunctional installation of the limit switches • Check that the external sensors or switches are correctly con- • ning of the product or the sensors. the or product the of ning distance. away from the mechanical stop to allow an adequate braking limitThe switches must bemountedin aposition far enough nected. PWRR_A PWRR_B HALT LIMP LIMN REF Signal . LIMP LIMP LIMP and , LIMN and and LIMN and and mechanical stop caused by incorrect motion LIMN @ CAUTION where possible. REF managed with parameters. with managed Two-channel not are signals connection, with fieldbus controlmode only with fieldbus controlmode only with fieldbus controlmode only Remarks can offer some protection against ha- can alsobe disabled with corresponding 2 , max. cross-section 1.5mm , max. LIMP and and LIMN . 2 6-45 Installation LXM05A

@ WARNING Loss of the safety function Incorrect usage may cause a safety hazard by loss of the safety function. • Observe the requirements for the safety function. Failure to follow these instructions can result in death or serious injury.

Notes on the safety signals PWRR_A and PWRR_B can be found in 5.3 “Safety function "Power Removal"“ from page 5-2 and in 3.4.4 “Safety functions“ on page 3-7 Connecting digital inputs/outputs ̈ Wire the digital connections to CN1. The following functions are defined for pin 33, 34 and 35 depending on the control mode (local or fieldbus) (see Table 6.9). The control mode is specified during commissioning with parameters. ̈ Connect the limit switch that restricts the working range for clockwise rotation to LIMP. Connect the switch for the counterclockwise rotation to LIMN. ̈ Earth the shield with low resistance and over a wide area at both ends of the cable.

Wiring diagram

CN1

1112 13 14 21 22 23 31 32 3334 35 3637 38 39

Figure 6.28 Wiring diagram, digital inputs/outputs

Pin Signal with local Meaning with local Signal with Meaning with fieldbus I/O control mode control mode fieldbus control control mode mode 31 NO_FAULT_OUT Fault output NO_FAULT_OUT Fault output 24V, O 32 ACTIVE1_OUT 0: motor without current ACTIVE1_OUT 0: motor without current 24V, O 1: motor under power, cont- 1: motor under power, control signal for holding brake rol signal for holding brake controller HBC, output max. controller HBC, output max. 400 mA 400 mA 33 - - REF Reference switch signal 24V, I (factory setting: disable) 34 FAULT_RESET Reset error LIMN Limit switch signal negative 24V, I 34 FAULT_RESET Reset error CAP2 fast position capture 24V, I channel 2 35 ENABLE Enable power amplifier LIMP Limit switch signal positive 24V, I 0198441113232, V1.04, 01.2006

6-46 AC servo drive 0198441113232, V1.04, 01.2006 X0AInstallation ConnectiontoPCor 6.3.18 39 38 37 36 35 Pin LXM05A ACdrive servo Function of the control terminal control of the Function +24VDC PWRR_A PWRR_B HALT ENABLE control mode local with Signal Cable specifications PC connection control mode Meaning with local safety isnot used function and 38 if"Power Removal" 37 pin forOnly jumpering function "Power Removal" safety function "Power Removal" safety function "Halt" Enable power amplifier remoteterminal(CN4) iiu rs eto ftesga ie .4mm 0.14 wires signal the of section cross Minimum • Twisted pairlines • Shielded cable • HMI. the of those tem. The functions and display of the are control identical terminal to 12-1.allowsThis the devicetooperated be at adistance from the sys- rectly to CN4 with the supplied RJ-45 cable, see accessories from page The remote with LCD terminal display and keypad can be connected di- Table 6.9 Digital signals, connection signals, assignment Digital connection Table 6.9 from page 12-1. The converterpowered is by the device. RS485An to RS232 converter isrequiredfor the PC, see accessories maximum lengthm 400 • of the shieldat both Earthing ends • damage. inequipment result can followFailure instructions to these Neverconnect interface anEthernet directly to this product. • destroyed. mayPC, PC the interface the be on on the plug Ethernet Gigabit If the interface connector on the product is directly connected to a toPC! Damage +24VDC PWRR_A PWRR_B HALT CAP1 mode fieldbus control with Signal CAUTION safety isnotused function if "Power 38 and Removal" Only for 37 pin jumpering function "Power Removal" safety function "Power Removal" safety "Halt" function 1 channel fast position capture control mode Meaning withfieldbus 2 - 24V, I 24V, I 24V, I 24V, I I/O 6-47 Installation LXM05A

Wiring diagram

VW3A31101

ESC

ENT

stop reset RUN FWO REV A

CN4 8 1 RS 485

VW3A8106 A RS 232

Figure 6.29 Wiring diagram of PC or decentralised operating terminal

Pin Signal Description I/O 4 MOD_D1 Bidirectional transmit/receive signal RS485 level 5 MOD_D0 Bidirectional transmit/receive signal, inverted RS485 level 7 MOD+10V_OUT 10 V power supply, max. 150 mA) O 8 MOD_0V Reference potential for MOD+10V_OUT O 0198441113232, V1.04, 01.2006

6-48 AC servo drive 0198441113232, V1.04, 01.2006 X0AInstallation Reference value adapter 6.3.19 LXM05A ACdrive servo Connecting RVA reference signal Reference value adapterRVA CN8 24VDC 1 8 N CN5 CN6 15 CN 9 0VDC 9 adapter 8 1 CN7 13 25 15 S1 OFF 9 ACTIVE 5VSE 4 nected to CN1 to CN5. to CN1 to nected Up to five units for evaluating the specified reference signals can be con- An external encoder or rotary an ESIM signal can be applied to CN7. nals. Ahigher level controller (pulse/direction) canbe connected to CN6. The RVA reference signal adapter ispowered by 24 Vat the CN9termi- ୵ ̈ ̈ be sent frommaster a controller. also can device. signals amaster as used Pulse/direction be can (ESIM) encoderexternalAn (A/B signals)rotary oran encodersimulation encoder. The correctpower supplyshown is by"5VSE"a LED. also supplies the supply voltage (5V, monitored with sense wires) for the fiveto devices RVA the using (Reference Value adapter This Adapter). Reference signals ofmaster a device can be sent simultaneously to up The "active"LED shows that S1-3 and S1-4 must be set to "off" and S1-2S1-5 andto "on". example,if units are only connected to CN1,and CN3CN4, S1-1, For CN1-CN5 of assignment the to switchSet according S1 meet the requirements for PELV. Make sure thatthethe wiring, cables and the connectedinterfaces the setting. the connectedunits and the numberconnected of unitscomplies with 1 8 CN1 15 9 1 8 CN2 15 9 1 8 CN3 15 9 ACTIVE2_OUT 1 8 CN4 15 9 has been set on all 1 8 15 9 M3 6-49 Installation LXM05A

Pin Signal Description I/O 1 PULSE_OUT / A_OUT / ESIM_A_OUT Pulse+, channel A, ESIM_A O 9 PULSE_OUT / A_OUT / ESIM_A_OUT Pulse-, channel A inverted, ESIM_A inverted O 2 DIR_OUT / B_OUT / ESIM_B_OUT Direction+, channel B, ESIM_B O 10 DIR_OUT / B_OUT / ESIM_B_OUT Direction, channel B inverted, ESIM_B inverted O 3 ENABLE_OUT / I_OUT / ESIM_I_OUT ENABLE+, index pulse, ESIM_I O 11 ENABLE_OUT / I_OUT / ESIM_I_OUT ENABLE-, index pulse inverted, ESIM_I inverted O 8 ACTIVE_2 / READY Drive ready I 15 POS_0V Reference potential 4 - 7, 12 - 14 nc not assigned

Table 6.10 Terminal assignment CN1-CN5

Pin Signal Description I/O 1 PULSE / A / ESIM_A Pulse+, channel A, ESIM_A I 9 PULSE / A / ESIM_A Pulse-, channel A inverted, ESIM_A inverted I 2 DIR / B / ESIM_B Direction+, channel B, ESIM_B I 10 DIR / B / ESIM_B Direction, channel B inverted, ESIM_B inverted I 3 ENABLE / I / ESIM_I ENABLE+, index pulse, ESIM_I I 11 ENABLE / I / ESIM_I ENABLE-, index pulse inverted, ESIM_I inverted I 8 ACTIVE2_OUT / READY_OUT Drive ready O 15 POS_0V Reference potential 4...7, 12...14 nc not assigned

Table 6.11 Connection assignment CN6

Pin Signal Description I/O 1 A Channel A I 9 A Channel A inverted I 12 B Channel B I 5 B Channel B inverted I 13 I Index pulse I 6 I index pulse inverted I 10 SENSE+ Monitoring motor encoder power supply I 11 SENSE- Reference potential to motor encoder monitor I 2 5VDC_OUT 5V motor encoder power supply O 3 POS_0V Reference potential for 5VDC_OUT 4, 7, 8, 14, nc not assigned 15

Table 6.12 CN7 connection assignment

There are prefabricated cables for the Reference Value Adapter, see chapter 12 “Accessories and spare parts“. 0198441113232, V1.04, 01.2006

6-50 AC servo drive 0198441113232, V1.04, 01.2006 X0AInstallation LXM05A ACdrive servo CN8 24VDC N CN5 CN6 CN 9 CN7 Pulse direction E S1 ACTIVE 5VSE CN1 CN2 CN3 CN8 24VDC Figure 6.30 Wiring example: A/B/I CN7)areforwarded Wiring encoder signals (at to 6.30 Figure Figure 6.31 Wiring example: direct pulse Wiring 6.31 Figure N CN5 CN6 CN CN4 9 CN7 S1 Active 13 5VSE OFF CN1 six six devices two Referencethrough cascaded Value Adapters three devices.three 25 OFF

OFF CN2 4 CN8

ON 24VDC CN3 N CN5 CN6

ON CN 9 CN4 CN7 S1 ACTIVE 5VSE CN1 ion signals (to CN6) areforwarded (toCN6) signals ion to CN2 CN3 CN4 6-51 Installation LXM05A

6.4 Checking installation

After completion of all steps we recommend checking the installation to prevent any errors before operation of the system. ̈ Make sure the drive system is correctly installed and wired up. Check in particular basic connections such as mains power and 24V power supply. ̈ Check in detail:

• Are all protective conductors connected? • Are all fuses correct? • Are any live cable ends exposed? • Are all cables and connectors safely installed and connected? • Are the control lines connected correctly? • Have all EMC measures been taken? ̈ Check that all seals are fitted and that protection class IP54 is com- plied with (only when using the "Power Removal" function) ̈ Remove the protective foil as required in accordance with the specifications on page Table 6.1. 0198441113232, V1.04, 01.2006

6-52 AC servo drive 0198441113232, V1.04, 01.2006 X0ACommissioning General safety instructions 7.1 Commissioning 7 LXM05A ACdrive servo For overview of an explaineddetail inthissection. inmore application and the function ofparameters some are inthe"parameters" alphabetically section. sorted The rious injury. orse- death in result Failurefollowwill to instructions these Before working onthedrive system: • The motor generates voltage when the shaft is rotated. Lock • Install all covers and close the housing doors before applying • are qualifiedpersonnelwho Only • Electric shock, fire orexplosion rious injury. orse- death in result Failurefollowwill to instructions these Turn offthemains voltage usinganswitch appropriate to • inter circui connection. The The "Power Removal" function does Electric shockcaused by incorrect use! Manycomponents, boards, including wiring printed operate at • manufacturersystem The responsible is for with compliance • Measurevoltage at DCbusandcheck for<45V. (The DC – – "DO NOT switch the on asign lock ON" and Place SWITCH – offpower Switch to allterminals. – on the drive system. work to prevent motor ofthe before shaft the rotation starting power. voltage present. with terminals the screws of or ponents achieve avoltage-free condition. mains voltage.mains all applicable regulations relevant the drive to system.earthing this drive system. the contents of this manual are authorised to on work and with voltage). bus LED is not a safe indication for absence of the DC bus not minutes 6 Wait preventto switching on. short-circuit DC bus short-circuit all Do not touchDo not parameters can be be found can parameters (for dischargebusof DC capacitors). Do $ DANGER $ DANGER t voltagepresent. still is . Do not effect any dis- electrical familiar an with not touch unshielded com- d understand 7-1 Commissioning LXM05A

$ DANGER Risk of injury by complex system. When the system is started the drives are generally out of the operator's view and cannot be visually monitored. • Only start the system if there are no persons in the operating zone of the moving components and the system can be operated safely. Failure to follow these instructions will result in death or serious injury.

@ WARNING Unexpected responses may cause injury and damage to the system The behaviour of the drive system is governed by numerous stored data or settings. Unsuitable settings or data may trigger unexpected movements or reactions to signals and disable monitoring functions. • Do not operate a drive system with unknown settings or data. • Check the stored data or settings. • When commissioning carefully run tests for all operating states and fault cases. • Check the functions after replacing the product and also after making changes to the settings or data. • Only start the system if there are no persons or materials in the danger zone and the system can be operated safely. Failure to follow these instructions can result in death, serious injury or equipment damage.

@ WARNING Danger of injury and damage to system components by unbraked motor! Loss of power or faults that result in switching off the power amplifier mean that the motor is no longer actively braked and may run against a mechanical stop at high speed. • Check the mechanical conditions. • If necessary, use an absorbent mechanical stop or a suitable brake. Neglect can result in an accident or damage to the system 0198441113232, V1.04, 01.2006

7-2 AC servo drive 0198441113232, V1.04, 01.2006 X0ACommissioning LXM05A ACdrive servo equipment damage. or ininjury result can followFailure to instructions these Follow the actions for described heat dissipation. • Do not install flammableor heat-sensitive componentsin the • Prevent contactwith the hot heat sink. • on the operating mode. The heat sink on the product may heat up to over 100°C depending nents! Hot surfaces can cause burns and damage to system compo- anticipateamovement Also in th • button for STOP functioning a that Make EMERGENCY sure is • If possible, the first run test movement without coupled loads. • parameters. unexpected motion because of possible faults wiring or unsuitable When the drive isoperatedfor the first time there of is ahigh risk tem Unexpected motion may cause injury and damage to the sys- rious injury orequipmentinjury damage. rious se- indeath, result can followFailure to instructions these Make surethat the systemis freeand ready for the motion • immediate vicinity. within reach. before the function.starting tion of the drive. @ WARNING @ CAUTION e incorrect directionoroscilla- e incorrect 7-3 Commissioning LXM05A

7.2 Overview

The following commissioning steps are also required if you are using a configured unit under changed operating conditions.

What must be done What you need to do... Info Checking installation Page 6-52 Making "First Setup" Page 7-13 Check and set critical device parameters Page 7-19 Define ESIM resolution, if used Page 7-30 Setting, scaling, testing analogue signals Page 7-21 Set, test digital signals Page 7-24 Limit switch function, tests the signals LIMP, LIMN Page 7-26 Check signals PWRR_A and PWRR_B, even if the “Power Page 7-27 Removal” function is not used Check the functioning of the holding brake controller if it is Page 7-28 wired for that Checking motor direction of rotation Page 7-29 Run autotuning Page 7-35 Optimise controller settings manually Page 7-40 - speed controller Page 7-41 - position controller Page 7-47

Some products of this product family can be operated with different control modes. A distinction is made between local control mode and fieldbus control mode.

• Local control mode Movement specified with analogue signals or with RS422 signals. • Fieldbus control mode: all communications are made via fieldbus commands or with RS422 signals. 0198441113232, V1.04, 01.2006

7-4 AC servo drive 0198441113232, V1.04, 01.2006 X0ACommissioning Overview 7.3.1 Tools for commissioning 7.3 LXM05A ACdrive servo Figure 7.1 Commissioning tools Commissioning 7.1 Figure with the commissioningsoftware orfieldbus. via of list complete the to Access fieldbus • Commissioning software • Peripheral controlterminal • Integrated HMI • be out carried with the following tools: Commissioning and setting parameters and also diagnostic tasks can Integrated HMI

Control terminal Peripherical 8.8.8.8

ESC ENT 8.8.8.8 RUN ESC ENT parameters possibleis only PC withcommissioningsoftware Field bus 7-5 Commissioning LXM05A

7.3.2 HMI: Human-Machine Interface

Function The unit has the option of editing parameters with the integrated control panel (HMI). Displays for diagnosis are also possible. The sections on commissioning and operation include information on whether a function can be carried out with the HMI or whether the commissioning software must be used. A brief introduction to the HMI structure and the operation is given below. Control panel Figure 7.2 shows the HMI (left) and the decentralised control terminal (right).

7 7

6 1

RUN 8.8.8.8 BUS ERR 8.8.8.8 5 ESC 2 5 ESC 2 ENT

ENT

4 3 xxxx STOP RUN 4 xxxx RESET 3

10 9 8

Figure 7.2 HMI and decentralised control terminal

(1) LEDs for fieldbus (2) ESC: - exit a menu or parameter - return from the displayed to the last saved value (3) ENT: - call a menu or parameter - save the displayed value to EEPROM (4) Down arrow: - switch to next menu or parameter - reduce the displayed value (5) Up arrow: - switch to previous menu or parameter - increase the displayed value (6) Red LED on: DC bus under power (7) Status display (8) Quick Stop (Software Stop) (9) Fault Reset (Continue) (10) No function 0198441113232, V1.04, 01.2006

7-6 AC servo drive 0198441113232, V1.04, 01.2006 X0ACommissioning LXM05A ACdrive servo Font on HMI displayFont HMI on LEDs for CANopen Aoe standard DR 303-3. CANopen the asper machine status CANopen the of show status 2 LEDs the STU:..VWXYZ1234567890STUVWXYZ1234567890 ABcCDEFGHiJKLMNoPQR MNOPQR KL J FGHI OBCDI ished for C. notreceived was message SYNC display view. forparameter distingu- the only lowerare case and Upper Monitoring result (node guarding) has occurred Table 7.1 shows theassignment ofthe letters and numbers on the HMI (6) Warning limit reached e.g. afterfailed 16 transmission (5) is operating Device attempts. transmission failed 32 after e.g. BUS-OFF, is CAN (4) (2) (1) device is inthe state NMT STOPPED device is in the "fieldbus LED NMT state ERR" PRE-OPERATIONAL device is in the NMT state OPERATIONAL (4) (3) (1) "fieldbusLED RUN" of Meaning the LEDsignals 7.3 Figure Table 7.1 HMI, available HMI, numbers and letters Table7.1 ቧ ቦ ብ ቤ ባ ቢ attempts within the configured period configured the within 7-7 Commissioning LXM05A

Calling parameters via HMI The parameters belonging to a specific menu item are in the first level below the top menu level for that item. In order to give a better orienta- tion, the table of parameters also shows the overall menu path, e.g. SET- / nmax. Figure 7.4 shows an example of calling a parameter (second level) and input or selection of a parameter value (third level).

Parameter Value Menu

ENT ENT Set- IMAX 8.49 ESC ESC ESC

ENT NMAX 8.48 8.48 ESC Store (flashing) (next parameter)

Figure 7.4 HMI, example of parameter setting

The two arrow keys allow setting of the numerical values within the permitted range of values, alphanumeric values are selected from lists. When you press ENT, the selected value is accepted. Confirmation is indicated by the display flashing once. The modified value is saved in the EEPROM immediately. If you press ESC, the display jumps back to the original value. 0198441113232, V1.04, 01.2006

7-8 AC servo drive 0198441113232, V1.04, 01.2006 M euDescription FSU- HMI menu Commissioning LXM05A SET- ACdrive servo FSU- ioLt MBBD MBAD CoBD CoAD ioPi io-M DEVC Set- iMAX GFAC A1NS A1iS A1WN Menu structure structure. Theis menu-driven. HMI Figure7.5 shows the top levelof the menu Status displays such as HMI menu structure Figure 7.5 First setup ( setup First Logic type of the digital inputs/outputs digital Logic type ofthe only) mode ("fieldbus"rate control Modbusbaud Modbus controlmode ("fieldbus" only) address baud rate ("fieldbus" CANopen controlmode only) number = node ("fieldbus" address only) mode CANopen control interfaceposition selection Signal ("fieldbus" controlmode only) modefor operating Mode" Control "Local Start-up of Specification device settings ( Current limiting gear ratios special Selection of Scaling ANA1for set current at +10V Scaling ANA1for set current at +10V Zero voltage input ANA1 window on analogue Menus - First Setup - FirstSetup

- FirstSetup

Power On: Power done notdone F irst the controlmode SET S et U tings) ESC ESC ESC ESC ESC ESC ESC ESC p), Save tUn- (Om- drC- JoG- SEt- STA- FLt- FSU- rdy InF- RDY- ENT ENT (Ready) canbe foundfrom page7-18. ENT ENT ESC ESC ENT ENT ESC ESC ENT ESC ENT ENT ENT ESC ESC ESC ENT ESC JOG Mode Autotuning Drive Configuration Settings Communication Status Information Fault First Setup Information /Identification 7-9 Commissioning LXM05A

HMI menu Description NMAX Speed limitation LiQS Current limiting for "Quick Stop" LihA Current limiting for "Halt" DRC- drC- device configuration (DRive Configuration) A2Mo Selection of limit by ANA2 A2iM Scaling for current limiting by ANA2 at +10V A2NM Scaling for speed limiting by ANA2 at +10V ioLt Logic type of the digital inputs/outputs io-M Start-up operating mode for "Local Control Mode" ioPi Signal selection position interface ioAE Auto. enable at PowerOn if ENABLE input active ESSC Encoder simulation - setting the resolution PRoT Definition of direction of rotation FCS Restore factory setting (default values) BTCL Time delay when setting the brake BTRE Time delay when opening or releasing the brake supv HMI display if motor rotating TUN- tun- Autotuning (AutoTUNing) strt Start Autotuning GAiN Adapting controller parameters (tighter/looser) DiST Movement range autotuning DiR Direction of rotation autotuning MECh System coupling type NREF Speed when autotuning WAit Waiting time between autotuning steps RES Reset controller parameter JOG- Jog- Jog (JOG Mode) STrt Start jog NSLW Speed for slow jog NFST Speed for fast jog COM- COm- Communication(COMmunication) CoAD CANopen address (node number) CoBD CANopen baud rate MBAD Modbus address MBBD Modbus baud rate MBFo Modbus data format MBWo Modbus word sequence for double words (32 bit values) FLT- FLt- Error display(FauLT) STPF Fault number of the last interruption cause INF- Inf- Information/identification (INFormation / Identification) 0198441113232, V1.04, 01.2006

7-10 AC servo drive 0198441113232, V1.04, 01.2006 M euDescription HMI menu STA- .. Commissioning software(PowerSuite) 7.3.3 Commissioning LXM05A ACdrive servo i2TM i2TP i2Tr oPh SiGS WRNS TPA TDEV uDCA iQRF iACT PDiF PACU NACT A2AC A1AC ioAC MiMA MiNo PiMA PiNo PoWo _PVR _PNR _nAM dev[ StA- Status display Status Features A change is only imported with thepower with A change amplifieris only imported disabled. • • • Loading factorLoading motor factorLoading power amplifier factorresistor Load braking hourscounter Operating signals stateofthe monitoring Stored Stored warnings bit-coded Temperature powerof amplifier Device temperature DC bus voltage of the power voltagesupply amplifier (torque-creating) component current q Set motor Total motor current(vector ofd qcomponents sum and variation Current regulation units themotor position user-defined of Actual in Actual speed of motor VoltageANA2 input value analogue VoltageANA1 input value analogue and outputs inputs ofdigital Status / Motor maximum current Nominal motor current Maximum currentof power amplifier current powerNominal of amplifier processes Number ofturn-on versionFirmware programFirmware number name product Current selection mode control of Observation/monitoring of device, travel motor and Observation/monitoring ( data such as: Compared to the HMI the commissioning software offers options further setting parameters, simulation and diagnosis. The Windows-based commissioning software simplifies commissioning, tus, see page 8-4. You canspecify the following with the menu item The status display in its default setting shows the current operating sta- supv iact nact stat : shows the current motor current by default shows the current motor speed by default shows the current operating status by default of the position controller theposition of STA tus Information) tus drc- 7-11

Commissioning LXM05A

• Setting the controller parameters in a graphic interface • Extensive diagnostic tools for optimisation and maintenance • Long-term recording as an aid to assessing operating behaviour • Testing input and output signals • Tracking signal sequences on the monitor • Interactive optimisation of controller behaviour • Archiving all device settings and recordings with export functions for data processing System requirements You will need a PC or laptop with a free serial port and an operating system with Windows 2000 or newer. To connect the PC to the device see page 6-47. Online help The commissioning software offers comprehensive help functions, which can be accessed via "? - Help Topics" or by pressing F1. 0198441113232, V1.04, 01.2006

7-12 AC servo drive 0198441113232, V1.04, 01.2006 Automatic read-in of the motor data Commissioning "First Setup" 7.4.1 Commissioning procedure 7.4 LXM05A ACdrive servo "First Setup" via HMI via Setup" "First Preparation set ̈ ̈ ࡯ chedfor on the first timewhen or the factory settingshave been loaded. "First Setup"must bemadewhen the controller supply voltage isswit- The followingdiagram shows the sequence using HMI. switched ready for operation withoutthis information pole-pair number. It cannot be modified by the user. The unit cannot be as the nominal and peak torque, the nominal current and speed and the The motor dataset contains technicalinformation about the motorsuch in the EEPROM. sor (motor sensor). The data set ischecked for completeness and saved Hiperface the sen- from automatically set data motor the reads unit the Whenswitchedunit theis onfor the firstthewith timemotor connected, rious injury orequipmentinjury damage. rious se- indeath, result can followFailure to instructions these the systemifonly there arepersons noor in materials Start • Check the parameters beforeoperation. • Preparelist a with the parameters required for the functions in • pected motions or responses to signals may occur. If unsuitable parameters are used, safetyfunctions may fail, unex- system. Unsuitable parameters may cause injuryand damage to the Switch onSwitch the controller power supply. avoid by caused conflicts simultaneous access. commissioningDuring disconnectthe connectionthe to fieldbus to HMI. unit unless thecommissioning isconducted exclusively through the the to connected be must software commissioning the with A PC the danger zone and the systembe can operated safely. use. @ WARNING 7-13 Commissioning LXM05A

FSU-

ENT

ENT ENT DevC None ESC IO CANO MoDB

DEVC CANO MoDB DEVC = IO = /

ENT ENT ENT ENT IO-M none IOPI Ab ESC Curr ESC Pd Sped ESIM Gear

DEVC = CANO DEVC = MoDB

ENT ENT ENT ENT COAD 127 mbad 1 ESC ESC

ENT ENT ENT ENT COBD 125 mbbd 9600 ESC ESC

ENT ENT IOLT SOU ESC SIN

SaVe

ENT

Figure 7.6 "First Setup" via HMI 0198441113232, V1.04, 01.2006

7-14 AC servo drive 0198441113232, V1.04, 01.2006 HMI menu, Code Code Parameter Name Commissioning HMI menu, Code Code Parameter Name LXM05A DRC- IO-M IOdefaultMode NONE DEVC DEVcmdinterf ACdrive servo Function of theinterface RS422 io-M DEVC Default operating mode DEVcmdinterf isset. DEVcmdinterf 'IODevice/IO''OperationEnable' and state in as asthe drive cally switchessoon to the isactivated mode The operating automati- Unit Gear/3 /GearMode (reference value ANA1) from 2 /SpeedControl /Sped (reference value ANA1) from CurrentControl1 / /Curr / none0 /none mode'(7-13) for mode control 'local of operating Start-up Description Unit Description setup"). (exception: thevalueof Change 0, "First at activated isswitched untiltheunit onagain CAUTION: of A change ModbusDevice Modb / / 3 2 /CANopenDevice /CanO 1 /IODevice/ IO 0 /none ofdeviceSpecification control(7-13) Unit controller : undefined (default)): undefined : none (default): none : Local control mode : Local control : electronic : electronic gear The operating modes from arepage described 8-12. ̈ ̈ ࡯ ̈ ࡯ the settingisnot DEVcmdinterf be howunit will Specify the IOposInterfac Set the assignment for theRS422 interface with the DEVcmdinerf ( parameter the isswitched with it every on time theoperatingSpecify modeinwh ( DEVcmdinerf ( : Speed controller controller : Speed : Current controller controller : Current IO-M DEVC DEVC : Modbus CANopen ). = = IO CANO ) / = = MoDB ( CANopenDevice IODevice ( DEVC 3 0 0 - Maximum value Default value Minimum value Maximum value Default value Minimum value 4 0 0 - IOPI ) ). ) parameter. controlled withtheparameter ich the unit will start by defaultstart ich theunitwill / - per. R/W UINT16 Expert persistent R/W Data type Expert persistent R/W Data type - per. R/W UINT16 ModbusDevice IOdefaultMode Modbus 1282 Modbus 1286 CANopen 3005:3 CANopen fieldbusvia Parameter address fieldbusvia Parameter address CANopen 3005:1 CANopen 7-15 h h

Commissioning LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

IOposInterfac Signal selection at position interface(7-13) - UINT16 CANopen 3005:2h 0 R/W Modbus 1284 IOPI RS422 IO interface (Pos) as: 0 per. 0 / ABinput / AB: input ENC_A, ENC_B, ioPi 2 - DRC- ENC_I (index pulse) 4x evaluation 1 / PDinput /PD: input PULSE, DIR, ENABLE2 2 / ESIMoutput / ESIM: output: ESIM_A, ESIM_B, ESIM_I

CAUTION: A change of the setting is not activated until the unit is switched on again.

Fieldbus CANopen ࡯ DEVcmdinerf = CANopenDevice (DEVC = CANO) ̈ Specify the node address with the parameter CANadr (COAD) and the baud rate with the parameter CANbaud (COBD).

Every unit must have its own unique node address, which must be assigned only once in the network.

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

CANadr CANopen address (node number)(7-13) - UINT16 CANopen 3017:2h 1 R/W Modbus 5892 COAD valid addresses (node numbers) : 1 to 127 127 per. CoAD 127 - COM- CAUTION: A change of the setting is not activated until the unit is switched on again or after an NMT reset command

CANbaud CANopen baud rate(7-13) - UINT16 CANopen 3017:3h 50 R/W Modbus 5894 COBD valid baud rates in kbaud : 125 per. 50 CoBD 1000 - COM- 125 250 500 1000

CAUTION: A change of the setting is not activated until the unit is switched on again.

Fieldbus Modbus ࡯ DEVcmdinerf = ModbusDevice (DEVC = MoDB) ̈ Specify the node address with the parameter MBadr (MBAD) and the baud rate with the parameter MBbaud (MBBD). 0198441113232, V1.04, 01.2006

7-16 AC servo drive 0198441113232, V1.04, 01.2006 X0ACommissioning HMI menu, Code Code Parameter Name HMI menu, Code Code Parameter Name LXM05A COM- MBBD MBbaud DRC- IOLT IOLogicType COM- MBAD MBadr ACdrive servo ioLT MBBD MBAD Select logictype ecito Unit again. activated until thedevice isswitched on WARNING: of Achange / sin 1 /sink (default) 0 /sourcesou / of type the digi Logic Description Unit Description activated isswitched untiltheunit onagain. CAUTION: of A change 38400 19200 9600 Allowed baud rates: Modbus rate(7-13) baud valid :1to247 addresses Modbus address(7-13) Further steps Further Data back-up Data : for currentdraw outputs : foroutputs supply current tal inputs/outputs(7-13) A restart of the deviceA restart required is to allow the changesbe to accepted. settings, see 8.6.10.2 “Restore factory settings“ page 8-73. page settings“ factory “Restore 8.6.10.2 see settings, Notethat you the to can "Initial onlyreturn Setup" by the restoring factory ̈ ୵ ̈ ̈ ̈ the settingisnot the setting isnot the setting For more information see chapter 5-1. Make below the settings described for commissioning. case of service,e.g. fieldbus type, address and baud rate. Stick informationlabel required a on in the unitimportant all with status The device savesset values all "Configuration -Savein EEPROM" software: SaveCommissioning your the path menu with settings HMI: Save yourwith settings Backinputsall up oncompletion. parameter the with type logic the Specify nRDY , RDY or 1 0 0 - Maximum value Default value Minimum value Maximum value Default value Minimum value 38400 19200 9600 - 247 1 1 - DIs onthe HMI. save in theEEPROM anddisplays the - per. R/W UINT16 Expert persistent R/W Data type Expert persistent R/W Data type - per. R/W UINT16 - per. R/W UINT16 IOLogicType Modbus 5638 Modbus 5640 Modbus 1288 CANopen 3005:4 CANopen fieldbusvia Parameter address fieldbusvia Parameter address CANopen 3016:3 CANopen CANopen 3016:4 CANopen ( IOLT ). 7-17 h h h Commissioning LXM05A

7.4.2 Operating status (state diagram)

After switching on and at the start of an operating mode, a sequence of operating states is progressed through. The relationship between the operating states and the state transitions is shown in the state diagram (state machine). The operating states are internally monitored and influenced by monitoring and system functions, such as temperature and current monitoring Graphic representation The state diagram is shown graphically as a flow chart.

Motor without current

Switching on

1 INIT Start T0 2 nrdy Not ready to switch on

dis Switch on 3 disabled T15

T9 T2 T7 T12 4 rdy Ready to T10 switch on 9 T8 T3 T6 Fault fLt 8888 Son 5 Switched on Display flashes

T14 8 T4 T5 fLt Fault Reaction active rUn 6 Quick-Stop active 7 Operation T16 T13 HALT enable Stop 8888 HaLt Display flashes

T11 Fault Fault Class1 Class2, 3, (4) Motor under current

Operating state State transition Operating fault

Figure 7.7 Status diagram

Operating states and mode For detailed information on operating states and mode transitions see transitions page 8-4. 0198441113232, V1.04, 01.2006

7-18 AC servo drive 0198441113232, V1.04, 01.2006 HMI menu, Code Code Parameter Name Commissioning Setting basi 7.4.3 LXM05A SET- IMAX CTRL_I_max ACdrive servo iMAX Setting thresholds ecito Unit PA_I_max Default isthe valuesmallest and of M_I_max orpower ofmotor rent amplifier. Value must exceed not Current limiting(7-19) Description Current limiting c parameters andlimitvalues "Quick Stop" function can be limited with the terfor and the "Halt" functionwith the fied with the To modi- be flowing can current maximum the drive system, the protect nent be will otherwise exceeded. compo- a system of torque permissible the if factor torque the mining of The maximum motorcurrent must forexample bereduced asadeter- loads you will notneedto ternal and motor characteristics. So long as the motor is operated without ex- Suitable thresholds must be calculatedfrom the system configuration point-to-pointspeed , profile and referencing modes. Acceleration and deceleration are limitedwith ramp functions inthe ̈ ̈ ̈ rious injury orequipmentinjury damage. rious se- indeath, result can followFailure to instructions these the systemifonly there arepersons noor in materials Start • Check the parameters beforeoperation. • Preparelist a with the parameters required for the functions in • pected motions or responses to signals may occur. If unsuitable parameters are used, safetyfunctions may fail, unex- system. Unsuitable parameters may cause injuryand damage to the max. permissible cur- parameter. current for maximum the Specify withthe "Halt" LIM_I_maxQSTP forthe current with "Quick Stop" maximum the Specify Specify the maximummotor current with the ter. the danger zone and the systembe can operated safely. use. CTRL_I_max parameter. 29999 0 Fieldbus 299.99 - 0.00 A Maximum value Default value Minimum value pk @ WARNING parameter. maximum The current forthe change the default changethe settings. LIM_I_maxHalt - per. R/W UINT16 Expert persistent R/W Data type LIM_I_maxQSTP CTRL_I_max LIM_I_maxHalt Modbus 4610 CANopen 3012:1 CANopen via fieldbusvia Parameter address parameter. parame- parame- 7-19 h

Commissioning LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

LIM_I_maxQSTP Current limiting for Quick Stop(8-63) Apk UINT16 CANopen 3011:5h - R/W Modbus 4362 LIQS Max. current during braking via torque ramp - per. resulting from an error with error class 1 or 2, LiQS - - SET- and when a software stop is triggered

Maximum and default value setting depend on motor and power amplifier

in 0.01Apk steps

LIM_I_maxHalt Current limiting for Halt(8-64) Apk UINT16 CANopen 3011:6h - R/W Modbus 4364 LIHA Max. current during braking after Halt or ter- - per. mination of an operating mode. SET-LihA - - Maximum and default value settings depend on motor and power amplifier

in 0.01Apk steps

Speed limitation The maximum speed can be limited with the parameter CTRL_n_max to protect the drive system. ̈ Specify the maximum motor speed with the parameter CTRL_n_max.

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

CTRL_n_max Speed limitation(7-19) 1/min UINT16 CANopen 3012:2h 0 R/W Modbus 4612 NMAX Max. speed of rotation motor must not be - per. exceeded SET-NMAX 13200 - Default is the maximum speed of the motor (see M_n_max) 0198441113232, V1.04, 01.2006

7-20 AC servo drive 0198441113232, V1.04, 01.2006 HMI menu, Code Code Parameter Name Commissioning HMI menu, Code Code Parameter Name Analogue inputs 7.4.4 LXM05A SET- A1NS ANA1_n_scale STA- A2AC ANA2_act SET- A1IS ANA1_I_scale STA- A1AC ANA1_act ACdrive servo Offset and the zero the and voltage windowOffset A1NS A1iS A2AC A1AC Reference value analogue signal analogue effect aninversion theevaluationof of the negativeA preceding canbeused to sign settingin CTRL_n_max current maximum speed is limitedto the The internal at10V on ANA1() mode operating control speed in speed Setpoint mV Voltage ANA2(8-2) value input analogue ecito Unit sign advance withaneg. run canbe signal logue An inversion theevaluationof ofthe ana- at10V on ANA1(7-21) mode operating control current in current Setpoint Description Unit mV Voltage value ANA1() input analogue Description Analog inputs Analog using the parameter +10V to be read in. The current voltage value current on The in. read be to +10V The analogue inputs allow analogue input voltages between -10V and zed over the parameter rameter An offset can be parameterized for the input voltage at ANA1_n_scale voltage of +10Vcanbe set overthe parameter rating mode current control or speed control. The reference value for a ̈ ̈ ࡯ An input voltage at ± ANA2_act Check the applied voltage with theparameter theAt analogue input Controller poweris switched supply on. Poweramplifier power switched is off. 10V ANA1_offset DC . . . ANA1 ANA1_act 30000 3000 -30000 1/min 10000 - -10000 30000 300 -30000 Fieldbus 300.00 3.00 -300.00 A Maximum value Default value Minimum value 10000 - -10000 Maximum value Default value Minimum value pk anda zero voltage window can be parameteri- ANA1_win can be used asareference value for the ope- ANA1 or ANA2 . apply avoltage inthe rangeof - per. R/W INT16 - - R/- INT16 - per. R/W INT16 Expert persistent R/W Data type - - R/- INT16 Expert persistent R/W Data type ANA1_I_scale ANA1+ ANA1_act CANopen 3021:3 CANopen 3009:5 CANopen Modbus 2306 Modbus 8454 Modbus 8198 Modbus 2314 CANopen 3020:3 CANopen via fieldbusvia Parameter address 3009:1 CANopen fieldbusvia Parameter address ANA1 can beread over pa- the or or 7-21 h h h h Commissioning LXM05A

This corrected input voltage gives the voltage for the operating modes current control and speed control as well as the reading value for parameters ANA1_act.

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

ANA1_offset Offset at analogue input ANA1() mV INT16 CANopen 3009:Bh -5000 R/W Modbus 2326 A1OF The ANA1 analogue input is corrected/relo- 0 per. cated by the offset. A defined zero-voltage A1OF 5000 - SET- window acts in the range of the zero crossing of the corrected ANA1 analogue input.

