SD328A Stepper Motor Drive Product Manual V2.03, 07.2010

SD328A Stepper motor drive Product manual V2.03, 07.2010

0198441113700, V2.03, 07.2010 www.schneider-electric.com Important information SD328A

Important information

This manual is part of the product. Carefully read this manual and observe all instructions. Keep this manual for future reference. Hand this manual and all other pertinent product documentation over to all users of the product. Carefully read and observe all safety instructions and the chapter "Be- fore you begin - safety information".

Some products are not available in all countries. For information on the availability of products, please consult the cata- log. Subject to technical modifications without notice. All details provided are technical data which do not constitute warranted qualities. Most of the product designations are registered trademarks of their re- spective owners, even if this is not explicitly indicated. 0198441113700, V2.03, 07.2010 2 Stepper motor drive 0198441113700, V2.03, 07.2010 D2ATable contents of SD328A Stepper motor drive Table ofcontents ehia aa...... 25 ...... Technical Data 3 19 Before . you . . . . begin -safety information. 2 11 ...... Introduction 1 .. an itr 32 ...... filter Mains 31 Fan ...... 30 Safety . . . . . function STO . 3.4.6 29 ...... Signals 3.4.5 29 . . . . 24Vdc controller supplyvoltage 3.4.4 28 ...... Power stage 3.4.3 28 ...... Data Electrical 3.4.2 27 ...... Dimensions. 3.4.1 3.4 27 ...... data Mechanical 26 ...... Degree of protection 3.3.1 3.3 25 ...... Ambient conditions 25 3.2.1 ...... Certifications 3.2 3.1 24 ...... Standards and terminology 24 ...... safety Functional 2.7 23 . . . . . DC bus voltage measurement. 2.6 21 ...... Basic information. 2.5 20 ...... Hazard categories 2.4 19 . Intended . use . . . . . 2.3 19 . . . . . Qualification of personnel 2.2 2.1 18 for . functionalsafety. . certificate TÜV . . 17 . Declaration . . ofconformity. . . 1.8 16 . . . Documentation and literature references 1.7 15 . . Type ...... code 1.6 14 . . . . . Components and interfaces 1.5 13 ...... Scope ofsupply. 1.4 11 ...... Device overview 1.3 11 About this . manual ...... 1.2 1.1 9 . . . . . Writing conventions and symbols. 3 ...... Table of contents 2 ...... Important information. 3 Table of contents SD328A

3.5 Technical data accessories...... 33 3.5.1 Reference value adapter RVA ...... 33 3.5.2 Cables ...... 34 3.6 Conditions for UL 508C ...... 34

4 Basics ...... 35 4.1 Functional safety...... 35

5 Engineering...... 37 5.1 Logic type ...... 37 5.2 Specification of the control mode ...... 38 5.3 Safety function STO ("Safe Torque Off")...... 38 5.3.1 Definitions ...... 38 5.3.2 Function ...... 38 5.3.3 Requirements for using the safety function ...... 39 5.3.4 Application examples STO...... 41 5.4 Monitoring functions ...... 42

6 Installation...... 43 6.1 Electromagnetic compatibility, EMC ...... 43 6.1.1 Operation in an IT mains ...... 47 6.2 Mechanical installation ...... 48 6.2.1 Mounting the device...... 49 6.2.2 Mounting a mains filter...... 52 6.3 Electrical installation ...... 53 6.3.1 Overview of procedure...... 55 6.3.2 Overview of all connections ...... 56 6.3.3 Connection of motor phases ...... 58 6.3.4 DC bus connection...... 60 6.3.5 Mains supply connection ...... 61 6.3.6 Connection of rotation monitoring (CN2) ...... 64 6.3.7 Connection of holding brake and controller supply voltage (CN3) ...... 67 6.3.8 Connecting the fan...... 69 6.3.9 Connecting the encoder signals A, B, I (CN5) . . . . . 70 6.3.10 Connecting PULSE (CN5) ...... 72 6.3.11 Connecting CAN (CN1 or CN4) ...... 75 6.3.12 Connecting Modbus (CN4) ...... 78 6.3.13 Connecting the analog inputs (CN1) ...... 79 6.3.14 Connecting the digital inputs/outputs (CN1) ...... 80 6.3.15 Connecting a PC or a remote terminal (CN4) . . . . . 84 6.3.16 Reference Value Adapter...... 86 6.4 Checking installation...... 90

7 Commissioning...... 91 7.1 Overview...... 93 0198441113700, V2.03, 07.2010 4 Stepper motor drive 0198441113700, V2.03, 07.2010 D2ATable contents of SD328A Stepper motor drive prto 121 ...... Operation 8 .. Operating modeCycl 171 Operating . . . mode Homing. . . 156 . . . . Operating mode MotionSequence. 8.5.8 154 . . . . Operating mode ProfileVelocity 8.5.7 150 . . . . Operating mode ProfilePosition 8.5.6 143 . . . . Operating mode Electronicgear. 8.5.5 139 . . . . . Operating mode Oscillator 8.5.4 136 ...... Operating mode Jog 8.5.3 136 ...... Operating modes. 8.5.2 135 . . . . . Changing the operating8.5.1 mode 134 . . . . . the operating mode Starting 8.5 133 . . . andchanging operating modes Starting 8.4.2 131 . . . . . Changing operating8.4.1 states 128 . . . . Indicating the operating states 8.4 124 ...... State diagram 8.3.3 124 ...... Operating states 8.3.2 123 Via hardware . . 8.3.1 input . signals . . 123 ...... Via commissioningsoftware 8.3 123 ...... Via fieldbus 8.2.4 122 ...... Via HMI. 8.2.3 122 ...... Access control. 8.2.2 8.2.1 121 . . Control mode and operating modemanagement 8.2 8.1 120 . . . . Optimizingthemotionbehavior 120 ...... Checking thefan. Testing the signals ofthe pos 7.3.11 118 Checking thedirectionofmovement. . . . 7.3.10 117 Testing . . . . thesafety functionSTO 7.3.9 7.3.8 Testing the signalsof 7.3.7 114 . . . . . inputs/outputs Digital 112 ...... Analog inputs 7.3.6 Setting basicparameters a 7.3.5 109 . . . . Operating state (statediagram) 7.3.4 101 ...... "First Setup" 7.3.3 101 . Commissioning . . procedure. . . 7.3.2 100 . . . . Lexium7.3.1 CTcommissioningsoftware 95 . . . . Human-MachineInterface HMI: 7.3 94 ...... Overview. 7.2.3 94 ...... Commissioning tools 7.2.2 7.2.1 7.2 .. uc tp 200 ...... Quick Stop 197 ...... profile Motion 194 ...... Scaling 8.6.5 187 ...... functions Monitoring 8.6.4 186 . . . . Setting themotorphasecurrent 8.6.3 186 ...... Functions. 8.6.2 8.6.1 8.6 ilbsdvcs 116 ...... fieldbus devices D42 ...... 185 ...... (DS402) ic Synchronous Positionic Synchronous limit switches signalsof dlmtvle ...... 110 . . . nd limitvalues to wths 119 . . ition switches 5 Table of contents SD328A

8.6.6 Halt...... 201 8.6.7 Fast position capture ...... 202 8.6.8 Speed window ...... 205 8.6.9 Brake function ...... 206 8.6.10 Configurable inputs and outputs ...... 209 8.6.11 Reversal of direction of rotation ...... 221 8.6.12 Restoring default values...... 222

9 Examples...... 225 9.1 Wiring local control mode ...... 225 9.2 Wiring fieldbus control mode ...... 226 9.3 Wiring STO ...... 227 9.4 Parameterization local control mode ...... 227

10 Diagnostics and troubleshooting ...... 229 10.1 Service ...... 229 10.2 Error responses and error classes ...... 229 10.3 Error indication ...... 230 10.3.1 State diagram...... 230 10.3.2 Error indication at the HMI ...... 232 10.3.3 Error indication using the commissioning software 234 10.3.4 Error indication via the fieldbus ...... 234 10.4 Troubleshooting ...... 236 10.4.1 Troubleshooting problems ...... 236 10.4.2 Troubleshooting of errors sorted by error bit . . . . . 237 10.5 Table of error numbers ...... 239

11 Parameters ...... 251 11.1 Representation of the parameters ...... 251 11.1.1 Explanation of the parameter representation. . . . . 252 11.2 List of all parameters ...... 254

12 Accessories and spare parts ...... 291 12.1 Optional accessories ...... 291 12.2 Motor cables ...... 291 12.3 Encoder cables...... 291 12.4 RS422: Pulse/direction and A/B ...... 292 12.5 Mains filter ...... 292 12.6 Mains reactors ...... 292 12.7 CANopen ...... 293 12.8 Modbus...... 293 12.9 Mounting material ...... 293 0198441113700, V2.03, 07.2010 6 Stepper motor drive 0198441113700, V2.03, 07.2010 D2ATable contents of SD328A Stepper motor drive 6Idx 311 ...... Index. 16 307 ...... Glossary. 15 299 ...... Extract 14 295 . . . . . maintenance and disposal Service, 13 52TrsadAbeitos 309 Terms . . . . . andAbbreviations. 308 ...... Conductor cross section 15.2 308 Temperature ...... 308 ...... ofinertia Moment 15.1.9 308 Torque.15.1.8 ...... 308 ...... Rotation 15.1.7 307 Power . 15.1.6 ...... 307 . Force. . . 15.1.5 . . . . . 307 ...... Mass 15.1.4 307 ...... Length. 15.1.3 15.1.2 307 . . . . . Units and conversion tables 15.1.1 15.1 305 . . . . existing Duplicating device settings 304 ...... Jog 303 . . . . . "First Setup"(FSU) viaHMI 14.2.4 302 ...... menu HMI structure 14.2.3 14.2.2 301 . . . . . Extract for commissioning 14.2.1 299 ...... Extract for installation 14.2 14.1 297 . . . . . Shipping, storage, disposal 297 ...... Changing the motor. 13.5 296 ...... Replacing devices 13.4 295 Lifetime . . . . . STO safety function. 13.3 295 ...... Maintenance 13.2.1 295 ...... address Service 13.2 13.1 7 Table of contents SD328A 0198441113700, V2.03, 07.2010 8 Stepper motor drive 0198441113700, V2.03, 07.2010 D2AWritingconventions symbols and SD328A Stepper motor drive Writing conventions andsymbols Making work easier Bulleted lists Bulleted Parameters Work steps Work SI units ample ample for name, parameter the ex- with shown are textIn parameters sections, information on making work easier. Sections highlightedthis way provide supplementary Information onmaking easier work ishighlighted bysymbol: this Item 3ofbulletedlist • Item 2ofbulletedlist • Item 1ofbulletedlist • leted listsare structuredas follows: The al items in bulleted listsaresorted specified sequence. Unless otherwise stated, the individual steps must be performed inthe work stephas been performed correctly. the that allows you verify to this indicated, is step work a to response a If iiu odco rs eto:15mm Minimum conductor cross section: 1.5 Example: behind thevalue; original they mayrounded. be SI units are the values.original Converted units are shown in brackets phabeticallyby parameter name. is explainedin the chapter Parameters. The al- parameteris sorted list is representedfollows: as If steps work must be performed consecutively, this sequence of steps ̈ ୵ ̈ ࡯ –Subitem–Subitem for for 2 2 Step 2 step work this to response Specific Step 1 for prerequisites Special thefollowing steps work POSdirOfRotat . The way parameters are represented in tables way . The are represented parameters phanumerically orby priority.Bul- 2 (AWG 14) 9 Writing conventions and symbols SD328A 0198441113700, V2.03, 07.2010 10 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A1 Introduction Device overview 1.2 About thismanual 1.1 Introduction 1 SD328A Stepper motor drive Drive system catedthe atfront of the device. An HMI (HMI, An HMI (HMI, or amotion controller, e.g. LMC. Reference values suppliedand monitored are normally by amaster PLC This drive is used to control a 3-phase stepper motor. iue11Device overview 1.1 Figure whetheryour product isastandard productcustomizeda or model. thetype code for this product.The type code can beusedidentify to This manual isvalid for allSD328Ast H uman- M achine- I nterface)display with andkeysis lo- andard products. This chapter lists lists chapter This products. andard 11 1 Introduction SD328A

Reference value supply Reference values are provided via: • CANopen fieldbus for the operating modes Profile Position, Profile Velocity and Oscillator. As of software version 1,201 and higher, the CANmotion communication profile for the "Cyclic Synchronous Position" operating mode is also supported.

• ±10-V analog signals for operating mode Oscillator. • Pulse/direction signals or A/B encoder signals for the operating mode Electronic Gear. • Modbus fieldbus for commissioning. Rotation monitoring / motor If a stepper motor with integrated encoder is connected, the following monitoring functions can be activated: • Rotation monitoring: The calculated reference position and the actual position of the motor are compared. If a defined deviation is exceeded, a rotation monitoring error is signaled. • Cable monitoring: The encoder cable is monitored. If the encoder supply is interrupted, it is signaled that the encoder is not ready. • Motor temperature monitoring: The device shuts off if the motor temperature is too high. Holding brake output The device is equipped with an output for direct connection of a holding brake. Safety function The integrated safety function STO (IEC 61800-5-2) complies with Safety Integrity Level SIL2. The safety function allows for a category 0 stop as per IEC 60204-1 without external power contactors. It is not necessary to interrupt the supply voltage. This reduces the system costs and the response times. 0198441113700, V2.03, 07.2010 12 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A1 Introduction Scope ofsupply 1.3 SD328A Stepper motor drive 5 Fan (SD32 EMC mounting plate Shield terminal (5) Mounting screws (4) SD32 (3) (2) (1) Scope of supply 1.2 Figure •• •• U68 only) 1 M5x12 5 4 3 2 13 1 Introduction SD328A

1.4 Components and interfaces

2 1 3 4

11 8 10

Figure 1.3 Components and interfaces

(1) I/O signal connection CN1 (spring terminal) • Analog reference value input ±10V • Control via CANopen fieldbus • Eight digital inputs/outputs. The assignment depends on the selected operating mode (2) 12-pin female connector CN2 for motor encoder (3) Connection CN3 for 24V power supply and holding brake (4) RJ45 socket CN4 for connection of • Fieldbus Modbus or CANopen • PC with commissioning software • Remote terminal (5) 10-pin socket CN5 for • Supply of of pulse/direction of A/B encoder signals in operating mode Electronic Gear (6) Screw terminals for connection of the mains supply (7) Screw terminals for connecting the motor (8) Base for the EMC mounting plate (9) EMC mounting plate (10) Fan (SD32••U68 only) (11) Heat sink 0198441113700, V2.03, 07.2010 14 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A1 Introduction 115V S2 =1~, Power supply stage voltage U68 =6.8A U25 =2.5A Maximumcurrent phase motor fieldbus ProfibusB = A fieldbus Fieldbus= CANopen, Modbus input analog and Interfaces drive for28 = Stepper motor fieldbus Product type SD3 =Stepper motor drive 3-phase Product designation Type code 1.5 SD328A Stepper motor drive ac /230V ac (selectable) plate. The device type is shown on the nameplate and on the inside of the front D 8AU5S2 U25 A 28 SD3 15 1 Introduction SD328A

1.6 Documentation and literature references

The following manuals belong to this product: • Product manual, describes the technical data, installation, commissioning and all operating modes and functions. • Fieldbus manual, description required to integrate the product into a fieldbus. • Motor manual, describes the technical characteristics of the motors, including correct installation and commissioning. Source manuals The latest versions of the manuals can be downloaded from the Internet at: http://www.schneider-electric.com Source EPLAN Macros For easier engineering, macro files and product master data are available for download from the Internet at: http://www.schneider-electric.com Further reading Recommended literature for further reading • No recommendation for literature available. 0198441113700, V2.03, 07.2010 16 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A1 Introduction Declaration ofconformity 1.7 SD328A Stepper motor drive ae intr: 1 uy20 Name/ Wolfgang Department: Brandstätter/Development 10 July2008 Date/ Signature: Company stamp: especially: specifications, and technical national standards Applied especially: standards, harmonized Applied 00637111401xx,00637111402xx Product number: ye D2Axxx SD328Bxxxxxx Steppermotordrive SD328Axxxxxx, Type: Designation: ontheproductsnotauthorizedbyus. declaration becomesinvalidwithanymodification constructiondesign, to andversiondistributed byus.This respect with Directives We declarethattheproductslistedbelowmeet therequirementsof the mentioned EC

Fehlt noch!! SCHNEIDER ELECTRIC MOTION DEUTSCHLAND GmbH&Co.KG DEUTSCHLAND MOTION SCHNEIDER ELECTRIC EC Product documentation UL 508C EN 61800-5-1:2007 EN 61800-3:2004,secondenvironment EN 62061:2005,SILcl2 EN 61508:2002,SIL2 EN ISO13849-1:2006,PerformanceLevel"d"(category3) accordingtoECDirectiveLowVoltage2006/95/EC accordingtoECDirectiveEMC2004/108/EC accordingtoECDirectiveMachinery98/37/EC

D ECLARATION OF Breslauer Str.7D-77933Lahr Y EAR 2008 C

ONFORMITY

17 1 Introduction SD328A

1.8 TÜV certificate for functional safety 0198441113700, V2.03, 07.2010 18 Stepper motor drive 0198441113700, V2.03, 07.2010 . Intended use 2.2 Before 2 you begi Qualification ofpersonnel 2.1 Before you begin-safety information 2 SD328A Stepper motor drive tained only by qualified personnel. equipmentElectrical should be installed, operated, and main- serviced, sult inhazards. Any useother than the use explicitly isprohibited permitted and can re- ardous locations,Ex areas). be operatedThe productmust NEVER only genuine and spare accessories parts. Operate the product only with the specified cables and accessories.Use tem(for example, machine design). ensure the safety of persons bymeans of the design of this entire sys- Since the product is used as a component inan entire system, you must measures must be implemented. of the planned application. Based on the results, the appropriate safety to usingPrior the product,you must perform assessment arisk inview data. regulations and directives, the specified requirements and the technical The product may only be used in compliance with all applicable safety in the cabinet. control The product may onlyused be installedconnection with apermanently instructions. these to according use dustrial productThis is adrivefor 3-phasestepper motorsand intended for in- when performing such work. applicable standards, directives, and accident prevention regulations an on All personsworking used. is product the inwhich system entire tings and by the mechanical, electrical and electronic equipment of the hazards that may be caused by using the product, by changing the set- potential detect able foresee be to and and experience and knowledge ards involved. These persons musthave sufficient technical training, persons must havereceived safetytraining to recognize and avoid haz- these Inaddition, this product. with on and to work authorized are tion thecontents ofthis manual product and allother documenta- pertinent trained appropriately persons Only d with the product must theproduct befullyfamiliard with withall who arefamiliar wit inexplosiveatmospheres (haz- n -safety information h and understand 19 2 Before you begin - safety information SD328A

2.3 Hazard categories

Safety instructions to the user are highlighted by safety alert symbols in the manual. In addition, labels with symbols and/or instructions are at- tached to the product that alert you to potential hazards. Depending on the seriousness of the hazard, the safety instructions are divided into 4 hazard categories.

@ DANGER

DANGER indicates an imminently hazardous situation, which, if not avoided, will result in death or serious injury.

@ WARNING

WARNING indicates a potentially hazardous situation, which, if not avoided, can result in death, serious injury, or equipment damage.

@ CAUTION

CAUTION indicates a potentially hazardous situation, which, if not avoided, can result in injury or equipment damage.

CAUTION

CAUTION used without the safety alert symbol, is used to address practices not related to personal injury (e.g. can result in equipment damage). 0198441113700, V2.03, 07.2010 20 Stepper motor drive 0198441113700, V2.03, 07.2010 SD328A 2 Before 2 you begi Basic information 2.4 SD328A Stepper motor drive injury. Failure to follow these instructions will result in death or serious Installand closeallcovers beforeapplying voltage. • Before performingon work the drivesystem: • across the DCbus or Do the notterminals DCbus short capaci- • AC voltage can couple voltage to unused conductors in the motor • The motor generates voltage when the shaft is rotated. toPrior • Do not touch unshieldedvoltage with components or terminals • Many components of the product, including circuit theprinted • system integrator The • • Only appropriately trained pers appropriately Only • HAZARD SHOCK,ELECTRIC OF ARC EXPLOSIONOR FLASH – Lock allpower switchestheopen in position. – NOT a"DO Place power labelonall ON" switches. TURN – power,all Disconnect including external control power that – tors. cable. cable. Insulate bothof ends unused conductors inthe motor to preventshaft rotation. performing any type of onwork the drive system, block the motor present. tools. insulated cally board, operate with mains voltage. Donot touch. Only use electri- applicable regulationsrespect with to grounding of allequipment. other all as well as requirements code electrical national and maintenance must be performed by qualifiedpersonnel. and with this drive system. Installation, adjustment, repairand recognize and avoid hazards involvedare authorized to on work product documentation and whohave receivedsafety training to understand thecontents ofmanual this all and other pertinent age. DC busnotan LED is indicator of the absence of DCbusvolt- otg esrmn"advrf h otg s<4 V 42 voltagemeasurement" verify and the voltage is< bus"DC chapter bus per as DC voltage the on the Measure minutes 15 Wait may bepresent. to allow the DC bus capacitors to discharge. @ is responsibleis forwith alllocal compliance DANGER ons who arefamiliarons who and with n -safety information dc . The . The 21 2 Before you begin - safety information SD328A

@ WARNING MOTOR WITHOUT BRAKING EFFECT If power outage and faults cause the power stage to be switched off, the motor is no longer stopped by the brake and may increase its speed even more until it reaches a mechanical stop. • Verify the mechanical situation. • If necessary, use a cushioned mechanical stop or a suitable holding brake. Failure to follow these instructions can result in death, serious injury or equipment damage.

@ WARNING UNEXPECTED MOVEMENT Drives may perform unexpected movements because of incorrect wiring, incorrect settings, incorrect data or other errors. Interference (EMC) may cause unpredictable responses in the system. • Carefully install the wiring in accordance with the EMC requirements. • Switch off the voltage at the inputs STO_A (PWRR_A) and STO_B (PWRR_B) to avoid an unexpected restart of the motor before switching on and configuring the product. • Do not operate the product with unknown settings or data. • Perform a comprehensive commissioning test. Failure to follow these instructions can result in death or serious injury. 0198441113700, V2.03, 07.2010 22 Stepper motor drive 0198441113700, V2.03, 07.2010 . DC bus voltage measurement 2.5 Before 2 you begi SD328A Stepper motor drive The DC bus LED is not an indicator of the absence of DCbus voltage. ̈ ̈ ̈ ̈ sensing devicefor Procedure: measuring. rated Vdc.properly a Use voltage- busThe DC voltage can exceed800 Disconnect allon workpower the product. starting toprior ForAdditionalUSA: information,refer 1.1 (latestNEMA ICS to edition), Safety 1) injury. Failure to follow these instructions will result in death or serious the Observe accident prevention regulationslocal and safety • • Only appropriately trained pers appropriately Only • HAZARD SHOCK,ELECTRIC OF ARC EXPLOSIONOR FLASH injury. Failure to follow these thor- and individually be must product the of implementation Each • System control paths may inclu • Separate or redundantcontrol pathsmust beprovidedfor critical • designer The of any controlscheme must consider the potential • LOSS OF CONTROL Speed Drive Systems. Guide forSelection, Installationfor and Construction Operation ofAdjustable- and to NEMA ICS 7.1 (latest edition), Safety Standards for Construction and Guidelines forthe Application, Installation, and Maintenanceof Solid State Control product. local representative.Schneider Electric Do not repairoperate or the Ifbus theDC capacitors donot discharge properly, contact your V 42 that the voltage< is Measurebus the DC voltagebetween the DCbusverify to terminals discharge. to bus capacitors DC allowthe to minutes Wait15 allpower.Disconnect beginsafety - information" may perform the measurement. understand the safety instructions in the chapter "Before you guidelines. sion delaysor failures the link. of eration must be given to the implication of unanticipated transmis- ice. oughly tested for proper operation beforebeing placed into serv- functions. STOP,overtravel restart. stop, and poweroutage EMERGENCY are functions failure. control ofcritical Examples provide ameansachieve to safe a state and after during apath functions, critical forand, certain paths control failure of modes 1) instructions can result indeath orserious @ @ dc WARNING DANGER . ons who arefamiliarons who and with de communicationlinks. Consid- n -safety information 23 2 Before you begin - safety information SD328A

2.6 Functional safety

Using the safety functions integrated in this product requires careful planning. For more information see chapter5.3 "Safety function STO ("Safe Torque Off")" on page 38.

2.7 Standards and terminology

Technical terms, terminology and the corresponding descriptions in this manual are intended to use the terms or definitions of the pertinent standards. In the area of drive systems, this includes, but is not limited to, terms such as "safety function", "safe state", "fault", "fault reset", "failure", "error", "error message", "warning", "warning message", etc. Among others, these standards include: • IEC 61800 series: "Adjustable speed electrical power drive systems" • IEC 61800-7 series: "Adjustable speed electrical power drive systems - Part 7-1: Generic interface and use of profiles for power drive systems - Interface definition" • IEC 61158 series: "Industrial communication networks - Fieldbus specifications" • IEC 61784 series: "Industrial communication networks - Profiles" • IEC 61508 series: "Functional safety of electrical/electronic/programmable electronic safety-related systems" Also see the glossary at the end of this manual. 0198441113700, V2.03, 07.2010 24 Stepper motor drive 0198441113700, V2.03, 07.2010 . Ambient conditions 3.2 3 Technical Data Certifications 3.1 Technical Data 3 SD328A Stepper motor drive Ambient conditions transportation conditions Ambient Ambient temperature during Certified safetyCertified function Installation altitude Installation Relative humidity Pollution degree and storage operation The installation altitudeis defined asheight abovesea level. The followingrelative humidity operation: ispermissible during serve the pertinent instructions inthe chapter instructions Installation.serve the pertinent pends on the distance between the devices and the required power. Ob- The maximum permissible ambienttemperature operation during de- fied limits. dust. The maximum vibration and shock load mustwithin bethespeci- The environment and during transport storage must and free from be dry ntlainattd [m] mm sides >50 cover atthe film,with afreespace ent temperature 40°C,of without amax.ambi- altitude at Installation altitude Installation 2 ing) Relative (non-condens- humidity Pollution degree 508C, note the information pro- ...+70 -25 If the product is to be used in compliance with UL 2) icing No 1) [°C] temperatureOperating Temperature 2011-06-22 E153659 File Validity 61800-5-2) Safety function STO "Safe Torque Off" (IEC • SAS-1741/08 productThishas the following safety certified function: CiA200605-301V402/20-0059 Assigned number CiA (CaninAutomation) UL TÜV Nord by Certified Product certifications: cessories. mechanical and electrical properties This chapter contains information onthe ambient conditions and on the ie ncatr36"odtosfrU 508C". vided in chapter 3.6 "Conditions for UL )2) 1) [°C] 0 ... +50 0... [°C] [m] 60721-3-3 perIEC As [%] of the product family and the ac- ≤ ≤ 5 ... 85(class3K3) 1000 2000 25 3 Technical Data SD328A

Vibration and shock Vibration, sinusoidal As per IEC 60068-2-6 1.5 mm (from 3 Hz ... 13 Hz) 10 m/s2 (from 13 Hz ... 150 Hz) Shock, semi-sinusoidal As per IEC 60068-2-27 150 m/s2 (for 11 ms)

3.2.1 Degree of protection

The product has degree of protection IP20. The top of the housing has degree of protection IP40 if the cover film covering the top of the housing is not removed. It may be necessary to remove the cover film for reasons of ambient temperature or mounting distances, see chapter 6.2.1 "Mounting the device", page 49. Degree of protection if STO is used You must ensure that conductive substances cannot get into the product (pollution degree 2). If you use the safety function and conductive substances get into the product, the safety function may become inoperative. 0198441113700, V2.03, 07.2010 26 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A3 Technical Data Dimensions 3.3.1 Mechanical data 3.3 SD328A Stepper motor drive as[g . 1.2 18.5 5 121.5 60 140 1.1 18.5 Convection [kg] [mm] 145 5 77.5 72 [mm] [mm] 121.5 Width ofadapterplate [mm] 2) m/s >1 60 1) [mm] 140 mounting rail DIN [mm] 145 Typecooling of [mm] 72 Mass [mm] K J H G c b a SD32 Dimensions 3.1 Figure •• . 2S U68S2 U25S2 ... c

b 2) 2xØ5 M4 1) == G 77.5 Fan a 2) H K J 27 3 Technical Data SD328A

3.4 Electrical Data

The products are intended for industrial use and may only be operated with a permanently installed connection.

3.4.1 Power stage

Electrical data SD32••... U25S2 U68S2 Nominal voltage (switchable) [V] 115/230 (1~) 115/230 (1~) Input current (115V/230V) [A] 4/3 7/5 Maximum motor phase current [A] 2.5 6.8 Maximum speed of rotation of [min-1] 3000 3000 motor Nominal power (115V/230V) [W] 180/270 280/420 (power output of device)

Maximum voltage to ground [Vac]300 300 Maximum permissible short circuit [kA] 0.5 0.5 current of the supply mains Power loss [W] ≤26 ≤65 Fuse to be connected upstream 1) [A] 10 10 1) Fuses: Class CC or J as per UL 248-4, alternatively circuit breakers with C characteristic.

Mains voltage: Range and tolerance Mains voltage 115 V [Vac] 100-15 % ... 120+10 % Mains voltage 230 V [Vac] 200-15% ... 240+10 % frequency [Hz] 50-5 % ... 60+5 %

transient overvoltages overvoltage category III

Inrush current and leakage current Inrush current [A] <60 Leakage current at a motor cable [mA] <30 1) length of <10 m and a design as per "IEC 60990 figure number 3" 1) Measured on mains with grounded neutral point, without external mains filter. If residual current devices are used, note that a 30 mA residual current device can trigger at values as low as 15 mA. In addition, there is a high-frequency leakage current which is not considered in the measurement. Residual current device respond differently to this.

Input current and impedance of The input current depends on the impedance of the supply mains. This mains supply is indicated by a possible short-circuit current. If the mains supply has a higher short-circuit current, use upstream mains reactors. Suitable mains reactors can be found in chapter 12 "Accessories and spare parts". Approved motors Approved motor families: BRS3, ExRDM, VRDM3 Approved motor voltage: 230Vac / 325Vdc Further information on approved motors can be found in the product cat- alog. 0198441113700, V2.03, 07.2010 28 Stepper motor drive 0198441113700, V2.03, 07.2010 .. Signals 3.4.3 3 Technical Data 24V 3.4.2 SD328A Stepper motor drive 24V controllersupplyvoltage dc 24V output signals controller supply voltage 24V input signals Spring terminals Spring Accuracy E 61131-2 (PELV standard power supply unit): IEC Thecontroller 24V voltage supply mustmeet the requirements of have terminals The spring the following properties eiulrpl % <5 [%] ripple Residual outputs Maximum switching other current time Debounce (o voltage reduction) )As of software version 1.201 1) [V] [V] LO4_OUT Maximum switching current load mA Voltage dropat 50 Output voltage The capturedposition motor less is accurate acceleration the during phaseand 2) Except 1) 10 [mA] time Debounce (typical) current Input (U 1 Logic (U 0 Logic 0V from galvanicallyisolated not are inputs/outputs The protected. circuit %) +20 %/ (-15 24 reverse against polarity,protected are short- inputs are Signal outputs [V] Without load on outputs 1) current Input voltageInput Mechanical conditions must be considered. 1) length Stripping with wireferrule Maximum connecti wireferrule without Maximum connecti [mm Minimum conductor cross section aiu urn od[]2 [A] Maximum currentload E 61131-2,1 type IEC When configured as"Source", the levelsof thewith inputs comply h 4 uptsgascml ihIC61131-2. The 24V output signals comply with IEC the deceleration phase. dc . STO_A CAP1 1) high low / ) [V] -3 ... +5 -3... [V] ) 1) +BRAKE_OUT V +15... +30 [V] ) and and 1) CAP1 ( 1) PWRR_A on cross section on cross section CAP2 and and ), ), CAP2 2) STO_B ( PWRR_B [µs] 1 ... 10 1... [µs] [A] [mA] 1.5 [A] <0.44 [°] 1.25 ... 1.5 [ms] [mm [mm m]85..9.5 ... 8.5 [mm] 2 2 2 ), 0.75 (AWG 20) ] 1.5 (AWG 16) ] 0.14 (AWG 24) ] ≤ ≤ accuracy+ ofencoder ≤ ≤ 0.2 50 1 30 CAP1 and CAP2 29 3 Technical Data SD328A

Pulse/direction, A/B input signals The pulse/direction and A/B signals conform to the RS422 interface specifications

Symmetrical Conforming to RS422 Resistance [kΩ]5 Pulse/direction frequency [kHz] ≤400 1) A/B frequency [kHz] ≤400 1) Device revision (see nameplate) RS <06: 200 kHz

Analog input signals Voltage range of differential input [V] -10 ... +10 circuit Resistance [kΩ] ≥10 Resolution ANA1 [Bit] 14 Sampling period ANA1 [ms] 0.25

CAN bus signals The CAN bus signals comply with the CAN standard and are short-circuit protected. Encoder signals Output ENC+5V_OUT Supply voltage [V] 4.75 ... 5.25 Maximum output current [mA] 100 Sense-controlled, short-circuit protected, overload-protected

Inputs ENC_A, ENC_B and ENC_I Signal voltage As per RS422 Frequency [kHz] ≤400

3.4.4 Safety function STO

When configured as "Source", the levels of the inputs comply with IEC 61131-2, type 1

Logic 0 (Ulow) [V] -3 ... +5

Logic 1 (Uhigh) [V] +15 ... +30 Input current (typical) [mA] 10 Debounce time [ms] 1 ... 5 Detection of signal difference [s] <1 between STO_A (PWRR_A) and STO_B (PWRR_B) Response time (until shutdown of [ms] <10 power stage) Permitted test pulse width of [ms] <1 upstream devices 0198441113700, V2.03, 07.2010 30 Stepper motor drive 0198441113700, V2.03, 07.2010 .. Fan 3 Technical3.4.5 Data SD328A Stepper motor drive Datafor maintenanceand plan safety calculations Fan Diagnostic CoverageDiagnostic 13849-1) DC (ISO Failureto Dangerous Time Mean nu otg [V voltage Input deviceOnly SD32 type MTTF Performance Level 13849-1) PL (ISO ware Failure perHour Hard- ofDangerous Probability 61508) PFH (IEC 62061 IEC years 61508 20 IEC Safety level integrity Typesubsystem B Hardware Fault Tolerance 61508) HFT (IEC Safe Failure Fraction 61508) SFF (IEC 61508) Lifetime (IEC nu urn m]130 [mA] current Input plan and the safetycalculations: Use the following data of the STO safety function for your maintenance d (S 13849-1) (ISO •• U68 comes with afan. % 90 [%] 1h 2.331*10 [1/h] 66 [%] dc ]24 3788 years 3788 d (Category 3)d (Category SILCL2 SIL2 1 -9 31 3 Technical Data SD328A

3.4.6 Mains filter

Basics The EMC standards distinguish various use cases:

EN 61800-3:2001-02; IEC 61800-3, Ed.2 Description First environment, category C1 Operation in residential areas First environment, category C2 Operation in residential areas Second environment, category C3 Operation in industrial power distribution networks

Limit values This product meets the EMC requirements according to the standard IEC 61800-3, if the measures described in this manual are implemented during installation. If the selected composition is not designed for category C1, note the following:

@ WARNING HIGH-FREQUENCY INTERFERENCE In a residential environment this product may cause high-frequency interference that may require interference suppression. Failure to follow these instructions can result in death or serious injury.

Better values can be achieved depending on the device and the application and as well as the design, for example, in the case of installation in an enclosed control cabinet with at least 15db attenuation. The following limit values for conducted interference are met by EMC- compliant designs:

Devices without external mains filter C3 up to a motor cable length of 10 m Devices with external mains filter C2 up to a motor cable length of 20 m, C3 up to a motor cable length of 50 m

The system integrator and/or machine owner/operator is responsible for complying with the EMC directives. See chapter 12 "Accessories and spare parts" for order data on external mains filters. 0198441113700, V2.03, 07.2010 32 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A3 Technical Data Reference value adapterRVA 3.5.1 Technical data accessories 3.5 SD328A Stepper motor drive Electrical data Electrical Dimensions aiu uptcret[A 300 [mA] protected, overload-protected short-circuit Sense-controlled, current Maximum output 5VSE encoder Output, ( current Input Supply voltage [V] 19.2 ...30 19.2 [V] 37 [mm] 135 [mm] ( 77 current Input [mm] Supply voltage Input rail.DIN Installation on Depth Width Height Adapter", page 86. Fordescription a of the RVA,see chapter 6.3.16"Reference Value 5VSE 5VSE 0 mA) 300 noload) [V] 4.75 ... 5.25 ... 4.75 [V] 150 [mA] m]50 [mA] 33 3 Technical Data SD328A

3.5.2 Cables

Overview of required cables

Max. cable length in. conductor As per PELV Shielded, Twisted pair [m] cross section both ends [mm2] grounded Motor cables (see chapter 12.2 10/50 1) 4*1.5 (AWG 14) X "Motor cables") Mains supply − 0.75 (AWG 18) Encoder cables (see chapter 12.3 100 10*0.25 and 2*0.5 XXX "Encoder cables") (AWG 22 and 18) Controller supply voltage − 0.75 (AWG 18) X 1) Length depends on the required limit values for conducted interference, see chapter 3.4.6 "Mains filter".

Motor cable and encoder cable The motor cables and encoder cables are suitable for drag chain applications; they are available in various lengths. See page 291 for the versions available as accessories.

Motor cables Style 20234 Encoder cable Style 20963

Permissible voltage motor cable [Vac] 600 (UL and CSA) Temperature range [°C] -40 ... +90 (permanently installed) -20 ... +80 (moving) Minimum bending radius 4 x diameter (permanently installed) 7.5 x diameter (moving) Cable jacket Oil-resistant PUR Shielding Shield braiding Coverage of shielding [%] ≥85

Table 3.1 Data of the motor cable and encoder cable available as accessories

3.6 Conditions for UL 508C

If the product is used to comply with UL 508C, the following conditions must also be met: Ambient temperature during operation Surrounding air temperature [°C] 0 ... +40

Wiring Use at least 60/75 °C copper conductors. PELV power supply Use only power supply units that are approved for overvoltage category III. Short-circuit current rating Short-circuit current rating [kA] 5 0198441113700, V2.03, 07.2010 34 Stepper motor drive 0198441113700, V2.03, 07.2010 SD328A 4 Basics 4 Functional safety 4.1 4BasicsSD328A Stepper motor drive PFH, Probabilityofadangerous PFH, SIL, Safety Integrity Level SafetySIL, Integrity hardware failure per hour E 61508 standard IEC 1 demand orcontinuous demand athigh 2 PFH 3 4 SIL standard. valuethetotal PFH must not exceed the maximumvalue specifiedthe in safety system. The individual PFH values of a function chain are added; ingthe onSIL, must the PFH not exceed values certain forthe entire mannerand the safety function cannotbe correctly executed. Depend- This istheprobabilityperhourthat of PFH (probability implementedforures co evalua to to aprobabilityassessment the required SIL. Allcomponents of a safety function must be subjected levelsous forof measures avoiding vari- requires standard 61508 ToIEC the safety the function, maintain must cover. is to beconsidered asasafety func relevant the chain level. whether decide function to integrity isused This forbasisa serves as analysis theand required risk determining safety functions.SIL1is the lowest level and SIL4is the highestlevel. A hazard 61508defines4 safety integrity levels(SIL) forsafety The standard IEC levelswith comparable risk bedeveloped can basis.on this and components that can be used invarious applications for safety tasks requirements of thesafety specific tor) isconsideredunit.afunction This as chain mustmeet the ample, fromsensor a through the logical processing unitsthe to actua- function. Instead of a single component, an entire function chain (for ex- grammable electronic safety-related systems" covers the safety-related safety electrical/electronic/pro- of "Functional 61508 IEC standard The 61508 WorkingIEC with from th tential arising The levelof the requirements results from and the the risk hazardpo- Usually,the safety engineering requirementsdepend on the application. by greatly integrated simplified safetyare functions. grated. and Engineering installationcomplex of automation solutions inte- more and have but more recently past the become in separated Automation and safety engineering are two areas that werecompletely ≥ ≥ ≥ ≥ 10 10 10 10 -6 -7 -8 -9 ... <10 ... <10 ... <10 ... <10 a dangerous failure perhour)for a safety system. e specific application. ntrolling faults. the Thisassessmentdetermines -5 -6 -7 -8 and controlling faul a safety fails system ina hazardous integrity levelintegrity asawhole. Systems tionand whichhazard potential it te the effectiveness ofthemeas- ts,on depending 35 4 Basics SD328A

HFT and SFF Depending on the SIL for the safety system, the IEC 61508 standard requires a specific hardware fault tolerance HFT in connection with a specific proportion of safe failures SFF (safe failure fraction). The hardware fault tolerance is the ability of a system to execute the required 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. According to IEC 61508, the maximum achievable SIL of a system is partly determined by the hardware fault tolerance HFT and the safe failure fraction SFF of the system. IEC 61508 distinguishes two types of subsystems (type A subsystem, type B subsystem). These types are specified on the basis of criteria which the standard defines for the safety-relevant components.

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

Fault avoidance measures Systematic errors in the specifications, in the hardware and the software, usage faults and maintenance faults of the safety system must be avoided to the maximum degree possible. To meet these requirements, IEC 61508 specifies a number of measures for fault avoidance that must be implemented depending on the required SIL. These measures for fault avoidance must cover the entire life cycle of the safety system, i.e. from design to decommissioning of the system. 0198441113700, V2.03, 07.2010 36 Stepper motor drive 0198441113700, V2.03, 07.2010 SD328A 5 Engineering 5 Logic type 5.1 Engineering 5 SD328A Stepper motor drive Special case: Safety function STO Safety case: function Special The inputsfor the STO safety function (inputs phase in view of the application. therefore, you the required should determine valuein the engineering Logic type "Sink" IOLogicType Logic type "Source"The logictypespecified the"First is setup" during with the parameter (2) (1) Logic type 5.1 Figure Outputdrawscurrent, current flowsinput from the currentflows Output current, supplies to theinput state Active "Sink" "Source" type Logic "Source" or logictype "Sink". The digital inputs and outputs of this product can be wired for logic type phase. design inthe is vital This chapter contains information on the application of the product that STO_B injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these toexcludegreat Use wiring carein • detectedis On asan state. If the settingused "Sink" is for the logictype,ground a fault signala of UNINTENDED OPERATION +24V 0V 1 ( PWRR_B . The logic type affects and control wiring of the sensors; )) are permanently set to setlogictype )) "Source". are permanently NO_FAULT_OUT ENABLE @ WARNING +24V 0V the possibility ofground thepossibility faults. 2 STO_A ( NO_FAULT_OUT ENABLE PWRR_A ) and 37 5 Engineering SD328A

5.2 Specification of the control mode

Control mode: local or fieldbus When you start the product for the first time, you must indicate the control mode. The control mode determines the way the product is controlled. The available operating modes also depend on this setting. This setting can only be modified by restoring the factory settings, see chapter 8.6.12 "Restoring default values". Local control mode In a local control mode, the reference values for movements are supplied in the form of analog signals (±10V) or RS422 signals (e.g. pulse/ direction). Limit switches and reference switches cannot be connected in local control mode. Fieldbus control mode In fieldbus control mode, fieldbus commands are used for communication with the product.

5.3 Safety function STO ("Safe Torque Off")

See page 35 for information on using the IEC 61508 standard.

5.3.1 Definitions

Safety function STO (IEC 61800-5- The safety function STO ("Safe Torque Off") shuts off the motor torque 2) safely. It is not necessary to interrupt the supply voltage. There is no monitoring for standstill. "Power Removal" The STO safety function ("Safe Torque Off") is also known as "Power Removal". Category 0 stop (IEC 60204-1) Stopping by immediate removal of power to the machine actuators (i.e. an uncontrolled stop). Category 1 stop (IEC 60204-1) Controlled stop with power available to the machine actuators to achieve the stop. Power is not interrupted until the stop is achieved.

5.3.2 Function

The STO safety function integrated into the product can be used to implement an "EMERGENCY STOP" (IEC 60204-1) for category 0 stops. With an additional, approved EMERGENCY STOP module, it is also possible to implement category 1 stops. Function principle The STO safety function is triggered via 2 redundant inputs. The circuits of the two inputs must be separate so that there are always two channels. The switching process must be simultaneous for both inputs (offset <1s). The power stage is disabled and an error message is generated. The motor can no longer generate torque and coasts down without braking. A restart is possible after resetting the error message with a "Fault Re- set". The power stage is disabled and an error message is generated if only one of the two inputs is switched off or if the time offset is too great. This error message can only be reset by switching off the product. 0198441113700, V2.03, 07.2010 38 Stepper motor drive 0198441113700, V2.03, 07.2010 SD328A 5 Engineering 5 Requirements for usi 5.3.3 SD328A Stepper motor drive Degree of protectionSTO if is used Vertical axes, forces external Behavior of holdingbrake Unintended restart aeoy1stop 1 Category stop 0 Category ng thesafety function tive. stances get intotheproduct, thesafety function may become inopera- (pollutiondegree 2).Ifyou usethe safetyfunction and conductive sub- You mustensure that conductive substancescannot get into theproduct Notethat amaster controllermust notunintended an trigger restart. power outage), theparameter To avoid anunexpected after restoration restart of power (e.g. after a must notoperated be without additional measuresfor fallprotection. ment,for exampleby caused gravity, couldcause ahazard, the motor Ifexternal forces acton the motor axis)and (vertical unwanted an move- measures are requiredto avoid lowering of theload. thein case axestoof verifyvertical whether itisimportant additional brake. holding of the Especially application to time the bridge to torque with holdingbrake isnot effective.motor Thecannot generate holding Triggering the STO safety function means that the delay time for motors safeSTOP a delay. with time module tion. The shutoffis usually controlled by astandardEMERGENCY motor isachieved by switching off the two inputs of the STO safety func- outagean or error, acontrolledstopis impossible. Final shutoffof the isnotmonito led standstill stop. 1 The control- A controlled stop must be triggered withcategory a hazard analysis), and you risk must take appropriate measures. to theIfaccess machine coasting down involveshazarda(results the of way. uncontrolled down an in coasts stop, motor the 0 acategory During injury. Failure to follow these safety for the function. using requirements the Observe • tion. Incorrectmay usage hazardacauseofto due the the safety loss func- OF SAFETYLOSS FUNCTION injury. Failure to follow these instructions will result in death or serious Turn off the mains voltage using an appropriate switch to achieve • busThe DC isolation. The safety functionSTO ("Safe TorqueOff")does not electric cause ELECTRIC SHOCK CAUSED BY INCORRECTUSE a voltage-free condition. voltageis stillpresent. instructions can result indeath orserious @ red by thedrive In system. the caseofpower @ WARNING DANGER IO_AutoEnable must be set to "off". "off". to set be must 39 5 Engineering SD328A

Protected cable installation If short circuits or cross circuits can be expected in connection with the two signals of the STO safety function and if they are not detected by upstream devices, protected cable installation is required. In the case of an unprotected cable installation, the two signals of the STO safety function may be connected to external voltage if a cable is damaged. If the two signals are connected to external voltage, the STO safety function is no longer operative. Protected cable installation possibilities: • Use separate cables for two signals. Any additional wires in these cables may only carry voltages according to PELV. • Use a shielded cable. The grounded shield is designed to dissipate the external voltage in the case of damages and to trip the fuse in this way. • Use a separately grounded shield. If there are other wires in the cable, the two signals must be isolated from these wires by a grounded, separate shield. Data for maintenance plan and Use the following data of the STO safety function for your maintenance safety calculations plan and the safety calculations:

Lifetime (IEC 61508) 20 years SFF (IEC 61508) [%] 66 Safe Failure Fraction HFT (IEC 61508) 1 Hardware Fault Tolerance Type B subsystem Safety integrity level IEC 61508 SIL2 IEC 62061 SILCL2 PFH (IEC 61508) [1/h] 2.331*10-9 Probability of Dangerous Hard- ware Failure per Hour PL (ISO 13849-1) d (Category 3) Performance Level

MTTFd (ISO 13849-1) 3788 years Mean Time to Dangerous Failure DC (ISO 13849-1) [%] 90 Diagnostic Coverage

Hazard and risk analysis As a system manufacturer you must conduct a hazard and risk analysis of the entire system. The results must be taken into account in the application of the STO safety function. The type of circuit resulting from the analysis may differ from the following application examples. Additional safety components may be required. The results of the hazard and risk analysis have priority. 0198441113700, V2.03, 07.2010 40 Stepper motor drive 0198441113700, V2.03, 07.2010 SD328A 5 Engineering 5 Application examples STO 5.3.4 SD328A Stepper motor drive xml fctgr 0 stop Example of category xml fctgr 1 stop Example of category 4 24V 24V STOP EMERGENCY 4 4 24V 24V 24V 758 23 13 57 47 A1 S31 37 S32 S22 S21 03 Y+ Preventa XPS-AV Undelayed Delayed Y64 S14 S13 S12 S11 • A "Halt" is initiated withoutadelay is "Halt" A the via • Please note: 1 stop ofcategory Example 5.3 Figure STOP When theEMERGENCY switch • Please note: 0 stop ofcategory Example 5.2 Figure • The inputs inputs The • • The specified minimum current and the permissible maximum cur- maximum permissible the and current minimum specified The • plcto ihu MREC TPmdl,ctgr 0 stop. Application without EMERGENCYSTOP module, category Application with EMERGENCY ST with EMERGENCY Application Y84 Y74 STOP EMERGENCY A2 24 14 04 48 38 aeoy0stop category EMERGENCY STOPEMERGENCY module. rent of the relaymust observed be for therelay outputsof the (uncontrolled stop). delay time haselapsed,coasts it down inanuncontrolledway STOP safety module. If the motor has not yet stopped when the switchedtime delay.a offwith delay The EMERGENCY the at is set 24V STO_A FAULT RESET ENABLE 24V ( PWRR_A FAULT RESET ENABLE ) and OP module, category 1 stop. 1 category module, OP FAULT RESET ENABLE STO_B (PWRR_B) STO_A (PWRR_A) HALT STO_B is tripped, this initiates a initiates this tripped, is FAULT RESET ENABLE STO_B (PWRR_B) STO_A (PWRR_A) ( PWRR_B HALT input. ) mustbe 3~ M 3~ M 41 5 Engineering SD328A

5.4 Monitoring functions

The monitoring functions in the product can help to guard the system and reduce the risks involved in a system misoperation. These monitoring functions may not be used to protect persons. The following monitoring functions are available:

Monitoring Task Data link Error response if the link becomes inoperative Limit switch signals Monitors for permissible range of travel Overvoltage and undervoltage Monitors for overvoltage and undervoltage of the supply voltage Overtemperature Monitors the device for overtemperature Rotation monitoring (optional) Monitors the motor movement and the motor temperature Short circuit / ground fault Monitors for short circuit between motor phase and motor phase and between motor phase and ground

For a description of the monitoring functions, see chapter 8.6.2 "Moni- toring functions", page 187. 0198441113700, V2.03, 07.2010 42 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A6 Installation Electromagnetic compatibility, EMC 6.1 Installation 6 SD328A Stepper motor drive EMC scope of supply and supply of scope EMC Control cabinetdesign accessories Limit values Install powerInstall controlcomponents and circuits). varistors,diodes, RC (forassembliessuppressors arc or example, valvessolenoid withinterference suppression Fit switching devices such M esrsObjective mm greater10 than with ground straps or cables with a cross section andEMCplate thecontrolcabinet, door Ground remove parts, surfaces. from paint metal contact surface large of connect plates, areas mounting or Use EMCplate galvanized orchrome-plated measures EMC you should know beforethe installation. starting The chaptercontains Engineering basic informationthat See page 291 for information pre-assembled cables. relief. strain a as used be to designed not are number of shield clamps depends on the device type. The shield clamps The deviceis shipped with SKshield clamps and anEMCplate.The lowing: fol-the note C1, for is designed not category composition selected If the installation. during 61800-3, if the measures described in this manual are implemented IEC This product meets the EMC requirements according to the standard injury. Failure to follow these interference that may requireinterference suppression. this environment residential a In HIGH-FREQUENCY INTERFERENCE or equipment damage. injury serious indeath, result can Failurefollow to instructions these Verify compliancethe withEMC requirements. • inaccordance Installthewithwiring the EMCrequirements. • device. of unexpected responses cause can interference Signal SIGNAL ANDDEVICE INTERFERENCE 2 (W 6). (AWG as contactors, relays or instructions can result indeath orserious @ @ WARNING WARNING product may cause high-frequency separately. Reduces mutual Reduces interfer- separately. ence Reduces emissions. ence mutualReduces interfer- duesurface to contact. Improves conductivity 43 6 Installation SD328A

Shielding EMC measures Objective Connect large surface areas of cable shields, use Reduces emissions. cable clamps and ground straps Use cable clamps to connect a large surface area of Reduces emissions. the shields of all shielded cables to the mounting plate at the control cabinet entry. Ground shields of digital signal wires at both ends Reduces interference by connecting them to a large surface or via con- affecting the signal ductive connector housings. wires, reduces emissions Ground the shields of analog signal wires directly at Reduces ground loops the device (signal input); insulate the shield at the due to low-frequency other cable end or ground it via a capacitor (for interference. example, 10 nF). Use only shielded motor cables with copper braid Diverts interference cur- and a coverage of at least 85%, ground a large sur- rents in a controlled way, face area of the shield at both ends. reduces emissions

Cable installation EMC measures Objective Do not route fieldbus cables and signal wires in a Reduces mutual interfer- single cable duct together with lines with DC and AC ence voltages of more than 60 V. (Fieldbus cables, signal lines and analog lines may be in the same cable duct) Recommendation: Use separate cable ducts at least 20 cm apart. Keep cables as short as possible. Do not install Reduces capacitive and unnecessary cable loops, use short cables from the inductive interference. central grounding point in the control cabinet to the external ground connection. Use equipotential bonding conductors in systems Reduces current in the with cable shield, reduces - wide-area installations emissions. - different voltage supplies - networking across several buildings Use equipotential bonding conductors with fine Diverts high-frequency wires interference currents. If motor and machine are not conductively con- Reduces emissions, nected, for example by an insulated flange or a con- increases immunity. nection without surface contact, ground the motor with a ground wire (> 10 mm2) or a ground strap.

Use twisted pair for 24 Vdc signals. Reduces interference affecting the signal cables, reduces emissions.

