APPLICATION
Motion Block Positioning
FUNCTIONS
DETAILS
5th Generation of STÖBER Inverters
PARAMETER
from V 5.6-F
01/2013
EN
i
Table of contents
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Table of contents
1. Notes on safety ……............................................... 1
1.1
Software ................................................................................. 6
1.2
Presentation of Notes on Safety ……....................................... 7
2. Function Description ……...................................... 8
2.1
Using Motion Blocks ……........................................................ 10
2.2
Interface ………....................................................................... 34
2.2.1 Input Signals ……………………............................................... 34
2.2.2 Output Signals ……………………............................................. 39
2.2.3 Process Data Image …..…………………….............................. 42
3.1
Motion Blocks ………………………………............................. 44
3.1.1 Start the motion blocks ……..…............................................... 44
3.1.2 End of command ……..…........................................................ 46
3.2
General Functions ……..…..................................................... 48
3.2.1 Software Stops ……………..................................................... 48
3.2.2 Hardware Limit Switches …..................................................... 49
3.2.3 Following Error ……………...................................................... 50
3.2.4 Speed Controller ……………................................................... 50
3.2.5 Quick Stop Behavior ……........................................................ 51
3.2.6 Local Mode ……………..…...................................................... 51
3.2.7 Setting the Reference System with I07 / I08 ........................... 52
3.3
Extra Functions ………............................................................ 57
3.3.1 Indicate or Measure Position or Area ……………………..…… 57
3.3.2 Backlash Compensation ……………………………….……….. 61
3.3.3 Additional Functions for Override ………………………………. 62
3.4
Synchronous Functions …………………….…………………… 63
3.4.1 Interface Combinations ……..…….…………………………….. 63
3.4.2 The Assignments in Detail ……………………………………… 64
ID 441782.04
www.stoeber.de
3. Details ………………………..................................... 44
i
Table of contents
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
3.4.3 Processing the Master Signals …………………………………. 68
3.5
Fieldbus …………………………………………………………… 70
3.5.1 Handshake Procedure …………………….…………………….. 70
3.5.2 Fieldbus Communication ………………….……………….……. 72
3.6
Communication with PROFINET …………………….…………. 73
3.7
Display ……………..………………….……………….………..… 74
3.7.1 Operating indicators ………………….……………….…………. 74
3.7.2 Application Events ………………….……………….…………… 76
4. Used Parameters ……………………….................... 77
Parameter Legend ………………………….............................. 77
4.2
Parameter List ……..…............................................................ 78
www.stoeber.de
4.1
ID 441782.04
i
Table of contents
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
www.stoeber.de
- This page was purposely left blank -
ID 441782.04
01
Notes on Safety
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
1
Notes on Safety
When in operation, inverters from STÖBER ANTRIEBSTECHNIK GmbH + Co.
KG may have energized or rotating parts depending on their protection rating.
Surfaces may heat up. For these reasons, comply with the following:
 The safety notes listed in the following sections and points
 The technical rules and regulations
In addition, always read the mounting instructions and the short commissioning
instructions.
STÖBER ANTRIEBSTECHNIK GmbH + Co. KG accept no liability for damages
caused by non-adherence to the instructions or applicable regulations. Subject
to technical changes to improve the devices without prior notice.
This documentation is purely a product description. It does not represent
promised properties in the sense of warranty law.
The technical documentation is a component part of a product.
 Since the technical documentation contains important information, always
keep it handy in the vicinity of the device until the machine is disposed of.
 If the product is sold, disposed of, or rented out, always include the
technical documentation with the product.
Operation in accordance with its intended use
In the sense of DIN EN 50178 (previously VDE 0160), the POSIDRIVE®
FDS 5000 and MDS 5000 and the POSIDYN® SDS 5000 model series
represent the electrical equipment of power electronics for the control of power
flow in high-voltage current systems. They are designed exclusively to power:
 Servo motors (MDS 5000, SDS 5000)
 Asynchronous motors (FDS 5000, MDS 5000 and SDS 5000)
Operation for purposes other than the intended use include the connection of
other electrical loads!
Before the manufacturer is allowed to put a machine on the market, he must
have a danger analysis prepared as per machine guideline 98/37/EG. This
analysis establishes the dangers connected with the use of the machine. The
danger analysis is a multi-stage, iterative process. Since this documentation
cannot begin to provide sufficient insight into the machine guidelines, please
carefully study the latest standards and legal situation yourself. After the drive
controller has been installed in machines, it cannot be commissioned until it
has been determined that the machine complies with the regulations of EG
guideline 98/37/EG.
ID 441782.04
www.stoeber.de
Component part of the product
1
01
Notes on Safety
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Ambient conditions
Model series POSIDRIVE® FDS 5000 and MDS 5000 and POSIDYN®
SDS 5000 are products of the restricted sales class as described in
IEC 61800-3. This product may cause high-frequency interference in residential
zones and the user may be asked to take suitable measures.
MDS 5000
SDS 5000
BG 2
5000 A
BG 3
10000 A
Install the inverter in a switching cabinet in which the permissible maximum
surrounding air temperature is not exceeded (see mounting instructions).
The following applications are prohibited:
 Use in potentially explosive areas
 Use in environments with harmful substances as per EN 60721 (e.g., oils,
acids, gases, fumes, powders, irradiation)
 Use with mechanical vibration and impact stresses which exceed the
information in the technical data of the mounting instructions
Implementation of the following applications is only permitted when STÖBER
ANTRIEBSTECHNIK GmbH + Co. KG has been contacted first for permission:
 Use in non-stationary applications
Qualified personnel
Since the drive controllers of the model series POSIDRIVE® FDS 5000,
POSIDRIVE® MDS 5000 and POSIDYN® SDS 5000 may harbor residual risks,
all configuration, transportation, installation and commissioning tasks including
operation and disposal may only be performed by trained personnel who are
aware of the possible risks.
ID 441782.04
www.stoeber.de
The inverters are not designed for use in public low-voltage networks which
power residential areas. High-frequency interference must be expected when
the inverters are used in such a network.
The inverters are only intended for use in TN networks.
The inverters are only designed for use on supply current networks which can
delivery at the most a maximum of symmetrical rated short circuit current at
480 Volts as per the following table:
Max. symmetrical rated short circuit
Device family
Size
current
FDS 5000,
BG 0 and
5000 A
MDS 5000,
BG 1
SDS 5000
2
01
Notes on Safety
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
In addition, the valid regulations, the legal requirements, the reference books,
this technical documentation and, in particular, the safety information contained
therein must be carefully:
 read
 understood and
 complied with.
Transportation and storage
Immediately upon receipt, examine the delivery for any transportation
damages. Immediately inform the transportation company of any damages. If
damages are found, do not commission the product.
If the device is not to be installed immediately, store it in a dry, dust-free room.