ANA1_win Zero voltage window on analogue input mV UINT16 CANopen 3009:9h ANA1() 0 R/W Modbus 2322 A1WN 0 per. Value up to which an input voltage is inter- A1WN 1000 - SET- preted as 0V Example: Setting 20mV ->range from -20 .. +20mV is interpreted as 0mV

2 10 V 3 4

1 -10 V 10 V

-10 V

Figure 7.8 Offset and zero voltage window

(1) Input voltage at ANA1 (2) Voltage value for current control and speed control operating modes as well as reading value of parameter ANA1_act (3) Input voltage without processing (4) Input voltage with offset (5) Input voltage with offset and zero voltage window Limitations A current limitation or speed limitation can be activated over the analogue input ANA2. ̈ Specify the limit type with the parameter ANA2LimMode. ̈ Specify the scaling of the limit at +10V with the parameter ANA2_I_max or ANA2_n_max. 0198441113232, V1.04, 01.2006

7-22 AC servo drive 0198441113232, V1.04, 01.2006 X0ACommissioning HMI menu, Code Code Parameter Name LXM05A DRC- A2NM ANA2_n_max DRC- A2IM ANA2_I_max DRC- A2MO ANA2LimMode ACdrive servo A2NM A2iM A2Mo the settingvalue in CTRL_n_max. by limited is also of rotation speed max. The lower of have speed rotation no effect. i.e. values a analogue that implement rpm, The minimum isset limiting speed to 100 ANA2() voltageinput Von at 10 limiting Speed value of ImaxMand ImaxPA valueThe maximum limiting isthe lesser ANA2() at10V voltagelimiting input Current on ecito Unit (Limitvalue at10V in ANA2_n_max) reference value atspeed controller / SPED Limitation 2 /Speed (Limitvalue at10V in ANA2_I_max) current valuerence currentcontroller at CURR Limitation / /Current 1 0 /none oflimit Selection by ANA2() Description : nolimit : Limit speed : Limit refe- 30000 3000 500 1/min A 30000 300 0 Fieldbus 300.00 3.00 0.00 2 0 0 - Maximum value Default value Minimum value pk - per. R/W UINT16 - per. R/W UINT16 - per. R/W UINT16 Expert persistent R/W Data type Modbus 4634 3012:D CANopen Modbus 4632 Modbus 4630 CANopen 3012:C CANopen CANopen 3012:B CANopen fieldbusvia Parameter address 7-23 h h h Commissioning LXM05A

7.4.5 Digital inputs/outputs

The switching states of the digital inputs and outputs can be displayed on the HMI and displayed and modified using the commissioning software or the fieldbus. HMI The signal states can be displayed with the HMI, but they cannot be modified. ̈ Call up the menu point sta / ioac. ୵ You will see the digital inputs (Bit 0-7) bit-coded. ̈ Press the "up arrow". ୵ You will see the digital inputs (Bit 8, 9) bit-coded.

Bit = 1

Bit = 0

7654321/9 0/8

Figure 7.9 HMI, status display of the digital inputs/outputs

Bit Local controller opera- Fieldbus control mode I/O ting mode 0 -REFI 1 FAULT_RES LIMN I 2 ENABLE LIMP I 3 HALT HALT I 4 PWRR_B PWRR_B I 5 PWRR_A PWRR_A I 6 ENABLE2 1) - I 7 --I 8 NO_FAULT NO_FAULT O 9 ACTIVE1_OUT ACTIVE1_OUT O 1) only with IOposInterfac = PDinput

Fieldbus The current switching states are displayed bit-coded in the parameter _IO_act. The values 1 and 0 indicate whether an input or output is active. 0198441113232, V1.04, 01.2006

7-24 AC servo drive 0198441113232, V1.04, 01.2006 X0ACommissioning HMI menu, Code Code Parameter Name LXM05A STA- IOAC _IO_act ACdrive servo ioAC Bit 9: ACTIVE Bit 8: NO_FAULT 24Voutputs: assignment Bit 7: reserved Bit 6: - Bit 5: PWRR_A Bit 4: PWRR_B Bit 3: HALT Bit 2: LIMP,CAP1 1: LIMN,CAP2 Bit 0: REF Bit (fieldbus control mode) IOposInterfac =Pdinput and =IODeviceDEVcmdinterf conditions: wing follo- the theENABLEonlyunder Bit 6forms Bit 7: reserved Bit 6: ENABLE2 Unit Bit 5: PWRR_A Bit 4: PWRR_B Bit 3: HALT Bit 2: ENABLE Bit 1: FAULT_RESET Bit 0: - controlmode) (Local inputs: 24V of Assignment outputs(7-24) Status of inputs and digital Description - - Maximum value Default value Minimum value - - R/- UINT16 Expert persistent R/W Data type Modbus 2050 CANopen 3008:1 CANopen via fieldbus Parameter address 7-25 h Commissioning LXM05A

7.4.6 Testing limit switches signals in fieldbus devices

@ CAUTION Loss of control! The use of LIMP and LIMN can offer some protection against ha- zards (e.g. impact on mechanical stop caused by incorrect motion defaults). • Use LIMP and LIMN where possible. • Check that the external sensors or switches are correctly connected. • Check the correct functional installation of the limit switches The limit switches must be mounted in a position far enough away from the mechanical stop to allow an adequate braking distance. • The functions must be enabled to use LIMP and LIMN. • This function cannot provide protection against faulty functioning of the product or the sensors. Failure to follow these instructions can result in injury or equipment damage.

̈ Set up the limit switches so the drive cannot traverse through the limit switch. ̈ Trigger the limit switches manually. ୵ The HMI shows an error message, see Diagnostics from page 10-3 The release of the input signals LIMP, LIMN and REF and the evaluation at active 0 or active 1 can be changed with the parameters of the same name, see page 8-45. Use the active 0 monitoring signals if possible, because they are proof against wire breakage. 0198441113232, V1.04, 01.2006

7-26 AC servo drive 0198441113232, V1.04, 01.2006 Operation without "Power Removal" Commissioning Testing safety functions 7.4.7 LXM05A ACdrive servo Operation with "Power Removal" If you do not wish to use the "Power the use to wish younot If do Removal" safetyfunction: ̈ ̈ ̈ ̈ ୵ ̈ ̈ ࡯ ̈ ࡯ lowing steps: If you wishto use the "Power Removal"safety out the fol- function, carry +24VDC switched offsimultaneously. Check that the inputs Record alltests of the safety functionthein acceptancerecord. Check the behaviour of the drive inerror states. Check that the parameter played. (CAUTION: error message 1301 displays error.) awiring The power amplifieris switched off and error messagedis- 1300 is Trigger the safety disconnection. (see page 8-15) the jog operatingStart mode (without motor movement). voltController supply Power voltageamplifier supply switched is on. Check thatthe inputs voltController supply Power voltageamplifier supply switched is off. other. The twomust signals notconnected. be set"off" to for protection against unexpected restart. . age is switchedage is on. switchedage is off. PWRR_A PWRR_A IO_AutoEnable and and PWRR_A PWRR_B PWRR_B and are insulated from each each from insulated are are connected to (HMI: PWRR_B drc- must be must / ioae ) is ) is 7-27 Commissioning LXM05A

7.4.8 Checking holding brake

@ WARNING Unexpected motion may cause injury and damage to the system For example, if the brake is released with vertical axes an unexpected motion may be triggered in the system. • Make sure that no damage will be caused by the load drop- ping. • Run the test only if there are no persons or materials in the danger zone of the moving system components. Failure to follow these instructions can result in death, serious injury or equipment damage.

Testing from HBC to brake ࡯ Supply voltage is present at HBC, LED '"24V on'" is lit up. ̈ Switch off the power amplifier supply voltage. ୵ The unit switches to the operating status "Switch on disabled" ̈ Press the "Release brake" button on the HBC several times to release and close the brake alternately. ୵ The LED '"Brake released'" on the HBC flashes if there is brake voltage present and the brake is released by the button. ̈ Test that the axle can be moved manually with the brake lifted (take gearbox into account, if applicable).

Testing from device to HBC ࡯ The device is in operating status "Ready to switch on" and the parameters for the holding brake must be set, see chapter 8.6.8 “Bra- king function with HBC“ page 8-69. ̈ Start jog operating mode (HMI: Jog_ / Strt) ୵ The HMI displays JG. The brake is released. The LED "Brake released" on the HBC is lit up if there is brake voltage present and the brake is released. For more information on the HBC see page 3-10, 6-31 and 12-1. 0198441113232, V1.04, 01.2006

7-28 AC servo drive 0198441113232, V1.04, 01.2006 X0ACommissioning Check directionofrotation 7.4.9 LXM05A ACdrive servo Direction of of rotation Direction "J motor" >10. "J motor" ext" "J of ratios to inertia at control closed-loop unstable an The initial settingofthe contro ckwisethe as observerfaces the end of the protruding shaft. A positive direction of rotation isdefined asthe motor shaft rotating clo- Rotation of the motor shaft in apositive or negative direction of rotation. ̈ ୵ ̈ ୵ ̈ ୵ ̈ rious injury orequipmentinjury damage. rious se- indeath, result can followFailure to instructions these Do not reverse themotor phases. • parameter the Use • at high acceleration. Reversal of the motor phases can causeunexpected movements Unexpected movement if rotation“ page 8-71. the parameter parameter the If thearrow and direction of rotationnot do match,correct with this showsThe HMI rotation. counterclockwise in rotates motor The "down arrow") (HMI: amovement rotation counterclockwise in the Start showsThe HMI The motor rotatesclockwise in rotation. (HMI: "uparrow") a movementStart in clockwise rotation The HMIdisplays (HMI: jog operating mode Start of rotation, if required. rotation, of Jog_ / Strt POSdirOfRotat -JG JG- ) JG @ WARNING POSdirOfRotat . motor phases are reversed!are phases motor ller parameters parameters ller , see 8.6.9 “Reversal of direction of to reverse to direction the may in result 7-29 Commissioning LXM05A

7.4.10 Setting parameters for encoder simulation

Defining resolution for encoder The resolution for the encoder simulation can be scaled with the para- simulation meter ESIMscale. ࡯ The functionality is only active if the parameter IOposInterfac is set to "ESIM". ̈ Specify the resolution with the parameter ESIMscale.

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

ESIMscale Encoder simulation - setting the resolution() Inc UINT16 CANopen 3005:15h 8 R/W Modbus 1322 ESSC Software version 1.102: 4096 per. The following resolutions are adjustable: ESSC 65535 - DRC- 128 256 512 1024 2048 4096

from software version 1.103: the complete value range is available for the resolution.

For resolutions that can be divided by 4 the index pulse must be at A=high and B=high.

CAUTION: the values are not enabled until the controller is restarted. After the write access a wait of at least 1 second is required until the controller is switched off.

The index pulse can be defined by setting the absolute position encoder, see chapter 7.4.11 “Setting parameters for encoder“. 0198441113232, V1.04, 01.2006

7-30 AC servo drive 0198441113232, V1.04, 01.2006 X0ACommissioning HMI menu, Code Code Parameter Name Settingparameters for encoder 7.4.11 LXM05A - ENC_pabsusr - _p_absENCusr ACdrive servo Setting an encoder absolute encoder an Setting ecito Unit Description pulse displaced ESIMfunction. at displaced pulse index and the index pulse thevirtual tion of thevalue * Changing theposi- alsochanges ched off. untilt isrequired second After the write access a wait of at least 1 isswitchedthe controller the nexton time. value* The setting beactive will only when setting the motorencoder position tion inversion itmust beset before function, direc- with beconducted isto Iftheprocess * !!!Important: thisvaluescaling is16384. for one motor revolution, with default position max_pos_usr/rev.: maximum userposition 0..(4096 * max_pos_usr/rev.) -1 multiturn: SRM: Sincos 0..max_pos_usr/rev. -1 turn: single SRS: Sincos Value type. onthesensor depends range directly(7-31) encoder motor ofthe Setting position detected of motor notyet position absolute Bit 13=1: _WarnActive _WarnLatched With invalid motor ab position. ofthe motor absolute nation PositionCaution! isonlyvalid after determi- revs.)4096 (e.g. sensor ofthe range totalworking to the referencewith encoders motor multiturn with set withreference revolution, motor to one the valuemotor encoders is Singleturn With Value is byrange set sensortype rangeunits(7-31) inuser-defined working encoder motor based on position Absolute position solute position: "Display panels". -Specific software In thecommissioning youwill mulation. of the index pulse of the encoder and the index pulse of the encoder si- active and inactive. Setting the absolute position alsoshifts theposition ENC_pabsusr at thecurrent mechanical motor positionwith the parameter the new At motorstandstill absolute parameter the with be shown can position encoder. absolute the from current The motor the of position absolute device the the reads up starting When he controller is he controller swit- _p_absENCusr . The. value cantransferred be with the power amplifier Maximum value Default value Minimum value 2147483647 - 0 usr - usr . position of the motor can be defined position ofthemotorcan find theparameter viathemenu Expert persistent R/W Data type - - R/W UINT32 - - R/- UINT32 Modbus 7710 Modbus 1324 via fieldbusvia Parameter address CANopen 3005:16 CANopen CANopen 301E:F CANopen 7-31 h h Commissioning LXM05A

If the device or the motor is replaced, a new adjustment will be required.

Position processing with SinCos With the SinCos Singleturn the position of the index pulse of the encoder single turn and the position of the index pulse of the encoder simulation can be shifted by setting a new absolute position. At position value 0 the index pulse is defined at the current mechanical motor position. Position processing with SinCos With the SinCos Multiturn the mechanical working range of the motor Multiturn can be shifted to the continuous range of the sensor by setting a new absolute position. If the motor is moved anticlockwise from the absolute position 0, the Sin- Cos multiturn receives an underrun of its absolute position. In contrast, the internal actual position counts mathematically forward and sends a negative position value. After switching off and on the internal actual position would no longer show the anticlockwise position value but the absolute position of the sensor. To prevent these jumps caused by underrun or overrun - i.e. unsteady positions in the area of travel, the absolute position in the sensor must be set so the mechanical limits are within the continuous range of the sensor.

Position values

4096 rev

discontinuous continuous discontinuous

- 4096 rev 0 revU 4096 rev Mechanical revolutions

actual position controller absolute position encoder

- 4096 rev

Figure 7.10 SinCos Multiturn position values

̈ When setting the absolute position at the mechanical limit set a position value >0. This ensures that when the drive is moved within the mechanical limits of the system the resulting sensor position is always within the continuous range of the sensor. 0198441113232, V1.04, 01.2006

7-32 AC servo drive 0198441113232, V1.04, 01.2006 X0ACommissioning Settingparameters for brakingresistor 7.4.12 LXM05A ACdrive servo switched off. devicethe an errormess output will brake exceedsallowable maximum actual If the output the brake output, braking resistors“ page 3-10. RESext_P The valuestheexternal of brakingresistor mustin theset be parameters must beset"external". to Ifan external braking resistor isconnected, the parameter ̈ rious injury orequipmentinjury damage. rious se- indeath, result can followFailure to instructions these Check the temperature of the brakingresistor by conducting a • Ensure good heatdissipation. • Do notflammable place or heat-sensitive componentsthe in • Prevent contactwith the hot braking resistor. • operating mode. The braking resistor may heat up to over 250°C depending on the components. system to damage and burns, fire cause can surfaces Hot orequipmentinjury damage. rious se- indeath, result can followFailure to instructions these the test During make sure that at higher mains voltage there is • Check the temperature of the brakingresistor by conducting a • Check the setting of the parameter forthebraking resistor. • Make sure that the braking resistor issufficiently dimensioned. • tively braked. and switches offthepower amplifier. The motor isno longerac- DCbusovervoltage the on causes resistor braking insufficient An ked motor! Riskinjury of anddamageto system components byunbra- Test the functionof the brakingresistor under realistic conditions. test run under the most critical conditions. critical most the under run test immediate vicinity of the braking resistor. reserve intheless capacitorsbus. onthe DC conditions. critical most the under run test , RESext_R and @ WARNING @ WARNING RESext_ton age andthepower amplifier be will , seechapter 3.5.1 “External RESint_ext 7-33

Commissioning LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

RESint_ext Control of braking resistor(7-19) - UINT16 CANopen 3005:9h 0 R/W Modbus 1298 0 / internal: internal braking resistor 0 per. 1 / external: external braking resistor - 1 -

RESext_P Nominal power of external braking resis- W UINT16 CANopen 3005:12h tor(7-19) 1 R/W Modbus 1316 10 per. - 32767 -

RESext_R Resistance value of external braking resis- Ω UINT16 CANopen 3005:13h tor(7-19) 0.01 R/W Modbus 1318 100.00 per. - 327.67 - Fieldbus 1 10000 32767

RESext_ton max. permissible switch-in time for external ms UINT16 CANopen 3005:11h braking resistor(7-19) 1 R/W Modbus 1314 1 per. - 30000 - 0198441113232, V1.04, 01.2006

7-34 AC servo drive 0198441113232, V1.04, 01.2006 X0ACommissioning Runautotuning 7.4.13 LXM05A ACdrive servo again. Ifyou want to check theplausib Change the the Autotuning mechanical positionareimported. and start If the Autotuning isinterrupted with save. additional an without immediately accepted values are calculated The from page 7-37. forsettings autotuning“ “Extended displayed,7.4.14 be also can see Autotuning is not suitable for inertia ratios of "J ext" to "J motor" >10. ext" "J motor" of "J ratios to suitable forAutotuning not is inertia Autotuning typical axes. vertical alsosupports 7.5“Controller optimisation withstep response“. chapter see forsettings parameters the controller the optimises totuning factors,External suchas a load onthe motor, are taken into account.Au- system. total and considerstheincalculation itthe of of the massmomentofinertia Autotuning the torque, friction determines an ever present load torque, ̈ ̈ rious injury orequipmentinjury damage. rious se- indeath, result can followFailure to instructions these Make surethat the systemis freeand ready for the motion • button for STOP functioning a that Make EMERGENCY sure is • • If possible, If limit switchesthe use • Check that the parameter • Check the parameters • functions maytoring bedisabled. parameters are inputunexpected movementsmay occurmoni- or controller. drive the incorrect set If to Autotuningmoves motor the system. Unexpected movement may causeand injury damage to the Autotuning fromthe HMI ( can alsobestarted "Displaythe in nal settings -SpecificDisplays" menu. path "OperatingMode- Automatic optimisation".Also note additio- the AutotuningStart with the commissioning software with the menu 7.12). Figure see mechanism, rigid doub in If system. yourto mechanical for setting the the Select before the function.starting within reach. correctly set. account. the braking ramp incaseof error mustbe also taken into @ WARNING AT_dir AT_mechanics LIM_I_maxQSTP an error message, the default values and ility ofthecalculat LIMN AT_dismax t, select asofter coupling (less and parameter corresponding for Quick-Stop is LIMP TUN- . The travel. The for . / ed values,they STRT ). 7-35 Commissioning LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

AT_dir Direction of rotation autotuning(7-35) - UINT16 CANopen 302F:4h 1 R/W Modbus 12040 DIR 1 / pos-neg-home / pnh: first positive direc- 1 - tion, then negative direction with return to ini- DiR 6 - TUN- tial position2 / neg-pos-home / nph: first negative direction, then positive direction with return to initial position 3 / pos-home / p-h: only positive direction with return to initial position 4 / pos / p--: only positive direction without return to initial position 5 / neg-home / n-h: only negative direction with return to initial position 6 / neg / n--: only negative direction without return to initial position

AT_dismax Movement range autotuning(7-35) revolution UINT32 CANopen 302F:3h 1.0 R/W Modbus 12038 DIST Range in which the automatic optimisation 1.0 - processes of the controller parameters are DiST 999.9 - TUN- run. The range is input relative to the current position. Fieldbus Caution with "movement in only one direc- 10 tion" (parameter AT_dir), 10 it corresponds to the actual movement of a 9999 multiple of this specified range. It is used for every optimisation level.

AT_mechanics System coupling type(7-35) - UINT16 CANopen 302F:Eh 1 R/W Modbus 12060 MECH 1: direct coupling (J ext. to J motor <3:1) 1 - 2: medium coupling () MECh 5 - TUN- 3: medium coupling (short toothed belt) 4: medium coupling () 5: soft coupling (J ext. to J motor between 5:1 and 10:1, linear axis)

AT_star t Start Autotuning(7-35) - UINT16 CANopen 302F:1h 0 R/W Modbus 12034 0: End - - 1: Activate - 1 - 0198441113232, V1.04, 01.2006

7-36 AC servo drive 0198441113232, V1.04, 01.2006 HMI menu, Code Code Parameter Name Commissioning HMI menu, Code Code Parameter Name Extendedsettingsfor autotuning 7.4.14 LXM05A - AT_J - AT_progress TUN- GAIN AT_gain - AT_state ACdrive servo GAiN ecito Unit Description Unit Description in 0.1 kgcm^2 steps process ning isautomatically calculated during the autotu- of the entiresystem(7-37) Inertia % Autotuning progress(7-37) ler values mean that the regulation is looser. is regulation the valuesler that mean smal- and tighter is theregulation that mean Values optimum. theoretical 100 than larger The value the regulation. 100 represents of the of the degreeMeasure oftightness ser)(7-37) parameters (tighter/loo- controller Adapting step Bit 10..0: processing last auto_tune_process Bit13: auto_tune_end Bit14: auto_tune_err Bit15: Autotuning status(7-37) The parameter The ava limit. is atthestability AT_gain the parameter by writing autotuning found settings during the change youon your can system, parameters affects setting control the softer Ifyou are conducting atest operationandwant check to how aharder or thepercentage progress and the statusof the Autotuning. The parameters autotuning. the ning. The following parameters can be used to monitor or even influence For most applications the proceduresufficient described is for autotu- The parameter tia of the entire systemcalculatedthe autotuning. during system is stilloscillating. system tomatic autotuning step (changehardness) of out the whileis carried wait timeif a flexiblevery couplingis single steps the during autotuning process. It only makes sense to set a . Avalue of 100% isgenerally not possible, because this value AT_wait AT_J AT_state can be used to read out the mass moment of iner- of moment mass the out read to used be can 0.0 - 0.0 Maximum value Default value Minimum value Maximum value Default value Minimum value kg cm 100 0 0 - % - - can be changed to set a wait time between the and 2 ilable valuetypically 70%-80%. is AT_progress used, and particularly if the ifnext used, and particularly au- - per. R/W UINT16 Expert persistent R/W Data type Expert persistent R/W Data type - - R/- UINT16 - - R/W UINT16 - - R/- UINT16 can be canto used monitor Modbus 12054 Modbus 12036 Modbus 12056 Modbus 12052 CANopen 302F:C CANopen via fieldbusvia Parameter address fieldbusvia Parameter address CANopen 302F:B CANopen CANopen 302F:A CANopen 302F:2 CANopen 7-37 h h h h Commissioning LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

AT_wait Waiting time between autotuning steps(7-37) ms UINT16 CANopen 302F:9h 300 R/W Modbus 12050 WAIT 1200 - TUN-WAit 10000 -

Malfunctions during optimisation High-frequency resonances in mechanical components may interfere with controller optimisation. The values for CTRL_KPn and CTRL_TNn cannot be set satisfactorily if this occurs. The reference value filter of the current controller suppresses high-frequency resonance (>500Hz). However, if high-frequency resonance does interfere with controller optimisation, it may be necessary to increase the time constant with the parameter CTRL_TAUiref. In most cases the default setting suppresses the high-frequency resonance.

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

CTRL_TAUiref Filter time constant reference value filter of ms UINT16 CANopen 3012:10h the reference current value() 0.00 R/W Modbus 4640 1.20 per. - 4.00 - Fieldbus 0 120 400 0198441113232, V1.04, 01.2006

7-38 AC servo drive 0198441113232, V1.04, 01.2006 X0ACommissioning Controller structure 7.5.1 Controller optimisationwithstepresponse 7.5 LXM05A ACdrive servo _v_act_Posintf _p_actPosintf _n_targetRAMP _p_tarRAMPusr GEARdenum GEARnum GEARratio generator Profile _n_actRAMP _p_actRAMPusr _p_addGEAR Current controller + GEARdir_enabl Jerk limit Jerk M _p_ref _p_refusr _n_pref case stayscase switched out. rent, speed and position controller. The higher-level control loop in each The controllersareset from "inside" "outside" to inthe sequencecur- be smoothed by an upstream filter. position controller. The reference value of the speed controller can also closeda positioning loopcurrent with controller,speedcontroller and The controller correspondsstructure to the classical cascade control of Figure 7.11 Controller Controller structur 7.11 Figure data. rent controller has been optimised automaticallythe using storedmotor The motor's drive torque is bydetermined the current controller. The cur- _p_dif _p_act, _p_actusr,_p_absmodulo,_p_absENCusr feed-forward Speed CTRL_KPp CTRL_KFPp CTRL_TAUref controller Current value filter Reference- CTRL_n_max "Speed control" operating mode Reference value at _id_act, _idq_act,_iq_act _iq_ref controller Current e for evaluation encoder viaCN2 CTRL_TAUref controller Speed value filter Reference- amplifier Power _n_act POSdirOfrotat _n_ref CTRL_TNn CTRL_KPn Encoder evaluation controller Speed - Position - Speed Actual value CTRL_I_max 0 1 "Current control" operating mode Reference value at 3~ M E 7-39 Commissioning LXM05A

Speed controller The speed controller maintains the required motor speed by varying the output motor torque depending on the load situation. It exerts a decisive influence on the speed with which the drive reacts. The dynamics of the speed controller depend on • the moments of inertia of the drive and the control distance • the torque of the motor • the stiffness and elasticity of the components in the power flow • the backlash of the mechanical drive components • the friction Position controller The position controller reduces the difference between setpoint and actual motor position (tracking error) to a minimum. At motor standstill the tracking error is virtually zero with a well-adjusted position controller. In movement mode a speed-dependent tracking error occurs. The setpoint position for the closed positioning loop is generated by the internal travel profile generator during the profile position, profile velocity, homing and jog operating modes. In the electronic gear operating mode the setpoint position for the closed positioning loop is generated by external A/B or pulse/direction input signals. A requirement for good amplification of the position controller is an optimised speed control loop.

7.5.2 Optimisation

The drive optimisation function matches the unit to the operating conditions. The following options are available: • Selecting control loops. Higher level control loops are automatically disconnected. • Defining reference signal: signal form, height, frequency and starting point • Testing control response with the signal generator. • Recording and assessing the control behaviour on the monitor with the commissioning software. Setting reference signals ̈ Start the controller optimisation with the commissioning software with the menu path "Command - Manual tuning". ̈ Set the following values for the reference signal:

• Signal form: 'Positive jump' • Amplitude: 100 1/min • Period duration: 100 ms • Number of repetitions: 1 ̈ Highlight the field "Autoscope". ̈ Also note additional settings in the menu "Display - Specific panels".

The total dynamic behaviour of a control loop can be only understood with the signal forms 'Jump' and 'Square wave'. Refer to the manual for all signal paths for the signal form 'Jump'. 0198441113232, V1.04, 01.2006

7-40 AC servo drive 0198441113232, V1.04, 01.2006 X0ACommissioning HMI menu, Code Code Parameter Name Optimising 7.5.3 LXM05A - CTRL_TNn - CTRL_KPn ACdrive servo Determining the mechanics of the themechanics Determining Inputting controller values controller Inputting ecito Unit Description pe otolritga ie74)ms integral controller Speed time(7-41) meters Default value motor from para- iscalculated P-factor(7-41) controller Speed the speedcontroller system dow in the "Control" group."Control" dow the in You canentercontroller valuesfor optimisation inthe parameters win- missioningsoftware button tool bar with the “Start” (arrow icon). thecom- in A jumpa functionas soon recordingtriggered as started is is testedby initiating ajump function. steps over described thefollowing pages. These parametersmust be optimisation for input individual be the also must parameters Control equipment. Thisincludes practicalexperience with settingadjustment and procedures for control The optimum for setting complexme System with less rigid mechanism • mechanism with System rigid • set-up to assessand optimiseits transient response behaviour. Decide whichone of the following two systems fitsthemechanics your of bed from page 7-45. Checkand optimise the calculatedvalues inasecond step, asdescri- limiting casemethod. mised with the experimental adjustment procedure using the aperiodic Less complex mechanical procedures. identification apply to Maximum value Default value Minimum value 32767 900 0 Fieldbus 327.67 9.00 0.00 12700 1 Fieldbus 1.2700 - 0.0001 A/(1/min) Herethefollowing two parameters are set: the ability to calculate the abilityto systems cangenerally besuccessfully opti- chanical control systems requires chanical systems control Expert persistent R/W Data type - per. R/W UINT16 - per. R/W UINT16 control parameters and Modbus 4616 Modbus 4614 via fieldbusvia Parameter address CANopen 3012:4 CANopen CANopen 3012:3 CANopen 7-41 h h Commissioning LXM05A

Rigid mechanism Less rigid mechanism

Low elasticity Higher elasticity

No or few moving parts Larger number of moving parts

Direct drive Belt drive Flange motor Torsion shafts Rigid coupling Gears Elastic coupling

Figure 7.12 Mechanical systems with rigid and less rigid mechanisms

̈ Connect the motor to your system's mechanism.

̈ Test the limit switch function after installing the motor if limit switches are used.

Switch off reference value filter of With the reference variable filter you can improve the response beha- speed controller viour under optimised speed control. The reference value filter must be switched off when setting the speed controller for the first time. ̈ Disable the reference value filter of the speed controller. Set the parameter CTRL_TAUnref to the bottom limit value "0".

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

CTRL_TAUnref Filter time constant reference value filter of ms UINT16 CANopen 3012:9h the speed reference value(7-41) 0.00 R/W Modbus 4626 9.00 per. - 327.67 - Fieldbus 0 900 32767

The procedure for optimisation of the settings described is only a suggested setting. It is responsibility of the user to decide whether the method is suitable for the actual application.

Determining controller values with Requirements for setting the control behaviour as per the table are: rigid mechanics • a known and constant inertia of load and motor • a rigid mechanism The P-factor CTRL_KPn and the correction time CTRL_TNn depend on: 0198441113232, V1.04, 01.2006

7-42 AC servo drive 0198441113232, V1.04, 01.2006 X0ACommissioning LXM05A ACdrive servo Determining controller values controller with Determining less rigid mechanics rigid less 002080101 .3 16 16 0.138 16 0.069 16 0.034 12 16 0.014 12 0.150 0.007 12 0.075 12 8 0.038 12 8 0.015 0.250 8 0.008 0.125 0.0625 8 0.0250 8 20 0.0125 10 5 2 1 •J the controlleradjusts the speed For optimisationtheP-factor purposes of the speed controllerat which overshootingdetermined. is •J ̈ values controller Determining Table 7.2 J ̈ ̈ ̈ can adverselycan affect optimisation results. thereby requiring the value to bereduced. However,this may deviations, "infinite" time position in unwanted result stationary,e.g. operation, axis with vertical the correction In th drive inwhich systems rious injury orequipmentinjury damage. rious se- indeath, result can followFailure to instructions these Make sure that the system is free and ready for motion before • button for STOP functioning a that Make EMERGENCY sure is • possible, If limit switches use well.as stop or • Check that the selected valuesfor speedtime and donot • speed until thespecified time hasexpired. Thefunction jump movesthe motor inspeed modeconstant at tem Unexpected motion may cause injury and damage to the sys- L [kgcm point After the firsttest check the maximumamplitude for thecurrent set- function. jump a Initiate Set the correctiontime the controllerDetermine values based onTable7.2: the motor position. motor the mustbejust set high enoughprevent to uncontrolled an change of time motor, correction the stationary the on acting is torque load a If CTRL_TNn M L starting the function.starting within reach. exceedthe available distance. : Mass moment of inertia of the: Mass load moment of inertia Mass moment of inertia of motor the of inertia of moment Mass 2 _Iq_ref P N P N P TNn KPn TNn KPn TNn KPn ] J =0ms. L =J . M @ WARNING CTRL_TNn e motoris loaded while _n_act J L =5 *J to infinite. M asquickly aspossible without J L =10 * J =10 M 7-43 Commissioning LXM05A

Set the amplitude of the reference value – default was 100 rpm – just high enough so the current setpoint _Iq_ref remains below the maximum value CTRL_I_max. On the other hand, the value selected should not be too low, otherwise friction effects of the mechanism will determine control loop response. ̈ Trigger a jump function again if you need to modify _n_ref and check the amplitude of _Iq_ref. ̈ Increase or decrease the P-factor in small steps until _n_act adjusts as fast as possible. The following diagram shows the adjustment response required on the left. Overshooting - as shown on the right - is reduced by reducing CTRL_KPn.

Deviations from _n_ref and _n_act result from setting CTRL_TNn to "infinite".

Amplitude n_ref n_ref

100% 100% n_act n_act 63%

Improve with KPn

0% 0% TNn t t

Figure 7.13 Determining 'TNn' in the aperiodic limiting case

For drive systems in which oscillations occur before the aperiodic limiting case is reached, the P-factor "KPn" must be reduced to the exact point where oscillations can no longer be detected. This occurs frequently with linear axes with a toothed belt drive.

Graphical calculation of the 63% Determine graphically the point at which the actual speed _n_act rea- value ches 63% of the final value. The correction time CTRL_TNn is then shown as a value on the time axis. The commissioning software will help you with the evaluation: Malfunctions during optimisation High-frequency resonances in mechanical components may interfere with controller optimisation. The values for CTRL_KPn and CTRL_TNn cannot be set satisfactorily if this occurs. The reference value filter of the current controller suppresses high-frequency resonance (>500Hz). However, if high-frequency resonance does interfere with controller optimisation, it may be necessary to increase the time constant with the parameter CTRL_TAUiref. In most cases the default setting suppresses the high-frequency resonance. 0198441113232, V1.04, 01.2006

7-44 AC servo drive 0198441113232, V1.04, 01.2006 X0ACommissioning Checking andoptim 7.5.4 HMI menu, Code Code Parameter Name LXM05A - CTRL_TAUiref ACdrive servo 100% 0% Amplitude n_ref ecito Unit Description the reference value() current re constant time Filter n_act ising defaultsettings • If the controller is too slow: select controller is If the • again: • If the controller tends If the • CTRL_KPn Ifthe controlresponse not does correspond to the curve shown, change Overshootingup to amaximum ofrecommended.20%- 40% is • Fast adjustment • bynised identical to the signal path shown. Good control response can be recog- The controller set when isproperly the jump response isapproximately Step responses 7.14 Figure and decelerating. Youbyoscillation canrecognisean ference value filterof mechanism Rigid t ´ in steps´ in of about 10% and theninitiate ajump function once 100% 0% Amplitude Maximum value Default value Minimum value 400 120 0 Fieldbus 4.00 1.20 0.00 ms n_ref to oscillate: select to oscillate:select with good controlbehaviourwith good the motor continuously accelerating n_act CTRL_KPn mechanism Less rigid Expert persistent R/W Data type - per. R/W UINT16 CTRL_KPn greater. t Modbus 4640 via fieldbusvia Parameter address CANopen 3012:10 CANopen smaller. 7-45 h Commissioning LXM05A

100% 100% Control too slow n_act Control oscillating

n_ref n_ref Amplitude Amplitude n_act Improve with Improve with KPn KPn

0% 0% t t

Figure 7.15 Optimise inadequate settings of the speed regulator

If you cannot achieve sufficiently satisfactory controller properties in spite of optimisation, contact your local dealer. 0198441113232, V1.04, 01.2006

7-46 AC servo drive 0198441113232, V1.04, 01.2006 X0ACommissioning HMI menu, Code Code Parameter Name Optimising t 7.5.5 LXM05A - CTRL_KPp ACdrive servo Settingthe reference signal Selecting recording signals ecito Unit Description Default value iscalculated PositionP-factor(7-47) controller he positioncontroller • Setpointthe of position controller • Actual positiontheposition of controller • Set amplitudefor about 1/10 motor revolution. • Signal form: 'Jump' • • CTRL_KPp When setting the position controlthe P-factor of the position controller circuit. control speed lower-ranking in the response control agood requires Optimisation ̈ ̈ ̈ rious injury orequipmentinjury damage. rious se- indeath, result can followFailure to instructions these Make sure that the system is free and ready for motion before • button for STOP functioning a that Make EMERGENCY sure is • possible, If limit switches use well.as stop or • Check that the selected valuesfor speedtime and donot • speed until thespecified time hasexpired. Thefunction jump movesthe motor inspeed modeconstant at tem Unexpected motion may cause injury and damage to the sys- CTRL_KPp Select thevaluesSelect in Gene resolution is16384 usrper motor revolution. The amplitude is input inuser-def Set the reference signal: software. Select the position controllerrefe CTRL_KPp controller the starting the function.starting within reach. exceedthe available distance. must be optimised in two limits: toogreat: overshooting of toosmall: Large following error Maximum value Default value Minimum value 4950 20 Fieldbus 495.0 - 2.0 1/s @ WARNING ral Recording Parameters: rence value in the commissioning valuerence commissioning in the ined units. At default scaling the _p_refusr Expert persistent R/W Data type - per. R/W UINT16 the mechanism, instability of mechanism, instability the _p_actusr ( _p_ref Modbus 4620 via fieldbusvia Parameter address CANopen 3012:6 CANopen ( _p_act ) ) 7-47 h Commissioning LXM05A

• actual speed _n_act • current motor current _Iq_ref Controller values for the position controller can be changed in the same parameter group used for the speed controller. Optimising the position control ̈ Start a jump function with the default controller values. value ̈ After the first test check the achieved values _n_act and _Iq_ref for current and speed control. The values must not cross into the range of current and speed limiting.

100% 100%

p_ref p_ref Amplitude Amplitude

p_act p_act Rigid Less rigid mechanism mechanism 0% 0% t t

Figure 7.16 Step responses of a position controller with a good control behaviour

The proportional factor CTRL_KPp is at its optimum setting when the motor reaches its target position rapidly and with little or no overshooting. If the control behaviour does not correspond to the curve shown, change the P-factor CTRL_KPp in steps of about 10% and then initiate a jump function once again. • If the closed-loop control tends to oscillate: select CTRL_KPp smaller. • If the actual value is too slow following the reference value: select CTRL_KPp larger.

100% 100% Control too slow Control oscillating

p_ref p_ref Amplitude Amplitude

Improve Improve p_act p_act with KPp with KPp

0% 0% t t

Figure 7.17 Optimising improper settings of the position controller 0198441113232, V1.04, 01.2006

7-48 AC servo drive 0198441113232, V1.04, 01.2006 oig-Fedu omnsPage8-31 Page 8-29 Page 8-25 Fieldbus commands Page 8-21 Fieldbus commands Page8-15 Fieldbus commands Fieldbus commands orHMI P/D orA/B - - Description - P/DorA/B HMI Homing in fieldbus mode. control Profile velocity Profile position Electronic gear control Speed control mode local in Current control Jog Operation mode Operating Control modeandoperatingmanagement 8.1 Operation 8 LXM05A ACdrive servo Reference valueinterface ANA_IN1 ANA_IN1 or fieldbus commands. using analogue signals ( In thecase of fieldbus control mode, the movement caninitiated be logue signals ( In the case of local control mode, the motion can be initiated using ana- trol mode and reference valueinterface. The following table shows the correspondanceoperating of mode, con- pendent upon the "First Setup". rating modeandmotorstandstill.The The operating modes canchanged be at any timeafter ending an ope- not be altered in running operation. local control mode or via fieldbus control mode. This can-determination tup", amongst other things, whether the device isto be operated under initialcommissi During For overview of an modes and functions of the device. The "Operation" section the describes basic operating states, operating explaineddetail inthissection. inmore application and the function ofparameters some are inthe"parameters" alphabetically section. sorted The ± 10V)with orsignals RS422 (pulse/direction or A/B) all Fieldbus commandor Fieldbus commandor parameters can be be found can parameters oning, youwill have Se- "First during determined ± 10V) or RS422 signals (pulse/direction or A/B) choice ofoperatchoice ANA_IN1 ANA_IN1 Page 8-19 Page 8-17 ing modes isde- ing modes 8-1 Operation LXM05A

L N

Figure 8.1 Local control mode and fieldbus control mode

Reference value to control loop The following table shows the correspondance of operating mode, control loop and usage of the profile generator.