Power supply EMC measures Objective Operate product on mains with grounded neutral Enables effectiveness of point (mains filter is not effective in IT mains). mains filter. Protective circuit if there is a risk of overvoltage. Reduces the risk of damage caused by overvoltage. 0198441113700, V2.03, 07.2010 44 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A6 Installation SD328A Stepper motor drive Equipotential bonding conductors bonding Equipotential Additional measuresfor EMC Motor and encoder cables improvement •16mmcan beused: sections cross ductor following the shown that has con- experience Practical flowing. current The equipotential bonding conductormust rated be forthemaximum cable shields. shields. Useequipotential bonding conductors to reduce currents on the Potential differencesresult in can following measures: achieved be can the results with better application, the on Depending An EMC-compliant design isrequired to meet the specified limit values. •20mm and implementmeasures below. the EMC described pre-assembledonly cables cables or that comply with the specifications Motorandof EMC. encoder cablesterms inUse especially are critical M esrsObjective Improveslimit EMC the Reduces mains harmon- interference of radiated dBdamping 15 with cabinet control closed a e.g.design, in EMC-compliant Particularly filters mains external Upstream reactors Upstream mains measures EMC Objective If acablehas tobecut forthe installation, itbe hasto connected withshield con- 1) them. cutting Route themotor cable encoder cable and without tors. conduc- bonding For equipotential lines, use long between themotor cablecable. signal and plates shielding cableuse or signal cmfromthe 20 Route themotor cable at cables.encoder Do not switchinginstall cables elements in motor or measures EMC nections andametal housing at thepoint the of cut. fmr hn20m 200 than more of m length of 200 2 2 (W 4) for equipotential bonding conductorslengtha with (AWG 4) for equipotentialbonding conductors upa to (AWG 1) a distanceofat least excessive cableon the currents Reduces emission. values. Improveslimit EMC the values. life.service ics, product prolongs cable shield. Reduces current in the ence mutualReduces interfer- Reduces interference. 45 6 Installation SD328A

Control cabinet Mains filter (optional)

Central grounding point Machine

PE L1 N

Motor (ground to machine)

Encoder

Motor

Fieldbus Signals

Figure 6.1 EMC measures1

1. Number of shield clamps depends on the device type. 0198441113700, V2.03, 07.2010 46 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A6 Installation Operation inanITmains 6.1.1 SD328A Stepper motor drive 2 Y-capacitorsthe of internal filter deactivated (IT mains) capacitors Y of the internal filteroperative (standard) (2) (1) Operation anITmains in 6.2 Figure tions and standards. measures required for compliance with allapplicable directives, regula- egories, see chapter 3.4.6 "Mains filter", page 32)! You must take all the specifications for radiated interference are no longer met (specified cat- Ifthe groundconnections of the Ycapacitorsare disconnected, the via theY capacitors must remaineffective! In thecase of allother mains except for IT mains, theground connection Ycapacitors). (deactivate the pacitors integrated mains filters, disconnect the ground connection of the Y ca- an error rectwiring, issignaled, you can, inthe caseproducts of with ble for non-linear loads (e.g. type Gerin XM200). Merlin If, in spite of cor- impedance. If you isolation use permanent monitoring, it must be suita- ITAn mains hasaneutralconductor that isisolated or groundedhighvia 1 2 PE 47 6 Installation SD328A

6.2 Mechanical installation

@ DANGER ELECTRIC SHOCK CAUSED BY FOREIGN OBJECTS OR DAMAGE Conductive foreign objects in the product or serious damage may cause parasitic voltage. • Do not use damaged products. • Keep foreign objects such as chips, screws or wire clippings from getting into the product. • Do not use products that contain foreign objects. Failure to follow these instructions will result in death or serious injury.

@ WARNING LOSS OF SAFETY FUNCTION CAUSED BY FOREIGN OBJECTS Conductive foreign objects, dust or liquids may cause the STO safety function to become inoperative. • Do not use the STO safety function unless you have protected the system against contamination by conductive substances. Failure to follow these instructions can result in death or serious injury.

@ CAUTION HOT SURFACES The heat sink at the product may heat up to over 100°C (212°F) during operation. • Avoid contact with the hot heat sink. • Do not allow flammable or heat-sensitive parts in the immediate vicinity. • Consider the measures for heat dissipation described. Failure to follow these instructions can result in injury or equipment damage. 0198441113700, V2.03, 07.2010 48 Stepper motor drive 0198441113700, V2.03, 07.2010 4) By 2.2 % per °Cper above By 2.2 % (by40 °C °F 1.22 above %per 104 °F) 4) Recommendation: Remove cover film afterinstallation 3) Distancein front the of device: 10mm(0.39 in.), above: 50mm(1.97in.), below:200mm (7.87in.) 2) Maximum operatingtemperature foruse asperUL:+40°C max. (104°F) 1) to 122°F) (104°F +50°C to +40°C 104°F) (32°F to 0°Cto+40°C Temperature 6 Installation Mounting thedevice 6.2.1 SD328A Stepper motor drive Mounting distances,ventilation 1) (d <1.97 in.) d <50mm Distance (d >1.97 in.) d >50mm (d <1.97 in.) d <50mm (d >1.97 in.) d >50mm Control cabinet 2) current continuous and current nominal Reduce None Reduce nominal current and and continuous current nominal Reduce d> 10mm None None None None without Measures cover film 4) iue63Mounting distancesand air circulation Figure6.3 When planning installationdistances, consider the dimensionsof a • limits are If exceeded thethermal operation, during the drive • The heated airflow from other devicescomponents and must not • Do not mount the deviceon flammable materials. • Do not mount the deviceclose to heat sources. • Adhere to the minimum installationdistances for requiredcooling. • Mount the device position ( vertical ain • following: When selecting the position of the device in the control cabinet, note the cabinet. heat generated by all devices and components operated in the control The ventilation of the control cabinetmust besufficientto remove the the EMC requirements. components installed canbe permanently and wired incompliancewith The control cabinetmust have asufficientsize so that alldevices and mains filter, see alsonotes on52 page switches (overtemperature). off heat uptheair for used cooling the device. Avoid heat accumulations. device. the cooling d 3) current (d >0.39 in.) Operation impossible withcover Measures film d 4) ± 10°). This is required for10°). Thisis 49 6 Installation SD328A

At least 10mm of free space is required in front of the device. At least 50mm of free space is required above the device. The connecting cables are routed out of the housing at the bottom. At least 200mm of free space is required below the device to allow for cable installation without bends. Mounting the device For the dimensions of the mounting holes, see chapter 3.3.1 "Dimen- sions", page 27. ̈ Mount the device in a vertical position (±10°). This is required for cooling the device. ̈ Mount the EMC plate at the bottom of the device, see also Figure 6.1, or use alternative connection elements (busbars, shield clamps or similar).

Attaching a label with safety ̈ Select the label suitable for the target country. instructions Observe the safety regulations in the target country. ̈ Attach the label to the front of the device so that it is clearly visible.

Instead of mounting the device directly to the control cabinet mounting plate, you can use adapter plates for DIN rail mounting which are available as accessories, see chapter 3.3.1 "Dimensions". In this case mains filters cannot be mounted directly next to or behind the device. NOTE: Painted surfaces have an insulating effect. Before mounting the device to a painted mounting plate, remove all paint across a large area of the mounting points until the metal is completely bare. 0198441113700, V2.03, 07.2010 50 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A6 Installation SD328A Stepper motor drive Removingthe cover film Mounting the fan ̈ Removing the cover film 6.5 Figure Mounting the fan Figure6.4 ̈ ̈ and connected. Device SD32 type product. Mount the fan before out theinstallation electrical carrying of the Mount thefan shown as intheillustrationbelow. tions. The covermust film removed be ifrequired by condi- the thermal Remove thecover film only after co •• U68 comes withU68 comes afan. fan The must mounted be mpletion ofallinstallationwork. 51 6 Installation SD328A

6.2.2 Mounting a mains filter

For technical data of external mains filters, see page 32. Information on the electrical installation can be found in chapter 6.3.5 "Mains supply connection", page 61.

Figure 6.6 Mounting a mains filter

̈ Mount the mains filter at the rear or the left side of the device.

If the mains filter is mounted behind the device, the mains filter connections are no longer accessible after installation of the EMC plate.

If you use DIN rail mounting plates, the mains filter cannot be mounted directly next to or behind the device. 0198441113700, V2.03, 07.2010 52 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A6 Installation Electrical installation 6.3 SD328A Stepper motor drive injury. Failure to follow these served. If aresidual current device (RCD) isused, conditions mustob- be GROUND CONDUCTOR THIS PRODUCT MAY CAUSEDIRECT injury. Failure to follow these instructions will result in death or serious Ground the cableat shields both ends; however,theshields are • cross The section of the protective ground conductor must com- • Do not useconduitsas protective ground conductors; usepro-a • thedrive Ground system • Insufficientgrounding causes the hazardelectric shocks. of SHOCKELECTRIC BYCAUSED INSUFFICIENTGROUNDING injury. Failure to follow these instructions will result in death or serious Do not useproducts that contain foreign objects. • Keep foreign objects such as chips, screws or wire clippings from • Do not usedamaged products. • voltage. parasitic cause Conductive foreign objects inthedamageproduct or may serious SHOCKELECTRIC BYCAUSED FOREIGN OBJECTS OR DAMAGE not protective groundconductors. ply with theapplicable standards. tectiveground conductorinside the conduit. gettinginto the product. instructions can result indeath orserious @ @ @ WARNING beforevoltage. applying DANGER DANGER CURRENTINTHE PROTECTIVE 53 6 Installation SD328A

Conditions for use of residual Where the installation regulations require upstream protection against current device direct or indirect contact by means of a residual current device (RCD) or a residual current monitor (RCM), a residual current device of "type A" can be used for a single-phase drive with connection between N and L. In all other cases, a "type B" RCD must be used. Note the following: • Filtering of high-frequency currents. • Delayed triggering to avoid triggering as a result of capacitance which may be present when the unit is switched on. 30 mA residual current devices rarely have a delay. Use residual current devices which are not sensitive to unintentional triggering, for example residual current devices with increased immunity. Use residual current devices that meet the following conditions: • For single-phase devices, type A: Residual current devices of series s.i (super-immunized, Schneider Electric). • For three-phase devices, type B: sensitive to all current types with approval for frequency inverters Suitability of the cables Cables must not be twisted, stretched, crushed or bent. Use only cables that comply with the cable specification. Consider the following in determining suitability of the cables: • Suitable for drag chain applications • Temperature range • Chemical resistance • Outdoor installation • Underground installation 0198441113700, V2.03, 07.2010 54 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A6 Installation Overview ofprocedure 6.3.1 SD328A Stepper motor drive The controller power supply Chapter 5.3 "Safety function STO ("Safe Torque Off")", page 38 • Chapter 5.2 "Specification of the control mode", page 38 • Chapter 5.1 "Logic type", page 37 • for alloperating modes! ..2"oncigMdu C4"78 79 84 69 72 75 Page (CN4)" terminal a PC oraremote 6.3.15 "Connecting the digi 6.3.14 "Connecting 60 61 (CN1)" inputs the analog 6.3.13 "Connecting Modbus6.3.12 "Connecting (CN4)" CN4)" CAN (CN1 or 6.3.11 "Connecting 64 (CN5)" PULSE 6.3.10 "Connecting theencoder 6.3.9 "Connecting thefan" 6.3.8 "Connecting (CN3)" brake ofholding 6.3.7 "Connection (CN2)" monitoring ofrotation 6.3.6 "Connection connection" supply 6.3.5 "Mains bus6.3.4 "DC connection" of 6.3.3 "Connection Chapter ̈ ̈ ̈ ̈ ̈ Finally, lock the frontplate. Verify compliance withrequirements, the EMC pagesee 43. other cables. sequence the maydescribed, connection terminals be covered by theintable below. If you donot make the connections inthe Make allrequired connections according to the sequence as shown system. the of point grounding central the device to ofthe plate EMC the or connection the ground Connect Unlock thefront plate of the deviceand open thefront plate. chapter 5 "Engineering", page 37. Take into account the information on the basicsettings in described mtrpae"58 phases" motor a nusotus(N) 80 (CN1)" tal inputs/outputs inl ,B C5"70 signals A, B, I (CN5)" +24VDC and controller supply voltage supply and controller ) must be connected ) must beconnected 67 55 6 Installation SD328A

6.3.2 Overview of all connections

Power connections

N/L2 L1 115V DC+ VS1 VS2 DC- U V W

N/L2 L1 230V DC+ VS1 VS2 DC- U V W

Figure 6.7 Power connections

Power connections Meaning PE Ground connection L1, N/L2 Mains connection DC+, DC- DC bus VS1, VS2 Setting the voltage range U, V, W Motor phases 0198441113700, V2.03, 07.2010 56 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A6 Installation SD328A Stepper motor drive Signal connections 1Switchfor resistor fieldbus terminating A/B/I signals in encoder PULSE/DIR in, Depend on"First Setup" 1) PC,Modbus, (RJ45) remoteterminal, CANopen; S1 24VPELV supply voltage,controller pins41-44 CN5 brake Holding 40-41 pins connection, CN4 Encoder CN3 31-39 pins inputs/outputs Digital CN3 pins21-23 CANopen, CN2 input ±10V, Analog 11-12 pins CN1 CN1 CN1 switch Connection/ Overview connections of signal 6.8 Figure CN2 Assignment 132 11 12 21 22 S1 335 23 CN4 31 CN1 OFF 338 33 34 40 1) 144 41 63 36 CN5 CN3 42 37 43 9 57 6 Installation SD328A

6.3.3 Connection of motor phases

@ DANGER ELECTRIC SHOCK High voltages at the motor connection may occur unexpectedly. • The motor generates voltage when the shaft is rotated. Prior to performing any type of work on the drive system, block the motor shaft to prevent rotation. • AC voltage can couple voltage to unused conductors in the motor cable. Insulate both ends of unused conductors in the motor cable. • The system integrator is responsible for compliance with all local and national electrical code requirements as well as all other applicable regulations with respect to grounding of all equipment. Supplement the motor cable grounding conductor with an additional protective ground conductor to the motor housing. Failure to follow these instructions will result in death or serious injury.

Cable specifications and terminal • Shielded cable • Shield grounded at both ends

Maximum cable length 1) [m] 10/50 Minimum conductor cross section [mm2]1.5 Maximum connection cross sec- [mm2]1.5 tion Tightening torque [Nm] 0.5 ... 0.6 (lb·in) (4.4 ... 5.3) 1) Depends on the required limit values for conducted interference, see chapter 3.4.6 "Mains filter".

• See chapter 3.5.2 "Cables" for additional information. ̈ Use pre-assembled cables (page 291) to reduce the risk of wiring errors. ̈ Use only the cables available as accessories, the use of other cables may destroy the product.

Approved motors Approved motor families: BRS3, ExRDM, VRDM3 Approved motor voltage: 230Vac / 325Vdc Further information on approved motors can be found in the product cat- alog. 0198441113700, V2.03, 07.2010 58 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A6 Installation SD328A Stepper motor drive Connecting the motor cable motor the Connecting Assembling cables Monitoring measures", page 45. dimensions refer to acable arrangementshown as inthefigure "EMC Notethe dimensions specifiedassembling when cables. specified The • Short circuit to ground Short • circuit betweenthe Short motorphases • The motor phases are monitored for: capacity and vibration resistance. way thatitfullyfills Use fork-type cable lugs or wire ferrules. the conductor in such Insert a ̈ ̈ ̈ ̈ ̈ 75mm ̈ 130 mm (B) (A) Steps (1-3) for Figure 6.9 protective ground conductor has length A. B. The the three motor(3)Shorten phase wires (U,V, toW) length large-surface connection of thebraiding shield to the EMCplate. 20the mmof shieldbraiding mustnot beinsulated fortherequired with heat tubing, shrink tape or by other means. Note that approx. back braiding overshield the cableSlide the jacket(2) fasten and it to approx. 50mm. the(1) cableStrip jacket theshield(length braiding A)and shorten Connecta large areaof the cable shieldthe to EMC plate. themotor and deviceends must match. U,terminals V, Wand PE(ground).connection The assignmentsat Connectthe motorphases and the protective ground conductor to Note the EMCrequirementsfor the motor cables,see page 45. 3 2 1 GN/YE GN/YE BU BN BK the entire lengthofthefe assembling the motorcable NB BK BU BN A A B 50 rrule forrrule maximum current 20 59 6 Installation SD328A

Wiring diagram

U V M W 3~

Figure 6.10 Wiring diagram motor

Connection Meaning Color 1) U Motor phase Brown (BN) V Motor phase Blue (BU) W Motor phase Black (BK) PE Protective ground conductor Green/yellow (GN/YE) 1) Color information relates to the cables available as accessories.

6.3.4 DC bus connection

CAUTION NON-APPROVED PARALLEL CONNECTION Operation with parallel connection via the DC bus may destroy the drives immediately or after a delay. • Do not connect the DC bus of several drives. Failure to follow these instructions can result in equipment damage. 0198441113700, V2.03, 07.2010 60 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A6 Installation Mains supply connection 6.3.5 SD328A Stepper motor drive with installed apermanently connection. The products are intended forindustrial use andmay onlyoperated be age. Failure tofollow theseinstructions canresultequipment in dam- Before switchingon and configuring theproduct, verifythat it is • Incorrect mains voltage may destroythe product. MAINS VOLTAGEINCORRECT TO DESTRUCTION DUE or equipment damage. injury serious indeath, result can Failurefollow to instructions these Do not connect the productto apower supply inwhich the short- • in"Technical specified fuses external the Use data". • INSUFFICIENT PROTECTION AGAINST OVERCURRENTS mm 10 at with least aprotectiveconductor ground Use • mA. > 3.5 leakagecurrent drive hasanincreased system This SHOCKELECTRIC BYCAUSED INSUFFICIENTGROUNDING injury. Failure to follow these instructions will result in death or serious approved for thevoltage. mains approved in"Technicaldata". circuit capacity exceeds the current maximumshort-circuit equipment. other applicable regulationsrespect with to grounding of all all localand nationalcode requirements electrical as well asall conductorssupplyingthe power Verify terminals. compliance with or two protective ground conductors with the cross section of the @ @

CAUTION WARNING DANGER 2 (AWG 6) 61 6 Installation SD328A

Cable specifications and terminal Minimum conductor cross section [mm2] 0.75 (AWG 18) Maximum connection cross sec- [mm2] 1.5 (AWG 16) tion Tightening torque [Nm] 0.5 ... 0.6 (lb·in) (4.4 ... 5.3)

• See chapter 3.5.2 "Cables", page 34 for additional information. The wires must have a sufficiently large cross section so that the fuse at the mains connection can trip if required. Note the information in chapter 6.1.1 "Operation in an IT mains" when connecting the device to an IT mains. Verify the suitability of the cables, see page 54, and the EMC-compliant connection, see page 44. Assembling cables Use fork-type cable lugs or wire ferrules. Insert the conductor in such a way that it fully fills the entire length of the ferrule for maximum current capacity and vibration resistance. Wiring diagram The figure below shows the mains supply connection. The figure also shows the wiring of an optional external mains filter. NOTE: In three-phase systems, the neutral conductor N must be used instead of L2 in the majority of cases.

PE 1 2

L1 L1 R/L1 N/L2 N/L2 S/L2

Figure 6.11 Wiring diagram mains supply for single-phase device

(1) Mains filter (optional) (2) Product If neutral conductor N is used instead of L2, a fuse is only required with L1. 0198441113700, V2.03, 07.2010 62 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A6 Installation SD328A Stepper motor drive Connecting mains supply Setting the voltage range • See page 34 fordesign. 34 page See aUL-compliant • Observethe EMC requirements. If necessary, usesurgearresters, • If you useanexternal mainsfilter, themains cable must beshielded • voltage range. correct the to device set be The must • Note thefollowing information: ̈ the voltage Setting range 6.12 Figure ̈ mains filtersandreactors, mains see page 52. filter and the deviceexceeds 200 mm. and grounded at both ends ifthe length between the external mains device, see chapter 6.3.2 "Overview of all connections". of your assignment terminal wires.the Note the mains Connect VS1 not to bridged VS2:(factory 230 V setting) VS2: toVS1 bridged 115 V Set the device to the correct voltagerange. 230V 115V DC+ DC+ VS1 VS1 VS2 VS2 DC- DC- N/L2 N/L2 U U L1 L1 V V W W 63 6 Installation SD328A

6.3.6 Connection of rotation monitoring (CN2)

Encoder The motor encoder is an incremental encoder integrated into the motor. It signals changes of the position of the motor shaft in the form of A/B/I signals. Cable specifications • Twisted pair • Shielded cable • Shield grounded at both ends

Maximum cable length [m] 100 Minimum conductor cross section [mm2] 10*0.25 + 2*0.5 (AWG 22)

• See chapter 3.5.2 "Cables", page 34 for additional information. 0198441113700, V2.03, 07.2010 64 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A6 Installation SD328A Stepper motor drive 2 1 Assembling cables A . .. 33-0760808 oe Micro-Fit Molex 69008-0982 43030-0007 2.5 ..3.0 ̈ ̈ ̈ ̈ ̈ 15mm length [mm] Stripping 90mm 25mm (C) (B) (A) for Steps (1-5) assembling cablethe encoder 6.13 Figure ̈ ̈ (1) Strip the(1) cableStrip jacket, length A. below. cable,pre-assembled follow a use you procedure not If the do used. is plate EMC included the when applicable are ing bledcables. The dimensions forconnecting the shield to the hous- illustrationthe below5 in be must Use pre-assembled cables errors.reduce to of wiring the risk Step ground connection). point, the cable is fastened to the EMC plate with a clamp (shield to this at shown; position cable the at jacket the C length to Strip (5) forthe pinassignment. Plug contacts the crimp into the connector housing; see Figure 6.14 shield drain wire.Insulate the shieldbraiding with tube. heat shrink thecontacts (4) toCrimp the remaining wires and to the insulated Insulatethe shield drainwire with tube. heat shrink (3)Thewith wire the color blue/red isnotrequired and maycut. be drainis wire required connection. as (2)Slide the shieldbraiding backover the cable jacket.shield The 5 no. crimp contact Manufacturer's 3 tool Crimping carried outeven carried pre-assem- with B manufacturer Connector 4 C 43025-1200 type Connector 65 6 Installation SD328A

Connecting the motor encoder ̈ Verify that wiring, cables and connected interfaces meet the PELV requirements. ̈ Note the EMC requirements for the encoder cable, page 45; use equipotential bonding conductors for equipotential bonding. ̈ Connect the connector to CN2. ̈ Fasten the cable to the EMC plate and verify that the cable shield is connected to a large surface area.

Wiring diagram

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

Figure 6.14 Wiring diagram rotation monitoring

Pin Signal Motor, pin Color 1) Pair Meaning I/O 12 ENC_A 1 White 1 Encoder signal channel A I 6 ENC_A 2 Brown 1 Encoder signal channel A, inverted I 11 ENC_B 3 Green 2 Encoder signal channel B I 5 ENC_B 4 Yellow 2 Encoder signal channel B, inverted I 10 ENC_0V_OUT 7 Blue 3 Reference potential to ENC+5V_OUT 2) O 2) 4 ENC+5V_OUT 8Red35Vdc supply for encoder, max. 100mA O 9 ENC_0V_SENSE 9 Black 4 Reference potential to ENC+5V_SENSE 2) I 3 ENC+5V_SENSE 10 Violet 4 SENSE line to ENC+5V_OUT 2) I 8 ENC_I 5 Gray 5 Encoder signal index pulse I 2 ENC_I 6 Pink 5 Encoder signal index pulse, inverted I 7 T_MOT 11 Gray/pink Temperature sensor PTC I 1 SHLD Shield drain wire 1) Color information relates to the cables available as accessories. 2) At the end of the motor cable (motor end), the signal wire ENC+5V_OUT must be connected to ENC+5V_SENSE and the signal wire ENC_0V_OUT must be connected to ENC_0V_SENSE. The LED "ENCODER lights up when the encoder supply is on." 0198441113700, V2.03, 07.2010 66 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A6 Installation Connection ofholding 6.3.7 SD328A Stepper motor drive brakeandcontrolle The controller power supply for alloperating modes! age. Failure tofollow theseinstructions canresultequipment in dam- Switch the powerinput of the powerunit supplyinstead of the • Usepowera supply unit thatthe limitspeak valuethe of output • welding may result. means of switchingof contacts, damageto the contacts contact or limitation. current have not inrush an The connection for thecontroller supply voltage at the product does CONTACTS TO DAMAGE or equipment damage. injury serious indeath, result can Failurefollow to instructions these Do not connect the controller supply voltage or change its wiring • Verify correct connectionbefore switchingon. • Do not interrupt the negativeconnection between the powersup- • ageexcessively cancause voltages high at the signalconnections. Interruptions of the negative connection of the controller supply volt- DAMAGE TO SYSTEMCOMPONENTSANDLOSSOF CONTROL injury. Failure to follow these instructions will result in death or serious Connect thenegative output of the powerunit supply PE to • Usepowera supply unit that meets the PELV (Protective Extra • connections inthedrivesystem. The ELECTRIC SHOCK CAUSED BY INCORRECTPOWER SUPPLY UNIT output voltage. current to avalue permissiblefor the contact. voltagewhile thesupply is present. ply unit andwith load afuseswitch. or (ground). Low Voltage) requirements. +24VDC supply voltage isconnectedwith many exposed signal @ r supply voltage (CN3) @

CAUTION +24VDC WARNING DANGER ) must be connected ) must beconnected If the voltage isswitchedby on 67 6 Installation SD328A

Wiring diagram

40 4142 43 44

M CN3 3~

24V = 0V

~ +24V

Figure 6.15 Wiring diagram CN3

Pin Signal Meaning I/O 40 +BRAKE_OUT Holding brake connection O LO4_OUT 1) Digital output 4 41 0VDC Reference potential to +BRAKE_OUT / LO4_OUT 42 0VDC Reference potential to +24VDC 43 +24VDC Controller supply voltage 44 +24VDC Controller supply voltage 1) As of software version 1.201

Cable specifications Minimum conductor cross section Controller supply voltage [mm2] 0.75 (AWG 18) Holding brake [mm2] 0.75 (AWG 18)

Connecting the controller supply ̈ Verify that wiring, cables and connected interfaces meet the PELV voltage requirements. ̈ Route the controller supply voltage from a power supply unit (PELV) to the device. ̈ Ground the negative output at the power supply unit. ̈ Note the maximum permissible terminal current when connecting several devices. ̈ Verify that the connector locks snap in properly at the housing.

Connecting the holding brake The holding brake can be connected directly. A holding brake controller is not required. ̈ Connect the holding brake directly. 0198441113700, V2.03, 07.2010 68 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A6 Installation Connecting thefan 6.3.8 SD328A Stepper motor drive Connecting the supply ̈ ̈ diagram fan Wiring 6.16 Figure The connection isonly required in the caseof device type SD32 the fanthe connection. Routethe power supply cable froma power supply unit(PELV) to Verify that and wiring cablesmeet the PELV requirements.

0V +24V +24V •• 0V U68. 69 6 Installation SD328A

6.3.9 Connecting the encoder signals A, B, I (CN5)

Function In the operating mode Electronic Gear, reference values can be supplied at CN5 via external A/B signals and the index pulse (I).

+ - 1 A 0 1 B 0

..78 9 ... 1213 1415 14 13 ... 9 8.. 1 I 0

Figure 6.17 Time chart with A, B and index pulse signal, counting forwards and backwards

Cable specifications • Twisted pair • Shielded cable • Shield grounded at both ends

Maximum cable length [m] 100 Minimum conductor cross section [mm2] 0.25 (AWG 22)

̈ Use equipotential bonding conductors, see page 45. ̈ Use pre-assembled cables (page 291) to reduce the risk of wiring errors.

Connecting the encoder ̈ Connect the connector to CN5. If you do not use a pre-assembled cable, verify correct pin assignment. ̈ Make the appropriate settings during commissioning. See "First Setup", page 101. 0198441113700, V2.03, 07.2010 70 Stepper motor drive 0198441113700, V2.03, 07.2010 )Color information relates to the cables available as accessories. 1) 10 4 6 Installation 8 3 Color 7 2 6 Signal 1 Pin SD328A 5 9 Stepper motor drive nc Not assigned Not nc ACTIVE2_OUT ENC_I ENC_I ENC_B ENC_B ENC_A ENC_A SHLD POS_0V Wiring diagram Wiring Gray Channel index Channel pulse Gray B channel signal Encoder Green A channel signal Encoder White e Drive ready index Channel pulse, inverted Red Pink B, Channel inverted Yellow A,inverted Channel Brown leReference potential Blue A 1) CN5 Figure 6.18 Wiring diagram, toCN5 encoder Wiring 6.18 Figure Meaning Shield 06 10 51 9 4 A 8 3 7 2 SHLD 9 4 8 3 7 2 6 1 5 RS422 input signal input RS422 signal input RS422 signal input RS422 signal input RS422 I/O Open collector signal input RS422 signal input RS422 71 6 Installation SD328A

6.3.10 Connecting PULSE (CN5)

@ WARNING UNEXPECTED MOVEMENT Incorrect or interfered signals as reference values can cause unexpected movements. • Use shielded twisted-pair cables. • If possible, operate the interface with push-pull signals. • Do not use signals without push-pull in critical applications or in environments subject to interference. • Do not use signals without push-pull in the case of cable lengths of more than 3 m and limit the frequency to 50 kHz Failure to follow these instructions can result in death, serious injury or equipment damage.

@ WARNING DESTRUCTION OF THE PRODUCT AND LOSS OF CONTROL The inputs at this connection are only rated for 5V. Excessive voltage can cause immediate or later destruction of the product. • Verify correct wiring before switching on. Failure to follow these instructions can result in death, serious injury or equipment damage.

Function The device is suitable for reference values supplied by means of external direction signals (PULSE/DIR). These are required, for example, for the operating mode Electronic Gear. The signal interface is used for positioning the motor. Operating readiness and a possible errors are signaled. 0198441113700, V2.03, 07.2010 72 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A6 Installation SD328A Stepper motor drive Signal input circuits ACTIVE2_OUT PULSE /DIR ENABLE2 nal. The direction is bycontrolled the If there is error,no If there the output the at edge the ENABLE2 Incontrol local mode,thepower stage canalsobe enabled with the ness approx.ness 100 msafter thepower stageenabled. is The motor performs anangle step withthe edge rising of the Figure 6.20 Signal input circuits input Signal 6.20 Figure ACTIVE2_OUT Function Value The maximum frequency of Signal 1 Pin signal Pulse/direction 6.19 Figure 2 PULSE Open collector RS422 DIR PULSE DIR 0 1 0 1 signal. In addition, an error message isacknowledged when is an open isan collector output and switchesV.0 to >2,5µs ENABLE2 + >2,5µs signal input falls. signal PULSE ACTIVE2_OUT 0 -> 1 Motor step Motor 0 ->1 pnPositive ofrotation direction 0 /open and + >0,0µs DIR CN5 CN5 DIR signal. i 0 kHz. is200 indicate operating readi- >2,5µs +5V +5V 0 10k 10k 10k 10k 4.7k 4.7k - Ω Ω Ω Ω +5V +5V Ω Ω + + - - PULSE + sig- 73 6 Installation SD328A

Cable specifications • Twisted pair • Shielded cable • Shield grounded at both ends

Maximum cable length [m] 100 Minimum conductor cross section [mm2] 0.14 (AWG 24)

̈ Use equipotential bonding conductors, see page 45. ̈ Use pre-assembled cables (page 291) to reduce the risk of wiring errors.

Connecting PULSE ̈ Connect the connector to CN5. If you do not use a pre-assembled cable, verify correct pin assignment. ̈ Make the appropriate settings during commissioning. See "First Setup", page 101.

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 Color 1) Meaning 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 ENABLE2 Gray Enable signal RS422 input signal 8 ENABLE2 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) Color information relates to the cables available as accessories. 0198441113700, V2.03, 07.2010 74 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A6 Installation ConnectingCAN 6.3.11 SD328A Stepper motor drive Cable specificationsand terminal Function (CN1orCN4) ̈ ̈ ̈ Mechanical conditions must be considered. 1) length Stripping with wireferrule Maximum connecti wireferrule without Maximum connecti [mm Minimum conductor cross section tween 1 (01 tween the network. The device isassigned a7 bit node address (node ID) be- Every network device must be configured beforeit canbe operated on dressed in one CANbus network branch. ble. devices 127 up to and ad- devices Up to 110 connected be can In the case of a CANbus, multiple devices are connected via a bus ca- profileis alsosupported. As of software version 1,201 and later, the CANmotion communication The deviceis suitable for connection to CANopen. For informationon further the fieldbus,the seefieldbus manual. commissioning. during set are rate baud and fieldbus. the in Address vices Maximum length dependson the numberdevices, of the baud rate • Shield groundedat both ends • Shielded cable • Twisted pair • requirements. Verify that cables wiring, and connected interfaces meet thePELV errors. Use pre-assembled cables (page 293)of wiring reduce to the risk Use equipotential bonding conductors, seepage45. thebus cable needsbe. to and signal propagation delay. The higher the baud rates the shorter h ) and 127 (7F 1) on cross section on cross section h ).The baud rate must bethe same for allde- [mm [mm m]85..9.5 ... 8.5 [mm] 2 2 2 0.75 (AWG 20) ] 1.5 (AWG 16) ] 0.14 (AWG 24) ] 75 6 Installation SD328A

Maximum bus length CAN The maximum bus length depends on the selected baud rate. The following table shows the maximum recommended overall lengths.

Baud rate [kbit/s] Maximum bus length [m] 50 1000 125 500 250 250 500 100 1000 20 1) 1) According to the CANopen specification, the maximum bus length is 4m. However, in practice, 20 m have been possible in most cases. External interference may reduce this length.

At a baud rate of 1 Mbit, the drop lines are limited to 0.3m. Terminating resistors Both ends of a CAN bus line must be terminated. A 120Ω terminating resistor between CAN_L and CAN_H is used for this purpose. The device is equipped with a terminating resistor that is activated with the S1 switch. ̈ If the device is at the end of the network, slide the S1 switch for the terminating resistor to the left.

Wiring diagram

CN1

1112 2122 23 31 32 3334 35 36 37 38 39 S1 OFF

Figure 6.22 Wiring diagram CAN to CN1

Pin Signal Meaning I/O 21 CAN_0V Reference potential CAN 22 CAN_L CAN interface CAN level 23 CAN_H CAN interface CAN level 0198441113700, V2.03, 07.2010 76 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A6 Installation 8 7 2 1 Pin SD328A Stepper motor drive MOD_0V MOD+10V_OUT CAN_L CAN_H Signal Connecting CAN Reference CAN/Modbus potential power10V (assignment differentsupply from CANopen) CAN interface CAN interface Meaning ̈ diagram CAN to CN4 Wiring 6.23 Figure (pins 1,8) 2and with anRJ45 connector. Connectthe CANopen cable to CN1, pins21,22 and 23orCN4 to S1 OFF A CN4 8 O O CAN level CAN level I/O A 1 77 6 Installation SD328A

6.3.12 Connecting Modbus (CN4)

Function The device is suitable for connection to Modbus. In the case of a Modbus, multiple devices are connected via a bus cable. Every network device must be configured before it can be operated on the network. Every device is assigned a unique node address. The baud rate must be the same for all devices in the fieldbus. Address and baud rate are set during commissioning. See "First Setup", page 101. For additional in formation see the Modbus manual, see page 293 for the order number. Cable specifications The cables used must have to the following properties: • Twisted pair • Shielded cable • Shield grounded at both ends

Maximum cable length [m] 400 Minimum conductor cross section [mm2]0.14 (AWG24)

̈ Use equipotential bonding conductors, see page 45. ̈ Use pre-assembled cables (page 293) to reduce the risk of wiring errors.

Wiring diagram

S1 OFF A

CN4

A 8 1

Figure 6.24 Wiring diagram Modbus

Pin Signal Meaning 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 to MOD+10V_OUT O

Connecting Modbus ̈ Connect the Modbus cable to CN4 with an RJ45 connector. 0198441113700, V2.03, 07.2010 78 Stepper motor drive 0198441113700, V2.03, 07.2010 i inlMeaning 12 11 Signal Pin 6 Installation Connectingthe 6.3.13 SD328A Stepper motor drive Connecting the analog inputs analog the Connecting ANA1- ANA1+ Reference values andlimits Cable specifications eeec au o prtn oeOclao,eauto:1 i I Reference to potential Reference value Oscillator, formode operating evaluation: bit 14 Wiring diagram Wiring CN1 analog inputs(CN1) Shielded cable • Twisted pair • Figure 6.25 Wiring diagram, inputs analog Wiring 6.25 Figure 10 ̈ [m] Maximum connection [mm Minimum conductor cross section Maximum cable length be specified foroperation, seepage112. The ±10V scaling of the analog reference values and analog limits can ANA1+ nected to a large surface area (ground potential). (ground surfacearea a large to nected Fasten the cable toplate; the EMC the cable shieldmust becon- i 1I , pin11 11 rs eto [mm cross section 12 132 21 22 335 23 31 2 2 1.5 (AWG 16) ] 0.14 (AWG 24) ] 338 33 34 63 36 37 9 I/O 79 6 Installation SD328A

6.3.14 Connecting the digital inputs/outputs (CN1)

@ WARNING LOSS OF CONTROL The use of LIMP and LIMN can provide some protection against hazards (e.g. collision with mechanical stop caused by incorrect reference values). • Use LIMP and LIMN where possible. • Verify that the external sensors or switches are properly connected. • Verify the correct installation of the limit switches. The limit switches must be mounted in a position far enough away from the mechanical stop to allow for an adequate stopping distance. • Before you can use LIMP and LIMN, you must enable them. Failure to follow these instructions can result in death, serious injury or equipment damage.

Cable specifications and terminal Maximum cable length at minimum [m] 15 conductor cross section Minimum conductor cross section [mm2] 0.14 (AWG 24) Maximum connection cross section [mm2] 1.5 (AWG 16) 0198441113700, V2.03, 07.2010 80 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A6 Installation SD328A Stepper motor drive Minimum connection assignment Connecting the digitalinputs/ outputs sponding parameters. Information on the signals ̈ ̈ ̈ ̈ 38 37 Remarks 36 35 34 33 Signal Pin +24VDC to connected theymust be used, not tableare the in listed signals the If following the is imperativeIt connect signals. to TorqueOff")" and inchapter 3.4.4"Safety function STO". safety functionbe can found inchapter 5.3 "Safety function STO ("Safe injury. Failure to follow these safety for the function. using requirements the Observe • tion. Incorrectmay usage hazardacauseofto due the the safety loss func- OF SAFETYLOSS FUNCTION ance). (low resist- surfacearea large a to shield the of ends both Ground to rotation of direction Connect the limit switch to rotation of direction Connect the limit switch theWire digitalconnections to CN1. STO_A HALT LIMP LIMN REF STO_B . LIMP ( ( PWRR_B PWRR_A , LIMN ) ) and instructions can result indeath orserious @ LIMN LIMP STO_A REF thatthe limits working range fornegative for range positive working the limits that Only for fieldbus mode control Only for fieldbus mode control Only for fieldbus mode control managed byparameters. of managed means arenot signals connection, Dual-channel WARNING can alsobedeactivated with the corre- . . ( PWRR_A ) and STO_B ( PWRR_B ) of the 81 6 Installation SD328A

Wiring diagram

CN1

11 12 21 22 23 31 32 3334 35 3637 38 39

Figure 6.26 Wiring diagram, digital inputs/outputs

Assignment for local control mode.

Pin Signal Meaning I/O 31 NO_FAULT_OUT Error output 24V, O LO1_OUT 1) Digital output 1 32 ACTIVE1_OUT Readiness 24V, O LO2_OUT 1) Digital output 2 33 LI1 1) Digital input 1 24V, I 34 FAULT_RESET Reset fault 24V, I LI2 1) Digital input 2 35 ENABLE Enable power stage 24V, I 36 HALT Function "Halt" 24V, I LI4 1) Digital input 4 37 STO_B (PWRR_B) Safety function STO 24V, I 38 STO_A (PWRR_A) Safety function STO 24V, I 39 +24VDC Only for jumpering pin 37 and 38 if - STO safety function is not used 1) As of software version 1.201 0198441113700, V2.03, 07.2010 82 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A6 Installation SD328A Stepper motor drive Assignment for fieldbus control mode. )As of software version 1.201 1) 39 38 37 36 35 34 33 32 31 Pin STO_B LI4 HALT LI3 CAP1 LIMP LI2 CAP2 LIMN LI1 REF LO2_OUT ACTIVE1_OUT LO1_OUT NO_FAULT_OUT Signal +24VDC STO_A 1) 1) 1) 1) ( ( PWRR_B PWRR_A 1) 1) ) ) Safety functionSTO 4 input Digital Function "Halt" 3 input Digital 1 Fast capturechannel position Limit switch positive signal 2 input Digital 2 Fast capturechannel position Limit switch negative signal 1 input Digital reference switchsignal 2 output Digital Readiness 1 output Digital Error output Meaning STO safety used function is not 38if and pin37 forOnly jumpering Safety functionSTO 24V, I 24V, I 24V, I 24V, I 24V, I 24V, O 24V, O I/O - 24V, I 83 6 Installation SD328A

6.3.15 Connecting a PC or a remote terminal (CN4)

CAUTION DAMAGE TO PC If the interface connector on the product is directly connected to a Gi- gabit Ethernet plug on the PC, the interface on the PC may be de- stroyed. • Never connect an Ethernet interface directly to this product. Failure to follow these instructions can result in equipment damage.

Function of the remote terminal The remote terminal with LC display and keypad can be directly connected to CN4 by means of the RJ45 cable shipped with the device, see chapter Accessories, page 291. This allows the device to be operated at a distance from the system. The functions and display of the remote terminal are identical to those of the HMI. Cable specifications and terminal • Shielded cable • Twisted pair • Shield grounded at both ends

Maximum cable length [m] 400 Minimum conductor cross section [mm2] 0.14 (AWG 24) Maximum connection cross section [mm2] 1.5 (AWG 16)

Connecting a PC An RS485 to RS232 converter is required to connect a PC, see chapter Accessories, page 291. The voltage for the converter is supplied by the device. 0198441113700, V2.03, 07.2010 84 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A6 Installation 8 7 5 4 Pin SD328A Stepper motor drive MOD_0V MOD+10V_OUT MOD_D0 MOD_D1 Signal Wiring diagram Wiring A CN4 Figure 6.27 Wiring diagram remoteterminal PC or Wiring 6.27 Figure Reference to potential mA 10 V power supply, max. 150 transmit/receiveBidirectional inverted signal, transmit/receiveBidirectional signal Meaning 8 A 1 VW3A8106 MOD+10V_OUT VW3A31101 RS 485 RS 232

N E

E S

N C

rese O levelRS485 levelRS485 I/O O t 85 6 Installation SD328A

6.3.16 Reference Value Adapter

Reference value adapter RVA Reference signals of a master device can be sent simultaneously to up to 5 devices using the RVA (Reference Value Adapter). This adapter also provides the voltage supply (5V, monitored via SENSE lines1) for the encoder. Correct power supply is indicated by an LED "5VSE". The master can be an external encoder (A/B signals) or an encoder sim- ulation (ESIM). It is also possible to send pulse/direction signals from a master controller. Connecting the reference value ̈ Verify that wiring, cables and connected interfaces meet the PELV adapter RVA requirements.

The RVA reference value adapter is supplied with 24 V at the connections CN9. A master controller (pulse/direction) can be connected to CN6. An external encoder signal or an ESIM signal can be applied to CN7. Up to 5 devices that evaluate the supplied reference signals can be connected to CN1 to CN5. Switch S1 is used to set the evaluation of the ACTIVE2_OUT signal. The ready signal ACTIVE2_OUT is evaluated by the device if the assigned switch is set to off. If readiness is signaled by all devices, the LED AC- TIVE CN1...CN5 lights.

Connection CN1..5 Switch setting S1 Connected devices at CN1...CN5 Corresponding switches 1..5 to "OFF", signal ACTIVE2_OUT of the corresponding device is evaluated Unconnected devices CN1..CN5 Corresponding switches 1..5 to "ON", signal ACTIVE2_OUT is simulated

1. At the encoder, signal wire CN7/2 (5VDC_OUT) must be connected to CN7/10 (SENSE+) and signal wire CN7/3 (POS_0V) to CN7/11 (SENSE-). 0198441113700, V2.03, 07.2010 86 Stepper motor drive 0198441113700, V2.03, 07.2010 i inlMaigI/O Meaning 4 - 12 - 14 7, 8 11 3 10 2 Signal 9 1 6 Installation Pin SD328A 15 Stepper motor drive cNotassigned nc ACTIVE_2 ENABLE_OUT ENABLE_OUT DIR_OUT DIR_OUT PULSE_OUT PULSE_OUT POS_0V CN8 24VDC 1 8 N CN5 CN6 / / 15 CN / B_OUT B_OUT 9 / / READY / / 0VDC 9 A_OUT A_OUT I_OUT I_OUT / / 8 1 ESIM_B_OUT ESIM_B_OUT CN7 / / 13 / / 25 ESIM_A_OUT ESIM_A_OUT 15 S1 OFF 9 ESIM_I_OUT ESIM_I_OUT ACTIVE (CN1...CN5) 5VSE 4 The following table shows the connection assignment of CN1 - CN5: - CN1 of assignment following The connection table shows the Reference Value Adapter 6.28 Figure 1 8 CN1 15 9 ieto+ hne ,EI_ O O B, Direction+, channel ESIM_B A,ESIM_A channel Pulse+, NBE,idxple SMIO indexENABLE+, pulse, ESIM_I rv ed I O Reference potential Drive ready O index inverted ESIM_I ENABLE-, inverted, pulse O ESIM_Binverted B channel inverted, Direction-, A ESIM_Ainverted inverted, Pulse-, channel 1 8 CN2 15 9 1 8 CN3 15 9 1 8 CN4 15 9 1 8 15 9 M3 87 6 Installation SD328A

The following table shows the connection assignment of CN6:

Pin Signal Meaning 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

The following table shows the connection assignment of CN7:

Pin Signal Meaning 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 of motor encoder supply 1) I 11 SENSE- Reference potential for motor encoder monitoring 2) I 2 5VDC_OUT 5V motor encoder supply 1) O 3 POS_0V Reference potential to 5VDC_OUT 2) 4, 7, 8, 14, nc Not assigned 15

1) At the end of the encoder cable (motor end), the signal wire CN7.2 (5VDC_OUT) must be connected to 7.10 (SENSE+). 2) At the end of the encoder cable (motor end), the signal wire CN7.2 (POS_0V) must be connected to 7.10 (SENSE-).

Pre-assembled cables are available for the Reference Value Adapter, see chapter 12 "Accessories and spare parts". 0198441113700, V2.03, 07.2010 88 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A6 Installation SD328A Stepper motor drive CN8 24VDC N CN5 CN6 CN 9 CN7 Pulse direction E S1 ACTIVE (CN1...CN5) 5VSE CN1 CN2 CN3 CN8 24VDC Figure 6.30 Wiring example: Pulse direction signals (at CN6) are sent to3 are (atCN6) example: signals direction Pulse Wiring Figure 6.30 example: to6 sent A/B/I(atCN7)are signals Encoder Wiring Figure 6.29 N CN5 CN6 CN CN4 9 CN7 S1 ACTIVE (CN1...CN5) 13 5VSE OFF CN1 devices. devices Reference two cascaded via Value Adapters 25 OFF

OFF CN2 4 CN8

ON 24VDC CN3 N CN5 CN6

ON CN 9 CN4 CN7 S1 ACTIVE (CN1...CN5) 5VSE CN1 CN2 CN3 CN4 89 6 Installation SD328A

6.4 Checking installation

Verify proper installation: ̈ Check the mechanical installation of the entire drive system:

• Does the installation meet the specified distance requirements? • Did you tighten all fastening screws with the specified torque? ̈ Check the electrical connections and the cabling:

• Did you connect all protective ground conductors? • Do all fuses have the correct rating; are the fuses of the specified type? • Did you connect both ends of all live cables or insulate them (no exposed cable ends)? • Did you properly connect and install all cables and connectors? • Are the mechanical locks of the connectors correct and effective? • Did you properly connect the signal wires? • Are the required shield connections EMC-compliant? • Did you take all measures for EMC compliance? ̈ Verify that all covers and seals of the control cabinet are properly installed to meet the required degree of protection.

̈ If necessary, remove the cover film (see chapter 6.2.1 "Mounting the device"). 0198441113700, V2.03, 07.2010 90 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A7 Commissioning Commissioning 7 SD328A Stepper motor drive injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these the systemif there are Only nopersonsor start obstructions in • Verify the functions after replacing the product andafter also • When commissioning, carefully tests run for all operating states • Verify that the stored data and settings are correct. • Do NOToperate the drivesystemwith unknown settings or data. • movements or responses to signals and disable monitoring functions. data orsettings. Unsuitable settingsdata or may unexpected trigger The behavior of the drive systemis governed by numerous stored UNINTENDED BEHAVIOR injury. Failure to follow these instructions will result in death or serious the systemif there are Only nopersonsthein start hazardous • tor's view and cannotbe visually monitored. the drivesWhen are thestarted, out usually systemof the is opera- UNINTENDED CONSEQUENCESOF injury. Failure to follow these instructions will result in death or serious Turn off the mains voltage using an appropriate switch to achieve • busThe DC isolation. The safety functionSTO ("Safe TorqueOff")does not electric cause ELECTRIC SHOCK CAUSED BY INCORRECTUSE the hazardous area. making changesthe tosettings or data. and potential faultsituations. area. a voltage-free condition. voltageis stillpresent. @ @ @ WARNING DANGER DANGER EQUIPMENT OPERATION EQUIPMENT 91 7 Commissioning SD328A

@ WARNING UNEXPECTED MOVEMENT When the drive is operated for the first time, there is a risk of unexpected movements caused by possible wiring errors or unsuitable parameters. • Perform the first test run without coupled loads. • Verify that a functioning button for EMERGENCY STOP is within reach. • Anticipate movements in the incorrect direction or oscillation of the drive. • Only start the system if there are no persons or obstructions in the hazardous area. Failure to follow these instructions can result in death, serious injury or equipment damage.

@ CAUTION HOT SURFACES The heat sink at the product may heat up to over 100°C (212°F) during operation. • Avoid contact with the hot heat sink. • Do not allow flammable or heat-sensitive parts in the immediate vicinity. • Consider the measures for heat dissipation described. Failure to follow these instructions can result in injury or equipment damage. 0198441113700, V2.03, 07.2010 92 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A7 Commissioning Overview 7.1 SD328A Stepper motor drive Control mode To bedone Fieldbus controlmode: Fieldbus commandsRS422 or signals are 114 • Page Local control mode: Reference values are provided in the form of 118 Page Page • mode control 112 Page 101 trol modes. 90 Thesecontrol modes are localcontrol mode and fieldbus Page Page Some productsofproduct this family can beoperatedwith different con- Check motor rotation of the direction of the 110 Page safety functionis not used. STO ofthe Check signals the safety even function, STOif the Limit switch signals the tests function, signals digital Set, test scale,Set, checksignals analog deviceCheck critical and set parameters Perform the "First Setup" Check installation the Chapter (DS402)". 8.5.8 "Operating mode Cyclic Synchronous Position 402) requires onlyafew commissioning steps. See (CiA The operatingSynchronous mode "Cyclic Position" chapter.this in detail explained are more in parameters of some function foundtheinchapter "Parameters". The useand the overviewalphabeticallyAn sorted of conditions. productif you want use to itunder changedoperating You mustalso re-commissionan alreadyconfigured used for communicationwith the products. analog signals or RS422 signals. LIMP all parameters can be can be parameters , LIMN ae117 Page ae116 Page 93 7 Commissioning SD328A

7.2 Commissioning tools

7.2.1 Overview

The following tools can be used for commissioning, parameterization and diagnostics: • Integrated HMI • Remote terminal • Commissioning software • Fieldbus Access to the complete list of parameters is only possible with the commissioning software or via the fieldbus.

ESC

ENT

stop reset RUN FWO REV

1 2 3 4

Figure 7.1 Commissioning tools

(1) Integrated HMI (2) PC with commissioning software (3) Remote terminal (4) Fieldbus 0198441113700, V2.03, 07.2010 94 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A7 Commissioning HMI: Human-Machine Interface 7.2.2 SD328A Stepper motor drive Control panel Function (10) No function No function No Stop) (Software Stop Quick (10) Status indication (9) Red LEDon: Voltagepresent DC bus at (8) (7) (6) arrow: Up (5) Arrow: Down (4) ENT: (3) ESC: Status LEDs (2) (1) HMI and remote terminal Figure 7.2 The following figure shows the HMI (left) and the (right).remote terminal and theoperation. structure HMI the to introduction followingbrief The a provide sections missioning software must be used. whethera function canbe out carried via the HMI or whether the com- The sections oncommissioningandoperation include information on chine Interface(HMI). Diagnosticsinformation be canalso displayed. The device allows you to edit parameters viathe integrated Human-Ma- 6 4 5 - Increasethe displayed value parameter or menu previous to Return - - Decreasethe displayed value - Goto next menu or parameter EEPROM the - Savedisplayedvalueto - Display amenuparameter or va displayed from Return - - Closeamenu or parameter 8.8.8.8 7 ESC ENT ERR RUN BUS lue tolaststoredvalue 1 2 3 5 4 xxxx 10 xxxx 8.8.8.8 RUN 7 9 ESC ENT STOP RESET 8 3 2 95 7 Commissioning SD328A

LEDs for CANopen 2 LEDs show the state of the CANopen state machine as per the CANopen standard DR 303-3.

Figure 7.3 Meaning of the LED signals

LED "Fieldbus RUN" (1) Device is in the NMT state OPERATIONAL (3) Device is in the NMT state PRE-OPERATIONAL (5) Device is in the NMT state STOPPED LED "Fieldbus ERR" (1) CAN is BUS-OFF, for example after 32 incorrect transmission attempts. (2) Device is operating (4) Warning limit reached, for example after 16 incorrect transmission attempts (6) Monitoring event (node guarding) (7) SYNC message was not received within the configured period Font on HMI display The following table shows the assignment of the letters and numbers to the symbols displayed by the HMI as used in the sections on parameters. Uppercase and lowercase are only distinguished for the letter "C".