Please see the mounting instructions for how to commission an inverter after it
has been in storage for a year or longer.
Installation and connection
Installation and connection work are only permitted after the device has been
isolated from the power!
The accessory installation instructions allow the following actions during the
installation of accessories:
 The housing of the MDS 5000, SDS 5000 and FDS 5000 in the upper slot
can be opened.
 The housing of the MDS 5000 and SDS 5000 in the bottom slot can be
opened.
Opening the housing in another place or for other purposes is not permitted.
ID 441782.04
www.stoeber.de
Personnel must have the qualifications required for the job. The following table
lists examples of occupational qualifications for the jobs:
Activity
Possible occupational qualifications
Transportation and storage
Worker skilled in storage logistics or
comparable training
Configuration
 Graduate engineer (electrotechnology or electrical power
technology)
 Technician (m/f) (electro-technology)
Installation and connection
Electronics technician (m/f)
Commissioning (of a standard
 Technician (m/f) (electro-technology)
application)
 Master electro technician (m/f)
Programming
Graduate engineer (electro-technology or
electrical power technology)
Operation
 Technician (m/f) (electro-technology)
 Master electro technician (m/f)
Disposal
Electronics technician (m/f)
3
01
Notes on Safety
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Use only copper lines. For the line cross sections to be used, see table 310-16
of the NEC standard for 60 oC or 75 oC.
Protect the device from falling parts (pieces of wire, leads, metal parts, and so
on) during installation or other tasks in the switching cabinet. Parts with conductive properties inside the inverter can cause short circuits or device failure.
The motor must have an integrated temperature monitor with basic isolation in
acc. with EN 61800-5-1 or external motor overload protection must be used.
The permissible protection class is protective ground. Operation is not
permitted unless the protective conductor is connected in accordance with the
regulations.
Comply with the applicable instructions for installation and commissioning of
motor and brakes.
Remove additional coverings before commissioning so that the device cannot
overheat. During installation, provide the free spaces specified in the mounting
instructions to prevent the inverter from overheating.
The housing of the drive controller must be closed before you turn on the
supply voltage. When the supply voltage is on, dangerous voltages can be
present on the connection terminals and the cables and motor terminals
connected to them. Remember that the device is not necessarily de-energized
after all indicators have gone off.
When network voltage is applied, the following are prohibited:
 Opening the housing
 Connecting or disconnecting the connection terminals
 Installing accessories
Proceed as shown below to perform these tasks:
1. Disable the enable (X1).
2. Turn off the supply voltage (power pack and controller power supply
as well as any auxiliary voltages for encoder, brake, etc.).
3. Protect the supply voltages from being turned on again.
4. Wait 5 minutes (time the DC link capacitors need to discharge).
5. Determine isolation from the voltage.
6. Short circuit the network input and ground it.
7. Cover the adjacent, voltage-carrying parts.
You can then start your work on the drive controller.
Repairs may only be performed by STÖBER ANTRIEBSTECHNIK GmbH +
Co. KG.
Send defective devices together with a fault description to:
STÖBER ANTRIEBSTECHNIK GmbH + Co. KG
Abteilung VS-EL
Kieselbronner Str. 12
75177 Pforzheim
GERMANY
ID 441782.04
www.stoeber.de
Commissioning, operation and service
4
01
Notes on Safety
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Disposal
Please comply with the latest national and regional regulations!
Dispose of the individual parts separately depending on their nature and
currently valid regulations such as, for example:
 Electronic scrap (PCBs)
 Plastic
 Sheet metal
 Copper
 Aluminum
Residual dangers
www.stoeber.de
The connected motor can be damaged with certain settings of drive controllers.
 Longer operation against an applied motor halting brake
 Longer operation of self-cooled motors at slow speeds
Drives can reach dangerous excess speeds (e.g., setting of high output
frequencies for motors and motor settings which are unsuitable for this).
Secure the drive accordingly.
ID 441782.04
5
01
Notes on Safety
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
1.1
Software
The POSITool software package can be used to select the application and
adjust the parameters and signal monitoring of the 5th generation of STÖBER
inverters. The functionality is specified by selecting an application and
transmitting these data to an inverter.
The program is the property of STÖBER ANTRIEBSTECHNIK GmbH + Co. KG
and is copyrighted. The program is licensed for the user.
The software is only provided in machine-readable form.
STÖBER ANTRIEBSTECHNIK GmbH + Co. KG gives the customer a nonexclusive right to use the program (license) provided it has been legitimately
obtained.
The customer is authorized to use the program for the above activities and
functions and to make copies of the program, including a backup copy for
support of this use, and to install same.
The conditions of this license apply to each copy. The customer promises to
affix the copyright notation to each copy of the program and all other property
notations.
The customer is not authorized to use, copy, change or pass on/transmit the
program for purposes other than those in these regulations. The customer is
also not authorized to convert the program (i.e., reverse assembly, reverse
compilation) or to compile it in any other way. The customer is also not
authorized to issue sublicenses for the program, or to rent or lease it out.
Product maintenance
The obligation to maintain refers to the two latest program versions created by
STÖBER ANTRIEBSTECHNIK GmbH + Co. KG and approved for use.
STÖBER ANTRIEBSTECHNIK GmbH + Co. KG will either correct program
errors or will provide the customer with a new program version. This choice will
be made by STÖBER ANTRIEBSTECHNIK GmbH + Co. KG. If, in individual
cases, the error cannot be immediately corrected, STÖBER ANTRIEBSTECHNIK GmbH + Co. KG will provide an intermediate solution which may
require the customer to comply with special operation regulations.
A claim to error correction only exists when the reported errors are reproducible
or can be indicated with machine-generated outputs. Errors must be reported in
a reconstructable form and provide information which is useful to error correction.
The obligation to correct errors ceases to exist for such programs which the
customer changes or edits in any way unless the customer can prove that such
action is not the cause of the reported error.
STÖBER ANTRIEBSTECHNIK GmbH + Co. KG will keep the respective valid
program versions in an especially safe place (fireproof data safe, bank deposit
box).
ID 441782.04
www.stoeber.de
Using the POSITool software
6
01
Notes on Safety
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Presentation of notes on safety
NOTICE
Notice
means that property damage may occur if the stated
precautionary measures are not taken.
CAUTION
Caution
with warning triangle means that minor injury may occur if
the stated precautionary measures are not taken.
WARNING
Warning
means that there may be a serious danger of death if the
stated precautionary measures are not taken.
DANGER
Danger
means that serious danger of death exists if the stated
precautionary measures are not taken.
Information
indicates important information about the product or a
highlighted portion of the documentation which requires
special attention.
ID 441782.04
www.stoeber.de
1.2
7
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Function Description
The Motion Block Positioning application is an application which offers
positioning and synchronous functionality. A drive movement is created by the
link from a motion block and a motion profile. The motion block contains the
command which determines the type of positioning. The motion profile linked
with the motion block provides the speed specifications and ramps for the
movement.