Operating mode Control loop Profile generator Jog position controller X Current control current controller - Speed control speed controller - Electronic gear position controller - Profile position position controller X Profile velocity position controller X Homing position controller X

8.2 Access monitor

8.2.1 via HMI

The HMI receives the access monitoring when starting the jog operating mode or when starting Autotuning. Control via the commissioning software or by the fieldbus is then not possible. In addition, the HMI can be locked using the parameter HMIlocked This means that control via the HMI is no longer possible. 0198441113232, V1.04, 01.2006

8-2 AC servo drive 0198441113232, V1.04, 01.2006 .. via hardware inputsignals 8.2.4 via commissioning software 8.2.3 Operation HMI menu, Code Code Parameter Name via fieldbus 8.2.2 HMI menu, Code Code Parameter Name LXM05A - AccessLock - HMIlocked ACdrive servo Fieldbus control mode Local control mode ecito Unit Description Unit Description Stop-input) cannot beblocked. cannot Stop-input) (e.g. signals ofthe input The processing - asecond fieldbus - HMI - Commissioning tool channels: access active access to thedevice for thefollowing This parameterallows the fieldbus to block blocked channels access Other 1: enabled channels access Other 0: Blocking ofotheraccess channels(8-2) - FaultReset - Autotuning - Manual (Jog) operation parameters- Change possible: nolonger actions are the HMI When blockedis thefollowing blocked HMI 1: blocked HMInot 0: Block HMI(8-2) PWRR_B used to limit the access monitoring to fieldbus to the . monitoring access the to limit used parameter mode, the fieldbuscontrol of case the In mode. It is,however, possible to enter parametersthe via fieldbus. fieldbus is via monitoring Access In the local control mode the digital input signals signals input digital the mode control local the In vate" button. Access via HMI or fieldbus is then not possible. The commissioningsoftware receives the accessmonitorvia the"Acti- ENABLE In fieldbus control mode the digital input signals access. the control software commissioning the ware control the access. , are always effective, even if the HMI or the commissioning soft- PWRR_A and Maximum value Default value Minimum value Maximum value Default value Minimum value 1 - 0 - 1 0 0 - PWRR_B are always effective, evenif the or HMI not possible wheninlocalcontrol Expert persistent R/W Data type Expert persistent R/W Data type - - R/W UINT16 - per. R/W UINT16 HALT HALT AccessLock Modbus 14850 Modbus 316 via fieldbusvia Parameter address fieldbusvia Parameter address CANopen 3001:1E CANopen 303A:1 CANopen , , FAULT_RESET PWRR_A and can be h 8-3 h , Operation LXM05A

8.3 Operating states

8.3.1 Status diagram

Motor without current

Switching on

1 INIT Start T0 2 nrdy Not ready to switch on

dis Switch on 3 disabled T15

T9 T2 T7 T12 4 rdy Ready to T10 switch on 9 T8 T3 T6 Fault fLt 8888 Son 5 Switched on Display flashes

T14 8 T4 T5 fLt Fault Reaction active rUn 6 Quick-Stop active 7 Operation T16 T13 HALT enable Stop 8888 HaLt Display flashes

T11 Fault Fault Class1 Class2, 3, (4) Motor under current

Operating state State transition Operating fault

Figure 8.2 Status diagram 0198441113232, V1.04, 01.2006

8-4 AC servo drive 0198441113232, V1.04, 01.2006 X0AOperation FLt FLt Stop HALT run description State Son rdy dis nrdy Status Init Display LXM05A ACdrive servo 9 8 7 6 5 4 3 2 1 Fault device is in error condition device error in is enabled is error response detected, Error "Quick isexecuted Stop" Fault Fault active Reaction RUN: mode operating device the selected in running Quick active Stop Motor notunder current Operation enable voltage, supply Controller initialised is electronics Thepower ready is amplifier to switch on on Switched onthepower Switching is disabled amplifier to switchReady on Thepower ready to switch not is amplifier on on disabled Switch ready to switchNot on Start Operating states Error response HALT: withactive isstopped power motor The amplifier activemode operating No Power ready amplifier Removal" 3.4 or "Power diagnostics chapter. act.The description of the error classificationcan beseen inthe nal occurrence indicates an operation error to which the device must re- The state transition T13 initiates an error response as soon as an inter- missioning software. The operating states are displayedstandard as by theand HMIthecom- 2 rected"Fault and a theinput withsignal Reset"run To leave the operating status "Fault" the cause of the error must be cor- power amplifier. Subsequentlytheoperating status changes"Fault". to response e.g. braking and stopping with "Quick Stop" or switching off the sor.device The the interrupts travel out commanderror ancarries and operatingAn errorindicated canbe by, for example, atemperaturesen- at response Error state transition T13 Table 8.1 Statusfrom - Error class to theoperating status status (operating In thecase of a"Quick Stop" triggered byerrors of class1 parameter parameter DCOMcontrol 7 ), a "Fault Reset" triggers a direct return return adirect a"Fault), triggers Reset" x x > to -> -> 6 8 ->9 8 . . tely, even if"Quick isstill active Stop" Power switched is amplifier off immedia- Power switched is off amplifier Brake isclosed Braking with"Quick Stop" Response FAULT_RESET or the or 8-5 Operation LXM05A

State transitions Status transitions are triggered by an input signal, a fieldbus command (with fieldbus control mode only) or as a response to a monitoring signal.

Trans- Operating Condition / result 1) Response ition status T0 1 -> 2 • Motor speed below switch-on limit Check motor encoder

• Device electronics successfully initialised T1 2 -> 3 • First commissioning is completed - T2 3 -> 4 • Motor encoder successfully checked, - DC bus voltage active, PWRR_A and PWRR_B = +24V, actual speed: <1000 rpm fieldbus command: Shutdown 2) T3 4 -> 5 • Fieldbus command Switch On

• Input signal ENABLE0 -> 1 T4 5 -> 6 • Fieldbus command Enable Operation Switch on power amplifier. Motor phases, earthing, user parameters are checked Release brake T5 6 -> 5 • Fieldbus command Disable Operation Interrupt travel command with "Halt" Apply brake • Input signal ENABLE0 -> 1 Switch off power amplifier T6 5 -> 4 • Fieldbus command Shutdown T7 4 -> 3 • DC BUS undervoltage -

• PWRR_A and PWRR_B = 0V

• Actual speed: >1000 rpm (e.g. by auxiliary drive)

• Fieldbus command Disable Voltage T8 6 -> 4 • Fieldbus command Shutdown Switch off power amplifier immediately T9 6 -> 3 • Fieldbus command Disable Voltage Switch off power amplifier immediately T10 5 -> 3 • Fieldbus command Disable Voltage T11 6 -> 7 • Class 1 error Interrupt travel command with "Quick Stop"

• Fieldbus command Quick Stop T12 7 -> 3 • Fieldbus command Disable Voltage Switch off power amplifier immediately, even if "Quick Stop" still active T13 x -> 8 • Errors Class 2, 3 or 4 Error response is carried out, see "error response" T14 8 -> 9 • Error response completed

• Errors Class , 3 or 4 T15 9 -> 3 • Fieldbus command Fault Reset 3) Error is reset

• Input signal FAULT_RESET0 -> 1 3) T16 7 -> 6 • Fieldbus command Fault Reset 3) Local control mode specified operating mode is automatically continued • Input signal FAULT_RESET0 -> 1 3)

• Fieldbus command Enable Operation 4) 1) It is sufficient to fulfil one point to trigger the status transition 2) Only required with fieldbus control mode, fieldbus CANopen and parameter DCOMcompatib = 1 0198441113232, V1.04, 01.2006

8-6 AC servo drive 0198441113232, V1.04, 01.2006 X0AOperation Onlypossible if operatingstatus wasvia triggered fieldbus 4) Causeerror of must becorrected 3) LXM05A ACdrive servo 8-7 Operation LXM05A

8.3.2 Changing operating states

Local controller operating mode In local controller operating mode, the change of operating state takes place either via the commissioning software, the signal inputs or automatically.

State transi- Input signal tions State change to ENABLE 0 -> 1 T3, T4 6: Operation enable ENABLE 1 -> 0 T5, T6 4: Ready to switch on FAULT_RESET 0 -> 1 T15 4: Ready to switch on T16 6: Operation enable

Fieldbus control mode In the case of fieldbus control mode, the operating states are set either by the commissioning software or by the parameter DCOMcontrol. Bits 0 to 3 and Bit 7 are relevant for a state change

Monitoring and System functions

DCOMcontrol State machine DCOMstatus

Figure 8.3 Changing and monitoring the operating status via parameters

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

DCOMcontrol Drivecom control word(8-8) - UINT16 CANopen 6040:0h R/W Modbus 6914 For bit coding see chapter on operation, ope- - - rating states - - 0: Switch On 1 Enable Voltage 2: QuickStop 3: Enable Operation 4..6: op. mode specific 7: Fault Reset 8: Halt 9..15: reserved (must be 0)

Bit 0 to 3 and 7

X X X X X X X X XXX State machine

15...8 703 ...

Figure 8.4 Changing the operating status

Bit 7, Bit 3, Bit 2, Bit 1, Bit 0, Fieldbus command state tran- Reset Enable Quick Enable Switch sitions Change of state to Fault operation Stop Voltage On Shutdown T2, T6, T8 4: Ready to switch on X X 1 1 0 Switch On T3 5: Switched on X X 1 1 1 0198441113232, V1.04, 01.2006

8-8 AC servo drive 0198441113232, V1.04, 01.2006 al ee T15 T4,T16 Reset Fault T10T11 T7, T5 Enable operation Disable Operation Quick Stop state tran- Fieldbus command X0AOperation T10, T9, T7, Voltage Disable LXM05A ACdrive servo sitions Change ofstateto Change sitions T12 Bit 9to 15 Bit 8,Halt Bit 4 to Bit 4to 6 3 6 5 Quick Stop active 3 3 wthdo 1 1 X 1 1 X X 1 1 X 0 0 1 X 0->1 X X X : Switchondisabled enable : Operation X : Switched on : Switchondisabled X : Switchondisabled reserved Bit 8=1caninitiate"Halt".a chapter. be found inthe descriptionthe of individual operating modes inthis Bits 4 to 6 are used for the operating mode specific settings. Details can change. cular status parti- havethat "X" with marked meaning no fields the in states bit The 7 : XX01X Fault Reset Bit 7, operation Enable Bit 3, Stop Quick Bit 2, Voltage Enable Bit 1, On Switch Bit 0, 8-9 Operation LXM05A

8.3.3 Displaying the operating states

Local control mode In local control mode the operating status is displayed via the signal outputs, the HMI or the commissioning software.

Status NO_FAULT_OUT ACTIVE1_OUT 2: Not ready to switch on 0 0 3: Switch on disabled 0 0 4: Ready to switch on 1 0 5: Switched on 1 0 6: Operation enable 1 1 7: Quick Stop active 0 1 9: Fault 0 0

Fieldbus control mode In fieldbus control mode the operating status is displayed via the signal inputs, the fieldbus , the HMI or the commissioning software.

Monitoring and System functions

DCOMcontrol State machine DCOMstatus

Figure 8.5 Changing and monitoring the operating status via parameters

Status information The parameter DCOMstatus provides global information on the operating state of the unit and the processing state.

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

DCOMstatus Drivecom status word(8-10) - UINT16 CANopen 6041:0h R/- Modbus 6916 For bit coding see chapter on operation, sta- - - tus machine - - 0-3,5,6: Status bits 4: Voltage enabled 7: Warning 8: HALT request active 9: Remote 10: Target reached 11: reserved 12: op. mode specific 13: x_err 14 x_15err ref_ok

Bit 0 to 3, 5 and 6 The status of the state diagram is displayed by bits 0 to 3, 5 and 6 of the parameter DCOMstatus. 0198441113232, V1.04, 01.2006

8-10 AC servo drive 0198441113232, V1.04, 01.2006 X0AOperation 9 7 6 5 4 3 2 Status LXM05A ACdrive servo :::: Fault: toswitchReady on Quick: Operation: Switched Switch Not 0X1111 ready Stop onon active 010011 disabled enable toswitch 000111 010111 1X0000 on0X0000 Bit 8,request Halt active Bit 10, Targetreached Bit 4, Voltage enabled Bit 7,Warning Bit 9, Remote 9, Bit Bit 15, Bit 15, ref_ok Bit 14, x_end Bit 14, Bit 13, x_err Bit 12 Bit 11 010001 Ondisable Bit 6,Switch iue86Display of status operating 8.6 Figure reference movement. Bit 15is"1"ifthemotoror theaxis valid a has reference point,e.g. by a by anew ina mediately mode. different operating process Bit 14's signal change to '1' issuppressed if one process isfollowed im- ges back to "1"when t is complete or if the process isdiscon Bit 14 changes to "0“, if an operating When the process mode is started. errorclass, see page 10-2. fied by processing. the The further device responds corresponding to an Bit 13only becomes "1“inthecase of anerror to whichneedsrecti- be be found inthe chapter fortheindividual operating mode. Bit 12 isused for the monitoring the current operating mode. Details can reserved causean of error. be- discontinued or by a"Halt" interrupted is mode operating ifthe ning, and the motorstops. thehas Bit10 value the“0”,longmotorrun- as as is Bit 10 only becomes "1“, if the operating mode iscompleted successfully written. and read to be parameters fieldbusallows then other If Bit 9isset, then the device is controlled from a different interface. The fieldbus bus. the via commands out device the then carries 9isset, If Bit Bit 8=1indicates that a"Halt"is active. "Fault Reset". message ispending for time. Thea shorter bit isreset immediately at a _WarnActive inparameter is pending message asawarning set so long _WarnActive Bit 7becomes message 1ifawarning pending is parameterin state 4. missingor istoo low, then thedevice does notchange from state 3to Bit 4=1indicates whether the DC bus voltage iscorrect. If the voltage is Stop Bit 5, Quick State machine . The bit remains set for at least 100ms, even if a warning bitremains The . The movement interrupted. isnot mode i ,al Bit 2, Bit 3,Fault he motor is at astandstill. he motoris S LSB MSB X NABLE OperationE- X 15...8 X tinued e.g. by a"Halt", Bit 14 chan- X X X XX XX Switch On Bit 1, X 50 65 3 toSwitch On toSwitch Bit 0,Ready ... 8-11 Operation LXM05A

8.4 Starting and changing operating modes

@ WARNING Danger of personal injury and damage to system parts by uncontrolled system operation! • Note that inputs to these parameters are executed by the drive controller immediately on receipt of the data set. • Make sure that the system is free and ready for movement before changing these parameters Failure to follow these instructions can result in death, serious injury or equipment damage.

Requirements To start an operating mode the unit must be ready to start and correctly initialised. An operating mode cannot be carried out in parallel with another operating mode. If an operating mode is active, then you can only change to a different operating mode if the current operating mode is completed or is discontinued. An operating mode is completed if the drive is at a standstill, e.g. if the target position of a positioning process is reached or if the drive is stopped by a "Quick Stop" or "Halt". If a fault occurs during the process which leads to the discontinuation of a current operating mode, then, after the cause of the fault has been removed, the traverse operation can be resumed, or you can change to a different operating mode.

8.4.1 Start operating mode

Local control mode In the case of local control mode, after starting, the device changes to the operating mode set using the parameter IOdefaultMode The motor is placed under current by setting the input signal ENABLE and the set operating mode is started. In addition, a "jog" or "Autotuning" can be started with the HMI. Fieldbus control mode In the case of fieldbus control mode, the operating mode is started using the parameter DCOMopmode . The following table shows the sequence of parameters for starting an operating mode with the example of the current control operating mode.

Parameter Description 1 CUR_I_target Transmission of the reference value 2 CURreference Setting the reference quantity 3 DCOMopmode Calling up the operating mode (-3) 0198441113232, V1.04, 01.2006

8-12 AC servo drive 0198441113232, V1.04, 01.2006 8.4.2 Change operatingmode Change 8.4.2 Operation HMI menu, Code Code Parameter Name LXM05A - DCOMopmode - CURreference - CUR_I_target ACdrive servo Fieldbus control mode Local control mode ecito Unit Description -7 : oscillator mode -4 : control speed -3: currentcontrol -2: electronic gear -1: jog Manufacturermodes: operating ------6 :Homing velocity Profile 3 Profileposition 1: modes DSP402-operating mode() Operating CUR_I_target Reference2: value viaparameter ANA1 Reference1: value via+/-10V-interface 0: no mode() operating ofpresetsourceforSelection control current rol(8-17) Set currentinoperating currentcont- mode For all other operating modes, the Bits 4 to 6 are occupied. For not Bits4to 6 are modes, the operating all other DCOMcontrol parameter the by in 4 Bit mode operating set the start to instruction the In the case of the Profile Position and Homing mode, the device receives Parameter for change: • Parameter for display: • and forswitching theoperating modes. Two parameters areavailable for displayingthe current operating mode modes two operating mo control. The Exceptionsto this are the operatingcurrent modes controlandspeed the Operatingunder "Starting Mode". discontinued. Thedrive must beat For this purpose, the current process mustcompleted be explicitly or The operating modes canbe changed whilst the operation isinprocess. is in process. operation the whilst changed be cannot parameter the using changed When thedrive is atastandstill, . tor need not beatastandst need tor 30000 0 -30000 Fieldbus 300.00 0.00 -300.00 Maximum value Default value Minimum value 6 - -6 - 2 0 0 - A pk _DCOMopmd_act DCOMopmode IOdefaultMode the defaultthe operating be modecan a standstill. a standstill. Proc - - R/W INT16 Expert persistent R/W Data type - - R/W INT16 - - R/W UINT16 ill tochangebetween these . The . operating modes Modbus 6918 Modbus 6944 Modbus 8200 CANopen 3020:4 CANopen via fieldbusvia Parameter address CANopen 6060:0 CANopen 301B:10 CANopen eed then as showneed thenas 8-13 h h h Operation LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

_DCOMopmd_act active operating mode(8-13) - INT16 CANopen 6061:0h -6 R/- Modbus 6920 Coding see: DCOMopmode - - - 6 -

DCOMopmode Operating mode(8-12) - INT16 CANopen 6060:0h -6 R/W Modbus 6918 DSP402-operating modes - - 1: Profile position 6 - - 3 Profile velocity 6 : Homing ------Manufacturer operating modes: -1: jog -2: electronic gear -3: current control -4 : speed control -7 : oscillator mode 0198441113232, V1.04, 01.2006

8-14 AC servo drive 0198441113232, V1.04, 01.2006 X0AOperation Jogoperationmode 8.5.1 Operating modes 8.5 LXM05A ACdrive servo Start operatingStart mode Description motorfirst moves over adefined travel of the operatingses the start signal mode.for With thestart the jog the DCOMopmode With fieldbus control mode the operating mode must be set in parameter ENT-button. the pushing ously tons.You change can between slowand fast movement by simultane- strt is still pendingaftera is still comes activecomes andthemotoris The operating mode viathe HMI.can be Thestarted power amplifier be- Position and speed values are input inuser-definedunits. The current position axisposition for isthe start the jog operating mode. change-over time incontinuouscan beadjusted. running nuous Therunning. length of the traverse unit, the speed steps and the The motor traverses by one traverse unit orconstant at speedconti-in 4 Continuous operation > t < t (4) (3) (2) (1) Jog, slow andfast Figure8.7 to continuous signal operation iscancelled. until the start rious injury orequipmentinjury damage. rious se- indeath, result can followFailure to instructions these Make sure that the system is free and ready for movement • Note that inputs to these parameters are executed by the drive • controlled systemoperation! of personalDanger and injury damage to by system parts un- JOGactivate JOGactivate DCOMstatus M beforechanging these parameters controllerimmediately onreceipt of the dataset. . The. motor by runs pushingthe "up arrow"or "down arrow" but- JOGn_slow JOGn_fast JOGstepusr Bit14 JOGtime JOGtime . The writing ofThe the. writing parameter value simultaneouslycau- Bit2 Bit0 0 1 0 1 0 1 specified delay time @ WARNING ቢቢ ባቤብ under current by JOGstepusr JOGtime calling up the calling , the device, the switches . If the start signal signal start If the . jog- 8-15 / Operation LXM05A

The inching distance, delay and jog speeds can be set. If the inching distance is zero, jog starts directly with continuous movement irrespective of the delay.

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

JOGactivate Activation of jog(8-15) - UINT16 CANopen 301B:9h 0 R/W Modbus 6930 Bit0: clockwise rotation - - Bit1 : counterclockwise rotation 7 - - Bit2 : 0=slow 1=fast

JOGn_slow Speed for slow jog(8-15) 1/min UINT16 CANopen 3029:4h 1 R/W Modbus 10504 NSLW The setting value is internally limited to the 60 per. current parameter setting in RAMPn_max. JOG-NSLW 13200 -

JOGn_fast Speed for fast jog(8-15) 1/min UINT16 CANopen 3029:5h 1 R/W Modbus 10506 NFST The setting value is internally limited to the 180 per. current parameter setting in RAMPn_max. JOG-NFST 13200 -

JOGstepusr inching distance before continuous opera- usr INT32 CANopen 3029:7h tion(8-15) 0 R/W Modbus 10510 20 per. 0: direct activation of continuous operation - - >0: positioning section per inching cycle

JOGtime Waiting time before continuous opera- ms UINT16 CANopen 3029:8h tion(8-15) 1 R/W Modbus 10512 500 per. Time is only effective if an inching distance 32767 - - not equal to 0 has been set, otherwise direct transition to continuous operation.

End operating mode Jog is finished when the motor has stopped and • the directional signal is inactive. • the operating mode has been interrupted by "Halt" or an error Further possibilities For further setting possibilities and functions for the operating mode see from page 8-45. 0198441113232, V1.04, 01.2006

8-16 AC servo drive 0198441113232, V1.04, 01.2006 X0AOperation Current control operatingmode 8.5.2 LXM05A ACdrive servo Overview ofcurrentcontrol Setting to the set value set the to Setting Start operatingStart mode Setting thresholds Setting CUR_I_target In theof case fieldbus controlmode, theparameter cally evaluated. input analogue the controlmode, local of case the In parametersand limitvalues“. For setting currentlimiting and speed limiting7.4.3 see“Setting basic ofsimultaneously the operating causes the mode. start parameter the using In thecase of fieldbus control mode, the operating mode mustbe set with the setting by setting the input signal the motor receives current and the inputs are evaluatedaccordance in parameter the In the casecontrolof local mode, the operatingmode must usingset be termines whether the analogue input input analogue the whether termines iue88Operating currentcont mode 8.8 Figure can becanfor set the operating mode. The followingoverview shows the effe by specified current is the In theoperating mode currentcontrol thereference value of the motor rious injury orequipmentinjury damage. rious se- indeath, result can followFailure to instructions these Check the configured speed limiter. • when operated without limits or load. The drive incurrentregulation mode can reach extreme speeds system. Unexpected acceleration may cause injury and damage to the ANA_IN2 ANA_IN1 CUR_I_target (±10V) (±10V) ESIM IOdefaultMode istoevaluated. be ANA1_I_scale ANA1_win ANA1_offset ESIMscale Processing Processing Processing DCOMopmode Signal Signal Signal @ WARNING ± 10V analogue inputby or parameters. 10V ANA2_n_scale ANA2_I_scale IOposInterfac CURreference . The power .The amplifier becomesactive, . The writing . Theof writing the parameter value ANA1 ctivity of the parameters which which parameters the of ctivity rol, effectsof settableparameters ANA2LimMode ENABLE or the parameter CTRL_n_max CTRL_I_max . Controller CURreference ANA1 is automati- 3~ M E 8-17 de- Operation LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

CURreference Selection of preset source for current control - UINT16 CANopen 301B:10h operating mode(8-17) 0 R/W Modbus 6944 0 - 0: no 2 - - 1: Reference value via +/-10V-interface ANA1 2: Reference value via parameter CUR_I_target

CUR_I_target Set current in operating mode current cont- Apk INT16 CANopen 3020:4h rol(8-17) -300.00 R/W Modbus 8200 0.00 - - 300.00 - Fieldbus -30000 0 30000

Reference value at +10V input The progress of the reference value in relation to the ±10V input value signal can be altered: • Setting the reference value at +10V • Setting parameters for a zero voltage window • Setting parameters for a voltage offset For setting options for the analogue inputs see 7.4.4 “Analogue inputs“. The device calculates a current value, with which the motor accelerates to a speed which is limited by the load moment, from the ±10 V analogue value preset. Without a load the motor therefore accelerates to the variable speed limit. Example local controller operating An example of setting by parameters in the case of local controller ope- mode rating mode can be found on page 9-3. End operating mode The processing in the operating mode is completed if the operating mode has been "deactivated" and the drive is at a standstill, or if the motor speed has taken the value = 0 as a result of a fault. 0198441113232, V1.04, 01.2006

8-18 AC servo drive 0198441113232, V1.04, 01.2006 X0AOperation Speed control operating mode 8.5.3 LXM05A ACdrive servo Setting to the set value set the to Setting Start operatingStart mode Setting thresholds Setting Description can becanfor set the operating mode. The followingoverview shows the effe generator. byprofile a defined are transitions the where control parameters. Compare this to the operating mode velocity profile, Transitions between two speeds can only take place inrelation to the set meter. motor speed isprovided either via the ±10V analogue input or by para- In theoperating mode speed regulation, the set reference valueof the determines whether the analogue input input analogue the whether determines In the caseof fieldbus control mode,parameter the cally evaluated. In the case of localcontrol mode, the analogue input parametersand limitvalues“. For setting currentlimiting and speed limiting7.4.3 see“Setting basic ofsimultaneously the operating causes the mode. start parameter the using In thecase of fieldbus control mode, the operating mode mustbe set with the setting by setting the input signal the motor receives current and the inputs are evaluatedaccordance in parameter the In the casecontrolof local mode, the operatingmode must usingset be SPEEDn_target Figure 8.9 Operating mode speed control ,effect Operating speed control mode settableof parameters 8.9 Figure ANA_IN2 SPEEDn_target ANA_IN1 ( ( ±10V) ±10V) ESIM IOdefaultMode istoevaluated. be ANA1_n_scale ANA1_win ANA1_offset ESIMscale Processing Processing Processing DCOMopmode Signal Signal Signal ANA2_n_scale ANA2_I_scale IOposInterfac SPEEDreference . The power .The amplifier becomesactive, . The writing . Theof writing the parameter value ctivity of the parameters which which parameters the of ctivity ANA1 ANA2LimMode ENABLE or the parameter CTRL_n_max CTRL_I_max . Controller SPEEDreference ANA1 isautomati- 3~ M E 8-19

Operation LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

SPEEDreference Selection of preset source for speed control - UINT16 CANopen 301B:11h operating mode(8-19) 0 R/W Modbus 6946 0 - 0: no 2 - - 1: Reference value via +/-10V-interface ANA1 2: Reference value via parameter SPEEDn_target

SPEEDn_target Set speed in operating mode speed cont- 1/min INT16 CANopen 3021:4h rol(8-19) -30000 R/W Modbus 8456 0 - The internal maximum speed is limited by 30000 - - the current setting in CTRL_n_max

Reference value at +10V input The progress of the reference value in relation to the ±10V input value signal can be altered: • Setting the reference value at +10V • Setting parameters for a zero voltage window • Setting parameters for a voltage offset For setting options for the analogue inputs see 7.4.4 “Analogue inputs“. Example local controller operating An example of setting by parameters in the case of local controller ope- mode rating mode can be found on page 9-3. End operating mode The processing in the operating mode is completed if the operating mode has been "deactivated" and the drive is at a standstill, or if the motor speed has taken the value = 0 as a result of a fault. 0198441113232, V1.04, 01.2006

8-20 AC servo drive 0198441113232, V1.04, 01.2006 X0AOperation Electronic g 8.5.4 LXM05A ACdrive servo Start operatingStart mode Description ear operationmode Example the gear ratios. gear the cute different, positioning movements proportional inaccordance with An NCcontrol provides reference signals to two units.The motors exe- processed dependson the setting of the parameter The specification whether A/Bsignalspulse/direction or signals should preset with anadjustable gear ratio. orB signals aspulse/direction signals. They are offset to anew position In the electronic gear operating mode reference signals are fed in as A/ with the setting by setting the input signal the motor receives current and the inputs are evaluatedaccordance in parameter the In the casecontrolof local mode, the operatingmode must usingset be iue81 Reference value NCcontroller preset via 8.10 Figure rious injury orequipmentinjury damage. rious se- indeath, result can followFailure to instructions these Make sure that the system is free and ready for movement • Note that inputs to these parameters are executed by the drive • controlled systemoperation! of personalDanger and injury damage to by system parts un- beforechanging these parameters controllerimmediately onreceipt of the dataset. 600 1/min NC IOdefaultMode Setpoint @ WARNING . The power .The amplifier becomesactive, (Fieldbus) CN1/CN4 CN2 (PULSE) CN5 (Fieldbus) CN1/CN4 CN2 (PULSE) CN5 4 3 2 3 ENABLE Actual motorposition Actual motorposition 450 1/min 9 00 1/min . 3~ 3~ M M E E IOposInterfac Master Fieldbus 8-21 . Operation LXM05A

In the case of fieldbus control mode, the operating mode must be set using the parameter DCOMopmode . The writing of the parameter value simultaneously causes the start of the operating mode. The type of synchronisation is set and the gear processing is started by a write command on the parameter GEARreference . If positioning changes at the reference signals are stored, then the unit computes these with the gear factor and positions the motor to the new set position. Positioning values are given in internal units. The unit performs the changes immediately. End operating mode The process is ended by: • disabling the operating mode and motor at standstill • motor standstill by "Halt" or by an error

8.5.4.1 Setting parameters

Example local controller operating An example of setting by parameters in the case of local controller ope- mode rating mode can be found on page 9-3. Overview The following overview shows the effectiveness of the parameters which can be set for the operating mode electronic gear.

CTRL_I_max CTRL_n_max GEARratio GearNum GearDenom Controller

Reference signals AB M M 3~ PD

E IOposInterfac GEARdir_enabl

Figure 8.11 Operating mode electronic gear, effect of settable parameters

The resulting positioning movement is dependent upon the current motor resolution. It amounts to 131072 motor increments per revolution. The setting values for the electronic gear, independent of the type of synchronisation, are: • Gear factor (predefined value or intrinsic gear factor) • size of following error • Release of the direction of rotation Setting thresholds For setting current limiting and speed limiting see 7-19. Synchronisation In the case of the operating mode electronic gear, the device operates synchronously in interconnected gears, e.g. with other drives. If the device leaves the gear processing for a short period of time, then the syn- chronous run with other drives is lost. • With local control mode position changes are not evaluated at the reference signals that occur during the interruption. When restarting gear processing the device tracks the reference signal from the time at which the gear processing was enabled again. 0198441113232, V1.04, 01.2006

8-22 AC servo drive 0198441113232, V1.04, 01.2006 HMI menu, Code Code Parameter Name Operation HMI menu, Code Code Parameter Name LXM05A SET- GFAC GEARratio - GEARreference ACdrive servo GFAC revolution. ted value the motorto make causes one thereferenceChanging variable by the sta- 16384 : 11 8192 : 10 9 :4096 10000 8: Unit 7 :5000 6 :4000 5 :2000 4 :1000 500 3: 2 :400 200 : GEARnum/GEARdenom 1 Useofgear ratiofrom 0: the specified ratios(8-21) ofspecial gear Selection Description Unit Description ment move- with compensation Synchronisation 2: 1: Real-time synchronisation disabled0: sing(8-21) proces- gear electronic mode Operating Gear ratio Gear Example motorincrements. Thisyieldsa gear ratioof 2. At a setting of 1000 reference increments the motor should rotate 2000 tation.The gear ratio ispreset to 1:1. ro- of value numerator negative direction reverses name. A motor's the The gear intrinsic ratio with the parametersis determined count and ternatively, selected. be can ratio gear intrinsic an The parameter externally inputted guideincrements for the movementthe ofmotor. The gear ratio isthe relationship between the motor increments and the With fieldbus controlmodeposition changes counted are internally • processing is resumed. ning changes are to beprocessedor ignored when the gear meter at the referencesignals that occurinterruption. theduring para- The Gear factor GEARreference = GEARratio Reference increments Motor increments 11 0 0 - Maximum value Default value Minimum value Maximum value Default value Minimum value 2 0 0 - can beused set to whether these positio- serves to set the predefined gear ratio. Al- = - per. R/W UINT16 Expert persistent R/W Data type Expert persistent R/W Data type - - R/W UINT16 Gear factor denominator Gear factor numerator Modbus 6948 Modbus 9740 CANopen 3026:6 CANopen fieldbusvia Parameter address fieldbusvia Parameter address CANopen 301B:12 CANopen 8-23 h h Operation LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

GEARnum Gear ratio numerator(8-21) - INT32 CANopen 3026:4h -2147483648 R/W Modbus 9736 GEARnum 1 per. Gear ratio= ------2147483647 - - GEARdenom

The new gear ratio is enabled when the numerator value is transferred.

GEARdenom Gear ratio denominator(8-21) - INT32 CANopen 3026:3h 1 R/W Modbus 9734 see description GEARnum 1 per. - 2147483647 -

Direction enabling The direction enabling allows restriction of the movement to positive or negative direction of rotation. Direction enabling is set with the parameter GEARdir_enabl.

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

GEARdir_enabl Enabled direction of motion of the gear pro- - UINT16 CANopen 3026:5h cessing(8-21) 1 R/W Modbus 9738 3 per. 1 / positive : pos. direction 3 - - 2 / negative: neg. direction 3 / both: both directions (default)

This can be used to enable a return motion lock.

Further possibilities For further setting possibilities and functions for the operating mode see from page 8-45. 0198441113232, V1.04, 01.2006

8-24 AC servo drive 0198441113232, V1.04, 01.2006 X0AOperation Profile posi 8.5.5 LXM05A ACdrive servo Relative and absolute positioning, absolute Relativeand Trigger positioning Requirements tion operatingmode rameter rameter absoluteAn positioning relative or positioning isset with bit 6viathe pa- position axis or themomentary target position. At arelative positioning thepositioning path isspecified relative to the with the homing operating mode before the first absolute positioning. with reference to the zero point of the axis. A zero point must be defined At anabsolute positioning the positioning path isspecifiedabsolutely ration rampsfinal and speed. A movementprofile can besetvalues with for acceleration and decele- target position can be given as either a relative or an absolute position. value the of The position. target a to position start a from is run profile In profile position operating mode amovementwith anadjustable travel executed be only can fieldbus. via The operating modebe canonlywith used fieldbus control mode and Figure 8.12 Absolute positioning (left) and (left) and relative (right) positioning positioning Absolute 8.12 Figure Bit 6: Absolute / relati Absolute Bit 6: next orprepare positioning 0->1: Start Description 0->1) (applicable onlywithnew setpoint set Bit 5:Change immediately Bit 4:New setpoint Parameter value See chapter 8.4 “Starting andSeechanging chapter operating 8.4 “Starting modes“. The unit must beinthe"Operation status" operating mode. rious injury orequipmentinjury damage. rious se- indeath, result can followFailure to instructions these Make sure that the system is free and ready for movement • Note that inputs to these parameters are executed by the drive • controlled systemoperation! of personalDanger and injury damage to by system parts un- beforechanging these parameters controllerimmediately onreceipt of the dataset. 0 500 usr DCOMcontrol 1.200 usr ve 0: Absolute positioning 0:Absolute ve . @ WARNING 1: Relative positioning ately 1: enable new values positioning immedi- reached is position target 0: enable new values positioning when positioning 0 500 usr 700 usr 8-25 Operation LXM05A

A positioning of rising edge is started by bit 4 in parameter DCOMcontrol. The positioning can be triggered in two ways depending on bit 5. • Bit 5=0: Positioning values (PPp_targetusr, PPn_target, RAMPacc and RAMPdecel), that are transferred during a positioning, are saved temporarily. The target position of the current positioning is approached. The new positioning values are executed only when the target position is reached. If new positioning values are transferred again, the temporarily saved positioning values are overwritten again.

• Bit 5=1: Positioning values (PPp_targetusr, PPn_target, RAMPacc and RAMPdecel), that are transferred during a positioning, are executed immediately. The target position of the new positioning is directly approached.

Status messages The drive provides information concerning positioning via Bits 10 and 12 to 15 in the parameter DCOMstatus.

X XXXXXXXX MSB 15... 10 8 7...0 0

Figure 8.13 Status message for operating mode

Parameter value Description Bit 10: Target reached : 0: Target position not reached (also with "Halt" or error) 1: Target position reached Bit 12: setpoint acknowledge 0: Transfer of new position possible 1: New target position accepted Bit 13: x_err 1: Error arisen Bit 14: x_end 1: Positioning completed, motor at a standstill Bit 15: ref_ok 1: drive has valid reference point

Positioning finished Bit 14 indicates whether positioning is complete. If this includes rea- ching the target position, then Bit 10 changes to 1. If the positioning has been interrupted by a "Halt" or a fault, Bit 10 remains at 0.

8.5.5.1 Setting parameters

The profile position operating mode can be set and executed with parameters. 0198441113232, V1.04, 01.2006

8-26 AC servo drive 0198441113232, V1.04, 01.2006 HMI menu, Code Code Parameter Name Operation LXM05A - PPoption - PPn_target ACdrive servo ecito Unit Description from Version 1.120 motor relative the 2: of currentactual position tothe notsupported 1: the travel profile generator relative0: totheprevious of position target tive positioning: referencefor the position rela- a Determines forOptions position() modeprofile operating current parameter inRAMPn_max. current setting to the limited valueThe setting isinternally CTRL_n_max in ting Maximum value islimite mode(8-25) for setpoint position Speed profile Target position momentary axis position axis or themomentary target position. At arelative positioning thepositioning path isspecified relative to the with reference to the zero pointthe ofaxis. At anabsolute positioning the positioning path isspecifiedabsolutely correspondsto parameter parameter to corresponds Absolute: PZD4 + PZD3 PZD2 operating position Profile 8.14 Figure A new positionvalue istransferred withthe parameter ting in parameter axis positionmomentary or the target position. This depends on the set- At arelative positioning thepositioning path isspecified relative to the with reference to the zero pointthe ofaxis. At anabsolute positioning the positioning path isspecifiedabsolutely . PPn_target RAMPn_max PPp_targetusr SPV_SW_Limits d to set- d to the current RAMPdecel RAMPacc PPoption or parameter PPp_relprefusr Relative: corresponds to parameter Maximum value Default value Minimum value 2 0 0 - 60 0 1/min POSNormDenom POSNormNum . PPp_relpactusr *fv=1 *fa=1 * fp mode, effect settableof parameters Expert persistent R/W Data type - - R/W UINT16 - - R/W UINT32 PPn_target Modbus 6960 Modbus 6942 via fieldbusvia Parameter address CANopen 60F2:0 CANopen CANopen 6081:0 CANopen PPp_absusr PPp_targetusr DCOMstatus 8-27 h h

Operation LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

PPp_targetusr Target position of profile position operating usr INT32 CANopen 607A:0h mode(8-25) R/W Modbus 6940 - - Min/Max values are dependent upon: - - - Scaling factor - software limit switch (if this is activated)

Current Position The current position is determined by using the 2 parameters _p_actusr and _p_actRAMPusr .

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

_p_actusr Actual position of the motor in user-defined usr INT32 CANopen 6064:0h units(8-45) R/- Modbus 7706 PACU - - Caution! Actual position of motor is only valid PACU - STA- after determination of the motor absolute position. With invalid motor absolute position : _WarnLatched _WarnActive Bit 13=1: absolute position of motor not yet detected

_p_actRAMPusr Actual position of the travel profile genera- usr INT32 CANopen 301F:2h tor(8-45) R/- Modbus 7940 - - in user-defined units - - 0198441113232, V1.04, 01.2006

8-28 AC servo drive 0198441113232, V1.04, 01.2006 X0AOperation Operation mode 8.5.6 LXM05A ACdrive servo Velocity operation trigger Operating mode finished mode Operating Status messages Requirements Profile velocity parameter parameter set, the operating by mode can be started transfer of a set velocity in the If the type of operation, the operating state and the parameter values are andSeechanging chapter operating 8.4 “Starting modes“. The unit must beinthe"Operation status" operating mode. deceleration. and tion setpoint speed. A movement profile can be set with values for accelera- In theprofilevelocity operating mode itisaccelerated to anadjustable executed be only can fieldbus. via The operating modebe canonlywith used fieldbus control mode and Bit 15: ref_ok 1: drive has validdrive has 1: reference point finished 1: Operating mode arisen 1: Error ismoving 0: Motor ref_ok 15: Bit x_end Bit 14: x_err Bit 13: Description 0 speed=0 Bit 12: TargetBit 10: : reached Parameter/ Signal Statusmessages for mode operating 8.15 Figure "Halt",by an error after or apreset default= 0. The operating modeis to 15 inthe parameter The drive providesinformation concerni rious injury orequipmentinjury damage. rious se- indeath, result can followFailure to instructions these Make sure that the system is free and ready for movement • Note that inputs to these parameters are executed by the drive • controlled systemoperation! of personalDanger and injury damage to by system parts un- beforechanging these parameters controllerimmediately onreceipt of the dataset. PVn_target MSB 51 8 10 15 DCOMstatus completed and motor standstill achieved by @ WARNING . ... 1: Motor stopped 1: Motor by at standstill "Halt") motor with (also reached speed 1: Set : Set speed notreached speed : Set XXXXXXXX X . ng positioning via Bits 10 and 12 12 and Bits10 via positioning ng 7...0 0 8-29 Operation LXM05A

8.5.6.1 Setting parameters

Overview The following overview shows the effect of the parameters which can be set for the velocity profile operating mode.