ABCDEFGHI J KL MNOPQR ABcCDEFGHiJKLMNoPQR

STUVWXYZ1234567890 STuVWXYZ1234567890 0198441113700, V2.03, 07.2010 96 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A7 Commissioning SD328A Stepper motor drive Displaying parameters viathe HMI Menu structure iue75HMI menu structure Figure 7.5 the menu structure. is menu-driven.The HMI Thefollowing Ifyou ESC, press thedisplay back returns value. to the original ROM. The modified valueconfirmation. the selectedvalue.ENT toPress confirm The display flashesonce for tedrange of values; alphanumericalvalues are selected fromlists. The two arrow keys areto used set numericalvalues within the permit- HMI, exampleparameter a of setting 7.4 Figure entering a parameter value. parameter a entering The followingfigure shows an example of displaying aparameter and Eachparameter thatcan bedisplayed is accessed viaamenu item. Menus Set- - First Setup - FirstSetup

- FirstSetup

Power On: Power done Menu notdone ENT ESC (next parameter) ESC ESC ESC ESC ESC ESC ESC ESC aaee Value Parameter Save Fc500 iStd GFAc srv (Om- drC- JoG- SEt- STA- FLt- FSU- rdy InF- ENT ENT ENT ENT ESC ESC ENT ENT ESC ESC ENT ESC ENT ESC is immediately written totheEEP- written immediately is ENT ENT ENT ESC ESC ESC ENT ESC illustration shows thetoplevelof 1000 JOG Mode Service Drive Configuration Settings Communication Status Information Fault First Setup Information /Identification (flashing) Store ESC ENT 1000 ESC 97 7 Commissioning SD328A

HMI menu Description FSU- FSU- First SetUp for initial settings DEVC Specification of the control type Mtyp Motor selection ENCm Processing of motor encoder position ioPi Signal selection position interface io-M Start-up operating mode for "Local Control" mode CoAD CANopen address = node number ("Fieldbus" control mode only) CoBD CANopen baud rate ("Fieldbus" control mode only) MBAD Modbus address ("Fieldbus" control mode only) MBBD Modbus baud rate ("Fieldbus" control mode only) ioLt Logic type of digital inputs/outputs SAVE Saving the settings SET- Set- SETtings (device settings) A1of Offset at analog input ANA1 A1WN Zero voltage window at analog input ANA1 A1NS Scaling ANA1 for reference speed at +10V (operating mode Oscillator) GFAC Selection of special gear ratios istd Percentage of phase current at standstill irmp Percentage of phase current during acceleration / deceleration component icms Percentage of phase current during constant movement DRC- drC- DRive Configuration (device configuration) mtyp Motor selection ENCm Processing of motor encoder position ioLt Logic type of digital inputs/outputs io-M Start-up operating mode for "Local Control" mode ioPi Signal selection position interface ioAE Automatic Enable at PowerOn if ENABLE input is active PRoT Definition of direction of rotation FCS Restore factory settings (default values) BTCL Time delay for applying the holding brake BTRE Time delay for releasing the holding brake supv Value displayed by HMI when motor moves SRV- srv- Service brak Releasing/applying the holding brake (requirement: power stage supply is off) JOG- Jog- JOG STrt Start jog NSLW Speed for slow jog NFST Speed for fast jog COM- COm- COMmunication CoAD CANopen address = node number ("Fieldbus" control mode only) CoBD CANopen baud rate ("Fieldbus" control mode only) 0198441113700, V2.03, 07.2010 98 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A7 Commissioning STA- INF- FLT- SD328A M euDescription HMI menu Stepper motor drive StA- MiNo PiNo PoWo _PVR _PNR _nAM dev[ Inf- STPF FLt- MBWo MBBD MBFo MBAD oPh SiGS WRNS TPA TDEV uDCA iACT Pdif PACU NACT A1AC ioAC Status indication Status Monitoring of device, Monitoring ( motor motiondata and Nominal motor current Nominal current of power stage Number ofpower cycles on Version number firmware Program number firmware Product Name mode control selected Currently INF faultlast stop number of Error F software) missioning Modbus word for sequence double values) words (32 bit ("Fieldbus" com- controlmodeand software) commissioning and Modbusrate ("Fieldbus" mode control baud softwarecommissioning and mode ("Fieldbus"control Modbus format data software)Modbus ("Fieldbus" commissioning address controlmodeand Operating hours counter hours Operating Saved signals of monitoring status Saved bit-coded warnings, Power temperature stage Device temperature DC bus voltage of the power supply voltage stage Totalcurrent motor deviationCurrent between reference positions and actual Actualmotor positionin user-defined units motor speed of Actual VoltageANA1 input value analog and outputs inputs ofdigital Status au ormation /Identification ormation LT (Information on operating state state Fault) (Information on operating A changebecomesonlyactive when the power stageis disabled. • • • set the followingcan menuvia the item By default, the currentoperating statedisplayed, is pagesee 124. You iact nact stat displays thecurrent motor current displays the current speed of rotation of the motor displays the current operating state STA tus Information) drc- / supv : 99 7 Commissioning SD328A

7.2.3 Lexium CT commissioning software

CAUTION DAMAGE TO PC If this commissioning interface at the product is directly connected to a Gigabit Ethernet interface at the PC, the PC interface may be de- stroyed. • Never directly connect an Ethernet interface to the commissioning interface of this product. Failure to follow these instructions can result in equipment damage.

The commissioning software has a graphic user interface and is used for commissioning, diagnostics and testing settings. Source of commissioning software The latest version of the commissioning software is available for download from the internet. http://www.schneider-electric.com Functions of the commissioning The functions of the commissioning software include: software • Scan various fieldbuses for devices • Extensive information on connected devices • Display and enter device parameters • Archive and duplicate device parameters • Manual positioning of the motor • Test input signals and output signals • Record, evaluate and archive motion and signals • Error diagnostics • Optimize control performance (servo motors only) System requirements The minimum hardware requirements for installation and operation of the software are: • IBM-compatible PC • Approx. 200 MB of hard disk space • 512 MB RAM • Graphics card and monitor with a resolution of at least 1024x768 pixels • Free serial interface (RS232) or free USB interface • Operating system Windows 2000, Windows XP Professional or Windows Vista • Acrobat Reader 5.0 or later • Internet connection (for initial installation and updates) Online help The commissioning software offers comprehensive help functions, which can be accessed via "? - Help Topics" or by pressing the F1 key. 0198441113700, V2.03, 07.2010 100 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A7 Commissioning "First Setup" 7.3.1 Commissioning procedure 7.3 SD328A Stepper motor drive "First Setup" via HMI via Setup" "First Preparation The followingdiagram shows the sequence viathe HMI. ̈ ࡯ requir Setup"is A "First on for thefirst time orafter the factorysettings have beenrestored. injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these the systemif there are Only nopersonsor start obstructions in • Check the parameters beforeoperation. • Preparelist a with the parameters required forthe functions used. • unexpectedtrigger movements or responses of signals. Unsuitable parametervalues may disable functions monitoring and OF CONTROLLOSS UNS TO DUE Switch onSwitch the controller supply voltage. deviceunless commissioningperformed is exclusivelyvia theHMI. the to connected be must software commissioning the with A PC the hazardous area. ed when the controller su controller the when ed @ WARNING UITABLEVALUES PARAMETER pply voltage switched is 101 7 Commissioning SD328A

FSU-

ENT

ENT ENT DevC None ESC IO CANO MoDB

ENT ENT None 1117 MTYP 368 1122 ESC 397 e910 3910 e913 3913 USER 1

ENT ENT enCm None ESC NOCO PINF ROTM 1

ENT ENT IOPI Ab ESC Pd

DEVC = IO DEVC = CANO DEVC = MoDB

ENT ENT ENT ENT ENT ENT IO-M none COAD 127 mbad 1 ESC ESC GEAR ESC Osci

1 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

(1) The next menu item can only be selected if the previous menu item has a valid value (≠none). 0198441113700, V2.03, 07.2010 102 Stepper motor drive 0198441113700, V2.03, 07.2010 - DEVC - DEVcmdinterf D2A7 Commissioning HMI menu Parameter name SD328A Stepper motor drive DEVC settings"). time (exception: of change value 0,for"Initial active isswitched unit the until next the on become not NOTE:do settings Changed 3 /ModbusDevice3 / 0 / none / 0 /none mode control ofthe Specification 1 /IODevice/ 2 /CANopenDevice / ecito Unit Description Device control Motor type Motor NoNE io : Undefined : Localcontrol mode MoDB SM_n_90% SM_I_nom lowing parameters must be checked and adjusted: fieldbus. the software or fol- The commissioning the set via must be data moto user-specific a of case the In set. matically is auto- data type, motor-specific the motor youa defined When select ̈ ̈ CANo to the device. parameter the Use mode forthe device. Use the parameter : Modbus : CANopen , , SM_n_50% SM_Pole_Pairs 3 0 0 - Maximum value Factory setting Minimum value SM_Type DEVcmdinterf and SM_n_20% , SM_Ind_U_V ( MTYP r, the corresponding motor-specific ) to) specify the motorconnected ( . - per. R/W UINT16 UINT16 Expert Persistent R/W Data type DEVC , ) tospecify the control SM_Res_U_V CANopen 3005:1 CANopen via fieldbusvia Parameter address Modbus 1282 , h 103 7 Commissioning SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

SM_Type Motor type - UINT32 CANopen 300E:2h none - UINT32 Modbus 3588 DRC- - MTYP 0 / none / : No motor selected (default) - R/W 368 / VRDM368/50LW / 368: VRDM368/ DRC- - MTYP - per. 50LW - 397 / VRDM397/50LW / 397: VRDM397/ 50LW 3910 / VRDM3910/50LW / 3910: VRDM3910/50LW 3913 / VRDM3913/50LW / 3913: VRDM3913/50LW 5368 / BRS 368W / b368: BRS 368W 5397 / BRS 397W / b397: BRS 397W 31117 / VRDM31117/50LW / 1117: VRDM3117/50LW 31122 / VRDM31122/50LW / 1122: VRDM31122/50LW 43910 / ATEX ExRDM3910/50 / E910: ATEX ExRDM3910/50 43913 / ATEX ExRDM3913/50 / E913: ATEX ExRDM3913/50 51117 / BRS 3ACW / b3AC: BRS 3ACW 51122 / BRS 3ADW / b3AD: BRS 3ADW 53910 / BRS 39AW / b39A: BRS 39AW 53913 / BRS 39BW / b39b: BRS 39BW 54910 / ATEX BRS 39AA / E39A: ATEX BRS 39AA 54913 / ATEX BRS 39BA / E39B: ATEX BRS 39BA 99999999 / user defined motor / uSEr: User-defined After selection of a motor type from the list, the motor-specific parameters are automatically set. When you select 'user-defined', you must set the motor-specific parameters via the commissioning software or the fieldbus.

Motor encoder ̈ Use the parameter CTRLS_MotEnc (encm) to specify whether or not a motor encoder is connected to the device and to indicate its function.

Select noCo if no motor encoder is not connected. If PINF or RotM is selected, an encoder must be connected for operation. In addition, temperature monitoring for the encoder is activated. PINF delivers only position information, rotation monitoring is not active. Select RotM to activate rotation monitoring. If "no motor encoder connected" is selected, the corresponding reference values _p_refusr or _n_pref are output as the motor position (_p_actusr) or the motor speed (_n_act). If rotation monitoring is activated and the encoder cable is connected correctly, the "ENCODER" LED lights up when the device is switched on. 0198441113700, V2.03, 07.2010 104 Stepper motor drive 0198441113700, V2.03, 07.2010 DRC- DRC- - ioPi IOposInterfac DRC- DRC- - ENCM CTRLS_MotEnc HMI menu Parameter name 7 Commissioning HMI menu Parameter name SD328A Stepper motor drive Function of theinterface RS422 - - ioPi ENCM Start-up operatingStart-up mode nected, rotationmoni 2 /ShowEncPos / connected 1 /NoEncCon/ motor speed motor speed (_n_act). and (_p_actusr) position motor as output are the reference values _n_pref _p_refusr and If you connected", motorencoder select "No activated.also encoder is ofthe temperature monitoring connected", If youencoder "Motor select nected, rotation 3 /RotMonOn/ infoposition time. active isswitched unit the until next the on Unit become not NOTE:do settings Changed I/O RS422 interface (Pos) ENABLE2 1 /PDinput / evaluation (indexENC_I quadruple pulse) / ABinput / 0 interface position selection Signal Description Unit 0 /undefined/ of position Processing motor encoder Description PD AB none : Input PULSE, DIR, monitoring active monitoring : InputENC_A, ENC_B, noCo rotM PInF : Undefined (default): Undefined toring inactive,toring only ing operatingand modes" thefollowing. The operating modes are in andchapter described chang- 8.4 "Starting ̈ ࡯ ̈ : Nomotor encoder : Motor encoder con- : Motorencodercon- mode the device activate the to whenever is mode switchedit is on. Use the ( DEVcmdinerf IOposInterfac Set the assignment for theRS422 interface with the DEVC = IO IOdefaultMode ) = IODevice ( 3 0 0 - 1 0 0 - Maximum value Factory setting Minimum value Maximum value Factory setting Minimum value IOPI ) parameter. parameter ( parameter - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 Expert Persistent R/W Data type Expert Persistent R/W Data type IO-M )set to the operating CANopen 3014:9 CANopen CANopen 3005:2 CANopen fieldbusvia Parameter address fieldbusvia Parameter address Modbus 5138 Modbus 1284 h h 105 7 Commissioning SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

IOdefaultMode Start-up operating mode for 'Local control - UINT16 CANopen 3005:3h mode' 0 UINT16 Modbus 1286 DRC- - io-M 0 R/W 0 / none / NoNE: None DRC- - io-M GEAR 6 per. 3 / ElectronicGear / : Electronic gear - 4 / Oscillator / oSCL: Oscillator mode (reference value from ANA1) 5 / Jog / Jog: Jog 6 / MotionSequence / MotS: Motion sequence NOTE: The operating mode is automatically activated as soon as the drive switches to the operating state 'OperationEnable' and 'IODevice / IO' is set in DEVcmdinterf.

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

The settings are valid for CANopen and for CANmotion.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

CANadr CANopen address (node number) - UINT16 CANopen 3017:2h 1 UINT16 Modbus 5892 COM- - CoAD Valid addresses (node numbers): 1 to 127 127 R/W COM- - CoAD 127 per. NOTE: Changed settings do not become - active until the unit is switched on the next time or until after an NMT reset.

CANbaud CANopen Baud rate - UINT16 CANopen 3017:3h 50 50 UINT16 Modbus 5894 COM- - CoBD 50 / 50KB / : 50 Kbaud 125 R/W 125 / 125KB / 125: 125 Kbaud COM- - CoBD 250 1000 per. 250 / 250KB / : 250 Kbaud - 500 / 500KB / 500: 500 Kbaud 1000 / 1MB / 1000: 1 Mbaud NOTE: Changed settings do not become active until the unit is switched on the next time

Fieldbus Modbus ࡯ DEVcmdinerf = ModbusDevice (DEVC = MoDB) ̈ Specify the node address with the MBadr parameter (MBAD) and the baud rate with the MBbaud parameter (MBBD). 0198441113700, V2.03, 07.2010 106 Stepper motor drive 0198441113700, V2.03, 07.2010 DRC- DRC- - ioLT IOLogicType COM- COM- - MBAD MBadr D2A7 Commissioning HMI menu Parameter name COM- COM- - MBBD MBbaud HMI menu Parameter name SD328A Stepper motor drive - - - ioLT MBAD MBBD Select logictype ecito Unit time. active isswitched unit the until next the on become not NOTE:do settings Changed logic ing 1 /sink/ rent 0 /source / of inputs/outputs type digital Logic Description Unit Valid 1to 247 addresses: Modbus address Description time active isswitched unit the until next the on become not NOTE:do settings Changed / 38.4KB / 38400 / 19.2KB / 19200 / / 9600 9.6KB Modbus Baud rate SIN SOU : For withcurrentsink- outputs 9.6 : For: cur- supplying outputs 38.4 19.2 : 9600 : 9600 Baud ̈ : 38400 Baud : 38400 Baud : 19200 Specify the logic type with the parameter parameter the with type logic the Specify For more information see chapter 5.1"Logic type". 1 0 0 - Maximum value Factory setting Minimum value 247 1 1 - Maximum value Factory setting Minimum value 38400 19200 9600 - - per. R/W UINT16 UINT16 Expert Persistent R/W Data type - per. R/W UINT16 UINT16 Expert Persistent R/W Data type - per. R/W UINT16 UINT16 IOLogicType CANopen 3005:4 CANopen fieldbusvia Parameter address 3016:4 CANopen fieldbusvia Parameter address Modbus 5638 3016:3 CANopen Modbus 5640 Modbus 1288 ( IOLT ). h h h 107 7 Commissioning SD328A

Saving data CAUTION DAMAGE TO THE PRODUCT CAUSED BY POWER OUTAGE If the supply voltage becomes unavailable during an update, the product will be damaged and must be sent in for repair. • Do not switch off the supply voltage during the update. • Update the firmware only with a reliable supply voltage. Failure to follow these instructions can result in equipment damage.

̈ Save all entries when you are done. HMI: Save your settings with save Commissioning software: Save your settings via "Configuration - Save in EEPROM" ୵ The device saves all set values to the EEPROM and displays the status nRDY, RDY or DIs on the HMI. A restart of the device is required for the changes to become effective. Further steps ̈ Attach a label to the device that contains information for servicing the device such as fieldbus type, fieldbus address and fieldbus baud rate. ̈ Make the settings described below for commissioning.

Note that you can only return to the "First Setup" by restoring the factory settings, see chapter 8.6.12.2 "Restoring the factory settings", page 222. 0198441113700, V2.03, 07.2010 108 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A7 Commissioning Operating state(statediagram) 7.3.2 SD328A Stepper motor drive Releasing and applying the holding Operating states and state Graphical representation Graphical T 9 prtn tt Statetransition Operating state T8 HALT brake viathe HMI H nrdy INIT rUn aLt Son rdy dis Switching on transitions To SwitchOn To SwitchOn T4 T3 T2 Switched On Start Not Ready Switch On Operation Disabled Enabled Ready T1 T0 T5 T6 T7 6 2 1 3 4 5 plying the holding brake. iue77State diagram Figure 7.7 The state diagramrepresented is asaflow chart. monitoring. current ing functions and system functionstemperature suchas monitoringor The operating states are monitored and influencedby monitor- internal operating states and the state transitions. The state diagram (state machine) shows the relationshipsbetween the goes through anumberof operating states. After switching onand when an operating the product mode isstarted, statesstate and transitions. See chapter 8.3 "Operating states" for detailed information on operating Select the HMI menuSelect theHMI leased! drop axes inthe caseof vertical axes) (Z the when holdingbrake is re- may load the that disabled. powerto Note be the stage requires This The holding brake canmanually be released and appliedtheviaHMI. T11 T16 T10 Sto Quick StopActive p Error class1 T12 SrV- 8888 and the submenu 7 f f Lt Lt Fault Reaction Fault BRAK Error Active Error class2,3,(4) T13 T15 8888 T14 for releasing and ap- Motor withoutcurrent Motor undercurrent 8 9 109 7 Commissioning SD328A

7.3.3 Setting basic parameters and limit values

@ WARNING LOSS OF CONTROL DUE TO UNSUITABLE PARAMETER VALUES Unsuitable parameter values may disable monitoring functions and trigger unexpected movements or responses of signals. • Prepare a list with the parameters required for the functions used. • Check the parameters before operation. • Only start the system if there are no persons or obstructions in the hazardous area. Failure to follow these instructions can result in death, serious injury or equipment damage.

Setting limit values Suitable limit values must be determined and calculated on the basis of the system and motor data. As long as the motor is operated without external loads, the default settings do not need to be changed. For example, the maximum motor current as the factor determining the torque must be reduced if the permissible torque of a system component will be exceeded without such a reduction. Ramp for "Quick Stop" and "Halt" Acceleration and deceleration are limited by ramp functions in the operating modes Profile Position, Profile Velocity, Oscillator and Homing. ̈ Use the parameter RAMPquickstop to set the maximum deceleration for "Quick Stop". The ramp shape for "Quick Stop" is linear. ̈ "Halt" uses the deceleration ramp set with the parameter RAMPdecel.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert -1 RAMPquickstop Deceleration ramp for Quick Stop min /s UINT32 CANopen 3006:12h 200 UINT32 Modbus 1572 - Deceleration of the drive when a software 6000 R/W stop is triggered or if an error of error class 1 - 3000000 per. has occurred. - -1 RAMPdecel Deceleration of profile generator min /s UINT32 CANopen 6084:0h 200 UINT32 Modbus 1558 - 750 R/W - 3000000 per. -

Limitation of reference speed of For operating modes that are executed with the profile generator rotation (ramps), the reference speed can be limited with the parameter RAMPn_max. ̈ Use the parameter RAMPn_max to set the maximum reference speed of rotation. 0198441113700, V2.03, 07.2010 110 Stepper motor drive 0198441113700, V2.03, 07.2010 - - RAMPn_max D2A7 Commissioning HMI menu Parameter name SD328A Stepper motor drive easy to perform. easy to This way, is at speed commissioning limited to RAMPn_max. limited modes, operating these If a greater reference speed set inone is of - Oscillator - Jog - Homing - Profilevelocity - Profileposition modes: ating The parameter isactive inthefollowing oper- generation profile of ref.Limitation for speed op. with modes ecito Unit Description it is automatically it isautomatically min Maximum value Factory setting Minimum value 3000 3000 60 -1 Expert Persistent R/W Data type - per. R/W UINT16 UINT32 via fieldbusvia Parameter address CANopen 607F:0 CANopen Modbus 1554 111 h 7 Commissioning SD328A

7.3.4 Analog inputs

Analog inputs Analog input voltages between -10 V and +10 V can be read via the analog inputs. The current voltage value at ANA1+ can be read with the parameter ANA1_act. ࡯ Power stage supply voltage is switched off. Controller supply voltage is switched on. ̈ Apply a voltage in the range from ±10Vdc to the analog input ANA1. ̈ Check the applied voltage with the parameter ANA1_act.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

ANA1_act Voltage value analog input ANA1 mV INT16 CANopen 3009:1h -10000 INT16 Modbus 2306 STA- - A1AC - R/- STA- - A1AC 10000 - -

Reference value An input voltage at ANA1 can be used as the reference value for the Os- cillator operating mode. The reference value for a voltage value of +10V can be set via parameter ANA1_n_scale.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert -1 ANA1_n_scale Scaling ANA1 for reference speed at +10V min INT16 CANopen 302A:3h -30000 INT16 Modbus 10758 SET- - A1NS Reference value of the operating mode if the 3000 R/W reference value is supplied via the analog SET- - A1NS 30000 per. input. - The speed is internally limited to the current parameter setting in RAMPn_max. By using a negative sign, you can invert the evaluation of the analog signal.

Processing The analog input signal is influenced via various factors. Sequence of processing: • Filter ANA1_Tau (as of software version 1.201) • Forcing (via commissioning software) • Offset ANA1_offset • Inversion (activation via digital signal input) The function "Inverting ANA1" must be configured, see chapter 8.6.10 "Configurable inputs and outputs". • Zero voltage window ANA1_win This corrected input voltage is the voltage value for Oscillator operating mode and the read value of the parameter ANA1_act. 0198441113700, V2.03, 07.2010 112 Stepper motor drive 0198441113700, V2.03, 07.2010 - - ANA1_Tau D2A7 Commissioning SET- SET- - A1WN ANA1_win SET- SET- - A1oF ANA1_offset HMI menu Parameter name SD328A Stepper motor drive - - A1WN A1oF stant. Filter affects ANA1. input analog First-order low pass(PT1)filter time con- constant time filter Analog1: ecito Unit Description 0mV as istreated -> range from -20..+20mV ValueExample: 20mV to set is value is treatedas0V. value voltageThreshold an input upto which Zero voltage ANA1 windowinput atanalog ANA1. input analog the zero corrected passrange ofthe voltage window, this window iseffective in offset value.the Ifyouhave zero a defined by ANA1iscorrected/offset input The analog ANA1 input at analog Offset Overview 5 Voltage value with filter, offset and zero voltage window Voltagevalue with filteroffset and Voltagevalue with filter (5) (4) (3) (2) Voltage value Voltage for Input voltageat (2) (1) and zero Offset voltage window 7.8 Figure valueof the parameter -10 V 327.67 0.00 0.00 ms Maximum value Factory setting Minimum value 1000 0 0 mV 5000 0 -5000 mV ANA1 operating modeOscilla ANA1_act 2 -10 V 10 V - per. R/W UINT16 UINT16 Expert Persistent R/W Data type - per. R/W UINT16 UINT16 - per. R/W INT16 INT16 tor mode and read tor mode 10 V CANopen 3009:2 CANopen via fieldbusvia Parameter address Modbus 2322 3009:9 CANopen Modbus 2326 3009:B CANopen Modbus 2308 5 4 3 1 h h 113 h 7 Commissioning SD328A

7.3.5 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 on the HMI, but they cannot be modified. ̈ Open the menu item sta- / ioaC. ୵ The digital inputs are displayed in a bit-coded way. ̈ Press "Up Arrow". ୵ The digital outputs are displayed in a bit-coded way.

Bit = 1

Bit = 0

76543210 15 14 13 12 11 10 9 8

Figure 7.9 HMI, status of the digital inputs/outputs

Bit Local control mode Fieldbus control mode I/O 0 LI1 / -LI1 / REF I 1 LI2 / FAULT_RES LI2 / LIMN I 2 ENABLE LIMP I 3 LI4 / HALT LI4 / HALT I 4 STO_B (PWRR_B) STO_B (PWRR_B)I 5 STO_A (PWRR_A) STO_A (PWRR_A)I 6 LI7 / ENABLE2 1) LI7 / - I 7 --I 8 LO1_OUT / NO_FAULT LO1_OUT / NO_FAULT O 9 LO2_OUT / ACTIVE1_OUT LO2_OUT / ACTIVE1_OUT O 10 LO3_OUT / ACTIVE1_OUT LO3_OUT / ACTIVE1_OUT O 11 LO4_OUT / +BRAKE_OUT LO4_OUT / +BRAKE_OUT O 12 --O 13 --O 14 --O 15 --O 1) Only if IOposInterfac = PDinput 0198441113700, V2.03, 07.2010 114 Stepper motor drive 0198441113700, V2.03, 07.2010 STA- STA- - ioAC _IO_act D2A7 Commissioning HMI menu Parameter name SD328A Stepper motor drive - ioAC Bit11: BRAKE_OUT Bit10: ACTIVE2_OUT Bit 9: ACTIVE1_OUT Bit 8: NO_FAULT_OUT Assignment the24Voutputs: of Bit 7: reserved Bit 6: - 5: STO_ABit (PWRR_A) 4: STO_BBit (PWRR_B) Bit 3: HALT Bit 2: LIMP,CAP1 Bit 1: LIMN,CAP2 Bit 0: REF (fieldbus control mode) IOposInterfac =Pdinput and =IODeviceDEVcmdinterf if:: Bit 6onlyrepresents ENABLE Bit 7: reserved Bit 6: ENABLE2 5: STO_ABit (PWRR_A) 4: STO_B Unit Bit (PWRR_B) Bit 3: HALT Bit 2: ENABLE Bit 1: FAULT_RESET Bit 0: - controlmode) (local Assignment the24Vinputs: of puts Physical out- and status inputs thedigital of Description Fieldbus of the input or output. or input the of way.a bit-coded state current the to values "0" The correspond and "1" The currentswitching states are containedtheinparameter - 0 - - Maximum value Factory setting Minimum value - - R/- UINT16 UINT16 Expert Persistent R/W Data type CANopen 3008:1 CANopen via fieldbus Parameter address Modbus 2050 _IO_act 115 h in 7 Commissioning SD328A

7.3.6 Testing the signals of limit switches signals of fieldbus devices

̈ Set up the limit switches in such a way as to keep the motor from overtraveling the limit switches. ̈ Trigger the limit switches manually. ୵ The HMI displays an error message, see chapter Diagnostics, page 232. The appropriate parameters can be used to release the input signals LIMP, LIMN and REF and to set the evaluation to active 0 or active 1, see page 187. Use active 0 monitoring signals if possible, because they are failsafe. 0198441113700, V2.03, 07.2010 116 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A7 Commissioning Testing thesafety functionSTO 7.3.7 SD328A Stepper motor drive Operation without STO OperationSTO with If you wantuse to the STO safety out thefollowing function, carry steps: Ifyou not dowant to usethe STO safety function: ̈ ̈ ̈ ୵ ̈ ̈ ̈ ࡯ ̈ ࡯ mustbe switched off simultaneously. Verify that the inputs cate. Document allteststhe of safety functionyour in acceptance certifi- Check the behaviorof the drive fault during conditions. error.) wiring a indicates 1301 (NOTE:message Error The power stage is disabled and error message 1300 isgenerated. Trigger safety the function. (see page 136) theJog operating modeStart (without motor movement). set to "off" to avoid unexpected restart. Verify that the voltController supply Power stage supply voltage is switched on. Verify that the inputs voltController supply Power stage supply voltage is switched off. connected to to connected tion. isolated fromeach other. The two signals mustnot have aconnec- +24VDC IO_AutoEnable age is switchedage is on. switchedage is off. STO_A STO_A . STO_A ( ( PWRR_A PWRR_A (HMI: (HMI: ( PWRR_A ) and ) and drc- STO_B STO_B ) and / ioae STO_B ( ( ) parameter is parameter ) PWRR_B PWRR_B ( PWRR_B ) are ) are 117 ) 7 Commissioning SD328A

7.3.8 Checking the direction of movement

Direction of rotation Rotation of the motor shaft in a positive or negative direction of rotation. Positive direction of rotation is when the motor shaft rotates clockwise as you look at the end of the protruding motor shaft. ̈ Start the operating mode Jog. (HMI: Jog_ / Strt) ୵ The HMI displays JG. ̈ Start a movement with positive direction of rotation. (HMI: "Up Arrow") ୵ The motor rotates with positive direction of rotation. The HMI displays JG-. ̈ Start a movement with negative direction of rotation. (HMI: "Down Arrow") ୵ The motor rotates with negative direction of rotation. The HMI displays -JG. Reversing the motor phases results in unexpected movements. ̈ If the arrow and direction of rotation do not match, correct this with the POSdirOfRotat parameter, see chapter 8.6.11 "Reversal of direction of rotation", page 221. 0198441113700, V2.03, 07.2010 118 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A7 Commissioning Testing thesignals 7.3.9 SD328A Stepper motor drive Testingthe function "Enable Testingthe function "Enable positive motor move"positive motor move"positive motor Description Availability of thepositionswitches function "Motor move "Motor disable" active. is function If reference values are available and the motor is at a position switch, the ୵ ̈ ୵ ̈ ୵ ̈ ̈ ࡯ 8.6.10 "Configurable inputs and outputs". and "Configurable inputs 8.6.10 move" require position switches closed contacts), (normally see chapter The functions "Enable positive motor move" and "Enable negative motor The functionis available software asof version 1.201 and higher. tor move" are onlyavailabl "Enable move" positive motor functions negative "Enable and mo- The injury. Failure to follow these the systemif there are Only nopersonsor start obstructions in • Verify mounting and correctfunction (direction-dependent). • Note thatthis functionmust beactivatedvia thecorresponding • Note thatthis function availableonly is for "Enable positive motor • The positionswitches astoponlycan ifused trigger correctly. LOSS OF CONTROL direction. position switch is only possible by means of a movement in negative position switch. The motor must stop. Moving away from the positive The motor movesin positive direction untilreaches it the positive switchtriggered. is positivein direction (HMI: "UpArrow")until the positive position Tomovement a move", positive motor "Enable start function the test The HMIdisplays (HMI: Jog. mode operating the Start overtraveling the limit switches. way a switcheslimit such in the from drive keep the to up as Set required;see chapter 7.3.8 "Checking the direction of movement". You it it, corrected and have must rotation of checkeddirection the itive direction. tive switch position possible isonly by amovement of means pos- in position switch.The motor muststop. Moving away fromthenega- The motor movesin negative direction untilreaches it the negative position switch triggered. is mentin negative direction (HMI:"Down Arrow")until the negative Totest the function "Enablenegative motormove", amove- start the hazardous area. parameters. move" and "Enable negative motor move". Jog_ / Strt ) JG . instructions can result indeath orserious @ e inlocalcontrolmode. WARNING 119 7 Commissioning SD328A

7.3.10 Checking the fan

Verify proper operation of the fan in the case of SD32••U68 devices. The airflow must be directed from bottom to top.

7.3.11 Optimizing the motion behavior

The factory setting for acceleration and deceleration is a linear ramp. Alternatively, a motor-optimized ramp for the acceleration and deceleration phases is available. This ramp compensates for the typical torque drop of a stepper motor at increasing speeds by reducing the acceleration, see chapter 8.6.4 "Motion profile", page 197. If motors are selected during the "First Setup" or with parameter SM_Type, motor-specific values are automatically set as fixed values. If the motor type "USER" is selected, the motor-specific values must be entered in parameters, see page 101. 0198441113700, V2.03, 07.2010 120 Stepper motor drive 0198441113700, V2.03, 07.2010 o M oiincnrle Page 136 Page 143 Page 139 Page 156 X Position controller X X - Position controller Position controller Position controller HMI inputs Digital input Analog P/DorA/B Description Profile generator Motion sequence Control loop Electronic Gear value Reference interface Oscillator Jog mode Operating 8 Operation Control modeandoperatingmanagement 8.1 Operation 8 SD328A Stepper motor drive Local control mode ± The reference valuescan besupplied in the form of analogsignals operating modes. face,control loop and the useof the profile generatortheindividual of The table below shows the relationships between reference value inter- mode fieldbusand control mode control Local 8.1 Figure operatingmodes dependthe on settings made the during "First Setup". andwhen has beenterminated You canchangetheoperating modeat any time afteroperating an mode changedoperation. during cal control mode or infieldbus controlmode. Thissetting cannotbe specified,among other things, whether the devicebeis to operated lo-in initialcommission During chapter.this in detail explained are more in parameters of some function foundtheinchapter "Parameters". The useand the overviewalphabeticallyAn sorted of modes and functions of the device. The chapter "Operation" describes the basic operating states, operating 10V)RS422 or signals (pulse/directionor A/B). ing, you have performed the"First Setup" and themotorisatast

L N all parameters can be can be parameters andstill. Theavailable 121 8 Operation SD328A

Fieldbus control mode The reference values can be supplied in the form of analog signals (±10V), RS422 signals (pulse/direction or A/B) or fieldbus commands.

Operating mode Reference value interface Control loop Profile generator Description Jog Fieldbus commands or HMI Position controller X Page 136 Oscillator Fieldbus commands or Position controller X Page 139 analog input Electronic Gear P/D or A/B Position controller - Page 143 Profile Position Fieldbus commands Position controller X Page 150 Profile Velocity Fieldbus commands Position controller X Page 154 Motion sequence Fieldbus commands Position controller X Page 156 Homing Fieldbus commands Position controller X Page 171 Cyclic Synchronous Posi- Fieldbus commands via Position controller - Page 171 tion CANmotion

8.2 Access control

8.2.1 Via HMI

The HMI receives access control when the operating mode Jog is started. Control Control via the commissioning software or the fieldbus is not possible when the HMI has access control. The HMI can be locked using the parameter HMIlocked. This means that control via the HMI is no longer possible.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

HMIlocked Lock HMI - UINT16 CANopen 303A:1h 0 UINT16 Modbus 14850 - 0 / not locked: HMI not locked 0 R/W 1 / locked: HMI locked - 1 per. The following functions can no longer be - started when the HMI is locked: - Parameter change - Jog - Fault reset 0198441113700, V2.03, 07.2010 122 Stepper motor drive 0198441113700, V2.03, 07.2010 - - AccessLock .. Via hardwar 8.2.4 Via commissioningsoftware 8 Operation 8.2.3 HMI menu Parameter name Via fieldbus 8.2.2 SD328A Stepper motor drive Fieldbus control mode Local control mode HALT) belocked.cannot as (such signals input of the Processing fieldbus- A second - HMI - Commissioning software parameter: with this device following the via channels access The fieldbus canlock active tothe access Lock1: otheraccesschannels otheraccesschannels Release 0: Locking channels other access ecito Unit Description e inputsignals ENABLE software havecontrol. access and In local control mode, the digital input signals signals input digital the mode, control local In button. Access via HMIfieldbus or is thenimpossible. The commissioningsoftware receives access controlthe via "Access" strict access control to the fieldbus. tothe control access strict Incontrol local mode, you canusethe possible. fieldbus is the via parameterization Access control via the fieldbus isim In fieldbus control mode, the digital input signals have software control. access commissioning the or HMI the STO_B , STO_A ( PWRR_B ( PWRR_A ) are effective, even if the HMI or the commissioning 1 - 0 - Maximum value Factory setting Minimum value ) and STO_B possible mode. control in local Only ( AccessLock PWRR_B - - R/W UINT16 UINT16 Expert Persistent R/W Data type HALT HALT ) are effective, evenif , CANopen 3001:1E CANopen via fieldbusvia Parameter address Modbus 316 parameter to re- FAULT_RESET , STO_A ( PWRR_A 123 , h ) 8 Operation SD328A

8.3 Operating states

8.3.1 State diagram

After switching on and when an operating mode is started, the product goes through a number of operating states. The state diagram (state machine) shows the relationships between the operating states and the state transitions. The operating states are monitored and influenced by internal monitoring functions and system functions such as temperature monitoring or current monitoring. Graphical representation The state diagram is represented 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 Ready 4 rdy T10 To Switch On 9 T8 T3 T6 Fault

5 fLt 8888 Son Switched On

T14 8 T4 T5 fLt Fault Reaction Active rUn 6 Quick Stop Active 7 Operation T16 T13 HALT Enabled Stop 8888 HaLt

T11 Error class 1 Error class 2, 3, (4)

Motor under current

Operating state State transition Error

Figure 8.2 State diagram 0198441113700, V2.03, 07.2010 124 Stepper motor drive 0198441113700, V2.03, 07.2010 FLt FLt Stop HALT run Son rdy dis nrdy D2A8 Operation Descr state Operating Init Display SD328A Stepper motor drive 9 8 7 6 5 4 3 2 1 Fault Operating state "Fault" Operating Fault Fault Reaction active An error has been detected, error response activated detected,errorresponse An errorhasbeen Fault active Reaction QikSo cie"Quick executed isbeing Stop" Quick active Stop Switched on Motor not supplied withcurrent Motornotsupplied enable Operation on Switched Rayt wtho The power to switch isready stage on to switchReady on Sic ndsbe Enabling of power stagelocked on disabled Switch Ntrayt wtho Thepower isnot to switch stage ready on ready to switchNot on Start Controller supply voltage supply initialized Controller arebeing on, electronics Start Operating states Error class HALT RUN activemode operating No Power stage ready classes: fault, the device responds inaccordancewithof one the following error state Faultresulta as of anerror. Dependinguponthe severity of the The producterror an triggers response it if switches to the operating missioning software. The operating states are displayedby defaultby theHMI and the com- aa ro Power switch controller stage and offimmedi- Uncontrolled Fatal error 4 "Quick Stop" 3 only, Message nointerruption stopswith"Quick Motor power Stop", and stage "Quick Stop" 2 Warning 1 0 class Error : Selected operating modeisactive: Selectedoperating : Motor is stopped, power enabledis stopped, is Motor stage : iption of operating state iption ofoperating operation switch-offwith Meaning Response ately without stopping the first. the motor withoutstopping ately switched remain andenabled.controller on device off. beresetbycan only response switching the first. The error the motor withoutstopping ately Power switch controller stage and offimmedi- achieved. been has standstill are disabled after controller stopswith"QuickMotor power Stop", and stage 125 8 Operation SD328A

Error response The state transition T13 (error class 2, 3 or 4) initiates an error response as soon as an internal occurrence signals an error to which the device must react.

Error class State Response from -> to 2 x -> 8 Stop movement with "Quick Stop" Holding brake is applied Power stage disabled 3,4 or Safety func- x -> 8 -> 9 Power stage is disabled immediately, tion STO even if "Quick Stop" is still active.

An error can be triggered by a temperature sensor, for example. The device cancels the motion command and starts the error response, for example deceleration and stopping with "Quick Stop" or disabling the power stage. Subsequently, the operating state changes to "Fault". To exit the "Fault" operating state, the cause of the error must be reme- died and a Fault Reset must be executed. In the event of a "Quick Stop" triggered by errors of class 1 (operating state 7), a "Fault Reset" returns you directly to operating state 6. State transitions State transitions are triggered by an input signal, a fieldbus command or as a response to a monitoring signal.

Transi- Operating Condition / event 1) 2) Response tion state T0 1-> 2 • Device electronics successfully initialized T1 2-> 3 • Parameter successfully initialized T2 3 -> 4 • No undervoltage Encoder successfully checked Actual speed: <1000 min-1 STO_A (PWRR_A) and STO_B (PWRR_B) = +24V Fieldbus command: Shutdown 3) T3 4 -> 5 • Request for enabling the power stage

• Fieldbus command: Switch On T4 5 -> 6 • Automatic transition Power stage is enabled User-defined parameters are checked • Fieldbus command: Enable Operation Holding brake is released (if available) (only if T3 via fieldbus command Switch On) T5 6 -> 5 • Fieldbus command: Disable Operation Motion command is canceled with "Halt" Holding brake is applied Power stage disabled T6 5 -> 4 • Fieldbus command: Shutdown T7 4 -> 3 • Undervoltage -

• STO_A (PWRR_A) and STO_B (PWRR_B) = 0V

• Actual speed: >1000 min-1 (for example by external driving force)

• Fieldbus command: Disable Voltage T8 6 -> 4 • Fieldbus command: Shutdown Power stage is immediately disabled. 0198441113700, V2.03, 07.2010 126 Stepper motor drive 0198441113700, V2.03, 07.2010 - - CTRLS_toggle HMI menu Parameter name Possible only if operating state wastriggeredthe viafieldbus 4) Onlyrequiredwith fieldbus control mode, fieldbus CANopen andparameterDCOMcompatib= 1 3) Fieldbus commands only withfieldbus controlmode 2) 8 Operation In order to initiate a state transition it is sufficient if one condition is met 1) T10 T9 tion Transi- SD328A T14 T13 T12 T11 T16 T15 Stepper motor drive Special note onswitching on 5 6 state Operating 8 x 7 6 7 9 -> -> -> -> -> -> -> -> 3 3 3 9 8 3 7 6 1 /active 0 /inactive vated Togglepower acti- when is of motor stage ecito Unit Description / event Condition • Fieldbus command: Disable Voltage Fieldbus command: • for Request disabling power the stage • Disable Voltage Fieldbus command: • for Request disabling power the stage • • Function: "Fault Reset" Error is Erroris out, see "Error Error is carried response "Fault Function: Reset" • 3or Error ofclasses 4 • Error responsetermin • Error 2, ofclasses 3 or 4 • Disable Voltage Fieldbus command: • for Request disabling power the stage • Fieldbus Quickcommand: Stop • Class1error • Fieldbus Enablecommand: Operation • "Fault Function: reset" • (transition T4) (transition : Active (default) : Inactive: )2) 1) forms a small movement stablesmall a move position. a to into forms shaft the If the parameter ated (errorofclass 2) CTRLS_Toggle 4) - - - - Maximum value Factory setting Minimum value Response Power disabled. isimmediately stage Response" even if"Quick Stop" still active.is Power isdisabled stage immediately, Stop". "Quick with canceled is command Motion rected). isactivated,the stepper motor per- reset (causeoferrormust be cor- - per. R/W UINT16 UINT16 Expert Persistent R/W Data type CANopen 3014:8 CANopen via fieldbusvia Parameter address Modbus 5136 h 127 8 Operation SD328A

8.3.2 Indicating the operating states

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

State "No fault" 1) "Brake Active 3) release" 2) 2: Not ready to switch on 0 0 0 3: Switch on disabled 0 0 0 4: Ready to switch on 1 0 0 5: Switched on 1 0 0 6: Operation enable 1 1 1 7: Quick Stop activ 0 1 0 8: Fault Reaction active 0 1 0 9: Fault 0 0 0

1) Software version <1.201: corresponds to output signal NO_FAULT_OUT 2) Software version <1.201: corresponds to output signal ACTIVE1_OUT 3) Software version <1.201: corresponds to output signal ACTIVE2_OUT

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

Monitoring and System functions

DCOMcontrol State machine DCOMstatus

Figure 8.3 Changing and monitoring the operating state via parameters

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

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

DCOMstatus Drivecom status word - UINT16 CANopen 6041:0h - UINT16 Modbus 6916 - Refer to chapter Operation, State Machine 0 R/- for bit coding information. - - - Bit 0-3,5,6: Status bits - Bit 4: Voltage enabled Bit 7: Warning Bit 8: HALT request active Bit 9: Remote Bit 10: Target reached Bit 11: Reserved Bit 12: Operating mode specific Bit 13: x_err Bit 14: x_end Bit 15: ref_ok 0198441113700, V2.03, 07.2010 128 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A8 Operation 9 8 7 6 5 4 3 2 state Operating SD328A Stepper motor drive al 1 1 1 1 1 1 1 1 1 0 1 1 0 X 0 1 0 0 0 0 X 0 0 0 0 0 1 : Fault : Fault active Reaction X 0 : Quick Stopactive :: 0 : toswitchReady on : Operationswitch: Notreadyto on Switched Switch onon 010011 disabled enable 010111 1X0000 Bit 8,request Halt active Bits0, 1, 2,and5 3, 6 Bit 4, Voltage enabled Bit 10, targetreached Bit 7,Warning Bit 9, Remote 9, Bit Bit 13, x_err Bit 12 Bit 11 disable on Switch Bit 6 tionon the operating state. the 6of 5and 1, Bits 0, 2, 3, Figure 8.4 Indication Indication theoperatingof state 8.4 Figure it is still possible still to it is is reset, the device iscontrolled viaadifferent interface.case,asuch In fieldbus. the via IfBit 9 commands out device the isset, If Bit 9 carries Bit 8=1indicates that a"Halt"is active. "Fault a with Reset". immediately reset is bit time.The shorter a remains set for at least 100ms, even if awarning message isactive for warningmessagea iscontained inparameter sage.movement The interrupted. isnot bit The remainslong set as as Bit 7becomes 1ifparameter 4. missingis too or low, the device does not transition from state3 to state Bit 4=1indicates whether the DC bus voltage iscorrect. If the voltage is nerrcas e ae229. page see class, error an to corresponding deviceThe responds processing. further to prior edied Bit 13 onlybecomes "1" in the caseof an error which needs to be rem- found in the chapters on the individual operating modes. 12Bitfor isused monitoring the current operating mode. Detailsbecan Reserved. error. an of because canceled or "Halt" long as the motorrunning, iftheoperating is modeis interrupted by a toasta fully andthemotorhascome Bitbecomes 10only "1", ifthe operating success- mode isterminated machine Quick Stop Bit 5 State MSB read or write parameters.or write read Fault Bit 3 58... 8 15 XX XX DCOMstatus XXXX _WarnActive enable Operation Bit 2 ... ndstill. Bit 10 has thevalue 10has ndstill. Bit "0"as XX X parameter provide informa- 70 contains mes- awarning Switch On Bit 1 _WarnActive 61 5 3 2 switch on Ready to Bit 0 0 . The bit LSB 129 8 Operation SD328A

Bit 14, x_end Bit 14 changes to "0" if an operating mode is started. When processing is terminated or interrupted, for example by a "Halt", bit 14 toggles back to "1" once the motor has come to a standstill. The signal change of bit 14 to "1" is suppressed if one process is fol- lowed immediately by a new process in a different operating mode. Bit 15, ref_ok Bit 15 is "1" if the motor or the axis has a valid reference point, for example as a result of a reference movement. If a motor with an encoder is connected, the valid reference point remains valid even if the power stage is disabled. 0198441113700, V2.03, 07.2010 130 Stepper motor drive 0198441113700, V2.03, 07.2010 - - DCOMcontrol HMI menu Parameter name 8 Operation Changing operatingstates 8.3.3 SD328A Stepper motor drive Fieldbus control mode Local control mode Bit 9..15: Reserved (must be 0) (must be Reserved 9..15: Bit Bit 8: Halt 7: FaultBit Reset modespecific Operating Bit 4..6: 3: EnableBit Operation Bit 2: Quick Stop 1: EnableBit Voltage Bit 0: Switch on States, for information. bitcoding ReferOperating Operation, chapter to Drivecom controlword ecito Unit Description Figure 8.5 Changing and monitoring theoperating stateviaparameters monitoring and Changing 8.5 Figure T6 T5, T15 T4 T3, FAULT_RESET 0->1 ENABLE 1->0 ENABLE 0->1 Input signal missioningsoftware orthe parameter In fieldbuscontrol mode,operating the statesset are either com-via the missioningsoftware, thesignal inputs or automatically. In local control mode, the operating state ischanged either via the com- 7 are relevant are 7 for transitions. state DCOMcontrol - 0 - - Maximum value Factory setting Minimum value T16 State transitionto tions State transi- System functions Monitoring and Monitoring State machine DCOMcontrol 6 4 4 6 : Operation enable: Operation toswitch: Ready on toswitch: Ready on enable: Operation - - R/W UINT16 UINT16 Expert Persistent R/W Data type CANopen 6040:0 CANopen via fieldbusvia Parameter address Modbus 6914 DCOMstatus . Bits 0 to 3 and Bit and 3 to 0 . Bits h 131 8 Operation SD328A

Bits 0 to 3 and 7

713 2 0 State XXXXXXXXX X X machine 15... 870 ... MSB LSB

Figure 8.6 Changing the operating state

Bit 7, Bit 3, Bit 2, Bit 1, Bit 0, Fieldbus command State tran- Reset Enable Quick- Enable Switch sitions State transition 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 Disable Voltage T7, T9, T10, 3: Switch on disabled X X X 0 X T12 Quick Stop T7, T10T11 3: Switch on disabled XX01X 7: Quick Stop active Disable Operation T5 5: Switched on X 0 1 1 1 Enable operation T4, T16 6: Operation enable X 1 1 1 1 Fault reset T15 3: Switch on disabled 0->1 X X X X

The bit states in the fields marked with "X" have no meaning for the corresponding state transition. Bits 4 to 6 Bits 4 to 6 are used for the operating mode-specific settings. Details can be found in the descriptions of the individual operating modes in this chapter. Bit 8, Halt A "Halt" can be triggered with bit 8=1. Bits 9 to 15 Reserved. 0198441113700, V2.03, 07.2010 132 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A8 Operation andchanging operatingmodes Starting 8.4 SD328A Stepper motor drive Prerequisites after the causeof the error has beenremoved. ment can beresumed or you canchange to a different operating mode ing which causesthe current operating mode to be canceled, the move- is stopped by a "Quick Stop" or "Halt". If an error occurs process- during ple, if the target position of a positioning process isreached or if the drive An operating mode modeif the currentoperating or canceled. mode isterminated operatingmodeis active, youchangeonly can to adifferentoperating The product cannottwo in run operating modes at the same time. If an be started. to mode erating The device must be ready for operation and initialized properly foran op- injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these Verify freeandreadyfor is system the that movement before • Note that any changes to the values of these parameters are exe- • UNINTENDED OPERATION changing these parameters. set. cuted by thedrive controllerimmediately on receipt the of data is terminated if is terminated @ WARNING the drive is at a standstill, forthe drivea is at exam- 133 8 Operation SD328A

8.4.1 Starting the operating mode

Local control mode In the case of local control mode, after starting, the device changes to the operating mode set with the IOdefaultMode parameter. By setting the input signal ENABLE, current is applied to the motor and the set operating mode is started. In addition, a "Jog" movement can be started via 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 using the example of the operating mode Oscillator.

Parameter Meaning 1 OSCL_n_target Indication of reference value 2 OSCLreference Setting the reference value source 3 DCOMopmode Starting the operating mode (-3)

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert -1 OSCL_n_target Reference speed in operating mode oscilla- min INT16 CANopen 302A:4h tor -3000 INT16 Modbus 10760 - 0 R/W Reference value of the operating mode if the - 3000 - reference value is supplied via parameter. - The speed is internally limited to the current parameter setting in RAMPn_max.

DCOMopmode Operating mode - INT8 CANopen 6060:0h -8 INT16 Modbus 6918 - DS402 operating modes: - R/W 1: Profile position - 6 - 3: Profile velocity - 6: Homing 8: Cyclic synchronous position ------Manufacturer operating modes: -1: Jog -2: Electronic gear -7: Oscillator -8: Motion sequence

In the operating modes Profile Position and Homing, the device receives the request for starting the selected operating mode via bit 4 in the parameter DCOMcontrol. In the other operating modes, bits 4 to 6 have operating mode-specific assignements. 0198441113700, V2.03, 07.2010 134 Stepper motor drive 0198441113700, V2.03, 07.2010 - - _DCOMopmd_act - - 8 Operation DCOMopmode HMI menu Parameter name Changing theoperatingmode 8.4.2 SD328A Stepper motor drive Fieldbus control mode Local control mode See DCOMopmode for See DCOMopmode coding Active mode operating -8: Motion sequence -8: Motion -7: Oscillator -2: Electronicgear -1: Jog Manufacturermodes: operating ------position Cyclicsynchronous 8: 6: Homing 3: Profilevelocity Unit Profileposition 1: operating DS402 modes: mode Operating Description Parameter for change: • Parameter for indication: • modes. for operating the changing parameters2 are available for indicating the current operating mode and operating mode". drive must beatastandstill.Then pose, the current process must be completed or explicitly canceled. The The operating modes canchanged be operation. during For this pur- cannotchanged be operation. during changed using the parameter When thedrive is atastandstill, 6 - -6 - 6 - -8 - Maximum value Factory setting Minimum value DCOMopmode _DCOMopmd_act IOdefaultMode the start-up opera the start-up proceed as describe as proceed - - R/- INT16 INT8 - - R/W INT16 INT8 Expert Persistent R/W Data type . The operating modes modes operating . The ting modecan be CANopen 6061:0 CANopen CANopen 6060:0 CANopen fieldbusvia Parameter address Modbus 6920 Modbus 6918 d in "Starting an d in"Starting h h 135 8 Operation SD328A

8.5 Operating modes

8.5.1 Operating mode Jog

@ WARNING UNINTENDED OPERATION • Note that any changes to the values of these parameters are executed by the drive controller immediately on receipt of the data set. • Verify 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.