In addition, the following functions are available.
 Chaining of motion blocks (i.e., the automatic processing of motion blocks in
a certain order)
 Motion profile-dependent use of the speed override, the ramp smoothing,
the brake, the direction optimization (only for endless axes) and the
switching points.
 Teach-in function
 Latch function
 Backlash compensation
Up to 256 motion blocks can be started via the "Terminal" interface. Several
hundred motion blocks can be used via the fieldbus.
During sequential operation of several motors on one MDS inverter, the
application can be used simultaneously for up to 3 axes.
The number of axes, motion blocks, motion profiles and switching points used
determines the amount of memory needed for a project. The number of usable
axes, motion blocks, motion profiles and switching points may be restricted by
the memory and computing power available on the Laptop/PC as well as the
amount of memory available on the inverter.
Motion block positioning can be selected for a limited or endless position range.
ID 441782.04
www.stoeber.de
2
8
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Limited position range
A limited position range exists when the permissible area of movement is
limited by stops or similar.
Information
For reasons of safety, limit switches are recommended. If the
inverter does not have enough available inputs free (operation
without option board), the limit switches must be evaluated by the
higher-level controller and sent to the inverter via fieldbus. Be
absolutely sure to read and adhere to the information on limit
switches in chapter 3.2.
Limited position range
Endless position range (circular axis)
The most important feature of an endless position range is the cyclic repetition
of certain positions during a movement in one direction (example: hands of a
clock).
Selection of the circular axis application means that the position is only counted
up to the CircularLength I01 (e.g., 360°). After this value, counting starts again
at zero.
When a position outside the circular length is selected absolutely, the
positioning command is rejected. Only absolute positions within the position
range are permitted.
Endless position range
Figure 2-2 Illustration of endless position range
Whether an application with endless or limited position range is used must be
specified in the configuration assistant when the application is selected.
ID 441782.04
www.stoeber.de
Figure 2-1 Illustration of limited position range
9
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
2.1 Using Motion Blocks
Parameter Name
Type
Description
J10.x
Motion block
Str16
Designation of the position in plain text
J11.x
Target position
P64
Target specification for commands
which expect a position to be specified
J12.x
Command
U8
Command (see next few sections)
J13.x
Motion profile
U8
Number of the selected motion profile
from the motion profile memory
J14.x
Following start
U8
J15.x
Following block U16
Chaining with following block (see
chap. 3.1)
0:Inactive
1:NextStep1
2:NextStep2
3:With delay
4:No stop
5:Comparator
Number of the following block (see
J16.x
Delay
For J14.x = 3:With delay
U16
The number of the array element indicates the motion block to which it belongs:
The target position of motion block 15 is parameterized in J11.15. The
numbering of the motion blocks begins with 0. With the basic setting of four
motion blocks, motion blocks 0 to 3 are present.
The following screen shows the Motion Blocks page of the Posi Motion Blocks
assistant
with the above listed parameters. The buttons in the upper part of the screen
can be used to switch between motion blocks and use the parameterization of
other motion blocks. The right-hand button is used to change the number of
motion blocks. The number of motion blocks cannot be changed in online
mode.
ID 441782.04
www.stoeber.de
In the basic setting, 4 motion blocks and 4 motion profiles are available to the
user. The number of each can be changed in the "Posi Motion Blocks"
assistant. When the application is used for several axes, the number of motion
blocks or motion profiles cannot be set differently from axis to axis. A change in
one axis is automatically transferred to the other axes!
The motion profile with which the position will be approached is defined in each
motion block. One motion profile can be used in several motion blocks. To
reduce the amount of parameterization, all motion blocks can be linked with the
same motion profile.
One motion block consists of the following array parameters:
10
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
www.stoeber.de
Figure 2-3 View of the "Posi motion block" Assistant, "motion block" page.
ID 441782.04
11
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Motion profiles
Parameter
Name
Typ
Beschreibung
J20.x
Profile name
Str16
Designation of the motion profile in
plain text
J21.x
Velocity
I32
Speed
J22x
Acceleration
ramp
I32
Acceleration ramp
J23.x
Deceleration
ramp
I32
Braking ramp
J25.x
Ramp smoothing I16
Jerk
J26.x
Direction
optimization
U8
Automatic direction optimization for
absolute motion blocks (only for
J27.x
Brake
U8
J28.x
Override enable
U8
Motion profile-specific braking control
when the brake control was activated
in F08. After the target position is
reached, the brake which is controlled
via relay 2 can be applied depending
on the motion profile.
Override function for affecting the
speed during a motion block (see
chapter 3.3.3).
J30.x
Switching point A I8
J31.x
Switching point B I8
J32.x
Switching point C I8
J33.x
Switching point D I8
See chapter 3.3.1 (extra functions,
switching points)
The number of the array element indicates the motion profile to which it
belongs: The speed of profile 8 is parameterized in J21.8. Numbering of the
motion profiles begins with 0. With the basic setting, motion profiles 0 to 3 are
present.
The following screen shows the "Motion Profiles" page of the "Posi Motion
Blocks" assistant with the above listed parameters (due to limited position
range, J26.0 is not visible). The setup is adapted to the user interface of the
motion blocks. In addition, the "Use" button can be used to query which motion
blocks the current motion profile was linked to.
ID 441782.04
www.stoeber.de
A motion profile has the following parameters:
12
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Figure 2-4 View of the "Posi motion block" Assistant, "motion profile" page
The following table gives you an overview of the commands. The commands
are specified in J12.x.
Single-Axis Functions
1: MC_MoveAbsolute (move absolute)
2: MC_MoveRelative (move relative to the actual val.)
3: MC_MoveAdditive (move relative to the ref. value)
4: MC_MoveVelocity (move endlessly)
5: MC_Stop (HALT)
6: MC_Home (start reference positioning)
7: MC_Reset
8: Activate Posi
9: Deactivate Posi
13:MC_Continue (continue motion)
Multiple-Axis Functions
10:MC_GearIn (synchronize to master)
11: MC_GearOut (de-synchronize)
12: MC_MoveSuperimposed (move relative to synchronous
Additional synchronous commands are under preparation!
ID 441782.04
www.stoeber.de
Commands
13
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Conditions for starting motion block positioning
www.stoeber.de
Several conditions must be fulfilled before a motion block can be started.
 Local mode may not be active.
 Jogging (inching) may not be enabled (I220, bit 4)
 No switchon disable may be active on the device (except for command
MC_Home, when referencing mode type I30 is parameterized to 2:Define
home).
 No faults may be present.
The next section will first describe the commands, followed by a presentation of
the state diagram.