PVn_target *fv=1

DCOMstatus RAMPn_max RAMPacc *fa=1 RAMPdecel

Figure 8.16 Operating mode velocity profile, effect of settable parameters

Set speed The set speed is transferred via the parameter PVn_target in rpm and can be changed during the movement. The operating mode is not limited by range limits of the positioning. New speed values are accepted immediately during a travel command.

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

PVn_target Setpoint velocity profile velocity operating 1/min INT32 CANopen 60FF:0h mode(8-29) R/W Modbus 6938 0 - Maximum value is limited to the current set- - - ting in CTRL_n_max. The setting value is internally limited to the current parameter setting in RAMPn_max.

Current speed The current speed is determined by using the 2 parameters _n_act and _n_actRAMP .

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

_n_act Actual speed of motor(8-45) 1/min INT16 CANopen 606C:0h R/- Modbus 7696 NACT - - STA-NACT -

_n_actRAMP Actual speed of the movement profile gene- 1/min INT32 CANopen 606B:0h rator(8-45) R/- Modbus 7948 - - - - 0198441113232, V1.04, 01.2006

8-30 AC servo drive 0198441113232, V1.04, 01.2006 X0AOperation Operation modeHoming 8.5.7 LXM05A ACdrive servo Overview of homing startup. after valid position a absolute it sends because encoders, Multiturn for SinCos with required not motors is A homing Set dimensions provides the option of settingthe current motor • A reference movementperforms movement toadefined point, the • setting. movement by or homing dimension defined axisposition isestablished. Referencing can out becarried by a a at position motor reference the of scale absolute an mode, homing In executed be only can fieldbus. via The operating modebe canonlywith used fieldbus control mode and rious injury orequipmentinjury damage. rious se- indeath, result can followFailure to instructions these Make sure that the system is free and ready for movement • Note that inputs to these parameters are executed by the drive • controlled systemoperation! of personalDanger and injury damage to by system parts un- tion specifications willrefer.specifications tion position to adesired position valuetowhich thesubsequent posi- deactivated. ment must be wired. Monitoring signals that are not used should be The signals switch to anewoperating mode. modes areference movement must be completed beforeyou can movement again. Unlike has tostarted betheother operating that thenewzero valid.point is Ifit The reference movement must outcarried be completely to ensure point can beset by parameters. absolute positioningsreferencea as point. Displacementofzero the neously definesthe zero pointthat isusedfor subsequentall simulta- reference point The position. motor the referenceof rement reference point,on the axis, inordercreate to theabsolute measu- beforechanging these parameters controllerimmediately onreceipt of the dataset. LIMN , LIMP @ WARNING and REF required for required reference move-the is interrupted, then the reference the then isinterrupted, 8-31 Operation LXM05A

Types of reference movements 4 standard reference movements are available • Movement to negative limit switch LIMN • Movement to positive limit switch LIMP • Movement to reference switch REF with movement in negative direction of rotation • Movement to reference switch REF with movement in positive direction of rotation A reference movement can be conducted with or without index pulse. • Reference movement without index pulse Movement from the edge of the switch to a distance set by parameters from the edge of the switch. • Reference movement with index pulse (SinCos Singleturn encoder) movement from switch edge to the next motor index pulse. The current motor position can be read out with the parameter _p_absENCusr. The index pulse is at position value 0. Trigger homing Homing via Bit 4=1 in parameter DCOMcontrol is triggered. Status messages The drive provides information concerning positioning via Bits 10 and 12 to 15 in the parameter DCOMstatus.

X XXXXXXXX MSB 15... 10 8 7...0 0

Figure 8.17 Status messages for operating mode

Parameter/ Signal Description Bit 10: Target reached : 0: Homing not finished 1: Homing finished (also when interrupted by "Halt") Bit 12: Homing attained 1: Homing successfully completed Bit 13: x_err 1: Error arisen Bit 14: x_end 1: Homing completed, motor at a standstill Bit 15: ref_ok 1: drive has valid reference point

8.5.7.1 Setting by parameters, general

There are various methods of homing which can be selected via the parameters HMmethod. 0198441113232, V1.04, 01.2006

8-32 AC servo drive 0198441113232, V1.04, 01.2006 HMI menu, Code Code Parameter Name Operation HMI menu, Code Code Parameter Name LXM05A - IOsigRef - HMmethod ACdrive servo ecito Unit Description Unit Description processing the referenceprocessing movement to REF. The reference switch is only enabled while 2 /normally open tact 1 /normally closed evaluation(8-45)REF signal indexinside: switch inside pulse/distance index outside switchoutside: pulse/distance inv.:not direction in switch notinvert. inv.: inswitch invert direction REF-: search movement REF+: searchmovement inpos. direction of abbreviations:Explanation setdimensions 35: index34: pos.pulse direction 33 : index neg.direction pulse REF-,notinv.,30: outside REF-,notinv.,29: inside inv., REF-, 28: inside 27: REF-, inv., outside REF+,not 26: inv., outside 25: REF+, not inv., inside REF+,inv.,24: inside REF+,inv.,23: outside 18: LIMP 17: LIMN indexREF- with pulse,14: inv., not outside indexREF- with pulse,13: inv., not inside indexREF- with pulse, inv.,12: inside index with pulse, inv.,REF- 11: outside REF+withindex10: pulse, inv., not outside withindex REF+ 9: pulse, notinv., inside REF+withindex8: pulse, inv., inside index with pulse, inv., REF+ : 7 outside 2 : LIMP with index pulse indexLIMN with pulse 1: Reference movement method(8-31) : normally open contact open : normally : normally closed con- closed : normally The evaluationat active_0 or active_1 of the reference switch they are proof against wire breakage. wire against they proof are Use the activesignals ifpossible, 0monitoring because switch wit is set The evaluation isset to active_0 or active_1 and the release of thelimit inparameter be set in neg. direction neg. in h the parameters IOsigREF Maximum value Default value Minimum value Maximum value Default value Minimum value 35 18 1 - 2 1 1 - . A release of switch of the . A release is required. not IOsigLimN Expert persistent R/W Data type Expert persistent R/W Data type - - R/W INT16 - per. R/W UINT16 and IOsigLimP Modbus 6936 Modbus 1564 via fieldbusvia Parameter address fieldbusvia Parameter address CANopen 6098:0 CANopen CANopen 3006:E CANopen REF . can 8-33 h h Operation LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

IOsigLimN LIMN signal evaluation(8-45) - UINT16 CANopen 3006:Fh 0 R/W Modbus 1566 0 / none: inactive 1 per. 1 / normally closed: normally closed con- 2 - - tact 2 / normally open: normally open contact

IOsigLimP LIMP signal evaluation(8-45) - UINT16 CANopen 3006:10h 0 R/W Modbus 1568 0 / none: inactive 1 per. 1 / normally closed: normally closed con- 2 - - tact 2 / normally open: normally open contact

The parameters HMn and HMn_out are used for setting the speeds for the reference movement.

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

HMn Set speed for search for the switch(8-31) 1/min UINT16 CANopen 6099:1h 1 R/W Modbus 10248 The setting value is internally limited to the 60 per. current parameter setting in RAMPn_max. - 13200 -

HMn_out Set speed for release movement from 1/min UINT16 CANopen 6099:2h switch(8-31) 1 R/W Modbus 10250 6 per. The setting value is internally limited to the 3000 - - current parameter setting in RAMPn_max.

The parameter HMp_homeusr can be used to specify a desired position value, which is set at the reference point after a successful reference movement. This position value defines the current motor position at the reference point. This also defines the zero point.

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

HMp_homeusr Position on reference point(8-31) usr INT32 CANopen 3028:Bh -2147483648 R/W Modbus 10262 After successful reference movement this 0 per. position value is automatically set at the refe- 2147483647 - - rence point.

The parameters HMoutdisusr and HMsrchdisusr can be used for activation of the monitoring of the switch function. 0198441113232, V1.04, 01.2006

8-34 AC servo drive 0198441113232, V1.04, 01.2006 X0AOperation HMI menu, Code Code Parameter Name LXM05A - HMsrchdisusr - HMoutdisusr ACdrive servo ecito Unit Description movementaborted is reference the search distance, otherwise this The switch must be disabled inside again units user-defined in distance search >0: processing inactive searchdistance 0: over the switch(8-31) Maximumtraversingdistance after search ment isaborted ment this run-off, the reference otherwise move- The switch must be disabled inside again units user-defined in run-off >0: 0: run-off check inactive Maximum run-off(8-31) Maximum value Default value Minimum value 2147483647 0 0 usr 2147483647 0 0 usr Expert persistent R/W Data type - per. R/W INT32 - per. R/W INT32 Modbus 10266 Modbus 10252 via fieldbusvia Parameter address CANopen 3028:D CANopen CANopen 3028:6 CANopen 8-35 h h Operation LXM05A

8.5.7.2 Reference movement without index pulse

Description A reference movement without index pulse is set with the parameter HMmethod = 17 to 30, see page 8-32. The distance to the switching edge can be specified with the parameter HMdisusr.

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

HMdisusr Distance between the switching edge and usr INT32 CANopen 3028:7h the reference point(8-36) 1 R/W Modbus 10254 200 per. After leaving the switch, the drive is still posi- 2147483647 - - tioned in the working range for a defined path and this position is defined as a reference point.

The parameters are only effective with reference movements without index pulse sear- ching.

Reference movement towards limit A reference movement to the negative limit switch is shown below with switch the distance to the switch edge (HMmethod = 17).

LIMN LIMP

ᕃ

ᕄ

ᕅ R-

HMdisusr HMn HMoutdisusr HMn_out

Figure 8.18 Reference movement to the negative limit switch

(1) Movement to limit switch at search speed (2) Movement to switching edge with clearance speed (3) Movement at the distance to switching edge with clearance speed 0198441113232, V1.04, 01.2006

8-36 AC servo drive 0198441113232, V1.04, 01.2006 X0AOperation LXM05A ACdrive servo Reference movement to reference switch switch shown are below edge ( Reference movements to the reference switchthe with distance to the 3 Movementthedistance at switching to edge clearance with Movement to switching edge with clearance speed Movement to reference switch at search speed (3) (2) (1) Reference movements tothereference switch 8.19 Figure LIMN speed HMn_out HMn R- ᕅ REF ᕄ R- ᕄ ᕅ HMmethod ᕄ ᕄ ᕅ R- ᕅ ᕃ ᕃ ᕃ ᕃ = 27 to 30). to 27 = R- M HMmethod =27 HMmethod =30 HMmethod =2 HMmethod =28 LIMP 9 8-37 Operation LXM05A

Examples Reference movements to the reference switch with the distance to the switch edge are shown below (HMmethod = 27). Various responses at different search speeds and start positions are shown. • Movement to the reference switch with first movement in the negative direction, reference switch is once before (A1, A2) and once behind the start point (B1, B2). • Additional movement when traversing through the switching window (A2, B2).

LIMN REF LIMP

M M ᕃ R- A1 ᕄ ᕇ ᕅ R- A2 ᕄ ᕇ

B1 ᕃ R- ᕄ ᕇ ᕅ

HMoutdisusr ᕆ B2 HMn R- HMn_out ᕄ ᕇ

Figure 8.20 Reference movements to the reference switch

(1) Movement to reference switch at search speed (2) Movement to switching edge with clearance speed (3) Excessively fast movement to reference switch with search speed (4) Return movement to switch area at clearance speed (5) Movement at the distance to switching edge with clearance speed 0198441113232, V1.04, 01.2006

8-38 AC servo drive 0198441113232, V1.04, 01.2006 ... Reference movement with index pulse 8.5.7.3 X0AOperation HMI menu, Code Code Parameter Name LXM05A - HMdisREFtoIDX ACdrive servo Parameter possibilities ecito Unit Description in steps of 1/10000 revolutions of1/10000 in steps processing index with pulse correctlyreproduced be can forterion the reference whether movement acri- used as from theswitching is and edge tocheckUsed how far theindex is pulse orreferencelimit switch. the switching the of on flank position the and ference index the position between pulse value Reading valueprovides the of the dif- movement(8-39) switchDistance -index reference after pulse Description calculated with the parameter The position distance between switchingedge index and pulse can be index pulse.nearest the to movement ismade First, the definedreference switch is approached andsearcha finally any time. at reproduced a reference be movement index can with that res pulse Chapter 7.4.11 “Setting parameters for encoder“ page 7-31. Thisensu- theindex pulse canmoved be with theparameter ferenceswitch can bemoved mechanically. Otherwise the position of If the index pulse istoo close to the switching edge, the limit switch or re- The value should be>0.05revolutions. HMmethod A reference movement withindex pulseis setwith the parameter = 1to 14, seepage 8-32. Maximum value Default value Minimum value 0.0000 - 0.0000 revolution HMdisREFtoIDX Expert persistent R/W Data type - - R/- INT32 . ENC_pabsusr Modbus 10264 via fieldbusvia Parameter address CANopen 3028:C CANopen , see , see 8-39 h Operation LXM05A

Reference movement towards limit A reference movement to the positive limit switch with movement to the switch first index pulse is shown below (HMmethod = 2).

LIMN LIMP

M ᕃ

ᕅ ᕄ

HMn HMn_out

Figure 8.21 Reference movement to the positive limit switch

(1) Movement to limit switch at search speed (2) Movement to switching edge with clearance speed (3) Movement to index pulse with clearance speed 0198441113232, V1.04, 01.2006

8-40 AC servo drive 0198441113232, V1.04, 01.2006 X0AOperation LXM05A ACdrive servo Reference movement to reference switch index shown are below ( pulse Reference movements reference the switchto movement with first the to 3 Movementindex to pulse with clearance speed Movement to switching edge with clearance speed Movement to reference switch at search speed (3) (2) (1) Reference movements tothereference switch 8.22 Figure LIMN HMn_out HMn ᕅ REF ᕄ ᕄ ᕅ HMmethod ᕅ ᕄ ᕄ ᕅ ᕃ ᕃ ᕃ ᕃ = 11 to 14). to 11 = M HMmethod =11 HMmethod =14 HMmethod =13 HMmethod =12 LIMP 8-41 Operation LXM05A

Examples Reference movements to the reference switch with movement to the first index pulse are shown below (HMmethod = 11). Various responses at different search speeds and start positions are shown. • Movement to the reference switch with first movement in the negative direction, reference switch is once before (A1, A2) and once behind the start point (B1, B2). • Additional movements when travelling through switching window (A2, B2).

LIMN REF LIMP

M M ᕃ A1 ᕄ ᕇ

ᕅ A2 ᕄ ᕇ

ᕄ ᕇ ᕃ B1

ᕅ

HMoutdisusr ᕆ B2 HMn HMn_out ᕄ ᕇ

Figure 8.23 Reference movements to the reference switch

(1) Movement to reference switch at search speed (2) Movement to switching edge with clearance speed (3) Excessively fast movement to reference switch with search speed (4) Return movement to switch area at clearance speed (5) Movement to index pulse with clearance speed 0198441113232, V1.04, 01.2006

8-42 AC servo drive 0198441113232, V1.04, 01.2006 ... Referencemovement to the index pulse 8.5.7.4 X0AOperation LXM05A ACdrive servo Reference movement indexon HMn_out HMmethod Description pulse =33 index pulse( In the following the descriptions reference movements are shown on the HMmethod A reference movement ontheindex pulseusingis set the parameters 1 Movement onindex pulsewith clearance speed (1) Reference movement onindex pulse 8.24 Figure 1 = 33 and 34, see page 8-32. HMmethod = 33 and = 34). 1 HMmethod =34 8-43 Operation LXM05A

8.5.7.5 Homing by dimension setting

Description A homing by set dimensions is set with the parameter HMmethod = 35, see page 8-32. The current motor position is set at the position value in the parameter HMp_setpusr by set dimensions. This also defines the zero point. Homing by dimension setting can only be carried out when the motor is at a standstill. Any active position deviation is retained and can still be compensated by the position controller after dimension setting has taken place.

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

HMp_setpusr Position for dimension setting(8-44) INT32 CANopen 301B:16h R/W Modbus 6956 Dimension setting position for homing 0 - method 35 - usr -

Example Dimension setting can be used to carry out a continuous motor movement without exceeding positioning limits.

M M M ቢ

0 2000 usr "2000" ቤ ባ "0" 0 2000 usr

Figure 8.25 Positioning by 4000 usr units with dimension setting

(1) The motor is positioned by 2000 usr. (2) By setting dimensions to 0 the current motor position is set to position value 0 and the new zero point is simultaneously defined. (3) After triggering a new travel command of 2000 usr, the new target position is 2000 usr. This method avoids crossing absolute position limits during a positioning operation because the zero point is continuously tracked. The read out of the setpoint is by the parameter _p_refusr.

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

_p_refusr Setpoint of the position controller in user- usr INT32 CANopen 301E:Ch defined units() R/- Modbus 7704 - - - - 0198441113232, V1.04, 01.2006

8-44 AC servo drive 0198441113232, V1.04, 01.2006 ... Positioning range 8.6.1.2 Operation movement Status monitoringin mode 8.6.1.1 Monitoring functions 8.6.1 Functions 8.6 LXM05A ACdrive servo _v_act_Posintf _p_actPosintf _n_targetRAMP _p_tarRAMPusr GEARdenum GEARnum GEARratio generator Profile _n_actRAMP _p_actRAMPusr _p_addGEAR + GEARdir_enabl Jerk limit Jerk M _p_ref _p_refusr _n_pref iue82 Statusmonito 8.26 Figure _p_dif _p_act, _p_actusr,_p_absmodulo,_p_absENCusr feed-forward Speed CTRL_KPp CTRL_KFPp CTRL_TAUref controller Current value filter Reference- CTRL_n_max "Speed control" operating mode Reference value at _id_act, _idq_act,_iq_act _iq_ref controller Current ring of the control loops ofthe control ring CTRL_TAUref controller Speed value filter Reference- amplifier Power _n_act POSdirOfrotat _n_ref CTRL_TNn CTRL_KPn Encoder evaluation controller Speed - Position - Speed Actual value CTRL_I_max 0 1 "Current control" operating mode Reference value at 3~ M E 8-45 Operation LXM05A

Positioning range (only fieldbus ) The motor can be moved to any point on the axis within the axis positioning range by specifying an absolute positioning process. The current position of the motor can be read out using the parameter _p_actusr.

M A B A B A B

Figure 8.27 Positioning range

The positioning limits, with default scaling, are: (A) -286435456 usr (B) 286435455 usr An overshoot of the positioning limits is possible in all operating modes, except during an absolute positioning in profile position mode. Overshoot of motor at a positioning limit loses the reference point. During a relative position in profile position mode a check of whether the absolute positioning limits will be overshot is made before starting the movement. If yes, an internal dimension setting to 0 is made before starting the movement. The reference point is lost (ref_ok = 1->0). Software limit switches The positioning range can be limited by software limit switch. This is possible as soon as the drive has a valid zero point (ref_ok = 1). The positioning values are quoted relative to the zero point. The software limit switches are set using the parameters SPVswLimPusr and SPVswLimNusr are activated using SPV_SW_Limits . The determining factor for position monitoring of the software limit switch range is the setpoint of the position controller. Depending on the controller setting, therefore, the motor can stop before it reaches the limit switch position. Bit 2 of parameter _SigLatched signals the triggering of a software limit switch

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

SPVswLimPusr positive position limit for software limit INT32 CANopen 607D:2h switch(8-45) R/W Modbus 1544 2147483647 per. If a user-defined value outside the permis- usr - - sible user-defined area is set, the limit switch limits are automatically limited internally to the maximum user-defined value.

SPVswLimNusr negative position limit for software limit INT32 CANopen 607D:1h switch(8-45) R/W Modbus 1546 -2147483648 per. see description of 'SPVswLimPusr' - usr - 0198441113232, V1.04, 01.2006

8-46 AC servo drive 0198441113232, V1.04, 01.2006 X0AOperation - SPV_SW_Limits LXM05A HMI menu, Code Code Parameter Name ACdrive servo after a successful homing (ref_ok = 1) The software limit switch is monitored only switch both. directions SWLIMP+SWLIMN / 3 direction SWLIMN2 / direction 1 /SWLIMP 0 /none SW-limit the switch(8-45)Monitoring ecito Unit Description Limit switch : none : none (default) : Activating SW limit switch pos. limit Activating SW : : Activating switch SW limit neg. The release of the input signals signals input ofthe release The stops. of the limit switch The triggering issignalled. signals the movementDuring the twoswitches limit aremonitored with the input cie0o cie1 can bechangedparameters with 0or active active they are proof against wire breakage. wire against they proof are Use the activesignals ifpossible, 0monitoring because IOsigLimN •Usedefaults). zards (e.g. impacton equipment damage. or ininjury result can followFailure to instructions these function This cannot provide protection against faulty functio- • The useof Losscontrol! of The functions must be enabled to use • Check the correctfunctional installation of the limit switches • Check that the external sensors or switches are correctly con- • : Activating SW limit : Activating SWlimit ning of the product or the sensors. the or product the of ning distance. away from the mechanical stop to allow an adequate braking limitThe switches must bemountedin aposition far enough nected. LIMP LIMP . LIMP and and and and LIMN LIMN 3 0 0 - Maximum value Default value Minimum value mechanical stop caused by incorrect motion LIMN . If the drive moves to a limit switch, the motor drive moves switch, the limit motor If a the . to @ CAUTION where possible. can offer some protection against ha- LIMP and - per. R/W UINT16 Expert persistent R/W Data type LIMN LIMP and the evaluationat and and Modbus 1542 CANopen 3006:3 CANopen via fieldbusvia Parameter address IOsigLimP LIMN . and and 8-47 h Operation LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

IOsigRef REF signal evaluation(8-45) - UINT16 CANopen 3006:Eh 1 R/W Modbus 1564 1 / normally closed: normally closed con- 1 per. tact 2 - - 2 / normally open: normally open contact

The reference switch is only enabled while processing the reference movement to REF.

Moving drive out The drive can be moved back from the limit switch area to the movement area by using manual movement. If the drive does not go back to the movement area, check whether the manual drive is activated and that the correct direction of movement has been selected.

8.6.1.3 Monitoring internal signals

Monitoring systems protect the motor, the power amplifier and the braking resistor from overheating and contribute to the functional and operational safety. A list of all the safety equipment can be seen from page 2-3. Temperature monitoring Sensors monitor the temperature of motor, power amplifier and braking resistor. All temperature limits are permanently set. If the temperature of a component approaches its permissible temperature limit, the device creates a warning signal. If the temperature exceeds the limit value for more than 5 seconds, then the power amplifier and the regulation switches off. The device signals a temperature error.

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

_Temp_act_DEV Device temperature(8-47) °C INT16 CANopen 301C:12h R/- Modbus 7204 TDEV - - STA-TDEV -

_Temp_act_M Temperature motor(8-47) °C INT16 CANopen 301C:11h R/- Modbus 7202 reasonable display is not possible for swit- - - ching temperature sensors (for type of tem- - - perature sensor see parameter M_TempType) 0198441113232, V1.04, 01.2006

8-48 AC servo drive 0198441113232, V1.04, 01.2006 HMI menu, Code Code Parameter Name Operation STA- TPA _Temp_act_PA LXM05A STA- I2TP _I2t_mean_PA - _I2t_act_PA - _I2t_peak_RES STA- I2TR _I2tl_mean_RES - PA_T_warn - PA_T_max - M_T_max HMI menu, Code Code Parameter Name - _I2tl_act_RES ACdrive servo TPA i2TP i2TR eprtr fpwrapiir84)°C Temperatureof power amplifier(8-47) odn atrpwrapiir84)% factorLoading power amplifier(8-47) % factorLoad braking resistor(8-47) ecito Unit Description vrodpwrapiircret84)% Overload power current(8-47) amplifier occurred inthelast 10 sec. that has Maximum overload resistor braking value(8-47) maximum resistor braking Overload INT16 fier(8-47) Temperature limitof the power ampli- °C power amplifier(8-47) the temperatureof maximum permissible Unit temperature(8-47) max. motor Description culoela rkn eitr84)% Actual overload braking resistor(8-47) I 2 t monitoring toring withtoring sensorscantoo be sluggish. With I Ifthe device operates withpeak high currents, then temperature moni- to the output limit again. limit output the to If the limit value isnot reached, the individual components can be taken value.nominal their to current tor hold is exceeded, it reduces the motor, power amplifier or braking resis- loop control anticipates ain rise temperature in time and if the I - - - Maximum value Default value Minimum value - - % INT16 INT16 °C °C Maximum value Default value Minimum value - - - R/- INT16 - - R/- INT16 - - R/- INT16 Expert persistent R/W Data type - - R/- INT16 - - R/- INT16 - per. R/- - per. R/- - - R/- Expert persistent R/W Data type - - R/- INT16 2 t monitoring the closed- CANopen 301C:10 CANopen CANopen 301C:17 CANopen 301C:14 CANopen Modbus 4108 Modbus 4110 Modbus 3360 Modbus 7200 Modbus 7214 Modbus 7212 Modbus 7210 Modbus 7208 Modbus 7206 via fieldbusvia Parameter address CANopen 301C:16 CANopen 301C:15 CANopen 3010:6 CANopen 3010:7 CANopen 300D:10 CANopen fieldbusvia Parameter address CANopen 301C:13 CANopen 2 t thres- 8-49 h h h h h h h h h Operation LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

_I2t_peak_PA Overload power amplifier maximum % INT16 CANopen 301C:18h value(8-47) R/- Modbus 7216 - - Maximum overload power amplifier that has - - occurred in the last 10 sec.

_I2t_act_M Overload motor current(8-47) % INT16 CANopen 301C:19h R/- Modbus 7218 - - - -

_I2t_mean_M Loading factor motor(8-47) % INT16 CANopen 301C:1Ah R/- Modbus 7220 I2TM - - STA-i2TM -

_I2t_peak_M Overload motor maximum value(8-47) % INT16 CANopen 301C:1Bh R/- Modbus 7222 Maximum overload motor that has occurred - - in the last 10 sec. - -

Tracking error monitoring The drive monitors the following error at 1ms intervals. The tracking error is the difference between the current setpoint and the actual position. If the difference exceeds the limit value set by the parameter SPV_P_maxDiff, it will immediately cause an interruption of movement (tracking error) with configurable error class. Select the limit value in parameter SPV_P_maxDiff significantly higher than the maximum possible following error in error-free operation. This will ensure that a shutdown as a result of tracking error will only occur in case of error, e.g. with illegally increased external load torque, faulty position encoder etc. The maximum control deviation occurring during operation can be determined with the parameter _p_DifPeakand compared with the maximum permissible following error. This allows the actual distance to the shut-off limit to be detected. The error class for a tracking error can also be changed, see also8.6.1 “Monitoring functions“. Calculating the tracking error The tracking error monitoring considers the dynamic tracking error and tracking error reduced by the speed pilot control (KFPp). Only the tracking error actually required for generating torque is compared with the specified tracking error limit. The lower limit value at which the tracking error must be set as a minimum is derived with the following formula. The change of P-intervals is calculated without considering the dynamic I-intervals and D-intervals from the tracking error to the current reference value input. The current limit Imax is used as the current reference value. Because the units of KPn[A/(rpm)] and p_dif[10000usr/rev] are not SI units, a correction factor of 10000(usr/rev)/(60(s/min)) must be used. 0198441113232, V1.04, 01.2006

8-50 AC servo drive 0198441113232, V1.04, 01.2006 X0AOperation HMI menu, Code Code Parameter Name LXM05A - SPV_p_maxDiff STA- PDIF _p_dif - _p_DifPeak ACdrive servo PDiF Example of atrackingerror Monitoring parameters Monitoring Note: Different fr any components. dynamic of consideration i.e. position, without actual deviation Actual rule between and setpoint controller(8-47) variation ofthe position regulation Current ecito Unit Description error monitoring. re is still requirements by offset position caused the moment position regulationoffs offsetminus thespeed-dependent regulation The tracking error position the current is controller(8-47) tion trackingMax. permissible errorof the posi- A write operation resets thevalue resets operation again. A write SPV_p_maxDiff.see information For further position regulationoffset. offsetminus thespeed-dependent regulation The tracking error position the current is position cont Value trackingof the max. reached error of calculation roller(8-47) om SPV_p_maxDiff The unit and operating statusbe can monitored various with objects. usr. for the examplewould it be2080 parameter the in a tracking error with shutdown. Enter five times the calculated value in The calculated value isthe actual tracking error that immediately results This yieldsthefollowing: I The followingvalues aretheexample: usedin ferred to for tracking max et. Actually, the only =10A, KPp=100/s,KPn=0.04A (rpm) _p_dif _p_dif SPV_P_maxDiff = = 100 CTRL_KPp 2147483647 -2147483648 Fieldbus 214748.3647 - -214748.3648 revolution Maximum value Default value Minimum value 2000000 10000 1 Fieldbus 200.0000 1.0000 0.0001 revolution 4294967295 0 Fieldbus 429496.7295 - 0.0000 revolution 1 CTRL_I_max s 10A 0,04A to give an appropriate safety distance; CTRL_KPn min U - - R/- INT32 Expert persistent R/W Data type - per. R/W UINT32 - - R/W UINT32 10000 60s/min 10000 60s/min CANopen 60F4:0 CANopen Modbus 4636 Modbus 7716 Modbus 4382 via fieldbusvia Parameter address CANopen 6065:0 CANopen CANopen 3011:F CANopen usr U usr = U 416usr 8-51 h h h Operation LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

_SigActive Current status of monitoring signals(8-47) - UINT32 CANopen 301C:7h R/- Modbus 7182 Meaning see _SigLatched - - - -

_SigLatched Stored state of the monitoring signals(8-47) - UINT32 CANopen 301C:8h R/- Modbus 7184 SIGS Signal state: - - 0: not enabled SiGS - STA- 1: activated

Bit assignment Bit0: general fault Bit1: limit switch (LIMP/LIMN/REF) Bit2: area of travel exceeded (SW limit switch, tuning range) Bit3: Quick Stop via fieldbus Bit4: inputs PWRR are 0 Bit6: error RS485 Bit7: error CAN Bit9: frequency of reference signal too high Bit10: error current operating mode Bit12: Profibus error Bit14: undervoltage DC bus Bit15: overvoltage DC bus Bit16: no mains phase Bit17: connection to motor faulty Bit18. motor overcurrent/short circuit Bit19. error motor encoder or connection to encoder Bit20: undervoltage 24V power supply Bit21: temperature too high (power amplifier, motor) Bit22: tracking error Bit23: max. speed exceeded Bit24: PWRR inputs different Bit29: error in EEPROM Bit30: error in system startup (hardware or parameter error) Bit31: internal system fault such as Watch- dog)

Note: assignment depends on control mode

_WarnActive Active warnings bit-coded(8-47) - UINT16 CANopen 301C:Bh R/- Modbus 7190 Meaning of Bits see _WarnLatched - - - - 0198441113232, V1.04, 01.2006

8-52 AC servo drive 0198441113232, V1.04, 01.2006 X0AOperation STA- WRNS _WarnLatched LXM05A FLT- STPF _StopFault - _actionStatus HMI menu, Code Code Parameter Name ACdrive servo STPF WRNS Set fault response Note: assignment depends on control oncontrol mode assignment depends Note: Bit 15:reserved Bit 14:reserved continuing) tion Bit 13:Position not yet valid detec- (position Bit 12:Profibus warning phase Bit 11:DCbus undervoltage, faulty mains and/or PWRR_B Bit 10:PWRR_A Bit 9: protocol warning RS485 Bit 8: Motor Encoder warning 7:Bit CAN warning Bit 6: overload (I²t) braking resistor Bit 5: overload (I²t) motor Bit 4: overload (I²t) power amplifier Bit 3: reserved high Bit 2: motor temperature Bit 1: power amplifier temperature high _LastWarning) (see Bit 0: warning general Bit assignment 1: activated notenabled0: state: Signal deleted. automatically are 10,11,13 Bits aFaultReset.of bitsareerased intheevent Stored warning bit-coded(8-47) warnings Stored cause(8-47) Fault number thelastinterruption of Bit15: reserved mode movesgenerator Profile Bit14: constant in Profilegenerator accelerating Bit13: Profilegenerator decelerating Bit12: is0) speed (setpoint ped Bit11: reserved Bit10: window position (pwin) within Drive Bit9: negative rotates in drive direction Bit8: in positive drive rotates direction Bit7: < 9U/min) _n_act (actualspeed Bit6:drive Bit5 reserved stopped error Bit3 Class 3e error Bit1 Bit0: Class0 1: activated not enabled0: state: Signal Action word(8-47) Unit Description rror Bit4Class4error theunit be to matched the to operational requirements. of response error allows the This functions. monitoring for set be certain The responseofunit the to afault classifiedis into error classes,can and profile generator stop- generator profile Class 1 error Class 2 Class 1 error Class ------Maximum value Default value Minimum value - - R/- UINT16 - - R/- UINT16 - - R/- UINT16 Expert persistent R/W Data type CANopen 301C:C CANopen Modbus 7192 Modbus 7178 Modbus 7176 CANopen 603F:0 CANopen 301C:4 CANopen fieldbusvia Parameter address 8-53 h h h Operation LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

SPV_Flt_pDiff Error response to tracking error(8-47) - UINT16 CANopen 3005:Bh 1 R/W Modbus 1302 1 / ErrorClass1error class 1 3 per. 2 / ErrorClass2: error class 2 3 - - 3 / ErrorClass3: error class 3

SPV_Flt_AC Error response to power failure on one - UINT16 CANopen 3005:Ah phase(8-47) 1 R/W Modbus 1300 2 per. 1 / ErrorClass1error class 1 3 - - 2 / ErrorClass2: error class 2 3 / ErrorClass3: error class 3

8.6.1.4 Commutation monitoring

Functional principle The unit continuously checks the plausibility of motor acceleration and effective motor moment, in order to recognise uncontrolled motor movements and to stop them if required. The monitoring function is referred to as commutation monitoring. If the motor accelerates for a time period of more than 5 to 10ms, the commutation monitoring signals an uncontrolled motor movement, even though the drive regulation delays the motor with the set current value. The unit shows flashing on HMI 5603 (error class 4) Causes of error Uncontrolled motor movements can be traced back to the following causes: • The motor phases U, V, W are connected to the unit incorrectly, i.e. each offset by 120° , e.g. U with V, V with W, W with U. • Faulty or interfered evaluation of the rotor position by a faulty position encoder on the motor, interfered sensor signals or defective position acquisition in the unit. In addition, the unit can recognise a commutation error in the following cases, since the above-mentioned plausibility conditions could equally apply: • The motor receives an external torque that is greater than the specified maximum torque. The external force causes it to accelerate. • The motor is manually moved either in the direction of the motor moment or in the opposite direction, whilst the drive regulation is active. • The motor is moved to a mechanical stop. • Speed and position control loop are set to be extremely unstable. 0198441113232, V1.04, 01.2006

8-54 AC servo drive 0198441113232, V1.04, 01.2006 HMI menu, Code Code Parameter Name Operation HMI menu, Code Code Parameter Name LXM05A - SPV_EarthFlt - SPVcommutat 8.6.1.5 Earth fault monitoring Earth 8.6.1.5 ACdrive servo Functional principle Functional Setting parameters Setting parameters Setting ecito Unit Description Unit Description when not wanted not when Disable the monitoring onlyif itresponds lines motor long - - operation anITmains on of devicesmultiple connection - parallel e.g.: required, In exceptional casesdeactivation may be 1 /on 0 /off fault monitoring(8-55) Earth 1 /on 0 /off commutation(8-54)Monitoring : On (default): On : on(default) : off : off tected. faultdetected. Anearth of the DCbusor the brakingresistornot is de- power amplifier enabled. fault An earth of one or more motor phases is The devicecontinuously checks the motor phases for fault earth with the rious injury orequipmentinjury damage. rious se- indeath, result can followFailure to instructions these Use the monitoring functions. • movement. Disabling monitoring functions increases theof risk an unexpected pected movement! of andDanger damageinjury to system components by unex- orequipmentinjury damage. rious se- indeath, result can followFailure to instructions these Use the monitoring functions. • movement. Disabling monitoring functions increases theof risk an unexpected pected movement! of andDanger damageinjury to system components by unex- Maximum value Default value Minimum value Maximum value Default value Minimum value 1 1 0 - 1 1 0 - @ WARNING @ WARNING Expert persistent R/W Data type Expert persistent R/W Data type expert per. R/W UINT16 - per. R/W UINT16 Modbus 1290 Modbus 1312 via fieldbusvia Parameter address fieldbusvia Parameter address CANopen 3005:10 CANopen CANopen 3005:5 CANopen 8-55 h h Operation LXM05A

8.6.1.6 Mains phase monitoring

Functional principle If a mains phase fails and under high load the device may become over- loaded. The failure of a mains phase is detected with 3-phase devices. An error response can be set with the parameter SPV_Flt_AC. Setting parameters @ WARNING Danger of injury and damage to system components by unexpected movement! Disabling monitoring functions increases the risk of an unexpected movement. • Use the monitoring functions. Failure to follow these instructions can result in death, serious injury or equipment damage.

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

SPV_MainsVolt Monitor mains phases(8-56) - UINT16 CANopen 3005:Fh 0 R/W Modbus 1310 0 / off: off 1 per. 1 / on: default 3-phase devices must only be 1 expert - connected and operated on 3-phase mains. In exceptional cases it may be necessary to disable it, e.g.: - supply via the DC bus 0198441113232, V1.04, 01.2006

8-56 AC servo drive 0198441113232, V1.04, 01.2006 X0AOperation Scaling 8.6.2 LXM05A ACdrive servo Default scaling Scaling factorScaling Description versa.device The saves positionvalues inuser-defined units. Scaling translates units userthe unitsdevice, of internal to and vice completely represented by afraction. When quotingthescaling factor, take care thatthe relationship can be value. numerator POSscaleDenom The scalingfactor is setusing the parameters fault scaling. A value of 16384 user-defined units per motor revolution isset as the de- in [rev/usr]. rotations and the required user units [usr] needed for this. It isspecified The scaling factor creates the relationship between the number of motor Figure 8.29 Calculation of the scaling factor scaling ofthe Calculation 8.29 Figure Scaling 8.28 Figure rious injury orequipmentinjury damage. rious se- indeath, result can followFailure to instructions these Check the correspondingparameters usr and defaults ofthe • Note thatthe scaling affects allrelationships betweenthe • motions. fined units. The same movement jobs can therefore cause different Changing the scaling changes theeffect the ofvalues inuser-de- tem Unexpected motion may cause injury and damage to the sys- Position position Motor system inuser-defined units. defaults and the drivemotion. User defined Scaling factor units _p_actusr _p_refusr .Anewfactor scaling isactivated bytransfer of the @ WARNING = Scaling- Scaling factor Change oftheuserposition[usr] Motor revolution [rev] _p_ref _p_act POSscaleNum Operating Internal Internal mode units units in and 3~ M E 8-57 Operation LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

POSscaleNum Numerator of the position scaling fac- revolution INT32 CANopen 3006:8h tor(8-57) 1 R/W Modbus 1552 1 per. :Definition of scaling factor - 2147483647 - Motor revolutions[U] ------Change in user position [usr]

Acceptance of a new scaling factor takes place on the entry of the numerator

User limits can be reduced when internal system factors are taken into account

POSscaleDenom Denominator of the position scaling fac- usr INT32 CANopen 3006:7h tor(8-57) 1 R/W Modbus 1550 16384 per. Description see numerator (POSscaleNum) - 2147483647 - Acceptance of a new scaling factor is by transfer of the numerator

If the existing unit is replaced by this unit, and if the same positioning orders are to be used, then the scaling is to be set in accordance with the settings used previously.