Overview of jog The motor moves by one jog unit or at constant speed of rotation in continuous operation. The length of the jog unit, the values for the speed of rotation and the waiting time prior to continuous operation can be set. The current motor position is the start position for the Jog operating mode. The jog distance and the values for the speed of rotation are entered in user-defined units. Starting the operating mode The operating mode can be started via the HMI. The power stage is enabled and current applied to the motor with jog- / strt. To rotate the motor shaft, press the "Arrow Up" or "Arrow Down" keys. Press the ENT key simultaneously to switch between slow and fast movement. In fieldbus control mode, the operating mode must be set with via the parameter DCOMopmode. Writing the parameter value causes the operating mode to start. It is also possible to start the operating mode as a start-up operating mode, see chapter 7.3.1 ""First Setup"". In this case, the corresponding functions are assigned to the signal inputs, see chapter 8.6.10 "Config- urable inputs and outputs". With the start signal for the jog movement, the motor first moves by a defined jog distance JOGstepusr. If the start signal is still available after a specified waiting time JOGtime, the device switches to continuous operation until the start signal is canceled. 0198441113700, V2.03, 07.2010 136 Stepper motor drive 0198441113700, V2.03, 07.2010 - - JOGactivate - - JOGstepusr JOG- NFST JOG- - JOGn_fast JOG- NSLWJOG- - JOGn_slow HMI menu Parameter name 8 Operation SD328A Stepper motor drive - - JOGactivate JOGactivate JOGactivate DCOMstatus NFST NSLW M JOGn_slow JOGn_fast Bit14 Bit2 Bit0 Bit1 Bit 2: 0=slow 1=fast rotation 1: negative of Bit direction Bit 0: positive of rotation direction Activation of jog >0: Positioning dist Directactivation0: continuousof run to continuous run prior Jog distance Unit Description RAMPn_max. the currentparameter settingin to limited adjustableThe value internally is jog fast for Speed RAMPn_max. the currentparameter settingin to limited adjustableThe value internally is forSpeed slow jog 0 1 0 1 0 1 0 1 1 2 ance perjog cycle irrespective of the waitthe time. irrespective of Continuous operationtance iszero, the jog movement directly with continuous starts operation > t Jog distance,waiting time and jogspeeds are adjustable.If the jog dis- < t (4) (3) (2) (1) Jog, slow andfast Figure8.7 1 JOGstepusr 2 JOGtime JOGtime 7 0 0 - 2147483647 20 0 usr Maximum value Factory setting Minimum value 3000 180 1 3000 60 1 min min -1 -1 - - R/W UINT16 UINT16 - per. R/W INT32 INT32 Expert Persistent R/W Data type - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 1 3 CANopen 301B:9 CANopen CANopen 3029:7 CANopen fieldbusvia Parameter address CANopen 3029:5 CANopen 3029:4 CANopen Modbus 10510 Modbus 10506 Modbus 10504 Modbus 6930 4 h h h 137 h 8 Operation SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

JOGtime Wait time prior to continuous run ms UINT16 CANopen 3029:8h 1 UINT16 Modbus 10512 - This time is only effective if you have set a 500 R/W jog distance not equal to 0, otherwise the - 32767 per. drive immediately starts a continuous run. -

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

15 14 13 12 10 X XX XXXXXXXX 15... 870 ... MSB LSB

Figure 8.8 Status messages for the operating mode

Parameter value Meaning Bit 10: Target reached Not relevant for this operating mode Bit 12: Operating mode-dependent Reserved Bit 13: x_err 1: Error Bit 14: x_end 1: Operating mode terminated, motor at a standstill Bit 15: ref_ok 1: Drive has valid reference point

Terminating the operating mode Jog is finished when the motor has come to a standstill and • the direction signal is inactive • the operating mode has been interrupted by "Halt" or an error Further options For further settings and functions for the operating mode, see page 186. 0198441113700, V2.03, 07.2010 138 Stepper motor drive 0198441113700, V2.03, 07.2010 - - OSCL_n_target - - OSCLreference HMI menu Parameter name 8 Operation Operating modeOscillator 8.5.2 SD328A Stepper motor drive Starting the operatingStarting mode parameter setting in RAMPn_max. in setting parameter to the current limited isinternally The speed reference parameter. via valuesupplied is Reference value if of mode the the operating tor oscilla- mode operating Referencein speed value via parameterOSCL_n_target /Parameter2 'OSCL_n_target' 10V interfaceANA1 1 /AnalogInput 0 /none oscillator mode Unit ofref.Selection value for source operating Description Oscillator Overview : None : Reference value via +/- OSCLreference The operating modeOscillator iue89Overview of operating Oscillator mode 8.9 Figure ence speed,whichcan in beset the operating mode Oscillator. The illustration below shows theeffe via to thenew referencethe withacceleration and deceleration values set When the input voltage ischanged the motor accelerates or decelerates OSCLreference OSCL_n_target DCOMopmode In fieldbus control mode, the operating mode isset usingthe parameter input. corresponding to avoltage-dependent reference speed viathe ±10volt an mode In localcontrol OSCL_n_target ANA_IN1 RAMPacc ( ± 10V) : Reference and . The. reference value isentered inparameter ANA1_n_scale ANA1_win ANA1_offset . . the; operating by parameter writing modeis started RAMPdecel processing Signal min 2 0 0 - Maximum value Factory setting Minimum value 3000 0 -3000 d Oscillator operatingm d Oscillator -1 OSCLreference . is set with theparameteris set cts oftheparametersrefer- onthe RAMPdecel RAMPacc RAMPn_max generator - - R/W UINT16 UINT16 Expert Persistent R/W Data type - - R/W INT16 INT16 Profile ode, themotorismoved CANopen 301B:A CANopen fieldbusvia Parameter address CANopen 302A:4 CANopen Modbus 6932 Modbus 10760 controller Motor 3~ M E 139 h h 8 Operation SD328A

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

15 14 13 12 10 X XX XXXXXXXX 15... 870 ... MSB LSB

Figure 8.10 Status messages for the operating mode

Parameter value Meaning Bit 10: Target reached 0: Reference speed not reached 1: Reference speed reached (also in the case of motor standstill via "Halt") Bit 12: reserved Reserved Bit 13: x_err 1: Error Bit 14: x_end 1: Operating mode terminated Bit 15: ref_ok 1: Drive has valid reference point

Operating mode terminated The operating mode is terminated by a motor standstill caused by "Halt", by an error or when the reference value is set to 0. Analog inputs Analog input voltages between -10 V and +10 V can be read via the analog inputs. The current voltage value at ANA1+ can be read with the parameter ANA1_act. ࡯ Power stage supply voltage is switched off. Controller supply voltage is switched on. ̈ Apply a voltage in the range from ±10VDC to the analog input ANA1. ̈ Check the applied voltage with the parameter ANA1_act.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

ANA1_act Voltage value analog input ANA1 mV INT16 CANopen 3009:1h -10000 INT16 Modbus 2306 STA- - A1AC - R/- STA- - A1AC 10000 - - 0198441113700, V2.03, 07.2010 140 Stepper motor drive 0198441113700, V2.03, 07.2010 SET- SET- - A1NS ANA1_n_scale D2A8 Operation HMI menu Parameter name SD328A Stepper motor drive Offsetzero and voltagewindow - A1NS Reference value ecito Unit evaluation signal. theanalog of the invert negative you a can sign, using By RAMPn_max. in setting parameter to the current limited isinternally The speed input. reference analog the via valuesupplied is Reference value if of mode the the operating ANA1forScaling reference at+10V speed Description can be set via parameter viaparameter be set can cillator operating mode. Thereference 5 Input voltagewith offset and zero voltagewindow Input voltagewith offset Input voltage without processing (5) (4) (3) parameter parameter The parameter An inputvoltage at (2) Voltage value Voltage for Input voltageat (2) (1) and zero Offset voltage window 8.11 Figure mode and the read value of the parameter value read parameter the ofthe and mode This corrected input voltage is the age at ANA1 valueof the parameter ANA1_win . -10 V ANA1_offset ANA1 to define azero voltage define to window for volt- input the min Maximum value Factory setting Minimum value 30000 3000 -30000 can be used asthe reference value for the Os- -1 ANA1_n_scale ANA1 operating modeOscilla canto beused define and offset the and ANA1_act 2 voltage value for Oscillatoroperating -10 V 10 V value for avoltage value of+10V Expert Persistent R/W Data type - per. R/W INT16 INT16 . ANA1_act tor mode and read tor mode 10 V via fieldbusvia Parameter address CANopen 302A:3 CANopen Modbus 10758 . 5 4 3 1 141 h 8 Operation SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

ANA1_offset Offset at analog input ANA1 mV INT16 CANopen 3009:Bh -5000 INT16 Modbus 2326 SET- - A1oF The analog input ANA1 is corrected/offset by 0 R/W the offset value. If you have defined a zero SET- - A1oF 5000 per. voltage window, this window is effective in - the zero pass range of the corrected analog input ANA1.

ANA1_win Zero voltage window at analog input ANA1 mV UINT16 CANopen 3009:9h 0 UINT16 Modbus 2322 SET- - A1WN Threshold value up to which an input voltage 0 R/W value is treated as 0 V. SET- - A1WN 1000 per. Example: Value is set to 20mV - -> range from -20 .. +20mV is treated as 0mV

ANA1_act Voltage value analog input ANA1 mV INT16 CANopen 3009:1h -10000 INT16 Modbus 2306 STA- - A1AC - R/- STA- - A1AC 10000 - - 0198441113700, V2.03, 07.2010 142 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A8 Operation Operating m 8.5.3 SD328A Stepper motor drive Description ode Electronic gear Example the gear ratios. gear the cute different, positioning movements proportional inaccordance with An NCcontrol provides reference signals to two units.The motors exe- nals orpulse/direction signals are toprocessed. be The parameter gear ratio. ence value iscalculated on the basis of these signals plus an adjustable theform of A/B signals or pulse/directionsignals. new A position refer- in supplied are reference signals the mode, operating Gear Electronic In iue81 Reference value viaNCcontroller 8.12 Figure injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these Verify freeandreadyfor is system the that movement before • Note that any changes to the values of these parameters are exe- • UNINTENDED OPERATION changing these parameters. set. cuted by thedrive controllerimmediately on receipt the of data 600 1/min NC IOposInterfac Setpoint @ WARNING is used to determine whether isused to determine A/B sig- (Fieldbus) CN1/CN4 CN2 (PULSE) CN5 (Fieldbus) CN1/CN4 CN2 (PULSE) CN5 4 3 2 3 Actual motorposition Actual motorposition 450 1/min 9 00 1/min 3~ 3~ M M E E Master Fieldbus 143 8 Operation SD328A

Starting the operating mode In local control mode, the operating mode must be set using the parameter IOdefaultMode. Setting the input signal ENABLE enables the power stage, applies current to the motor and evaluates the inputs according to the settings made. In fieldbus control mode, the operating mode must be set with via the parameter DCOMopmode. Writing the parameter value causes the operating mode to start. A write access to the parameter GEARreference sets the type of synchronization and starts the operating mode Electronic Gear. If changed reference positions are supplied, the device applies the gear ratio and positions the motor to the new reference position. Position values are specified in internal units. If the values change, the device follows immediately. Status messages The drive provides information concerning positioning via bits 10 and 12 to 15 in the parameter DCOMstatus.

15 14 13 12 10 X XX XXXXXXXX 15... 870 ... MSB LSB

Figure 8.13 Status messages for the operating mode

Terminating the operating mode Processing is terminated by: • Deactivation of the operating mode and standstill of motor • Standstill of motor caused by "Halt" or by an error 0198441113700, V2.03, 07.2010 144 Stepper motor drive 0198441113700, V2.03, 07.2010 - - GEARreference ... Parameterization 8.5.3.1 HMI menu Parameter name 8 Operation SD328A Stepper motor drive Example local control mode Synchronization with compensation movement compensation with gear /compensated 2 zation gear /immediate 1 0 /inactive mode infieldbus type Gear synchronization control ecito Unit Description Overview : Deactivated : Immediate synchroni- : Immediate which can becanwhichfor set the operating mode Electronic Gear. The followingoverview shows theof function the parametersprinciple becan found page on 227. mode control of local An exampleby case inthe ofsetting parameters In fieldbus control mode, the parameter • Incontrol local mode, the position changes to the reference signals • during the interruption continueto be counted internally. other drives islost. Position changes of the reference signals that occur other drives. If the operating mode synchronicityis terminated, with the The deviceoperates synchronously with other devices,for example, Release of directionrotation of • Gearratio (predefined valueuser-defined or gearratio) • chronization, include: Settings for the electronic gear which are independent of the type of syn- tion. Itamounts to 131072 motor increments per revolution. The resulting positioning distance depends on the current motor resolu- Electronic Operating mode 8.14 Figure : Synchronization : Synchronization foror ignored when Electronic Gearis resumed. youindicate to whether this positionchange istocompensated be resumed. is to be compensated for or ignored when Electronic Gear is IO_GearMode of softwareAs version 1.201 and higher,theparameter thepoint intime at which Electronic again. Gearwas started tronic Gear is resumed, the device follows the reference signal from theduring which occur interruption are not evaluated. When Elec- Reference signals OoItra GEARdir_enabl IOposInterfac allows youto indicate whetherposition this change PD AB 2 0 0 - Maximum value Factory setting Minimum value GearDenom GEARratio GearNum M Gear, effect ofadjustable parameters - - R/W UINT16 UINT16 Expert Persistent R/W Data type GEARreference CANopen 301B:12 CANopen via fieldbusvia Parameter address Modbus 6948 3~ M E allows 145 h 8 Operation SD328A

Position change with power stage If "Synchronization with compensation movement" is selected, the pa- disabled rameter GEARposChgMode determines the way changes to the motor position and reference value (RS422 interface) are handled with disabled power stage. These position changes can be ignored or taken into account for transitions to the "OperationEnable" state: • Off: All position changes with disabled power stage are not taken into account • On: Position changes with disabled power stage are taken into account. Please note that all position changes between starting the operating mode and the subsequent enabling of the power stage are not taken into account.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

Gear ratio The gear ratio is the ratio of the number of motor increments and the number of externally supplied reference increments.

Motor increments Gear factor numerator Gear factor = = Reference increments Gear factor denominator

The parameter GEARratio allows you to set a predefined gear ratio. It is also possible to set your own gear ratio. The user-defined gear ratio is defined with the parameters GEARnum and GEARdenom. A negative numerator value reverses the motor's direction of rotation. 0198441113700, V2.03, 07.2010 146 Stepper motor drive 0198441113700, V2.03, 07.2010 SET- SET- - GFAC GEARratio - - GEARdenom 8 Operation - - GEARnum HMI menu Parameter name SD328A Stepper motor drive speedof rotation and acceleration Application casesforof limitation - GFAC See descriptionGEARnum ratio gear of Denominator numeratorvalue supplied. is The new ratio when the gear applied is GEARdenom ------ratio =Gear GEARnum Numerator of ratiogear value ified one motor revolution. causes reference ofthe valueA change by spec- the / 11 / 16384 / 10 / 8192 9 /4096 / /10000 8 7 /5000 Unit 6 /4000 5 /2000 4 /1000 / 3 /500 / 2 /400 / 1 /200 GEARnum/GEARdenom with adjusted 0 /GearFactor / ratios ofspecial gear Selection Description Example 500 400 200 4096 5000 4000 2000 1000 8192 10.00 : 500 : 400 : 200 16.38 : 4096 : 5000 : 4000 : 2000 : 1000 : 8192 : 10000 FACT : 16384 Reference signals erratic: • Reference signals generated: • must belimited inthe operating mode Electronic Gear. acceleration and rotation of speed the application, the on Depending 2000 motorincrements. Thisresults inagearfactor of2. byrotate is to motor the reference increments, 1000 of setting a With : ofgearratio Usage the speed of rotation ( rotation of speed the case if the reference value is supplied via pulse packets. By limiting accelerationsthe which motor cannot follow. For example, this isthe The external reference signals may specifyspeeds of rotation and ( reference valuegenerated is by anexternal profile generator. that the motor canfollow them. Forexample, is the this caseifthe Themust user supply theexternal reference signals insuch away The positiondeviation can beread via The motor isno longerposition-synchronized period. this during GEARramp ), you generate a motion profile the motor can follow. can motor the profile you), amotion generate 2147483647 1 1 - 2147483647 1 -2147483648 - 11 0 0 - Maximum value Factory setting Minimum value GEAR_n_max GEARcontrol GEARcontrol ) and the acceleration acceleration the ) and - per. R/W INT32 INT32 - per. R/W INT32 INT32 - per. R/W UINT16 UINT16 Expert Persistent R/W Data type _p_difGEAR =1(active) = 0 (inactive) CANopen 3026:3 CANopen 3026:4 CANopen 3026:6 CANopen fieldbusvia Parameter address Modbus 9740 Modbus 9734 Modbus 9736 . h h h 147 8 Operation SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

GEARcontrol Activate speed and acceleration limitations - UINT16 CANopen 3026:8h 0 UINT16 Modbus 9744 - 0 / off: Inactive 0 R/W 1 / on: Active - 1 per. If GEARcontrol is active, the reference value - for acceleration/deceleration is limited to the value of parameter GEARramp and the reference speed value to the value of parameter GEAR_n_max. This helps to keep the motor from stalling. If the limitation is activated, this causes a deviation of the calculated reference position and the internally effective reference position which is compensated for. The maximum deviation is limited to 400 revolutions. If this value is exceeded, the unit cancels with a fault. -1 GEAR_n_max Maximum speed in gearing min UINT16 CANopen 3026:9h 1 UINT16 Modbus 9746 - This function is only available if the limitation 3000 R/W via GEARcontrol is active. - 3000 per. - -1 GEARramp Maximum acceleration in gearing min /s UINT32 CANopen 3026:Ah 30 UINT32 Modbus 9748 - This function is only available if the limitation 600 R/W via GEARcontrol is active. - 3000000 per. This value is effective both in the accelera- - tion and the deceleration phase. The system uses a linear ramp. The start/stop speed has no effect.

_p_difGear Position difference in electronic gear caused Inc INT32 CANopen 301E:16h by limitation -2147483648 INT32 Modbus 7724 - - R/- If speed and acceleration limitation was set - 2147483647 - in 'Electronic Gear' mode (see parameter - GEARcontrol) and the limits are reached during processing, the drive no longer follows the reference value. This parameter allows you to read out the resulting position deviation. 0198441113700, V2.03, 07.2010 148 Stepper motor drive 0198441113700, V2.03, 07.2010 - - GEARdir_enabl D2A8 Operation HMI menu Parameter name SD328A Stepper motor drive Release of of direction Release ment lockment function. This allows you move- toactivate a return 3 /both 2 /negative 1 /positive processing Enabledmovement gear of direction ecito Unit Description Further options Further : Both directions: Both : Pos. direction : Neg.direction GEARdir_enabl tive direction. Releasedirection of withis set the parameter Release of direction allowsyou movements to limit to positivenega- or For settings and functions further for the operating mode, see page186. . 3 3 1 - Maximum value Factory setting Minimum value - per. R/W UINT16 UINT16 Expert Persistent R/W Data type CANopen 3026:5 CANopen via fieldbusvia Parameter address Modbus 9738 h 149 8 Operation SD328A

8.5.4 Operating mode Profile Position

The operating mode can only be used in fieldbus control mode and can only be executed via the fieldbus.

In Profile Position operating mode, a movement with an adjustable motion profile is performed from a start position to a target position. The value of the target position can be specified as either a relative or an absolute position. You can set a motion profile with values for acceleration ramp, deceleration ramp and target speed. Relative and absolute positioning In the case of absolute positioning, the positioning distance is specified absolutely with reference to the zero point of the axis. A zero point must be defined with the Homing operating mode before absolute positioning can be used for the first time. In the case of a relative positioning, the positioning distance is specified relatively with reference to the current axis position or the target position. Absolute positioning or relative positioning is set with bit 6 via the parameter DCOMcontrol.

500 usr 500 usr 700 usr 0 1.200 usr 0

Figure 8.15 Absolute positioning (left) and relative positioning (right)Absolute positioning (left) and relative positioning (right)

Prerequisites The device must be in operating state "Operation enable". See chapter 8.4 "Starting and changing operating modes". 0198441113700, V2.03, 07.2010 150 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A8 Operation SD328A Stepper motor drive Triggering positioning Bit 6: Absolute / relati Absolute Bit 6: get position 0->1) ately (onlyapplicable withnew tar- setpoint immedi- Bit 5:Change chapter 8.6.10 "Configurable inputs and outputs". Alternatively, viaadigitalinput signal, positioningsee canstarted be •Bit 5 = 1: •Bit5. The positioningmovement be can triggered in2waysdepending on bit 5 =rameter 0: inthe 4 pa- A newpositioning movement when theedgeof bit is started aaee au Meaning 0->1: St Bit 4:New targetvalue Parameter value approached directly. is executed.active,position new immediately target The are RAMPdecel Positioning values ( positioning values are overwritten. If new positioning values are provided again, the temporarily saved tion has been reached. according to the new values are executed only when the target positioning movementapproached. is The new positioningmovements active, are saved temporarily. The target position of the current posi- RAMPdecel Positioning values ( DCOMcontrol ), that are supplied while a positioning movement is ), that are supplied while a positioning movement is ve 0: Absolute positioning 0:Absolute ve PPp_targetusr PPp_targetusr rises. 1: Relative positioning ately Activate1: new valuesposition immedi- is reached position get Activate0: newtar- values position when movement positioning subsequent pare art positioning movement positioning orpre- art , , PPn_target PPn_target , , RAMPacc RAMPacc and and 151 8 Operation SD328A

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

15 14 13 12 10 X XX XXXXXXXX 15... 870 ... MSB LSB

Figure 8.16 Status messages for the operating mode

Parameter value Meaning Bit 10: Target reached 0: Target position not reached (also in the case of "Halt" or error) 1: Target position reached Bit 12: Target value acknowledge 0: New position possible 1: New target position accepted Bit 13: x_err 1: Error Bit 14: x_end 1: Positioning finished, motor at a standstill Bit 15: ref_ok 1: Drive has valid reference point

Positioning finished Bit 14 indicates whether positioning has been finished. If the target position was reached, bit 10 changes to 1. If the positioning movement was canceled by "Halt" or by an error, bit 10 remains set to 0.

8.5.4.1 Parameterization

The Profile Position operating mode can be set and executed via parameters.

POSNormNum SPV_SW_Limits POSNormDenom

PPp_targetusr * fp

PPn_target *fv=1 DCOMstatus

RAMPn_max RAMPacc *fa=1 RAMPdecel

Figure 8.17 Operating mode Profile Position, effect of adjustable parameters 0198441113700, V2.03, 07.2010 152 Stepper motor drive 0198441113700, V2.03, 07.2010 STA- STA- - PACu _p_actusr - - PPn_target - - _p_actRAMPusr HMI menu Parameter name - - PPp_targetusr - 8 Operation - AbsHomeRequest - - PPoption HMI menu Parameter name SD328A Stepper motor drive - PACu current parametercurrent value inRAMPn_max. to limited the valueThe adjusted isinternally position profile mode operating Referencein speed ecito Unit In userunits ofmo Actual position usr inuserunits Actual motor position Description vated) - Software switcheslimit they (if areacti- factor- Scaling on: valuesMin./max depend position Target profile inoperating mode position Available asof software version V1.201. 1 /yes 0 /no after homing only positioning Absolute tion of themotor Relative2: withreference to the actual posi- Notsupported 1: profilegenerator ofthe motion position get Relative0: withreference previous the to tar- Unit tive positioning: reference the for position rela- Determines forOptions position modeprofile operating Description Current position Target position : No : Yes tion profile profile generator tion Thisdepends the on setting inparameter position. target the or position axis relatively reference current with tothe In the case of arelative positioning, the positioning distance is specified absolutely with referencethe to zero pointof the axis. In the case of absolute positioning, the positioning distance is specified _p_actusr The currentpositionthe with2 canbe parameters determined A new positionvalue isassignedthe with parameter and and _p_actRAMPusr min - 0 - usr - 0 - Maximum value Factory setting Minimum value - 0 - usr 1 0 0 - 2 0 0 - Maximum value Factory setting Minimum value - 60 1 -1 . - - R/- INT32 INT32 - - R/- INT32 INT32 Expert Persistent R/W Data type - - R/W INT32 INT32 - per. R/W UINT16 UINT16 - - R/W UINT16 UINT16 Expert Persistent R/W Data type - - R/W UINT32 UINT32 PPoption CANopen 301F:2 CANopen 6064:0 CANopen fieldbusvia Parameter address 607A:0 CANopen 3006:16 CANopen 60F2:0 CANopen fieldbusvia Parameter address CANopen 6081:0 CANopen Modbus 6960 Modbus 6942 Modbus 7940 Modbus 7706 Modbus 6940 Modbus 1580 PPp_targetusr . h h 153 h h h h . 8 Operation SD328A

8.5.5 Operating mode Profile Velocity

The operating mode can only be used in fieldbus control mode and can only be executed via the fieldbus.

In the operating mode Profile Velocity, the drive accelerates to an adjustable target speed of rotation. You can set a motion profile with values for acceleration and deceleration ramps. Prerequisites The device must be in operating state "Operation enable". See chapter 8.3 "Operating states". Start operating mode If the type of operation, the operating state and the parameter values are set, the operating mode can be started by transfer of a set velocity in the parameter PVn_target. Status messages The drive provides information concerning positioning via bits 10 and 12 to 15 in the parameter DCOMstatus.

15 14 13 12 10 X XX XXXXXXXX 15... 870 ... MSB LSB

Figure 8.18 Status messages for the operating mode

Parameter value Meaning Bit 10: Target reached 0: Reference speed not reached 1: Reference speed reached (also in the case of motor standstill via "Halt") Bit 12: speed=0 0: Motor shaft moves 1: Motor at a standstill Bit 13: x_err 1: Error Bit 14: x_end 1: Operating mode terminated Bit 15: ref_ok 1: Drive has valid reference point

Operating mode terminated The operating mode is terminated by a motor standstill caused by "Halt", by an error or when the reference value is set to 0. 0198441113700, V2.03, 07.2010 154 Stepper motor drive 0198441113700, V2.03, 07.2010 STA- STA- - NACT _n_act - - PVn_target ... Parameterization 8.5.5.1 - - _n_actRAMP HMI menu Parameter name 8 Operation HMI menu Parameter name SD328A Stepper motor drive - NACT Reference speed current parametercurrent value inRAMPn_max. to limited the valueThe adjusted isinternally velocity profile mode operating Referencein speed culmtrsedmin Unit min generator profile of motion speed Actual speed motor Actual Description Unit Description Current speed Current Overview _n_actRAMP The current by speedis determined using parameters the 2 tion command. values are accepted immediately the executionduring of mo- a running eratingmode isnot limited by the positioningrange limits. New speed olutions per minute and can be changed the during movement. The op- The reference speed is assigned viathe parameter which can beforcanwhich set the operating mode ProfileVelocity. The followingoverview shows theof function the parametersprinciple Figure 8.19 Operating mode ProfileVelo mode Operating 8.19 Figure RAMPn_max PVn_target . RAMPdecel RAMPacc min Maximum value Factory setting Minimum value Maximum value Factory setting Minimum value - 0 - - 0 - - 0 - -1 -1 -1 *fv=1 *fa=1 city, effects ofadjustable parameters Expert Persistent R/W Data type Expert Persistent R/W Data type - - R/- INT32 INT32 - - R/- INT16 INT32 - - R/W INT32 INT32 PVn_target via fieldbusvia Parameter address fieldbusvia Parameter address CANopen 606B:0 CANopen 606C:0 CANopen 60FF:0 CANopen Modbus 7948 Modbus 7696 Modbus 6938 _n_act DCOMstatus in rev- in and 155 h h h 8 Operation SD328A

8.5.6 Operating mode Motion Sequence

Less digital inputs and outputs are available in local control mode. This reduces the functionality for direct selection of data sets. In local control mode, you should therefore use sequential selection of data sets if possible.

If a positive limit switch is to be used instead of the reference switch, it must be configured, see chapter 8.6.10 "Configurable inputs and outputs".

Availability This operating mode is available as of software version 1.201 and higher. Basis The operating mode Motion Sequence is based on the basic principles and functions of the operating modes Homing and Profile Position. The function principle is described in the individual chapters on the corresponding operating mode. Overview of Motion Sequence In the operating mode Motion Sequence, the motor is controlled by data sets that can be programmed as required. The data sets are parameterized via the commissioning software or the fieldbus. Parameterization via the commissioning software is considerably easier because a graphic interface is available.

There are 2 processing modes for the data sets: • Direct selection of the data sets Direct selection of the data sets is used if a master controller (e.g. PLC) is in charge of the time coordination between the various data sets. In local control mode, the sequence starts with data set number 0. In fieldbus control mode, the parameter MSMsetNum defines the number of the data set to be started. The data set is activated when the corresponding transition condition is met.

• Sequential selection of the data sets Sequential selection of the data sets is typically used with motion sequences with a fixed order. The time coordination between the various data sets and their sequence is defined in the drive. The globally defined continued transition condition is checked to start the first data set. Special conditions can be parameterized for all the subsequent data sets. In local control mode, an external signal can meet a transition condition between the data sets via the function "DataSet Start". In fieldbus control mode, a transition condition can be met either via parameter MSMstartReq or DCOMcontrol bit 4. 0198441113700, V2.03, 07.2010 156 Stepper motor drive 0198441113700, V2.03, 07.2010 - - MSMglobalCond - - MSMprocMode 8.5.6.1 Global settings Global 8.5.6.1 HMI menu Parameter name 8 Operation HMI menu Parameter name Fieldbus control mo data sets ofthe selection Sequential sets Direct selection thedata of Processing mode SD328A Stepper motor drive Selection of processingmode Global transitioncondition assignment). (default sets data individual the in tion astransition condi- canbe used this setting activation operating mode. the of Inaddition, after isusedforThis setting start thefirst processed. be is to request way start the the defines transition condition global The 3 /0-level 2 /1-level 1 /falling edge 0 /risingedge condition transition Global 1 /sequential 0 /direct mode Processing ecito Unit Description Unit Description : Direct selection : 0level : 1level with any dataset. and continued starting interrupted Any canbestarted, sequence viaaparameter.directly beselected sets can All data : Sequential selection : Sequential : Rising edge : Rising : Falling edge special transition condition in fined ascondition. The globaltransition conditioncan be replaced by a to all subsequent data sets in which t the of first dataapplieswhich set to as thestart well the asto transition The parameter The processingmodeis defined with the parameter control modes of the operating mode Motion Sequence. The following table provides an overview of the processing modes and be outputvia an additional signal output. processing In addition,aninternal Acknowledge"signalvia a output with the "DataSet Start function. output be can set data a of state processing the mode, control local In eLclcnrlmd Description control Local mode de MSMglobalCond 3 0 0 - 1 1 0 - Maximum value Factory setting Minimum value Maximum value Factory setting Minimum value started. is 0 number the with set data The started. is 0 number the with set data The each individual data set. data individual each defines the global transitioncondition state such as "Motor Standstill"can as state such he global transition condition isde- - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 Expert Persistent R/W Data type Expert Persistent R/W Data type CANopen 302D:8 CANopen CANopen 302D:7 CANopen via fieldbusvia Parameter address fieldbusvia Parameter address Modbus 11536 Modbus 11534 MSMprocMode Page 167 Page 165 157 . h h 8 Operation SD328A

8.5.6.2 Structure of a data set

1 Type Target Speed Acceleration Deceleration

TriggerOut TriggerOut 2 Type Target Speed Acceleration Deceleration Next data set Pause Condition SetStart SetEnd

Figure 8.20 Structure of a data set

(1) Direct selection of the data sets (2) Sequential selection of the data sets Type Selection of data set type The Target settings have the following different meanings depending on the selected data set type:

Type Description Pos. absolute Absolute positioning see chapter 8.5.4 "Operat- ing mode Profile Position" Pos. relative Relative positioning see chapter 8.5.4 "Operating mode Profile Position" Homing Reference movement to limit switch with and without index pulse, see chapter 8.5.7 "Operating mode Homing" Position setting Position setting see chapter 8.5.7.5 "Homing by position setting"

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

MSMdataType Selection of movement type - UINT16 CANopen 302D:11h 0 UINT16 Modbus 11554 - 0 / None: None 0 R/W 1 / absolute positioning: Absolute position- - 4 per. ing - 2 / relative positioning: Relative positioning 3 / homing: Homing 4 / set position: Position setting Sequential selection: Processing of wait time and transition condition only. Direct selection: Triggering of a data set without movement, but compliance with handshake mechanism.

Target Corresponds to different values according to data set type. In the case of positioning, this is the value of an absolute or relative position change. In the case of homing, the homing method can be selected here. In the case of position setting, an absolute position is specified. 0198441113700, V2.03, 07.2010 158 Stepper motor drive 0198441113700, V2.03, 07.2010 - - MSMdataNext - - MSMdataSpeed - - MSMdataTarget HMI menu Parameter name - - MSMdataDec - - MSMdataAcc 8 Operation HMI menu Parameter name HMI menu Parameter name SD328A Stepper motor drive Speed, accelerationand Subsequent data set ing mode 'sequential selection'. mode'sequential ing isonlyeffectiveThis setting in the process- set data of subsequent Number search speed. in the caseofhoming to the speed, ence ments, this value to the refer- corresponds caseof In the relative move- orabsolute Speed usr in Position position - setting position setting: movement (seeHMmethod) - Reference movement: type of reference - Relative relative positioning: distance in usr usr in position absolute positioning: Absolute - - None:no meaning ing type (see MSMdataType for settings): process- selected the value on The depends Target value of movement type ecito Unit Description forter RAMPdecel adjustment range value,parame- deceleration see Special >0: no Useof change 0: deceleration, current Deceleration RAMPaccter for range adjustment value, acceleration parame- Special see >0: Unit nochange Useof 0: acceleration, current Acceleration Description Unit Description deceleration Definesthenumber of the data set thattoexecuted be is next. separatelyfor eachdata set. The valuesfor speed,acceleration deceleration and can bespecified 15 0 0 - min 2147483647 0 -2147483648 - Maximum value Factory setting Minimum value min min Maximum value Factory setting Minimum value Maximum value Factory setting Minimum value 3000000 0 0 3000000 0 0 13200 0 0 -1 -1 -1 /s /s - per. R/W UINT16 UINT16 - per. R/W INT32 INT32 Expert Persistent R/W Data type Expert Persistent R/W Data type Expert Persistent R/W Data type - per. R/W UINT32 UINT32 - per. R/W UINT32 UINT32 - per. R/W UINT16 UINT16 CANopen 302D:18 CANopen 302D:12 CANopen via fieldbusvia Parameter address fieldbusvia Parameter address fieldbusvia Parameter address CANopen 302D:15 CANopen 302D:14 CANopen 302D:13 CANopen Modbus 11556 Modbus 11568 Modbus 11562 Modbus 11560 Modbus 11558 159 h h h h h 8 Operation SD328A

Pause Defines the waiting time after end of positioning. The value can be in the range from 0 to 30000 ms. This waiting time must elapse for the data set to be completely terminated.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

MSMdataDelay Wait time ms UINT16 CANopen 302D:16h 0 UINT16 Modbus 11564 - Additional wait time in ms after termination of 0 R/W the movement. - 30000 per. - This setting is only effective in the processing mode 'sequential selection'.

Condition Defines the transition condition that must be met before the next data set is executed. The following settings are available for the parameter:

Condition Meaning Auto The next data set is started immediately after the current data set. Rising edge The "DataSet Start" function is monitored and if a rising edge is detected, the condition is considered to be fulfilled. Falling edge The "DataSet Start" function is monitored and if a falling edge is detected, the condition is considered to be fulfilled. 0 level The "DataSet Start" function is monitored and if the level is 0, the condition is considered to be fulfilled. 1 level The "DataSet Start" function is monitored and if the level is 1, the condition is considered to be fulfilled. Global transition condition Uses the global transition condition. See chapter 8.5.6.1 "Global settings". Blended movement The motor movement is not stopped between the data sets. The transition condition between the data sets is reaching the target position. The condition "Blended Movement" is possible only for: • Absolute positioning.

• In the case of subsequent data sets, whose target position is greater than that of the current data set. Blended movement a) The speed of the subsequent data set is adjusted after the target position is reached. Blended movement b) 1) The speed of the subsequent data set is adjusted before the target position is reached. 1) Only possible with linear ramps. See 8.6.4 "Motion profile". 0198441113700, V2.03, 07.2010 160 Stepper motor drive 0198441113700, V2.03, 07.2010 - - MSMdataNextCond D2A8 Operation HMI menu Parameter name SD328A Stepper motor drive Exampleblended of movements TriggerOut /SetEnd SetStart ing mode 'sequential selection'. mode'sequential ing isonlyeffectiveThis setting in the process- ment b 7 /blendedmove typ B ment a 6 /blendedmove typ A 5 /auto MSMglobalCond) (see condition 4 /global nextcondition 3 /0-level 2 /1-level 1 /falling edge 0 /risingedge Transition condition ecito Unit Description : Auto : 0level : 1level : Rising edge : Rising : Falling edge implemented. switchexternal actuators. This way,special handshake requests can be be defined foreach data set. This havior of the signal and output the end ofthe at each start dataset can The signal outputbe can controlled directly by every data set.be- The ment aand b, using 3datasets. The followingillustration shows the Inverted Inverted Output level Output inverted is level Output 0levelbecomes level Output 1levelbecomes Inverted 0 level 1 level level Output unchanged remains Inverted 0 level Unchanged 1 level Unchanged Start TriggerOutSet- movement Blended 8.21 Figure : Blended move-: Blended move-: Blended : Global transition transition : Global tEnd TriggerOutSe- 1/min 1/min b a 7 4 0 - Maximum value Factory setting Minimum value 1 Description function canbe usedto or trigger difference between blended move- 2 - per. R/W UINT16 UINT16 Expert Persistent R/W Data type 3 t t CANopen 302D:17 CANopen via fieldbusvia Parameter address Modbus 11566 161 h 8 Operation SD328A

8.5.6.3 Starting the operating mode

Starting the operating mode In local control mode, the operating mode must be set using the parameter IOdefaultMode. Setting the input signal ENABLE enables the power stage, applies current to the motor and evaluates the inputs according to the settings made. In fieldbus control mode, the operating mode must be set with via the parameter DCOMopmode. Writing the parameter value causes the operating mode to start. Starting a data set in local control In local control mode, the global transition condition refers to the state of mode the function "DataSet Start". The first data set (data set number 0) is started if the global transition condition is fulfilled. Separate transition conditions can be defined for each subsequent data set after the first data set. Starting a data set in fieldbus In fieldbus control mode, the global transition condition refers to the pa- control mode rameters MSMstartReq or DCOMcontrol bit 4. The first data set is started if the global transition condition is fulfilled. Separate transition conditions can be defined for each subsequent data set after the first data set.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

MSMstartReq Start request for processing of a data set - UINT16 CANopen 302D:3h 0 UINT16 Modbus 11526 - Direct selection: 0 R/W The data set is triggered by a rising edge. - 1 - The number of the data set to be triggered - must first adjusted via MSMsetNum. Sequential selection: Triggering of a data set with start or transition condition. The start condition is defined with MSMglobalCond. The transition condition can be specially adjusted for each data set. 0198441113700, V2.03, 07.2010 162 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A8 Operation SD328A Stepper motor drive Status messages on positioning in bits 7, 8, 13, 14 and 15 in the parameter In the operating mode Motion Sequence, the drive provides information i 5 e_k1:Drive is referenced motor at completed, a stand- 1: Dataset 1: Error inthe that there is awarning 1: Indicates ref_ok Bit 15: 1:indi x_end Bit 14: Meaning x_err Bit 13: active Bit 8:Haltrequest Bit 7:Warning Parameter value Statusmessages for mode theoperating 8.22 Figure MSB 15 58... 8 15 14 13 X ... X XXXXXX X XX still parameter 8 7 70 cates isactive.cates that a"Halt" _WarnActive LSB DCOMstatus 163 . 8 Operation SD328A

8.5.6.4 Switching on the drive system

@ DANGER UNEXPECTED RESTART If appropriately parameterized, the product can automatically start movements as soon as the VDC supply is available. This may cause unexpected restarts after a power outage. • Verify the behavior of the system when supplying power. • Verify that there are no hazards to persons when the system restarts after a power outage. • Verify that there are no persons in the hazardous area. Failure to follow these instructions will result in death or serious injury.

If Motion Sequence is selected as start-up operating mode, the input signals and settings are processed in the following sequence when the drive system is switched on: Enabling the power stage If the parameter IO_AutoEnable is set to the value 2, the power stage is automatically enabled when the device is switched on. If the parameter IO_AutoEnable is parameterized to 0, the power stage must be enabled separately. Selection of the data sets In local control mode, the sequence starts with data set number 0. In fieldbus control mode, the parameter MSMSetnum defines the number of the data set to be started. Start of a data set The global transition condition MSMGlobalCond must be fulfilled before the start of the first data set. In local control mode, the parameter MSMGlobalCond evaluates the "DataSet start" function. In fieldbus control mode, the parameter MSMGlobalCond evaluates the value of the parameter MSMstartReq. If a static condition is parameterized as a global transition condition MSMglobalCond and this is present at the time the power stage is enabled, the data set is started directly. A movement can be started automatically by this sequence with suitable parameterization when the product is switched on. 0198441113700, V2.03, 07.2010 164 Stepper motor drive 0198441113700, V2.03, 07.2010 ... Processing mode "Direct selection of data sets" 8.5.6.5 D2A8 Operation SD328A Stepper motor drive Example of aprocessing sequence Operationwith master controller with return value x_end return with (2) suitable signals.return The signals are exchanged viahandshake. PLC.a The current processingstatusof the drive via canbedetermined Timing of the process is controlled by a master controller, for example, started. be to set data the of parameter the mode, control fieldbus In Acknowledge". taSet Start The processingtaSet Start". state with canbe the returned function "Da- In localcontrol mode, viathefunction dataset "Da- number started 0is MSMprocMode parameter via the isparameterized sets data ofthe selection Direct sequential selection of datasets ifpossible. data sets. In localcontrol mode, you should therefore use mode. Thisreduces the functionalityfor direct selectionof Less digital inputs and outputs are available in local control (1) sequenc ofprocessing Example 8.23 Figure theactivation the of data set. parameter the PLC. Processing master the of time cycle the faster than completed movement is that positioning a short shown is job positioning controller. second The minated. This results in a synchronization with the speed of the master (4) (3) x_end this functionand the parameter The handshake signalchecks the function "Motor Standstill" internally. If of the parameter MSMstartReq LXM fines the numberthe of data setbe to started. bit starts positioningperselected as dataset. At the same time, PLC: in bit bit in LXM rameter PLC must be 0). MSMsetNum x_end sets : After detection of the activation of the data set, the pa- the set, data the of activation the of detection : After : A change in the parameter : Termination of positioning issignaled to the PLC by a 1 . x_end In fieldbus control mode, the parameter parameter the mode, control In fieldbus x_end M MSMstartReq of the parameter parameter the of 0 1 0 1 of the parameter parameter ofthe DCOMstatus 1 2 MSMstartReq MSMstartReq 37 can bereset to0. 3 DCOMstatus changes to 1and the cycle aster- MSMSetnum DCOMstatus 4 e with direct selection of the data MSMstartReq are set to inactive, to bit set the are 1 allows the PLC to detect detect to PLC allows the defines the number is set to 0. to set is ( MSMsetNum MSMstartReq from 0 to 1 1 to 0 from de- 165

8 Operation SD328A

Example For control via a PLC, the data sets in the controller are to do the following:

Data set number Type Target Speed Acceleration Deceleration 0 Reference move- LIMN 1000 500 500 ment 1 Absolute 1000 1000 750 200 2 Absolute 5000 2000 1000 1000 3 Relative -1000 500 500 500 4 Relative 1000 1000 250 250

Setting The following settings are made in the commissioning software:

Figure 8.24 Example of direct selection of the data sets 0198441113700, V2.03, 07.2010 166 Stepper motor drive 0198441113700, V2.03, 07.2010 ... Processingmode "Sequential selection ofdatasets" 8.5.6.6 D2A8 Operation SD328A Stepper motor drive controller, minimizedexternal Operation without external circuitry In fieldbus control mode, the parameter parameter the mode, control fieldbus In is processed. next the sequence inthe again, set data datarunning completed. set is When the transition condition ismet condition ,for example 1level. If the sequenceis stopped, the currently thecondition. is possibleThis ifastatic state was set asthe transition of the command, processing sequenc Ifmultiple datasetsareactivated after one the other by thestart same static 1level). number of datasetsare to be processed viathecondition same (e.g. separatelyeach databewithset started acondition is or whether a to therequirements of the application. Thespecifycan user whether quentially. The transition conditions between the data sets can be tuned The specifiedpositioning jobs includingwaiting time are processedse- fulfill acondition. parameter the mode, fieldbus control In a condition. sets. The global transition condition Theby processing sequencedetermined is parameterizationthe ofdata MSMprocMode The sequential selection of the data sets isparameterized via parameter when the powerstage isenabled. number offirst. the data Theset setting to bestarted active becomes In controlmode,local th set. data first . e "DataSet Start" functi e "DataSetStart" MSMglobCond e can be stopped bye canbestopped notfulfilling MSMstartReq MSMsetNum on can be used tofulfill can beused on is used to start the isused to start determines the determines can be usedto 167 8 Operation SD328A

Example of sequential selection of After enabling of the power stage, the following steps are to be per- the data sets formed:

MSMglobalCond = rising edge

DataSet_0 homing

Reference movement terminated

DataSet_1 absolute positioning

Positioning terminated Condition = Blended movement a

DataSet_2 absolute positioning

Positioning terminated Pause terminated Condition = 1-Level

DataSet_3 relative positioning

Positioning terminated MSMglobalCond = rising edge

Figure 8.25 Processing principle for sequential data sets

• DataSet_0: Reference movement to negative limit switch, no waiting time, next data set = DataSet_1, continue processing directly with next data set (DataSet_1). • DataSet_1: Absolute positioning to 200000 usr, no waiting time, next data set = DataSet_2, continue processing directly with the next data set on reaching the position, the speed is not set to 0 due to the condition Blended Movement. • DataSet_2: Absolute positioning to 1000000 usr, then waiting time of 2000ms, next data set = DataSet_3, continue processing directly with next data set if condition is still met. • DataSet_3: Relative positioning by 1200000 usr, no waiting time, next data set = DataSet_1, continue processing with next data set if rising edge parameterized via the parameter MSMglobalCond is fulfilled. During positioning, the "DataSet Trigger Output" function is to be at level 1. 0198441113700, V2.03, 07.2010 168 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A8 Operation SD328A Stepper motor drive Processing principle Setting The followingsettings are made inthe commissioningsoftware: signal output. The "DataSet TriggerOutput" functionbeen hasassigned digitala to Figure 8.26 Example of sequential selection of the data of sets the data selection ofsequential Example 8.26 Figure (1) A return value A return isavailable viathe parameter signaled byacknowledgement an signal. condit start whentheglobal is started lectedafter power the stage isenabled. Processingof the first dataset AND complete Positioning The datasets are processed sequentially.specified The data set 0isse- Positioning completed (5) Positioning terminated, blended movement complete movement Reference (4) (3) (2) mode). Acknowledge"trol mode)or the function"DataSet Start (local control MSMglobalCond ing edge condition 1levelfulfilled = Risingedge AND DelayTime passed AND DelayTimepassed AND ion is fulfilled. End of processing is is ion isfulfilled.Endofprocessing MSMglobalCond DCOMstatus fulfilledwithris- (fieldbuscon- 169 8 Operation SD328A

Example of a processing sequence

7 MSMstartReq/ 1 1 "DataSet start" 0 2 4 5 x_end/ 1 "DataSet start 0 acknowlege" 3 6

"DataSet trigger output"

Figure 8.27 Handshake with sequential processing mode

(1) The change from 0 to 1 in the parameter MSMstartReq activates the first data set (here 0). The data set has already been selected when the power stage was enabled. (2) Processing of the selected data set is started; at the same time, bit x_end is set to 0. (3) Transition from reference movement to data set 1 takes place immediately after the end of the reference movement. (4) Transition from DataSet_1 to DataSet_2 takes place without standstill of the motor, because the condition is motion sequence. (5) Transition after the waiting time from DataSet_2 to DataSet_3 takes place immediately because the transition condition is met. While positioning is carried out as per DataSet_3, the level of the function "DataSet Trigger Output" is 1. (6) After completion of DataSet_3, a change from 0 to 1 is expected in parameter MSMstartReq for continued processing. The completion of a processing sequence is signaled by the value 1 of the x_end bit. When processing of the data set is terminated, the level of the function "DataSet Trigger Output" is reset to 0. (7) The change from 0 to 1 in the parameter MSMstartReq activates the data set 1. 0198441113700, V2.03, 07.2010 170 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A8 Operation Operating modeHoming 8.5.7 SD328A Stepper motor drive Types of reference movements OverviewHoming of Movement to negativeswitch limit • There are 4standardtypes of reference movements: Movement to reference switch • Movement to reference switch • Movement topositiveswitch limit • desired a to position motor current Position you the lets set setting • A reference movementis amovementa to defined point, therefer- • referencemovement setting. a by or of position byout means a carried between the motor position and a defined axisposition. Homing can be The operating mode Homing establishesan absolute positionreference only beexecutedthe via fieldbus. The operating mode can only be used in fieldbus control mode and can encoder connected". encoder be connected. The For referencemovements with index pulsemotora with encoder must Referencemovement with index pulse • Referencemovement without index pulse • Reference movements are possible with orwithout index pulse. injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these Verify freeandreadyfor is system the that movement before • Note that any changes to the values of these parameters are exe- • UNINTENDED OPERATION tion position value towhich the subseq Monitoring signals that are notmust used deactivated. be The signals required for the referencemovement mustbe wired. vated. mentmust completed be before a new operatingmode can beacti- again. Asopposed to the other operating modes, areference move- be valid. If the reference movement isinterrupted, it must be started A reference for movement new completed must the be zeroto point is possibleparameterize to ashift of the zero point. It reference movements a point. as positioning absolute subsequent The reference pointalso defines thezero point thatused is for all position reference between the motor positionand the axis position. absolute the establish objective is to the axis; the on point, ence the motor.the Movement the physicalswitching tothe from edge index of pulse from switchingedge distance Movement the switching toaparameterizable from edge changing these parameters. set. cuted by thedrive controllerimmediately on receipt the of data CTRLS_MotEnc @ WARNING REF REF parameter must be set to "Motor LIMP LIMN uent position values uent position relate. will with positive direction of rotation of positive with direction with negative directionof rota- 171 8 Operation SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

Starting homing Homing is triggered via bit 4=1 in parameter DCOMcontrol. Status messages The drive provides information concerning positioning via bits 10 and 12 to 15 in the parameter DCOMstatus.

15 14 13 12 10 X XX XXXXXXXX 15... 870 ... MSB LSB

Figure 8.28 Status messages for the operating mode

Parameter value Meaning Bit 10: Target reached 0: Homing not completed 1: Homing completed (also in the case of cancellation via "Halt") Bit 12: Homing attained 1: Homing successfully completed Bit 13: x_err 1: Error Bit 14: x_end 1: Homing completed, motor at standstill Bit 15: ref_ok 1: Drive has valid reference point

Operating mode terminated The operating mode is terminated after successful homing, a motor standstill by "Halt" or an error. If a motor with an encoder is connected, the valid reference point remains valid even if the power stage is disabled. 0198441113700, V2.03, 07.2010 172 Stepper motor drive 0198441113700, V2.03, 07.2010 - - HMmethod 8.5.7.1 Parameterization, general Parameterization, 8.5.7.1 D2A8 Operation HMI menu Parameter name SD328A Stepper motor drive inside: Indexinside: / pulse switch Index outside outside: /distance pulse inv.:not inswitch inverted Directionnot inv.: inswitch direction Invert movementREF-: Search in pos. direction REF+: Searchmovement inpos. direction Abbreviations: 35: Position setting Index34: pos. pulse direction Index33: 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 withindex REF+ 7: pulse, inv., outside index LIMPwith 2: pulse indexLIMN with pulse 1: method Homing ecito Unit Description Description distance insideswitch are failsafe.are signals 0monitoring ifpossible, because they Use active switches.limit enablethe to active_1 active_0 and to or Use the parameters quired. switch Use the parameter rameter There are various methods of homing whichcan be selected viathe pa- REF HMmethod to active_0or active_1. Areleaseof the switchnot is re- . IOsigREF IOsigLimN 35 18 1 - Maximum value Factory setting Minimum value to set the evaluationof the reference and IOsigLimP - - R/W INT16 INT8 Expert Persistent R/W Data type to set the evaluation CANopen 6098:0 CANopen via fieldbusvia Parameter address Modbus 6936 h 173 8 Operation SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

IOsigRef Signal evaluation REF - UINT16 CANopen 3006:Eh 1 UINT16 Modbus 1564 - 1 / normally closed: Normally closed NC 1 R/W 2 / normally open: Normally open NO - 2 per. - The reference switch is only activated (to REF) while homing is processed.

IOsigLimN Signal evaluation LIMN - UINT16 CANopen 3006:Fh 0 UINT16 Modbus 1566 - 0 / inactive: Inactive 1 R/W 1 / normally closed: Normally closed NC - 2 per. 2 / normally open: Normally open NO -

IOsigLimP Signal evaluation LIMP - UINT16 CANopen 3006:10h 0 UINT16 Modbus 1568 - 0 / inactive: Inactive 1 R/W 1 / normally closed: Normally closed NC - 2 per. 2 / normally open: Normally open NO -

The parameters HMn and HMn_out are used to set the speeds for searching the switch and for moving away from the switch.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert -1 HMn Speed of rotation for search of switch min UINT32 CANopen 6099:1h 1 UINT16 Modbus 10248 - The adjustable value is internally limited to 60 R/W the current parameter setting in - 3000 per. RAMPn_max. - -1 HMn_out Speed of rotation for moving away from min UINT32 CANopen 6099:2h switch 1 UINT16 Modbus 10250 - 6 R/W The adjustable value is internally limited to - 3000 per. the 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 HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

HMp_homeusr Position at reference point usr INT32 CANopen 3028:Bh -2147483648 INT32 Modbus 10262 - After a successful reference movement, this 0 R/W position is automatically set at the reference - 2147483647 per. point. - 0198441113700, V2.03, 07.2010 174 Stepper motor drive 0198441113700, V2.03, 07.2010 - - SaveHomeMethod - - HMoutdisusr HMI menu Parameter name 8 Operation - - HMsrchdisusr HMI menu Parameter name SD328A Stepper motor drive Preferred method eal oigmto - method Default homing error. the reference movement an with iscanceled here, defined not found distance the is within switching forto search defined edge.the Ifit switch,of the starts drive detection the After units user-defined in distance Maximum>0: ofdistanceinactive Monitoring 0: edge Maximum fordistance searchfor switching ecito Unit Description movementcanceled. is reference the search distance, otherwise this The switch must be activated within again units user in distance Search >0: processing disabled Searchdistance 0: distance after overrunMax. search switchof Unit Description The functionis available software asof version 1.501 and higher. is overwritten by thevalue in set the parameter The parameters When the device the isswitched valueWhen parameter the inthe on, rameter SaveHomeMethod ing method.meaning The of the valuesofthe parameter The parameter activationthe ofmonitoring of the switch function. HMmethod SaveHomeMethod HMoutdisusr corresponds to the meaningthe of values of the pa- . 35 18 1 2147483647 0 0 usr Maximum value Factory setting Minimum value 2147483647 0 0 usr Maximum value Factory setting Minimum value and allows you save to apreferred hom- HMsrchdisusr - per. R/W INT16 INT16 - per. R/W INT32 INT32 Expert Persistent R/W Data type - per. R/W INT32 INT32 Expert Persistent R/W Data type SaveHomeMethod CANopen 301B:1C CANopen 3028:6 CANopen via fieldbusvia Parameter address 3028:D CANopen fieldbusvia Parameter address Modbus 10266 Modbus 10252 Modbus 6968 canfor beused HMmethod . h 175 h h

8 Operation SD328A

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 173. First, the product moves to the defined limit switch or reference switch. Then the product moves to a defined distance from the switching edge. The distance from the switching edge can be specified with the parameter HMdisusr.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

HMdisusr Distance from switching edge to reference usr INT32 CANopen 3028:7h point 1 INT32 Modbus 10254 - 200 R/W After the drive 'leaves' the switch, it is posi- - 2147483647 per. tioned into the working area by a defined dis- - tance. This target point is defined as the reference point.