ID 441782.04
14
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
MC_MoveAbsolute
Execute
Speed
v
5
3
0
Act. position
x
8000
5000
0
Figure 2-5 Timing diagram MC_MoveAbsolute
ID 441782.04
t
www.stoeber.de
The command MC_MoveAbsolute triggers a movement to an absolute position.
The position is specified in J11.x. The positioning profile is calculated from the
parameters of the motion profile linked with the motion block (J21.x, J22.x,
J23.x).
Before the command can be triggered, the drive must be referenced (see
below, MC_Homing). With an endless axis and this command in J11.x, only
values which are less than the circular length I01 will be accepted.
Our example (figure 2-5) shows two motion blocks which are executed
differently. In the first case, the motion block is started and ended with the
target position 5000 and the speed 5. Afterwards the second motion job is
executed with the target position 8000 and the speed 3. The two separate
motion profiles can be distinguished clearly.
In the second example, the next motion block is already started before the
target position of the first motion block was reached. This means that, starting
with the rising edge of the Execute signal, the motion block data of the second
motion block become valid (target position, speed and acceleration ramps).
The second positioning profile differs from the first case. The end position of
the drive is the same in both cases.
15
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
MC_MoveRelative
The command MC_MoveRelative triggers a movement covering a specified
distance. The distance is entered in J11.x. The target position is calculated
from the addition of J11.x to the current actual position of the drive. The motion
profile is calculated from the parameters of the motion profile linked with the
motion block (J21.x, J22.x, J23.x). With an endless axis, the distance J11.x to
be moved may be significantly greater than the circular length I01.
Execute
Speed v
5
3
0
Act. position x
8000
5000
0
t
Figure 2-6 Timing diagram MC_MoveRelative
ID 441782.04
www.stoeber.de
In the first case of our example (figure 2-6), the motion block with the relative
target position 5000 and the speed 5 is completely finished before the second
motion job with the relative target position 3000 and the speed 3 is executed.
The two separate motion profiles can be clearly distinguished. In the second
case, the second motion block has already been started before the target
position of the first motion block was reached. The relative target position of
3000 is added to the current actual position of the drive.
In both cases, the end positions of the drive are different.
16
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
MC_MoveAdditive
The command MC_MoveAdditive triggers a movement covering a specified
distance. In contrast to the command MC_MoveRelative, the target position is
calculated from the addition of J11.x and the current reference position. In our
example (figure 2-7), the end positions of the drive are the same in both cases.
With an endless axis, the distance J11.x to be traveled may be much greater
than the circular length I01.
Execute
Speed v
5
3
0
Act. position x
8000
5000
0
Figure 2-7 Timing diagram MC_MoveAdditive
ID 441782.04
t
www.stoeber.de
Information
If, for example, a rotary attachment is to be repeatedly switched
further by 60°, the command MC_MoveRelative is unsuitable
since, at each start, the actual position may deviate from the
reference position by several increments. This error may
accumulate over time. It can be avoided by using the command
MC_MoveAdditive.
17
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
MC_MoveVelocity
The command MC_MoveVelocity has no target position (J11.x becomes
inactive in the "Posi Motion Blocks" assistant when the command is selected).
The speed and the accelerations of the linked motion profile are important.
When a second motion block is triggered with the command "endless motion"
with a different motion profile, the speed is adjusted to the specified
accelerations (see figure 2-8). To stop a movement as shown in the example, a
MC_Stop command must be issued.
MC_Stop
Execute
Speed v
5
3
0
Act. position x
5000
0
t
Figure 2-8 Timing diagram MC_MoveVelocity
MC_Stop
The command MC_Stop decelerates the speed with the specified delay ramp
of the
linked motion profile until it reaches zero. The PLCopen state machine is in the
state Stopping. The message "22:AbortedX“ appears on the display (X =
motion block number of the motion block interrupted by MC_Stop). When the
speed 0 is reached, the state machine changes to the Standstill state. Then the
command interrupted by MC_Stop can be continued with MC_Continue (only
with the commands MC_MoveAbsolute, MC_MoveRelative, MC_MoveAdditive
and MC_MoveVelocity).
ID 441782.04
www.stoeber.de
8000
18
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
During referencing, hardware limit switches do not cause faults. When a
hardware limit switch is reached, the direction of rotation is reversed and
referencing is continued. If, however, the reverse direction is disabled for an
endless axis (I04 Move direction), the drive remains stopped on the limit switch.
Parameterization of the reference mode takes place with parameters I30 to I41
in the Posi Machine assistant. To start reference mode, a motion block must be
triggered with the command MC_Home. In addition to the command and the
plain-text designation, only a chain can be entered in the motion block. The
target position J11.x is deactivated. Smoothing, motion-profile-dependent brake
control and the override function are used in the linked motion profile. The
acceleration and deceleration ramps can be entered so that the profile can be
used for other motion blocks. However, these parameters have no effect on
referencing behavior.
The next motion block cannot be started until referencing is finished or aborted.
An abortion is triggered with MC_Stop or MC_Reset.
The referenced state is signaled by I86 in reference = 1. It can be output on the
binary output or via a bus system.
When the device is turned on and off, the signal In reference is retained when
an absolute encoder is used for position control. When no absolute encoder is
used, referencing must be performed again each time axis initialization occurs.
An axis is initialized during device startup and during axis switchover.
When absolute encoders are used and devices are replaced, the In reference
signal can be transferred to the new device by replacing the Paramodule.
When motors are replaced, referencing must always be performed again.
The primary parameters for referencing will now be discussed.
CAUTION
ID 441782.04
When the event "37:n-feedback" is triggered, the In
reference signal is deleted regardless of which
encoder is being used.
Referencing must be performed again after power
OFF/ON.
In reference
www.stoeber.de
MC_Home
When the 24 V voltage is turned on, the actual position is unknown. A defined
starting location is obtained with referencing. Absolute movements can only be
executed in the referenced state.
19
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
NOTICE
ID 441782.04
If a switching point is assigned to the homing motion
block, the switching point can be processed when the
reference point is recognized and the actual position
is set to the reference position!
I30 Referencing type
I31 Referencing direction
I32 Referencing speed fast
www.stoeber.de
The parameter I30 is used to specify the required initiators or the functions for
binary inputs. There are three types of referencing: 0:reference input,
1:Encoder track 0 and 2:define home.
When the type 0:reference input is used, a sensor signal or the signal of a
controller can be used, for example, as the reference point. The interface is
selected with parameter I103. A limit switch can also be used as the reference
switch (see figure 2-9 example 4 below). In this case, the parameters I101 or
I102 and I103 must be specified to the same interface (e.g., BE1). The function
of the reference switch must be inverse to that of the limit switch (e.g., BE1inverse) since the limit switches are evaluated LOW-active.
When the type 1:Encoder track 0 is selected, after start, the first time the zero
track signal is reached is set up as the reference position. This setting can only
be used when an encoder with zero track or zero information (e.g. EnDat®, SSI,
encoder) is being used.