Value change of the scaling factor is only possible with inactive output stage. Value statements in user units are transformed to internal units when activating the output stage, simultaneously checking the value range. Examples There are 3 cases for the setting of the user units. • Scaling corresponds to default scaling 1 motor revolution = 16384 user-defined units => every 8th motor position can be approached.

• Scaling corresponds to motor resolution (most minimal scaling) 1 motor revolution = 131072 user-defined units => every motor position can be approached.

• Scaling is less than the default scaling 1 motor revolution = 4096 user-defined units => every 32nd motor position can be approached.

To retain the same positioning movement of the motor after changing the scaling factor, the following persistent parameters must be adapted in addition to the user- defined values: HMoutdisusr, HMdisusr, HMp_homeusr, HMsrchdisusr, JOGstepusr, SPVswLimPusr and SPVswLimNusr.

If the parameters are not adjusted, this can cause problems such an error during the reference movement, because the distance to the swit- 0198441113232, V1.04, 01.2006

8-58 AC servo drive 0198441113232, V1.04, 01.2006 X0AOperation LXM05A ACdrive servo Example 3 Example 2 Example 1 1rad= 1U/(2* Settingthe positioning in1/1000rad gives:This 1usr= 0.011mm rev/100 * 1/10000 mm= rev. respond to one 0.01step.mm responds to apath of 100 mm. Every user-defined unit [usr] should cor- Calculation of the scalingfactor lengthin units: 1motor revolution cor- lutions. now, the motor will move 900usr* 3/ outIf you arelative carry positioning operation of 900 user-definedunits lutions. Thisgives: Positioning of 1111 user-defined units isto correspond to 3motor revo- safely leaving theswitching range. ching edge of the limitreference or switch is nolonger sufficientfor device value= 1/(2* valueUser =1usr π =3.1416(rounded) cln atr= Scaling factor cln atr= Scaling factor cln atr= Scaling factor π ) π *1000) U 1111 usr 3rev 2*3,1416*1000 usr 10000 usr 1rev 1 rev 1111 rev/usr1111 2.4302motorrevo- = = 6283,2 usr 1 rev = 62832 usr 10 rev 8-59 Operation LXM05A

8.6.3 Movement profile

Profile generator Target position and final speed are input values to be entered by the user. The profile generator uses these values to calculate a motion profile dependent on the selected operating mode. The initial values of the profile generator and the addable jolt limiting are transformed into a motor movement by the drive regulator. The acceleration and deceleration behaviour of the motor can be described by the ramp function of the profile generator. The nominal sizes of the ramp functions are the ramp shape and the ramp steepness. Ramp shape A linear ramp for the acceleration and deceleration phases is available as the ramp shape. The profile settings are valid for both directions of movement of the drive. Ramp steepness The steepness of the ramp determines the speed changes of the motor per unit time. It can be set, for the acceleration ramp, by using the parameter RAMPacc and the deceleration ramp by using RAMPdecel.

v PPn_target RAMPn_max PVn_target

RAMPacc RAMPdecel

Figure 8.30 Acceleration and deceleration ramps

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

RAMPacc Profile generator acceleration(8-60) (1/min)/s UINT32 CANopen 6083:0h 30 R/W Modbus 1556 600 per. - 3000000 -

RAMPdecel Deceleration of the profile generator(8-60) (1/min)/s UINT32 CANopen 6084:0h 750 R/W Modbus 1558 750 per. - 3000000 - 0198441113232, V1.04, 01.2006

8-60 AC servo drive 0198441113232, V1.04, 01.2006 X0AOperation - RAMPn_max LXM05A HMI menu, Code Code Parameter Name ACdrive servo sioning with limited speed. limited with sioning makesThis to conductacommis- it simple set. is automatically RAMPn_max to modes a limit these operating isset of setpoint speed in one If a higher - oscillator - jog - homing - profile velocity - profile positioning modes: operating effectiveparameters are The following the in generation(8-60) profile set withoperatingLimiting speed modes with ecito Unit Description Jolt limiting smooth, soft virtually soft virtually smooth, removesThe joltlimiting jump-lik the the output of the jerk limiting has been reached. been has limiting jerk the of output the Thetravelof end untiltarget the positionatnot (x_end reported is =1) RAMP_TAUjerk The jolt limitationis setand switched onusing the parameter withand curve Speed 8.31 Figure v . jolt-free speed change. speed jolt-free 13200 13200 60 1/min Maximum value Default value Minimum value dotted joltlimitation dotted without e accelerationchanges create to a - per. R/W UINT16 Expert persistent R/W Data type Modbus 1554 CANopen 607F:0 CANopen via fieldbusvia Parameter address t 8-61 h Operation LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

RAMP_TAUjerk Jolt limiting() ms UINT16 CANopen 3006:Dh 0 R/W Modbus 1562 0: off 0 per. >0: Setting for filter processing time - 128 - The following values can be set: 0: inactive 1 2 4 8 16 32 64 128

Limits the acceleration change (jerk) of the setpoint position generation during the positioning transitions: Standstill - acceleration acceleration - constant movement constant movement - deceleration deceleration - standstill

Processing in the following operating modes: - speed control - profile positioning - jog - homing

Setting can only be made with inactive operating mode (x_end=1).

Not active with braking process via moment ramp ("Halt" or "Quick Stop") 0198441113232, V1.04, 01.2006

8-62 AC servo drive 0198441113232, V1.04, 01.2006 HMI menu, Code Code Parameter Name Operation Quick Stop 8.6.4 LXM05A SET- LIQS LIM_I_maxQSTP ACdrive servo LiQS Maximum current Quick reset Stop ecito Unit in 0.01Apksteps power and on motor amplifier Maximum defaultand value depend setting when a softwareand is stop triggered anerror from error resulting with class 1 or 2, braking viatorque ramp during Max. current Current limiting for Quick Stop(8-63) Description If the "Quick Stop" isactuated by the limit switch signals A "Quick Stop" mustbe acknowledged with the error confirmation. installed. drive load should be reduced or anexternal braking resistor should be voltage", then the maximum braking current should be reduced, the If the device switches off frequently with "Quick Stop" with "DCbus over- the requireddelay. with to astandstill The current for the moment ramp should be set so that the drive comes gnals "DCbusovervoltage". The down motor without runs braking. si- unit the switches and off stage output the limit permissible the ceeds The unit absorbstheexcess braking energy. If the DCbus voltageex- driveat astandstill. the is mains on. In the case of error class 2, the output stage switches off after re- 1fault event power the amplifier the In response, fault a of category of afault of error class1and 2or by asoftwarestop. asa result motor "Quickthe stops isafast Stop" which function braking tion, see page 8-15. page see tion, movedbe opera- byjog can movement drive the backarea the the into rious injury orequipmentinjury damage. rious se- indeath, result can followFailure to instructions these the test During make sure that at higher mains voltage there is • Check the temperature of the brakingresistor by conducting a • Check the setting of the parameter forthebraking resistor. • Make sure that the braking resistor issufficiently dimensioned. • tively braked. and switches offthepower amplifier. The motor isno longerac- DCbusovervoltage the on causes resistor braking insufficient An ked motor! Riskinjury of anddamageto system components byunbra- less reserve intheless capacitorsbus. onthe DC conditions. critical most the under run test - - - A Maximum value Default value Minimum value pk @ WARNING - per. R/W UINT16 Expert persistent R/W Data type Modbus 4362 CANopen 3011:5 CANopen via fieldbusvia Parameter address LIMN or or LIMP 8-63 h , Operation LXM05A

8.6.5 Halt

The "Halt" function can be set from any desired source (commissioning software, fieldbus, input signal HALT). This is independent of the control mode that was set at "First Setup". The "Halt" function brakes the motor with a moment ramp The parameter LIM_I_maxHalt specifies the current for the moment ramp. After drive standstill an internal position compensation is run, the position control is enabled and the motor is stopped with the power amplifier active. After cancellation of all "Halt" requests the interrupted movement is continued. If the HALT signal is cancelled during the braking procedure, the drive still runs down to standstill and only then accelerates again. Maximum current The unit absorbs the excess braking energy. If the DC bus voltage exceeds the permissible limit the output stage switches off and the unit signals "DC bus overvoltage". The motor runs down without braking. The current for the moment ramp should be set so that the drive comes to a standstill with the required delay.

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

in 0.01Apk steps 0198441113232, V1.04, 01.2006

8-64 AC servo drive 0198441113232, V1.04, 01.2006 X0AOperation Fast positioncapture 8.6.6 LXM05A ACdrive servo Enable fast capture position End position capture position End Setting options Positionfa or rising at capture • input: ture One of two possible functions forcapture can be selected for eachcap- • • ture" operating function. Two independent capture inputs are available for the "fast position cap- mark. a print puts. The operating function can, for example, be used for detection of at the time of receipt of adigitalsignal 24V at one of the two capture in- The "fast position capture" function captures the current motor position One-timecontinuous or position capturemultiple with changeof • Cap2Activate stopped by the writing parameter With continuous position capture or no signal edge the capture canbe when the firstsignal edge isdetected. With singleposition capture the "fas For valueparameterwrite 2 to CAP2: • For valueparameterwrite 2 to CAP1: • Enable continuous positioncapture For valueparameterwrite 1 to CAP2: • For valueparameterwrite 1 to CAP1: • Enableposition single capture and the deceleration phase. The captured motor position isnot exact the during acceleration phase 32768Inc/rev.:2 inc/µs. = 3662rpm than less The jitteris µs. TheCAP2 capture CAP1and inputshave timea constant= 2 t of valueis lost. captured former the while edge every defined Continuous capture means thatthemotor positionis captured anew at table with parameters parameters table with FAULT_RESET ENABLE edge at the capture input with parameters parameters with input capture the at edge CAP2ACTIVATE / LIMP , value 0. / CAP1 / LIMN . ± 2 µs, since the following applies at a resolution of (CAP1) / CAP2 CAP1CONFIG (CAP2) lling edgeatthec Cap1Activate t position capturefunction " isended and Cap2Activate Cap1Activate Cap2Activate Cap1Activate CAP2CONFIG CAP1ACTIVATE , value 0 or , value0 or apture input, adjus- apture input, . and 8-65 Operation LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

Cap1Activate Capture unit 1 Start/Stop(8-65) - UINT16 CANopen 300A:4h 0 R/W Modbus 2568 Value 0 : abort capture function - - Value 1: start capture once 2 - - Value 2: start capture continuously

With one-time capture the function is terminated at the first captured value. The capture continues endlessly with continuous capture.

Position capture can only be enabled with the "fieldbus" device setting.

Cap1Config Configuration of capture unit 1(8-65) - UINT16 CANopen 300A:2h 0 R/W Modbus 2564 0 = position capture at 1->0 switch 0 - 1 = position capture at 0->1 switch - 1 -

Cap1Count Capture unit 1 event counter(8-65) - UINT16 CANopen 300A:8h R/- Modbus 2576 Counts the capture events. - - Counter is reset when the capture unit 1 is - - enabled.

Cap1Pos Capture unit 1 captured position(8-65) usr INT32 CANopen 300A:6h R/- Modbus 2572 Captured position at the time of the "capture - - signal". - - The captured position is recalculated after "set dimensions" or after a "homing".

Cap2Activate Capture unit 2 Start/Stop(8-65) - UINT16 CANopen 300A:5h 0 R/W Modbus 2570 Value 0 : abort capture function - - Value 1: start capture once 2 - - Value 2: start capture continuously

With one-time capture the function is terminated at the first captured value. The capture continues endlessly with continuous capture.

Position capture can only be enabled with the "fieldbus" device setting.

Cap2Config Configuration of capture unit 2(8-65) - UINT16 CANopen 300A:3h 0 R/W Modbus 2566 0 = position capture at 1->0 switch 0 - 1 = position capture at 0->1 switch - 1 -

Cap2Count Capture unit 2 event counter(8-65) - UINT16 CANopen 300A:9h R/- Modbus 2578 Counts the capture events. - - Counter is reset when the capture unit 2 is - - enabled.

Cap2Pos Capture unit 2 captured position(8-65) usr INT32 CANopen 300A:7h R/- Modbus 2574 Captured position at the time of the "capture - - signal". - - The captured position is recalculated after "set dimensions" or after a "homing". 0198441113232, V1.04, 01.2006

8-66 AC servo drive 0198441113232, V1.04, 01.2006 X0AOperation - CapStatus LXM05A HMI menu, Code Code Parameter Name ACdrive servo Bit 1: Position viaCAP2 captured 0:Bit position capture bycomplete CAP1is Read access: units(8-65) of capture Status ecito Unit Description - - Maximum value Default value Minimum value - - R/- UINT16 Expert persistent R/W Data type Modbus 2562 CANopen 300A:1 CANopen via fieldbusvia Parameter address 8-67 h Operation LXM05A

8.6.7 Standstill window

The standstill window can be used to check whether the drive has reached the setpoint position. If the control deviation _p_dif of the position controller remains in the standstill window after the end of the positioning for time STANDpwinTime, the device reports the end of the process (x_end = 0- >1).

_p_dif STANDpwinTime

0 t 2 * STANDp_win

Figure 8.32 Standstill window

The parameters STANDp_win and STANDpwinTime define the size of the window. The parameter STANDpwinTout can be used to set the period after which an error is reported if the standstill window was not reached.

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

STANDp_win Standstill window, permissible control devia- revolution UINT16 CANopen 6067:0h tion(8-68) 0.0000 R/W Modbus 4370 0.0010 per. The offset for the standstill window time must 3.2767 - - lie in this range of values to allow recognition of the standstill of the drive. Fieldbus 0 Info: The processing of the standstill window 10 must be activated via the STANDpwinTime 32767 parameter.

STANDpwinTime Standstill window, time(8-68) ms UINT16 CANopen 6068:0h 0 R/W Modbus 4372 0: Standstill window monitoring deactivated 0 per. >0 : Time in ms within which the offset must 32767 - - lie in the standstill window

STANDpwinTout Timeout for the standstill window moni- ms UINT16 CANopen 3011:Bh tor(8-68) 0 R/W Modbus 4374 0 per. 0: timeout monitor deactivated 16000 - - >0 : Timeout in ms

Setting the standstill window processing is accomplished via STANDp_win and STAND- pwinTime

The time monitoring begins at the moment the target position is reached (position controller setpoint) or at the end of the profile generator processing. 0198441113232, V1.04, 01.2006

8-68 AC servo drive 0198441113232, V1.04, 01.2006 HMI menu, Code Code Parameter Name Operation Braking functionwithHBC 8.6.8 LXM05A DRC- BTRE BRK_trelease ACdrive servo BTRE Holding brakeHolding controller Settable parameters Delayed release ecito Unit brake(8-69) Time delay the or releasing opening when Description When releasing the brake (opening) the parameter parameters. mand. fects the enable to adelayedcom- respect drive ofthe with response HBC, system control see usea of holding brake motor. Theholding brake requiresholding a brake Inadvertent movement of the motor without current isprevented by the inlFnto Value Function ACTIVE1_OUT Signal type and canbe found inthe motor datasheet. The setting of the parameter brake the holding Releasing 8.33 Figure lease ( lease delay time it. A for to re- applied moment holding a has motor the and ACTIVE1_OUT 7-28. “Checking holdingbrake“ page The function of the HBCand the holding brake can be tested, see 7.4.8 of abreakdownthe of insulationthe ofmotor cable. motor,safely disconnectssignal the inaca located whichis connection, fast switching with a minimum of heat generation. In addition, the brake ACTIVE1_OUT The holding brake controlHBC amplifies the digital outputsignal Enable Operation (Output) ACTIVE1_OUT Motor Torque ENABLE BRK_trelease changesas1 tosoon asthe outputstageis released brake way a the such in controls allow and to unit the of rk so ilb ple 0 1 Brake beapplied will or is Brake bereleased will or is 0 0 1 0 1 1 0 1 1000 0 0 ms Maximum value Default value Minimum value ) and application ( chapter "Accessories" BRK_trelease ble tothe connections with thewiring connections ontheunit inthe event - per. R/W UINT16 Expert persistent R/W Data type BRK_trelease BRK_tclose depends on the motor BRK_trelease Modbus 1294 CANopen 3005:7 CANopen fieldbusvia Parameter address ) canbesetby t 8-69 h ef- Operation LXM05A

Delayed application Once Enable is removed, the ACTIVE1_OUT signal changes to 0 and the brake is applied. The motor remains under current, however, for the time set on the parameter BRK_tclose.

ENABLE 1 0

Torque 1 Motor 0

ACTIVE1_OUT 1 (Output) 0

Operation 1 Enable 0

t BRK_tclose

Figure 8.34 Applying the holding brake

The setting of the parameter BRK_tclose depends on the motor type and can be found in the motor data sheet.

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

BRK_tclose Time delay when setting the brake(8-69) ms UINT16 CANopen 3005:8h 0 R/W Modbus 1296 BTCL 0 per. DRC-BTCL 1000 -

Voltage reduction If the voltage reduction on the HBC is activated, the start-up voltage of the brake is reduced after a time delay. The voltage reduction must be set via the "Voltage reduction" switch depending on the motor type: on: voltage reduction on, e.g. for SER motors off: voltage reduction off, e.g. for BSH motors Note the defaults in the motor manual. When switching on the supply voltage, the holding brake control and the function of the HBC button are reset. There is no voltage at the control terminals of the brake, the LED "Brake released" of the HBC is off. 0198441113232, V1.04, 01.2006

8-70 AC servo drive 0198441113232, V1.04, 01.2006 X0AOperation HMI menu, Code Code Parameter Name Reversal ofdirectionrotation 8.6.9 LXM05A DRC- PROT POSdirOfRotat ACdrive servo PRoT LIMP input, andviceversa. input, LIMP tothe clockwisemustconnected be direction by in isactuated mode which injog moving must over.tions changed be switch Thelimit switch thesetting,limit changing connec- CAUTION: limitswitches, using When after activated isswitched untiltheunit onagain CAUTION: of A change Unit flange. the shaft at motor the onto speeds, looking The drive rotates clockwise withpositive Interpretation: wise 1 /counter clockwise/cclw clw / clockwise / 0 of rotation(8-71) direction of Definition Description : Clockwise state which will be required later fobe required state whichwill The direction of rotation should therefore be set at commissioning to the also the actual position evaluated bythedevice _p_absworkusr By reversing the direction of rotation, the absolute position of the motor Multiturn. SinCos with processing tion valuesunchanged except canimported be for theparameters forposi- reversed, must be motor the all parameter of rotation of direction If the must beconnectedto The limitswitch that effective afterswitching the deviceoff and onagain. rotation of the motor. Notethat ch The parameter range withanti-clockwise rotation must be connected to the settingisnot : Counterclock- POSdirOfRotat changes, encoder, whichisread from the rotary and limits the range working with clockwise rotation 1 0 0 - Maximum value Default value Minimum value LIMP . The limit switch. The t anging theparameter value will onlybe can beused to reverse the direction of r theoperation of - per. R/W UINT16 Expert persistent R/W Data type hat limits the working working the hat limits _p_actusr Modbus 1560 CANopen 3006:C CANopen fieldbusvia Parameter address thismotor. LIMN . . 8-71 h Operation LXM05A

Positions values

0 U - 4096 U 4096 U Mechanical revolutions

_p_actusr _p_absworkusr

Figure 8.35 Position values without direction reversal

Position values

0 U

- 4096 U 4096 U Mechanical revolutions

_p_actusr _p_absworkusr

Figure 8.36 Position values with direction reversal 0198441113232, V1.04, 01.2006

8-72 AC servo drive 0198441113232, V1.04, 01.2006 HMI menu, Code Code Parameter Name Restore factory settings Operation 8.6.10.2 HMI menu, Code Code Parameter Name Restore status after "First Setup" 8.6.10.1 Restoringdefaultvalues 8.6.10 LXM05A DRC- FCS ySet PARfactor - PARuserReset ACdrive servo Factoryvia commissioning settings FCS Factory setting viaHMI ecito Unit active thenextat start-up. CAUTION:default The or PowerSuite. HMI via triggered be can setting factory The back up in the EEPROM. Set parameters 1: all to default values and (defaultsetting values)(8-73) factory Restore Description Unit Description - logic type - device control - communication parameters of: exception the reset, with are parameters All 1:Set the user parametersto default values. userparameters(8-73) the Resetting software tory Settings. All parameter values are reset to the defaultthe to values. values reset are See All parameter Settings. tory The factory settingsareset viathe menu points Configuration =>Fac- on the deviceagain. The newsettings onlybecome effectiveafterswitching offand switching page 7-13 All parametervalues are reset to the default values."First See Setup", The parameter software. devicea a configuration as using the commissioning save possible to anyIt is at time values for parameter set all process. All parametervalues set bytheuser arethis lost during type. tionofthe communication parameters, the control mode and the logic Setup".All parameter values are reset to default values, with the excep- The parameter All parametervalues are reset to the default values. ̈ ̈ state only becomes only state yes Set access.simultaneous Removethe connection the tofieldbus inorderto avoid conflictsby . DRC andthen PARfactorySet PARuserReset FCS 3 - 0 - Maximum value Default value Minimum value Maximum value Default value Minimum value 1 - 0 - on the HMI and confirm yourwith selection HMI andconfirm the on is used to restore the status after "First is used to restore the factory settings. settings. factory the restore to is used - - R/W UINT16 Expert persistent R/W Data type Expert persistent R/W Data type - - R/W UINT16 Modbus 1040 via fieldbusvia Parameter address fieldbusvia Parameter address CANopen 3004:8 CANopen 8-73 h Operation LXM05A

"First Setup", page 7-13 The new settings only become effective after switching off and switching on the device again. All parameter values set by the user are lost during this process. It is possible at any time to save all parameter values set for a device as a configuration using the commissioning software.

8.6.10.3 Duplicate existing device settings

Application and advantage • Multiple devices should have the same settings, e.g. when devices are replaced. • "First setup" does not need to be carried out using the HMI. Requirements Device type, motor type and device firmware must be identical. The tool is the Windows-based commissioning software PowerSuite. The controller power supply must be switched on at the device. Export device settings The commissioning software installed on a PC can apply the settings of a device as configuration. ̈ Load the configuration if the device into the commissioning software with "Action Transfers". ̈ Highlight the configuration and select "File - Export".

Import device settings A stored configuration can be imported into a device of the same type. Please note that the fieldbus address is also copied with this information. ̈ In the commissioning software select the menu item "File - Import" and load the desired configuration. ̈ Highlight the configuration and select "Action - Configure". 0198441113232, V1.04, 01.2006

8-74 AC servo drive 0198441113232, V1.04, 01.2006 X0AExamples Wiring oflocalcontrol mode 9.1 Examples 9 LXM05A ACdrive servo 2 3~ M E L1 R L2 L3 24VDC +- 1 ~ HBC 2 Optional: external brakingresistor Optional: Holding brake controller (2) (1) example Wiring 9.1 Figure 41 42 43 44 W/T3 V/T2 U/T1 T/L3 S/L2 R/L1 PC/- PBe PA/+ PBi CN3 CN2 NO_FAULT_OUT FAULT_RESET* CN5 CN4 CN1 ACTIVE1_OUT ENABLE* PWRR_A PWRR_B 24VDC ANA2- ANA2+ ANA1- ANA1+ HALT * * * * 14 13 12 11 34 33 32 31 23 22 21 3 38 37 36 35 9 CANopen RS485 + + - - PULSE/DIR 10V 10V 24V RS232 ESIM A/B/I PC 9-1 Examples LXM05A

9.2 Wiring of fieldbus control mode

Axis

REF Reference switches CN1.33 LIMN Limit switches CN1.34 LIMP Limit switches CN1.35 HALT CN1.36 PWRR_B CN1.37 PWRR_A CN1.38 +24VDC HBC CN1.39 ACTIVE1_OUT +BRAKE_OPEN CN1.32 13/23 -BRAKE_OPEN 14/24 0VDC CN3.42 12/22 +24VDC CN3.44 11/21 +BRAKE_OUT 31/32 -BRAKE_OUT 33/34

+24VDC 24VDC CN3.43 CN3.41 0VDC ~

CAN_0V CN1.21 CAN_L CN1.22 Fieldbus CAN_H CN1.23

CN4 Fieldbus

CN5 Position

CN2

U/T1 Motor Encoder V/T2 W/T3 M 3~

Figure 9.2 Wiring example 0198441113232, V1.04, 01.2006

9-2 AC servo drive 0198441113232, V1.04, 01.2006 X0AExamples Parameterisation oflocalcontrol mode 9.4 "Power Removal" wiring 9.3 LXM05A ACdrive servo Example A: Current control Current A: Example Example B: Speed control ̈ ̈ ̈ ̈ ̈ ̈ The power amplifieris ready to switch on,the i.e status display on • The "FirstSetup"and settings the forparameters the basic limi- and • The analogue inputsarealready wired up. • mecha- system the with yet coupled not be should shaft motor The • Requirements: les. The parametersetting is performed on thethe HMIinfollowing examp- ferencevalue preselection viathe analogue inputs. re- the Mode), (I/O islocal control The modes. gear electronic and trol The following examples show settings for the current control, speed con- val"“ onpage5-2. planning. For more information see 5.3 “Safety function"Power Remo- careful requires product this in integrated safety the functions Using ̈ ̈ ̈ ̈ ̈ m Select under mum and limit it using using and limit it mum / mum andlimit it using sta- Start the motor for motor the signal (input this Start limiter current Check the DRC- Thevalue limit of the motor currentshouldbe at 0.5 10 A V. Under A2mo The motor current shouldlimited be using ANA1+ The motor speed should bepreset to 1500 r.p.m. at 10Vusing Set the default operatingmodeto speed control Under . iaCt Check the actualcurrent value. Read off the value under for motor the signal (input this Start Check the speed limiter. Under Thevalue limit of theat motor 10 V. speed should6000 be rpm A2mo The motor speed should belimitedusing The setcurrent shouldbe preset 200 tomA at using 10V m Set the default operatingmodeto current control. Under the HMI HMI shows the tingvalues havecommissioning. out during been carried nism. select the entry select the entry select the entry select the entry naCt / / theentry select . theentry select . . Select under under . Select DRC- iaCt A2im / . select the value select set- A2nm rdy Sped CURR / select the value selectthe . a1is Curr SPED set- ANA2+ ANA2+ . . the the value . . / 5.00 a1ns . Read off thespeedvalue under . Read. off the current value under . the value 6000 0.20 ENABLE ENABLE . . ANA2+ ANA2+ ). Set Set ). Set ). 1500 . Under Under . . Under . Under . ANA1+ ANA1+ DRC- DRC- tomaxi- tomaxi- DRC- sta- ANA1+ DRC- / / / sta- / / io- io- . 9-3

Examples LXM05A

̈ Check the current speed. Read off the value under sta- / naCt.

Example C: Electronic gear ̈ Set the default operating mode to electronic gear. Under DRC- / io- m select the entry gear ̈ The gear ratio should be selected from a list of presets and should be 2000. Under SET- / GFAC select the value 2000. ̈ Check the current speed. Start the motor for this (input signal ENABLE). Read off the value under sta- / naCt. 0198441113232, V1.04, 01.2006

9-4 AC servo drive 0198441113232, V1.04, 01.2006 01Service 10.1 Diagnostics andtroubleshooting Diagnostics andtroubleshooting 10 LXM05A ACdrive servo Include this informationyou if the product return for inspection or repair. Yourown ideas regarding the cause of the fault • Previous and concurrentconditions • Type offault (possibly faultwith number) • Type, identificationnumber number and serial of the product (type • partner.les Have thefollowingavailable: details If you cannot resolve the fault yourself please contact your appointed sa- rious injury. orse- death in result Failurefollowwill to instructions these Before working onthedrive system: • The motor generates voltage when the shaft is rotated. Lock • Install all covers and close the housing doors before applying • are qualifiedpersonnelwho Only • Electric shock, fire orexplosion Manycomponents, boards, including wiring printed operate at • manufacturersystem The responsible is for with compliance • plate) Measurevoltage at DCbusandcheck for<45V. (The DC – – "DO NOT switch the on asign lock ON" and Place SWITCH – offpower Switch to allterminals. – on the drive system. work to prevent motor ofthe before shaft the rotation starting power. voltage present. with terminals the screws of or ponents mains voltage.mains all applicable regulations relevant the drive to system.earthing this drive system. the contents of this manual are authorised to on work and with voltage). bus LED is not a safe indication for absence of the DC bus not minutes 6 Wait preventto switching on. short-circuit DC bus short-circuit Do not touchDo not (for dischargebusof DC capacitors). Do $ DANGER . Do familiar an with not touch unshielded com- d understand 10-1 Diagnostics and troubleshooting LXM05A

10.2 Error responses and error classes

Error response The product triggers an error response in the event of a fault. Depending upon the gravity of the fault, the unit responds in accordance with one of the following error classes:

Error Response Description class 0 Warning Message only, no interruption of movement mode. 1 Quick Stop Motor stops with "Quick Stop", power amplifier and controller remain switched on and active. 2 Quick Stop with Motor stops with "Quick Stop", power amplifier switch-off and controller switch off when at standstill. 3 Fatal error Power amplifier and controller switch off immediately, without stopping the motor first. 4 Uncontrolled ope- Power amplifier and controller switch off immedi- ration ately, without stopping the motor first. Error response can only be reset by switching the unit off.

The occurrence of an event is signalled by the device as follows:

Event Status HMI-display Entry for last inter- Entry in error ruption cause memory (_StopFault) Halt Operation Enabled HALT -- Software-Stop Quick Stop active STOP A306 EA306 - Hardware limit switch (e.g.LIMP) Quick Stop active STOP A302 E A302 E A302 Error with error class 1, e.g. tra- Quick Stop active STOP A320 E A320 E A320 cking error with error class 1 Error with error class>1, e.g. tra- Fault FLT A320 E A320 E A320 cking error with error class 3

HMI, commissioning software and fieldbus indicate whether the safety function was triggered by PWRR_A or PWRR_B. Neither signal can be configured via parameters. 0198441113232, V1.04, 01.2006

10-2 AC servo drive 0198441113232, V1.04, 01.2006 X0ADiagnostics andtroubleshooting Status diagram 10.3.1 Error display 10.3 LXM05A ACdrive servo Graphic representation Graphic T 9 prtn tt Statetransition Operating state T8 HALT HaLt Operating states nrdy INIT rUn Son rdy dis Switching on T4 T3 T2 Switched on Not readyto enable Operation Switch on switch on Ready to switch on disabled Start T1 T0 T5 T6 T7 2 1 6 3 4 5 missioning software. The operating states are displayedstandard as by theand HMIthecom- The state diagramshown is graphically asaflow chart. ring and system functions, such as temperature and current monitoring The operatingmonitored states and internally are influenced by monito- machine). diagram (state state the in is shown The relationship between the operatingstates the and state transitions operating states is progressed through. After switching on of and anat operating the start mode, a sequence of ofscription all the error numbers can be seen from page 10-13. displayed.be to also de- A messages error 10 last the interruption, of missioning software and the fieldbus allow, inaddition to the last cause Theallows HMI thecause last interruption of to be displayed; the com- The last causeof interruption and the last 10errorare messages stored. iue1. Status diagram Figure 10.1 T11 T16 T10 Stop Quick-Stop active Display flashes Class1 Fault T12 8888 7 fLt fLt Display flashes active Fault Reaction Fault Operating fault T13 T15 Class2, 3,(4) Fault 8888 T14 Motor withoutcurrent Motor undercurrent 8 9 10-3 Diagnostics and troubleshooting LXM05A

Display Status State description Init 1 Start Controller supply voltage, electronics is initialised nrdy 2 Not ready to switch on The power amplifier is not ready to switch on dis 3 Switch on disabled Switching on the power amplifier is disabled rdy 4 Ready to switch on The power amplifier is ready to switch on Son 5 Switched on Motor not under current Power amplifier ready No operating mode active run 6 Operation enable RUN: device running in the selected operating mode HALT HALT: The motor is stopped with active power amplifier Stop 7 Quick Stop active "Quick Stop" is executed FLt 8 Fault Reaction active Error detected, error response is enabled FLt 9 Fault device is in error condition

State transitions Status transitions are triggered by an input signal, a fieldbus command (with fieldbus control mode only) or as a response to a monitoring signal.

Trans- Operating Condition / result 1) Response ition status T0 1 -> 2 • Motor speed below switch-on limit Check motor encoder

• PWRR_A and PWRR_B = 0V

• Actual speed: >1000 rpm (e.g. by auxiliary drive)

• Fieldbus command Quick Stop 0198441113232, V1.04, 01.2006

10-4 AC servo drive 0198441113232, V1.04, 01.2006 T15 032Error display onHMI 10.3.2 Onlypossible if operatingstatus wasvia triggered fieldbus 4) Causeerror of must becorrected 3) Onlyrequiredwith fieldbus control mode, fieldbus CANopen andparameterDCOMcompatib1 = 2) It issufficient tofulfil onepoint the totrigger status transition 1) Diagnostics andtroubleshooting T14 T13 T12 ition Trans- LXM05A T16 ACdrive servo 9 8 x 7 status Operating 7 -> -> -> -> -> 3 9 8 3 6 State display State display Status displayStatus Fieldbus commandFaultReset • rosCas2 r4Error resp Errors Class , 3 or 4 • Error responsecompleted power immediately, off amplifier Switch even if • Errors Class 2,3or 4 • Fieldbus DisableVoltage command • Fieldbus commandFaultReset • Fieldbus Enable command Operation • signal Input • signal Input • Condition / / result Condition nrdy Ulow dis FAULT_RESET FAULT_RESET 1) has failedhas or the •Are the ̈ Ifthe product comes to astopin status ̈ ̈ The product persists inswitch-onstate ̈ is toolowcontrol supply . The displayshows the devicethe instatus remains DCOMcompatib fieldbuscontrol mode and CANopen note thesetting of the Special condition for devices with CANopen fieldbus: For devices with Is the mains supply to the power amplifier switched on and does the • Check the installation of the analogueand digital signalconnec- • Check thefollowing: partner.sales If you cannotresolve thefault yourself please contact your local software. commissioning the using memory error the nose, read fault. Tointernal is an there then correct, is installation diag- the If Check theinstallation. again. After "First Setup", you needto switch theunitoff and switch iton Check the control supply. voltage correspondto thedetails inthe technical data? 6.3.17 “Connectionof digital inputs/outputs(CN1)“. tions. Payattention tominimum the particular assignment,see page thesetwo inputs should beset+24V. to 0 ->1 0 ->1 PWRR_A 3) 3) 3) 3) parameter. Dependingthe on setting of this parameter PWRR_A 4) and ULOW PWRR_B (ULOW) when initialised.voltage The of the and response" active"Quick still Stop" automatically continued automatically is mode operating specified mode control Local Error isreset Response dis PWRR_B safety inputs enabled?Ifnot required, after being switched on. onse is carried out, see"error onse iscarried safety inputs have safety inputs power. no nrdy dis (DIS), the DC bus voltage DC the (DIS), (NRDY). 10-5 Diagnostics and troubleshooting LXM05A

State display FLt The display flashes alternately with FLt (FLT) and a 4 digit error number. The error number can also be found in the error memory list. ̈ Check especially:

• Is a suitable motor connected? • Is the motor encoder cable correctly wired and connected? The unit cannot correctly start up the motor without a motor encoder signal. Status display STOP The HMI displays STOP (STOP) when a "Quick Stop" has been triggered. This can be caused by a software stop, a hardware limit switch or by an error of error class 1. ̈ Remove the cause of the error and reset the error message.

State display WDOG The display shows WDOG (WDOG) when initialised. The internal monitor has sensed a fault by means of the Watchdog. ̈ Contact the Technical Support of your local sales partner. Advise the peripheral conditions (operating mode, application event) when the fault occurs: ̈ The error can be reset by switching the unit off and on again.

Cause of the last interruption ̈ Press the ENT button on the HMI to acknowledge the current error message. ̈ Change to the FLT menu. The last cause of interruption (Parameter _StopFault) is shown as an error number, see chapter 10.5. 10.3.3 Error display with commissioning software

࡯ You will need a PC with the commissioning software and a functional connection to the product, see 6.3.18 “Connection to PC or remote terminal (CN4)“ from page 6-47. ̈ Select “Diagnosis error memory“. A dialogue box which displays the error messages appears. 0198441113232, V1.04, 01.2006

10-6 AC servo drive 0198441113232, V1.04, 01.2006 034Error display over thefieldbus 10.3.4 Diagnostics andtroubleshooting LXM05A ACdrive servo Error display word Error by status cause ofinterruption last ̈ verifycan the exact conditionswhen the error occurred. description. Underror "additional occurred and information ashort "you er- displayedwhen class,time are error status, showing messages Error front. in "E" an with memory error the The commissioningsoftware shows a4digiterror number intheoflist Error messages Figure 10.2 of subsequent errors, only the cause triggering of error is stored. status information,the to iswritten the further error memory. In the case lue ofthisparameter willbe va- the present, error no is there as Aslong interruption. of cause last the Theparameter x_err.13 takes place by changing the operating status and setting the error bit Bit The error isfirst displayedvia the parameter ler supply voltage and switchagain. iton 4errors,In thecaseofclass yo "reset"button the incommand bar of the program. the with message error current the reset and error Resolve the _StopFault 0. If an error occurs, 0.Ifan allowsread outthe oferror number and u will need toswitchu control- offthe DCOMstatus the error, togetherwith . The display The . 10-7 Diagnostics and troubleshooting LXM05A

Error memory The error memory is an error history of the last 10 errors and is maintained even if the device is switched off. The following parameters allow the error memory to be controlled:

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

FLT_del_err Erase error memory(10-7) - UINT16 CANopen 303B:4h 0 R/W Modbus 15112 1: Erases all entries in the error memory - - 1 - - The erasing process is complete when a 0 is returned when reading.

FLT_MemReset Reset the error memory read pointer(10-7) - UINT16 CANopen 303B:5h 0 R/W Modbus 15114 1: Set error memory read pointer to oldest - - error entry. - 1 -

The error memory can only be read sequentially. The parameter FLT_MemReset must be used to reset the read pointer. Then the first error entry can be read. The read pointer is automatically moved on to the next entry, re-reading selects the next error entry. If the error number 0 is returned there is no error entry present.

Position of the entry Description 1 1. error entry, oldest message 2 2. error entry, later message, if present ...... 10 10. error entry. In the case of 10 error entries the most current error value is shown here

An individual error entry consists of several pieces of information which are read out using various parameters. When reading out an error entry, the error number must always be read out first with the parameter FLT_err_num.

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

FLT_err_num Error number(10-7) - UINT16 CANopen 303C:1h 0 R/- Modbus 15362 Reading this parameter brings the complete - - error entry (error class, time of error ...) into 65535 - - an intermediate memory from which all components of the error can be read.

In addition, the read indicator of the error memory is automatically switched forward to the next error entry.