The parameter is only effective during reference movements without index pulse search.

Reference movement to limit switch The following illustration shows a reference movement to the negative limit switch with distance from the switching edge (HMmethod = 17).

LIMN LIMP

ᕃ

ᕄ

ᕅ R-

HMdisusr HMn HMoutdisusr HMn_out

Figure 8.29 Reference movement to the negative limit switch

(1) Movement to limit switch at search speed (2) Movement to switching edge at speed for moving away from switch (3) Movement to distance from switching edge at speed for moving away from switch 0198441113700, V2.03, 07.2010 176 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A8 Operation SD328A Stepper motor drive Reference movement to reference switch switchwith distance from the switchingedge ( The followingillustration shows reference movementsreferenceto the 3 Movement to distance from switching edge at speed for mov- Movementswitching to edgeat speed formoving away from (3) Movement to reference switch at search speed (2) (1) Reference movements tothereference switch 8.30 Figure LIMN ing away from switch switch HMn_out HMn R- ᕅ REF ᕄ R- ᕄ ᕅ ᕅ ᕄ ᕄ R- ᕅ ᕃ ᕃ ᕃ ᕃ R- M HMmethod HMmethod =27 HMmethod =30 HMmethod =2 HMmethod =28 =27 to30). =27 LIMP 9 177 8 Operation SD328A

Examples The following illustration shows reference movements to the reference switch with distance from the switching edge (HMmethod =27). You can see different responses at different search speeds and start positions. • Movement to the reference switch with first movement in negative direction; the reference switch is once in front of the starting point (A1, A2), once behind it (B1, B2). • Additional movement when the unit moves through the switch range (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 8.31 Reference movements to the reference switch

(1) Movement to reference switch at search speed (2) Movement to switching edge at speed for moving away from switch (3) Excessively fast movement to reference switch at search speed (4) Return movement to switch range at speed for moving away from switch (5) Movement to distance from switching edge at speed for moving away from switch 0198441113700, V2.03, 07.2010 178 Stepper motor drive 0198441113700, V2.03, 07.2010 - - HMdisREFtoIDX DRC- DRC- - ENCM CTRLS_MotEnc ... Reference movement with index pulse 8.5.7.3 HMI menu Parameter name 8 Operation HMI menu Parameter name SD328A Stepper motor drive - ENCM Parameterization In increments of 1/10000 revolutions of1/10000 In increments reproduced. be can processing the reference movement withindex pulse whether fordetermining criterion a as serves index the switching and pulse edge and It allows to check between the the distance reference switch. switching atthe position thelimitor edge of index the the and between position pulse This read value delivers thedifference fromswitching Distance to index edge pulse nected, rotationmoni 2 /ShowEncPos / connected 1 /NoEncCon/ motor speed motor speed (_n_act). and (_p_actusr) position motor as output are the reference values _n_pref _p_refusr and If you connected", motorencoder select "No activated.also encoder is ofthe temperature monitoring connected", If youencoder "Motor select nected, rotation 3 /RotMonOn/ infoposition ecito Unit Description Unit 0 /undefined/ of position Processing motor encoder Description Description none monitoring active monitoring noCo rotM PInF : Undefined (default): Undefined toring inactive,toring only erence switch be erence can If the index pulse istoo closeto the switching edge, the limit switch or ref- way,This the reference movement with indexis reproducible. pulse The value should be>0.05. withbe the determined parameter The position distance between the switching edge and index pulse can Then the product moves to the nearest index pulse. First, the productmoves todefined the switch limit reference or switch. HMmethod A reference movement withindex pulseis setwith the parameter connected". encoder be connected. The For referencemovements with index pulsemotora with encoder must : Nomotor encoder : Motor encoder con- : Motorencodercon- = 1to 14, seepage 173. CTRLS_MotEnc moved mechanically. - 0.0000 - revolution 3 0 0 - Maximum value Factory setting Minimum value Maximum value Factory setting Minimum value HMdisREFtoIDX parameter must be set to "Motor - - R/- INT32 INT32 - per. R/W UINT16 UINT16 Expert Persistent R/W Data type Expert Persistent R/W Data type CANopen 3028:C CANopen CANopen 3014:9 CANopen via fieldbusvia Parameter address fieldbusvia Parameter address Modbus 5138 Modbus 10264 . h 179 h 8 Operation SD328A

Reference movement to limit switch The following illustration shows a reference movement to the positive limit switch with movement to the first index pulse (HMmethod = 2).

LIMN LIMP

M ᕃ

ᕅ ᕄ

HMn HMn_out

Figure 8.32 Reference movement to the positive limit switch

(1) Movement to limit switch at search speed (2) Movement to switching edge at speed for moving away from switch (3) Movement to index pulse at speed for moving away from switch 0198441113700, V2.03, 07.2010 180 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A8 Operation SD328A Stepper motor drive Reference movement to reference switch switch with movement index to thefrist ( pulse The followingillustration shows reference movementsreferenceto the 3 Movement to index pulse at speed for moving away from Movementswitching to edgeat speed formoving away from (3) Movement to reference switch at search speed (2) (1) Reference movements tothereference switch 8.33 Figure LIMN switch switch HMn_out HMn ᕅ REF ᕄ ᕄ ᕅ ᕅ ᕄ ᕄ ᕅ ᕃ ᕃ ᕃ ᕃ M HMmethod HMmethod =11 HMmethod =14 HMmethod =13 HMmethod =12 = 11 to 14). to 11 = LIMP 181 8 Operation SD328A

Examples The following illustration shows reference movements to the reference switch with movement to the first index pulse (HMmethod =11). Various responses at different search speeds and start positions are shown. • Movement to the reference switch with first movement in negative direction; the reference switch is once in front of the starting point (A1, A2), once behind it (B1, B2). • Additional movement when the unit moves through the switch range (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 8.34 Reference movements to the reference switch

8.5.7.5 Homing by position setting

Description Homing by position setting is set with the parameter HMmethod = 35, see page 173. By means of position setting, the current motor position is set to the position value in parameter HMp_setpusr. This also defines the zero point. Homing by position 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 position setting.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

HMp_setpusr Position for position setting usr INT32 CANopen 301B:16h - INT32 Modbus 6956 - Position setting position for homing method 0 R/W 35 - - - -

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

M M M ቢ

0 2000 usr "2000" ቤ ባ "0" 0 2000 usr

Figure 8.36 Positioning by 4000 usr units with position setting

(1) The motor is positioned by 2000 usr. (2) By means of position setting to 0, the current motor position is set to position value 0 which, at the same time, defines a new zero point. (3) When a new motion command by 2000 usr is triggered, the new target position is 2000 usr. This method avoids overtravel of the absolute position limits during a positioning operation because the zero point is continuously adjusted. The reference position is read by means of parameter _p_refusr.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

_p_refusr Reference position in user units usr INT32 CANopen 301E:Ch - INT32 Modbus 7704 - 0 R/- - - - - 0198441113700, V2.03, 07.2010 184 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A8 Operation Operating modeCyclic 8.5.8 SD328A Stepper motor drive Prerequisite Description Availability operation. After these steps, the Motion settingsController for out carries all further Commissioning step "First Setup" • Electrical connection with the fieldbus CANmotion of the Motion • mode: The followingbefore steps are necessary youusecan this operating cation profileCANmotion. The operatingavailaonly mode is Motion Controller manual. The possible applications forthis operating mode are inthe described higher. operatingThis modeis available software asof version 1.201 and Synchronous Position (DS402) Setting of baud rateand address – ConfigurationCANopen as – Controller blewith thecommuni- incombination 185 8 Operation SD328A

8.6 Functions

8.6.1 Setting the motor phase current

The motor phase current (and, by implication, the torque) can be set to a value between 0% and 100% of the nominal motor current CTRLS_I_Nom. The value can be set separately for motor standstill with parameter CTRLS_I_Stand%, for acceleration and deceleration with parameter CTRLS_I_Ramp% and for constant movement with parameter CTRLS_I_Const%, depending on the system requirements.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

CTRLS_I_nom Used nominal current Arms UINT16 CANopen 3014:1h - UINT16 Modbus 5122 - Corresponds to the lower value of 0.00 R/- SM_I_nom and PA_I_nom. - - - The value is updated when a motor is - selected or the motor type changed. The value corresponds to the motor current at a setting of 100% in phase current percentage for the different movement states.

CTRLS_I_Stand% Percentage of phase current at standstill % UINT16 CANopen 3014:Ah 1 UINT16 Modbus 5140 SET- - iStd 100% correspond to the value in 50 R/W CTRLS_I_nom SET- - iStd 100 per. -

CTRLS_I_Ramp% Percentage of phase current during acceler- % UINT16 CANopen 3014:Bh ation/deceleration 1 UINT16 Modbus 5142 SET- - irMP 100 R/W 100% correspond to the value in SET- - irMP 100 per. CTRLS_I_nom -

CTRLS_I_Const% Percentage of phase current during constant % UINT16 CANopen 3014:Ch movement 1 UINT16 Modbus 5144 SET- - icnS 80 R/W 100% correspond to the value in SET- - icnS 100 per. CTRLS_I_nom - The setting has no effect in the following operating modes (in these modes, 'CTRLS_I_Ramp%' is used): - Electronic gear - Oscillator 0198441113700, V2.03, 07.2010 186 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A8 Operation Positioning range 8.6.2.2 Status monitoringoperation during 8.6.2.1 Monitoring functions 8.6.2 SD328A Stepper motor drive Positioning range(only fieldbus ) _n_targetRAMP _p_tarRAMPusr _v_act_Posintf _p_actPosintf GEARdenum GEARnum GEARratio generator Jerk limitation Jerk generator Profile _n_actRAMP _p_actRAMPusr _p_addGEAR + GEARdir_enabl M _p_actusr The currentposition of the motor canread be outthe using parameter tioningrange by specifyingabsolute an positioning process. The motor canbe moved to anypoint the on axiswithin the axisposi- themovement The referenceis started. point(ref_okis lost =1-> 0). movement If so, is started. position internal setting to 0 is triggered when the unit checks theposition whether In the case of relative positioning in the operating mode Profile Position, Ifthe motorovertravels the positioninglimit, the reference pointis lost. usr except absoluteduring positioning inProfile Position 268435455 operating mode. usr Overtraveling ofthepositioninglimit -268435456 (B) (A) limits, The positioning Positioning range 8.38 Figure Statusmonito 8.37 Figure _p_ref _p_refusr A A . + - controller Motor monitoring Rotation with default scaling, are: B B ring of the control loops ofthe control ring A A Power stage _p_actusr _p_act _n_act s is possibles is inalloperating modes, limits willbeovertraveled before the POSdirOfrotat M Encoder evaluation - Position - Speed Actual value B B A A 0 1 M 3~ M E B B 187 8 Operation SD328A

Software limit switches The positioning range can be limited by software limit switches. This is possible as soon as the drive has a valid zero point (ref_ok = 1). The position values are specified with reference to the zero point. The software limit switches are set via the parameters SPVswLimPusr and SPVswLimNusr are activated via SPV_SW_Limits. Bit 2 of parameter _SigLatched signals the triggering of a software limit switch.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

SPVswLimPusr Positive position limit for software limit switch usr INT32 CANopen 607D:2h - INT32 Modbus 1544 - If a user value entered is outside of the per- 2147483647 R/W missible user range, the limit switch limits are - - per. automatically set to the max. user value. -

SPVswLimNusr Negative position limit for software limit usr INT32 CANopen 607D:1h switch - INT32 Modbus 1546 - -2147483648 R/W Refer to description 'SPVswLimPusr' - - per. -

SPV_SW_Limits Monitoring of software limit switches - UINT16 CANopen 3006:3h 0 UINT16 Modbus 1542 - 0 / none: None (default) 0 R/W 1 / SWLIMP: Activation of software limit - 3 per. switches positive direction - 2 / SWLIMN: Activation of software limit switches negative direction 3 / SWLIMP+SWLIMN: Activation of software limit switches both directions

Monitoring of software limit switches only works in case of successful homing (ref_ok = 1). 0198441113700, V2.03, 07.2010 188 Stepper motor drive 0198441113700, V2.03, 07.2010 - - IOsigLimN - - IOsigRef - - IOsigLimP HMI menu Parameter name 8 Operation SD328A Stepper motor drive Moving drive out 2 /normally open 1 /normally closed 0 /inactive evaluationSignal LIMN REF) while homing is processed. is homing REF) while The reference switch is only activated (to 2 /normally open 1 /normally closed evaluationSignal REF 2 /normally open Unit 1 /normally closed 0 /inactive evaluationSignal LIMP Description Limit switchesLimit : Inactive: : Inactive: : Normally open NO open : Normally : Normally open NO open : Normally NO open : Normally : Normally closed NC closed : Normally : Normally closed NC closed : Normally NC closed : Normally input signals The parameters limit the of gering nals nals sig- input the via switchesmonitored movements limit two are the During ment range in the operating mode Jog. The drivecan bemoved away from theswitch limit range to the move- failsafe.are signals 0monitoring ifpossible, because they Use active tive 1. •Useence values). ards (e.g.mechanical with collision injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these The use of of use The LOSS OF CONTROL Before you use can • Verify the correctinstallation of • Verify thattheexternal sensors or switches are con- properly • mechanical stop to allowfor anadequate stopping distance. switches must be mountedpositiona in farenough away fromthe nected. LIMP LIMP and and LIMP LIMP and LIMN IOsigLimP and and switch issignaled. and LIMN . If the drive hits a limit switch, the motor stops. Trig- switch,motor limit a the hits drive the . If 2 1 0 - 2 1 1 - 2 1 0 - Maximum value Factory setting Minimum value LIMN LIMN LIMP where possible. @ can provide some protection against haz- against protection provide some can and and tothe set evaluation to active 0or ac- WARNING and and IOsigLimN LIMN thelimitswitches.limit The stop caused by caused stop refer- incorrect - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 Expert Persistent R/W Data type , youmust enable them. are usedrelease to the CANopen 3006:F CANopen CANopen 3006:E CANopen 3006:10 CANopen fieldbusvia Parameter address Modbus 1564 Modbus 1568 Modbus 1566 189 h h h 8 Operation SD328A

8.6.2.3 Monitoring internal signals

Motor temperature monitoring In the case of motors with encoder and if the parameter CTRLS_MotEncUse is set to "Motor encoder connected", the motor temperature is also monitored. The temperature limit values are fixed. If the temperature exceeds the limit value, the power stage and controller are switched off. The device signals a temperature error. Power stage temperature Sensors monitor the temperature of the power stage. If the power stage monitoring temperature approaches the limit temperature PA_T_warn, a warning message is generated. If the temperature reaches the max. permissible temperature of the power stage, the power stage and controller are shut down. The device signals a temperature error.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

_Temp_act_DEV Device temperature °C INT16 CANopen 301C:12h - INT16 Modbus 7204 STA- - TDEV 0 R/- STA- - TDEV - - -

_Temp_act_PA Power stage temperature °C INT16 CANopen 301C:10h - INT16 Modbus 7200 STA- - TPA 0 R/- STA- - TPA - - -

PA_T_max Maximum permissible power stage tempera- °C INT16 CANopen 3010:7h ture - INT16 Modbus 4110 - 0 R/- - - per. -

PA_T_warn Temperature warning threshold of power °C INT16 CANopen 3010:6h stage - INT16 Modbus 4108 - 0 R/- - - per. -

Monitoring parameters The device status and operating state can be monitored by means of various objects.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

_SigActive Current status of monitoring signals - UINT32 CANopen 301C:7h - UINT32 Modbus 7182 - See _SigLatched for more details on the bit 0 R/- codes. - - - - 0198441113700, V2.03, 07.2010 190 Stepper motor drive 0198441113700, V2.03, 07.2010 - - _WarnActive 8 Operation STA- STA- - SiGS _SigLatched HMI menu Parameter name SD328A Stepper motor drive - SiGS bit codes. forSee _WarnLatched the moredetails on Active bit-coded warnings, Unit Description Monitoring functions areproduct-dependent. functions Monitoring Bit 31:System error(e.g. watchdog) parameter error) (HardwareBit 30:Systembooting fault or Bit 29:EEPROM fault Bit 28:Reserved Bit 27:Reserved Bit 26:Reserved Bit 25:Reserved Bit 24:Inputs STO different exceeded speed Bit 23:Max. Bit 22:Tracking error motor) (powerBit 21:Overtemperature stage, 24VDC Bit 20:Undervoltage fault encoder Bit 19:Motor Bit 18:Motor overcurrent/short circuit fault connection Bit 17:Motor phase missing Bit 16:Mains Bit 15:Overvoltage DCbus DCbus Bit 14:Undervoltage Bit 13:Reserved Bit 12:Profibus fault Bit 11:Reserved Bit 10:Fault currentoperating mode 9: FrequencyBit of referencehigh too signal fault Bit 8: Ethernet fault7: CAN Bit Bit 6: faultRS485 Bit 5: Reserved Bit 4: Inputs STO are0 Bit 3: Quickstop viafieldbus ing) Bit 2: Out of range (SW limit switches, tun- switches1: Limit Bit (LIMP/LIMN/REF) 0: General faultBit Bit assignments: 1: Activated 0: Notactivated status: Signal Saved signals of monitoring status - 0 - - Maximum value Factory setting Minimum value - 0 - - - - R/- UINT16 UINT16 Expert Persistent R/W Data type - - R/- UINT32 UINT32 CANopen 301C:B CANopen fieldbusvia Parameter address CANopen 301C:8 CANopen Modbus 7184 Modbus 7190 191 h h 8 Operation SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

_WarnLatched Saved warnings, bit-coded - UINT16 CANopen 301C:Ch - UINT16 Modbus 7192 STA- - WRNS Saved warning bits are deleted in the case of 0 R/- a FaultReset. STA- - WRNS - - Bits 10, 11, 13 are deleted automatically. - Signal status: 0: Not activated 1: Activated

Bit assignments: Bit 0: General warning (see _LastWarning) Bit 1: Temperature of power stage high Bit 2: Temperature of motor high Bit 3: Reserved Bit 4: Power stage overload (I2t) Bit 5: Motor overload (I2t) Bit 6: Braking resistor overload (I2t) Bit 7: CAN warning Bit 8: Motor encoder warning Bit 9: RS485 protocol warning Bit 10: STO_A (PWRR_A) and/or STO_B (PWRR_B) Bit 11: DC bus undervoltage/missing mains phase Bit 12: Profibus warning Bit 13: Position not yet valid (position capture still running) Bit 14: Ethernet warning Bit 15: Reserved

Monitoring functions are product-dependent.

_actionStatus Action word - UINT16 CANopen 301C:4h - UINT16 Modbus 7176 - Signal status: 0 R/- 0: not activated - - - 1: activated - Bit 0: Warning Bit 1: Error class 1 Bit 2: Error class 2 Bit 3: Error class 3 Bit 4: Error class 4 Bit 5: Reserved Bit 6: Drive is at standstill (<9 [1/min]) Bit 7: Drive rotates clockwise Bit 8: Drive rotates counter-clockwise Bit 9: Reserved Bit 10: Reserved Bit 11: Profile generator idle (reference speed is 0) Bit 12: Profile generator decelerates Bit 13: Profile generator accelerates Bit 14: Profile generator moves at constant speed Bit 15: Reserved

_StopFault Error number of last stop fault - UINT16 CANopen 603F:0h - UINT16 Modbus 7178 FLT- - STPF 0 R/- FLT- - STPF - - - 0198441113700, V2.03, 07.2010 192 Stepper motor drive 0198441113700, V2.03, 07.2010 ... Ground faultshort-circuit and monitoring 8.6.2.4 D2A8 Operation SD328A Stepper motor drive Function principle bus detected. is not circuit of one ormoremotor phases isdetected.A ground faultof the DC motorphases for ground faultcircuit. ground A and short fault or short When the power stage isenabled, the device continuously monitors the 193 8 Operation SD328A

8.6.3 Scaling

@ WARNING UNEXPECTED MOVEMENT CAUSED BY CHANGED SCALING Changing the scaling changes the effect of the values in user-defined units. The same motion commands can therefore cause different movements. • Note that the scaling affects all relationships between the set values and the movements of the drive. • Check the corresponding usr parameters and values of the system in user-defined units. Failure to follow these instructions can result in death, serious injury or equipment damage.

Description Scaling translates user units to internal units of the device, and vice versa. The device saves position values in user-defined units.

User defined Scaling Internal units units

_p_refusr _p_ref Position Operating Scaling- mode M 3~ factor in _p_actusr _p_act Internal Motor units E position

Figure 8.39 Scaling

Scaling factor The scaling factor is the relationship between the number of motor revolutions and the required user-defined units [usr].

Motor revolutions Scaling factor = Change of the user position [usr]

Figure 8.40 Representation of the scaling factor

The scaling factor is set using the parameters POSscaleNum and POSscaleDenom. A new scaling factor is activated when you specify the numerator value. When specifying the scaling factor, note that numerator and denominator can only be integer values. A scaling factor less than 1/131072 will limit the working range. An error is signaled when the working range is exceeded. The scaling factor can only be changed when the power stage is disabled. Values in user-defined units are converted to internal units when the power stage is enabled. 0198441113700, V2.03, 07.2010 194 Stepper motor drive 0198441113700, V2.03, 07.2010 - - POSscaleNum D2A8 Operation - - POSscaleDenom HMI menu Parameter name SD328A Stepper motor drive calculation of an internal factor. ofan internal calculation values limit User may due to the bereduced tor value is supplied. A new isactivatedscaling thenumera-when [usr] position ofuser Change ------Motor revolutions [U] factor: scaling ofthe Specification scaling Numeratorof position tor value is supplied. A new isactivatedscaling thenumera-when description. Refer to numerator (POSscaleNum) for a scaling position of Denominator Unit Description Default scaling Examples switching range. thelimit switch or reference switch isno longersufficient leave to the of switching the to edge distance reference movement the correct since Ifthe parametersnot are adjusted,this may, forexample, causean in- SPVswLimNusr HMp_homeusr previously. must beset in accordancewith the settings used same positioning commandsaretoused, be the scaling existingbyan device, If devicethis if the isreplaced and tor after changing the scaling factor: movement mo- the of positioning same the values obtain to user-defined The following persistent parameters mustadapted be inadditionto the Scaling islessthan the default scaling • Scaling correspondsmotor toresolution (minimumscaling) • Scaling correspondsdefault to scaling • concerned. situations3be can distinguished asfar assettinguser-defined units is fault scaling. A value of 16384 user-defined units per motor revolution isset as the de- => every=> 32nd motor position can beapproached. 1 motor revolution4096user-defined = units approached. be can position motor => Every 1 motor revolution131072 = user-defined units => Every eighth motor position can be approached. 1 motor revolution16384 = user-defined units , HMsrchdisusr . 2147483647 1 1 revolution 2147483647 16384 1 usr Maximum value Factory setting Minimum value , JOGstepusr HMoutdisusr - per. R/W INT32 INT32 - per. R/W INT32 INT32 Expert Persistent R/W Data type , SPVswLimPusr CANopen 3006:8 CANopen CANopen 3006:7 CANopen fieldbusvia Parameter address Modbus 1550 Modbus 1552 , HMdisusr , and and h h 195 8 Operation SD328A

Example 1 Positioning by 1111 user-defined units is to correspond to 3 motor revolutions. This results in

3 rev Scaling factor = 1111 usr

Figure 8.41 Calculation of the scaling factor, example 1

If you now start relative positioning by 900 user-defined units, the motor moves by 900 usr * 3/1111 rev/usr = 2.4302 revolutions. Example 2 Calculation of a scaling factor in length units: 1 motor revolution corresponds to a distance of 100 mm. Each user-defined unit [usr] is to correspond to one step of 0.01 mm. This means: 1 usr = 0.01 mm * 1 rev / 100 mm =1/10000 revolutions.

1 rev Scaling factor = 10000 usr

Figure 8.42 Calculation of the scaling factor, example 2

Example 3 Setting positioning in 1/1000 rad 1rad = 1 rev/(2*π) π = 3.1416 (rounded) User value = 1 usr Device value = 1/(2*π*1000) U

1 rev 1 rev 10 rev Scaling factor = = = 2*3,1416*1000 usr 6283,2 usr 62832 usr

Figure 8.43 Calculation of the scaling factor, example 3 0198441113700, V2.03, 07.2010 196 Stepper motor drive 0198441113700, V2.03, 07.2010 - - RAMPnstart0 - - RAMP_TypeSel HMI menu Parameter name 8 Operation HMI menu Parameter name Motion profile 8.6.4 SD328A Stepper motor drive Profile generator Start/stop speed Start/stop Start and end ofprofile end speed and Start speed Start/stop 0 /linear -1 / motoroptimized oframpSelection type ecito Unit Description Unit Description Ramp shape : Linear ramp : Linear : Motor-optimized ramp 1 eedn ntela,tesatso pe a estt pt 0min to 60 up to set be can speed start-stop the load, the on Depending standstill, adjustableas fast from very acceleration the is motors stepper of property A special tion. dropa stepper of motorincreasing at speedsby reducing the accelera- for torque typical the compensate to ramp isused motor-optimized The The linear ramp shape is used for "Quick Stop". rections of movementof the motor. ation and deceleration phases. The profile settings are valid for both di- A linear ramp and amotor-optimized ramp are available for the acceler- values of the ramp function are the ramp shape and the ramp steepness. rampa as scribed function the of profile generator. The characteristic The accelerationand deceleration behaviorof the motor be can de- transformed into amotor movement. The valuesof the profile generator plus the valueslimitation arejerk of a motion profiledepending the on selected operating mode. ified by the user. The profile generator usesthese values to calculate a Targetposition target and speedof rotation input are valuesbe to spec- only reduced ramp values can be set for acceleration and deceleration. forand set valuesramp be acceleration can reduced only Too high avalue for speed candetected be the start-stop by thefact that chanical resonances with lowexternal damping. . If thelower speed valueis toolow, the stepper motor maydevelop me- - - - - min Maximum value Factory setting Minimum value Maximum value Factory setting Minimum value - - - the start-stop speed. thestart-stop -1 - per. R/W INT16 INT16 Expert Persistent R/W Data type Expert Persistent R/W Data type - per. R/W UINT16 UINT16 CANopen 3006:13 CANopen via fieldbusvia Parameter address fieldbusvia Parameter address CANopen 3006:11 CANopen Modbus 1570 Modbus 1574 197 h h - 8 Operation SD328A

Ramp steepness The steepness of the ramp determines the speed changes of the motor per time unit. The ramp steepness can be set for the acceleration ramp via the parameter RAMPacc and for the deceleration ramp via RAMPdecel.

v RAMPn_max _n_actRAMP

RAMPacc RAMPdecel

Figure 8.44 Acceleration and deceleration ramps

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert -1 RAMPacc Acceleration of profile generator min /s UINT32 CANopen 6083:0h 1 UINT32 Modbus 1556 - 600 R/W - 3000000 per. - -1 RAMPdecel Deceleration of profile generator min /s UINT32 CANopen 6084:0h 200 UINT32 Modbus 1558 - 750 R/W - 3000000 per. - -1 RAMPn_max Limitation of ref. speed for op. modes with min UINT32 CANopen 607F:0h profile generation 60 UINT16 Modbus 1554 - 3000 R/W The parameter is active in the following oper- - 3000 per. ating modes: - - Profile position - Profile velocity - Homing - Jog - Oscillator

If a greater reference speed is set in one of these operating modes, it is automatically limited to RAMPn_max. This way, commissioning at limited speed is easy to perform. 0198441113700, V2.03, 07.2010 198 Stepper motor drive 0198441113700, V2.03, 07.2010 - - RAMP_TAUjerk D2A8 Operation HMI menu Parameter name SD328A Stepper motor drive ing mode isinactiveing (x_end=1). can only Adjustments - Homing - Jog - Profileposition - Profilevelocity inthe followingProcessing operating modes: Deceleration - standstill - speed deceleration Constant Acceleration - constantspeed Standstill - acceleration transitions: positioning the reference during generation position ofthe (jerk) theacceleration change Limits /128 128 6464 / 3232 / 1616 / 8 / 4 / 2 / 1 / 0 /off limitation Jerk ecito Unit Description Jerk limitation Jerk : 8ms : 4ms : 2ms : 1ms : Off : 64ms : 32ms : 16ms : 128 ms : 128 smooth, virtually jerk-free changes of the speed of rotation. speed of the changes jerk-free virtually smooth, limitationremovesJerk suddenchangesthein acceleration to obtain sitionat the end limitation of thebeenhas jerk reached. The end of the movement (x_end =1) isnot signaled until the target po- RAMP_TAUjerk limitationTheis activated jerk and adjusted viathe parameter withand wi curve Speed 8.45 Figure be made if the be madeifthe operat- v . 128 0 0 ms Maximum value Factory setting Minimum value thout (dotted) jerk limitation jerk (dotted) thout - per. R/W UINT16 UINT16 Expert Persistent R/W Data type CANopen 3006:D CANopen via fieldbusvia Parameter address Modbus 1562 t 199 h 8 Operation SD328A

8.6.5 Quick Stop

"Quick Stop" is a quick brake function which stops the motor as a result of an error of error classes 1 and 2 or as a result of a software stop. In the event of an error response to an error of error class 1, the power stage remains enabled. In the case of error class 2, the power stage is disabled after the drive has come to a standstill. "Quick Stop" ramp The "Quick Stop" ramp must be set in such a way that the drive comes to a standstill with the desired deceleration when the function is triggered. The drive absorbs excess braking energy during deceleration. If the DC bus voltage exceeds the permissible limit the power stage is disabled and the device signals "DC bus overvoltage". The motor coasts down without any braking force. If the device frequently signals "DC Bus Overvoltage" during "Quick Stop", you must reduce the drive load.

"Quick Stop reset" A "Quick Stop" must be reset by a "Fault Reset". If a "Quick Stop" has been triggered by the positive or negative limit switch the drive can be moved back into the movement range via the jog operating mode. 0198441113700, V2.03, 07.2010 200 Stepper motor drive 0198441113700, V2.03, 07.2010 - - RAMPdecel D2A8 Operation HMI menu Parameter name Halt 8.6.6 SD328A Stepper motor drive eeeaino rfl eeao min generator profile of Deceleration ecito Unit Description "Halt" ramp withoutany braking force. and thedevice signals "DCbusovervoltage". The motor coastsdown bus voltage exceeds the permissiblethe limit powerdisabled stage is The drive absorbs excess brakingenergy deceleration. during IfDC the standstill withthedesireddecelera away ramp in must be "Halt" set such The to a drive the comes that celerates again. drive continues todecelerateuntil sumed. If the movement re- is interrupted the cleared, are requests "Halt" all When stage enabled. nally, position controlis activated and the motorheld with is the power After the drive hascometo a standst rameter The function"Halt" decelerates the motortorquea with ramp.The pa- LIM_I_maxHalt HALT signal is signal already cleared deceleration, during the Maximum value Factory setting Minimum value 3000000 750 200 -1 specifies the currentfor the torque ramp. /s it comes to a standstill and then ac- and toastandstill it comes tion after a "Halt" request. a "Halt" tion after ill, the position is determined inter- is determined the position ill, Expert Persistent R/W Data type - per. R/W UINT32 UINT32 via fieldbusvia Parameter address CANopen 6084:0 CANopen Modbus 1558 h 201 8 Operation SD328A

8.6.7 Fast position capture

The "Fast Position Capture" function captures the current motor position at the point in time a digital 24V signal is available at a capture input. Settings 2 independent capture inputs are available for the "Fast Position Cap- ture" function. • ENABLE/LIMP/CAP1 (CAP1) • FAULT_RESET/LIMN/CAP2 (CAP2) One of 2 possible functions for capture can be selected for each capture input: • One-time position capture One-time capture means that the motor position is captured at the first edge.

• Continuous position capture Continuous capture means that the motor position is captured anew at every edge. The the previous captured value is lost.

The position can be captured when the edge at the capture input rises or falls. ̈ Set the type of edge with the parameter Cap1Config. ̈ Set the type of method with the parameter Cap1Activate.

Continuous capture means that the motor position is captured anew at every defined edge; the previous captured value is lost. Activating fast position capture Activating one-time position capture • For CAP1: Write value 1 to parameter Cap1Activate • For CAP2: Write value 1 to parameter Cap2Activate Activating continuous position capture • For CAP1: Write value 2 to parameter Cap1Activate • For CAP2: Write value 2 to parameter Cap2Activate Terminating position capture In the case of one-time position capture, the "Fast Position Capture" function is terminated when the first signal edge is detected. In the case continuous position capture or if no signal edge is detected, the capture can be stopped by writing the parameter Cap1Activate, value 0 or Cap2Activate, value 0. 0198441113700, V2.03, 07.2010 202 Stepper motor drive 0198441113700, V2.03, 07.2010 - - Cap1Activate - - Cap2Count - - Cap2Config - - Cap2Activate - - Cap1Pos 8 Operation - - Cap1Count - - Cap1Config HMI menu Parameter name SD328A Stepper motor drive "fieldbus mode". control Position activatedbe in only can capture run. to continues tion caseof In the continuous capture, the func- tured. value first the when cap- is terminated is function capture,the ofone-time In thecase capture continuous Capture / 2 once1 /Capture stop /Capture 0 1start/stop unit Capture activated. unit2is is resetwhen capture The counter events. capture the Counts 2event unit Capture counter 1 /0->1 0 /1->0 2configuration unit Capture "fieldbus mode". control Position activatedbe in only can capture run. to continues tion caseof In the continuous capture, the func- tured. value first the when cap- is terminated is function capture,the ofone-time In thecase capture continuous Capture / 2 once1 /Capture stop /Capture 0 2start/stop unit Capture "Positionafter or"Homing". Setting" again calculated is position captured The signal". "capture the timeof the at position Captured 1captured position unit Capture activated. unit1is is resetwhen capture The counter events. capture the Counts 1event unit Capture counter 1 /0->1 0 /1->0 1configuration unit Capture Unit Description : Position change captureat 0->1 : Position change captureat 1->0 : Position change captureat 0->1 : Position change captureat 1->0 : Cancel function : Cancel capture : Cancel function : Cancel capture : Start one-time capture one-time : Start : Start one-time capture one-time : Start : Start continuous continuous : Start : Start continuous continuous : Start 2 - 0 - 1 0 0 - 1 0 0 - - 0 - - 2 - 0 - - 0 - usr - 0 - - Maximum value Factory setting Minimum value - - R/W UINT16 UINT16 - - R/W UINT16 UINT16 - - R/W UINT16 UINT16 - - R/- UINT16 UINT16 - - R/W UINT16 UINT16 - - R/- INT32 INT32 - - R/- UINT16 UINT16 Expert Persistent R/W Data type CANopen 300A:4 CANopen CANopen 300A:3 CANopen 300A:2 CANopen CANopen 300A:9 CANopen 300A:5 CANopen 300A:6 CANopen 300A:8 CANopen fieldbusvia Parameter address Modbus 2564 Modbus 2568 Modbus 2578 Modbus 2566 Modbus 2570 Modbus 2572 Modbus 2576 203 h h h h h h h 8 Operation SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

Cap2Pos Capture unit 2 captured position usr INT32 CANopen 300A:7h - INT32 Modbus 2574 - Captured position at the time of the "capture 0 R/- signal". - - - The captured position is calculated again - after "Position Setting" or "Homing".

CapStatus Status of the capture units - UINT16 CANopen 300A:1h - UINT16 Modbus 2562 - Read access: 0 R/- Bit 0: position capture via input CAP1 carried - - - out - Bit 1: position capture via input CAP2 carried out Bit 2: position capture via index pulse actual position encoder carried out (used internally) 0198441113700, V2.03, 07.2010 204 Stepper motor drive 0198441113700, V2.03, 07.2010 - - SPVn_win D2A8 Operation - - SPVn_winTime HMI menu Parameter name Speed window 8.6.8 SD328A Stepper motor drive pe idw emsil pe eito min window, Speed deviation speed permissible reference issetto0. speed feedback monitoring, speed for the reaching of thevalueChanging causesarestart Unit vated Value deacti- 0: window= speed monitoring window,Speed time Description window. The parameters ized time window speed drive the the is within The reference speed isconsidered to have been reached if the speed of SPVn_winTime SPVn_win 16383 0 0 ms Maximum value Factory setting Minimum value 65535 30 1 -1 . and SPVn_winTime SPVn_win - per. R/W UINT16 UINT16 Expert Persistent R/W Data type - per. R/W UINT16 UINT16 during the during parameter- define sizethe the of define CANopen 606E:0 CANopen fieldbusvia Parameter address CANopen 606D:0 CANopen Modbus 1578 Modbus 1576 205 h h 8 Operation SD328A

8.6.9 Brake function

Holding brake The motor holding brake has the task of blocking the motor shaft when no current is supplied to the motor (for example, in the case of a vertical axis). The holding brake is not a safety function. Adjustable parameters It is possible to parameterize a time delay for releasing the holding brake (BRK_trelease) and for applying the holding brake (BRK_tclose). Holding brake controller Instead of directly connecting a holding brake, you can also connect a holding brake controller. The function "Brake Release" is used to control the holding brake controller. The function "Brake Release" function can also be assigned to a different signal output, see chapter 8.6.10 "Configurable inputs and outputs". Releasing and applying the holding The holding brake can be manually released and applied via the HMI. brake via the HMI This requires the power stage to be disabled. Note that the load may drop in the case of vertical axes (Z axes) when the holding brake is released! Select the HMI menu SrV- and the submenu BRAK for releasing and applying the holding brake. Time for releasing the holding brake The parameter BRK_trelease is used to specify the time the holding brake needs to be released. Enabling the power stage is delayed by the corresponding value. The setting of the parameter BRK_trelease depends on the motor type and can be found in the motor data sheet. If the parameter CTRLS_Toggle is activated, the stepper motor performs a small movement so that the stepper motor is not at an unstable position.

ENABLE 1

_I_act 1

BRAKE_OUT 1

ACTIVE1_OUT 1

BRK_trelease CTRLS_Toggle t

Figure 8.46 Releasing the holding brake 0198441113700, V2.03, 07.2010 206 Stepper motor drive 0198441113700, V2.03, 07.2010 STA- STA- - iACT _I_act D2A8 Operation - - CTRLS_toggle DRC- DRC- - BTRE BRK_trelease HMI menu Parameter name SD328A Stepper motor drive - - iACT BTRE 1 /active 0 /inactive vated Togglepower acti- when is of motor stage Unit In 0.01Arms Total motor current Description holding brakeholding the Time delay opening/releasing during : Active (default) : Inactive: 8.6.10 "Configurable inputs and outputs". and "Configurable inputs 8.6.10 chapter see output, troller. toasignal assigned must be function The The function"Brake Release"tois used control the holding brake con- duction. The holding brake controllerintegrated inthe deviceno has voltage re- tioncan beused reduce to the heat build-up, see alsomotor manual. ature-critical applications, a holding brake controller with voltage reduc- A motorreleaseda with holding brake heats up. In the caseof temper- - - - - A Maximum value Factory setting Minimum value - 0.00 - 1000 0 0 ms rms - per. R/W UINT16 UINT16 Expert Persistent R/W Data type - - R/- INT16 INT16 - per. R/W UINT16 UINT16 CANopen 3014:8 CANopen fieldbusvia Parameter address CANopen 301E:14 CANopen Modbus 5136 Modbus 1294 3005:7 CANopen Modbus 7720 h h 207 h 8 Operation SD328A

Delayed application When the power stage is disabled, the holding brake is applied. How- ever, current continues to be applied to the motor for the period of time defined with the parameter BRK_tclose. The setting of the parameter BRK_tclose depends on the motor type and can be found in the motor data sheet. The delay time is not effective if the power stage is disabled via the STO safety function. Especially in the case of vertical axes it is important to verify whether additional measures are required to avoid lowering of the load.

ENABLE 1

_I_act 1

BRAKE_OUT 1

ACTIVE1_OUT 1

t BRK_tclose

Figure 8.47 Applying the holding brake

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

_I_act Total motor current Arms INT16 CANopen 301E:14h - INT16 Modbus 7720 STA- - iACT In 0.01Arms 0.00 R/- STA- - iACT - - -

BRK_tclose Time delay during closing of holding brake ms UINT16 CANopen 3005:8h 0 UINT16 Modbus 1296 DRC- - BTCL 100 R/W DRC- - BTCL 1000 per. - 0198441113700, V2.03, 07.2010 208 Stepper motor drive 0198441113700, V2.03, 07.2010 - - _IO_LI_act - - _IO_LO_act HMI menu Parameter name 8 Operation Configurable inputsandoutputs 8.6.10 SD328A Stepper motor drive Available asof software version V1.201. ... Bit 1: LI2 Bit 0: LI1 signals: theindividual of Coding Status of inputs digital Available asof software version V1.201. ... Bit 1: LO2_OUT Bit 0: LO1_OUT signals: theindividual of Coding Unit Status of outputs digital Description Current status Current Description Availability IOfunct_LO1 IOfunct_LI7 The parameters outputs. Different functions canassigned beto thedigital signal inputs and digital The functionis available software asof version 1.201 and higher. cate thestatusthe digital of signal inputs and signaloutputs. The parameters manentlyassigned toinput, this see chapter 8.3 "Operating states". The signal input thedigital signal inputs and signaloutputs to assigned are mode, functions operating start-up on the Depending available foroutputs. signal injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these When commissioning, carefully tests run for all operating states • the systemif there are Only nopersonsor start obstructions in • Verify isappropriate thatthewiring for thesettings. • up operating mode and the settings of the corresponding parameters. The functions of the inputs and outputs depend on the selected start- BEHAVIOR OUTPUTS UNINTENDED OF INPUTSAND and potential faultsituations. the hazardous area. , are available for signal inputs. The parameters IOfunct_LO2 IOfunct_LI1 _IO_LI_act ENABLE - 0 - - - 0 - - Maximum value Factory setting Minimum value isanexception.The function "Enable" isper- @ WARNING and , , IOfunct_LO3 IOfunct_LI2 _IO_LO_act - - R/- UINT16 UINT16 - - R/- UINT16 UINT16 Expert Persistent R/W Data type and , can beto can used indi- IOfunct_LI4 CANopen 3008:F CANopen CANopen 3008:10 CANopen fieldbusvia Parameter address Modbus 2080 Modbus 2078 IOfunct_LO4 and are are 209 h h 8 Operation SD328A

Factory settings local control mode The table below shows the factory settings for local control mode depending on the start-up operating mode.

Pin Jog Electronic Gear Oscillator Motion sequence Signal CN1.33 Jog negative No function / free availa- No function / free availa- Reference switch (REF) LI1 ble ble CN1.34 Jog positive Fault reset Fault reset Negative limit switch LI2 (LIMN) CN1.35 Enable 1) Enable 1) Enable 1) Enable 1) ENABLE CN1.36 Jog fast/slow Halt Halt Start LI4 CN5.3/8 Enable2 Enable2 Enable2 Enable2 LI7 CN1.31 No fault No fault No fault DataSet start acknowl- LO1_OUT edge CN1.32 Active Active Active Active LO2_OUT CN5.4 Active Active Active Active LO3_OUT CN3.40 Brake release Brake release Brake release Brake release LO4_OUT 1) Function cannot be changed.

When the start-up operating mode is changed and after switching the device off and on, the factory settings are assigned to the signal inputs and signal outputs. Factory settings, fieldbus control The table below shows the factory settings for fieldbus control mode. mode Pin For all operating modes Signal CN1.33 Reference switch (REF) LI1 CN1.34 Negative limit switch (LIMN) LI2 CN1.35 Positive limit switch (LIMP) 1) LIMP CN1.36 Halt LI4 CN5.3/8 No function / free available LI7 CN1.31 No fault LO1_OUT CN1.32 Active LO2_OUT CN5.4 Active LO3_OUT CN3.40 Brake release LO4_OUT 1) Function cannot be changed. 0198441113700, V2.03, 07.2010 210 Stepper motor drive 0198441113700, V2.03, 07.2010 ..01Description offunctionsfor theinputs signal 8.6.10.1 D2A8 Operation SD328A Stepper motor drive Enable negative motor move Enable positive move motor No functionfree / available Reference switch (REF) Start profile positioningStart DataSet Select DataSet Start Jog fast/slow Jog negative Jog positive Fault reset Enable2 Enable Halt IOposInterfac parameter the if possibleonly is function This states". ing The powerstageenabled is withthe function, see chapter 8.3"Operat- erating mode Jog". The function switches between slow and fast jog, see chapter 8.5.1 "Op- tion, see chapter 8.5.1 "Operating mode Jog". The functionperforms movement ajog negative with direction of rota- chaptersee 8.5.1 "Operating mode Jog". The function performs a jog movement with positive direction of rotation, a position switch. ever,case,in this negative reference valuesare enabled disabled or via The function works like the function "Enable positive motor move"; how- "Testing the signals of the position switches". cillator. Itrequirespr The functionavailable is inthe opera movedhas back overthe switchingedge. stopped.negative Only reference values are executed until the motor traveled,thepositive reference values are disabled and the motor is switch. Whentheswitchingth edge of The function enables or disables posi notyet "Operation enable", noerror messagegenerated. is Ifpositioning impossible, is for example because theoperating state is input. DCOMcontrol parameter the via started be movementalso can A positioning ing movement isthen executedwhen the edge at the digital input rises. parameter fieldbus in the When the position values are received, signal for the start positioning via (parameter The function signal for sets the start the operating mode Profile Position The function triggers a "Halt", see chapter 8.6.6 "Halt". states". ing The powerstageenabled is withthe function, see chapter 8.3"Operat- states". "Operating 8.3 chapter see function, the with reset is sage errorAn message is reset with the function, see chapter An error mes- _IO_LI_act tionality.signal The input can beread asrequired viathe parameter The function"No function / free available" has nodevice-internal func- 8.5.7 "Operating mode Homing". The function defines the way the reference switch operates. See chapter fulfilled. is condition transition global the if isstarted 0 set Data function. Select" for atransitioncondition, dataset 0canbe selectedthe with "DataSet withA sequence this function. can When be asequence restarted waits mode". operating the "Starting 8.4.1 chapter see Sequence, Motion This function fulfils the global transition condition for the operating mode DCOMcontrol . . In this case, there must signal at be theno start digital hasthe value "PDinput". operly wired positionswit operly DCOMcontrol , bit 4, new target position) viaa digital input. ting modes Electronic Gear and Os- tive reference values viaaposition e positive position switch is over- must not beset. position- The ches,7.3.9 seechapter 211 8 Operation SD328A

Positiv limit switch (LIMP) The function defines the way the positive limit switch operates. See chapter 8.5.7 "Operating mode Homing" and chapter 8.6.2.2 "Position- ing range". Negative limit switch (LIMN) The function defines the way the negative limit switch operates. See chapter 8.5.7 "Operating mode Homing" and chapter 8.6.2.2 "Position- ing range". Inverting ANA1 The function lets you activate and internal inversion of the analog voltage at ANA1, see chapter 7.3.4 "Analog inputs".

8.6.10.2 Configuration of signal inputs

The parameters IOfunct_LI1, IOfunct_LI2, IOfunct_LI4 and IOfunct_LI7 are used to assign functions to the digital inputs. The following table provides an overview of the functions in local control mode depending on the start-up operating mode.

Function Jog Electronic Gear Oscillator Motion sequence No function / free available LI1, LI2, LI4, LI7 LI1, LI2, LI4, LI7 LI1, LI2, LI4, LI7 LI1, LI2, LI4, LI7 Fault reset LI2 LI2 LI2 LI1, LI2, LI4, LI7 Enable ENABLE 1) ENABLE 1) ENABLE 1) ENABLE 1) Halt LI4 LI4 LI4 LI1, LI2, LI4, LI7 Enable positive motor move LI1, LI2, LI4, LI7 LI1, LI2, LI4, LI7 Enable negative motor move LI1, LI2, LI4, LI7 LI1, LI2, LI4, LI7 Jog positive LI1, LI2, LI4, LI7 Jog negative LI1, LI2, LI4, LI7 Jog fast/slow LI1, LI2, LI4, LI7 Enable2 LI7 LI7 LI7 LI7 DataSet Start LI1, LI2, LI4, LI7 DataSet Select LI1, LI2, LI4, LI7 Inverting ANA1 LI1, LI2, LI4, LI7 1) Signal input is not configurable.

The following table provides an overview of the functions in fieldbus control mode.

Function For all operating modes No function / free available LI1, LI2, LI4, LI7 Halt LI4 Start Profile Position LI1, LI2, LI4, LI7 Reference switch (REF) LI1 Positive limit switch (LIMP) LI3 1) Negative limit switch (LIMN) LI2 1) Signal input is not configurable. 0198441113700, V2.03, 07.2010 212 Stepper motor drive 0198441113700, V2.03, 07.2010 I-O- I-O-Li1 - IOfunct_LI1 D2A8 Operation HMI menu Parameter name SD328A Stepper motor drive - Li1 Available asof software version V1.201. ANA1 input 24 /Invert ANA1/ switchNegative limit (LIMN) 22 / Negative limit switchNegative 22 / / (LIMN) Positive limit switch (LIMP) 21 / Positive limit switch (LIMP) / ence switch (REF) 20 / Reference20 / switch (REF) / data sequence: ecito Unit 4 /Halt/ trol mode only) / /Fault2 reset required 1 /Freeavailable / LI1 Input Function Description 6 / Enable positive motor move / only) request for movement(f profile5 /Start positioning / 14 / DataSet Select / request start / 13 /DataSetStart 11 / Jog fast/slow / / negative Jog / 10 9 /Jog positive / trol mode only) Enable negativemovement motor con- (local move motor / /Enablenegative 7 trol mode only) Enable positivemotor movement con- (local hALt : Halt set selection FrES JoGP A1iV nonE JoGn dStA JoGF : Resetfault (local con- dSEL : Jogpositive ieldbus controlmode : Inversion ofanalog : Availableas : Jog negative : Motion sequence: : Motionsequence: : Jogfast/slow : Motion SPtP rEF PoSM : Refer- LiMP : Start : Start nEGM LiMn : : : : - 0 - - Maximum value Factory setting Minimum value - per. R/W UINT16 UINT16 Expert Persistent R/W Data type CANopen 3007:1 CANopen via fieldbusvia Parameter address Modbus 1794 h 213 8 Operation SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

IOfunct_LI2 Function Input LI2 - UINT16 CANopen 3007:2h nonE - UINT16 Modbus 1796 I-O- - Li2 1 / Free available / : Available as 0 R/W required I-O- - Li2 FrES - per. 2 / Fault reset / : Reset fault (local con- - trol mode only) 4 / Halt / hALt: Halt 5 / Start profile positioning / SPtP: Start request for movement (fieldbus control mode only) 6 / Enable positive motor move / PoSM: Enable positive motor movement (local control mode only) 7 / Enable negative motor move / nEGM: Enable negative motor movement (local control mode only) 9 / Jog positive / JoGP: Jog positive 10 / Jog negative / JoGn: Jog negative 11 / Jog fast/slow / JoGF: Jog fast/slow 13 / DataSet Start / dStA: Motion sequence: start request 14 / DataSet Select / dSEL: Motion sequence: data set selection 20 / Reference switch (REF) / rEF: Refer- ence switch (REF) 21 / Positive limit switch (LIMP) / LiMP: Positive limit switch (LIMP) 22 / Negative limit switch (LIMN) / LiMn: Negative limit switch (LIMN) 24 / Invert ANA1 / A1iV: Inversion of analog input ANA1 Available as of software version V1.201. 0198441113700, V2.03, 07.2010 214 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A8 Operation I-O- I-O-Li4 - IOfunct_LI4 HMI menu Parameter name SD328A Stepper motor drive - Li4 Available asof software version V1.201. ANA1 input 24 /Invert ANA1/ switchNegative limit (LIMN) ecito Unit Description 22 / Negative limit switchNegative 22 / / (LIMN) Positive limit switch (LIMP) 21 / Positive limit switch (LIMP) / ence switch (REF) 20 / Reference20 / switch (REF) / data sequence: 4 /Halt/ trol mode only) / /Fault2 reset required 1 /Freeavailable / LI4 Input Function 6 / Enable positive motor move / only) request for movement(f profile5 /Start positioning / 14 / DataSet Select / request start / 13 /DataSetStart 11 / Jog fast/slow / / negative Jog / 10 9 /Jog positive / trol mode only) Enable negativemovement motor con- (local move motor / /Enablenegative 7 trol mode only) Enable positivemotor movement con- (local hALt : Halt set selection FrES JoGP A1iV nonE JoGn dStA JoGF : Resetfault (local con- dSEL : Jogpositive ieldbus controlmode : Inversion ofanalog : Availableas : Jog negative : Motion sequence: : Motionsequence: : Jogfast/slow : Motion SPtP rEF PoSM : Refer- LiMP : Start : Start nEGM LiMn : : : : - 0 - - Maximum value Factory setting Minimum value - per. R/W UINT16 UINT16 Expert Persistent R/W Data type CANopen 3007:4 CANopen via fieldbusvia Parameter address Modbus 1800 h 215 8 Operation SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

IOfunct_LI7 Function Input LI7 - UINT16 CANopen 3007:7h nonE - UINT16 Modbus 1806 I-O- - Li7 1 / Free available / : Available as 0 R/W required I-O- - Li7 FrES - per. 2 / Fault reset / : Reset fault (local con- - trol mode only) 4 / Halt / hALt: Halt 5 / Start profile positioning / SPtP: Start request for movement (fieldbus control mode only) 6 / Enable positive motor move / PoSM: Enable positive motor movement (local control mode only) 7 / Enable negative motor move / nEGM: Enable negative motor movement (local control mode only) 9 / Jog positive / JoGP: Jog positive 10 / Jog negative / JoGn: Jog negative 11 / Jog fast/slow / JoGF: Jog fast/slow 12 / Enable2 / EnA2: Enable2 (local control mode only) 13 / DataSet Start / dStA: Motion sequence: start request 14 / DataSet Select / dSEL: Motion sequence: data set selection 24 / Invert ANA1 / A1iV: Inversion of analog input ANA1 Input function 'Enable2' is only active if DEVcmdinterf = IODevice AND IOposInter- fac = Pdinput.