When the type 2:define home is selected, the current position is replaced by
the reference position when triggering is performed by the Execute signal. This
type of referencing allows a drive to also be referenced in the device states
switchon disable, ready for switchon and fault (for device states, see chap. 3.1
of the application manual). The referencing type 2:define home can also be
started during a movement. When the Execute signal is recognized, the actual
position becomes the reference position and then the drive is decelerated to a
standstill with the ramp I39 (see below).
I31 is used to specify the (search) direction when referencing is started. If the
reference switch (or limit switch) is active, the direction is reversed (cf. example
further down). The correct value for I31 can be checked, for example, by
manually positioning the axis.
Two speeds (I32 and I33) are specified so that the reference position can be
precisely approached. Referencing begins with the high speed I32. When the
reference signal is detected, the drive brakes and travels in the opposite
direction at the low speed (see figure 2-9). The use of two different speeds is
primarily an advantage for large linear axes.
When I32 or I33 are set greater than I10, the reference speeds are limited to I10.
I32 and I33 can be changed with the override function (maximum up to I10).
When only one direction of rotation is permitted in parameter I04 Move
direction with endless axes, the drive uses only the slow speed during
referencing. When the reference position is reached, the drive stops. The
direction of rotation is not reversed.
When the ref. point is detected, the actual position is set to I34 Ref. position.
I33 Referencing speed slow
I34 Reference position
20
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
When switch or sensor signals are used as the reference point of the machine,
additional precision can be obtained by using the function of parameter I35.
During this, the drive moves up to the reference switch with the fast speed.
Then the direction of rotation is reversed and the drive moves with the slow
speed. The drive stops when the next zero pulse signal is detected (see figure
2-9).
I35 is used to specify whether the zero track signal of the motor encoder or the
position encoder is used. An encoder with zero track must be provided when
this function is used.
I37=1 is used to start referencing automatically when the axis is initialized. Axis
initialization takes place in two situations.

I37 Automatic referencing
during initialization of the axis
At power on if an axis is selected (A63 and A64, no axis active via A65, see
chap. 2.2.1).
When the axes are switched.
With the referencing types 0:Reference input and 1:Encoder track 0,
referencing is started as soon as the enable is given. With type 2:Define home,
the current position is immediately accepted as the reference position.
When a valid position can be reconstructed during the initialization of the axis
(e.g., when a multi-turn absolute encoder is used), automatic referencing is not
performed.
With the setting I37=2:Reconstruct angle, the current position of the position
encoder is saved 100 msec after the device enable is removed and
reconstructed when the device
is switched off and on again. With single-turn absolute encoders (e.g.,
resolvers), the position is only reconstructed when at power-on the angle of
deviation was less than 5°. With incremental encoders, the position for
I37=2:Reconstruct angle is always reconstructed. However, it must be ensured
that the axis cannot move when the device
is off.
The ramps of referencing can be set separately. When the reference position is
detected, the drive brakes to a standstill. The distance needed for reversal or
braking is generally:
v²
With
v: speed (velocity)
Distance = ------a: acceleration (here I39).
2a
ID 441782.04
www.stoeber.de

I35 Referencing on track 0
I39 Referencing acceleration
21
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
After referencing is finished, the drive does not return to the reference position
and stops instead after the necessary braking distance I332 / (2*I39). The
override function (see chap. 3.3.3) can change the speed and thus also the
braking distance!
When I39 is set greater than I11, the reference acceleration is limited to I11.
Example 1
I30=0:Ref.input, I31=0:positive
Example 2
I30=0:Ref.input, I31=0:positive
Reference switch
Reference switch
active
Fast (I32)
Zero pulses
Incremental
encoder
Slow (I33)
Slow (I33)
Fast (I32)
Since the reference switch divides the whole
position range into two halves, no further
switches are required.
The direction defined in I31 is reversed when the
reference switch is active at the beginning!
Example 3
Example 4
I30=0:Ref.input, I31=0:positive
I30=0:Ref.input, I31=0:positive
Limit switch +
Limit switch +
Reference switch
END-
REF
v
END+
Fast (I32)
Fast (I32)
I35=0
Zero pulses
Incremental
encoder
x
I35=1
The reference switch (cam) trips only briefly. A
limit switch is used for the reversal.
Figure 2-9 Examples referencing
ID 441782.04
Zero pulses
Incremental
encoder
Instead of a reference switch, a limit switch can be
used for the reversal.  I101 = /I103
www.stoeber.de
Zero pulses
Incremental
encoder
Ref. direction
reversed
22
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
These parameters are used for the fully automatic offset of slip or an imprecise
gear ratio. After the first referencing, the actual position I80 is overwritten with
the reference position I34 every time the reference switch is passed over.
Since the distance still to be covered is corrected, even with slip-prone drives,
the axis can execute any number of relative movements in one direction
without drifting away.
I36 Continuous referencing
and I41 reference period
Information
During continuous referencing, the reference switch is always
referenced on the same side regardless of the current direction
of revolution of the drive.
The side is specified in parameter I31. The side to be used is the
side which the drive reaches first while revolving in direction I31.
In our example, side A is referenced when I31=0:positive is set.
reference switch signal
A
B
I31=0:positive
I31=1:negative
I36=1:standard is used when there is one reference switch in the entire position
range or within one circular length I01. When the reference switch is reached,
I80 is offset with the I34 reference position.
With rotary attachment applications, the circular length I01 must correspond as
precisely as possible to the distance between two reference signals. After one
belt circle is completed, for instance, the same position must be indicated
again. The actual position I80 must be checked during a rotation at
I36=0:inactive and, if necessary, I07 must be adjusted. The distance per
rotation I07 must always be rounded to higher numbers to prevent bothersome
backwards corrections. The reference switch should not be addressed during a
deceleration ramp since a negative correction would cause a backwards
movement.
When several reference switches are located along the position range, the
setting I36=2:periodic is used. The distance of the reference switches is entered
in I41 reference period. With this function, the device carries a potential
reference position which it would expect for the next reference point. When a
signal occurs at the reference point, the device compares the distance of its
own actual position with the last and the expected reference position. The
nearest position is selected as the new reference position and it becomes the
actual position of the initiator time.
I41 can be seen in the POSI Machine assistant if I36 is set to 2:periodic.
ID 441782.04
www.stoeber.de
Figure 2-10 Pages for the reference switch
23
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Information
If, during continuous, cyclic referencing, referencing is to be
performed first so that the zero point of the machine can be
specified, for example, remember that all reference switches are
connected in parallel to one binary input when continuous, cyclic
referencing is used. The signal evaluated by the inverter cannot
differentiate between the various switches. Referencing (I30 =
0:Reference switch) provides correspondingly different machine
zero points.
For this reason, referencing should only be used with referencing
type I30 = 2:Set ref.