FLT_class Error class(10-7) - UINT16 CANopen 303C:2h 0 R/- Modbus 15364 0: Warning (no reaction) - - 1: error (Quick Stop -> status 7) 4 - - 2: error (Quick Stop -> status 8.9) 3: Fatal error (state 9) 4: Fatal error (state 9, not resettable) 0198441113232, V1.04, 01.2006

10-8 AC servo drive 0198441113232, V1.04, 01.2006 X0ADiagnostics andtroubleshooting - FLT_Time LXM05A - FLT_Qual HMI menu, Code Code Parameter Name ACdrive servo referenced to theoperating hourscounter Error time(10-7) Example: a parameter address parameter a Example: Unit ber. error, the about ontheerrornum- depending information additional contains This entry information(10-7) Error additional Description 536870911 - 0 s 65535 - 0 - Maximum value Default value Minimum value - - R/- UINT32 - - R/- UINT16 Expert persistent R/W Data type Modbus 15368 Modbus 15366 CANopen 303C:3 CANopen CANopen 303C:4 CANopen fieldbusvia Parameter address 10-9 h h Diagnostics and troubleshooting LXM05A

10.4 Troubleshooting

10.4.1 Resolution of malfunctions

Malfunction Cause Correction Motor not turning Motor blocked by brake Release holding brake, check wiring Break in the motor Check motor cable and connection. One or cable more motor phases are not connected. No torque Set the parameters for max. current, max. speed to greater than zero Incorrect opera- Set the input signal and parameters for the ting mode selec- operating mode you want ted Drive system swit- Switch on drive system, generate release sig- ched off nal Analogue refe- PLC program and wiring to be checked rence value is missing Motor phases Correct the sequence of the motor phases reversed Motor mechani- Check ancillary devices cally blocked Current limiting Correct the current limit activated (analogue input or parameter) The motor jerks Motor phases reversed Check motor cable and connection: connect motor briefly phases U, V and W in the same way on the motor and device sides Motor vibrating Amplification factor KP too high reduce KP (speed controller) Fault in the motor Check motor encoder encoder system Reference poten- Connect reference potential of analogue signal tial for analogue to the reference value source. signal missing Motor running too Integration time TNn too high Reduce Tn (speed controller) soft Amplification fac- Increase KPn (speed controller) tor KPn too low Motor running too Integration time TNn too low Increase TNn (speed controller) rough Amplification fac- Reduce KPn (speed controller) tor KPn too high Error message Drive system switched off Switch on the drive system communication error Wiring error Check wiring Wrong PC inter- Select correct interface face selected 0198441113232, V1.04, 01.2006

10-10 AC servo drive 0198441113232, V1.04, 01.2006 8Motoroverload (phase cur- 18 tomotor(motor Connection 17 fieldbus command 1 "Quick Stop"by fieldbus 4 3 0 Area travelof exceeded Diagnostics andtroubleshooting 2 switch Limit (LIMP/LIMN/ error General 1 0 bit Error Error resolution 10.4.2 LXM05A 5D u vrotg 3DCbus overvoltage, braking too 3 Power faulty supply (phase 16 DC bus overvoltage 15 2 BUSundervoltage DC reserved 14 reserved 13 11 ofthe Errorinprocessing Reference faulty signals 10 in fieldbus communi- Interruption reserved 9 8 infieldbus Error CANopen 7 infieldbus Error RS485, reserved 6 5 ACdrive servo rent too high) high) too rent fault, commutation) earth interrupted, phase PWRR_A range) tuning (software limitswitch, Error REF) Description fault, earth fault)fault, earth mode operating current high) too (frequency Modbus are"0" inputs and and PWRR_B

sorted by errorsorted bit 3 I fault in the orearth circuit Short 3 Checkarea oftravel, re-reference the Motor outsidearea oftravel 1 Limitswitch isor was activated, 1 class par. 3 electronic in error Processing 2 "Power Removal" trig- hasbeen 3 1) warning message. the parameter parameter the arecategorised withso-called error bits.error The bits can beread using To provide improved visi rent too low).rent too motor moment(preset cur- exceedsmoment the External Motor faulty. wiring. encoder or wiring motor phase) of 3- (e.g. instead rectly 1-phase Supply voltage incor- connected fault orearth circuit Short Troubleshooting wire interrupted Cause fast value for switch-off thedriveof DC bus voltage under threshold value for "Quick Stop" DC bus voltage under threshold mode. maximum fre- EMC measures, maintain gear, referencemovement jog or error toohigh, frequency cation, onlywithCANopen such asModbus munication, RS485, only with fieldbus com- the of Interruption gered 2 t monitoring for motor Reduce load, use a motor with a higher higher a with motor a use load, Reduce fort monitoring motor _SigLatched bility when troubleshootin when bility . The . signal anerror state or "1"marks the setting of the setting the motor current. Reduceexternal moment orincrease motor.Change cable.or encoder cable motor Check change connections, Check fuseand installation drive messagein error memory special to axisrange, data match positioning Traverse driveinto movementrange, nominal powernominal braking resistor resistor braking braking process, Extend useexternal failure power for Check Check voltage mains orincrease nal information in the errormemory additio- seeunder information Detailed data) (technical quency ters, seealso fieldbus manual fieldbus, checkcommunication parame- Check communication cable, check ters, seealso fieldbus manual fieldbus, checkcommunication parame- Check communication cable, check Check safety guard, wiring g, allerrornumbers 10-11 Diagnostics and troubleshooting LXM05A

Error Description Error Cause Troubleshooting bit class 19 Encoder in motor signals 3-4 No signal from the motor enco- Check encoder cable and encoder, error or connection to der, encoder faulty replace cable encoder faulty 20 undervoltage from control- Controller supply voltage has fal- Secure control supply. Check short-term ler supply len below the minimum value voltage failures during load changes 21 Temperature too high 3 The power amplifier is overhea- Ventilator faulty or blocked, switch on (power amplifier, braking ting time for peak current, reduce load or resistor or motor) peak torque Allow motor to cool down, reduce load, Motor is overheating use motor with greater nominal power, Temperature sensor not connec- temperature sensor faulty, check/change ted motor and encoder cables 22 Tracking error par. 1) Tracking error Reduce external load or acceleration, 1-3 error response is adjustable via "Flt_pDiff“ 23 Maximum speed exceeded Exceeding the maximum motor Reduce vertical loading speed under shift operation 24 Inputs PWRR_A and 4 Interruption of the signal wiring Signal cable/connection to be checked, PWRR_B different check signal encoder or change 25..28 reserved 29 error in EEPROM 3-4 Checksum in EEPROM incorrect "Initial setting "to be carried out, user parameters to be stored in the EEPROM, consult your local sales partner 30 system run-up faulty (hard- 3-4 Cause of error in accordance Resolution dependent upon error display ware or parameter error) with error display 31 Internal system error such 4 Internal system error Switch device off and on, replace device as Watchdog) Comply with EMC protective measures, System fault such as division by switch device off and on, contact your 0 or time-out checks, inadequate local service representative EMC 1) par. = configurable 0198441113232, V1.04, 01.2006

10-12 AC servo drive 0198441113232, V1.04, 01.2006 E 1609 0 0 Recording: no channel defined channel no Recording: permissible option not trigger Recording: 0 defined trigger no Recording: 0 active still Capture 0 0 by occupied otherfunction memory Capture 0 0 high too Reference frequency signal 0 0 different and PWRR_B PWRR_A level E 1609 0 9 Power (PWRR_A,PWRR_B) Removal tripped E 1608 0 24 info=modbus (additional address) error register Initialisation E 1607 3 4 present not loader boot Systemerror: E 1606 4 30 that aresaved Data following apower failure areinvalid E 1603 3 0 readable not parameter (Block Upload) E 1310 3 0 Accessviaotherinterface blocked E 1301 0 0 notallowed Command powerwhile is active amplifier E 1300 1 0 access authorisations) (no denied access write E 110B 0 0 (READ only) permissible not parameter write E 110A 0 0 exist not does parameter E 1109 0 0 exist not does parameter E 1108 0 0 range of permissible out parameter E 1107 0 0 E 1106 0 0 E 1104 0 E 1103 0 Description E 1102 E 1101 Bit E 1100 Class Error number Diagnostics andtroubleshooting Table oferror numbers 10.5 LXM05A ACdrive servo foundon page 10-11. Information onerror bitsmeasures and for correcting errorsbecan Information onerrorbecan found class page on10-2. The error numbersarestructured: thein HMI, the error numberis shown without the preceding "E". class, then the error classis can be set as a parameter. Please note that all the errornumbers and their meaning If "par. "isshown under the error E Bxxx Communication error Communication Drive error, movement error Fieldbus errorCANopen Interface error, error wiring E Bxxx Softwareerror E Axxx Hardwareerror E 8xxx Temperatureerror E 7xxx Voltageerror E 6xxx Excesscurrent error E 5xxx errors General E 4xxx E 3xxx E 2xxx Error inarea E 1xxx Error number and storedin theparameter number error an as coded is message for error error of each cause The FLT_err_num .Thefollowing table shows 10-13 Diagnostics and troubleshooting LXM05A

Error number Class Bit Description E 160A 0 0 Recording: no data present E 160B 0 0 parameter not recordable E 160C 1 0 Autotuning: moment of inertia outside permissible range E 160D 1 0 Autotuning: the value of parameter 'AT_n_tolerance' may be too low for the identified mechanical system E 160E 1 0 Autotuning: Test movement could not be started E 160F 1 0 Autotuning: Power amplifier cannot be activated E 1610 1 0 Autotuning: Processing discontinued E 1611 1 0 System error: Autotuning internal write access E 1612 1 0 System error: Autotuning internal write access E 1613 1 0 Autotuning: max. permissible positioning range exceeded E 1614 0 0 Autotuning: already active E 1615 0 0 Autotuning: this parameter cannot be changed while autotuning is active E 1616 1 0 Autotuning: static friction for selected speed jump height 'AT_n_ref' too high E 1617 1 0 Autotuning: Frictional or load moment too great E 1618 1 0 Autotuning: optimisation aborted E 1619 0 0 Autotuning: the speed of rotation jump height 'AT_n_ref' is too low compared to 'AT_n_tolerance' E 1A00 0 0 System error: FIFO memory overflow E 1A01 3 19 motor has been changed E 1A02 3 19 motor has been changed E 1B00 4 31 System error: faulty parameter for motor or power amplifier E 1B01 3 30 User parameter max. speed of rotation too high E 1B02 3 30 User parameter max. current, holding current or Quick Stop current too high E 1B03 4 30 Encoder is not supported by current operating system E 1B04 3 30 ESIM resolution too high with selected n_max E 2300 3 18 power amplifier overcurrent E 2301 3 18 braking resistor overcurrent E 3100 par. 16 mains power supply phase fault E 3200 3 15 DC bus overvoltage E 3201 3 14 DC bus undervoltage (switch-off threshold) E 3202 2 14 DC bus undervoltage (Quick Stop threshold) E 3203 4 19 Motor encoder supply voltage E 3206 0 11 DC bus undervoltage, no mains phase (warning) E 4100 3 21 Power amplifier overtemperature E 4101 0 1 warning power amplifier overtemperature E 4102 0 4 Power amplifier overload (I²t) warning E 4200 3 21 device overtemperature E 4300 3 21 motor overtemperature E 4301 0 2 warning motor overtemperature E 4302 0 5 Motor overload (I²t) warning 0198441113232, V1.04, 01.2006

10-14 AC servo drive 0198441113232, V1.04, 01.2006 E 7333 4 30 System error: Discrepancy during calibration of analogue/digital converter of analogue/digital calibration during Discrepancy error: System initialisation encoder Motor error: System 30 (Hiperface) encoder motor error: System 30 Warning sends: Motorencoder 4 19 errors position capture sends: encoder Motor 4 8 position Systemsensor error: not ready 4 19 evaluation) (quadrant initialising motor encoder System error: E 7333 0 19 converter analogue/digital of calibration error: System E 7331 4 30 No answer received hasbeen yet E 7330 4 30 defectiveis encoder error: System E 7329 4 19 range currentoffsetoutside permissible motor E 7328 4 19 datanotacceptable Motor E 7327 0 30 communication encoder motor in errors error: System E 7201 4 30 Invalid motordata E 7200 4 19 failedbase time (Timer0) Internal error: System E 7126 4 19 parameter Errorinselection E 7124 2 30 available not Function E 7123 4 0 Parameters outsidevalue range error) (calculation E 7122 4 0 error Commutation E 7121 0 0 orfaulty signals encoder Interruption E 7120 0 17 orfaulty signals encoder Interruption E 610F 0 19 phase error connection motor E 610D 4 19 EEPROM System error: checksum errorNoInitparameter E 6108 4 17 EEPROMparameteruser System error: invalid E 6107 4 29 EEPROM SystemCAN-data invalid error: E 5603 3 29 EEPROM System error: Manufacturer datainvalid E 5602 3 29 EEPROMHardwareInfo System error: invalid E 5601 3 29 EEPROM System error: checksum errorCANparameter E 5600 3 29 EEPROM System error: checksum E 543E 4 29 EEPROM System error: checksum errorinmanufacturer data E 543D 4 29 System error: E 543C 3 29 EEPROM error System error: write E 543B 3 29 EEPROMerror read System error: E 543A 4 29 supported family) not (motor is motor Connected E 5439 4 29 tomotorencoder lost Connection E 5438 3 19 encoder motor Faultto connection in E 5437 4 Diagnostics andtroubleshooting 19 supported is not encoder Motor E 5435 4 19 communication in motor encoder errors E 5431 3 19 encoder motor Faultto connection in E 5430 4 19 resistor overload Braking resistors (I²t) warning E 5205 4 19 E 5204 4 6 E 5203 4 E 5202 0 Description E 5201 E 5200 Bit E 4402 Class Error number LXM05A ACdrive servo EEPROM notformatted errorinuser-defined parameter 10-15 Diagnostics and troubleshooting LXM05A

Error number Class Bit Description E 7334 0 0 System error: Analogue/digital converter offset too big E 7335 0 8 Communication to motor encoder occupied E 7336 3 0 Offset with Sincos drift compensation too high E 7337 1 8 Offset could not be successfully written E 7338 0 13 No valid motor absolute position E 7400 0 31 System error: illegal interrupt (XINT2) E 7500 0 9 RS485/Modbus: overrun error E 7501 0 9 RS485/Modbus: framing error E 7502 0 9 RS485/Modbus: Parity-error E 7503 0 9 RS485/Modbus: receive error E 8110 0 7 CANopen: CAN overflow (message lost) E 8120 0 7 CANopen: CAN Controller in Error Passive E 8130 2 7 CANopen: Heartbeat or Life Guard error E 8140 0 0 CANopen: CAN Controller was in Busoff, communication possible again E 8141 2 7 CANopen: CAN Controller in Busoff E 8201 0 7 CANopen: RxPdo1 could not be processed E 8202 0 7 CANopen: RxPdo2 could not be processed E 8203 0 7 CANopen: RxPdo3 could not be processed E 8204 0 7 CANopen: RxPdo4 could not be processed E 8205 0 7 CANopen: TxPdo could not be processed E 8206 0 7 CANopen: Internal queue overflow message lost E A060 2 10 Calculation error with electronic gearbox E A061 2 10 Change in reference value with electronic gearbox too great E A300 0 0 Torque ramp with HALT current active E A301 0 0 Drive in status 'QuickStopActive' E A302 1 1 Interruption by LIMP E A303 1 1 Interruption by LIMN E A304 1 1 Interruption by REF E A305 0 0 Power amplifier cannot be activated in current operating status of status machine E A306 1 3 Interruption by user initiated software stop E A307 0 0 Interruption by internal software stop E A308 0 0 Drive in state 'Fault' E A309 0 0 Drive not in state 'OperationEnable' E A310 0 0 Power amplifier not active E A312 0 0 Profile generation interrupted E A313 0 0 Position overrun (pos_over=1), reference point is therefore no longer defined (ref_ok=0) E A314 0 0 No reference position E A315 0 0 Homing active E A316 0 0 Overrun on acceleration calculation E A317 0 0 Drive not at standstill 0198441113232, V1.04, 01.2006

10-16 AC servo drive 0198441113232, V1.04, 01.2006 E B204 0 9 RS485/Modbus: service too long too RS485/Modbus:service incorrect RS485/Modbus: objects numberof monitor 9 Warning RS485/Modbus: Nodeguard 9 error RS485/Modbus: Nodeguard 0 9 RS485/Modbus: Protocol error 0 6 RS485/Modbus: unknown service 0 9 becontinued mode cannot Operating E B204 2 9 fieldbus operation possible in only Processing E B203 0 10 window at monitor Timeout Standstill E B202 0 10 info withjog (additional Error errornumber) detailed = E B201 0 0 controlmodeselected modewithlocal operating No run-up E B200 1 10 E B100 ofthe index index Reproducibility tothe pulse movementtoo close pulse uncertain, 2 0 E A337 1 found index not pulse E A335 0 3 switch or overrun) (switch enabledbriefly LIMN with signal Error E A334 10 withLIMP(switch Error orswitch enabled signal briefly overrun) E A332 0 10 withREF(switch Error orswitch enabled signal briefly overrun) E A331 1 10 LIMNwith signal clockwise rotation monitoring Ext. 1 10 counterclockwise rotation LIMP with signal monitoring Ext. E A330 1 10 active LIMP/LIMN/REF signal than one More E A32F 1 10 E A32E 1 10 Reference movement di without REF to E A32D 1 E A32C 10 Reference movement di without REF to 1 E A32B REF switchnot 10 E A32A 1 switch limit Approach activated not 10 E A329 info (additional when homing Error errornumber) detailed = 1 10 interface position RS422 asinput signal defined not E A328 1 10 1 0 tracking position error by neg. software Interruption switchlimit E A327 1 by pos. Interruption software limit switch E A326 22 0 2 range exceeded Speed (CTRL_n_max) E A325 par. 2 withsoftware setting limit switch position Illegal E A324 Diagnostics andtroubleshooting 1 0 HALT requested E A321 1 0 Manual/Autotuning: am E A320 0 0 Manual/Autotuning:range overflow distance E A31F 0 0 Operatingmode active = 0) (x_end E A31E 0 2 E A31D 0 0 E A31C 1 E A31B 0 Description E A31A E A319 Bit E A318 Class Error number LXM05A ACdrive servo permissible switch LIM" switch found between LIMP LIMN and plitude/offset set toohigh set plitude/offset rection reversal,rection overrun REFnot LIM or of rection reversal, improper activation oflimit 10-17 Diagnostics and troubleshooting LXM05A 0198441113232, V1.04, 01.2006

10-18 AC servo drive 0198441113232, V1.04, 01.2006 X0AParameters HMI menu, Code Code Parameter Name Layout ofparameters 11.1 Parameters 11 LXM05A MENUE- BSPI Example_Name ACdrive servo BSPI Code andHMI Code Parameter Name Selection values ecito Unit Description 2 / selection value22 /selection WRT2 / value11 /selection WRT1 / values and selection Details parameter Example (cross-reference) Cross reference Default value Data type explainedfollowing. inthe inthe headingterms of line aparameter The most important table are A parameter displayhas the following features: setsparameter and properties. parameter displayprovide canalso informationsetting on options, pre- needed for positiveidentification of aparameter. On theother hand, the The parameter display contains, on the one hand, information which is addressed for operation of the product. be can that overviewan allparameters contains of section This IT62Bt 6Bt065535 32767 Max value 0 Minvalue -32768 2Byte / 16Bit 2 Byte / 16 Bit Byte UINT16 INT16 HMI display Data type value Selection overfieldbus the have not values. does maximum explicit and parameter minimum The data the validdetermines type range of values,especially whena Factory settings. display tool Commissioning WRT1 valueSelection 1 1 tingwith commissioning software and HMI are quoted. tionnumber viafieldbus and the designationthe of values when input- selec- the settings, of offer which selection a parameters of case the In this under this cross-reference. If there ismore information available for these parameters you can find Code). The Code isrepresentedsegment7a on display onthe(HMI- HMI the "Designation"column. The parameternameis displayed with the commissioning software in : declaration 2 : declaration 1 : declaration 30000 300 0 Fieldbus 300.00 3.00 0.00 Maximum value Default value Minimum value A pk - per. R/W UINT16 Expert persistent R/W Data type Modbus 1234 CANopen 1234:5 CANopen via fieldbusvia Parameter address 11-1 h Parameters LXM05A

Data type Byte Min value Max value INT32 4 Byte / 32 Bit -2147483648 2147483647 UINT32 4 Byte / 32 Bit 0 4294967295

R/W Note on reading and writing the values "R/-" values are read-only "R/W" values are read and write. persistent Designation of whether the value of the parameter is persistent, i.e. after switching off the unit it is retained in the memory. When changing a value via commissioning software or fieldbus, the user must explicitly store the value change in the persistent memory. When entering via HMI the unit stores the value of the parameter automatically at each change. Instructions on inputting values Use these specifications with the various parameter setting options:

Setting parameters with Specifications Fieldbus Parameter name HMI HMI code Commissioning software Code

Please note that parameter values via the fieldbus are shown without a decimal point, e.g. • For HMI and commissioning software: Max. value = 327.67 • For fieldbus (in list of parameters under "Fieldbus"): Max. value = 32767 0198441113232, V1.04, 01.2006

11-2 AC servo drive 0198441113232, V1.04, 01.2006 X0AParameters HMI menu, Code Code Parameter Name List ofallparameters 11.2 LXM05A - _I2t_act_PA - _I2t_act_M - _DCOMopmd_act - _actionStatus - _AccessInfo - _acc_pref ACdrive servo ecito Unit Description vrodpwrapiircret84)% % Overload power current(8-47) amplifier current(8-47) motor Overload DCOMopmode see: Coding activemode(8-13) operating Bit15: reserved mode movesgenerator Profile Bit14: constant in Profilegenerator accelerating Bit13: Profilegenerator decelerating Bit12: is0) speed (setpoint ped Bit11: reserved Bit10: window position (pwin) within Drive Bit9: negative rotates in drive direction Bit8: in positive drive rotates direction Bit7: < 9U/min) _n_act (actualspeed Bit6:drive Bit5 reserved stopped error Bit3 Class 3e error Bit1 Bit0: Class0 1: activated not enabled0: state: Signal Action word(8-47) Profibus6: channel SDO viasecond CANopen 5: CANopen 4: 3: Modbus 2: HMI 1: IO 0: reserved channel Highbyte: theaccess of Currentassignment byte High- in by :Exclusivelyoccupied channel 1 by Occupied 0: in Highbyte thechannel Lowbyte: objects(8-2) for channels access action Current Reduction in speed: neg. advance neg. sign speed: in Reduction pos. speed: advancein sign Increase value the of for speed: change to the Advance sign corresponding Acceleration of reference value generation() rror Bit4Class4error profile generator stop- generator profile Class 1 error Class 2 Class 1 error Class Maximum value Default value Minimum value - - 6 - -6 ------(1/min)/s Expert persistent R/W Data type - - R/- INT16 - - R/- INT16 - - R/- INT16 - - R/- UINT16 - - R/- UINT16 - - R/- INT32 Modbus 280 Modbus 7954 Modbus 7212 Modbus 7218 Modbus 6920 Modbus 7176 via fieldbus Parameter address CANopen 301C:16 CANopen 301C:19 CANopen 6061:0 CANopen 301C:4 CANopen 3001:C CANopen CANopen 301F:9 CANopen 11-3 h h h h h h Parameters LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

_I2t_mean_M Loading factor motor(8-47) % INT16 CANopen 301C:1Ah R/- Modbus 7220 I2TM - - STA-i2TM -

_I2t_mean_PA Loading factor power amplifier(8-47) % INT16 CANopen 301C:17h R/- Modbus 7214 I2TP - - STA-i2TP -

_I2t_peak_RES Overload braking resistor maximum % INT16 CANopen 301C:15h value(8-47) R/- Modbus 7210 - - Maximum overload braking resistor that has - - occurred in the last 10 sec.

_I2t_peak_M Overload motor maximum value(8-47) % INT16 CANopen 301C:1Bh R/- Modbus 7222 Maximum overload motor that has occurred - - in the last 10 sec. - -

_I2t_peak_PA Overload power amplifier maximum % INT16 CANopen 301C:18h value(8-47) R/- Modbus 7216 - - Maximum overload power amplifier that has - - occurred in the last 10 sec.

_I2tl_act_RES Actual overload braking resistor(8-47) % INT16 CANopen 301C:13h R/- Modbus 7206 - - - -

_I2tl_mean_RES Load factor braking resistor(8-47) % INT16 CANopen 301C:14h R/- Modbus 7208 I2TR - - STA-i2TR -

_Id_act current motor current d-components() Apk INT16 CANopen 301E:2h 0.00 R/- Modbus 7684 in 0.01 Apk steps - - - 0.00 -

_Id_ref Set motor current d component (field weake- Apk INT16 CANopen 301E:11h ning)() 0.00 R/- Modbus 7714 - - in 0.01 Apk steps - 0.00 -

_Idq_act Total motor current (vector sum of d and q Apk INT16 CANopen 301E:3h components() 0.00 R/- Modbus 7686 IACT - - in 0.01 Apk steps STA-iACT 0.00 - 0198441113232, V1.04, 01.2006

11-4 AC servo drive 0198441113232, V1.04, 01.2006 X0AParameters STA- IOAC _IO_act LXM05A - _n_pref - _n_actRAMP STA- NACT _n_act - _LastWarning STA- IQRF _Iq_ref - _Iq_act HMI menu, Code Code Parameter Name ACdrive servo ioAC NACT iQRF Bit 9: ACTIVE Bit 8: NO_FAULT 24Voutputs: assignment Bit 7: reserved Bit 6: - Bit 5: PWRR_A Bit 4: PWRR_B Bit 3: HALT Bit 2: LIMP,CAP1 1: LIMN,CAP2 Bit 0: REF Bit (fieldbus control mode) IOposInterfac =Pdinput and =IODeviceDEVcmdinterf conditions: wing follo- the theENABLEonlyunder Bit 6forms Bit 7: reserved Bit 6: ENABLE2 Bit 5: PWRR_A Bit 4: PWRR_B Bit 3: HALT Bit 2: ENABLE Bit 1: FAULT_RESET Bit 0: - controlmode) (Local inputs: 24V of Assignment outputs(7-24) Status of inputs and digital culsedo oo(-5 1/min of motor(8-45) speed Actual in 0.01Apk steps ting)() (torque-crea- qcomponent Set motor current pe frfrnevlegnrto( 1/min ofreferenceSpeed value generation() rator(8-45) movementof the gene- speed Actual profile Value generated warning No : 0 number until the nextis retained fault reset. becomesinactiveIf again, the warning the generated. of warning Number the last as number() warning Last in 0.01Apk steps current motor q-components() Unit Description - - - A 0.00 - 0.00 0.00 - 0.00 - - 1/min - - A Maximum value Default value Minimum value pk pk - - R/- UINT16 - - R/- INT16 - - R/- INT16 - - R/- INT16 - - R/- INT32 - - R/- INT32 - - R/- UINT16 Expert persistent R/W Data type CANopen 3008:1 CANopen Modbus 2050 CANopen 606C:0 CANopen Modbus 7950 Modbus 7948 Modbus 7696 Modbus 7186 Modbus 7712 Modbus 7682 CANopen 301E:10 CANopen 301E:1 CANopen CANopen 301F:7 CANopen 606B:0 CANopen 301C:9 CANopen via fieldbus Parameter address 11-5 h h h h h h h Parameters LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

_n_ref Reference speed of the speed controller() 1/min INT16 CANopen 301E:7h R/- Modbus 7694 - - - -

_n_targetRAMP Target speed of the travel profile generator() 1/min INT32 CANopen 301F:5h R/- Modbus 7946 - - - -

_OpHours Operating hours counter() s UINT32 CANopen 301C:Ah R/- Modbus 7188 OPH - - STA-oPh -

_p_absENCusr Absolute position based on motor encoder usr UINT32 CANopen 301E:Fh working range in user-defined units(7-31) R/- Modbus 7710 - - Value range is set by sensor type - - With Singleturn motor encoders the value is set with reference to one motor revolution, with multiturn motor encoders with reference to the total working range of the sensor (e.g. 4096 revs.) Caution! Position is only valid after determination of the motor absolute position. With invalid motor absolute position : _WarnLatched _WarnActive Bit 13=1: absolute position of motor not yet detected

_p_absmodulo Absolute position based on one motor revo- Inc UINT32 CANopen 301E:Eh lution in internal units() R/- Modbus 7708 - Caution! Position is only valid after determi- - - nation of the motor absolute position. With invalid motor absolute position : _WarnLatched _WarnActive Bit 13=1: absolute position of motor not yet detected

_p_act Actual position of motor in internal units() Inc INT32 CANopen 6063:0h R/- Modbus 7700 Caution! Actual position of motor is only valid - after determination of the motor absolute - - position. With invalid motor absolute position : _WarnLatched _WarnActive Bit 13=1: absolute position of motor not yet detected

_p_actPosintf Actual position at position interface() Inc INT32 CANopen 3008:5h -2147483648 R/- Modbus 2058 Counted increments at pulse input. - - Condition: IOposInterfac = Pdinput or Abin- 2147483647 - - put 0198441113232, V1.04, 01.2006

11-6 AC servo drive 0198441113232, V1.04, 01.2006 X0AParameters STA- PACU _p_actusr LXM05A - _p_tarRAMPusr - _p_refusr - _p_ref - _p_DifPeak STA- PDIF _p_dif - _p_addGEAR - _p_actRAMPusr HMI menu, Code Code Parameter Name ACdrive servo PACU PDiF detected of motor notyet position absolute Bit 13=1: _WarnActive _WarnLatched With invalid motor ab position. ofthemotor absolute determination after valid only is ofmotor Actualposition Caution! units(8-45) in user-defined ofthe motor Actual position Note: Different fr any components. dynamic of consideration i.e. position, without actual deviation Actual rule between and setpoint controller(8-47) variation ofthe position regulation Current in user-defined units user-defined in values. position absolute transferred from tor calculated relative and genera- value position of theprofile Absolute tor() Target of the travel position profile genera- defined units() user- controller in oftheposition Setpoint units() internal controller in theposition position of Setpoint thevalue resets operation again. A write SPV_p_maxDiff.see information For further position regulationoffset. offsetminus thespeed-dependent regulation The tracking error position the current is position cont Value trackingof the max. reached error of movement'. compensation with tion was se enabledthe with that wascontroller setwhen the gearbox position hereatthe becalculated tion can aninactiveWith gearbox posi- setpoint the ofelectronic gearbox()position Start units user-defined in tor(8-45) ofthe travelActual position genera- profile Unit Description roller(8-47) om SPV_p_maxDiff solute position: lection 'Synchronisa- - usr 2147483647 -2147483648 Fieldbus 214748.3647 - -214748.3648 revolution - usr - INT32 usr Inc 4294967295 0 Fieldbus 429496.7295 - 0.0000 revolution INT32 Inc - usr Maximum value Default value Minimum value - - R/- INT32 - - R/- INT32 - - R/- INT32 - - R/- INT32 - - R/- - - R/W UINT32 - - R/- - - R/- INT32 Expert persistent R/W Data type CANopen 6064:0 CANopen Modbus 7942 Modbus 7940 Modbus 7706 CANopen 60F4:0 CANopen Modbus 7938 Modbus 7704 Modbus 7698 Modbus 4382 Modbus 7716 CANopen 301F:1 CANopen 301E:C CANopen 301E:9 CANopen 3011:F CANopen 301F:3 CANopen 301F:2 CANopen via fieldbus Parameter address 11-7 h h h h h h h h Parameters LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

_Power_act current output power() W INT16 CANopen 301C:Dh R/- Modbus 7194 - - - -

_Power_mean average output power() W INT16 CANopen 301C:Eh R/- Modbus 7196 - - - -

_prgNoDEV Firmware program number() - UINT16 CANopen 3001:1h 0.0 R/- Modbus 258 _PNR Example: PR840.1 - - _PNR 0.0 - INF- Value is entered decimally as: 8401

_prgVerDEV Firmware version() - UINT16 CANopen 3001:2h - R/- Modbus 260 _PVR Example: V4.201 - - _PVR - - INF- Value is entered decimally: 4201

_serialNoDEV Device serial number() - UINT32 CANopen 3001:17h 0 R/- Modbus 302 Serial number: Unique number for identifica- - per. tion of the product - 4294967295 -

_SigActive Current status of monitoring signals(8-47) - UINT32 CANopen 301C:7h R/- Modbus 7182 Meaning see _SigLatched - - - - 0198441113232, V1.04, 01.2006

11-8 AC servo drive 0198441113232, V1.04, 01.2006 X0AParameters STA- SIGS _SigLatched LXM05A STA- TPA _Temp_act_PA - _Temp_act_M STA- TDEV _Temp_act_DEV FLT- STPF _StopFault HMI menu, Code Code Parameter Name ACdrive servo STPF SiGS TPA TDEV Note: assignment depends on control oncontrol mode assignment depends Note: dog) system faultBit31: internal suchasWatch- parameter error) Bit30: errorin Bit29: errorinEEPROM different PWRR inputs Bit24: max. exceededBit23: speed Bit22: tracking error motor) (power high too temperatureBit21: amplifier, power 24V supply undervoltage Bit20: encoder errormotor to Bit19. or connection encoder circuit motor overcurrent/short Bit18. faulty tomotor connection Bit17: phase mains no Bit16: overvoltageBit15: DCbus bus DC undervoltage Bit14: Bit12: Profibus error errorcurrentoperating Bit10: mode ofreference Bit9: frequency too high signal Bit7: errorCAN Bit6: errorRS485 Bit4: inputs PWRR are 0 Bit3: Quick Stop viafieldbus switch,range) tuning Bit2: areaoftravel exceeded (SWlimit Bit1: limit switch (LIMP/LIMN/REF) Bit0: general fault Bit assignment 1: activated notenabled0: state: Signal m of the state Stored eprtr fpwrapiir84)°C Temperatureof power amplifier(8-47) °C Device temperature(8-47) M_TempType) parameter see sensor perature temperaturesensors(forching tem- type of reasonable display possible not foris swit- Temperature motor(8-47) cause(8-47) Fault number thelastinterruption of Unit Description system startup (hardware or system startup onitoring signals(8-47) onitoring - - - - - °C - - Maximum value Default value Minimum value - - R/- UINT32 - - R/- INT16 - - R/- INT16 - - R/- INT16 - - R/- UINT16 Expert persistent R/W Data type CANopen 301C:8 CANopen Modbus 7184 CANopen 301C:10 CANopen 301C:12 CANopen Modbus 7200 Modbus 7202 Modbus 7204 Modbus 7178 CANopen 301C:11 CANopen 603F:0 CANopen via fieldbus Parameter address 11-9 h h h h h Parameters LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

_Ud_ref Set motor voltage d-components() V INT16 CANopen 301E:5h 0.0 R/- Modbus 7690 in 0.1V steps - - - 0.0 -

_UDC_act DC bus voltage() V UINT16 CANopen 301C:Fh 0.0 R/- Modbus 7198 UDCA in 0.1V steps - - STA-uDCA 0.0 -

_Udq_ref Total motor voltage (vector sum of d and q V INT16 CANopen 301E:6h components() 0.0 R/- Modbus 7692 - - Root from (_Uq_ref^2 + _Ud_ref^2) - 0.0 - in 0.1 V steps

_Uq_ref Set motor voltage q-components() V INT16 CANopen 301E:4h 0.0 R/- Modbus 7688 in 0.1V steps - - - 0.0 -

_v_act_Posintf Actual speed at position interface() Inc/s INT32 CANopen 3008:6h -2147483648 R/- Modbus 2060 Corresponds to frequency of the signal at - - the pulse input. 2147483647 - - Condition: IOposInterfac = Pdinput or Abin- put

_VoltUtil Power/space ratio of DC bus voltage() % INT16 CANopen 301E:13h R/- Modbus 7718 100% means that the drive is at the voltage - - limit. - - _VoltUtil = (_Udq_ref / _Udq_ref) * 100%

_WarnActive Active warnings bit-coded(8-47) - UINT16 CANopen 301C:Bh R/- Modbus 7190 Meaning of Bits see _WarnLatched - - - - 0198441113232, V1.04, 01.2006

11-10 AC servo drive 0198441113232, V1.04, 01.2006 X0AParameters STA- WRNS _WarnLatched LXM05A SET- A1IS ANA1_I_scale STA- A1AC ANA1_act - AccessLock HMI menu, Code Code Parameter Name ACdrive servo A1iS WRNS A1AC Note: assignment depends on control oncontrol mode assignment depends Note: Bit 15:reserved Bit 14:reserved continuing) tion Bit 13:Position not yet valid detec- (position Bit 12:Profibus warning phase Bit 11:DCbus undervoltage, faulty mains and/or PWRR_B Bit 10:PWRR_A Bit 9: protocol warning RS485 Bit 8: Motor Encoder warning 7:Bit CAN warning Bit 6: overload (I²t) braking resistor Bit 5: overload (I²t) motor Bit 4: overload (I²t) power amplifier Bit 3: reserved high Bit 2: motor temperature Bit 1: power amplifier temperature high _LastWarning) (see Bit 0: warning general Bit assignment 1: activated notenabled0: state: Signal deleted. automatically are 10,11,13 Bits aFaultReset.of bitsareerased intheevent Stored warning bit-coded(8-47) warnings Stored sign advance with aneg. run canbe signal logue An inversion theevaluationof ofthe ana- at10V on ANA1(7-21) mode operating control current in current Setpoint mV Voltage ANA1(7-21) value input analogue Stop-input) cannot beblocked. cannot Stop-input) (e.g. signals ofthe input The processing - asecond fieldbus - HMI - Commissioning tool channels: access active access to thedevice for thefollowing This parameterallows the fieldbus to block blocked channels access Other 1: enabled channels access Other 0: Blocking ofotheraccess channels(8-2) Unit Description - - A 10000 - -10000 30000 300 -30000 Fieldbus 300.00 3.00 -300.00 1 - 0 - Maximum value Default value Minimum value pk - - R/- UINT16 - - R/- INT16 - per. R/W INT16 - - R/W UINT16 Expert persistent R/W Data type CANopen 301C:C CANopen Modbus 7192 CANopen 3009:1 CANopen Modbus 8198 Modbus 2306 Modbus 316 CANopen 3020:3 CANopen CANopen 3001:1E CANopen via fieldbus Parameter address 11-11 h h h h Parameters LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

ANA1_n_scale Setpoint speed in speed control operating 1/min INT16 CANopen 3021:3h mode at 10V on ANA1(7-21) -30000 R/W Modbus 8454 A1NS 3000 per. The internal maximum speed is limited to the A1NS 30000 - SET- current setting in CTRL_n_max

A preceding negative sign can be used to effect an inversion of the evaluation of the analogue signal

ANA1_offset Offset at analogue input ANA1(7-21) mV INT16 CANopen 3009:Bh -5000 R/W Modbus 2326 A1OF The ANA1 analogue input is corrected/relo- 0 per. cated by the offset. A defined zero-voltage A1OF 5000 - SET- window acts in the range of the zero crossing of the corrected ANA1 analogue input.

ANA1_win Zero voltage window on analogue input mV UINT16 CANopen 3009:9h ANA1(7-21) 0 R/W Modbus 2322 A1WN 0 per. Value up to which an input voltage is inter- A1WN 1000 - SET- preted as 0V Example: Setting 20mV ->range from -20 .. +20mV is interpreted as 0mV

ANA2_act Voltage value analogue input ANA2(7-21) mV INT16 CANopen 3009:5h -10000 R/- Modbus 2314 A2AC - - STA-A2AC 10000 -

ANA2_I_max Current limiting at 10 V input voltage on Apk UINT16 CANopen 3012:Ch ANA2(7-21) 0.00 R/W Modbus 4632 A2IM 3.00 per. The maximum limiting value is the lesser A2iM 300.00 - DRC- value of ImaxM and ImaxPA Fieldbus 0 300 30000

ANA2_n_max Speed limiting at 10 V input voltage on 1/min UINT16 CANopen 3012:Dh ANA2(7-21) 500 R/W Modbus 4634 A2NM 3000 per. The minimum limiting speed is set to 100 A2NM 30000 - DRC- rpm, i.e. analogue values that implement a lower speed of rotation have no effect. The max. speed of rotation is also limited by the setting value in CTRL_n_max.