Available as of software version V1.201. 0198441113700, V2.03, 07.2010 216 Stepper motor drive 0198441113700, V2.03, 07.2010 ..03Description offunctionsfor theoutputs signal 8.6.10.3 D2A8 Operation SD328A Stepper motor drive DataSet start acknowledge DataSet start No functionfree / available DataSet output trigger Motor move disable Halt acknowledge Motor standstill Brake release No fault Active If the functionis configured to the signal outputs LO3_OUT The holding brake canbe directly connected to signal output a holding brake, see chapter 8.6.9 "Brake function". The function offers the option ofthe using signalascontrol a signal for motor is at astandstill. The function shows that the function "Halt" has been triggered and the or "Enable negative motor move" must be configured for this. ment inadisabled direction.function The "Enable positivemotormove" The functionindicates whether areference value issuppliedfor move- states". operating the "Indicating 8.3.2 chapter The function provides the "Operation enable" operating state signal, see "Indicating the operating states". The functionprovides information onthe error state, see chapter 8.3.2 parameter via The function "Nofunction /free available" lets you directlyset an output The function "Motor standstill" prov "Motorstandstill" The function Set Selection". This function is only available in the processing mode "Sequential Data set". questsbecan implemented. Seechapter8.5.6.2 of "Structure adata or switch trigger external actuators. Thisway,handshake special re- data set can be defined for each data set. This function can be used to set. The behavior of the signal output and atthe the end start of each by every directly data controlled be can output signal corresponding The mode". DCOMstatus knowledge". Thisfunction iscomparable to the x_end bitparameter of The Ac- processingwithstatus the function isreturned "DataSet Start tor is at a standstill; it can be us be standstill; itcan ata tor is , aholding brake controller must alsobe used. . See Figure 8.27 "Handshake with sequential processing IO_LO_set . ed, for example asafeedbackfor aPLC. ides information on information ides LO1_OUT whether themo- whether , LO2_OUT LO4_OUT 217 or . 8 Operation SD328A

8.6.10.4 Configuration of the signal outputs

The parameters IOfunct_LO1, IOfunct_LO2, IOfunct_LO3 and IOfunct_LO4 are used to assign functions to the digital outputs. The following table provides an overview of the functions in local control mode depending on the start-up operating mode.

Function Jog Electronic Gear Oscillator Motion sequence No function / free available •••• No fault •••• Active •••• Motor move disable •• Halt acknowledge •••• Brake release •••• DataSet start acknowledge • DataSet trigger output • Motor standstill ••••

The following table provides an overview of the functions in fieldbus control mode.

Function For all operating modes No function / free available • No fault • Active • Halt acknowledge • Brake release • DataSet trigger output • Motor standstill •

"•" means that the function is available at LO1_OUT, LO2_OUT, LO3_OUT or LO4_OUT. 0198441113700, V2.03, 07.2010 218 Stepper motor drive 0198441113700, V2.03, 07.2010 I-O- I-O-Lo1 - IOfunct_LO1 I-O- I-O-Lo3 - IOfunct_LO3 8 Operation I-O- I-O-Lo2 - IOfunct_LO2 HMI menu Parameter name SD328A Stepper motor drive - - - Lo1 Lo3 Lo2 Available asof software version V1.201. / Motor standstill 13 / output trigger sequence: 12 / DataSet trigger output / request acknowledgement start of sequence: Motion 11 / DataSet acknowledge start / control / release 10 / Brake Unit tion 9 /Haltacknowledge / movement disabled move /Motor disable4 / 3 /Active/ / fault 2 /No required 1 /Freeavailable / LO1_OUT Output Function Description Available asof software version V1.201. / Motor standstill 13 / output trigger sequence: 12 / DataSet trigger output / request acknowledgement start of sequence: Motion 11 / DataSet acknowledge start / control / release 10 / Brake tion 9 /Haltacknowledge / movement disabled move /Motor disable4 / 3 /Active/ / fault 2 /No required 1 /Freeavailable / LO3_OUT Output Function Available asof software version V1.201. / Motor standstill 13 / output trigger sequence: 12 / DataSet trigger output / request acknowledgement start of sequence: Motion 11 / DataSet acknowledge start / control / release 10 / Brake tion 9 /Haltacknowledge / movement disabled move /Motor disable4 / 3 /Active/ / fault 2 /No required 1 /Freeavailable / LO2_OUT Output Function Acti Acti Acti nFLt nFLt nFLt : Ready : Ready : Ready : Nofault : Nofault : Nofault nonE nonE nonE brAK brAK brAK MStd MStd MStd hALt hALt hALt : Availableas : Availableas : Availableas : Holding brake: Holding : Holding brake: Holding brake: Holding MdiS MdiS MdiS : Motor standstill : Motor standstill : Motor standstill : Halt confirma- : Halt : Halt confirma- : Halt confirma- : Halt trot trot trot : Directionof : Directionof : Directionof : Motion : Motion : Motion dSAc dSAc dSAc : : : - 0 - - Maximum value Factory setting Minimum value - 0 - - - 0 - - - per. R/W UINT16 UINT16 Expert Persistent R/W Data type - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 CANopen 3007:9 CANopen fieldbusvia Parameter address CANopen 3007:B CANopen 3007:A CANopen Modbus 1810 Modbus 1814 Modbus 1812 h 219 h h 8 Operation SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

IOfunct_LO4 Function Output LO4_OUT - UINT16 CANopen 3007:Ch nonE - UINT16 Modbus 1816 I-O- - Lo4 1 / Free available / : Available as 0 R/W required I-O- - Lo4 nFLt - per. 2 / No fault / : No fault - 3 / Active / Acti: Ready 4 / Motor move disable / MdiS: Direction of movement disabled 9 / Halt acknowledge / hALt: Halt confirmation 10 / Brake release / brAK: Holding brake control 11 / DataSet start acknowledge / dSAc: Motion sequence: acknowledgement of start request 12 / DataSet trigger output / trot: Motion sequence: trigger output 13 / Motor standstill / MStd: Motor standstill Available as of software version V1.201. 0198441113700, V2.03, 07.2010 220 Stepper motor drive 0198441113700, V2.03, 07.2010 DRC- DRC- - PRoT POSdirOfRotat D2A8 Operation HMI menu Parameter name Reversal ofdirectionrotation 8.6.11 SD328A Stepper motor drive - PRoT input and vice versa. vice and input to mustthe LIMP direction beconnected withajog movement reached is in positive settings. switch the Thelimit changing which switch after limit the connections interchange NOTE: Ifyou uselimitswitches, you must Unit flange). at atthe the motorshaft (looking wise At positiverotates clock- speeds,drive the Meaning: clockwise 1 /counter clockwise/ / clockwise / 0 of rotation direction of Definition Description CLW : Clockwise _p_actusr Reversal of the direction of rotation changes the actualposition values can beused unchanged. reversed, must be motor the all parameter of rotation of direction If the range for negativedirection of rotation to ̈ tionof rotation to Connect the limit switch thatlimits until after the deviceis switched off and onagain. active become not do motor. the settings of rotation changed that Note The parameter CCLW used for later operation of this motor.this for of used operation later ofrotation direction Set thesame : Counter- determined by device. the determined POSdirOfRotat LIMP 1 0 0 - Maximum value Factory setting Minimum value . Connect thelimit . Connect switch can beused to reverse the direction of the working range forpositive direc- during commissioning that willbe commissioning during - per. R/W UINT16 UINT16 Expert Persistent R/W Data type LIMN . that limits the working theworking that limits CANopen 3006:C CANopen fieldbusvia Parameter address Modbus 1560 221 h 8 Operation SD328A

8.6.12 Restoring default values

All parameter values set by the user are lost in this process. It is possible at any time to save all parameter values set for a device as a configuration using the commissioning software.

8.6.12.1 Restoring the "First Setup"

The parameter PARuserReset is used to restore the settings made with the "First Setup". All parameter values are reset to the default values with the exception of the communication parameters, the control mode and the logic type. The data in the memory is deleted, but not written to the EEPROM. Particularly in fieldbus mode, this allows for a defined start behavior that ignores any changes you may have made via the HMI.

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

PARuserReset Reset user parameters - UINT16 CANopen 3004:8h 0 UINT16 Modbus 1040 - Bit 0 = 1: Set persistent parameters to - R/W default values. - 7 - All parameters are reset with the exception - of: - Communication parameters - Definition of the direction of rotation - Signal selection position interface - Device control - Logic type - Boot mode for operating mode 'Local Con- trol' - Motor type - Processing of motor encoder position

NOTE: The new settings are not saved to the EEPROM!

8.6.12.2 Restoring the factory settings

The parameter PARfactorySet is used to restore the factory settings. All parameter values are reset to the default values. ̈ Disconnect the product from the the fieldbus in order to avoid con- flicts by simultaneous access. 0198441113700, V2.03, 07.2010 222 Stepper motor drive 0198441113700, V2.03, 07.2010 DRC- DRC- - FCS ySet PARfactor ..23Duplicating existing devicesettings 8.6.12.3 8 Operation HMI menu Parameter name SD328A Stepper motor drive Factoryvia commissioning settings - FCS Application and advantage and Application Factory settings viaHMI Factorysettings when the unit isswitched theunit when next onthe time. NOTE: The default activebecomes only 0is returned. and isread parameter The saving processis complete when the the HMI software.or the commissioning the factory settings ispossible via Restoring these are savedthe EEPROM.to default parametersaresettotheir All values, 1 /Yes/ ecito Unit 0 /No/ (defaultvalues)settings factory Restore Description Prerequisites No software YES : No : Yes and on again. The new settings only become active until after the device is switched off Setup", page 101. All parametervalues are reset to the default values.also See "First lervoltage supply mustbe switched onat the device. tothe be usedis Windows-based commissioning software. The control- Device type, motor type and device firmware must be identical. The tool TheSetup" "First not doeshave viathe HMI.tobe run • Multiple devices are to have thesettings, same forexample, when • and on again. The new settings only become active until after the device is switched off See also"First Setup", pageFirst Seealso Setup, page101.. Factory Settings. Allparameter valuesarereset the to default values. The factory settingsareloaded viathe menuConfiguration items => ̈ age. Failure tofollow theseinstructions canresultequipment in dam- Updatethewith only areliable firmware voltage. supply • Do not switch off thevoltagesupply theduring update. • uct will be damaged and must If the supply voltage becomes unavailable an update, during the prod- DAMAGE TO THE PRODUCT CAUSEDBY POWER OUTAGE devices are replaced. yes Select . DRC and then 3 - 0 - Maximum value Factory setting Minimum value FCS

at the HMI and confirm the at selection the HMIand with confirm CAUTION be sent in for repair. - - R/W Expert Persistent R/W Data type via fieldbusvia Parameter address 223 8 Operation SD328A

Device settings:Saving The commissioning software can save the settings of a device in the form of a configuration file. ̈ Save the configuration of the device via "File - Save".

Device settings:Opening You can copy a stored configuration to a device of the same type. Please note that the fieldbus address is copied along with this information. ̈ In the commissioning software, select "File - Open" and load the desired configuration. 0198441113700, V2.03, 07.2010 224 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A9 Examples Wiring localcontrol mode 9.1 Examples 9 SD328A Stepper motor drive L1 24VDC - N 3~ E M ~ + 43 44 42 41 40 N/L2 L1 W V U DC+ DC- VS2 VS1 RM_FAULT_OUT +24VDC 0VDC -BRAKE_OUT +BRAKE_OUT Figure 9.1 Wiring example Wiring 9.1 Figure CN2 CN3 NO_FAULT_OUT CN1 FAULT_RESET* CN5 CN4 ACTIVE1_OUT ENABLE* PWRR_A PWRR_B 24VDC ANA1- ANA1+ HALT * * * * 12 11 38 37 36 35 34 33 32 31 23 22 21 3 9 + - PULSE/DIR 10V 24V CANopen A/B/I RS485 RS232 PC 225 9 Examples SD328A

9.2 Wiring fieldbus control mode

CN2 CN1 E NO_FAULT_OUT 31 24V ACTIVE1_OUT 32

HALT 36

REF 33 LIMN REF LIMP M U 3~ V LIMN 34 W M LIMP 35

PWRR_B 37 CN3 38 40 PWRR_A +BRAKE_OUT 39 41 -BRAKE_OUT 24VDC 42 0VDC 21 43 +24VDC CAN_0V - + 44 22 RM_FAULT_OUT CAN_L CANopen 24V 23 DC CAN_H ~

VS1 VS2 CN4 RS485 DC+ PC DC- RS232

L1 CN5 N/L2 PULSE/DIR A/B/I

L1 N

Figure 9.2 Wiring example 0198441113700, V2.03, 07.2010 226 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A9 Examples Parameterization localcontrol mode 9.4 Wiring STO 9.3 SD328A Stepper motor drive Example A: Operating mode Example B: Electronic Gear Oscillator ̈ ̈ ̈ ̈ ̈ ̈ ̈ display HMI the the switch of to i.e on, is ready power stage The • The "First Setup" has been performedandthe settings for the basic • The analoginputs have already beenwired. • system. mechanical the to yet coupled must not be shaft motor The • Prerequisites: HMI. the via followingThe examples show parameterization aresuppliedues viathe analoginputs. and Electronic Gear. The controlis local (I/O mode), thereference val- The following examples show settings ("Safe Torque Off")"on page 38. planning. For more information see chapter5.3"Safety function STO careful requires product this in integrated safety the functions Using 1500 2000. To2000. do so, select The gear ratiois to beselectedfrom alistof presets; it isto be DRC- Set the default operatingmodeto Electronic Gear. Todo so, select Verify Tospeed. current the so, do value check the the motor (inputStart signal RAMPdecel for setting ramp acceleration Check the min The reference speed for the motor of 1500 Set thedefault operating mode to ENABLE Verify Tospeed. signal current the (input motor the so, do start io-m shows ing. parameters and limit values have beenmade commission-during supplied via supplied ANA1+ . / and the entry entry the and from 0V to maximum. to 0V from io-m rdy ). Check value the . and the entry and the entry before starting the the motor. before starting ANA1+ . To. so, do select OSCi SET- . gear sta- / ENABLE GFAC . / naCt Oscillator. To doso, select foroperating the modesOscillator and the value ). To). doso, slowly increase set- . RAMPacc / a1ns -1 at 10V is to be be to is 10V at and the value 2000 and deceleration and sta- . / naCt DRC- . 227 / 9 Examples SD328A 0198441113700, V2.03, 07.2010 228 Stepper motor drive 0198441113700, V2.03, 07.2010 LIMP Hardware limitswitch (for example otaeso Quick Stop active Software stop vn tt M ipa C HMIdisplay Fault OperationEnabled State Error of errorclass>1 Error of errorclas Halt Event Error responsesanderror classes 10.2 troubleshooting Diagnostics and 10 Service 10.1 Diagnostics andtroubleshooting 10 SD328A Stepper motor drive ) Quick Stop active 1 s Error class Quick Stop active aa ro Power switch controller stage and offimmedi- Uncontrolled Fatal error 4 "Quick Stop" 3 only, Message nointerruption stopswith"Quick Motor power Stop", and stage "Quick Stop" 2 Warning 1 0 class Error pair. Also includethis information if you the product for return inspection or re- Yourown the assumptions cause concerning of the error • Previous and concomitantcircumstances • Typeoferror (suchLED as flash code orerror number) • number, number,(type, identification ...) serial DOM, Nameplate • Have thefollowingavailable: details Ifyou cannot resolve anerror yourselfplease contactyour sales office. The devicesignals the occurrenceofan event inthefollowing way: classes: fault, the device responds inaccordancewithof one the following error state Faultresulta as of anerror. Dependinguponthe severity of the The producterror an triggers response it if switches to the operating operation switch-offwith Meaning Response STOP A306 STOP FLT A320 FLT HALT STOP A320 STOP STOP A302 STOP ately without stopping the first. the motor withoutstopping ately switched remain andenabled.controller on device off. beresetbycan only response switching the first. The error the motor withoutstopping ately Power switch controller stage and offimmedi- achieved. been has standstill are disabled after controller stopswith"QuickMotor power Stop", and stage A 0 - EA306 30EA320 E A320 E -- 30EA320 E A320 E (_StopFault) 32EA302 E A302 E ause of last stop oflast ause memory Entry inerror 229 10 Diagnostics and troubleshooting SD328A

10.3 Error indication

The last cause of stop and the last 10 error messages are stored. The HMI allows you to display the last cause of stop; the commissioning software and the fieldbus let you display the last 10 error messages in addition to the last cause of stop. For a description of all error numbers, see page 239.

10.3.1 State 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 Ready 4 rdy T10 To Switch On 9 T8 T3 T6 Fault

5 fLt 8888 Son Switched On

T14 8 T4 T5 fLt Fault Reaction Active rUn 6 Quick Stop Active 7 Operation T16 T13 HALT Enabled Stop 8888 HaLt

T11 Error class 1 Error class 2, 3, (4)

Motor under current

Operating state State transition Error

Figure 10.1 State diagram 0198441113700, V2.03, 07.2010 230 Stepper motor drive 0198441113700, V2.03, 07.2010 FLt FLt Stop HALT run Son rdy dis nrdy T8 T2 T1 T0 T3 tion Transi- troubleshooting Diagnostics and 10 Descr state Operating Init Display SD328A T9 T6 T5 T4 T7 Stepper motor drive 6 3 2 1 4 state Operating 6 5 6 5 4 -> -> -> -> -> -> -> -> -> -> 3 2 9 8 7 6 5 4 3 2 1 4 4 5 3 4 5 6 3 Fault Operating state "Fault" Operating Fault Fault Reaction active An error has been detected, error response activated detected,errorresponse An errorhasbeen Fault active Reaction QikSo cie"Quick executed isbeing Stop" Quick active Stop Switched on Motor not supplied withcurrent Motornotsupplied enable Operation on Switched Rayt wtho The power to switch isready stage on to switchReady on Sic ndsbe Enabling of power stagelocked on disabled Switch Ntrayt wtho Thepower isnot to switch stage ready on ready to switchNot on Start Controller supply voltage supply initialized Controller arebeing on, electronics Start Operating states State transitions Parameter successfullyinitialized • Device successfullyinitialized electronics • • Actual speed: >1000 min Actual >1000 speed: • / event Condition ilbscmad htonPower stage is immediately disabled. Fieldbus command: Shutdown • • Fieldbus command: Disable Voltage Fieldbus command: • • No undervoltage No • Fieldbus SwitchOn command: • for Request enabling power the stage • • Fieldbus command: Disable Voltage Fieldbus command: • for Request disabling power the stage • • Fieldbus command: Disable Operation Motion command is canceled with "Halt" with canceled is command Motion Fieldbus command:Shutdown • Disable Operation Fieldbus command: • Fieldbus Enablecommand: Operation • Automatic transition • • Undervoltage • (for force) examplebydriving external STO_A Actual speed: <1000 min <1000 Actual speed: checked successfully Encoder Fieldbus command:Shutdown (only if (only T3 viafieldbus SwitchOn) command STO_A ( ( PWRR_A PWRR_A )2) 1) ) and ) and ) and ) and HALT RUN activemode operating No Power stage ready as aresponsea to monitoring signal. State transitions are triggered by an input signal, afieldbus command or missioning software. The operating states are displayedby defaultby theHMI and the com- : Selected operating modeisactive: Selectedoperating : Motor is stopped, power enabledis stopped, is Motor stage : STO_B STO_B iption of operating state iption ofoperating -1 -1 ( ( PWRR_B PWRR_B 3) ) = 0V ) = +24V ) = - Response Power disabled. isimmediately stage Power disabled stage brakeapplied Holding is brakeHolding (ifavailable)is released parameters arecheckedUser-defined Power is enabled stage 231 10 Diagnostics and troubleshooting SD328A

Transi- Operating Condition / event 1) 2) Response tion state T10 5 -> 3 • Request for disabling the power stage

• Fieldbus command: Disable Voltage T11 6 -> 7 • Class 1 error Motion command is canceled with "Quick Stop". • Fieldbus command: Quick Stop T12 7 -> 3 • Request for disabling the power stage Power stage is disabled immediately, even if "Quick Stop" is still active. • Fieldbus command: Disable Voltage T13 x -> 8 • Error of classes 2, 3 or 4 Error response is carried out, see "Error Response" T14 8 -> 9 • Error response terminated (error of class 2)

• Error of classes 3 or 4 T15 9-> 3 • Function: "Fault Reset" Error is reset (cause of error must be corrected). T16 7 -> 6 • Function: "Fault reset"

• Fieldbus command: Enable Operation 4) 1) In order to initiate a state transition it is sufficient if one condition is met 2) Fieldbus commands only with fieldbus control mode 3) Only required with fieldbus control mode, fieldbus CANopen and parameter DCOMcompatib= 1 4) Possible only if operating state was triggered via the fieldbus

10.3.2 Error indication at the HMI

State indication Ulow The display shows ULOW (WDOG) during initialization. The controller supply voltage is too low. ̈ Check controller supply voltage.

State indication nrdy The product remains in the state nrdy (NRDY). ̈ After the "First Setup", you must switch the device off and on again. ̈ Finally, verify proper installation. If the installation is correct, then there is an internal error. To diag- nose the error, read out the error memory using the commissioning software. If you cannot resolve the error yourself please contact your sales office. 0198441113700, V2.03, 07.2010 232 Stepper motor drive 0198441113700, V2.03, 07.2010 SD328A 10 Diagnostics and troubleshooting Diagnostics and 10 SD328A Stepper motor drive State indication State indication State indication indication State State indication indication State Cause of last stopCause of last WDOG STOP dis FLt error of error class 1. class error of error This can be caused by a software stop, a hardware limit switch or by an remains inthestate and CANopen.Depending onthe setting ofparameter, this the device parameter the of -devicesCheck setting the case fieldbusSpecial with CANopen: Is the mains voltage to the power stage on and does the voltage • Verify correctinstallation of the signal connections. Pay particular • STOsafety the Is function active? • ̈ ̈ ̈ ̈ ing has detected anerror (watchdog). The displayshows ̈ displaysThe HMI ter 10.5 "Tableof error numbers" for the meaningthe of error number. error number can also be found inthe listof the error memory. See chap- The display shows alternately ̈ STO safety the or function active. is If the product remains in the state chapter10.5 "Table of error numbers". _StopFault Display the message. Press the ENT keythe onHMI to acknowledge the currenterror The errorreset canbe by switching the device offandon again. under whichthe error occurred (operating mode,application). of theconditions Inform theContact support technical support. Fix the causeof the error and acknowledgetheerror. correspond to the specifications in the technical data? (CN1)". inputs/outputs digital the attention to the minimum assignment, see page 6.3.14 "Connecting Check thefollowing: DCOMcompatib FLT ) is displayed) is inthe formoferror an number, see STOP menu. Thecause last stop of (parameter WDOG dis (STOP) when a"Quick Stop" hasbeen triggered. after it is switchedafter itis on. (WDOG) during initializ during (WDOG) of devices operated infieldbus control mode FLt (FLT) and a 4-digit error number. The dis (DIS), there isno DCbus voltage ation. Internal monitor- Internal ation. 233 10 Diagnostics and troubleshooting SD328A

10.3.3 Error indication using the commissioning software

࡯ You need a PC with the commissioning software and a working connection to the product, see chapter 6.3.15 "Connecting a PC or a remote terminal (CN4)", page 84. ̈ Select "Diagnostics - Error memory". A dialog box which shows the error messages is displayed.

The commissioning software shows a 4 digit error number in the list of the error memory with a prefixed "E". The error messages are displayed along with the status, error class, time when the error occurred and a short description. The "Additional information " lets you verify the exact conditions when the error occurred. ̈ Correct the error and reset the error message. In the case of errors of class 4, you must switch off the controller supply voltage and switch it on again.

10.3.4 Error indication via the fieldbus

Error indication via status word Errors are first indicated via the parameter DCOMstatus. The operating state changes and the error bit 13 x_err is set. Cause of last stop The parameter _StopFault allows you to read out of the error number and the last cause of stop. If there is no error, the value of the parameter is 0. If an error occurs, the error is written to the error memory along with other status information. In the case of subsequent errors, only the triggering cause of error is stored. Error memory The error memory is an error history of the last 10 errors; it is not cleared even if the device is switched off. The following parameters allow you to manage the error memory:

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

FLT_del_err Clear error memory - UINT16 CANopen 303B:4h 0 UINT16 Modbus 15112 - 1: Delete all entries in the error memory - R/W - 1 - The clearing process is completed if a 0 is - returned after a read access.

FLT_MemReset Reset error memory read pointer - UINT16 CANopen 303B:5h 0 UINT16 Modbus 15114 - 1: Set error memory read pointer to oldest - R/W 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 set to the next entry; a read access delivers the next error entry. If the error number 0 is returned there is no error entry. 0198441113700, V2.03, 07.2010 234 Stepper motor drive 0198441113700, V2.03, 07.2010 - - FLT_err_num - - FLT_Qual - - FLT_Time - - FLT_class HMI menu Parameter name troubleshooting Diagnostics and 10 SD328A Stepper motor drive entry. is automatically settothenextmemory error oftheerror pointer read the In addition, read. of all elements the errorcanthen be which error,inte to ...) an (error class, error entry entire the copies this parameter Reading Error number Example: a parameter address parameter a Example: number.error, error the the on depending information on additional contains This entry information Error additional referenceWith hourscounter to operating Error time edged) Fatal4: be acknowl-9, cannot error(state Fatal3: be acknowledged) error(state9,can Error 2: (Quick state8,9) -> Stop Error 1: (Quick state7) -> Stop Warning0: (noresponse) Error class Unit Description rmediate memory from memory rmediate FLT_err_num try, parameter the with first out must number read be error the areread out using various parameters.When you read outan error en- of consists entry error An individual 10 10th error entry. error 10th the error entries, 10 of case the In ... error entry, 2nd latermessage,present if error entry, 1st oldestmessage 10 ... 2 Meaning 1 Positionentry ofthe time ofoccurrence of . 65535 - 0 - 65535 - 0 - 536870911 - 0 s 4 - 0 - Maximum value Factory setting Minimum value most value recent error here. iscontained several pieces of information which - - R/- UINT16 UINT16 - - R/- UINT16 UINT16 - - R/- UINT32 UINT32 - - R/- UINT16 UINT16 Expert Persistent R/W Data type CANopen 303C:1 CANopen CANopen 303C:4 CANopen 303C:3 CANopen 303C:2 CANopen fieldbusvia Parameter address Modbus 15362 Modbus 15368 Modbus 15366 Modbus 15364 235 h h h h 10 Diagnostics and troubleshooting SD328A

10.4 Troubleshooting

10.4.1 Troubleshooting problems

Problem Cause Troubleshooting Motor does not Motor blocked by holding brake Release holding brake, check wiring. rotate Motor phase inter- Check motor cable and connection. One or rupted more motor phases are not connected. No torque Set parameter for current to a value greater than zero. Incorrect operat- Set the input signal and parameters for the ing mode selected desired operating mode. Drive system Switch on drive system, generate enable sig- switched off nal. Analog reference Check PLC program and wiring value is missing Motor mechani- Check coupled components. cally blocked Motor rotates in Motor phases reversed Check motor cable and connection: Connect motor the wrong direc- phases U, V and W in the same way at the motor and tion device ends. Motor tempera- incorrect motor type set Select the correct motor type; reduce the maximum ture too high motor current; use holding brake controller with voltage reduction for motors with holding brake, see motor manual. Short motor Motor phases reversed Check motor cable and connection: Connect motor movement with phases U, V and W in the same way at the motor and shutdown by rota- device ends. tion monitoring Encoder problem Check encoder cable. Reference poten- Connect reference potential of analog signal to tial of analog sig- the reference value source. nal missing Error message Drive system switched off Switch on the drive system. communication error Wiring error Verify proper wiring. Wrong PC inter- Select correct interface. face selected Error message Poor or no air circulation, Check air circulation, replace or connect fan of temperature Fan (SD32••U68 only) defective, blocked or SD32••U68, reduce runtime for peak current, load or not connected, overload peak torque, 0198441113700, V2.03, 07.2010 236 Stepper motor drive 0198441113700, V2.03, 07.2010 18 Motor overload cur- Motor (phase 18 (motor motor to Connection 17 5D u vrotg 3DCbus overvoltage, decel- 3 DCbus overvoltage 15 2 DCbus undervoltage Reserved Reserved 14 13 11 the of processing in Error reference Incorrect signals 10 Reserved 9 8 7 CANopen fieldbus error Interruption of fieldbus Interruption fieldbus CANopen error RS485 fieldbus error, Mod- 7 Reserved 6 5 ro i enn Error troubleshooting Diagnostics and 10 Meaning Error bit Troubleshooting oferrors by sorted error bit 10.4.2 SD328A QikSo"vafedu Fieldbuscommand Inputs 1 "Quick fieldbus via Stop" 0 4 oftravel Range exceeded 3 Limit switch(LIMP/LIMN/ 2 General error 1 0 Stepper motor drive rent too high) too rent fault, commutation) ground interrupted, phase current operating mode operating current toohigh) (frequency bus "0" and (software limitswitch) REF) STO_B STO_A ( PWRR_B ( PWRR_A ) are ) 3 I orground fault circuit Short 3 3 Processingerrorinoperat- 2 STO safety was function 3 class oo o nrneo rvlCheck travel, range of home the drive notinrange Motor of travel 1 switch Limit orwasis acti- 1 sage. _SigLatched parameter the using read be can bits error bits. The error called To facilitatetroubleshooting, aller low). (selected motor current too torque the motor torque exceeds External Motor problem. cable. or in motor phase encoder fast too eration ing off the drive offthe ing valuethreshold for switch- DC bus voltage below Stop" valuethreshold for "Quick DC bus voltage below or Jog. Homing Gear, Electronic modes ing ference Frequency inter- high, too only communication, CANopen only, forexample Modbus communication, RS485 of fieldbus Interruption triggered as Troubleshooting Cause vated, interrupted line 2 t monitoring for motor Reduce load, load, use a Reduce motor with agreater fort monitoring motor . Signal. status "1" indicates an error mes- or warning motor current. the orincrease torque external Reduce motor.Replace cable.or encoder cable motor Check connections, replace phase thedeceleration Extend Check for power outage Check orincreasemains voltage intheerrormemory information For seeadditional information detailed data) (technical frequency EMC exceed measures,not do maximum parameters, fieldbus seealso manual the fieldbus, check thecommunication Check thecommunication cables, check parameters, fieldbus seealso manual the fieldbus, check thecommunication Check thecommunication cables, check Check door, guard cabling nominal powernominal again error memory message in range, datato axis special positioning Move drive intomovement range, match ror numbersror arecategorized byso- 237 10 Diagnostics and troubleshooting SD328A

Error bit Meaning Error Cause Troubleshooting class 20 Undervoltage controller Controller supply voltage Check controller supply voltage. Check supply voltage has fallen below the mini- for short-term voltage dips during load mum value changes 21 Temperature too high 3 Power stage overheated Fan defective or blocked, reduce runtime (power stage or motor) for peak current, load or peak torque Allow motor to cool down, reduce load, Motor overheated use motor with greater nominal power, Temperature sensor not temperature sensor defective, check/ connected replace motor encoder cables; use holding brake controller with voltage reduction for motors with holding brake, see motor manual. 22 Rotation monitoring error 3 Rotation monitoring error Reduce external load or acceleration 24 Inputs STO_A (PWRR_A) 4 Interruption of the signal Check signal cable and signal connection, and STO_B (PWRR_B) are wires check signal source, replace different 25 ... 28 Reserved 29 EEPROM error 3-4 Checksum in EEPROM Run a "First Setup", save the user-defined incorrect parameters to the EEPROM, contact your local sales office 30 System start-up error 3-4 Cause of error as indicated Resolution depends on indicated cause of (hardware or parameter error error) 31 Internal system error 4 Internal system error Switch device off and on, replace device (for example Watchdog) Comply with EMC measures, switch System error, e.g. division device off and on, contact your local sales by 0 or timeout checks, office inadequate EMC 0198441113700, V2.03, 07.2010 238 Stepper motor drive 0198441113700, V2.03, 07.2010 E 110B 3 30 Initialization error (additional info=Modbus (additional address) error register Initialization 30 viaotherinterface Access blocked 3 - E 110B notallowed Command powerwhile isactive stage - - (noaccessauthorization) access denied Write E 1107 - Parameter (READ only) notpermissible write - E 1106 Parameter exist doesnot - - Parameter exist doesnot - - E 1104 Parameter range out permissible of - - E 1103 - - E 1102 - Descrip E 1101 Bit E 1100 Class Error number troubleshooting Diagnostics and 10 Table oferror numbers 10.5 SD328A Stepper motor drive where the initialization error was error initialization detected. the where Value info error additional showsin of Modbusaddress the parameter the register max.allowed isgreaterfile position than drive. speed of Error detectedatpower enable parameter Checkblocks thechannelthat access.the fieldbus at accesswasthe same time). tried byAccess occupied (e.g.: another channel softwarecommissioning isactive and Disable command. the power the and repeat stage "QuickStopActive"). notallowed Command the powerwhile isenabled stage (state "OperationEnable" or accesslevelThe write is required. expert Parameter onlyaccessible level. at expert access parameter.to read only Write Fault by parametersignaled (subindex) parameter management: not does exist. Fault by parametersignaled (index) parameter management: exist. doesnot xxCommunication movement Motor Information onerrorbits and troubleshooting canbe found onpage237. Fieldbus Interface, wiring E Bxxx Software E Axxx Hardware E 8xxx Temperature E 7xxx Voltage E 6xxx Overcurrent E 5xxx General E 4xxx E 3xxx E 2xxx range E 1xxx Error number Error number categories: class, the error classisparameterizable. all the error numbers and their meaning. If "par." isshown with the error and stored in the parameter number error an as coded is message for error error of each cause The tion, causeandcorrectives FLT_err_num check e.g.reference value for speed pro- . Thefollowing table shows 239 10 Diagnostics and troubleshooting SD328A

Error number Class Bit Description, cause and correctives E 110C - - Write access only allowed for a motor specified by the user E 110D 1 0 Basic configuration of controller required after factory setting The "First Setup" (FSU) was not run at all or not completed. E 110E - - Parameter changed that requires a restart of the drive Only displayed by the commissioning software. A parameter modification requires the drive to be switched off and on. Restart the drive to activate the parameter functionality. Check the parameter chapter for the parameter that required a restart of the drive. E 1300 3 4 Safety function STO activated The safety function STO was activated in "Operation enable" state. Reset the fault; check the wiring of the STO inputs. E 1301 4 24 STO_A (PWRR_A) and STO_B (PWRR_B) different level The levels of the inputs STO_A (PWRR_A) and STO_B (PWRR_B) were different for more than 1 second. The drive has to be switched off and the reason fixed (e.g.: check emergency stop active) before it is switched on. E 1310 3 9 Reference signal frequency too high The frequency of the pulse signal (A/B, Pulse/Direction, CW/CCW) is higher than the allowed value. Adapt the output pulse frequency of the controller to fit the input specification of the drive. Take care to also adapt the electronic gear ratio for the application requirements (position accuracy and speed). E 1311 - - The selected input or output function cannot be configured The function configured for an Input or Output cannot be used in the selected mode (e.g. enable positive movement input function cannot be configured in jog mode) . E 1312 - - Limit or reference switch signal in I/O functions not defined Reference movements require limit switches. These limit switches are not assigned to inputs. Assign the LIMP, LIMN and REF functions to the inputs. E 2300 3 18 Power stage overcurrent Motor short circuit and deactivation of the power stage. Check the motor power connection. E 3200 3 15 DC bus overvoltage Excessive regeneration during braking. Check deceleration ramp, check dimensioning of drive and braking resistor. E 3201 3 14 DC bus undervoltage (switch-off threshold) Power supply loss, poor power supply. E 3202 2 14 DC bus undervoltage (Quick Stop threshold) Power supply loss, poor power supply. E 3206 0 11 DC bus undervoltage, no mains phase (warning) Power supply loss, poor power supply. 0198441113700, V2.03, 07.2010 240 Stepper motor drive 0198441113700, V2.03, 07.2010 E 7338 0 13 No valid motor absolute position valid No absolute motor 13 range currentoffset outside permissible Motor 0 30 Invalid motordata E 7338 4 30 E 7123 4 invalidpower error: System data stage 30 parameter E 7122 inselection Error 4 - phase fault connection Motor E 7100 - overtemperature Motor 17 21 overload Motor (I2t)warning E 610D 3 3 5 E 5600 0 E 4303 overtemperature Motor 21 E 4302 Deviceovertemperature 3 21 Power stage overload (I2t)warning 3 E 4300 4 E 4200 Warning powerovertemperature stage 0 troubleshooting Diagnostics and 10 1 E 4102 0 Power overtemperature stage 21 E 4101 3 Descrip Bit E 4100 Class Error number SD328A Stepper motor drive Device stillusable are OKAY. all functions and position. absolute the fix application, on Depending yet not has determined. been position youinformabsolute Warning to that the device. orreplace support technical Contact circuitis defective.Motor currentmeasurement the motor. orreplace support technical Contact inmotorencoder co is Motor datastored the device. orreplace support technical Contact data. memory internal in PowerCRC), error (wrong device in is corrupt stored data stage Check valuewritten. the be to parameterWrong value selected. phases.motor Check of connection . connected are not Motor phase(s) The currenthasexceeded va the nominal Check cable. encoder mustCheck heat the motor installation: cable.encoder I2t);faulty (see temp overload, high; ambient too is sensor of thermal Resistance high. too is temperature ambient overtemperature: Board time. cycle Check reduce dimensioning, The currenthasexceeded va the nominal Improve dissipation. theheat dust. Transistors fan overtemperature: ambient temperature high, istoo inoperative,is Improve dissipation. theheat dust. Transistors fan overtemperature: ambient temperature high, istoo inoperative,is tion, causeandcorrectives or motor encoder not connected not encoder or motor be dissipated via the mounting surface. viathemounting be dissipated rrupt, error in internal memory data. memory errorininternal rrupt, lue for an extended period of time. for of lue extended an period time. for of lue extended an period 241 10 Diagnostics and troubleshooting SD328A

Error number Class Bit Description, cause and correctives E 7500 0 9 RS485/Modbus: overrun error EMC; cabling problem. Check cables. E 7501 0 9 RS485/Modbus: framing error EMC; cabling problem. Check cables. E 7502 0 9 RS485/Modbus: parity error EMC; cabling problem. Check cables. E 7503 0 9 RS485/Modbus: receive error EMC; cabling problem. Check cables. E 8120 0 7 CANopen: CAN Controller in Error Passive Too many error frames have been detected. Check CAN bus installation. E 8130 2 7 CANopen: Heartbeat or Life Guard error The bus cycle time of the CANopen master is higher than the programmed heartbeat or nodeguard time. Check CANopen configuration, increase heartbeat or nodeguard time. E 8140 - - CANopen: CAN controller was in Busoff, communication is possible again E 8141 2 7 CANopen: CAN Controller in Busoff Too many error frames have been detected, CAN devices with different baudrates. Check CAN bus installation. E 8201 0 7 CANopen: RxPDO1 could not be processed Error while processing Receive PDO1: PDO1 contains invalid value. Check RxPDO1 content (application). E 8202 0 7 CANopen: RxPDO2 could not be processed Error while processing Receive PDO2: PDO2 contains invalid value. Check RxPDO2 content (application). E 8203 0 7 CANopen: RxPDO3 could not be processed Error while processing Receive PDO3: PDO3 contains invalid value. Check RxPDO3 content (application). E 8204 0 7 CANopen: RxPDO4 could not be processed Error while processing Receive PDO4: PDO4 contains invalid value. Check RxPDO4 content (application) E A060 2 10 Calculated speed in electronic gear/pulse control too high Gear ratio or speed reference value too high Reduce the gear ratio or speed reference value. 0198441113700, V2.03, 07.2010 242 Stepper motor drive 0198441113700, V2.03, 07.2010 SD328A 10 Diagnostics and troubleshooting Diagnostics and 10 Position reference in change value 10 2 E A061 SD328A 38--Drive instate 'Fault' - - software by stop internal Interruption - E A308 - by software stop user-initiated Interruption 3 E A307 Power beactivated stage cannot diagram) state(state operating in the current 1 - E A306 - by LIMN Interruption 1 E A305 1 by LIMP Interruption 1 E A303 Drive instate 'Quick Stop active' 1 - E A302 - after HALT Braking procedure active still request ta set data in Invalidentry - E A301 0 difference of rotation Speed (referen - Reference atTopacspeed too great input filter 10 3 PositionTopac offsetbetween filter 10 E A300 2 10 E A067 2 2 E A064 E A063 E A062 Descrip Bit Class Error number Stepper motor drive Topac greatfilter too state with command Faultstate withcommand Reset. Check error code(HMIor tool), removecommissioning clear error and error condition Error witherrorclass 2 or higher occurred. command Fault with breakcondition Clear Reset. activation to the is sentasthe response command. software stop.not possible,a new of is Theactivation mode operating error code the an internal modes,using andjog In homing the movement interrupted isinternally command Fault with breakcondition Clear Reset. activation command. a new possible, operating not mode is to the theresponse issent as the error code Drive is state"Quickin Stop active" dueto manual. the of chapter operation Refer the state diagram in the to to enable the to power ready switch state"Not Fieldbus: stagein operating on". trying Check connection. switchand limit function Check application. switch disturbance. signal or LIMN was range activated working because Check connection. switchand limit function Check application. switch disturbance. signal or LIMP was rangeactivated was because working exceeded, of misoperation limit Quickwith Drive stopped Stopcommand. Error witherrorclass 1 occurred. standstill. complete Waita to come motor has until Wait for complete stop before removing HALT signal. New was command sent before was a HALTafter motorstandstill reached request. HALT wasremoved too soon. Check reference valuesignal. input of the master. theresolution Reduce Referencedisturbance. valuesignal input Position reference high. istoo change tion, causeandcorrectives ble info (additional =set number) input position and output position too great too position output position and input with electronic gear/pulse controltoohigh gear/pulse electronic with ce pulse frequency at frequency - currentmotor speed) ce pulse a software stop request. The activation The of a softwarerequest. stop was exceeded, oflimit misoperation 243 10 Diagnostics and troubleshooting SD328A

Error number Class Bit Description, cause and correctives E A309 - - Drive not in state 'Operation Enable' A command which requires the state "Operation enable" was sent (e.g.: opmode change). Set drive to state "OperationEnable" and repeat the command. E A310 - - Power stage not active Command is not possible because the power stage is not enabled (state "Operation Enabled" or "Quick Stop"). Set drive to a state with the power stage enabled, refer to the state diagram in the operation chapter of the manual. E A313 - - Position overrun, reference point is therefore no longer defined (ref_ok=0) The position range limits were exceeded which resulted in a loss of the reference point. An absolute movement cannot be made until the definition of a new reference point. Define a new reference point by means of homing mode. E A314 - - No reference position Command needs a defined reference point (ref_ok=1). Define a new reference point by means of homing mode. E A315 - - Homing active Command not possible if homing is active. Wait until homing movement is finished. E A317 - - Drive is not at standstill Command sent which is not allowed when the motor is not at a standstill e.g. - change of software limit switches - change of handling of monitoring signals - setting of reference point - teach in of data set Wait until motor has come to a standstill (x_end = 1). E A318 - - Operating mode active (x_end=0) Activation of a new operating mode is not possible while the current operating mode is still active. Wait until the command in the operating mode has finished (x_end=1) or terminate current operating mode with HALT command. E A31B - - HALT requested Command not allowed while a HALT is requested. Clear HALT request and repeat command. E A31C - - Invalid position setting with software limit switch Value for negative (positive) software limit switch is greater (less) than value for positive (negative) software limit switch. Homing position value is set outside the range of the software limits. Set correct position values. E A31D - - Speed range overflow ('CTRL_n_max') The reference speed value was set to a value greater than the max. speed defined in 'CTRL_n_max'. Increase the value of 'CTRL_n_max' or reduce the reference speed value. 0198441113700, V2.03, 07.2010 244 Stepper motor drive 0198441113700, V2.03, 07.2010 E A329 1 10 More than one signal LIMP/LIMN/REF active LIMP/LIMN/REF signal than one More 10 1 Reference movement di without REF to 10 E A329 1 Reference movement di without REF to 10 E A328 REF switchnot 1 10 switch Limit notenabled to be approached E A327 1 10 E A326 1 E A325 info number) error (additional homing =detailed during Error 10 interface position RS422 signal asinput defined is not 1 - E A324 - Tracking errortoo high 22 by negative Interruption software switch limit E A321 troubleshooting Diagnostics and 10 par. 2 by positive Interruption software limitswitch E A320 1 2 E A31F 1 Descrip Bit E A31E Class Error number SD328A Stepper motor drive Check the wiring and 24VDC supply voltage. supply 24VDC and Check wiring the voltagesupply or for correctly switchesnot connected LIM low.REF or too ofLIMP,Check wiring the function and REFswitch. and LIMN ('HMn') in speed or homing Reduce reversal REF direction of without Search REForLIMovertravel.and permissible (LIMN) switch. ofthe LIMP Check wiring the function and activated. (LIMN) reversal direction REF without of in Search switch LIM switch. REF the of wiring Check and function the switchREF input defective connected. ornotcorrectly 'IOsigLimN'. or switch 'IOsigLimP' Enable via limit limit to orLIMNand switchesLIMP Homing aredisabled. EA329 EA328 EA327 EA326 EA325 Possibleerror codes: sub infoadditional errorbuffer. inthe movementHoming was by stopped an error, by isindicated reason the the detailed RS422 interfaceDefine asinput via 'IOposInterfac' parameter. (e.g output as interface RS422 defined is erro or load acceleration, external Reduce oracceleration load are too high. External range. backsoftware limit Jog to notpossible ofoverrunCommand because of switch.negative software limit range. backsoftware limit Jog to notpossible ofovertravCommand because tion, causeandcorrectives found between LIMP LIMN and crease deceleration ('RAMPdecel'). crease deceleration rection reversal,rection overrun REFnot LIM or of rection reversal, improper enabling of limit . ESIM) at start of electronic gear mode. gear ofelectronic . ESIM) atstart r response adjustableis 'Flt_pDiff'. r response via positive (negative) withLIMP direction el ofpositive software limitswitch. 245 10 Diagnostics and troubleshooting SD328A

Error number Class Bit Description, cause and correctives E A32A 1 10 Ext. monitoring signal LIMP with neg. direction of rotation Start reference movement with neg. direction of rotation (e.g. reference movement to LIMN) and activate the LIMP switch (switch in opposite direction of movement). Check correct connection and function of limit switch. Activate a jog movement with negative direction of rotation (target limit switch must be connected to the inputs LIMN). E A32B 1 10 Ext. monitoring signal LIMN with pos. direction of rotation Start reference movement with pos. direction of rotation (e.g. reference movement to LIMP) and activate the LIMN switch (switch in opposite direction of movement). Check correct connection and function of limit switch. Activate a jog movement with positive direction of rotation (target limit switch must be connected to the inputs LIMP). E A32C 1 10 REF error (switch signal briefly enabled or switch overtraveled) Switch signal disturbance. Motor subjected to vibration or shock when stopped after activation of the switch signal. Check supply voltage, cabling and function of switch. Check motor reaction after stopping and optimize controller settings. E A32D 1 10 LIMP error (switch signal briefly enabled or switch overtraveled) Switch signal disturbance. Motor subjected to vibration or shock when stopped after activation of the switch signal. Check supply voltage, cabling and function of switch. Check motor reaction after stopping and optimize controller settings. E A32E 1 10 LIMN error (switch signal briefly enabled or switch overtraveled) Switch signal disturbance. Motor subjected to vibration or shock when stopped after activation of the switch signal. Check supply voltage, cabling and function of switch. Check motor reaction after stopping and optimize controller settings. E A330 - - Reference movement to index pulse cannot be reproduced. Index pulse is too close to the switch The position difference between the change of the switch signal and the occurrence of the index pulse is too low. Change mounting point of limit switch (the optimum is a position one half of a motor revolution away from the current mechanical position, direction towards the outside of the working range). E A332 1 10 Jog error (additional info = detailed error number) Jog movement was stopped by error. For additional info, check the detailed error number in the error buffer. E A334 2 0 Timeout at Standstill window monitor Position deviation after movement finished greater than standstill window, e.g. caused by an external load. Check load. Check settings for standstill window ('STANDp_win', 'STANDpwinTime' and 'STAND- pwinTout'). Optimize controller settings. 0198441113700, V2.03, 07.2010 246 Stepper motor drive 0198441113700, V2.03, 07.2010 E A343 - - Processing only possible with linear ramp linear possible with only Processing - - Reference wasspeed atswitch notreached of blendpoint motion Position passed blend been of motion already has 0 E A343 - 1 - info (additional errornumber)mode =detailed inmotionsequence Error E A342 10 E A341 Position blendof motion movement 1 - movement No activated E A340 - - E A33F - E A33E Descrip Bit Class Error number E A33D - - Motion blend is already active already blend is Motion available not Function mode operating current in - - - - (ref_ok=0) not defined Referenceis point E A33D orfast selected ofmotorencoder motorindex No processing detection position pulse - E A33C - - - becontinued mode cannot Operating E A33A 10 troubleshooting Diagnostics and 10 A339 E 0 mode fieldbuspossible in control only Processing 10 E A337 1 E A335 SD328A Stepper motor drive Set alinearramp type. ramp. non-linear was a blendset with Motion position blend.motion referenc the so that ramp speed the Reduce reached. blend motion wasof the ov position The The currentmovement haspassed beyond blend. ofthe motion the position Verify theerrorby checking errorinformation. the additional buffer for ontheerror.details was by motionsequence mode The operating stopped error.an Check error the Check blend motion movement ofthe and the current the position range. movement current of the range. outside blend motion is of the position The a movementStart before blend themotion isactivated. movement. blendActivationmotion without a of Wait for themotionblendtocomplete blend yet not reached) motion of position blend motion (end current the blendmotion during of Change not availableis mode.Activation which operating function a current the of in if homing tobedone.is encoder no Use motor withmultiturn homing. Start was range left. position working the lost because position Homing connected. encoder absolute with motor and no done No homing active rupted. mode, is Sequence continuation impossibleIn Motion ifamotion blend was inter- active had been mode another the meantime.because in movement Continuation interrupted of is mode inprofile position not possible device. fieldbus a to set be must DEVcmdinterf' switches). notpossible(homing if set 'DEVcmdinterf' is not to afieldbus device, no limit Reference controlmode inlocal movement started tion, causeandcorrectives not intherange ofthe active movement beforenext the setting position. ertraveled, the referencewas the not ertraveled, speed e speed is reached at reached is speed e the position of the ofthe position the 247 10 Diagnostics and troubleshooting SD328A

Error number Class Bit Description, cause and correctives E B100 0 9 RS485/Modbus: unknown service Unsupported Modbus service was received. Check application on the Modbus master. E B200 0 9 RS485/Modbus: Protocol error Logical protocol error: wrong length or unsupported subfunction. Check application on the Modbus master. E B201 2 6 RS485/Modbus: Nodeguard error Modbus is defined as command interface ('DEVcmdinterf'=Modbus): connection monitoring parameter ('MBnode_guard') is <>0ms and a nodeguard event was detected. Check application on the Modbus master or change value (set to 0ms or increase the parameter 'MBnode_guard' monitoring time). E B202 0 9 RS485/Modbus: Nodeguard warning Modbus is not defined as command interface ('DEVcmdinterf '<>Modbus): connection monitoring parameter ('MBnode_guard') is <>0ms and a nodeguard event was detected. Check application on the Modbus master or change (set to 0ms or increase the parameter 'MBnode_guard' monitoring time). E B400 2 7 CANopen: NMT reset with power stage active CANopen is defined as command interface ('DEVcmdinterf'=CANopen): NMT Reset command is received while drive is in state "Enable". Always disable the drive before sending a NMT reset command. E B401 2 7 CANopen: NMT reset with power stage active CANopen is defined as command interface ('DEVcmdinterf'=CANopen): NMT Stop command is received while drive is in state "Enable". Always disable the drive before sending a NMT Stop command. E B402 - - CAN PLL active It was tried to start the synchronization mechanism although it was already active. Deactivate the synchronization mechanism. E B403 2 7 Excessive Sync period deviation from ideal value The period time of the SYNC signals is not stable. The deviation is more than 100usec. The SYNC signals of the motion controller must be more accurate. E B404 2 7 Sync signal failed SYNC signal was missing too often (more than twice). Check CAN connection, check motion controller. E B405 2 7 Drive could not be adapted to master cycle The jitter of the SYNC object is too big or the motion bus requirements are disre- garded. Check the timing requirements regarding interpolation time period and number of participants. E B406 - - Baud rate is not supported. The configured baud rate is not supported. Choose one of the following baud rates: 250kB, 500kB, 1000kB. 0198441113700, V2.03, 07.2010 248 Stepper motor drive 0198441113700, V2.03, 07.2010 E B408 - - Incorrect scaling factorsscaling Incorrect - troubleshooting Diagnostics and 10 - cycle master with not synchronous is Drive - E B408 - Descrip Bit E B407 Class Error number SD328A Stepper motor drive Choose a scaling factor ascaling Choose of 1 to131072. factor scaling The defined is not supported. SYNC signals. send Check controller.motion To besynchronized,must controller cyclically the motion synchronized. be cannot mode Mode' Synchronous 'Cyclic The tion, causeandcorrectives activated aslong asthe drive is not 249 10 Diagnostics and troubleshooting SD328A 0198441113700, V2.03, 07.2010 250 Stepper motor drive 0198441113700, V2.03, 07.2010 11Representation oftheparameters 11.1 11Parameters Parameters 11 SD328A Stepper motor drive Entering values Entering .0 .0 1000 50 2357 20 1.000 23.57 5.0 Fieldbus 20 1.000 Commissioning software 23.57 5.0 20 Value examples: Input decimalapoint.All decimal places must beentered. Please note that parameter values are entered viathe fieldbus without properties. settings, defaults parameter and otherhand, the parameter explanationsalso providecan informationon mation which is needed for unique identification of a parameter. On the When parameters are explained,this contains, on the one hand, infor- thein correspondingdescribed fieldbus manual. In addition, specialparameters for communication viathe fieldbus are for operating the product. This chapter provides an overview injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these When commissioning, carefully tests run for all operating states • the systemif there are Only nopersonsor start obstructions in • Neverchange aparameteryou unless understand its meaning. • or signalsdeactivate or monitoring functions. ters. Unsuitable parameter valuesunintended can trigger movements The behavior of the drive systemis governed by numerous parame- UNINTENDED BEHAVIOR CAUSEDBY PARAMETERS and potential faultsituations. the hazardous area. @ WARNING of the parameters whichcanbe used 251 11 Parameters SD328A

11.1.1 Explanation of the parameter representation

A parameter explanation has the following features:

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

Example_Name Brief description (cross-reference) Apk UINT32 fieldbus 1234:5h 0.00 R/W INF- - DEVC Selection values ABC1 3.00 per. INF- DEVC 1 / Selection value1 / : Explanation 1 300.00 - - 2 / Selection value2 / ABC2: Explanation 2 Further description and details

Parameter Name The parameter name clearly identifies a parameter. HMI menu The HMI menu shows the sequence of menus andcommands by which the parameter is called up via the HMI. Description Brief description (cross-reference) The brief description contains some information on the parameter and a cross-reference to the page that describes the function of the parameter. Selection values In the case of parameters which offer a selection of settings, the value to be entered via the fieldbus and the designation of the value for input via the commissioning software and the HMI are specified. 1 = Value via fieldbus Selection value1 = Selection value via commissioning software ABC1 = Selection value via HMI Further description and details Provides further information on the parameter. Unit The unit of the value. Minimum value The minimum value which can be entered. Factory setting The factory setting. Maximum value The maximum value which can be entered. Data type If the minimum and the maximum values are not explicitly indicated, the valid range of values is determined by the data type.