When I01, I07, I08 or other important parameters are
changed, it is mandatory that the axis be referenced
again with every encoder system so that relevant data
can be retained consistently on the inverter and
stored safe from voltage failure.
Information
1. With slip-prone drives, the target window I22 must be larger
than the maximum mechanical inaccuracy!
2. With a multi-turn absolute encoder, referencing must usually
only be performed once during commissioning.
ID 441782.04
www.stoeber.de
CAUTION
24
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
MC_Reset
An error acknowledgment via MC_Reset in the state Errorstop causes the state
Standstill. The command MC_Reset has no effect on faults of the device. It is a
command which resets the PLCopen position control. Device faults must be
reset with the acknowledge signal (selector A61, see chap. 2.2.1; STÖBER
state machine, see
chap. 3 of application manual).
Note: A command MC_Reset resets the current reference position to the
current actual position. A running movement can be interrupted.
Activate positioning
The ActivatePosi command changes the position control from the state Passive
to the state Standstill. To bypass the command, the parameter I52 Posi auto
enable can be set to 1:active. This causes the PLCopen state machine, when
enabled, to change automatically to the state "Standstill."
The DeactivatePosi changes the position control from all PLCopen states
except Errorstop to the state Passive. Here the internal reference position is
always updated to the current actual position. The state Passive is especially
provided in case the power pack is inactive and the speed and position
controller are unable to function. The status signals of positioning control
(current MotionID, InPosition …) remain valid.
MC_Continue
Information
Please note that the MC-Continue command may not be used
simultaneously with the POSI switch function!
When a motion block with the command MC_MoveAbsolute,
MC_MoveRelative, MC_MoveAdditive or MC_MoveVelocity was interrupted by
a motion block with the command MC_Stop, the job can be continued with the
command MC_Continue. The command and, with discrete movements (MoveAbsolute, MoveRelative, MoveAdditive), the target position are used. Other
parameters such as speed, acceleration or links are used from the
MC_Continue motion block.
ID 441782.04
www.stoeber.de
Deactivate positioning
25
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Information
To be able to perform synchronous commands, there must be an
electrical coupling (via binary inputs, X120, IGB motionbus for
SDS 5000 or similar) between master and slave (see chap. 3.4).
MC_GearIn
Acceleration to master speed is performed with the specified acceleration ramp
(J22.x, J23.x). When this is accomplished, the gear is coupled in at the
currently actual position and then positioning is continued angle-synchronously
to the master.
1
2
3
1
Execute
x
t
Trigger command MC_GearIn
Trigger command MC_Stop
Trigger command MC_MoveVelocity
Master speed
Slave speed
Figure 2-11 Timing diagram command MC_GearIn
ID 441782.04
www.stoeber.de
Speed
26
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
MC_GearOut
The command MC_GearOut is used to decouple the gear out of synchronous
operation and into a continuous movement. The slave speed which was valid
last is retained. To decelerate the drive, the command MC_Stop must be used.
1
2
Execute
x
Speed
Trigger command MC_GearOut
Trigger command MC_Stop
Master speed
Slave speed
Figure 2-12 Timing diagram command MC_GearOut
ID 441782.04
www.stoeber.de
t
27
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
MC_MoveSuperimposed
When the PLCopen state Synchronized Motion is reached, a fixed reference
exists between master and slave position (phase). The phase can be changed
via MC_MoveSuperimposed. The phase change is specified in J11.x. To be
able to execute the change, the speeds of the motion profile linked with
MC_MoveSuperimposed are added to the current speed.
1
2
Execute
x
Phase
Figure 2-13 Timing diagram command MC_MoveSuperimposed
Example:
The slave couples into the master during standstill. Both are located at position
0. When a ratio of 1 is defined between master and slave, master and slave
always move to the same position. When the command
MC_MoveSuperimposed is started with a phase of 180°, the slave is located
180° in front of the master after execution of the command. (Example: Master
at 100°, slave at 280°).
A negative phase must be entered in J11.x for negative phase changes. The
sign of the speed has no effect on the phase change.
CAUTION
ID 441782.04
In coupled-in state, slave speed and slave
acceleration are no longer limited to the values in I10
and I11!
The parameter C01 n-max is the limit for the speed.
www.stoeber.de
t
Trigger command MC_GearIn
Trigger command MC_MoveSuperimposed
Master position
Slave position
28
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Jogging
WARNING
Personal injury/property damage due to sinking of the
gravity-stressed axes.
Do not use the jog/tip function for gravity-stressed axes.
Tip+ and Tip- cause continuous manual positioning in the positive or negative
direction. If both signals are active, no movement takes place. The signals
TipStep+ and TipStep- cause positioning relative to the current actual value by
the increment (step) specified in I14.
The signals Tip+ or Tip- are treated with a higher priority than the signals
TipStep+ or TipStep-. When at least one of the signals Tip+ or Tip- is active,
TipStep positioning is no longer considered. This also applies when both
signals are active and no movement occurs due to this.
A running step movement can be interrupted by MC_Stop but not by Tip+, Tip-,
TipStep+ or TipStep-.
When TipEnable becomes inactive and in case positioning is continuous
manual positioning, a stop command is sent to the positioning control. As soon
as the drive is in standstill, the signal I188 tipping active becomes inactive.
Tipping mode is deactivated.
When the drive executes a step while TipEnable is deactivated, the drive
completes the step. When the drive is at a standstill, Tip active becomes
inactive. Tipping mode is deactivated.
Continuous manual positioning or a step can be interrupted by a motion block
with the command MC_Stop. The motion profile linked with the MC_Stop
motion block is used for the deceleration ramp.
 I12 Tipping speed
 I13 Tipping acceleration
 I14 Tip step
ID 441782.04
Deactivation of "TipEnable"
Interruption of manual
positioning or a step
www.stoeber.de
Tipping mode is started by the binary signal TipEnable (selection of the signal
source in I104) and not by a motion block. If activated, the tipping block triggers
a stop command. The drive brakes until standstill and then sets the output
signal Tip active.
Then four other signals take effect: Tip+, Tip-, TipStep+ and TipStep-.
If the drive is already in standstill when TipEnable is activated, exactly one time
cycle passes before the Tip signals take effect.
29
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
31
5:Synchronized
Motion
26
24
27
23
22
29
25
3:Discrete
Motion
4:Continuous
Motion
30
28
32
16
15
6:Stopping
20
9
19
14
10
13
7:Errorstop
11
18
12
5
8
17
7
6
35
2:Standstill
34
8:Homing
4
2
3
Figure 2-14 State diagram and presentation of the transitions
ID 441782.04
1
1:Passive
33
www.stoeber.de
21
30
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Description of the transitions
Transition
Trigger
1 : Passive to Standstill
3: Standstill to Homing
MC_ActivatePositioning when the
device is enabled
 Automatic, when I52 = active and the
device is enabled
 MC_DeactivatePosi
 MC_Reset
 Enable off
MC_Home
4: Homing to Standstill
Done
5: Homing to Errorstop
Error1
6: Standstill remains
Default
 With MC_Stop, Standstill is retained
without any other state changes
Error1
7: Standstill to Errorstop
8: Errorstop to Standstill

9: Stopping to Errorstop
MC_Reset when quick halt request is no
longer queued. Otherwise, Errorstop is
retained.