ANA2LimMode Selection of limit by ANA2(7-21) - UINT16 CANopen 3012:Bh 0 R/W Modbus 4630 A2MO 0 / none: no limit 0 per. 1 / Current Limitation / CURR: Limit refe- A2Mo 2 - DRC- rence current value at current controller (Limit value at 10V in ANA2_I_max) 2 / Speed Limitation / SPED: Limit speed reference value at speed controller (Limit value at 10V in ANA2_n_max) 0198441113232, V1.04, 01.2006

11-12 AC servo drive 0198441113232, V1.04, 01.2006 X0AParameters TUN- DIR AT_dir LXM05A TUN- MECH AT_mechanics - AT_M_load - AT_M_friction - AT_J TUN- GAIN AT_gain TUN- DIST AT_dismax HMI menu, Code Code Parameter Name ACdrive servo DiR MECh GAiN DiST return toinitial position return n--6 /neg to with return / n-h 5 /neg-home toinitial position return p--4 /pos to with return / p-h 3 /pos-home to with return negative positive then direction, direction tial position ini- to with return negative direction then tion, 1 /pos-neg-home/ pnh autotuning(7-35) of rotation Direction 5:1 and 10:1, linear 10:1, axis) and linear 5:1 (J ext. softcoupling 5: between toJmotor 4: medium coupling () belt) toothed (short coupling medium 3: 2: medium coupling () 1: direct coupling (J ext. to J motor <3:1) type(7-35) System coupling in 0.01Apksteps process theautotuning during determined is torque() load Constant in 0.01Apksteps process theautotuning during determined is moment() System friction in 0.1 kgcm^2 steps process ning isautomatically calculated during the autotu- of theentiresystem(7-37) Inertia looser. is regulation the valuesler that mean smal- and tighter is theregulation that mean Values optimum. theoretical 100 than larger The value the regulation. 100 represents of the of the degreeMeasure oftightness ser)(7-37) parameters (tighter/loo- controller Adapting every optimisation level. range. multiple thisspecified of Itisused for to the actual movement corresponds it a of AT_dir), (parameter tion" "movement with Caution one direc- in only position. The range is input run. parameters ofthecontroller are processes aut the which in Range Movement autotuning(7-35) range Unit Description 2 / neg-pos-home / nph / neg-pos-home 2 / : negativeonly without direction positive : only without direction initial position initial position initial position initial : negativeonly direction positive : only direction omatic optimisation omatic optimisation relative to the current : firstpositivedirec- : first 6 1 1 - 0.00 - 0.00 0.00 - 0.00 0.0 - 0.0 5 1 1 - A A kg cm - % 9999 10 10 Fieldbus 999.9 1.0 1.0 revolution Maximum value Default value Minimum value pk pk 2 - - R/W UINT16 - - R/- INT16 - - R/- UINT16 - per. R/W UINT16 - - R/W UINT16 - - R/W UINT16 - - R/W UINT32 Expert persistent R/W Data type CANopen 302F:4 CANopen Modbus 12038 Modbus 12040 Modbus 12060 Modbus 12048 Modbus 12046 Modbus 12056 Modbus 12052 CANopen 302F:8 CANopen 302F:7 CANopen 302F:C CANopen CANopen 302F:E CANopen 302F:A CANopen 302F:3 CANopen via fieldbus Parameter address 11-13 h h h h h h h Parameters LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

AT_n_ref Speed jump for motor starting() 1/min UINT16 CANopen 302F:6h 10 R/W Modbus 12044 NREF 100 - TUN-NREF 1000 -

AT_progress Autotuning progress(7-37) % UINT16 CANopen 302F:Bh 0 R/- Modbus 12054 0 - - 100 -

AT_star t Start Autotuning(7-35) - UINT16 CANopen 302F:1h 0 R/W Modbus 12034 0: End - - 1: Activate - 1 -

AT_state Autotuning status(7-37) - UINT16 CANopen 302F:2h R/- Modbus 12036 Bit15: auto_tune_err - - Bit14: auto_tune_end - - Bit13: auto_tune_process

Bit 10..0: last processing step

AT_wait Waiting time between autotuning steps(7-37) ms UINT16 CANopen 302F:9h 300 R/W Modbus 12050 WAIT 1200 - TUN-WAit 10000 -

BRK_trelease Time delay when opening or releasing the ms UINT16 CANopen 3005:7h brake(8-69) 0 R/W Modbus 1294 BTRE 0 per. DRC-BTRE 1000 -

BRK_tclose Time delay when setting the brake(8-69) ms UINT16 CANopen 3005:8h 0 R/W Modbus 1296 BTCL 0 per. DRC-BTCL 1000 -

CANbaud CANopen baud rate(7-13) - UINT16 CANopen 3017:3h 50 R/W Modbus 5894 COBD valid baud rates in kbaud : 125 per. 50 CoBD 1000 - COM- 125 250 500 1000

CAUTION: A change of the setting is not activated until the unit is switched on again. 0198441113232, V1.04, 01.2006

11-14 AC servo drive 0198441113232, V1.04, 01.2006 X0AParameters ERCo ERCO CanDiag LXM05A - Cap1Pos - Cap1Count - Cap1Config - Cap1Activate - CANpdo4Event HMI menu, Code Code Parameter Name ACdrive servo 0x0800 CPD error indication from stopfaultCPD errorindication 0x0800 software0x0400 rx/tx queue overrun busoffin CAN 0x0200 0x0100 CANmessage lost level CAN warning 0x0080 set received state wrong with msg heartbeat 0x0040 expired) orlifeguard (timer error heartbeat 0x0020 errorfor write pms 0x0010 RxPdo4 errorfor write pms 0x0008 RxPdo3 errorfor write pms 0x0004 RxPdo2 errorfor write pms 0x0002 RxPdo1 0x0001 pms read error for TxPdo word() diagnosis CANopen "setdimensions" orafter a"homing". after recalculated is position captured The signal". "capture the timeof the at position Captured 1captured position(8-65) unit Capture enabled. 1is captureunit the isreset when Counter events. capture the Counts 1event unit Capture counter(8-65) 1 =position capture at0->1switch 0 =position capture at1->0switch c of Configuration "fieldbus"the device setting. Position enabledwith be only can capture nuous capture. with The capture continues endlessly conti- nated at the first captured value. one-timecapturethefunction is termi- With Value capture 2: start continuously Value capture 1: start once Value capturefunction 0 : abort 1Start/Stop(8-65) unit Capture :reserved Bit 4..15 object PDO4 Bit 3=1: fourth Bit 2=1: third PDO4 object PDO4 Bit 1=1: object second Bit 0=1: first PDO4object event: Valuetrigger object the in changes PDO4 event mask() Unit Description apture unit apture unit 1(8-65) - - - usr - - 1 0 0 - 2 - 0 - 15 15 0 - Maximum value Default value Minimum value - - R/- UINT16 - - R/- INT32 - - R/- UINT16 - - R/W UINT16 - - R/W UINT16 - - R/W UINT16 Expert persistent R/W Data type Modbus 5898 Modbus 5900 Modbus 2572 Modbus 2576 Modbus 2564 Modbus 2568 CANopen 3017:6 CANopen CANopen 300A:6 CANopen 300A:8 CANopen 300A:2 CANopen 300A:4 CANopen 3017:5 CANopen via fieldbus Parameter address 11-15 h h h h h h Parameters LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

Cap2Activate Capture unit 2 Start/Stop(8-65) - UINT16 CANopen 300A:5h 0 R/W Modbus 2570 Value 0 : abort capture function - - Value 1: start capture once 2 - - Value 2: start capture continuously

With one-time capture the function is terminated at the first captured value. The capture continues endlessly with continuous capture.

Position capture can only be enabled with the "fieldbus" device setting.

Cap2Config Configuration of capture unit 2(8-65) - UINT16 CANopen 300A:3h 0 R/W Modbus 2566 0 = position capture at 1->0 switch 0 - 1 = position capture at 0->1 switch - 1 -

Cap2Count Capture unit 2 event counter(8-65) - UINT16 CANopen 300A:9h R/- Modbus 2578 Counts the capture events. - - Counter is reset when the capture unit 2 is - - enabled.

CapStatus Status of capture units(8-65) - UINT16 CANopen 300A:1h R/- Modbus 2562 Read access: - - Bit 0: position capture by CAP1 is complete - - Bit 1: Position captured via CAP2

CTRL_I_max Current limiting(7-19) Apk UINT16 CANopen 3012:1h 0.00 R/W Modbus 4610 IMAX Value must not exceed max. permissible cur- - per. rent of motor or power amplifier. SET-iMAX 299.99 - Default is the smallest value of M_I_max and Fieldbus PA_I_max 0

29999

CTRL_I_max_fw Field-shunting control max. field current() Apk UINT16 CANopen 3011:Ch 0.00 R/W Modbus 4376 maximum value is approx. half of the lower 0.00 per. value of the nominal current of the power 327.67 expert - amplifier and the motor. Fieldbus 0 0 32767

CTRL_KFDn Speed regulator pilot control D factor() - UINT16 CANopen 3012:5h 0 R/W Modbus 4618 0 per. - 3175 expert 0198441113232, V1.04, 01.2006

11-16 AC servo drive 0198441113232, V1.04, 01.2006 X0AParameters - CTRL_KFPp LXM05A - CTRL_Nfbandw SET- NMAX CTRL_n_max - CTRL_KPp - CTRL_KPn - CTRL_KPiq - CTRL_KPid HMI menu, Code Code Parameter Name ACdrive servo NMAX (see M_n_max) Default ofthemotor maximum speed isthe exceeded Max. speed of rotationmotormust not be limitation(7-19) Speed Over-control up to 110% possible.Over-control 110% to up Position feed controller controlspeed() pilot The bandwidth is defined as follows: as defined is Fb/F0 bandwidth The Bandwidth notch filtercurrent() Default value iscalculated PositionP-factor(7-47) controller meters Default value motor from para- iscalculated P-factor(7-41) controller Speed in 0.1 V/Asteps Valueparameters motor from calculated is Current controller transverse (q) P factor() In 0.1V/A steps motor parameters.Is calculatedfrom longit controller Current Unit Description udinal (d) Pfactor() 13200 - 0 1/min 1100 0 0 Fieldbus 110.0 0.0 0.0 % 99 30 10 % 4950 20 Fieldbus 495.0 - 2.0 1/s 12700 1 Fieldbus 1.2700 - 0.0001 A/(1/min) 12700 5 Fieldbus 1270.0 - 0.5 V/A 12700 5 Fieldbus 1270.0 - 0.5 V/A Maximum value Default value Minimum value - per. R/W UINT16 - per. R/W UINT16 expert per. R/W UINT16 - per. R/W UINT16 - per. R/W UINT16 - per. R/- UINT16 - per. R/- UINT16 Expert persistent R/W Data type Modbus 4358 Modbus 4354 Modbus 4624 CANopen 3012:2 CANopen Modbus 4646 Modbus 4612 Modbus 4620 Modbus 4614 CANopen 3012:8 CANopen CANopen 3012:13 CANopen 3012:6 CANopen 3012:3 CANopen 3011:3 CANopen 3011:1 CANopen via fieldbus Parameter address 11-17 h h h h h h h Parameters LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

CTRL_Nfdamp Damping notch filter current() % UINT16 CANopen 3012:12h 1.0 R/W Modbus 4644 10.0 per. - 45.0 expert Fieldbus 10 100 450

CTRL_Nffreq Frequency notch filter current() Hz UINT16 CANopen 3012:11h 50.0 R/W Modbus 4642 The filter is disabled at the value of 15000. 1500.0 per. - 1500.0 expert Fieldbus 500 15000 15000

CTRL_Pcdamp Damping Posicast filter speed() % UINT16 CANopen 3012:14h 50.0 R/W Modbus 4648 The filter is disabled at the value of 1000. 100.0 per. - 100.0 expert Fieldbus 500 1000 1000

CTRL_Pcdelay Time delay Posicast filter speed() ms UINT16 CANopen 3012:15h 0.00 R/W Modbus 4650 The filter is disabled at the value of 0. 0.00 per. - 25.00 expert Fieldbus 0 0 2500

CTRL_TAUiref Filter time constant reference value filter of ms UINT16 CANopen 3012:10h the reference current value() 0.00 R/W Modbus 4640 1.20 per. - 4.00 - Fieldbus 0 120 400

CTRL_TAUnref Filter time constant reference value filter of ms UINT16 CANopen 3012:9h the speed reference value(7-41) 0.00 R/W Modbus 4626 9.00 per. - 327.67 - Fieldbus 0 900 32767 0198441113232, V1.04, 01.2006

11-18 AC servo drive 0198441113232, V1.04, 01.2006 X0AParameters - CTRL_TNid LXM05A - DCOMcompatib - CURreference - CUR_I_target - CTRL_TNn - CTRL_TNiq HMI menu, Code Code Parameter Name ACdrive servo in 0.01ms steps Valueparameters motor from calculated is time() setting (d) longitudinal controller Current be controlled by fieldbus) controlled be (c conform standard = 1 automatically) takesstate ofplace (change automatic = 0 value ignored! this is CANopen, If not devices. (4)statesinCANopen SwitchOn SwitchOnDisabled (3) and ReadyTo- between the ofstate change the Determines 3->4() DriveCom transition status Status machine: CUR_I_target Reference2: value viaparameter ANA1 Reference1: value via+/-10V-interface 0: no mode(8-17) operating ofpresetsourceforSelection control current rol(8-17) Set currentinoperating currentcont- mode ms integral controller Speed time(7-41) in 0.01ms steps Valueparameters motor from calculated is time() lateral(q)setting controller Current Unit Description hange of hange state must 30000 0 -30000 Fieldbus 300.00 0.00 -300.00 32767 13 Fieldbus 327.67 - 0.13 ms 1 0 0 - 2 0 0 - A 32767 900 0 Fieldbus 327.67 9.00 0.00 32767 13 Fieldbus 327.67 - 0.13 ms Maximum value Default value Minimum value pk - - R/W INT16 - per. R/- UINT16 - per. R/W UINT16 - - R/W UINT16 - per. R/W UINT16 - per. R/- UINT16 Expert persistent R/W Data type Modbus 4616 Modbus 4360 Modbus 4356 Modbus 6950 Modbus 6944 Modbus 8200 CANopen 3020:4 CANopen CANopen 3011:2 CANopen CANopen 301B:13 CANopen 301B:10 CANopen 3012:4 CANopen 3011:4 CANopen via fieldbus Parameter address 11-19 h h h h h h Parameters LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

DEVcmdinterf Specification of device control(7-13) - UINT16 CANopen 3005:1h 0 R/W Modbus 1282 DEVC 0 / none: undefined (default)) 0 per. 1 / IODevice / IO: Local control mode DEVC 4 - NONE 2 / CANopenDevice / CanO CANopen 3 / ModbusDevice / Modb: Modbus

CAUTION: A change of the setting is not activated until the unit is switched on again (exception: Change of the value 0, at "First setup"). 0198441113232, V1.04, 01.2006

11-20 AC servo drive 0198441113232, V1.04, 01.2006 X0AParameters - ENC_pabsusr LXM05A - FLTAmpOnTime - FLTAmpOnCyc DRC- ESSC ESIMscale HMI menu, Code Code Parameter Name ACdrive servo ESSC until the controller isswitched controller off. the until required is second a wait 1 ofatleast access Afterthewrite isrestarted. the controller CAUTION:values the index and B=high. mustpulse beatA=high For by bedivided thatcan 4the resolutions resolution. value is availablecomplete the range for the from software version 1.103: 4096 2048 1024 512 256 128 The following areadjustable: resolutions Software version 1.102: tion(7-30) simulation the resolu- Encoder - setting pulse displaced ESIMfunction. at displaced pulse index and the index pulse thevirtual tion of thevalue * Changing theposi- alsochanges ched off. untilt isrequired second After the write access a wait of at least 1 isswitchedthe controller the nexton time. value* The setting beactive will only when setting the motorencoder position tion inversion itmust beset before function, direc- with beconducted isto Iftheprocess * !!!Important: thisvaluescaling is16384. for one motor revolution, with default position max_pos_usr/rev.: maximum userposition 0..(4096 * max_pos_usr/rev.) -1 multiturn: SRM: Sincos 0..max_pos_usr/rev. -1 turn: single SRS: Sincos Value type. onthesensor depends range directly(7-31) encoder motor ofthe Setting position Time erroroccurs error of the voltage) appearance tothe (control up ses after switching power onthe supply proces- of Number power turn-on amplifier ENABLE cyclesuptotime of error() Unit Description atrEAL( s ENABLE() after are not enabledare not until he controller is he controller swit- 65535 4096 8 Inc 2147483647 - 0 usr - - - Maximum value Default value Minimum value - per. R/W UINT16 - - R/W UINT32 - - R/- UINT16 - - R/- UINT16 Expert persistent R/W Data type Modbus 1324 CANopen 3005:15 CANopen Modbus 15372 Modbus 15370 Modbus 1322 CANopen 3005:16 CANopen CANopen 303C:6 CANopen CANopen 303C:5 CANopen via fieldbus Parameter address 11-21 h h h h Parameters LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

FLT_del_err Erase error memory(10-7) - UINT16 CANopen 303B:4h 0 R/W Modbus 15112 1: Erases all entries in the error memory - - 1 - - The erasing process is complete when a 0 is returned when reading.

In addition, the read indicator of the error memory is automatically switched forward to the next error entry.

FLT_Idq Motor current at error time() A UINT16 CANopen 303C:9h 0.00 R/- Modbus 15378 in 10 mA steps - - - 0.00 -

FLT_MemReset Reset the error memory read pointer(10-7) - UINT16 CANopen 303B:5h 0 R/W Modbus 15114 1: Set error memory read pointer to oldest - - error entry. - 1 -

FLT_n Speed at error time() 1/min INT16 CANopen 303C:8h R/- Modbus 15376 - - - -

FLT_powerOn Number of turn-on processes() - UINT32 CANopen 303B:2h 0 R/- Modbus 15108 POWO - - INF-PoWo 4294967295 -

FLT_Qual Error additional information(10-7) - UINT16 CANopen 303C:4h 0 R/- Modbus 15368 This entry contains additional information - - about the error, depending on the error num- 65535 - - ber. Example: a parameter address

FLT_Temp_DEV Device temperature at error time() °C INT16 CANopen 303C:Bh R/- Modbus 15382 - - - -

FLT_Temp_PA Power amplifier temperature at error time() °C INT16 CANopen 303C:Ah R/- Modbus 15380 - - - - 0198441113232, V1.04, 01.2006

11-22 AC servo drive 0198441113232, V1.04, 01.2006 X0AParameters - FLT_Time LXM05A - GEARreference SET- GFAC GEARratio - GEARnum - GEARdir_enabl - GEARdenom - FLT_UDC HMI menu, Code Code Parameter Name ACdrive servo GFAC revolution. ted value the motorto make causes one thereferenceChanging variable by the sta- 16384 : 11 8192 : 10 9 :4096 10000 8: 7 :5000 6 :4000 5 :2000 4 :1000 500 3: 2 :400 200 : GEARnum/GEARdenom 1 Useofgear ratiofrom 0: the specified ratios(8-21) ofspecial gear Selection referenced to theoperating hourscounter Error time(10-7) ment move- with compensation Synchronisation 2: 1: Real-time synchronisation disabled0: sing(8-21) proces- gear electronic mode Operating numeratorvalue istransferred. The new ratiogear enabledis when the Gear ratio= ------Gear ratio numerator(8-21) lock. motion to enableThis canbe used a return 3 /both 2 /negative 1 /positive cessing(8-21) Enabled pro- motionofthe direction gear of see descriptionGEARnum Gear ratio denominator(8-21) Unit steps 100mV in busDC time() voltageerror at Description : both directions (default) directions : both : neg.direction : pos. direction GEARdenom GEARnum 11 0 0 - 536870911 - 0 s 2 0 0 - 2147483647 1 -2147483648 - 3 3 1 - 2147483647 1 1 - 0.0 - 0.0 V Maximum value Default value Minimum value - per. R/W UINT16 - - R/- UINT32 - - R/W UINT16 - per. R/W INT32 - per. R/W UINT16 - per. R/W INT32 - - R/- UINT16 Expert persistent R/W Data type Modbus 9738 Modbus 9734 Modbus 15374 Modbus 15366 CANopen 3026:6 CANopen Modbus 6948 Modbus 9740 Modbus 9736 CANopen 303C:3 CANopen CANopen 301B:12 CANopen 3026:4 CANopen 3026:5 CANopen 3026:3 CANopen 303C:7 CANopen via fieldbus Parameter address 11-23 h h h h h h h Parameters LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

HMdisREFtoIDX Distance switch - index pulse after reference revolution INT32 CANopen 3028:Ch movement(8-39) 0.0000 R/- Modbus 10264 - - Reading value provides the value of the dif- 0.0000 - - ference between the index pulse position and the position on the switching flank of the limit or reference switch. Used to check how far the index pulse is from the switching edge and is used as a cri- terion for whether the reference movement can be correctly reproduced with index pulse processing in steps of 1/10000 revolutions

The parameters are only effective with reference movements without index pulse sear- ching.

HMIDispPara HMI display while motor rotates() - UINT16 CANopen 303A:2h 0 R/W Modbus 14852 SUPV 0: device status (default) 0 per. 1: current speed of rotation (n_act) SuPV 2 - DRC- 2: actual motor current (Idq_act)

HMIlocked Block HMI(8-2) - UINT16 CANopen 303A:1h 0 R/W Modbus 14850 0: HMI not blocked 0 per. 1: HMI blocked - 1 - When the HMI is blocked the following actions are no longer possible: - Change parameters - Manual operation (Jog) - Autotuning - FaultReset 0198441113232, V1.04, 01.2006

11-24 AC servo drive 0198441113232, V1.04, 01.2006 X0AParameters - HMmethod LXM05A - HMp_setpusr - HMp_homeusr - HMoutdisusr - HMn_out - HMn HMI menu, Code Code Parameter Name ACdrive servo inside: indexinside: switch inside pulse/distance index outside switchoutside: pulse/distance inv.:not direction in switch notinvert. inv.: inswitch invert direction REF-: search movement REF+: searchmovement inpos. direction of abbreviations:Explanation setdimensions 35: index34: pos.pulse direction 33 : index neg.direction pulse REF-,notinv.,30: outside REF-,notinv.,29: inside inv., REF-, 28: inside 27: REF-, inv., outside REF+,not 26: inv., outside 25: REF+, not inv., inside REF+,inv.,24: inside REF+,inv.,23: outside 18: LIMP 17: LIMN indexREF- with pulse,14: inv., not outside indexREF- with pulse,13: inv., not inside indexREF- with pulse, inv.,12: inside index with pulse, inv.,REF- 11: outside REF+withindex10: pulse, inv., not outside withindex REF+ 9: pulse, notinv., inside REF+withindex8: pulse, inv., inside index with pulse, inv., REF+ : 7 outside 2 : LIMP with index pulse indexLIMN with pulse 1: Reference movement method(8-31) method 35 for position setting homing Dimension Position for setting(8-44) dimension point. rence value refe- setatthe position automatically is After successful referencemovement this Position on reference point(8-31) isaborted ment this run-off, the reference otherwise move- The switch must be disabled inside again units user-defined in run-off >0: 0: run-off check inactive Maximum run-off(8-31) parameter inRAMPn_max. current setting to the limited value setting The is internally switch(8-31) forspeed Set movement release from parameter inRAMPn_max. current setting to the limited value setting The is internally Set speed for search for the switch(8-31) Unit Description in neg. direction neg. in 35 18 1 - usr 0 2147483647 0 -2147483648 usr 2147483647 0 0 usr 3000 6 1 1/min 13200 60 1 1/min Maximum value Default value Minimum value - - R/W INT16 - - R/W INT32 - per. R/W INT32 - per. R/W INT32 - per. R/W UINT16 - per. R/W UINT16 Expert persistent R/W Data type Modbus 6936 Modbus 6956 Modbus 10262 Modbus 10252 Modbus 10250 Modbus 10248 CANopen 6098:0 CANopen CANopen 301B:16 CANopen 3028:B CANopen 3028:6 CANopen 6099:2 CANopen 6099:1 CANopen via fieldbus Parameter address 11-25 h h h h h h Parameters LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

HMsrchdisusr Maximum search distance after traversing usr INT32 CANopen 3028:Dh over the switch(8-31) 0 R/W Modbus 10266 0 per. 0: search distance processing inactive 2147483647 - - >0: search distance in user-defined units

The switch must be disabled again inside this search distance, otherwise the reference movement is aborted

IO_AutoEnable Automatic Enable at PowerOn, if ENABLE - UINT16 CANopen 3005:6h input is active() 0 R/W Modbus 1292 IOAE 0 per. 0 / off: active Enable at PowerOn does not ioAE 1 - DRC- cause switch-on of power amplifier (Default) 1 / on: active Enable at PowerOn causes switch-on of the power amplifier

IOdefaultMode Start-up of operating mode for 'local control - UINT16 CANopen 3005:3h mode'(7-13) 0 R/W Modbus 1286 IO-M 0 per. 0 / none / none : none (default) io-M 3 - DRC- 1 / CurrentControl / Curr: Current controller (reference value from ANA1) 2 / SpeedControl / Sped: Speed controller (reference value from ANA1) 3 / GearMode / Gear: electronic gear

The operating mode is activated automatically as soon as the drive switches to the 'OperationEnable' state and 'IODevice/IO' in DEVcmdinterf is set.

IODirPosintf Counting direction at position interface() - UINT16 CANopen 3008:7h 0 R/W Modbus 2062 0 / clockwise: Clockwise 0 per. 1 / counter clockwise: Counterclockwise - 1 -

IOLogicType Logic type of the digital inputs/outputs(7-13) - UINT16 CANopen 3005:4h 0 R/W Modbus 1288 IOLT 0 / source / sou: for current supply outputs 0 per. (default) ioLT 1 - DRC- 1 / sink / sin: for current draw outputs

WARNING: A change of the setting is not activated until the device is switched on again.

CAUTION: A change of the setting is not activated until the unit is switched on again. 0198441113232, V1.04, 01.2006

11-26 AC servo drive 0198441113232, V1.04, 01.2006 X0AParameters - IOsigLimN LXM05A SET- LIHA LIM_I_maxHalt - JOGtime - JOGstepusr JOG- NSLW JOGn_slow JOG- NFST JOGn_fast - JOGactivate - IOsigRef - IOsigLimP HMI menu, Code Code Parameter Name ACdrive servo LihA NSLW NFST in 0.01Apksteps power and on motor amplifier Maximum anddefault value depend settings ofanoperating mination mode. braking after Halt ter- or during Max. current Current limiting for Halt(8-64) 2 /normally open tact 1 /normally closed 0 /none evaluation(8-45) signal LIMN transition to continuous operation. transition to direct set,otherwise been to0has equal not Time isonlyeffective distance if aninching tion(8-15) Waiting time before continuous opera- sectio >0: positioning activation direct 0: continuousof operation tion(8-15) beforedistance inching continuous opera- parameter inRAMPn_max. current setting to the limited value setting The is internally forSpeed slow jog(8-15) parameter inRAMPn_max. current setting to the limited value setting The is internally forSpeed fast jog(8-15) Bit2 : 0=slow 1=fast Bit1 : counterclo Bit0: clockwise rotation Activation ofjog(8-15) the referenceprocessing movement to REF. The reference switch is only enabled while 2 /normally open tact 1 /normally closed evaluation(8-45)REF signal 2 /normally open tact 1 /normally closed Unit 0 /none LIMP signal evaluation(8-45) Description : inactive : inactive ckwise rotation ckwise : normally open contact open : normally : normally open contact open : normally contact open : normally : normally closed con- closed : normally : normally closed con- closed : normally con- closed : normally n per inching cyclen perinching A - - - 2 1 0 - 32767 500 1 ms 13200 60 1 1/min 13200 180 1 1/min 7 - 0 - 2 1 1 - Maximum value Default value Minimum value 20 0 usr 2 1 0 - pk - per. R/W UINT16 - per. R/W UINT16 - per. R/W UINT16 - per. R/W UINT16 - per. R/W UINT16 - - R/W UINT16 - per. R/W UINT16 Expert persistent R/W Data type - per. R/W INT32 - per. R/W UINT16 Modbus 1564 Modbus 1568 Modbus 1566 Modbus 4364 Modbus 10512 Modbus 10510 Modbus 10504 Modbus 10506 Modbus 6930 CANopen 3011:6 CANopen CANopen 3006:F CANopen CANopen 3029:8 CANopen 3029:4 CANopen 3029:5 CANopen 301B:9 CANopen 3006:E CANopen via fieldbus Parameter address CANopen 3029:7 CANopen 3006:10 CANopen 11-27 h h h h h h h h h Parameters LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

Maximum and default value setting depend on motor and power amplifier

in 0.01Apk steps

M_I_0 Motor constant current at standstill() Apk UINT16 CANopen 300D:13h - R/- Modbus 3366 in 0.01 Apk steps - - - - -

M_I_max Motor maximum current() Apk UINT16 CANopen 300D:6h - R/- Modbus 3340 MIMA in 0.01 Apk steps - - INF-MiMA - -

M_I_nom Nominal motor current() Apk UINT16 CANopen 300D:7h - R/- Modbus 3342 MINO in 0.01 Apk steps - - INF-MiNo - -

M_I2t max. allowable time for M_I_max() ms UINT16 CANopen 300D:11h - R/- Modbus 3362 - - - - - 2 M_Jrot Motor moment of inertia() kg cm UINT16 CANopen 300D:Ch - R/- Modbus 3352 in 0.1 kgcm^2 steps - - - - -

M_kE Motor EMF constant kE() - UINT16 CANopen 300D:Bh - R/- Modbus 3350 Voltage constant in Vpk at 1000 1/min - - - - -

M_L_d Motor inductance d-direction() mH UINT16 CANopen 300D:Fh - R/- Modbus 3358 in 0.01 mH steps - - - - -

M_L_q Motor inductance q-direction() mH UINT16 CANopen 300D:Eh - R/- Modbus 3356 in 0.01 mH steps - - - - -

M_M_max Motor peak torque() N cm UINT16 CANopen 300D:9h - R/- Modbus 3346 - - - - -

M_M_nom Nominal motor torque() N cm UINT16 CANopen 300D:8h - R/- Modbus 3344 - - - - - 0198441113232, V1.04, 01.2006

11-28 AC servo drive 0198441113232, V1.04, 01.2006 X0AParameters - M_n_max LXM05A - M_U_nom - M_Type - M_TempType - M_T_warn - M_T_max - M_serialNo - M_Sensor - M_R_UV - M_Polepair - M_n_nom HMI menu, Code Code Parameter Name ACdrive servo aiu emsil oo pe( 1/min maximumspeed() permissible motor Voltage in100mV steps voltage()Motor nominal motortype >0: connected nomotorselected 0: INT16 Motor type() INT16 NTC 1: linear PTCswitching0: Type oftemperature sensor() °C °C threshold() warning Motor temperature - temperature(8-47) max. motor number() Motor serial 7 /BLES 6 /SKM 5 /SKS 4 /SRM 3 /SRS 2 1 0 /unknown type() Motor encoder - in 10m resistance() Motor termination 1/min Motor pole-pair number() Unit speed() motor Nominal Description reserved : reserved Ω : SKS36 128 marks Singleturn : SKS36128 marks turn Single 1024 marks SinCos : SKM36 128 marks Multiturn marks : SKM36 128 Multiturn marks : SinCos 1024 steps : BLES 16 marks Singleturn 16 marks : BLES : unknown ------V ------Maximum value Default value Minimum value - - - Ω - - R/- UINT16 - - R/- UINT16 - - R/- UINT16 - - R/- UINT32 - - R/- UINT16 - - R/- - - R/- - - R/- UINT32 - - R/- UINT16 - - R/- UINT16 Expert persistent R/W Data type - - R/- UINT16 Modbus 3334 Modbus 3354 Modbus 3368 Modbus 3338 Modbus 3336 Modbus 3348 Modbus 3332 Modbus 3364 Modbus 3370 Modbus 3360 Modbus 3330 CANopen 300D:4 CANopen CANopen 300D:3 CANopen CANopen 300D:A CANopen 300D:2 CANopen 300D:12 CANopen 300D:15 CANopen 300D:10 CANopen 300D:1 CANopen 300D:14 CANopen 300D:5 CANopen via fieldbus Parameter address CANopen 300D:D CANopen 11-29 h h h h h h h h h h h Parameters LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

MBadr Modbus address(7-13) - UINT16 CANopen 3016:4h 1 R/W Modbus 5640 MBAD valid addresses : 1 to 247 1 per. COM-MBAD 247 -

MBbaud Modbus baud rate(7-13) - UINT16 CANopen 3016:3h 9600 R/W Modbus 5638 MBBD Allowed baud rates: 19200 per. 9600 MBBD 38400 - COM- 19200 38400

CAUTION: A change of the setting is not activated until the unit is switched on again.

MBdword_order Modbus word sequence for double words - UINT16 CANopen 3016:7h (32 bit values)() 0 R/W Modbus 5646 MBWO 0 per. Send High Word first or Low Word first COM-MBWo 1 - 0 / HighLow / HiLo: HighWord-LowWord, High Word first -> Modicon Quantum (default) 1 / LowHigh / LoHi : LowWord-HighWord Low Word first -> Premium, HMI (Telemeca- nique)

MBformat Modbus data format() - UINT16 CANopen 3016:5h 1 R/W Modbus 5642 MBFO 1 / 8Bit NoParity 1Stop / 8n1: 8 bit, no 2 per. parity bit, 1 stop bit MBFo 4 - COM- 2 / 8Bit EvenParity 1Stop / 8e1: 8 bit, even parity bit, 1 stop bit (default) 3 / 8Bit OddParity 1Stop / 8o1: 8 bit, odd parity bit, 1 stop bit 4 / 8Bit NoParity 2Stop / 8n2: 8 bit, no parity bit, 2 stop bits

CAUTION: A change of the setting is not activated until the unit is switched on again.

MBnode_guard Modbus Node Guard() ms UINT16 CANopen 3016:6h 0 R/W Modbus 5644 Connection monitoring 0 - 0 : inactive (default) 10000 - - >0 : Monitoring time

MT_dismax Max. permissible distance() revolution UINT16 CANopen 302E:3h 0.0 R/W Modbus 11782 If the maximum permissible distance is 1.0 - exceeded with an active reference value, a 999.9 - - class 1 error is triggered. Fieldbus value 0 disables the monitoring. 0 10 9999

PA_I_max Maximum current of power amplifier() Apk UINT16 CANopen 3010:2h - R/- Modbus 4100 PIMA Current in 10 mA steps - per. INF-PiMA - -

PA_I_nom Nominal current of power amplifier() Apk UINT16 CANopen 3010:1h - R/- Modbus 4098 PINO Current in 10 mA steps - per. INF-PiNo - - 0198441113232, V1.04, 01.2006

11-30 AC servo drive 0198441113232, V1.04, 01.2006 - PARuserReset X0AParameters - PA_T_max LXM05A DRC- FCS ySet PARfactor - PAReeprSave TUN- RES PAR_CTRLreset - PA_U_minStopDC - PA_U_minDC - PA_U_maxDC - PA_T_warn HMI menu, Code Code Parameter Name ACdrive servo RES FCS - logic type - device control - communication parameters of: exception the reset, with are parameters All 1:Set the user parametersto default values. userparameters(8-73) the Resetting active thenextat start-up. CAUTION:default The or PowerSuite. HMI via triggered be can setting factory The back up in the EEPROM. Set parameters 1: all to default values and (defaultsetting values)(8-73) factory Restore power amplifier(8-47) the temperatureof maximum permissible returned when returned reading the parameters. is 0 if a is complete process storing The non-volatile (EEPROM). memory The currentparameters BackBit 0=1: uptheuserparameters. memory() Back uptheparameters EEPROM inthe motor. to theconnected according set automatically controller is The current arereset tion controllers posi- and speed ofthe parameters Control 1: parameter() controller Reset Voltage in100mV steps Stop aQuick out thedrive carries threshold At this Stop() forthreshold Quick busDC undervoltage Voltage in100mV steps switch-off() forthreshold drive busDC undervoltage Voltage in100mV steps DCbuspermissible max. voltage() Unit fier(8-47) Temperature limitof the power ampli- Description state only becomes only state are are backed upinthe 1 - 0 - 3 - 0 - CINT16 °C - - - - 1 - 0 - - - - V - - - V - INT16 - - V °C Maximum value Default value Minimum value - - R/W UINT16 - - R/W UINT16 - per. R/- - - R/W UINT16 - - R/W UINT16 - per. R/- UINT16 - per. R/- UINT16 - per. R/- UINT16 - per. R/- Expert persistent R/W Data type Modbus 4116 Modbus 4104 Modbus 4102 Modbus 4108 Modbus 4110 CANopen 3004:8 CANopen Modbus 1040 Modbus 1026 Modbus 1038 CANopen 3010:7 CANopen CANopen 3004:1 CANopen 3004:7 CANopen 3010:A CANopen 3010:4 CANopen 3010:3 CANopen 3010:6 CANopen via fieldbus Parameter address 11-31 h h h h h h h h Parameters LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

POSdirOfRotat Definition of direction of rotation(8-71) - UINT16 CANopen 3006:Ch 0 R/W Modbus 1560 PROT 0 / clockwise / clw: Clockwise 0 per. 1 / counter clockwise / cclw: Counterclock- PRoT 1 - DRC- wise

Interpretation: The drive rotates clockwise with positive speeds, looking onto the motor shaft at the flange.

CAUTION: A change of the setting is not activated until the unit is switched on again

CAUTION: When using limit switches, after changing the setting, the limit switch connections must be changed over. The limit switch which is actuated by moving in jog mode in clockwise direction must be connected to the LIMP input, and vice versa.

Acceptance of a new scaling factor takes place on the entry of the numerator

User limits can be reduced when internal system factors are taken into account

PPn_target Speed setpoint for profile position 1/min UINT32 CANopen 6081:0h mode(8-25) 0 R/W Modbus 6942 60 - Maximum value is limited to the current set- - - ting in CTRL_n_max The setting value is internally limited to the current parameter setting in RAMPn_max.

ProfileType Motion profile() - INT16 CANopen 6086:0h 0 R/- Modbus 6954 0: Linear 0 - - 0 - 0198441113232, V1.04, 01.2006

11-32 AC servo drive 0198441113232, V1.04, 01.2006 X0AParameters - PVn_target LXM05A - RAMPacc - RAMP_TAUjerk - PWM_fChop HMI menu, Code Code Parameter Name ACdrive servo current parameter inRAMPn_max. current setting to the limited valueThe setting isinternally CTRL_n_max. in ting Maximum value islimite mode(8-29) velocitySetpoint profile velocity operating rfl eeao ceeain86)(1/min)/s acceleration(8-60) generator Profile ramp ("Halt"or"Quick Stop") moment via process active braking Not with rating mode (x_end=1). inactive with ope- made be only can Setting - homing - jog - profile positioning - speed control inthe followingProcessing operating modes: -standstill deceleration movement constant - deceleration acceleration - constant movement - acceleration Standstill tioning transitions: setpointposition generation during the posi- ofthe (jerk) theacceleration change Limits 128 64 32 16 8 4 2 1 0: inactive The following values beset: can >0 0 Jolt limiting() 4KHz motor: ontheconnected motors depending formade other all automatically is ting for motors of the BSHfamily: the factory set- factory setting: 1 /8kHz 0 /4kHz thepowerof frequency Switching amplifier Unit ofpower frequency Switching amplifier(7-19) Description : off : Setting fortime : Setting processing filter : 8kHz : 4kHz d to set- d to the current 0 1/min 128 0 0 ms 3000000 600 30 1 0 0 - Maximum value Default value Minimum value - - R/W INT32 - per. R/W UINT16 - per. R/W UINT32 expert per. R/W UINT16 Expert persistent R/W Data type Modbus 1562 Modbus 1308 Modbus 6938 Modbus 1556 CANopen 60FF:0 CANopen CANopen 3006:D CANopen CANopen 6083:0 CANopen 3005:E CANopen via fieldbus Parameter address 11-33 h h h h Parameters LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

RAMPdecel Deceleration of the profile generator(8-60) (1/min)/s UINT32 CANopen 6084:0h 750 R/W Modbus 1558 750 per. - 3000000 -

RAMPn_max Limiting set speed with operating modes with 1/min UINT16 CANopen 607F:0h profile generation(8-60) 60 R/W Modbus 1554 13200 per. The parameters are effective in the following 13200 - - operating modes: - profile positioning - profile velocity - homing - jog - oscillator

If a higher setpoint speed is set in one of these operating modes a limit to RAMPn_max is automatically set. This makes it simple to conduct a commissioning with limited speed.