Data type Byte Minumum value Maximum value INT8 1 Byte / 8 Bit -128 127 UINT8 1 Byte / 8 Bit 0 255 INT16 2 Byte / 16 Bit -32768 32767 UINT16 2 Byte / 16 Bit 0 65535 INT32 4 Byte / 32 Bit -2147483648 2147483647 UINT32 4 Byte / 32 Bit 0 4294967295

R/W Indicates read and/or write values "R/" values can only be read "R/W" values can be read and written. 0198441113700, V2.03, 07.2010 252 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A11Parameters SD328A Stepper motor drive Parameter address Persistent dress is used to access the parameter via the fieldbus. the via parameter the access to used is dress Eachparameter hasauniqueparameter address. The parameter ad- explicitly store thechanged value inthe persistentmemory. changing a value via commissioning software or fieldbus, the user must whether itremainsinth i.e. persistent, is parameter valuethe "per."of the whether indicates e memory after the devicee memory isswitched off .When 253 11 Parameters SD328A

11.2 List of all parameters

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert -1 _acc_pref Acceleration of reference value generation min /s INT32 CANopen 301F:9h - INT32 Modbus 7954 - Sign according to the changed speed value: 0 R/- - - - Increased speed: pos. sign - Reduced speed: neg. sign

_AccessInfo Current access channel for action objects - UINT16 CANopen 3001:Ch - UINT16 Modbus 280 - Low byte : 0 R/- 0 : Used by channel in high byte - - - 1 : Exclusively used by channel in high byte - High byte: Current assignment of access channel 0: reserved 1: IO 2: HMI 3: Modbus RS485 4: CANopen 5: CANopen via seconds SDO channel 6: Profibus 7: DeviceNet 8: reserved 9: Ethernet 10..15: Modbus TCP

_DCOMopmd_act Active operating mode - INT8 CANopen 6061:0h -6 INT16 Modbus 6920 - See DCOMopmode for coding - R/- - 6 - - 0198441113700, V2.03, 07.2010 254 Stepper motor drive 0198441113700, V2.03, 07.2010 - - _IO_LO_act - - _IO_LI_act 11Parameters STA- STA- - ioAC _IO_act STA- STA- - iACT _I_act HMI menu Parameter name SD328A Stepper motor drive - - ioAC iACT Available asof software version V1.201. ... Bit 1: LO2_OUT Bit 0: LO1_OUT signals: theindividual of Coding Status of outputs digital Available asof software version V1.201. ... Bit 1: LI2 Bit 0: LI1 signals: theindividual of Coding Status of inputs digital Unit Description Bit11: BRAKE_OUT Bit10: ACTIVE2_OUT Bit 9: ACTIVE1_OUT Bit 8: NO_FAULT_OUT Assignment the24Voutputs: of Bit 7: reserved Bit 6: - 5: STO_ABit (PWRR_A) 4: STO_BBit (PWRR_B) Bit 3: HALT Bit 2: LIMP,CAP1 Bit 1: LIMN,CAP2 Bit 0: REF (fieldbus control mode) IOposInterfac =Pdinput and =IODeviceDEVcmdinterf if:: Bit 6onlyrepresents ENABLE Bit 7: reserved Bit 6: ENABLE2 5: STO_ABit (PWRR_A) 4: STO_BBit (PWRR_B) Bit 3: HALT Bit 2: ENABLE Bit 1: FAULT_RESET Bit 0: - controlmode) (local Assignment the24Vinputs: of puts Physical out- and status inputs thedigital of In 0.01Arms Total motor current - 0 - - - 0 - - Maximum value Factory setting Minimum value - 0.00 - - 0 - - A rms - - R/- UINT16 UINT16 - - R/- UINT16 UINT16 Expert Persistent R/W Data type - - R/- INT16 INT16 - - R/- UINT16 UINT16 CANopen 3008:10 CANopen 3008:F CANopen via fieldbus Parameter address CANopen 301E:14 CANopen CANopen 3008:1 CANopen Modbus 2050 Modbus 7720 Modbus 2080 Modbus 2078 255 h h h h 11 Parameters SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

_LastWarning Last warning as number - UINT16 CANopen 301C:9h - UINT16 Modbus 7186 - Number of the most recent warning. 0 R/- If the warning becomes inactive again, the - - - number is memorized until the next fault - reset. Value 0: No warning occurred -1 _n_act Actual motor speed min INT32 CANopen 606C:0h - INT16 Modbus 7696 STA- - NACT 0 R/- STA- - NACT - - - -1 _n_actRAMP Actual speed of motion profile generator min INT32 CANopen 606B:0h - INT32 Modbus 7948 - 0 R/- - - - -

_n_I_act Optimized read access to actual speed val- - INT32 CANopen 301E:17h ues and current values - INT32 Modbus 7726 - 0 R/- High word: Actual speed _n_act [min-1] - - - Low word: Actual current [Apk] - -1 _n_pref Speed of reference value generation min INT32 CANopen 301F:7h - INT32 Modbus 7950 - 0 R/------1 _n_targetRAMP Reference speed of motion profile generator min INT32 CANopen 301F:5h - INT32 Modbus 7946 - 0 R/- - - - -

_OpHours Operating hours counter s UINT32 CANopen 301C:Ah - UINT32 Modbus 7188 STA- - oPh 0 R/- STA- - oPh - - -

_p_act Actual position of motor in internal units Inc INT32 CANopen 6063:0h - INT32 Modbus 7700 - 0 R/- - - - -

_p_actPosintf Actual position at position interface Inc INT32 CANopen 3008:5h -2147483648 INT32 Modbus 2058 - Counted position increments at RS 422 sig- - R/- nal interface CN5 if signal direction is - 2147483647 - defined as input (see parameter IOposInter- - face)

_p_actRAMPusr Actual position of motion profile generator usr INT32 CANopen 301F:2h - INT32 Modbus 7940 - In user units 0 R/- - - - - 0198441113700, V2.03, 07.2010 256 Stepper motor drive 0198441113700, V2.03, 07.2010 INF- INF- - _PVR _prgVerDEV INF- INF- - _PNR _prgNoDEV - - _p_tarRAMPusr - - _p_refusr - - _p_ref 11Parameters - - _p_difGear STA- STA- - PDiF _p_dif - - _p_addGEAR STA- STA- - PACu _p_actusr HMI menu Parameter name SD328A Stepper motor drive - - - - _PVR _PNR PDiF PACu In userunits values position absolute and received. tor, relative the of onthebasis calculated genera- value position of theprofile Absolute Target of generator motion profile position usr Reference position in user units Inc units Reference internal in position deviation. allows youposition resulting outthe toread lows the reference value. This parameter fol- thedrive nolonger processing, during arereached GEARcontrol) and the limits (seeparameter Gear' mode in 'Electronic was set limitation If and acceleration speed by limitation Position caused difference gear electronic in sation movement'. selection of'Synchronizationwith compen- gearisactivated electronic when the with set is position here.This determined be Unit forcan position controller ence position the gear is inactive, electronic When therefer- gear position electronic Initial Description 4201 The value value: isentered a decimal as V4.201 Example: versionFirmware number 8401 The value value: isentered adecimal as PR840.1 Example: programFirmware number tion. referencebetween andactual motorposi- to thecurrentdeviationCorresponds actual position deviation referenceCurrent between and usr inuserunits Actual motor position - 0 - usr - 0 - - 0 - 2147483647 - -2147483648 Inc - 0 - Inc Maximum value Factory setting Minimum value - 0.000 - - - 0.0 - - 214748.3647 - -214748.3648 revolution - 0 - - - R/- INT32 INT32 - - R/- INT32 INT32 - - R/- INT32 INT32 - - R/- INT32 INT32 - - R/- INT32 INT32 Expert Persistent R/W Data type - - R/- UINT16 UINT16 - - R/- UINT16 UINT16 - - R/- INT32 INT32 - - R/- INT32 INT32 CANopen 301F:1 CANopen 301E:C CANopen 301E:9 CANopen 301E:16 CANopen 301F:3 CANopen via fieldbus Parameter address Modbus 7716 Modbus 7942 Modbus 7706 CANopen 3001:2 CANopen 3001:1 CANopen 60F4:0 CANopen 6064:0 CANopen Modbus 260 Modbus 258 Modbus 7938 Modbus 7704 Modbus 7698 Modbus 7724 257 h h h h h h h h h 11 Parameters SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

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

_SigActive Current status of monitoring signals - UINT32 CANopen 301C:7h - UINT32 Modbus 7182 - See _SigLatched for more details on the bit 0 R/- codes. - - - -

_SigLatched Saved status of monitoring signals - UINT32 CANopen 301C:8h - UINT32 Modbus 7184 STA- - SiGS Signal status: 0 R/- 0: Not activated STA- - SiGS - - 1: Activated - Bit assignments: Bit 0: General fault Bit 1: Limit switches (LIMP/LIMN/REF) Bit 2: Out of range (SW limit switches, tuning) Bit 3: Quickstop via fieldbus Bit 4: Inputs STO are 0 Bit 5: Reserved Bit 6: RS485 fault Bit 7: CAN fault Bit 8: Ethernet fault Bit 9: Frequency of reference signal too high Bit 10: Fault current operating mode Bit 11: Reserved Bit 12: Profibus fault Bit 13: Reserved Bit 14: Undervoltage DC bus Bit 15: Overvoltage DC bus Bit 16: Mains phase missing Bit 17: Motor connection fault Bit 18: Motor overcurrent/short circuit Bit 19: Motor encoder fault Bit 20: Undervoltage 24VDC Bit 21: Overtemperature (power stage, motor) Bit 22: Tracking error Bit 23: Max. speed exceeded Bit 24: Inputs STO different Bit 25: Reserved Bit 26: Reserved Bit 27: Reserved Bit 28: Reserved Bit 29: EEPROM fault Bit 30: System booting (Hardware fault or parameter error) Bit 31: System error (e.g. watchdog)

Monitoring functions are product-dependent.

_StopFault Error number of last stop fault - UINT16 CANopen 603F:0h - UINT16 Modbus 7178 FLT- - STPF 0 R/- FLT- - STPF - - - 0198441113700, V2.03, 07.2010 258 Stepper motor drive 0198441113700, V2.03, 07.2010 - - _WarnActive - - 11Parameters _v_act_Posintf STA- STA- - uDCA _UDC_act - - _U_ref STA- STA- - TPA _Temp_act_PA STA- STA- - TDEV _Temp_act_DEV HMI menu Parameter name SD328A Stepper motor drive - - - uDCA TPA TDEV bit codes. forSee _WarnLatched the moredetails on Active bit-coded warnings, face) defined asinput (see parameter IOposInter- interface is nal if direction CN5 signal sig- 422 at RS frequency pulse Determined interfaceat position speed Actual of0.1V In increments Total motor voltage Unit Description in increments of 0.1 V of 0.1 increments in busDC voltage Voltage busat DC °C °C Power temperature stage Device temperature - 0 - - 2147483647 - -2147483648 Inc/s - 0.0 - V Maximum value Factory setting Minimum value - 0.0 - V - 0 - - 0 - - - R/- UINT16 UINT16 - - R/- INT32 INT32 - - R/- INT16 INT16 Expert Persistent R/W Data type - - R/- UINT16 UINT16 - - R/- INT16 INT16 - - R/- INT16 INT16 CANopen 301C:B CANopen 3008:6 CANopen 301E:15 CANopen via fieldbus Parameter address Modbus 7198 Modbus 7722 Modbus 7200 Modbus 7204 CANopen 301C:F CANopen 301C:10 CANopen 301C:12 CANopen Modbus 7190 Modbus 2060 259 h h h h h h 11 Parameters SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

Monitoring functions are product-dependent.

AbsHomeRequest Absolute positioning only after homing - UINT16 CANopen 3006:16h 0 UINT16 Modbus 1580 - 0 / no: No 0 R/W 1 / yes: Yes - 1 per. Available as of software version V1.201. -

AccessLock Locking other access channels - UINT16 CANopen 3001:1Eh 0 UINT16 Modbus 316 - 0: Release other access channels - R/W 1: Lock other access channels - 1 - - The fieldbus can lock active access to the device via the following access channels with this parameter: - Commissioning software - HMI - A second fieldbus

Processing of the input signals (such as HALT) cannot be locked.

ANA1_act Voltage value analog input ANA1 mV INT16 CANopen 3009:1h -10000 INT16 Modbus 2306 STA- - A1AC - R/- STA- - A1AC 10000 - - 0198441113700, V2.03, 07.2010 260 Stepper motor drive 0198441113700, V2.03, 07.2010 COM- COM- - CoBD CANbaud COM- COM- - CoAD CANadr DRC- DRC- - BTRE BRK_trelease DRC- DRC- - BTCL BRK_tclose SET- 11Parameters SET- - A1WN ANA1_win - - ANA1_Tau SET- SET- - A1oF ANA1_offset SET- SET- - A1NS ANA1_n_scale HMI menu Parameter name SD328A Stepper motor drive ------CoBD CoAD BTRE BTCL A1WN A1oF A1NS stant. Filter affects ANA1. input analog First-order low pass(PT1)filter time con- constant time filter Analog1: Unit Description time active isswitched unit the until next the on become not NOTE:do settings Changed 1000 / 1MB / / 1MB 1000 / /500KB 500 / /250KB 250 / /125KB 125 50KB / 50 / rate Baud CANopen time oruntilafter an NMT reset. active isswitched unit the until next the on become not NOTE:do settings Changed Valid numbers): (node 1 to127 addresses number) (node address CANopen brakeholding the Time delay opening/releasing during ms brake of Time delayholding closing during 0mV as istreated -> range from -20..+20mV ValueExample: 20mV to set is value is treatedas0V. value voltageThreshold an input upto which Zero voltage ANA1 windowinput atanalog ANA1. input analog the zero corrected passrange ofthe voltage window, this window iseffective in offset value.the Ifyouhave zero a defined by ANA1iscorrected/offset input The analog ANA1 input at analog Offset evaluation signal. theanalog of the invert negative you a can sign, using By RAMPn_max. in setting parameter to the current limited isinternally The speed input. reference analog the via valuesupplied is Reference value if of mode the the operating ANA1forScaling reference at+10V speed 50 1000 : 50Kbaud 500 250 125 : 500 Kbaud : 500 Kbaud : 250 Kbaud : 125 : 1Mbaud 327.67 0.00 0.00 ms Maximum value Factory setting Minimum value 1000 125 50 - 30000 3000 -30000 127 127 1 - 1000 0 0 ms 1000 100 0 1000 0 0 mV 5000 0 -5000 mV min -1 - per. R/W UINT16 UINT16 Expert Persistent R/W Data type - per. R/W UINT16 UINT16 - per. R/W INT16 INT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W INT16 INT16 CANopen 3009:2 CANopen via fieldbus Parameter address CANopen 3017:3 CANopen CANopen 302A:3 CANopen Modbus 2308 Modbus 2326 Modbus 10758 CANopen 3017:2 CANopen 3005:7 CANopen 3005:8 CANopen 3009:9 CANopen 3009:B CANopen Modbus 5894 Modbus 5892 Modbus 1294 Modbus 1296 Modbus 2322 261 h h h h h h h h 11 Parameters SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

CanDiag CANopen diagnosis word - UINT16 CANopen 3017:6h - UINT16 Modbus 5900 - 0x0001 pms read error for TxPdo 0 R/- 0x0002 pms write error for RxPdo1 - - - 0x0004 pms write error for RxPdo2 - 0x0008 pms write error for RxPdo3 0x0010 pms write error for RxPdo4 0x0020 heartbeat or lifeguard error (timer expired) 0x0040 heartbeat msg with wrong state received 0x0080 CAN warning level set 0x0100 CAN message lost 0x0200 CAN in busoff 0x0400 software queue rx/tx overrun 0x0800 CPD error indication from stop fault

CANpdo4Event PDO4 event mask - UINT16 CANopen 3017:5h 0 UINT16 Modbus 5898 - Changes of values in the object trigger an 15 R/W event: - 15 - Bit 0 = 1: first PDO4 object - Bit 1 = 1: second PDO4 object Bit 2 = 1: third PDO4 object Bit 3 = 1: fourth PDO4 object Bit 4..15 : reserved

CANrestore CANopen Restore - UINT16 CANopen 3017:8h on 0 UINT16 Modbus 5904 COM- - CoRS 0 / on / : CANopen Restore Default 0 R/W Parameter supported COM- - CoRS off 1 per. 1 / off / : CANopen Restore Default - Parameter not supported Defines the behavior of the CANopen object 1011 (Restore Default parameter). This value must be set to 'Off' for Telemeca- nique PLCs 'Twido' and 'Mirano'.

Cap1Activate Capture unit 1 start/stop - UINT16 CANopen 300A:4h 0 UINT16 Modbus 2568 - 0 / Capture stop: Cancel capture function - R/W 1 / Capture once: Start one-time capture - 2 - 2 / Capture continuous: Start continuous - capture In the case of one-time capture, the function is terminated when the first value is captured. In the case of continuous capture, the function continues to run.

Position capture can only be activated in "fieldbus control mode".

Cap1Config Capture unit 1 configuration - UINT16 CANopen 300A:2h 0 UINT16 Modbus 2564 - 0 / 1->0: Position capture at 1->0 change 0 R/W 1 / 0->1: Position capture at 0->1 change - 1 - -

Cap1Count Capture unit 1 event counter - UINT16 CANopen 300A:8h - UINT16 Modbus 2576 - Counts the capture events. 0 R/- The counter is reset when capture unit 1 is - - - activated. - 0198441113700, V2.03, 07.2010 262 Stepper motor drive 0198441113700, V2.03, 07.2010 SET- SET- - icnS CTRLS_I_Const% - - CapStatus - - Cap2Pos - - Cap2Count - 11Parameters - Cap2Config - - Cap2Activate - - Cap1Pos HMI menu Parameter name SD328A Stepper motor drive - icnS position encoder carried out (used (used internally) out carried encoder position index via actual capture pulse 2: position Bit out CAP2 carried input via capture position Bit 1: out CAP1 carried input via capture position Bit 0: Read access: Status of the capture units "Positionafter or"Homing". Setting" again calculated is position captured The signal". "capture the timeof the at position Captured 2captured position unit Capture activated. unit2is is resetwhen capture The counter events. capture the Counts 2event unit Capture counter 1 /0->1 0 /1->0 2configuration unit Capture "fieldbus mode". control Position activatedbe in only can capture run. to continues tion caseof In the continuous capture, the func- tured. value first the when cap- is terminated is function capture,the ofone-time In thecase capture continuous Capture / 2 once1 /Capture Unit stop /Capture 0 2start/stop unit Capture "Positionafter or"Homing". Setting" again calculated is position captured The signal". "capture the timeof the at position Captured 1captured position unit Capture Description - Oscillator gear - Electronic isused): 'CTRLS_I_Ramp%' (in these modes, modes operating no effect has The setting inthefollowing CTRLS_I_nom valueto the in correspond 100% movement Percentage constant during of current phase : Position change captureat 0->1 : Position change captureat 1->0 : Cancel function : Cancel capture : Start one-time capture one-time : Start : Start continuous continuous : Start 1 0 0 - - 0 - - - 0 - usr - 0 - - 2 - 0 - - 0 - usr Maximum value Factory setting Minimum value 100 80 1 % - - R/W UINT16 UINT16 - - R/- UINT16 UINT16 - - R/- INT32 INT32 - - R/- UINT16 UINT16 - - R/W UINT16 UINT16 - - R/- INT32 INT32 Expert Persistent R/W Data type - per. R/W UINT16 UINT16 CANopen 300A:3 CANopen CANopen 300A:1 CANopen 300A:7 CANopen 300A:9 CANopen 300A:5 CANopen 300A:6 CANopen via fieldbus Parameter address Modbus 2570 Modbus 2572 CANopen 3014:C CANopen Modbus 5144 Modbus 2562 Modbus 2574 Modbus 2578 Modbus 2566 263 h h h h h h h 11 Parameters SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

CTRLS_I_Stand% Percentage of phase current at standstill % UINT16 CANopen 3014:Ah 1 UINT16 Modbus 5140 SET- - iStd 100% correspond to the value in 50 R/W CTRLS_I_nom SET- - iStd 100 per. -

CTRLS_KPi_nHigh Current controller P-term at high speed V/A UINT16 CANopen 3014:4h 0.5 UINT16 Modbus 5128 - The value is calculated on the basis of motor - R/W parameters. - 2000.0 per. expert In increments of 0.1V/A

CTRLS_KPi_nLow Current controller P-term at low speed V/A UINT16 CANopen 3014:2h 0.5 UINT16 Modbus 5124 - The value is calculated on the basis of motor - R/W parameters. - 2000.0 per. expert In increments of 0.1V/A

CTRLS_MotEnc Processing of motor encoder position - UINT16 CANopen 3014:9h none 0 UINT16 Modbus 5138 DRC- - ENCM 0 / undefined / : Undefined (default) 0 R/W 1 / NoEncCon / noCo: No motor encoder DRC- - ENCM 3 per. connected - 2 / ShowEncPos / PInF: Motor encoder connected, rotation monitoring inactive, only position info 3 / RotMonOn / rotM: Motor encoder connected, rotation monitoring active If you select "Motor encoder connected", temperature monitoring of the encoder is also activated. If you select "No motor encoder connected", the reference values _p_refusr and _n_pref are output as motor position (_p_actusr) and motor speed (_n_act). -1 CTRLS_nHigh Speed for CTRLS_KPi_nHigh min UINT16 CANopen 3014:6h 1 UINT16 Modbus 5132 - High speed for current controller P term 360 R/W CTRLS_KPi_nHigh. - 3000 per. The value is calculated on the basis of motor expert parameters. 0198441113700, V2.03, 07.2010 264 Stepper motor drive 0198441113700, V2.03, 07.2010 - - DCOMopmode - - DCOMcontrol 11Parameters - - DCOMcompatib - - CTRLS_toggle - - CTRLS_TNi - - CTRLS_nLow HMI menu Parameter name SD328A Stepper motor drive -8: Motion sequence -8: Motion -7: Oscillator -2: Electronicgear -1: Jog Manufacturermodes: operating ------position Cyclicsynchronous 8: 6: Homing 3: Profilevelocity Profileposition 1: operating DS402 modes: mode Operating 0) (must be Reserved 9..15: Bit Bit 8: Halt 7: FaultBit Reset modespecific Operating Bit 4..6: 3: EnableBit Operation Bit 2: Quick Stop 1: EnableBit Voltage Bit 0: Switch on States, for information. bitcoding ReferOperating Operation, chapter to Drivecom controlword ignored! If the device CANopen, valuethis isnot is ToSwitchOn(4) for devices. CANopen (3)andReady- states SwitchOnDisabled state the Determines fieldbus) the via controlled mustbe transition (state Drivecom-conform / 1 automatically) performed 0 /Automatic from 3 to 4 DriveCom state machine: state transition 1 /active 0 /inactive vated Togglepower acti- when is of motor stage switchescompletely thus as and infinite is 327.67ms interpreted The value isspeed-independent. parameters. Unit The value motor of onthebasis iscalculated Current controller settingtime parameters. The value motor of onthebasis iscalculated CTRLS_KPi_nLow. Low forspeed controller P term current Speed for CTRLS_KPi_nLow Description : Active (default) : Inactive: : Automatic (state transition is offterm. theI transition betweentransition the : Standard-compliant : Standard-compliant 6 - -8 - - 0 - - 1 0 0 - - - - - 327.67 - 0.26 ms min Maximum value Factory setting Minimum value 3000 30 0 -1 - - R/W INT16 INT8 - - R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 expert per. R/W UINT16 UINT16 Expert Persistent R/W Data type expert per. R/W UINT16 UINT16 CANopen 6060:0 CANopen 6040:0 CANopen 301B:13 CANopen 3014:8 CANopen 3014:3 CANopen via fieldbus Parameter address CANopen 3014:5 CANopen Modbus 6950 Modbus 5136 Modbus 5126 Modbus 5130 Modbus 6918 Modbus 6914 265 h h h h h h 11 Parameters SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

DEVcmdinterf Specification of the control mode - UINT16 CANopen 3005:1h NoNE 0 UINT16 Modbus 1282 - - DEVC 0 / none / : Undefined 0 R/W 1 / IODevice / io: Local control mode - - DEVC CANo 3 per. 2 / CANopenDevice / : CANopen - 3 / ModbusDevice / MoDB: Modbus NOTE: Changed settings do not become active until the unit is switched on the next time (exception: change of value 0, for"Initial settings").

FLT_class Error class - UINT16 CANopen 303C:2h 0 UINT16 Modbus 15364 - 0: Warning (no response) - R/- 1: Error (Quick Stop -> state 7) - 4 - 2: Error (Quick Stop -> state 8, 9) - 3: Fatal error (state 9, can be acknowledged) 4: Fatal error (state 9, cannot be acknowledged)

FLT_err_num Error number - UINT16 CANopen 303C:1h 0 UINT16 Modbus 15362 - Reading this parameter copies the entire - R/- error entry (error class, time of occurrence of - 65535 - error, ...) to an intermediate memory from - which all elements of the error can then be read.

In addition, the read pointer of the error memory is automatically set to the next error entry.

FLT_Idq Motor current at error time A UINT16 CANopen 303C:9h - UINT16 Modbus 15378 - In increments of10mA 0.00 R/- - - - - 0198441113700, V2.03, 07.2010 266 Stepper motor drive 0198441113700, V2.03, 07.2010 - - GEAR_n_max - - FLTAmpOnTime - - FLTAmpOnCyc - - FLT_UDC - - FLT_Time - - FLT_Temp_PA - - 11Parameters FLT_Temp_DEV - - FLT_Qual INF- INF- - PoWo FLT_powerOn - - FLT_n - - FLT_MemReset HMI menu Parameter name SD328A Stepper motor drive - PoWo via via GEARcontrol isactive. available isonly This function limitation ifthe s gearing in Maximum speed ENABLE of error after Time on to the time the error occurred. power voltage) supply (control was switched Number ofpower oncyclesfrom the time the ENABLE cyclesuptothe time oferror of100mV In increments busDC time voltageerror at referenceWith hourscounter to operating Error time °C Temperaturetime of powererror at stage °C Temperature of device aterrortime address parameter a Example: number.error, error the the on depending information on additional contains This entry information Error additional min Unit Speed aterror time error entry. readpointer Set1: error oldest memory to read pointer Reset error memory Description ubro oe ncce - Number of power on cycles min - 0 - - 0 - - - 0.0 - V 536870911 - 0 s - 0 - - 0 - 65535 - 0 - 1 - 0 - Maximum value Factory setting Minimum value - 0 - 3000 3000 1 4294967295 - 0 -1 -1 - - R/- UINT16 UINT16 - - R/- UINT16 UINT16 - - R/- UINT16 UINT16 - - R/- UINT32 UINT32 - - R/- INT16 INT16 - - R/- INT16 INT16 - - R/- UINT16 UINT16 - - R/W UINT16 UINT16 Expert Persistent R/W Data type - - R/- INT16 INT16 - per. R/W UINT16 UINT16 - - R/- UINT32 UINT32 CANopen 303C:6 CANopen 303C:5 CANopen 303C:7 CANopen 303C:3 CANopen 303C:A CANopen 303C:B CANopen 303C:4 CANopen 303B:5 CANopen via fieldbus Parameter address CANopen 303C:8 CANopen CANopen 3026:9 CANopen Modbus 15368 Modbus 15108 Modbus 15376 Modbus 15114 CANopen 303B:2 CANopen Modbus 9746 Modbus 15372 Modbus 15370 Modbus 15374 Modbus 15366 Modbus 15380 Modbus 15382 267 h h h h h h h h h h h 11 Parameters SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

GEARdenom Denominator of gear ratio - INT32 CANopen 3026:3h 1 INT32 Modbus 9734 - See description GEARnum 1 R/W - 2147483647 per. -

GEARdir_enabl Enabled movement direction of gear - UINT16 CANopen 3026:5h processing 1 UINT16 Modbus 9738 - 3 R/W 1 / positive: Pos. direction - 3 per. 2 / negative: Neg. direction - 3 / both: Both directions This allows you to activate a return movement lock function.

GEARnum Numerator of gear ratio - INT32 CANopen 3026:4h -2147483648 INT32 Modbus 9736 - GEARnum 1 R/W ------= Gear ratio - 2147483647 per. GEARdenom - The new gear ratio is applied when the numerator value is supplied.

GEARposChgMode Consideration of position changes with inac- - UINT16 CANopen 3026:Bh tive power stage 0 UINT16 Modbus 9750 - 0 R/W 0 / off: Position changes in states with inac- - 1 per. tive power stage are discarded. - 1 / on: Position changes in states with inactive power stage are considered. This setting has an effect only if gear processing is started in the mode 'Synchro- nization with compensation movement'. -1 GEARramp Maximum acceleration in gearing min /s UINT32 CANopen 3026:Ah 30 UINT32 Modbus 9748 - This function is only available if the limitation 600 R/W via GEARcontrol is active. - 3000000 per. This value is effective both in the accelera- - tion and the deceleration phase. The system uses a linear ramp. The start/stop speed has no effect. 0198441113700, V2.03, 07.2010 268 Stepper motor drive 0198441113700, V2.03, 07.2010 DRC- DRC- - SuPV HMIDispPara - - HMdisusr - - HMdisREFtoIDX 11Parameters - - GEARreference SET- SET- - GFAC GEARratio HMI menu Parameter name SD328A Stepper motor drive - - SuPV GFAC search. movementsence indexwithout pulse The parameter isonlyeffective refer- during reference point. the as defined is point target tance.This areaby dis- defined a working the into tioned After the drive 'leaves' theswitch, it posi- is point fromswitching Distance to reference edge revolutions of1/10000 In increments reproduced. be can processing the reference movement withindex pulse whether fordetermining criterion a as serves index the switching and pulse edge and It allows to check between the the distance reference switch. switching atthe position thelimitor edge of index the the and between position pulse This read value delivers thedifference fromswitching Distance to index edge pulse movement compensation with gear /compensated 2 zation gear /immediate 1 0 /inactive mode infieldbus type Gear synchronization control Unit Description 2 / I_act / 2 /I_act 1 /n_act / (default) /DeviceStatus/ 0 HMI display rotates when motor value ified one motor revolution. causes reference ofthe valueA change by spec- the / 11 / 16384 / 10 / 8192 9 /4096 / /10000 8 7 /5000 6 /4000 5 /2000 4 /1000 / 3 /500 / 2 /400 / 1 /200 GEARnum/GEARdenom with adjusted 0 /GearFactor / ratios ofspecial gear Selection 500 400 200 4096 5000 4000 2000 1000 iACT NACT 8192 10.00 : Deactivated : 500 : 400 : 200 16.38 : 4096 : 5000 : 4000 : 2000 : 1000 : Currentmotor current : Current speed : Currentspeed (n_act) : 8192 : 10000 FACT : 16384 STAT : Immediate synchroni- : Immediate : ofgearratio Usage : Synchronization : Synchronization : Device status 2147483647 200 1 usr - 0.0000 - revolution 2 0 0 - Maximum value Factory setting Minimum value 2 0 0 - 11 0 0 - - per. R/W INT32 INT32 - - R/- INT32 INT32 - - R/W UINT16 UINT16 Expert Persistent R/W Data type - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 CANopen 3028:7 CANopen 3028:C CANopen 301B:12 CANopen via fieldbus Parameter address Modbus 6948 Modbus 9740 CANopen 303A:2 CANopen 3026:6 CANopen Modbus 14852 Modbus 10254 Modbus 10264 269 h h h h h 11 Parameters SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

HMmethod Homing method - INT8 CANopen 6098:0h 1 INT16 Modbus 6936 - 1: LIMN with index pulse 18 R/W 2: LIMP with index pulse - 35 - 7: REF+ with index pulse, inv., outside - 8: REF+ with index pulse, inv., inside 9: REF+ with index pulse, not inv., inside 10: REF+ with index pulse, not inv., outside 11: REF- with index pulse, inv., outside 12: REF- with index pulse, inv., inside 13: REF- with index pulse, not inv., inside 14: REF- with index pulse, not inv., outside 17: LIMN 18: LIMP 23: REF+, inv., outside 24: REF+, inv., inside 25: REF+, not inv., inside 26: REF+, not inv., outside 27: REF-, inv., outside 28: REF-, inv., inside 29: REF-, not inv., inside 30: REF-, not inv., outside 33: Index pulse neg. direction 34: Index pulse pos. direction 35: Position setting

Abbreviations: REF+: Search movement in pos. direction REF-: Search movement in pos. direction inv.: Invert direction in switch not inv.: Direction not inverted in switch outside: Index pulse / distance outside switch inside: Index pulse / distance inside switch -1 HMn_out Speed of rotation for moving away from min UINT32 CANopen 6099:2h switch 1 UINT16 Modbus 10250 - 6 R/W The adjustable value is internally limited to - 3000 per. the current parameter setting in - RAMPn_max. -1 HMn Speed of rotation for search of switch min UINT32 CANopen 6099:1h 1 UINT16 Modbus 10248 - The adjustable value is internally limited to 60 R/W the current parameter setting in - 3000 per. RAMPn_max. - 0198441113700, V2.03, 07.2010 270 Stepper motor drive 0198441113700, V2.03, 07.2010 - - IO_LO_set DRC- DRC- - ioGM IO_GearMode DRC- DRC- - ioAE IO_AutoEnable - - 11Parameters HMsrchdisusr - - HMp_setpusr - - HMp_homeusr - - HMoutdisusr HMI menu Parameter name SD328A Stepper motor drive - - ioGM ioAE ... Bit 1: LO2_OUT Bit 0: LO1_OUT signals: theindividual of Coding ble asrequired'. was theoutput the function of setto'Availa- available is pin signal the if and an output as isonlyactive bits access to output if Write directly outputs Setting the digital movementcanceled. is reference the search distance, otherwise this The switch must be activated within again units user in distance Search >0: processing disabled Searchdistance 0: distance after overrunMax. search switchof 35 Position forsetting position method homing Position forsetting position point. reference setatthe isautomatically position After a successful reference movement, this Position referenceat point error. Unit the reference movement an with iscanceled here, defined not found distance the is within switching forto search defined edge.the Ifit switch,of the starts drive detection the After units user-defined in distance Maximum>0: ofdistanceinactive Monitoring 0: edge Maximum fordistance searchfor switching Description cally activatedcally at power on. Available asof software version V1.211. movement compensation with tion / gear /compensated 2 chronization / gear /immediate 1 mode control type in local Gear synchronization 2 /AutoOn/ activates the power stage. 1 /on notactivatedoes power the stage. 0 /off erOn powerof Processing activationstage at Pow- on off : Active: Enable during power on : Active: Enablepower during on Auto : Power isautomati- stage rtSY coMP : Immediate syn- : Immediate : Synchroniza- - 0 - - 2147483647 0 0 usr - 0 - usr 2147483647 0 -2147483648 usr 2147483647 0 0 usr Maximum value Factory setting Minimum value 2 0 0 - 2 1 1 - - - R/W UINT16 UINT16 - per. R/W INT32 INT32 - - R/W INT32 INT32 - per. R/W INT32 INT32 - per. R/W INT32 INT32 Expert Persistent R/W Data type - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 CANopen 3008:11 CANopen 3028:D CANopen 301B:16 CANopen 3028:B CANopen 3028:6 CANopen via fieldbus Parameter address CANopen 3005:6 CANopen Modbus 6956 Modbus 10262 Modbus 10252 CANopen 3005:17 CANopen Modbus 2082 Modbus 1326 Modbus 1292 Modbus 10266 271 h h h h h h h 11 Parameters SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

IODirPosintf Direction of counting at position interface - UINT16 CANopen 3008:7h 0 UINT16 Modbus 2062 - 0 / clockwise: Clockwise 0 R/W 1 / counter clockwise: Counter-clockwise - 1 per. -

IOfunct_LI1 Function Input LI1 - UINT16 CANopen 3007:1h nonE - UINT16 Modbus 1794 I-O- - Li1 1 / Free available / : Available as 0 R/W required I-O- - Li1 FrES - per. 2 / Fault reset / : Reset fault (local con- - trol mode only) 4 / Halt / hALt: Halt 5 / Start profile positioning / SPtP: Start request for movement (fieldbus control mode only) 6 / Enable positive motor move / PoSM: Enable positive motor movement (local control mode only) 7 / Enable negative motor move / nEGM: Enable negative motor movement (local control mode only) 9 / Jog positive / JoGP: Jog positive 10 / Jog negative / JoGn: Jog negative 11 / Jog fast/slow / JoGF: Jog fast/slow 13 / DataSet Start / dStA: Motion sequence: start request 14 / DataSet Select / dSEL: Motion sequence: data set selection 20 / Reference switch (REF) / rEF: Refer- ence switch (REF) 21 / Positive limit switch (LIMP) / LiMP: Positive limit switch (LIMP) 22 / Negative limit switch (LIMN) / LiMn: Negative limit switch (LIMN) 24 / Invert ANA1 / A1iV: Inversion of analog input ANA1 Available as of software version V1.201. 0198441113700, V2.03, 07.2010 272 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A11Parameters I-O- I-O-Li2 - IOfunct_LI2 HMI menu Parameter name SD328A Stepper motor drive - Li2 Available asof software version V1.201. ANA1 input 24 /Invert ANA1/ switchNegative limit (LIMN) ecito Unit Description 22 / Negative limit switchNegative 22 / / (LIMN) Positive limit switch (LIMP) 21 / Positive limit switch (LIMP) / ence switch (REF) 20 / Reference20 / switch (REF) / data sequence: 4 /Halt/ trol mode only) / /Fault2 reset required 1 /Freeavailable / LI2 Input Function 6 / Enable positive motor move / only) request for movement(f profile5 /Start positioning / 14 / DataSet Select / request start / 13 /DataSetStart 11 / Jog fast/slow / / negative Jog / 10 9 /Jog positive / trol mode only) Enable negativemovement motor con- (local move motor / /Enablenegative 7 trol mode only) Enable positivemotor movement con- (local hALt : Halt set selection FrES JoGP A1iV nonE JoGn dStA JoGF : Resetfault (local con- dSEL : Jogpositive ieldbus controlmode : Inversion ofanalog : Availableas : Jog negative : Motion sequence: : Motionsequence: : Jogfast/slow : Motion SPtP rEF PoSM : Refer- LiMP : Start : Start nEGM LiMn : : : : - 0 - - Maximum value Factory setting Minimum value - per. R/W UINT16 UINT16 Expert Persistent R/W Data type CANopen 3007:2 CANopen via fieldbus Parameter address Modbus 1796 273 h 11 Parameters SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

IOfunct_LI4 Function Input LI4 - UINT16 CANopen 3007:4h nonE - UINT16 Modbus 1800 I-O- - Li4 1 / Free available / : Available as 0 R/W required I-O- - Li4 FrES - per. 2 / Fault reset / : Reset fault (local con- - trol mode only) 4 / Halt / hALt: Halt 5 / Start profile positioning / SPtP: Start request for movement (fieldbus control mode only) 6 / Enable positive motor move / PoSM: Enable positive motor movement (local control mode only) 7 / Enable negative motor move / nEGM: Enable negative motor movement (local control mode only) 9 / Jog positive / JoGP: Jog positive 10 / Jog negative / JoGn: Jog negative 11 / Jog fast/slow / JoGF: Jog fast/slow 13 / DataSet Start / dStA: Motion sequence: start request 14 / DataSet Select / dSEL: Motion sequence: data set selection 20 / Reference switch (REF) / rEF: Refer- ence switch (REF) 21 / Positive limit switch (LIMP) / LiMP: Positive limit switch (LIMP) 22 / Negative limit switch (LIMN) / LiMn: Negative limit switch (LIMN) 24 / Invert ANA1 / A1iV: Inversion of analog input ANA1 Available as of software version V1.201. 0198441113700, V2.03, 07.2010 274 Stepper motor drive 0198441113700, V2.03, 07.2010 I-O- I-O-Lo1 - IOfunct_LO1 11Parameters I-O- I-O-Li7 - IOfunct_LI7 HMI menu Parameter name SD328A Stepper motor drive - - Lo1 Li7 Available asof software version V1.201. fac Pdinput. = =IODeviceDEVcmdinterf ANDIOposInter- function 'Enable2'Input isonlyactive if ANA1 input ecito Unit Description 24 /Invert ANA1/ data sequence: Available asof software version V1.201. / Motor standstill 13 / output trigger sequence: 12 / DataSet trigger output / request acknowledgement start of sequence: Motion 11 / DataSet acknowledge start / control / release 10 / Brake tion 9 /Haltacknowledge / movement disabled move /Motor disable4 / 3 /Active/ / fault 2 /No required 1 /Freeavailable / LO1_OUT Output Function 4 /Halt/ trol mode only) / /Fault2 reset required 1 /Freeavailable / LI7 Input Function 6 / Enable positive motor move / only) request for movement(f profile5 /Start positioning / 14 / DataSet Select / request start / 13 /DataSetStart only) mode Enable212 / / 11 / Jog fast/slow / / negative Jog / 10 9 /Jog positive / trol mode only) Enable negativemovement motor con- (local move motor / /Enablenegative 7 trol mode only) Enable positivemotor movement con- (local hALt Acti nFLt : Halt EnA2 set selection FrES : Ready JoGP : Nofault A1iV : Enable2 (local control : Enable2 (local control nonE nonE JoGn dStA JoGF brAK : Resetfault (local con- dSEL : Jogpositive MStd ieldbus controlmode : Inversion ofanalog hALt : Availableas : Availableas : Jog negative : Motion sequence: : Motionsequence: : Jogfast/slow : Holding brake: Holding MdiS : Motion : Motor standstill : Halt confirma- : Halt trot SPtP : Directionof : Motion dSAc PoSM : Start : Start nEGM : : : - 0 - - Maximum value Factory setting Minimum value - 0 - - - per. R/W UINT16 UINT16 Expert Persistent R/W Data type - per. R/W UINT16 UINT16 CANopen 3007:7 CANopen via fieldbus Parameter address Modbus 1806 CANopen 3007:9 CANopen Modbus 1810 275 h h 11 Parameters SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

IOfunct_LO2 Function Output LO2_OUT - UINT16 CANopen 3007:Ah nonE - UINT16 Modbus 1812 I-O- - Lo2 1 / Free available / : Available as 0 R/W required I-O- - Lo2 nFLt - per. 2 / No fault / : No fault - 3 / Active / Acti: Ready 4 / Motor move disable / MdiS: Direction of movement disabled 9 / Halt acknowledge / hALt: Halt confirmation 10 / Brake release / brAK: Holding brake control 11 / DataSet start acknowledge / dSAc: Motion sequence: acknowledgement of start request 12 / DataSet trigger output / trot: Motion sequence: trigger output 13 / Motor standstill / MStd: Motor standstill Available as of software version V1.201.

IOfunct_LO3 Function Output LO3_OUT - UINT16 CANopen 3007:Bh nonE - UINT16 Modbus 1814 I-O- - Lo3 1 / Free available / : Available as 0 R/W required I-O- - Lo3 nFLt - per. 2 / No fault / : No fault - 3 / Active / Acti: Ready 4 / Motor move disable / MdiS: Direction of movement disabled 9 / Halt acknowledge / hALt: Halt confirmation 10 / Brake release / brAK: Holding brake control 11 / DataSet start acknowledge / dSAc: Motion sequence: acknowledgement of start request 12 / DataSet trigger output / trot: Motion sequence: trigger output 13 / Motor standstill / MStd: Motor standstill Available as of software version V1.201.

IOfunct_LO4 Function Output LO4_OUT - UINT16 CANopen 3007:Ch nonE - UINT16 Modbus 1816 I-O- - Lo4 1 / Free available / : Available as 0 R/W required I-O- - Lo4 nFLt - per. 2 / No fault / : No fault - 3 / Active / Acti: Ready 4 / Motor move disable / MdiS: Direction of movement disabled 9 / Halt acknowledge / hALt: Halt confirmation 10 / Brake release / brAK: Holding brake control 11 / DataSet start acknowledge / dSAc: Motion sequence: acknowledgement of start request 12 / DataSet trigger output / trot: Motion sequence: trigger output 13 / Motor standstill / MStd: Motor standstill Available as of software version V1.201. 0198441113700, V2.03, 07.2010 276 Stepper motor drive 0198441113700, V2.03, 07.2010 JOG- NFST JOG- - JOGn_fast - - JOGactivate - - IOsigRef - - IOsigLimP - - IOsigLimN - 11Parameters - IOsigLimFreeMode DRC- DRC- - ioPi IOposInterfac DRC- DRC- - ioLT IOLogicType HMI menu Parameter name SD328A Stepper motor drive - - - NFST ioPi ioLT Bit 2: 0=slow 1=fast rotation 1: negative of Bit direction Bit 0: positive of rotation direction Activation of jog processed. is homing REF) while The reference switch is only activated (to 2 /normally open 1 /normally closed evaluationSignal REF 2 /normally open 1 /normally closed 0 /inactive evaluationSignal LIMP 2 /normally open 1 /normally closed 0 /inactive evaluationSignal LIMN MotionbusCANopen communication profile. isonly possible processing the Special with 1 /on 0 /off switches travel clearance Special away limit from Unit Description RAMPn_max. the currentparameter settingin to limited adjustableThe value internally is jog fast for Speed time. active isswitched unit the until next the on become not NOTE:do settings Changed I/O RS422 interface (Pos) ENABLE2 1 /PDinput / evaluation (indexENC_I quadruple pulse) / ABinput / 0 interface position selection Signal time. active isswitched unit the until next the on become not NOTE:do settings Changed logic ing 1 /sink/ rent 0 /source / of inputs/outputs type digital Logic : On : Off SIN : Inactive: Inactive: SOU : For withcurrentsink- outputs PD AB : For: cur- supplying outputs : Input PULSE, DIR, : InputENC_A, ENC_B, : Normally open NO open : Normally NO open : Normally NO open : Normally : Normally closed NC closed : Normally NC closed : Normally NC closed : Normally 7 0 0 - 2 1 1 - 2 1 0 - 2 1 0 - 1 0 0 - Maximum value Factory setting Minimum value 3000 180 1 min 1 0 0 - 1 0 0 - -1 - - R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 Expert Persistent R/W Data type - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 CANopen 301B:9 CANopen 3006:E CANopen 3006:10 CANopen 3006:F CANopen 3006:6 CANopen via fieldbus Parameter address CANopen 3029:5 CANopen Modbus 1284 Modbus 1288 CANopen 3005:2 CANopen 3005:4 CANopen Modbus 10506 Modbus 6930 Modbus 1564 Modbus 1568 Modbus 1566 Modbus 1548 277 h h h h h h h h 11 Parameters SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert -1 JOGn_slow Speed for slow jog min UINT16 CANopen 3029:4h 1 UINT16 Modbus 10504 JOG- - NSLW The adjustable value is internally limited to 60 R/W the current parameter setting in JOG- - NSLW 3000 per. RAMPn_max. -

JOGstepusr Jog distance prior to continuous run usr INT32 CANopen 3029:7h 0 INT32 Modbus 10510 - 0: Direct activation of continuous run 20 R/W >0: Positioning distance per jog cycle - 2147483647 per. -

MBadr Modbus address - UINT16 CANopen 3016:4h 1 UINT16 Modbus 5640 COM- - MBAD Valid addresses: 1 to 247 1 R/W COM- - MBAD 247 per. -

MBbaud Modbus Baud rate - UINT16 CANopen 3016:3h 9.6 9600 UINT16 Modbus 5638 COM- - MBBD 9600 / 9.6KB / : 9600 Baud 19200 R/W 19200 / 19.2KB / 19.2: 19200 Baud COM- - MBBD 38.4 38400 per. 38400 / 38.4KB / : 38400 Baud - NOTE: Changed settings do not become active until the unit is switched on the next time

MBdword_order Modbus word sequence for double words - UINT16 CANopen 3016:7h (32 bit values) 0 UINT16 Modbus 5646 COM- - MBWo 0 R/W 0 / HighLow / hiLo: HighWord-LowWord COM- - MBWo Lohi 1 per. 1 / LowHigh / : LowWord-HighWord - High word first or low word first

High word first -> Modicon Quantum Low word first -> Premium, HMI (Telemeca- nique)

MBformat Modbus data format - UINT16 CANopen 3016:5h 8N1 1 UINT16 Modbus 5642 COM- - MBFo 1 / 8Bit NoParity 1Stop / : 8 bits, no par- 2 R/W ity bit, 1 stop bit COM- - MBFo 8E1 4 per. 2 / 8Bit EvenParity 1Stop / : 8 bits, even - parity bit, 1 stop bit 3 / 8Bit OddParity 1Stop / 8o1: 8 bits, odd parity bit, 1 stop bit 4 / 8Bit NoParity 2Stop / 8N2: 8 bits, no parity bit, 2 stop bits NOTE: Changed settings do not become active until the unit is switched on the next time

MBnode_guard Modbus node guard ms UINT16 CANopen 3016:6h 0 UINT16 Modbus 5644 - Node guard 0 R/W 0: Inactive (default) - 10000 - >0: Monitoring time - 0198441113700, V2.03, 07.2010 278 Stepper motor drive 0198441113700, V2.03, 07.2010 - - MSMdataNext - - MSMdataDelay - - MSMdataDec - - MSMdataAcc 11Parameters - - MSMcurNextCond - - MSMavailCnt - - MSMactNum HMI menu Parameter name SD328A Stepper motor drive ing mode 'sequential selection'. mode'sequential ing isonlyeffectiveThis setting in the process- set data of subsequent Number selection'. mode'sequential ing isonlyeffectiveThis setting in the process- the movement. of msaftertermination in waittime Additional time Wait forter RAMPdecel adjustment range value,parame- deceleration see Special >0: no Useof change 0: deceleration, current Deceleration RAMPaccter for range adjustment value, acceleration parame- Special see >0: nochange Useof 0: acceleration, current Acceleration 'MSMdataNextCond' parameter inthe to thedefinition corresponds Coding forbe met next the settobe triggered. data Shows must which condition the transition ment b 7 /blendedmove typ B ment a 6 /blendedmove typ A 5 /auto MSMglobalCond) (see condition 4 /global next condition 3 /0-level 2 /1-level 1 /falling edge 0 /risingedge Current transition condition Unit available. are that sets of data Number of available Number sets data dataset of >0: started Number the currently yet triggered inactive mode -1: Operating or dataset no Current data setnumber Description : Auto : 0level : 1level : Rising edge : Rising : Falling edge : Blended move-: Blended move-: Blended : Global transition transition : Global 15 0 0 - 30000 0 0 ms min min 7 4 0 - 16 16 16 - 15 -1 -1 - Maximum value Factory setting Minimum value 3000000 0 0 3000000 0 0 -1 -1 /s /s - per. R/W UINT16 UINT16 - per. R/W UINT16 UINT16 - - R/- UINT16 UINT16 - - R/- UINT16 UINT16 - - R/- INT16 INT16 Expert Persistent R/W Data type - per. R/W UINT32 UINT32 - per. R/W UINT32 UINT32 CANopen 302D:18 CANopen 302D:16 CANopen 302D:9 CANopen 302D:F CANopen 302D:4 CANopen via fieldbus Parameter address CANopen 302D:15 CANopen 302D:14 CANopen Modbus 11538 Modbus 11550 Modbus 11528 Modbus 11568 Modbus 11564 Modbus 11562 Modbus 11560 279 h h h h h h h 11 Parameters SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

MSMdataNextCond Transition condition - UINT16 CANopen 302D:17h 0 UINT16 Modbus 11566 - 0 / rising edge: Rising edge 4 R/W 1 / falling edge: Falling edge - 7 per. 2 / 1-level: 1 level - 3 / 0-level: 0 level 4 / global next condition: Global transition condition (see MSMglobalCond) 5 / auto: Auto 6 / blended move typ A: Blended movement a 7 / blended move typ B: Blended movement b This setting is only effective in the processing mode 'sequential selection'.

MSMdataOutEnd Output processing when processing of a - UINT16 CANopen 302D:1Ah data set is finished 0 UINT16 Modbus 11572 - 0 R/W 0 / unchanged level: Unchanged level - 3 per. 1 / 1-level: 1 level - 2 / 0-level: 0 level 3 / inverted level: Inverted level This setting is only effective in the processing mode 'sequential selection'.