Error1
10: Errorstop remains
Default
11: Stopping to Standstill
When the profile generator outputs 0 as
reference speed
 MC_MoveVelocity
 Tipping +/ MC_Continue when the command
MC_MoveVelocity was aborted with
MC_Stop before.
MC_GearIn
12: Standstill to Continuous
Motion
13: Standstill to Synchronized
Motion
1
Cause of the error condition:
 Falling edge on a hardware limit switch (except in state Homing)
 Quick stop request of device state machine
 Denied positioning jobs for the following reasons:
 Impermissible direction
 Target beyond the software stops
 Absolute positioning job in unreferenced state
 Circular axis-absolute target position greater than circular length
ID 441782.04
www.stoeber.de
2: Standstill to Passive

31
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Transition
Trigger
14: Continuous Motion to
Errorstop
15: Continuous Motion to
Stopping
16: Stopping remains
Error1
17: Discrete Motion to Standstill
18: Standstill to Discrete Motion
MC_Stop
Tipping is activated
As long as the profile generator outputs a
reference speed other than 0.
Done


19: Homing to Stopping
MC_MoveAbsolute
 MC_MoveRelative
 MC_MoveAdditive
 TipStep
 MC_Continue if MC_MoveAbsolute,
MC_MoveRelative or
MC_MoveAdditive was aborted by
MC_Stop before.
MC_Stop
20: Discrete Motion to Errorstop
Error1
21: Discrete Motion to Stopping
MC_Stop
Tipping is activated
 As long as the movement is running
 MC_MoveAbsolute
 MC_MoveRelative
 MC_MoveAdditive
 MC_MoveAbsolute
 MC_MoveRelative
 MC_MoveAdditive
MC_GearIn


22: Discrete Motion remains
23: Synchronized Motion to
Discrete Motion
24: Discrete Motion to
Synchronized Motion
25: Continuous Motion remains
26: Continuous Motion to
Synchronized Motion
1
As long as no new command is executed,
no quick stop request arrives and no
software stops are reached.
MC_GearIn
Cause of the error condition:
Falling edge on a hardware limit switch (except in state Homing)
 Quick stop request of device state machine
 Denied positioning jobs for the following reasons:
 Impermissible direction
 Target beyond the software stops
 Absolute positioning job in unreferenced state
 Circular axis-absolute target position greater than circular length

ID 441782.04
www.stoeber.de

32
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Transition
Trigger
27: Synchronized Motion to
Continuous Motion
28: Discrete Motion to
Continuous Motion
29: Continuous Motion to
Discrete Motion
MC_MoveVelocity
 MC_GearOut
MC_MoveVelocity
32: Synchronized Motion to
Errorstop
33: From all states except
Errorstop to Passive
34: To the state Homing from the
states Continuous Motion,
Discrete Motion and
Synchronized Motion
35: Continuous Motion to
Standstill
1
MC_MoveAbsolute
MC_MoveRelative
 MC_MoveAdditive
 MC_Stop
 Tipping is activated
As long as no other command than
MC_GearIn or MC_MoveSuperimposed is
executed, no quick stop request arrives
and no software stops are reached
Error1


MC_Reset
MC_Home
SW stops are reached
Cause of the error condition:
Falling edge on a hardware limit switch (except in state Homing)
 Quick stop request of device state machine
 Denied positioning jobs for the following reasons:
 Impermissible direction
 Target beyond the software stops
 Absolute positioning job in unreferenced state
 Circular axis-absolute target position greater than circular length

ID 441782.04
www.stoeber.de
30: Synchronized Motion to
Stopping
31: Synchronized Motion remains

33
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
2.2 Interface
2.2.1 Input Signals
This chapter discusses the control signals.
The following table lists the available bit signals. The Selector in which the
interface is set is specified (binary signal on the terminals or fieldbus).
The column labeled Image on Fieldbus lists the parameter for fieldbus access
via a high-speed process data channel and the bit allocated to the signal.
In total, the control words A180, I220 and I221 as well as the reference value
selector J00 are available. To be able to obtain the signals via these
parameters, 2:Parameter must be set in the selector.
The parameters entered in the column labeled "Indication Parameter" can be
used to poll the state of the input signal.
The last column specifies chapters of this description which will give you more
details.
The control signals are parameterized in the Posi Motion Blocks assistant
(except for "axis disable," selector A65).
A60
A180 Bit 0
A300
-
Fault reset
Acknowledgment of faults of the device state
machine.
A61
A180 Bit 1
A301
-
Quick stop
Brakes the motor on the ramp in I17.
A62
A180 Bit 2
A302
-
A63
A180 Bit 3
A303
-
A64
A180 Bit 4
A304
-
A65
A180 Bit 5
A305
-
Axis selector 0, Axis selector 1
With multiple-axis operation, selects the
active axis;
0:axis 1
2:axis 3
1:axis 2
3:axis 4
Axis disable
All axes deactivated. No motor on.
Parameter can only be set in the parameter
list.
ID 441782.04
www.stoeber.de
Image on
Fieldbus
(Bit)
Additional enable
Additional enable
Signal,
Function
Chap.
Selector
Indication
Parameter
Bit signals
34
02
Function Description
Motion Block Positioning
Image on
Fieldbus
(Bit)
Brake release
Addresses the relay of X2 under all
F100
A180 Bit 6
-
-
Toggle Bit
Handshake bit of process image refreshment
-
A180 Bit 7
-
2.5
Execute
With a rising edge, the motion block which is
selected by the reference value selectors is
started.
I100
I220 Bit 0
I300
2.1
/Hardware-Limit-Switch+
Hardware limit switch, limit in positive
direction of rotation. LOW-active! When the
direction of counting is changed by a
negative value in I07 (distance per encoder
revolution), the hardware limit switches must
be reversed!
I101
I220 Bit 1
I301
2.2.2
/Hardware-Limit-SwitchI102
Hardware limit switch, negative end of range.
I220 Bit 2
I302
2.2.2
Reference input
Reference switch; the real ref. positioning is
started with the command MC_Home in the
command word.
I103
I220 Bit 3
I303
1.1
Tip enable
Activates tipping mode.
I104
I220 Bit 4
I304
1.1
Tip+
Tip mode in positive direction with the speed
I12 and acceleration I13.
I105
I220 Bit 5
I305
1.1
TipTip mode in negative direction.