RESext_P Nominal power of external braking resis- W UINT16 CANopen 3005:12h tor(7-19) 1 R/W Modbus 1316 10 per. - 32767 -

RESext_R Resistance value of external braking resis- Ω UINT16 CANopen 3005:13h tor(7-19) 0.01 R/W Modbus 1318 100.00 per. - 327.67 - Fieldbus 1 10000 32767

RESext_ton max. permissible switch-in time for external ms UINT16 CANopen 3005:11h braking resistor(7-19) 1 R/W Modbus 1314 1 per. - 30000 -

RESint_ext Control of braking resistor(7-19) - UINT16 CANopen 3005:9h 0 R/W Modbus 1298 0 / internal: internal braking resistor 0 per. 1 / external: external braking resistor - 1 -

RESint_P Nominal power of internal braking resistor() W UINT16 CANopen 3010:9h R/- Modbus 4114 per. - -

RESint_R Internal braking resistor() Ω UINT16 CANopen 3010:8h - R/- Modbus 4112 in 10 mOhm steps - per. - - -

11-34 AC servo drive 0198441113232, V1.04, 01.2006 X0AParameters - SPEEDreference LXM05A - SPV_SW_Limits - SPV_p_maxDiff - SPV_MainsVolt - SPV_EarthFlt - SPV_Flt_pDiff - SPV_Flt_AC HMI menu, Code Code Parameter Name ACdrive servo SPEEDn_target Reference2: value viaparameter ANA1 Reference1: value via+/-10V-interface 0: no mode(8-19) operating for ofpresetsource Selection speed control after a successful homing (ref_ok = 1) The software limit switch is monitored only switch both. directions SWLIMP+SWLIMN / 3 direction SWLIMN2 / direction 1 /SWLIMP 0 /none SW-limit the switch(8-45)Monitoring error monitoring. re is still requirements by offset position caused the moment position regulationoffs offsetminus thespeed-dependent regulation The tracking error position the current is controller(8-47) tion trackingMax. permissible errorof the posi- bus DC the via supply - disable it,e.g.: In exceptional casesit mains. operatedon 3-phase and connected 1 /on 0 /off Monitor mainsphases(8-56) wanted not when Disable the monitoring onlyif itresponds lines motor long - - operation anITmains on of devicesmultiple connection - parallel e.g.: required, In exceptional casesdeactivation may be 1 /on 0 /off fault monitoring(8-55) Earth /ErrorClass33 /ErrorClass22 /ErrorClass11 Error responseto /ErrorClass33 /ErrorClass22 /ErrorClass11 phase(8-47) Unit topowerError response failure on one Description : default devices3-phase must onlybe : On (default): On : off : off : none : none (default) : Activating SW limit switch pos. limit Activating SW : : Activating switch SW limit neg. : errorclass3 : errorclass2 error class 1 : errorclass3 : errorclass2 error class 1 tracking error(8-47) ferred to for tracking may be necessary to may benecessary et. Actually, the only : Activating SW limit : Activating SWlimit 2 0 0 - 3 3 1 - 3 2 1 - 3 0 0 - 2000000 10000 1 Fieldbus 200.0000 1.0000 0.0001 revolution 1 1 0 - 1 1 0 - Maximum value Default value Minimum value - - R/W UINT16 - per. R/W UINT16 - per. R/W UINT16 - per. R/W UINT16 - per. R/W UINT32 expert per. R/W UINT16 expert per. R/W UINT16 Expert persistent R/W Data type Modbus 1312 Modbus 1302 Modbus 1300 Modbus 6946 Modbus 1542 Modbus 4636 Modbus 1310 CANopen 301B:11 CANopen CANopen 3005:B CANopen 3005:A CANopen CANopen 3006:3 CANopen 6065:0 CANopen 3005:F CANopen 3005:10 CANopen via fieldbus Parameter address 11-35 h h h h h h h Parameters LXM05A

Parameter Name Description Unit Data type Parameter address Code Minimum value R/W via fieldbus HMI menu, Code Default value persistent Maximum value Expert

SPVcommutat Monitoring commutation(8-54) - UINT16 CANopen 3005:5h 0 R/W Modbus 1290 0 / off: off 1 per. 1 / on: on (default) - 1 -

SPVswLimNusr negative position limit for software limit INT32 CANopen 607D:1h switch(8-45) R/W Modbus 1546 -2147483648 per. see description of 'SPVswLimPusr' - usr -

STANDpwinTout Timeout for the standstill window moni- ms UINT16 CANopen 3011:Bh tor(8-68) 0 R/W Modbus 4374 0 per. 0: timeout monitor deactivated 16000 - - >0 : Timeout in ms

Setting the standstill window processing is accomplished via STANDp_win and STAND- pwinTime

The time monitoring begins at the moment the target position is reached (position controller setpoint) or at the end of the profile generator processing. 0198441113232, V1.04, 01.2006

11-36 AC servo drive 0198441113232, V1.04, 01.2006 X0AParameters - StartUpMessage LXM05A - SuppDriveModes HMI menu, Code Code Parameter Name ACdrive servo Bit 2..15: Bit 2..15: reserved Bit 1=1: confirmation Motor changed FirstSetupconfirmation Bit 0=1: Write: Bit 4..15: reserved connected Bit 3=1: motor no Bit 2=1: EEPROM data corrupt Bit 1=1: Motor changed Bit 0=1: First Setup Read: Confirmation write: messages Start-up Read: messages() Start-up Note: availability type Note: on controller depends mode Bit 22:oscillator Bit 21:manual tuning Bit 20:position control control Bit 19:speed Bit 18:current control Bit 17:electronic gear Bit 16:jog Bit 5: homing Bit 2: profile velocity position Bit 0: profile Coding: DSP402() modesasper operating Supported Unit Description - - - - Maximum value Default value Minimum value - - R/W UINT32 - - R/- UINT32 Expert persistent R/W Data type Modbus 6952 Modbus 312 CANopen 3001:1C CANopen CANopen 6502:0 CANopen via fieldbus Parameter address 11-37 h h Parameters LXM05A 0198441113232, V1.04, 01.2006

11-38 AC servo drive 0198441113232, V1.04, 01.2006 braking resistor IP65; 72 ohm; 40 72 IP65; resistor braking ohm; 40 72 IP65; resistor braking ohm; 400W 72 IP65; resistor braking ohm; 20 72 IP65; resistor braking ohm; 20 72 IP65; resistor braking ohm; 200W 72 IP65; resistor braking ohm; 10 72 IP65; resistor braking ohm; 10 72 IP65; resistor braking VW3M3103 ohm; 100W 72 IP65; resistor braking ohm; 40 27 IP65; resistor braking ohm; 40 27 IP65; resistor braking ohm; 400W 27 IP65; resistor braking ohm; 20 27 IP65; resistor braking ohm; 20 27 IP65; resistor braking VW3A31101 ohm; 200W 27 IP65; resistor braking ohm; 10 27 IP65; resistor braking ohm; 10 27 IP65; resistor braking VW3A8106 ohm; 100W 27 IP65; resistor braking ohm; 40 10 IP65; resistor braking VW3A8104 ohm; 40 10 IP65; resistor braking ohm; 400W 10 IP65; resistor braking Description External brakingresistors 12.2 andspareparts Accessories brake HBC Holding control 24VDC power device supply power to sensor 5VDC supply Reference Value Adapter RVA for of distribution A/ USIC (Universal Interface Signal Converter), to RS232 RS485 kit,converter PC connection PowerSuiteCD-ROM V2 software) (commissioning Peripheralterminal control Description Optional accessories 12.1 Accessoriesandspareparts 12 LXM05A ACdrive servo W mcnetrcbeVW3A7607R30 VW3A7607R20 VW3A7606R30 VW3A7606R20 VW3A7605R30 VW3A7605R20 VW3A7604R30 0W; 3m cable connector VW3A7604R20 0W; 2m cable connector VW3A7603R30 0W; 3m cable connector VW3A7603R20 0W; 2m cable connector VW3A7602R30 0W; 3m cable connector VW3A7602R20 0W; 2m cable connector VW3A7601R30 0W; 3m cable connector VW3A7601R20 0W; 2m cable connector 0W; 3m cable connector 0W; 2m cable connector 0W; 3m cable connector 0W; 2m cable connector 0W; 3m cable connector 0W; 2m cable connector .5 onco al VW3A7607R07 VW3A7606R07 VW3A7605R07 cable ; 0.75mconnector VW3A7604R07 cable ; 0.75mconnector VW3A7603R07 cable ; 0.75mconnector VW3A7602R07 cable ; 0.75mconnector VW3A7601R07 cable ; 0.75mconnector cable ; 0.75mconnector cable ; 0.75mconnector o inlaatto oR42sadr VW3M3102 standard RS422 to for adaptation signal B or pulse/direction signals signals to 5devices B pulse/direction or with Order no. VW3M3101 Order no. 12-1 Accessories and spare parts LXM05A

12.3 Motor cable

For BSH motor type

Description Order no. Motor cable 3m for Servomotor, 4*1.5mm² and 2*1.0mm² screened; Motor end 8-pole round VW3M5101R30 plug, other cable end open Motor cable 5m for Servomotor, 4*1.5mm² and 2*1.0mm² screened; Motor end 8-pole round VW3M5101R50 plug, other cable end open Motor cable 10m for Servomotor, 4*1.5mm² and 2*1.0mm² screened; Motor end 8-pole round VW3M5101R100 plug, other cable end open Motor cable 15m for Servomotor, 4*1.5mm² and 2*1.0mm² screened; Motor end 8-pole round VW3M5101R150 plug, other cable end open Motor cable 20m for Servomotor, 4*1.5mm² and 2*1.0mm² screened; Motor end 8-pole round VW3M5101R200 plug, other cable end open Motor cable 3m for Servomotor, 4*2.5mm² and 2*1.0mm² screened; Motor end 8-pole round VW3M5102R30 plug, other cable end open Motor cable 5m for Servomotor, 4*2.5mm² and 2*1.0mm² screened; Motor end 8-pole round VW3M5102R50 plug, other cable end open Motor cable 10m for Servomotor, 4*2.5mm² and 2*1.0mm² screened; Motor end 8-pole round VW3M5102R100 plug, other cable end open Motor cable 15m for Servomotor, 4*2.5mm² and 2*1.0mm² screened; Motor end 8-pole round VW3M5102R150 plug, other cable end open Motor cable 20m for Servomotor, 4*2.5mm² and 2*1.0mm² screened; Motor end 8-pole round VW3M5102R200 plug, other cable end open motor cable 3m for Servomotor, 4*4.0mm² and 2*1.0mm² shielded; motor end 8-pole M40 circu- VW3M5103R30 lar plug, other cable end open motor cable 5m for Servomotor, 4*4.0mm² and 2*1.0mm² shielded; motor end 8-pole M40 circu- VW3M5103R50 lar plug, other cable end open motor cable 10m for Servomotor, 4*4.0mm² and 2*1.0mm² shielded; motor end 8-pole M40 cir- VW3M5103R100 cular plug, other cable end open motor cable 15m for Servomotor, 4*4.0mm² and 2*1.0mm² shielded; motor end 8-pole M40 cir- VW3M5103R150 cular plug, other cable end open motor cable 20m for Servomotor, 4*4.0mm² and 2*1.0mm² shielded; motor end 8-pole M40 cir- VW3M5103R200 cular plug, other cable end open

12.4 Encoder cables

For BSH motor type

Description Order no. Encoder cable 3m for Servomotor, 5*(2*0.25mm²) and 1*(2*0.5mm²) screened; Motor end 12- VW3M8101R30 pole round plug, unit end 12-pole plug Encoder cable 5m for Servomotor, 5*(2*0.25mm²) and 1*(2*0.5mm²) screened; Motor end 12- VW3M8101R50 pole round plug, unit end 12-pole plug Encoder cable 10m for Servomotor, 5*(2*0.25mm²) and 1*(2*0.5mm²) screened; Motor end 12- VW3M8101R100 pole round plug, unit end 12-pole plug Encoder cable 15m for Servomotor, 5*(2*0.25mm²) and 1*(2*0.5mm²) screened; Motor end 12- VW3M8101R150 pole round plug, unit end 12-pole plug Encoder cable 20m for Servomotor, 5*(2*0.25mm²) and 1*(2*0.5mm²) screened; Motor end 12- VW3M8101R200 pole round plug, unit end 12-pole plug 0198441113232, V1.04, 01.2006

12-2 AC servo drive 0198441113232, V1.04, 01.2006 an itr1;2A 1/3VCVW3A31405 VW3A31404 VW3A31402 VW3A31403 VW3A31401 VW3M8211R05 filter1~;22A; mains 115/230VAC filter3~;15A; mains 230/480VAC VW3M8210R50 filter1~;16A; mains 115/230VAC VW3M8210R30 filter3~;7A; mains 230VAC VW3M8210R15 filter1~;9A; mains 115/230VAC VW3M8210R05 Description Mains filter 12.6 VW3M8209R50 VW3M8209R30 cascader cable for RVA, 0.5m VW3M8209R15 USIC,cable pulse/direction, SubD,15-pin otherend off, 5m VW3M8209R05 USIC,cable pulse/direction, SubD,15-pin otherend off, 3m USIC,cable pulse/direction, SubD,15-pin otherend off, 1.5m USIC,cable pulse/direction, SubD,15-pin otherend off, 0.5m VW3M8206R30 ESIM, CableAB onRVA, pulse/direction, 5m USIC WP/WPM311, or VW3M8205R30 ESIM, CableAB onRVA, pulse/direction, 3m USIC WP/WPM311, or ESIM, CableAB onRVA, pulse/direction, 1.5m USIC WP/WPM311, or ESIM, CableAB onRVA, pulse/direction, 0.5m USIC WP/WPM311, or ESIM,ABonSiemens S7 cable pulse/direction, AB Siemens ESIM, Cable pulse/direction, ESIM, 3m, CableAB on Siemens S5 IP247, 10-pole pulse/direction, ESIM, 3m, CableAB on Siemens S5 IP247, 10-pole pulse/direction, VW3M8203R50 ESIM, CableAB onPremiumCF pulse/direction, VW3M8203R30 ESIM, CableAB onPremiumCF pulse/direction, ESIM, CableAB onPremiumCF pulse/direction, VW3M8203R15 ESIM, CableAB onPremiumCF pulse/direction, VW3M8203R05 ESIM, CableAB onPremiumCAY, pulse/direction, SubD +15-pole 10-pole 5m, ESIM, CableAB onPremiumCAY, pulse/direction, SubD +15-pole 10-pole 3m, andspareparts Accessories ESIM, CableAB onPremiumCAY, pulse/direction, SubD +15-pole 10-pole 1.5m, ESIM, CableAB onPremiumCAY, pulse/direction, SubD +15-pole 10-pole 0.5m, Cable ESIM, A/B, for Master/Slave operat Cable ESIM, A/B, for Master/Slave operat Cable ESIM, A/B, for Master/Slave operatio Cable ESIM, A/B, for Master/Slave operatio ESIM, CableA/B, pulse/direction, unit ESIM, CableA/B, pulse/direction, unit ESIM, A/B, e unit Cablepulse/direction, ESIM, A/B, e unit Cablepulse/direction, Description RS 422:pulse/direction,ESIMandA/B 12.5 LXM05A ACdrive servo n 0pl,ohredoe,5 VW3M8201R50 VW3M8201R30 5m 10pole, open, end other end 3m 10pole, open, end other end d1 oe te n pn .mVW3M8201R15 VW3M8201R05 1.5m nd 10pole, open, other end 0.5m nd 10pole, open, other end o fuis *1-oe mVW3M8202R50 VW3M8202R30 of ion units 2*10-pole, 5m of ion units 2*10-pole, 3m S-0 M5,3,1-oe VW3M8207R30 3m, S7-300 FM353, 10-pole fuis *1-oe .mVW3M8202R15 VW3M8202R05 n of units 2*10-pole, 1.5m n of units 2*10-pole, 0.5m F34 m 0pncnetrVW3M8208R30 connector 10-pin FM354, 3m, ,5,1-oe+1-oeSb VW3M8204R50 VW3M8204R30 VW3M8204R15 VW3M8204R05 Y, SubD 15-pole 5m, + 10-pole Y, SubD 15-pole 3m, + 10-pole Y, SubD + 15-pole 1.5m,10-pole Y, SubD + 15-pole 0.5m,10-pole Order no. Order no. 12-3 Accessories and spare parts LXM05A

Description Order no. mains filter 3~; 25A; 230/480VAC VW3A31406 mains filter 3~; 47A; 230/480VAC VW3A31407

12.7 Mains reactor s

Description Order no. Mains reactor 1~; 50-60Hz; 7A; 5mH; IP00 VZ1L007UM50 Mains reactor 1~; 50-60Hz; 18A; 2mH; IP00 VZ1L018UM20 Mains reactor 3~; 50-60Hz; 10A; 4mH; IP00 VW3A66502 Mains reactor 3~; 50-60Hz; 16A; 2mH; IP00 VW3A66503 Mains reactor 3~; 50-60Hz; 30A; 1mH; IP00 VW3A66504 Mains reactor 3~; 50-60Hz; 60A; 0.5mH; IP00 VW3A66505

12.8 CANopen

Description Order no. CAN branching socket VW3CANTAP2 CAN-cable, 0.3m, both ends RJ45-plug VW3CANCARR03 CAN-cable, 1m, both ends RJ45-plug VW3CANCARR1

12.9 MODBUS

Description Order no. MODBUS branching socket, 3* screwed terminal rail, RC termination Connect with cable TSXSCA50 W3A8306D30. MODBUS 2-way branching socket, 2*socket plug SubD 15-pole, 2* screwed terminal rail, RC TSXSCA62 termination Connect with cable W3A8306D30. MODBUS connection module, 10*RJ45 plug and 1*screwed terminal rail LU9GC3 MODBUS termination for RJ45 plug, 120 Ohm, 1nF VW3A8306RC MODBUS termination for RJ45 plug, 150 Ohm VW3A8306R MODBUS termination for screwed terminal rail, 120 Ohm, 1nF VW3A8306DRC MODBUS termination for screwed terminal rail, 150 Ohm VW3A8306DR MODBUS T-branching module with integral cable 0.3m VW3A8306TF03 MODBUS T-branching module with integral cable 1m VW3A8306TF10 MODBUS-cable, 3m, 1*RJ45 plug, other end insulated VW3A8306D30 MODBUS-cable, 3m, 1*RJ45 plug, 1*SubD15pole plug, for TSXSCA62 VW3A8306 MODBUS-cable, 0.3m, 2*RJ45 plug VW3A8306R03 MODBUS-cable, 1m, 2*RJ45 plug VW3A8306R10 MODBUS-cable, 3m, 2*RJ45 plug VW3A8306R30 MODBUS-cable, 100m, 4-core, screened and twisted TSXCSA100 0198441113232, V1.04, 01.2006

12-4 AC servo drive 0198441113232, V1.04, 01.2006 dpe lt o o-a almutn,wdh7.m VW3A11851 TSXCSA500 andspareparts Accessories TSXCSA200 plateforadapter rail top-hat plateforadapter 77.5mm width rail top-hat mounting, Description Mountingmaterial 12.10 MODBUS-cable, 4-core, 500m, twisted and screened MODBUS-cable, 4-core, 200m, twisted and screened Description LXM05A ACdrive servo onig it 0m VW3A31852 105mm width mounting, Order no. Order no. 12-5 Accessories and spare parts LXM05A 0198441113232, V1.04, 01.2006

12-6 AC servo drive 0198441113232, V1.04, 01.2006 LXM05A Service, maintenanceanddisposal Service, maintenanceanddisposal Service, 13 LXM05A ACdrive servo madeby the customer. organisation. No warranty or lia only be outcarried by customer service a certified You outrepairs cannot yourself. carry The repair should rious injury. orse- death in result Failurefollowwill to instructions these equipment damage. or ininjury result can followFailure to instructions these Neverconnect the controller supply voltage orchangeits • Check for correct connection before switching on. • Do not interrupt the negativeconnection between powersup- • negative connection to the controller supply voltage is interrupted. Excessive currents can be created at the signal connections if the Destruction of unitcomponentsand lossof control! Before working onthedrive system: • The motor generates voltage when the shaft is rotated. Lock • Install all covers and close the housing doors before applying • are qualifiedpersonnelwho Only • Electric shock, fire orexplosion Manycomponents, boards, including wiring printed operate at • manufacturersystem The responsible is for with compliance • wiring while thereis su wiring ply unit andwith load afuseswitch or Measurevoltage at DCbusandcheck for<45V. (The DC – – "DO NOT switch the on asign lock ON" and Place SWITCH – offpower Switch to allterminals. – on the drive system. work to prevent motor ofthe before shaft the rotation starting power. voltage present. with terminals the screws of or ponents mains voltage.mains all applicable regulations relevant the drive to system.earthing this drive system. the contents of this manual are authorised to on work and with voltage). bus LED is not a safe indication for absence of the DC bus not minutes 6 Wait preventto switching on. short-circuit DC bus short-circuit Do not touchDo not (for dischargebusof DC capacitors). Do @ CAUTION $ DANGER pply voltage present. bility forbility is accepted repairs . Do familiar an with not touch unshielded com- d understand 13-1 Service, maintenance and disposal LXM05A

13.1 Service address

If you cannot resolve the fault yourself please contact your appointed sales partner. Have the following details available: • Type, identification number and serial number of the product (type plate) • Type of fault (possibly with fault number) • Previous and concurrent conditions • Your own ideas regarding the cause of the fault Include this information if you return the product for inspection or repair. If you have any questions please contact your local dealer. Your dealer will be happy to give you the name of a customer service outlet in your area.

http://www.telemecanique.com

13.2 Maintenance

The device is maintenance free

13.2.1 "Power Removal" operating life safety function

The operating life for the "Power Removal" safety function is designed for 20 years. After this period correct function is no longer ensured. The expiry date of the device is determined by adding 20 years to the DOM shown on the type plate. ̈ This date must be included in the system maintenance schedule.

Example The name plate on the device includes the DOM in the DD.MM.YY format, z.B. 31.12.06. (31 December 2006). This means that the safety function is guaranteed until 31 December 2026 (06 + 20 = 26). 0198441113232, V1.04, 01.2006

13-2 AC servo drive 0198441113232, V1.04, 01.2006 LXM05A Service, maintenanceanddisposal Service, Replacing units 13.3 LXM05A ACdrive servo ̈ ̈ ̈ ̈ ̈ ̈ Observe the following procedure whenchanging the devices. in use. Prepare a list with the parameters required for the functions ̈ rious injury orequipmentinjury damage. rious se- indeath, result can followFailure to instructions these the systemif there are nopersonsin Onlyor start materials • Check the functions after replacing the product and also after • When commissioning carefully tests run for all operating states • Check the stored data or settings. • Do not operatedrive a system withunknown settingsor data. • tions. ted movements or reactions to signals and disable monitoring func- data orsettings. Unsuitable settingsdata or may unexpec- trigger by isgoverned stored numerous drive system the behaviour of The system Unexpected responsesmay cause injury and damage tothe ENC_pabsusr with the motor installationmust redefined, be parameter see index position of the virtual point.The motor positionassociated no longer match when the device isreplaced. This also changes the ning“. mo the same Notethat with out commissioningaccordance in with chapterCarry 7“Commissio- 8-73. page from settings“ factory “Restore 8.6.10.2 See commissioning. of the system, the factoryrentsettings part mustbe reset before If the productthatyou are installin Install the newproductasspecified in6“Installation“ duct name plate for later identification. Note the identification numberthe and number serial from the pro- Label all connections and remove the product. (safety instructions). connected off allpowerSwitch supplies. Make ware, see 8.6.10.3 “Duplicate existing device settings“ page 8-74. Store allparameter settings inyour PCwith the commissioning soft- the danger zone and the systembe can operated safely. making changesthe tosettings or data. and faultcases. . @ WARNING tor settingthemo g was previously used in a diffe- sure that power is no longer longer power is no that sure tor position will tor position 13-3 Service, maintenance and disposal LXM05A

13.4 Changing the motor

@ WARNING Unexpected motion may cause injury and damage to the system Drives can make unexpected movements if incorrectly connected or because of other faults. • Operate the unit with approved motors only. Even if motors are similar, different adjustment of the sensor system may be a source of danger. • Check the wiring. Compatibility is not ensured even with matching connectors on power connection and sensor system. Failure to follow these instructions can result in death, serious injury or equipment damage.

̈ Switch off all power supplies. Make sure that power is no longer connected (safety instructions). ̈ Label all connections and remove the product. ̈ Note the identification number and the serial number from the product name plate for later identification. ̈ Install the new product as specified in 6 “Installation“

If the motor originally fitted is changed for a different one, the motor data set is reread. If the device recognises a different motor type, the control parameters are recalculated and MOT is shown on the HMI. When the motor is replaced the parameters for the encoder must also be reset, see chapter 7.4.11 “Setting parameters for encoder“. Change motor type temporarily only ̈ Press ESC if you only want to operate the new motor type temporarily on this device. ୵ The newly calculated control parameters are not stored in the EEPROM. This means that the original motor can be put back into operation using the previously stored control parameters. Change motor type permanently ̈ Press ENT if you wish to operate the new motor type permanently in this device. ୵ The newly calculated control parameters are stored in the EEPROM.

13.5 Shipping, storage, disposal

Note the environmental conditions on page 3-1! Shipping The product must be protected against shocks during transport. Use the original packaging for this purpose. Storage Store the product only under the specified, approved environmental conditions for room temperature and humidity. Protect the product against dust and dirt. 0198441113232, V1.04, 01.2006

13-4 AC servo drive 0198441113232, V1.04, 01.2006 LXM05A Service, maintenanceanddisposal Service, LXM05A ACdrive servo Disposal cal regulations be disposed of separately. Dispose of the product inaccordancelo- with mate various of consists The product rials thatcanberecycledandmust rials 13-5 Service, maintenance and disposal LXM05A 0198441113232, V1.04, 01.2006

13-6 AC servo drive 0198441113232, V1.04, 01.2006 X0AGlossary Terms andAbbreviations 14.1 Glossary 14 LXM05A ACdrive servo Direction of of rotation Direction Electronic gear Actual position Holding brake I Default value Drive system Internal units Internal 2 t-monitoring Limit switch Index pulse Error class IT network Encoder EMC CAN DC EU AC Inc I/O FI The drive system consists of the co the of consists The drivesystem ckwisethe as observerfaces the end of the protruding shaft. A positive direction of rotation isdefined asthe motor shaft rotating clo- Rotation of the motor shaft in apositive or negative direction of rotation. Factory settings. Direct current one another. devices other different and drives with from manufacturers communicate Switchthat signals an overrun of the permissible travelrange. IT: isoléterre(French), isolated earth by earthed ahigh impedance. whichinNetworkactiveall components or are isolated are from earth new units are setpoint. given Internal increments.in Resolution of the poweramplifier with whichthe motordirected is to the dersendsindex one pulserevolution. per Encoder signal for referencing the rotor position in the motor. The enco- Increment Inputs/Outputs rent. rent. If a limit value is exceeded, the drive system reduces the motor cur- unit componentscalculated is advance in onthe basis of the motor cur- of rise expected temperature The monitoring. Predictive temperature vice brake forbraking motion. has stopped (e.g. a vertikal-axis lowering). It must not be used as a ser- brake that only prevents the motor from rotating without power after it Fault current responses Classification of operational faults into groups corresponding to the error European Union tor. coder ismounted on the motor and signals the angular position of the ro- Sensor for recording the angular position of a rotating element. The en- compatibility Electromagnetic ment. adjustable gear factor to derive a new output speed for the motor move- inputAn recalculated speed is by thedrive systemthe using values of an ( system. Current absoluteor relative positionof moving componentsthedrivein CurrentAlternating C ontroller ontroller A rea rea N etwork), standardized openFieldbus over whichthe ntroller, poweramplifier andmotor. 14-1 Glossary LXM05A

NMT network management (NMT), component of the CANopen communications profile, tasks: initialising network and devices, starting, stopping, monitoring devices Node Guarding Monitoring function with slave at an interface for cyclic communication. NTC resistance with negative temperature coefficient. Resistance value is reduced as the temperature rises. Parameter Device functions and values that can be set and called by the user. PC Personal Computer PELV Protective Extra Low Voltage, functional low voltage with safe isolation persistent Designation of whether the value of the parameter is persistent, i.e. after switching off the unit it is retained in the memory. When changing a value via commissioning software or fieldbus, the user must explicitly store the value change in the persistent memory. When entering via HMI the unit stores the value of the parameter automatically at each change. PLC Programmable Logic Controller Power amplifier A device that generates current for controlling the motor in accordance with the positioning signals from the controller. Pulse direction signals Digital signals with variable pulse frequencies which signal changes in position and rotation direction via separate signal wires. Protection class The protection class is a standardised specification for electrical equipment that describes the protection against the ingress of foreign bodies and water (for example, IP20). PTC resistance with positive temperature coefficient. Resistance value is increased as the temperature rises. Quick Stop Quick stop, function used to provide quick braking of the motor via a command or in the event of a fault. Releasing the brake Drive may move when unbraked

rms Effective value of a voltage (Vrms) or a current (Arms); abbreviation of “Root Mean Square”. RS485 Fieldbus interface compliant with EIA-485, which enables serial data transmission with multiple devices. Scaling factor This factor gives the relationship between an internal unit and the user unit. TT network, TN network Earthed networks, distinguished by the PE conductor connection. User-defined unit Unit whose reference to motor rotation can be determined by the user via parameters. Watchdog Equipment that monitors cyclic basic functions in the drive system. Po- wer amplifier and outputs are switched off in the event of error.

14.2 Product name

LXM05A AC servo drive PowerSuite PC software for commissioning HBC Holding brake controller 0198441113232, V1.04, 01.2006

14-2 AC servo drive 0198441113232, V1.04, 01.2006 X0AGlossary LXM05A ACdrive servo Peripheral terminal control USIC RVA to 5 units 5 to Reference valueadapter for distributionA/B of orpulse/direction signals (Universal SignalInterface Converter) adapterfor RS422 standard hand-held operating unit 14-3 Glossary LXM05A 0198441113232, V1.04, 01.2006

14-4 AC servo drive 0198441113232, V1.04, 01.2006 X0AIndex Index 15 LXM05A ACdrive servo Cable specification Cable C braking resistor Braking resistor Braking function with HBC brake ramp, see decelerationramp setting rate Baud Baud rate B Approved motors module Analogue Analogue inputs Address setting ACTIVE2_OUT ACTIVE1_OUT Accessoriesspare and parts absolute profile positioning Abbreviations A 3-phase device powersupply controller 24VDC voltage controllersupply 24V Numerics CANopen Cable specifications

installing selection external connecting function motor connection PC encoder rotary motor MODBUS ESIM B, I A, encoder digital signals terminal control analogue inputs connecting using parameters in the fieldbus analogue input connecting using parameters connecting resistor braking 3-12

6-47

6-38

14-1

6-41 3-10

6-9

6-28 6-20 6-37 8-69 3-8 6-43 3-4 6-44 6-42 6-20 6-21

6-45

6-41 6-10 7-21 6-35

6-21 6-47 6-43 6-16 6-41 6-41

8-69

6-43 8-25

6-28 12-1 , , 6-33

6-43 6-43 3-6 15-1 Index LXM05A

LEDs on HMI 7-7 terminating resistors 6-41 CAP1 8-65 CAP2 8-65 Cascading, max. terminal current for 6-34 Cause of interruption, last 10-6, 10-7 cause of last interruption 10-6, 10-7 CE mark 1-3 change operating mode 8-13 Changing the motor 13-4 Changing the operating status 8-8 check limit switch 7-26 Checking direction of rotation 7-29 Checking holding brake 7-28 Commissioning 7-1 check limit switch 7-26 checking direction of rotation 7-29 checking holding brake 7-28 checking safety functions 7-27 controller structure 7-39 digital inputs and outputs 7-24 extended settings for autotuning 7-37 optimising controller 7-39 optimising speed controller 7-41 presets and optimisation 7-45 run autotuning 7-35 setting basic parameters 7-19 setting parameters for braking resistor 7-33 setting parameters for encoder 7-31 setting parameters for encoder simulation 7-30 steps 7-13 testing analogue inputs 7-21 tool 7-5 Commissioning software error display 10-6 features 7-11 online help 7-12 system requirements 7-12 triggering jump function 7-41 commissioning software Setting reference signal 7-40 Commissioning software (PowerSuite) 7-11 Commissioning tools 7-5 Components and interfaces 1-2 Connect controller supply voltage 6-34 Connection 24V controller supply voltage 6-33 analogue inputs/outputs 6-43 braking resistor 6-20 CAN 6-41 digital inputs/outputs 6-45 Encoder signals A, B, I 6-35 encoder simulation 6-39 holding brake controller 6-31 MOD bus 6-43 0198441113232, V1.04, 01.2006

15-2 AC servo drive 0198441113232, V1.04, 01.2006 X0AIndex LXM05A ACdrive servo Dimensioning aid Dimensioning Digital inputs/outputs Digital inputs and outputs Diagram Diagnostics device values Determining controller Declaration of conformity D Current controller control Current Current controller supply voltage controller Controller Control terminal Connection diagram EMC Electronic gear Electrical installation E Documentationand literature references Disposal Directives and standards Direction reversal Direction enabling

motor encoder motor PC and externalPC and keypadover RS485 motor phases mounting determining controllervalues setting parameter of example Speed optimising function PULSE voltage amplifier supply power motor and sensor cables sensor and motor cabling setting parameter of example braking resistor braking connecting displaymodify and A/B signals installation controllerwith values rigid mechanics function Position dimensioning structure entering values connecting terminal control 6-1

13-1

10-1

8-30

6-2 ,

6-36 6-47 7-39 8-28

8-17 13-4

8-21 7-39

6-7

7-39 6-8 6-47 6-46 8-71

6-35

8-24

6-34

6-16 6-11 6-28 7-41 6-48 6-22

1-3 1-5 7-24

6-3 with less rigidmechanics less with

9-3 9-4 6-26

1-3

6-47 7-42

7-43 15-3 Index LXM05A

power supply 6-3 scope of supply and accessories 6-2 ENABLE 6-37 Encoder cable 3-12 Encoder signals A, B, I connect 6-35 Environment Installation height 3-1 Environmental conditions 3-1 Equipotential bonding conductors 6-3 Error current 10-6 Error class 10-2 error class 10-2 Error display 10-3 error display commissioning software 10-6 fieldbus 10-7 HMI 10-5 Error display on HMI 10-5 Error response 8-5, 10-2 meaning 10-2 ESIM function 6-39 resolution 6-39 Examples 9-1 Extended settings for autotuning 7-37 External braking resistors 3-10 External line filter 6-9 External mains filter 3-10 F Fabricating cables mains supply 6-27 motor phases 6-18 Fabrication of cable motor rotary encoder 6-29 Fast position capture 8-65 Fault (operating status) 8-5 Fieldbus CAN 6-41 Error display 10-7 First setup preparation 7-13 via HMI 7-13 Function encoder A, B, I 6-35 Functions 8-45 braking function with HBC 8-69 direction reversal 8-71 fast position capture 8-65 Halt 8-64 monitoring functions 8-45 Quick Stop 8-63 restoring default values 8-73 0198441113232, V1.04, 01.2006

15-4 AC servo drive 0198441113232, V1.04, 01.2006 X0AIndex LXM05A ACdrive servo ITmains, operation in Introduction filter Internal mains signal Interface Intended use Installation spacing Installation I²t monitoring I setting dimensions by Homing Homing controller brake holding Holding brake controller Holding brake HMI Halt H Glossary ratio Gear G Limits Limit values Limit switch LEDs on HMI L Jolt limiting Jog J

8-15 8-64 scaling travel profile standstill window mechanical rating connecting menu structure function setup first Error display release movement of drive Reference movement withoutpulse index FAULT_RESET electrical setting Dimensions connection control control panel setting limit switch CANopen for

8-31

14-1

8-23

8-61

1-1 6-31

7-19 2-1 3-10 8-49

8-57

7-6

6-11

7-13

6-32 8-47 6-31

6-6 8-60 10-5 3-9 6-7 7-6

7-7

7-7 6-5

8-63 8-68

3-10 , 8-44 7-9

8-48

8-36 15-5 Index LXM05A

analogue inputs 6-44 limits 6-16, 6-44 Line filter 6-9 line filter 6-9 Line reactor 3-10, 6-10 M Mains filter external 3-10 installing 6-9 internal 3-9 Mains power connecting 6-27 mains reactor installing 6-9 Maintenance 13-1 Malfunctions 10-10 Mechanical installation 6-6 Mechanics, Layout for control system 7-41 Minimum connection assignment 6-45 MODBUS connecting 6-43 function 6-43 Monitoring braking resistor 6-20 motor phases 6-19 parameters 8-51 Monitoring functions 2-3, 8-45 Motor cable 3-12 Motor cables connecting 6-19 Motor data set automatic read-in 7-13 motor encoder connecting 6-28 Motor rotary encoder function 6-28 motor rotary encoder sensor type 6-28 mounting, mechanical 6-7 O Open Collector circuit 6-38 Operating mode change 8-13 current control 8-17 electronic gear 8-21 homing 8-31 jog 8-15 profile position 8-25 profile velocity 8-29 speed control 8-19 start 8-12 Operating modes 8-15 Operating states 8-4 0198441113232, V1.04, 01.2006

15-6 AC servo drive 0198441113232, V1.04, 01.2006 X0AIndex LXM05A ACdrive servo Operating status Operating Operation Profile velocity Profile position Profile generator Profile Product name mode operating the setting for Pre-requisites Prerequisite PowerSuite Power Removal connections Power Positioning limits Positioning finished Position controller Position PC Parameters Parameter P Overview Optimising presets Operation mode finished Rating Ramp R Quick Stop Qualifications, personnel Q PULSE/DIR Fault requirements definition stop 1 category stop 0 category application examples optimising Target layout procedureelectrical for installation all connections steepness function for point - to - point start point - to - point for overview function current connecting calling viaHMI profile velocity shape connecting

7-4

8-1

8-63

8-5 7-11 11-1

11-1

8-60

8-27 ,

8-28

14-2 7-40 6-36 7-5

8-29

8-25

6-14 5-2 5-2 7-18 7-47

8-60 8-60 8-46 6-47 6-38

7-45

8-26 5-3

8-29 7-8 6-14 5-2 5-2

2-1

5-4

8-25 , 8-29

6-13

8-12 15-7 Index LXM05A

controller supply voltage 6-34 REF, see reference switch Reference movement matching 8-58 Reference movement with index pulse 8-39 Reference movement without index pulse 8-36 Reference signal Setting 7-40 Reference switch Reference movement with index pulse 8-41 reference movement without index pulse 8-37 Reference value signals 6-16, 6-44 Reference values analogue inputs 6-44 Reference variable filter 7-42 Relative profile positioning 8-25 Remove protective foil 6-8 Restoring default values 8-73 Rotary encoder (motor) connecting 6-30 Run autotuning 7-35 S Safety function 5-2 Safety functions 2-3, 3-7, 4-1 Scaling 8-57 Second environment 6-2 Service 13-1 Service address 13-2 Set dimensions 8-44 Set speed 8-30 Setting parameters for braking resistor 7-33 Setting parameters for encoder 7-31 Setting parameters for encoder simulation 7-30 setting the deceleration ramp 8-60 Shipping 13-4 Signal connections overview 6-15 Signal inputs Circuit diagram 6-37 SinCos rotary encoder position processing 7-32 setting absolute position 7-32 Software limit switches 8-46 Speed control 8-19 speed control example of parameter setting 9-3 Speed controller function 7-40 setting 7-41 Standstill window 8-68 start operating mode 8-12 State display NRDY 10-5 0198441113232, V1.04, 01.2006

15-8 AC servo drive 0198441113232, V1.04, 01.2006 X0AIndex LXM05A ACdrive servo state display state U Type code safety for functional certificate TÜV troubleshooting Troubleshooting function jump Triggering Trigger positioning Travel profile Tracking error diagram Timing functions safety Testing inputs analogue Testing Testing agencies and certificates Terms Terminating resistors Temperature monitoring Technical data position Target T setup cabinet Switching cabinet Switching Storage Status monitoring in movement mode machine status machine Status display Status diagram Status transitions State ULOW display State Wiring diagram W Voltage reduction ventilation Velocity operation V Unit overview

WDOG from errors sortedby bit class WDOG braking resistor braking analogue inputs FLT malfunctions monitoring function signal direction Pulse CANopen DIS 24V power supply trigger

14-1 13-4

10-5 6-7 10-6 1-3

8-29

8-60

1-1 10-6 10-6

3-1 8-27 10-5 8-4

7-18 8-6 10-1 6-41

6-7 8-70

8-25 10-10 ,

10-5 10-4 ,

6-21

6-44 10-10

6-2 7-27 7-21 8-48 7-41 6-34 8-50

6-37

3-1

1-6

10-11 8-45 15-9 Index LXM05A

CANopen 6-42 digital signals 6-46 encoder A, B, I 6-35 ESIM 6-40 holding brake controller 6-32 mains power 6-28 mains power, single phase device 6-27 MODBUS 6-43 motor rotary encoder 6-30 PC 6-48 PULSE/DIR 6-38 wiring of controller supply voltage 6-33 0198441113232, V1.04, 01.2006

15-10 AC servo drive