MSMdataOutStrt Output processing when a data set is started - UINT16 CANopen 302D:19h 0 UINT16 Modbus 11570 - 0 / unchanged level: Unchanged level 0 R/W 1 / 1-level: 1 level - 3 per. 2 / 0-level: 0 level - 3 / inverted level: Inverted level This setting is only effective in the processing mode 'sequential selection'. -1 MSMdataSpeed Speed min UINT16 CANopen 302D:13h 0 UINT16 Modbus 11558 - In the case of relative or absolute move- 0 R/W ments, this value corresponds to the refer- - 13200 per. ence speed, in the case of homing to the - search speed.

MSMdataTarget Target value of movement type - INT32 CANopen 302D:12h -2147483648 INT32 Modbus 11556 - The value depends on the selected process- 0 R/W ing type (see MSMdataType for settings): - 2147483647 per. - None: no meaning - - Absolute positioning: absolute position in usr - Relative positioning: relative distance in usr - Reference movement: type of reference movement (see HMmethod) - Position setting: position setting position in usr 0198441113700, V2.03, 07.2010 280 Stepper motor drive 0198441113700, V2.03, 07.2010 - - MSMselEntry - - MSMprocMode - - MSMnextNum - - MSMglobalCond 11Parameters - - MSMfeature - - MSMdataType HMI menu Parameter name SD328A Stepper motor drive number mustbe selected. dataset the corresponding or read written, set table in the data can be Before anentry table ofdataset Selection number set in data 1 /sequential 0 /direct mode Processing gered of >0: Number the next tobetrig- set data selected yet inactive mode -1: Operating or dataset no Next data set tobetriggered assignment). (default sets data individual the in tion astransition condi- canbe used this setting activation operating mode. the of Inaddition, after isusedforThis setting start thefirst processed. be is to request way start the the defines transition condition global The 3 /0-level 2 /1-level 1 /falling edge 0 /risingedge condition transition Global the case of afault, the value resetto is 0. in set or data the of processing After essed. blendedthe complete movement isproc- movement Movement", is oftype "Blended edge. Ifthe by a rising triggered is set data value this is started, No adataset automatic transition. When is selection: Only sequential 1: Value setting Special handshakemechanism. but with compliance Triggeringmovement, without set data of a Direct selection: tion only. of Processing wait timeand transition condi- Unit selection: Sequential position4 /set 3 /homing 2 / relative positioning ing 1 /absolutepositioning 0 /None ofmovementSelection type Description : None : Direct selection : 0level : 1level : Homing : Sequential selection : Sequential : Rising edge : Rising : Falling edge : Position setting used. The subsequent subsequent The used. : Relative positioning : Absolute position- : Absolute 15 0 0 - 15 -1 -1 - 3 0 0 - 1 0 0 - 4 0 0 - Maximum value Factory setting Minimum value 1 1 0 - - - R/W UINT16 UINT16 - - R/- INT16 INT16 - per. R/W UINT16 UINT16 - - R/W UINT16 UINT16 - per. R/W UINT16 UINT16 Expert Persistent R/W Data type - per. R/W UINT16 UINT16 CANopen 302D:10 CANopen 302D:5 CANopen 302D:8 CANopen 302D:B CANopen 302D:11 CANopen via fieldbus Parameter address CANopen 302D:7 CANopen Modbus 11542 Modbus 11554 Modbus 11552 Modbus 11534 Modbus 11530 Modbus 11536 281 h h h h h h 11 Parameters SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

MSMsetNum Selection of a data set to be started - INT16 CANopen 302D:6h -1 INT16 Modbus 11532 - Number of the next data set to be triggered. -1 R/W This setting can only be made if no data set - 15 - is active and if processing of the current data - set is complete (x_end = 1). A write access changes MSNnextNum.

Special case for read access to parameter: -1: Operating mode inactive or no data set has yet been set via this parameter

MSMstartType Activation of operating mode motion - UINT16 CANopen 301B:1Ah sequence 0 UINT16 Modbus 6964 - 0 R/W 0 / Deactivate: Deactivate - 2 - 1 / Activate: Activate - 2 / Continue halted movement: Continue a movement interrupted with HALT

MSMteachIn Take over current user position (TeachIn) - UINT16 CANopen 302D:Ah 0 UINT16 Modbus 11540 - Writes the current user position to the data 0 R/W set table. - 15 - The parameter specifies the row in the table - into which the position is to be written. TeachIn is only allowed at standstill and if the drive is referenced (ref_ok=1). In addition, the data set type 'Absolute Positioning' must be entered in the selected table row. In the operating state 'OperationEnable', the parameter '_p_refusr' is used as position value. Otherwise, '_p_actusr' is used. -1 OSCL_n_target Reference speed in operating mode oscilla- min INT16 CANopen 302A:4h tor -3000 INT16 Modbus 10760 - 0 R/W Reference value of the operating mode if the - 3000 - reference value is supplied via parameter. - The speed is internally limited to the current parameter setting in RAMPn_max.

OSCLreference Selection of ref. value source for operating - UINT16 CANopen 301B:Ah mode oscillator 0 UINT16 Modbus 6932 - 0 R/W 0 / none: None - 2 - 1 / Analog Input: Reference value via +/- - 10V interface ANA1 2 / Parameter 'OSCL_n_target': Reference value via parameter OSCL_n_target 0198441113700, V2.03, 07.2010 282 Stepper motor drive 0198441113700, V2.03, 07.2010 HMI menu Parameter name DRC- DRC- - FCS ySet PARfactor - - PAReeprSave - - PA_U_minStopDC - - 11Parameters PA_U_minDC - - PA_U_maxDC - - PA_T_warn - - PA_T_max INF- INF- - PiNo PA_I_nom SD328A Stepper motor drive - - FCS PiNo ecito Unit Description when the unit isswitched theunit when next onthe time. NOTE: The default activebecomes only 0is returned. and isread parameter The saving processis complete when the the HMI software.or the commissioning the factory settings ispossible via Restoring these are savedthe EEPROM.to default parametersareset totheir All values, 1 /Yes/ 0is returned. and isread parameter The saving processis complete when the the non-volatile (EEPROM). memory are saved set The currently parameters to Bit 0=1: Save parameters allpersistent Saveparameter valuesEEPROM to Voltage in increments of 100mV aQuickforms Stop. thedriveIf isper- this threshold reached, busDC voltagefor low threshold Quick Stop Voltage in increments of 100mV off the drive busDC voltagefor low threshold switching Voltage in increments of 100mV Maximum permissible DCbus voltage stage Temperaturepower of threshold warning ture powertempera- stage Maximum permissible 0 /No/ (defaultvalues)settings factory Restore incrementsof in Current 10mA ofpowercurrent Nominal stage No YES : No : Yes Maximum value Factory setting Minimum value 3 - 0 ------V - - - V - - - V - 0 - °C - 0 - °C - 0.00 - A rms Expert Persistent R/W Data type - - R/W - - R/W UINT16 UINT16 - per. R/- UINT16 UINT16 - per. R/- UINT16 UINT16 - per. R/- UINT16 UINT16 - per. R/- INT16 INT16 - per. R/- INT16 INT16 - per. R/- UINT16 UINT16 via fieldbus Parameter address CANopen 3004:1 CANopen 3010:A CANopen 3010:4 CANopen 3010:3 CANopen 3010:6 CANopen 3010:7 CANopen CANopen 3010:B CANopen Modbus 4102 Modbus 4108 Modbus 4110 Modbus 4118 Modbus 1026 Modbus 4116 Modbus 4104 283 h h h h h h h 11 Parameters SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

NOTE: The new settings are not saved to the EEPROM!

POSdirOfRotat Definition of direction of rotation - UINT16 CANopen 3006:Ch CLW 0 UINT16 Modbus 1560 DRC- - PRoT 0 / clockwise / : Clockwise 0 R/W 1 / counter clockwise / CCLW: Counter- DRC- - PRoT 1 per. clockwise - Meaning: At positive speeds, the drive rotates clockwise (looking at the motor shaft at the flange).

NOTE: If you use limit switches, you must interchange the limit switch connections after changing the settings. The limit switch which is reached with a jog movement in positive direction must be connected to the LIMP input and vice versa.

POSscaleDenom Denominator of position scaling usr INT32 CANopen 3006:7h 1 INT32 Modbus 1550 - Refer to numerator (POSscaleNum) for a 16384 R/W description. - 2147483647 per. - A new scaling is activated when the numerator value is supplied.

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

A new scaling is activated when the numerator value is supplied.

User limit values may be reduced due to the calculation of an internal factor. -1 PPn_target Reference speed in operating mode profile min UINT32 CANopen 6081:0h position 1 UINT32 Modbus 6942 - 60 R/W The adjusted value is internally limited to the - - - current parameter value in RAMPn_max. - 0198441113700, V2.03, 07.2010 284 Stepper motor drive 0198441113700, V2.03, 07.2010 - - RAMP_TypeSel - - RAMP_TAUjerk - 11Parameters - PVn_target - - ProfileType - - PPp_targetusr - - PPoption HMI menu Parameter name SD328A Stepper motor drive 0 /linear -1 / motoroptimized oframpSelection type mode isinactiveing (x_end=1). can only Adjustments - Homing - Jog - Profileposition - Profilevelocity inthe followingProcessing operating modes: Deceleration - standstill - speed deceleration Constant Acceleration - constantspeed Standstill - acceleration transitions: positioning the reference during generation position ofthe (jerk) theacceleration change Limits /128 128 6464 / 3232 / 1616 / 8 / 4 / 2 / 1 / 0 /off limitation Jerk parametercurrent value inRAMPn_max. to limited the valueThe adjusted isinternally velocity profile mode operating Referencein speed -1: Motor-optimized ramp 1 :Linear Motion profile vated) - Software switcheslimit they (if areacti- factor- Scaling on: valuesMin./max depend position Target profile inoperating mode position Unit tion of themotor Relative2: withreference to the actual posi- Notsupported 1: profilegenerator ofthe motion position get Relative0: withreference previous the to tar- tive positioning: reference the for position rela- Determines forOptions position modeprofile operating Description : 8ms : 4ms : 2ms : 1ms : Off : 64ms : 32ms : 16ms : Linear ramp : Linear : 128 ms : 128 : Motor-optimized ramp be made if the be madeifthe operat- - - - - 128 0 0 ms min 0 0 -1 - - 0 - usr 2 0 0 - Maximum value Factory setting Minimum value - 0 - -1 - per. R/W INT16 INT16 - per. R/W UINT16 UINT16 - - R/W INT16 INT16 - - R/W INT32 INT32 - - R/W UINT16 UINT16 Expert Persistent R/W Data type - - R/W INT32 INT32 CANopen 3006:13 CANopen 3006:D CANopen CANopen 6086:0 CANopen 607A:0 CANopen 60F2:0 CANopen via fieldbus Parameter address CANopen 60FF:0 CANopen Modbus 6954 Modbus 6940 Modbus 6960 Modbus 1574 Modbus 1562 Modbus 6938 285 h h h h h h 11 Parameters SD328A

If a greater reference speed is set in one of these operating modes, it is automatically limited to RAMPn_max. This way, commissioning at limited speed is easy to perform. -1 RAMPnstart0 Start/stop speed min UINT16 CANopen 3006:11h - UINT16 Modbus 1570 - Start and end speed of profile - R/W - - per. - -1 RAMPquickstop Deceleration ramp for Quick Stop min /s UINT32 CANopen 3006:12h 200 UINT32 Modbus 1572 - Deceleration of the drive when a software 6000 R/W stop is triggered or if an error of error class 1 - 3000000 per. has occurred. -

RAMPsym Symmetrical ramp usr UINT16 CANopen 3006:1h - UINT16 Modbus 1538 - Acceleration and deceleration of the profile 0 R/W generator (16 bit value) in 10 (1/min)/s - - - - Write access changes the values under RAMPacc and RAMPdecel. The limit values are checked on the basis of the values indicated for these parameters.

Read access returns the greater value from RAMPacc/RAMPdecel. If the currently set value cannot be represented as 16 bit value, the max, UINT16 value is written.

SaveHomeMethod Default homing method - INT16 CANopen 301B:1Ch 1 INT16 Modbus 6968 - 18 R/W - 35 per. - 0198441113700, V2.03, 07.2010 286 Stepper motor drive 0198441113700, V2.03, 07.2010 - - SM_R_UV - - SM_Polepair - - SM_n_90% 11Parameters - - SM_n_50% - - SM_n_20% - - SM_L_UV INF- INF- - MiNo SM_I_nom HMI menu Parameter name SD328A Stepper motor drive - MiNo Resistance terminal-terminal Resistance - Motor resistance of pairs of motor Number pole value. the change and set If you"user-defined"motor, selecta you can available value. aread-only as motor.defined case, value this In the only is This value setifyou automatically is a select is stillavailable torque thestandstill atwhich 90% of Speed value. the change and set If you"user-defined"motor, selecta you can available value. aread-only as motor.defined case, value this In the only is This value setifyou automatically is a select is stillavailable torque thestandstill atwhich 50% of Speed value. the change and set If you"user-defined"motor, selecta you can available value. aread-only as motor.defined case, value this In the only is This value setifyou automatically is a select is stillavailable torque thestandstill atwhich20% of Speed Unit terminal-terminal Inductance Motor inductance Description Current incrementsof in Current 10mA current Nominal motor - - - Ω - - - min min min - - - mH Maximum value Factory setting Minimum value ------A rms -1 -1 -1 expert per. R/W UINT16 UINT16 expert per. R/W UINT16 UINT16 expert per. R/W UINT16 UINT16 Expert Persistent R/W Data type expert per. R/W UINT16 UINT16 expert per. R/W UINT16 UINT16 expert per. R/W UINT16 UINT16 expert per. R/W UINT16 UINT16 CANopen 300E:9 CANopen 300E:7 CANopen 300E:8 CANopen via fieldbus Parameter address CANopen 300E:B CANopen 300E:C CANopen 300E:6 CANopen CANopen 300E:A CANopen Modbus 3606 Modbus 3608 Modbus 3600 Modbus 3596 Modbus 3602 Modbus 3598 Modbus 3604 287 h h h h h h h 11 Parameters SD328A

Parameter name Description Unit Data type Parameter address HMI menu Minimum value R/W via fieldbus Factory setting Persistent Maximum value Expert

Monitoring of software limit switches only works in case of successful homing (ref_ok = 1). -1 SPVn_win Speed window, permissible speed deviation min UINT16 CANopen 606D:0h 1 UINT16 Modbus 1576 - 30 R/W - 65535 per. - 0198441113700, V2.03, 07.2010 288 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A11Parameters - - SuppDriveModes - - SPVswLimPusr - - SPVswLimNusr - - SPVn_winTime HMI menu Parameter name SD328A Stepper motor drive uct-dependent. The availability isprod- bits of the individual Bit 22:Oscillator mode Bit 21:Manual tuning Bit 20:Position control Bit 19:Speed control Bit 18:Currentcontrol gear Bit 17:Electronic Bit 16:Jog Bit 5: Homing velocity2: Profile Bit position 0: Profile Bit Coding: modesasperDSP402 operating Supported set automatically to themax. user value. missible range, user thelimit switch are limits If value is a user ofthe per- outside entered Positive limitfor position software limitswitch Refer to descripti switch Unit Negative for limit position software limit reference issetto0. speed feedback monitoring, speed for the reaching of thevalueChanging causesarestart vated Value deacti- 0: window= speed monitoring window,Speed time Description on 'SPVswLimPusr' - 0 - - - 2147483647 - usr - -2147483648 - usr 16383 0 0 ms Maximum value Factory setting Minimum value - - R/- UINT32 UINT32 - per. R/W INT32 INT32 - per. R/W INT32 INT32 - per. R/W UINT16 UINT16 Expert Persistent R/W Data type CANopen 6502:0 CANopen 607D:2 CANopen 607D:1 CANopen 606E:0 CANopen via fieldbus Parameter address Modbus 6952 Modbus 1544 Modbus 1546 Modbus 1578 289 h h h h 11 Parameters SD328A 0198441113700, V2.03, 07.2010 290 Stepper motor drive 0198441113700, V2.03, 07.2010 onco e,Mlxcnetr1 oe ihcipcnat,5pee VW3M8213 Molex set, contacts,Connector 5pieces 12pole, crimp connector with 20m = Length Molex 12-pin end connector; cable other connector; round pole with12 cablemotor end Encoder shielded; for motor; stepper 15m = Length Molex 12-pin end connector; cable other connector; round pole with12 cablemotor end Encoder shielded; for motor; stepper 10m = Length Molex 12-pin end connector; cable other connector; round pole with12 cablemotor end Encoder shielded; for motor; stepper 5m = Length Molex 12-pin end connector; cable other connector; round pole with12 cablemotor end Encoder shielded; for motor; stepper 3m = Length Molex 12-pin end connector; Encoder cable for other cable stepper motor, connector; pole round 12 motor end with shielded, Designation Encoder cables VW3S5102R200 12.3 VW3S5102R150 VW3S5102R100 VW3S5102R50 Motor cable for cable 20m both length= ends = stepper open; motor 4x1.5shielded, VW3S5102R30 Motor cable for cable 15m both length= ends = stepper open; motor 4x1.5shielded, Motor cable for cable 10m both length= ends = stepper open; motor 4x1.5shielded, Motor cable for cable 5m both length= ends = stepper open; motor 4x1.5shielded, Motor cable for cable 3m both length= ends = stepper open; motor 4x1.5shielded, 20m length= open; end = Motor cable for 6-pi stepper motor 4x1.5, shielded, 15m length= open; end = Motor cable for 6-pi stepper motor 4x1.5, shielded, 10m length= open; end = Motor cable for 6-pi stepper motor 4x1.5, shielded, 5m length= open; end = Motor cable for 6-pi stepper motor 4x1.5, shielded, 3m length= open; end = VW3A8106 Motor cable for 6-pi stepper motor 4x1.5, shielded, Designation Motor cables 12.2 andspareparts Accessories 12 Fan kit 24VDC devices 24VDC power unitfor supply supply 5VDCencoder Reference Value Adapter RVA for of distribution USIC (Universal Interface Signal Converter), RS232 to RS485 converter kit,bidirectional PC connection (HMI) Remote terminal Designation Optional accessories 12.1 Accessoriesandspareparts 12 SD328A Stepper motor drive o inlaatto oR42sadr VW3M3102 standard RS422 to for adaptation signal A/B signals or pulse/direction signals to 5 to signals pulse/direction or A/Bsignals n circular plug at the motor end; other cable other end; motor the at plug circular n cable other end; motor the at plug circular n cable other end; motor the at plug circular n cable other end; motor the at plug circular n cable other end; motor the at plug circular n VW3S8101R200 VW3S8101R150 VW3S8101R100 VW3S8101R50 VW3S8101R30 Order no. VW3S5101R200 VW3S5101R150 VW3S5101R100 VW3S5101R50 VW3S5101R30 Order no. VW3S3101 VW3M3101 VW3A31101 Order no. 291 12 Accessories and spare parts SD328A

12.4 RS422: Pulse/direction and A/B

Designation Order no. Cable pulse/direction, ESIM, A/B, device end 10-pin connector, other end open, 0.5m VW3M8201R05 Cable pulse/direction, ESIM, A/B, device end 10-pin connector, other end open, 1.5m VW3M8201R15 Cable pulse/direction, ESIM, A/B, device end 10-pin connector, other end open, 3m VW3M8201R30 Cable pulse/direction, ESIM, A/B, device end 10-pin connector, other end open, 5m VW3M8201R50 Cable pulse/direction, ESIM, AB to Premium CFY, 10-pin connector, + 15-pin SubD, 0.5m VW3M8204R05 Cable pulse/direction, ESIM, AB to Premium CFY, 10-pin connector, + 15-pin SubD, 1.5m VW3M8204R15 Cable pulse/direction, ESIM, AB to Premium CFY, 10-pin connector, + 15-pin SubD, 3m VW3M8204R30 Cable pulse/direction, ESIM, AB to Premium CFY, 10-pin connector, + 15-pin SubD, 5m VW3M8204R50 Cable pulse/direction, ESIM, AB to Siemens S5 IP247, 10-pin connector, 3m VW3M8205R30 Cable pulse/direction, ESIM, AB to Siemens S5 IP267, 10-pin connector, 3m VW3M8206R30 Cable pulse/direction, ESIM, AB to Siemens S7-300 FM353, 10-pin connector, 3m VW3M8207R30 Cable pulse/direction, ESIM, AB to RVA, USIC or WP/WPM311, 0.5m VW3M8209R05 Cable pulse/direction, ESIM, AB to RVA, USIC or WP/WPM311, 1.5m VW3M8209R15 Cable pulse/direction, ESIM, AB to RVA, USIC or WP/WPM311, 3m VW3M8209R30 Cable pulse/direction, ESIM, AB to RVA, USIC or WP/WPM311, 5m VW3M8209R50 Cable pulse/direction, USIC, 15-pin SubD, other end open, 0.5m VW3M8210R05 Cable pulse/direction, USIC, 15-pin SubD, other end open, 1.5m VW3M8210R15 Cable pulse/direction, USIC, 15-pin SubD, other end open, 3m VW3M8210R30 Cable pulse/direction, USIC, 15-pin SubD, other end open, 5m VW3M8210R50 Cascading cable for RVA, 0.5m VW3M8211R05 Connector kit with 5 Molex connectors 10-pin with crimp contacts VW3M8212

12.5 Mains filter

Designation Order no.

Mains filter 1~; 9A; 115/230Vac VW3A31401

12.6 Mains reactors

Designation Order no. Mains reactor 1~; 50-60Hz; 7A; 5mH; IP00 VZ1L007UM50 Mains reactor 1~; 50-60Hz; 18A; 2mH; IP00 VZ1L018UM20 0198441113700, V2.03, 07.2010 292 Stepper motor drive 0198441113700, V2.03, 07.2010 obscbe ie,sile n wse,50 TSXCSA500 TSXCSA200 VW3A8306R30 TSXCSA100 VW3A8306R10 VW3A8306R03 for plate Adapter rail m DIN Designation Mounting material VW3A8306TF10 VW3A8306D30 12.9 VW3A8306TF03 500m Modbustwisted, cable, and shielded wires, 4 VW3A8306R VW3A8306DR 200m Modbustwisted, cable, and shielded wires, 4 100m Modbustwisted, cable, and shielded wires, 4 VW3A8306 Modbus cable, connector,RJ45 ends both 3m VW3A8306DRC VW3A8306RC Modbus cable, connector,RJ45 ends both 1m Modbus cable, connector,RJ45 ends both 0.3m Modbuspole, for SubD15 cable, 1*connector RJ45, TSXSCA62, 3m 1*connector 3m Modbusstripped, cable, end other RJ45, 1*connector cable integrated 1m with Modbus module junction T cable integrated 0.3m with Modbus module LU9GC3 junction T VW3CANCARR1 Modbus for bar,bus screwed termination terminal 150 Ohm VW3CANCARR03 Modbus for bar,bus screwed termination terminal 120 Ohm, 1nF forModbus RJ45connector, termination Ohm 150 Modbus for bus RJ45connector, termination 120Ohm,1nF Modbus bar 1*screwedand connector module,connection 10*RJ45 terminal cableW3A8306. with Connect termination. Modbus 2-way box, junction 2*femalebar, 15-pin, 2*screwed SubD connector terminal RCbus andspareparts Accessories 12 VW3A8306D30. Modbus box,ba junction 3*screwedterminal Designation Modbus 12.8 CAN cable, connector, bothends RJ45 1m CAN cable, connector, bothends RJ45 0.3m boxCAN junction Designation CANopen 12.7 SD328A Stepper motor drive utn,wdh7.m VW3A11851 77.5mm width ounting, r,cablewith Connect bus RC termination. Order no. TSXSCA62 TSXSCA50 Order no. VW3CANTAP2 Order no. 293 12 Accessories and spare parts SD328A 0198441113700, V2.03, 07.2010 294 Stepper motor drive 0198441113700, V2.03, 07.2010 321Lifetime STO safety function 13.2.1 Maintenance 13.2 maintenanceanddisposal 13 Service, address Service 13.1 maintenanceanddisposal Service, 13 SD328A Stepper motor drive Example Do notusethe safety function after December 31, 2028. DD.MM.YY, for example31.12.08. (31December 2008). This means: The DOMon the nameplatethe ofproduct isshown inthe format ̈ plate of the product. dateby isdetermined adding20 years to the DOM showntheonname- expiry valid. The longer no are safety the function of data the period, The STO safety function is designed for a lifetime of 20 years. After this Checktheproduct for pollution or damageregular at intervals. http://www.schneider-electric.com of a customer service Your sales office staffwillbeha Ifyou have any questions please contactyour office.sales pair. Also includethis information if you the product for return inspection or re- Yourown the assumptions cause concerning of the error • Previous and concomitantcircumstances • Typeoferror (suchLED as flash code orerror number) • number, number,(type, identification ...) serial DOM, Nameplate • Have thefollowingavailable: details Ifyou cannot resolve anerror yourselfplease contactyour sales office. accepted forrepairs made by unauthorized persons. center.customer service No The product may onlyrepaired be by aSchneider Electric Do not use the safety function after this date. this after safety the function use not Do This date mustincluded be inthe maintenance plan of the system. fice in your in area. fice warrantyis orliability ppy togive you thenameof 295 13 Service, maintenance and disposal SD328A

13.3 Replacing devices

@ WARNING UNINTENDED BEHAVIOR The behavior of the drive system is governed by numerous stored data or settings. Unsuitable settings or data may trigger unexpected movements or responses to signals and disable monitoring functions. • Do NOT operate the drive system with unknown settings or data. • Verify that the stored data and settings are correct. • When commissioning, carefully run tests for all operating states and potential fault situations. • Verify 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 obstructions in the hazardous area. Failure to follow these instructions can result in death, serious injury or equipment damage.

Prepare a list with the parameters required for the functions used.

Observe the following procedure when replacing devices. ̈ Save all parameter settings to your PC using the commissioning software, see chapter 8.6.12.3 "Duplicating existing device settings", page 223. ̈ Switch off all supply voltages. Verify that no voltages are present (safety instructions). ̈ Label all connections and uninstall the product. ̈ Note the identification number and the serial number shown on the product nameplate for later identification. ̈ Install the new product as per chapter 6 "Installation". ̈ Commission the product as per chapter 7 "Commissioning". ̈ If the product to be installed has previously been used in a different system or application, you must restore the factory settings before commissioning the product. See chapter 8.6.12.2 "Restoring the factory settings", page 222. ̈ Commission the product as per chapter 7 "Commissioning". Note that the position of the virtual index pulse changes when you replace a device. The motor shaft position associated with the motor position must be redefined, see parameter ENC_pabsusr. 0198441113700, V2.03, 07.2010 296 Stepper motor drive 0198441113700, V2.03, 07.2010 13.5 Shipping, storage, disposal Shipping, storage, 13.5 maintenanceanddisposal 13 Service, Changing themotor 13.4 SD328A Stepper motor drive Shipping Disposal Storage cal regulations. be disposed of separately. Dispose of the product inaccordancelo- with mate various of consists The product Protecttheproduct from dust and dirt. sible ambient conditions for roomtemperature humidity and are met. The product maybe only stored in possible, packaging usethe original for shipping. The product mustprotected be against shocks If transportation. during Note the ambient conditions on page 25. ̈ ̈ ̈ ̈ ̈ Commission the product asper chapter 7"Commissioning". 6"Installation". chapter as per newthe Install product product nameplate for later identification. Note the identification numberthe and number serial shown on the Label all connections and uninstall the product. (safety instructions). voltages. supply all Verifyoff Switch present voltagesare no that spaces where the specified permis- rials thatcanberecycledandmust rials 297 13 Service, maintenance and disposal SD328A 0198441113700, V2.03, 07.2010 298 Stepper motor drive 0198441113700, V2.03, 07.2010 i inlDsrpinI/O I/O Description If the safety function is not required, these inputs must be wired with +24V.1) 38 37 36 Signal Pin Minimum connection assignment in If the safety function is not required, these inputs must be wired with +24V.2) If thesignal isnot required, theinput must bewiredaccording tothe logic type. 1) Description 38 37 Extract 14 36 35 Signal Pin Minimum connection assignment in Extract for installation 14.1 Extract 14 SD328A Stepper motor drive Connecting the safety function STO_B STO_A HALT STO_B STO_A HALT ENABLE ( ( ( ( fieldbus control mode: PWRR_B PWRR_A PWRR_B PWRR_A local control mode: local control ) Safety function channel B, see product manual for more information I digital 24V I digital 24V I digital Safety B, channel manual for function see product moreinformation Safety A, manual for channel see product function moreinformation ) ) 24V I digital 24V I digital Safety B, channel manual for function see product moreinformation Safety A, manual for channel see product function moreinformation ) ) Enable power stage I digital 24V I digital 24V I digital HALT,Function of movement interruption error / continue without 24V I digital HALT,Function of movement interruption error / continue without Enable power stage injury. Failure to follow these safety for the function. using requirements the Observe • tion. Incorrectmay usage hazardacauseofto due the the safety loss func- OF SAFETYLOSS FUNCTION injury. Failure to follow these instructions will result in death or serious Carefullyread understand and the complete product manual. • You may only perform install, co • nance. mainte- and commissioning installation, during occur hazards pected This chapter Extract does not re UNEXPECTED HAZARDS uct ifuct you are aqualifiedtrained and technician. instructions can result indeath orserious @ @ WARNING DANGER place the product manual. Unex- mmission and maintain the prod- the maintain and mmission 1) 1) 2) 2) 1) 299 14 Extract SD328A

For more information, see chapters "Basics" and "Engineering".

CN1 11 12 21 22 23 31 32 33 34 35 36 37 38 39

ANA1+ ANA1- PWRR_A CAN_0V PWRR_B CAN_L HALT CAN_H ENABLE / LIMP FAULT_RESET / LIMN REF ACTIVE1_OUT NO_FAULT_OUT

CN3 S1 OFF 40 41 42 43 44 CN2 ENCODER

+BRAKE_OUT +24VDC 24V =

0VDC ~

M E 3~

CN4 CN5

RS485 PULSE/DIR RS232 A/B/I

L1 N/L2

N/L2 L1 DC+ VS1 VS2 DC- U V W

115V

Figure 14.1 Wiring overview 0198441113700, V2.03, 07.2010 300 Stepper motor drive 0198441113700, V2.03, 07.2010 SD328A 14 Extract 14 Extract for commissioning 14.2 SD328A Stepper motor drive 1 8.8.8.8 2 ESC ENT RUN ERR BUS 3 injury or equipment damage. injury serious indeath, result can Failurefollow to instructions these the systemif there are Only nopersonsor start obstructions in • movements Anticipate in • Verify thatfunctioninga buttonfor EMERGENCY STOP iswithin • Perform the first test without run coupled loads. • rameters. pa- unsuitable or errors by movements possible caused pected wiring When the drive isoperatedfor the first time, ofthere unex- is arisk UNEXPECTED MOVEMENT the hazardous area. the drive. reach. ESC ENT (3) LEDs forfieldbus LEDs indication Status (3) LEDon: Red Voltage DCbus present at (2) (1) • Decrease the displayed Decrease value • next parameter to or menu Go • Increase the displayedvalue • to previous Return menu orparameter • Save displayed value to theEEPROM • Displayparameter menu or a • from Return displayed valuelast to • amenu Close or parameter • saved value @ the incorrect direction or oscillation of oscillation directionor theincorrect WARNING 301 14 Extract SD328A

14.2.1 HMI menu structure

Power On: ENT - First Setup FSU- not done First Setup ESC

Save ENT - First Setup done rdy

ENT

ENT ESC SEt- Settings ESC

ENT ESC drC- Drive Configuration ESC

ENT ESC srv Service ESC

ENT ESC JoG- JOG Mode Menus ESC ENT ESC (Om- Communication ESC

ENT ESC FLt- Fault ESC

ENT ESC InF- Information / Identification ESC

ENT ESC STA- Status Information ESC

Figure 14.2 HMI menu structure

HMI, example of setting a parameter The figure to the left shows an example of Parameter Value displaying a parameter (second level) and Menu entering or selecting a parameter value (third level). ENT ENT Set- GFAc 500 Press ENT to confirm the selected value. ESC The display flashes once for confirmation. ESC ESC The modified value is immediately written ENT to the EEPROM. iStd 1000 1000 ESC Store (flashing) (next parameter) 0198441113700, V2.03, 07.2010 302 Stepper motor drive 0198441113700, V2.03, 07.2010 SD328A 14 Extract 14 "First Setup"(FSU)viaHMI 14.2.2 SD328A Stepper motor drive DEVC 1 SaVe IOLT IO-M = 1 1 SaVe FSU- PBAD IOPI enCm MTYP ENT 1 1 1 IO enCm MTYP DevC FSU- IOPI ENT ENT ESC ENT ESC ENT ENT ESC ENT ESC ENT ESC ENT ESC ENT ESC ENT ESC ENT ESC ENT ESC ENT GEAR SIN SOU Osci none None None ROTM PINF 3910 126 NOCO USER 1122 1117 3913 368 397 1117 None None CANO None MoDB 3910 ROTM PINF NOCO USER 1122 3913 Pd Ab 368 397 Pd Ab ENT ENT IO ENT ENT ENT ENT ENT ENT ENT ENT ̈ ୵ ̈ ̈ ࡯ ̈ ̈ ࡯ ̈ ࡯ ̈ ̈ ̈ ̈ For moreinformation, see chapter "Commissioning". theselections corresponding to your application. followingmake the and perform steps HMI, the via ForSetup" "First the Select fieldbus baud rate Select fieldbus node address Fieldbus control modeonly io-M Local control mode only A/B signals ( (CN5): ioPi EnCm 368 (only the4 last digitsare displayed) mtyp DEVC Switch the controller supply voltage off and on again. status The device savesset values all Save settings. the Source ( IOLt Local control mode andfieldbuscontrol mode MODB CANO IO SAVE osci gear rotm Pinf noCo , : Select operating mode : Select interface mode for operating mode ElectronicGear : Select the rotation monitoring settings : Select the connected motor type : Set the control mode : Select logic type (see chapter "Engineering"): 397 nRDY SOU , 3910 , ) or sink ( AB Fieldbus mode, control manual product see Fieldbus mode, control manual product see mode control Local Save thesettings to the device. Oscillator mode Operating Gear Electronic Rotation monito only information position connected, Rotation monitoring connected No rotationmonitoring RDY , ) or pulse/directionsignals ( 3913 or DIs , SIN 1117 onthe HMI. ) CobD devC - io ring activatedring , 1122 CANo CoAD or to theEEPROM anddisplays the or user-specificmotor MbbD or or or or MoDB MbAD PD ) : user 303 14 Extract SD328A

Restoring the factory setting via the Proceed as follows to restore the factory settings: HMI ̈ Select DRC and then FCS at the HMI and confirm the selection with yes.

The new settings only become active until after the device is switched off and on again.

14.2.3 Jog

For simple initial commissioning the motor should not be connected to the system. If the motor is connected to the system, all limiting parameters must be verified and an EMERGENCY STOP button must be within reach before the first motor movement, see product manual. If the inertia ratio of Jext/Jmotor > 10 (external load to motor), the initial setting of the control loop parameters may result in an unstable controller.

̈ Start the operating mode Jog. (HMI: Jog_ / Strt) ୵ The HMI displays: JG ENT ENT ̈ JoG Strt JG Start a movement with positive direction of rotation (1). ESC ... (HMI: "Up Arrow") ୵ The motor rotates with positive direction of rotation. The HMI displays JG-. ̈ Start a movement with negative direction of rotation (2). (HMI: "Down Arrow") 1 2 ୵ The motor rotates with negative direction of rotation. The HMI dis- -JG ENT + ENT + plays . fast slow fast Press the ENT key and an arrow key simultaneously to switch from slow JG- -JG to fast movement.

If the motor does not rotate: • Did you switch on the controller supply voltage? • Did you switch on the power stage supply voltage? • Is the device in state rdy? • Did you run a "First Setup" or import device settings? Did you switch off and on the controller supply voltage after that? • Did you wire the safety function correctly? Was the safety function triggered? • Did you wire the limit switches correctly or was a limit switch triggered? 0198441113700, V2.03, 07.2010 304 Stepper motor drive 0198441113700, V2.03, 07.2010 SD328A 14 Extract 14 Duplicating exis 14.2.4 SD328A Stepper motor drive Application and advantage and Application Export device settings Export Import device settings Import Requirements ting device settings tion. Please notethat the fieldbus addressis alsocopied this with informa- A stored configuration intoa device can beimported of the same type. ̈ ̈ ̈ ̈ "First setup"not does need outusing to becarried the HMI. • Multiple devices should have thesettings, same e.g. when devices • a device as configuration. The commissioning softwareinstalledthe can applysettings a PC on of voltage must beswitched onat the device. is the Windows-basedcommissioning software. The controller supply Device type, motor type and device firmware must be identical. The tool Highlight the configurationselect and "Action -Configure". and load the desiredconfiguration. In the commissioningsoftware select the menuitem"File -Import" Highlight the configurationselectExport". and- "File ware with - "Action Transfer". Loadtheconfiguration of the deviceintothe commissioning soft- are replaced. 305 14 Extract SD328A 0198441113700, V2.03, 07.2010 306 Stepper motor drive 0198441113700, V2.03, 07.2010 slug W HP Power 15.1.4 N dyne p oz lb Force 15.1.3 oz lb Glossary 15 Mass 15.1.2 mm cm m yd ft in Length 15.1.1 Units andconversion tables 15.1 Glossary 15 SD328A g kg Stepper motor drive .3005/ 1.942559*10 / 0.03108095 4 - 100*10 / 0.27801 * 9.807*10 * 4.448222 * *27801 - 980.7 * *444822.2 * 28.349524 / 9.807*10 / 746 * 453.55358 / 980.7 -* - / 0.27801 / 27801 - 16 * * 453.5924 / 28.349524 / 4.448222 / 444822.2 *0.4535924 / 453.55358 * 1.942559*10 * 10 - / 16 * 0.03108095 * 914.4 - * 1000 *304.79 * 25.4 /10 91.44 * - - * 16 30.479 * 100 * 746 *2.54 0.9144 * 1000 / 0.30479 * 100 / *0.0254 / 16 / 914.4 - - /91.44 - 3 / / 304.79 /36 /0.9144 /30.479 3 * /0.30479 / 25.4 - / 12 2.54 / 0.0254 / 36 * 12 * - PW N dyne g p HP kg oz mm slug lb cm oz m lb yd ft in 5.93 8392/1539/10 - * 1000 / 1000 - /14593.9 /14.5939 / 28.34952 / 0.02834952 / 453.59237 / 0.45359237 5 m / 0.9144 = 5.468 yd = 5.468 5 m/ 0.9144 conversion to yards[m] Example: [yd] of5meters unit(top row) with the formula (in the field). The valuethe in specified unit (left column) iscalculated for the desired -3 - * 14.5939 * * 14593.9 *14.5939 - -3 -3 * 100*10 28.34952 * * 0.02834952 3 - 3 -3 307 15 Glossary SD328A

15.1.5 Rotation

min-1 (RPM) rad/s deg./s min-1 (RPM) -* π / 30 * 6 rad/s * 30 / π - * 57.295 deg./s / 6 / 57.295 -

15.1.6 Torque

lb·in lb·ft oz·in Nm kp·m kp·cm dyne·cm lb·in - / 12 * 16 * 0.112985 * 0.011521 * 1.1521 * 1.129*106 lb·ft * 12 - * 192 * 1.355822 * 0.138255 * 13.8255 * 13.558*106 oz·in / 16 / 192 - * 7.0616*10-3 * 720.07*10-6 * 72.007*10-3 * 70615.5 Nm / 0.112985 / 1.355822 / 7.0616*10-3 - * 0.101972 * 10.1972 * 10*106 kp·m / 0.011521 / 0.138255 / 720.07*10-6 / 0.101972 - * 100 * 98.066*106 kp·cm / 1.1521 / 13.8255 / 72.007*10-3 / 10.1972 / 100 - * 0.9806*106 dyne·cm / 1.129*106 / 13.558*106 / 70615.5 / 10*106 / 98.066*106 / 0.9806*106 -

15.1.7 Moment of inertia

lb·in2 lb·ft2 kg·m2 kg·cm2 kp·cm·s2 oz·in2 lb·in2 - / 144 / 3417.16 / 0.341716 / 335.109 * 16 lb·ft2 * 144 - * 0.04214 * 421.4 * 0.429711 * 2304 kg·m2 * 3417.16 / 0.04214 - * 10*103 * 10.1972 * 54674 kg·cm2 * 0.341716 / 421.4 / 10*103 - / 980.665 * 5.46 kp·cm·s2 * 335.109 / 0.429711 / 10.1972 * 980.665 - * 5361.74 oz·in2 / 16 / 2304 / 54674 / 5.46 / 5361.74 -

15.1.8 Temperature

°F °C K °F - (°F - 32) * 5/9 (°F - 32) * 5/9 + 273.15 °C °C * 9/5 + 32 - °C + 273.15 K (K - 273.15) * 9/5 + 32 K - 273.15 -

15.1.9 Conductor cross section

AWG 12345678910111213 mm2 42.4 33.6 26.7 21.2 16.8 13.3 10.5 8.4 6.6 5.3 4.2 3.3 2.6

AWG 14 15 16 17 18 19 20 21 22 23 24 25 26 mm2 2.1 1.7 1.3 1.0 0.82 0.65 0.52 0.41 0.33 0.26 0.20 0.16 0.13 0198441113700, V2.03, 07.2010 308 Stepper motor drive 0198441113700, V2.03, 07.2010 SD328A 15 Glossary 15 Terms andAbbreviations 15.2 SD328A Stepper motor drive Degree of protection Direction of of rotation Direction Electronic gear Actual position Holding brake Default value Drive system Limit switch Error class Fault reset Fatal error Fatal Encoder DOM Error EMC Fault CAN DC AC The objectsand water (for example: IP20). equipmentthethat describes protection againstthe ingress of foreign The degree of protectionstandardizeda is specification forelectrical you look at the end of the protruding motor shaft. Positive direction of rotation iswhen Rotation of the motor shaft in apositive or negative direction of rotation. Factory setting. Direct current System consistingcontroller, of power stage and motor. communicate. 11898, allows drives and other devicesfrom different manufacturers to ( Current positionof moving components inthe drivesystem. currentAlternating breviations may have specific meanings with regardto thestandards. tinent standards on whichmany are based. and ab- terms Some terms See chapter 2.7 "Standardsandterminology" for informationthe onper- specified or theoretically theoretically specified or a detected (computed, measured or signaled) value or condition and the Operating state of the drive caused asa result of a discrepancy between torthat so thepower stage mustbe immediately disabled. mo- fatal the of case able In control the error, to longer isno product the faults, to for responses specific example by severity. Classification of errors into groups. The different error classes allow for dition and the specifiedor theoretically correctvalue or condition. Discrepancy between acomputed, observed or measured value or con- Switches that signal overtravel of the permissible range of travel. stalled inamotor, the encoder shows the angular positionthe of rotor. Sensor for detection of the angular position of arotating component. In- compatibility Electromagnetic drive system. input speed and the values ofadjustable an gearratio; calculated by the Calculation of anew output speedfor the motormovement basedthe on for example 31.12.06 (December 31,2006). DD.MM.YY, format the axis). The holdingbrake is not asafety function. no current is supplied to the motor (for example, in the case of avertical when shaft blocking of motor brake the task the has holding motor The "Operation Enable"). rorlongeris no active (transition fromoperating state "Fault"to state tected error is cleared by removing the cause of the error so that the er- A functionused to restore the driveto an operational stateafter ade- C ontroller ontroller D ate ate o A f m rea rea anufacturing onthe nameplateof the device is shownin N etwork), standardized openfieldbus as per ISO correct valuecondition. or the motor shaft rotates clockwise as 309 15 Glossary SD328A

I2t monitoring Anticipatory temperature monitoring. The expected temperature rise of components is calculated in advance on the basis of the motor current. If a limit value is exceeded, the drive reduces the motor current. I/O Inputs/outputs Inc Increments Index pulse Signal of an encoder to reference the rotor position in the motor. The encoder returns one index pulse per revolution. Internal units Resolution of the power stage at which the motor can be positioned. In- ternal units are specified in increments. IT mains Mains in which all active components are isolated from ground or are grounded by a high impedance. IT: isolé terre (French), isolated ground. Opposite: Grounded mains, see TT/TN mains NMT Network Management (NMT), part of the CANopen communication profile; tasks include initialization of the network and devices, starting, stopping and monitoring of devices Node guarding Monitoring of the connection to the slave at an interface for cyclic data traffic. Parameter Device data and values that can be set by the user. PELV Protective Extra Low Voltage, low voltage with isolation. For more information: IEC 60364-4-41 Persistent Indicates whether the value of the parameter remains in the memory after the device is switched off. Power stage The power stage controls the motor. The power stage generates current for controlling the motor on the basis of the positioning signals from the controller. PTC Resistor with positive temperature coefficient. Resistance value increases as the temperature rises. Pulse/direction signals Digital signals with variable pulse frequencies which signal changes in position and direction of rotation via separate signal wires. Quick Stop Function which can be used for fast deceleration of the motor via a command or in the event of an error. RCD Residual Current Device

rms Root Mean Square value of a voltage (Vrms) or a current (Arms) Scaling factor This factor is the ratio between an internal unit and a user-defined unit. PLC Programmable logic controller TT mains, TN mains Grounded mains, differ in terms of the ground connection (PE conductor connection). Opposite: Ungrounded mains, see IT mains. User-defined unit Unit whose reference to motor rotation can be determined by the user via parameters. Warning If the term is used outside the context of safety instructions, a warning alerts to a potential problem that was detected by a monitoring function. A warning is not an error and does not cause a transition of the operating state. Watchdog Unit that monitors cyclic basic functions in the product. The power stage is disabled and the outputs are switched off in the event of errors. 0198441113700, V2.03, 07.2010 310 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A16Index Index 16 SD328A Stepper motor drive C Braking ramp, see deceleration ramp 206 function Brake Before you begin setting rate Baud Baud rate B Assembling cables 28, 58 Approved motors Analog module 112 testing inputs, Analog inputs Analog 25 Ambient conditions 25 Air humidity Address setting 73 ACTIVE2_OUT 291 Accessoriesspare and parts 122 control Access 150 mode operating Positioning in Profile positioning Absolute 309 Abbreviations A CAN 34 Cables Cable specificationsand terminal Cable specifications aeyifrain19 Safety information 78 parameters With 78 Fieldbus 59 Motor phases 62 Mains supply 112, 140 Analog input 79 Connection 25 Transportation and storage 25 operation air humidity Relative 25 Operation 25 Air humidity operation 78 parameters With oncin77 Connection 58 Motor phase connections 84 terminal Remote 40 Protected cable installation 84 PC 78 Modbus 74 ESIM 70 Encoder signalA, B, I 80 Digital signals 79 Analog inputs 311 16 Index SD328A

CANmotion 185 CANopen Function 75 LEDs at HMI 96 terminating resistors 76 CAP1 202 CAP2 202 Category 0 stop 38 Category 1 stop 38 Cause of stop, last 233, 234 Certifications 25 Change Operating mode 135 Changing the motor 297 Changing the operating state 131 Checking limit switches 116 Commissioning 91 Analog inputs, testing 112 Checking limit switches 116 Digital inputs and outputs 114 Direction of movement, test 118 Position switches, testing 119 Safety function STO, test 117 Setting basic parameters 110 steps 101 Tools 94 Commissioning software 100 Error indication 234 Functions 100 Online help 100 System requirements 100 Commissioning software Lexium CT 100 Components and interfaces 14 Connection Analog inputs/outputs 79 CAN 75 DC bus 60 Digital inputs/outputs 80 Encoder signals A, B, I 70 Mains supply 61 Modbus 78 Motor phases 58 PC and remote terminal via RS485 84 PULSE 72 Rotation monitoring (CN2) 64 Control cabinet 49 Control cabinet design 43 Controller supply voltage Connection 68 Controller supply voltage 24VDC 29 Cover film, removing 51 Current Position 153 Speed 155 Cyclic Synchronous Position mode 185 0198441113700, V2.03, 07.2010 312 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A16Index SD328A Stepper motor drive ouetto n ieauerfrne 16 Documentationand literature references 295, 297 Disposal 221 Direction reversal 118 Directionof rotation ->Direction of movement 118 test movement, of Direction 27 Dimensions dimensional drawing, seedimensions Digital inputs/outputs Digital inputs and outputs Diagram 229 Diagnostics 11 overview Device Device Definition Default values 17 Declaration of conformity 198 setting ramp, Deceleration D Error response 126, 229 126, response Error 232 Error indication HMI 230 Error indication 125, 229 Error class Error 45 conductors bonding Equipotential 16 EPLAN Macros Encoder cable 64 Encoder 73 ENABLE 43 EMC 143 Electronic gear Electronic Gear 53 Electrical installation E oncin81 Connection 114 Display and modify 70 A/B signals 49, 50 Mounting 38 STO 222 Restoring M 232 HMI 234 Fieldbus 234 software Commissioning 233 Current 45 EMC requirements ConnectionMotor encoder 70 Connection 44 Shielding 43 Scope of supply and accessories 44 Power supply 45 Motorcable and encodercable 45 Improvement 44 Cable installation 227 Parameterization example oncin66 Connection 313 16 Index SD328A

Meaning 125, 229 Errors 236 Examples 225 F Fast position capture 202 Fieldbus CAN 75 Error indication 234 First Setup Preparation 101 Via HMI 101 Function Encoder signals A, B, I 70 Motor phase current, setting 186 P/D, Pulse/Direction 72 Functional safety 24, 35 Functions 186 Brake function 206 direction reversal 221 Fast position capture 202 Halt 201 monitoring functions 187 Quick Stop 200 Restoring default values 222 scaling 194 travel profile 197 G Gear ratio 146 Glossary 307 H Halt 201 Hazard categories 20 HMI Control panel 95 Error indication 232 First Setup 101 function 95 Menu structure 96, 97 Homing 171 Homing by position setting Position setting 184 Humidity 25 I Improvement of EMC 45 Installation electrical 53 mechanical 48 Intended use 19 Interface signal FAULT_RESET 200 0198441113700, V2.03, 07.2010 314 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A16Index SD328A Stepper motor drive Tmis prto n47 ITmains, operation in 11 Introduction onig ehncl49 Mounting, mechanical 49 distances Mounting 186 Motor phase current, percentage setting Motor cable 156 Motion Sequence 42,187 Monitoring functions Monitoring Modbus 81 Minimum connection assignment 48 Mechanical installation 25 Max. humidity operation Manuals 295 Maintenance Mains supply Mains filter 16 Macros EPLAN M 79 Limits Limit values Limit switch 100 software commissioning CT Lexium LEDs at HMI 233,234 Last cause of stop L 136 Jog 199 Jerk limitation J Operating mode O M eurmns45 EMC requirements 59 Connection 190 Parameters 59 Motor phases 78 Function 78 Connection 16 Source 63 Connection 52 Mounting 79 Analog inputs 110 Setting 176 Reference movement withoutpulse index 189 Moving thedrive awayfromthe switch 189 Limit switch 96 For CANopen oig171 Homing 143 electronic gear 185 Cyclic SynchronousPosition mode 135 Change 315 16 Index SD328A

jog 136 Oscillator 139 Profile Position 150 Profile Velocity 154 Start 134 Operating mode Motion Sequence 156 Operating mode terminated Profile Velocity 140, 154 Operating modes 136 Operating state 109 Operating states 124 Operation 121 Operation ambient temperature 25 Oscillator 139 Overview 93, 94 All connections 56 Procedure for electrical installation 55 P Parameter Display via HMI 97 representation 251 Parameters 251 PC Connection 84 PELV power supply UL 34 Pollution degree 25 Position Current 153 Target 153 Position setting 184 Position switches, testing 119 Positioning Finished 152 Triggering 151 Positioning limits 187 Power connections Overview 56 Prerequisites For setting the operating mode 133 For starting Profile Position 150, 154 Profile generator 197 Profile Position 150 Profile Velocity 154 Protected cable installation 40 PULSE/DIR Connection 74 Pulse/Direction P/D Function 72 Q Qualification of personnel 19 Quick Stop 200 0198441113700, V2.03, 07.2010 316 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A16Index SD328A Stepper motor drive Remote terminal 149 ofdirection Release 150 Relative positioningProfilein Position operatingmode 25 humidity air Relative Reference values 79 Reference value signals Reference switch 155 Reference speed 176 Reference movement without index pulse 179 Reference movement withpulse index REF, seereferenceswitch Ramp R State indication 124 State diagram 105 Start-up operating mode Start Speed control Source 188 Software limitswitches Signal inputs Signal connections 297 Shipping 44 requirements - EMC Shielding 295 Service address 295 Service 13 of supply Scope 194 Scaling 117 test STO, function Safety 38 function Safety 38 Safety disconnect moment 38 Off Torque Safe S ucin84 Function 79 Analog inputs 177 Reference movement withoutpulse index 181 Reference movement with index pulse 198 Steepness 197 Shape I 233 DIS 134 mode Operating 227 Parameterization example 16 Manuals 16 EPLAN Macros 100 software Commissioning 73 Circuit diagram 57 Overview 39 Requirements 38 Definitions 38 Definition 38 Category 1 stop 38 Category 0 stop 41 examples Application 38 Definition 317 16 Index SD328A

FLT 233 NRDY 232 ULOW 232 WDOG 233 State machine 109, 232 State transitions 126, 231 Status monitoring during operation 187 STO 38 Application examples 41 Definitions 38 Requirements 39 Storage 297 Ambient conditions 25 T Target position 153 Technical data 25 Temperature during operation 25 Temperature monitoring 190 Terminal Connection 84 Terminal, remote Function 84 Terminating resistors CANopen 76 Terms 309 Time chart Pulse/direction signal 73 Tools for commissioning 94 Transportation Ambient conditions 25 Travel profile 197 Troubleshooting 229, 236 Errors 236 Errors by bit class 237 TÜV certificate for functional safety 18 Type code 15 U UL PELV power supply 34 Wiring 34 Units and conversion tables 307 V Ventilation 49 W Wiring diagram 24V supply 68 Analog inputs 79 CANopen 76 Encoder A, B, I 71 Modbus 78 0198441113700, V2.03, 07.2010 318 Stepper motor drive 0198441113700, V2.03, 07.2010 D2A16Index SD328A Stepper motor drive iigU 34 Wiring UL emnl85 Terminal 74 PULSE/DIR 62 voltage supply stage Power 85 PC 60 Motor phases 66 encoder Motor 319 16 Index SD328A 0198441113700, V2.03, 07.2010 320 Stepper motor drive