I106
I220 Bit 6
I306
1.1
TipStep+
TipStep mode in positive direction: With
rising edge, the axis moves along the path
I14 in positive direction (speed I12,
acceleration I13).
I107
I220 Bit 7
I307
1.1
TipStepTipStep mode in negative direction.
I108
I220 Bit 8
I308
1.1
ID 441782.04
www.stoeber.de
Signal,
Function
Chap.
Selector
Indication
Parameter
STÖBER ANTRIEBSTECHNIK
35
02
Function Description
Motion Block Positioning
I220 Bit 9
I309
2.3.1
Posi.Latch Execute
With the behavior set in I75, the current value
I110
of the position encoder I02 is acquired and
written to I191.
I220 Bit 10 I310
2.3.1
Posi.Switching Point Reset
Reset the switching points.
I111
I220 Bit 11 I311
2.3.1
I112
I220 Bit 12 I312
2.1
I113
I220 Bit 13 I313
2.1
I114
I220 Bit 14 I314
2.3.1
I115
I221 Bit 0
I315
2.1
I116
I221 Bit 1
I316
2.1
I117
I221 Bit 2
I317
2.1
I118
J00 Bit 0
I318
2.1
I119
J00 Bit 1
I319
2.1
I120
J00 Bit 2
I320
2.1
I121
J00 Bit 3
I321
2.1
I122
J00 Bit 4
I322
2.1
I123
J00 Bit 5
I323
2.1
I124
J00 Bit 6
I324
2.1
I125
J00 Bit 7
I325
2.1
-
J00 Bit 8
bis Bit 15
-
2.1
Next.Step1, Next.Step2
The NextStep signals are used for eventcontrolled chaining of motion blocks.
Teach-In
With the rising edge, the current position is
stored non-volatilely (on Paramodule).
BlockStart1, BlockStart2, BlockStart3
The signals BlockStart1 to BlockStart3 are
used to start a certain motion block
regardless of the current value of the
reference value selector.
RV-Select 0 to RV-Select 7,
RV-Select 8 to RV-Select 15
The signals RV-Select 0 to RV-Select 15 are
used for the binary-coded selection of a
motion block.
RV-Select 8 to RV-Select 15 can only be
accessed via J00.
ID 441782.04
www.stoeber.de
Posi.Latch Reset
Change from LOW  HIGH sets Posi.Latch
Status I190=0 which activates the function
Chap.
Image on
Fieldbus
(Bit)
I109
Signal,
Function
Indication
Parameter
Selector
STÖBER ANTRIEBSTECHNIK
36
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Information
1. When connected to binary inputs BE1 to BE5, the rising edge
is acquired by the hardware with microsecond precision and the
delay until the terminal is polled is offset automatically by the
software. This capability is required for precise referencing or for
very time-critical positioning jobs.
2. During operation with multiple axes, the control parameters
only exist once as global parameters.
Analog inputs
I230
I330
2.3.3
M-Max
Torque limit
C130
C230
C330
-
Gear ratio offset
Sets an offset for the gear ratio during
master-slave operation.
G130
G230
G330
2.4
External speed feed forward
Specification of the forward feed for
synchronous functionality via an external
G131
G231
G331
2.4
ID 441782.04
www.stoeber.de
I130
Chap.
Indication
Parameter
Override
Speed override
Signal
Function
Selector
Image on
Fieldbus
In addition to the binary input signals, the following analog signals are
available.
 Override
 M-Max
 Gear ratio offset
 External speed feed forward
These are addressed via the following parameters:
37
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
The following screen shows the analog signal sources page of the Posi Motion
Blocks assistant.
Figure 2-15 Parameterization of the analog signal sources
Information
G130 is only visible on this page when a master encoder was set
in G27. The external speed forward feed is activated and set in
the Electronic Gearbox assistant.
ID 441782.04
www.stoeber.de
Activating the parameters C130, I130 or G130 at the top of the page causes
the signal path to be indicated at the bottom for parameterization.
38
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
2.2.2 Output Signals
This section discusses the status signals.
The following table lists the primary binary output signals. The binary status
signals are summarized in status words E200, I200 and I201 (column labeled
Image on Fieldbus). They are also provided as single parameters which can be
used as the signal source for binary outputs. To indicate a binary status signal
on a binary output, the appropriate single parameter must be entered in the
selector of the binary output. The parameters F61 to F70 are available as
selectors (depending on which option board is used).
The last column specifies where additional information can be found
Enabled
Drive enabled
E200 Bit 0
-
-
Fault
Device error
E200 Bit 1
-
-
Quick stop
Quick stop is queued/is being executed.
E200 Bit 2
-
-
E200 Bit 3
-
-
E200 Bit 4
-
-
Axis-running
An axis is active.
E200 Bit 5
-
-
Local mode
Local mode is activated.
E200 Bit 6
-
-
Toggle bit
Handshake bit
E200 Bit 7
-
2.5
Limit switch
Group message: One of the hardware limit
switches or a software stop in manual mode.
I200 Bit 0
-
2.2
Denied
Group message: Not referenced, software stop,
disabled direction of rotation. (Error code I90 is
between 1 and 4).
I200 Bit 1
-
-
Axis selector bit 0, Axis selector bit 1
Axis indication of the selected axis;
0:axis 1
2:axis 3
1:axis 2
3:axis 4
ID 441782.04
www.stoeber.de
Chapter
Individual
Parameter
Signal
Function
Image on
Fieldbus
(Bit)
Bit signals
39
02
Function Description
Motion Block Positioning
Chapter
-
-
Aborted
Collective declaration: MC_Stop, enable off, quick I200 Bit 3
stop.
I182
-
Constant velocity
The ramp generator specifies constant speed.
I200 Bit 4
I183
-
In position
Position (ref. value) reached.
I200 Bit 5
I85
-
In reference
Axis is being referenced.
I200 Bit 6
I86
1.1
Standstill
PLCopen state Standstill.
I200 Bit 7
-
1.1
Tip / local mode
Tipp- oder Lokalbetrieb ist aktiv.
I200 Bit 8
I188
1.1 /
2.2.6
I200 Bit 11
I190
2.3.1
I200 Bit 12
I190
2.3.1
I200 Bit 13
-
2.5.1
I200 Bit 14
-
2.5.1
I200 Bit 15
-
2.5.1
Done
I201 Bit 4
Command executed successfully (after PLCopen).
I189
-
Position window reached
Actual position is located in the position window.
I201 Bit 5
I180
-
Accelerating
Drive is accelerating.
I201 Bit 6
I184
-
Decelerating
Drive is decelerating.
I201 Bit 7
I185
-
Cam 1
Indication of cam 1.
I196.0 Bit 0
I200 Bit 9
I196.1
2.3.1
I87
Cam 2
Indication of cam 2.
I196.0 Bit 1
I196.2 2.3.1
Cam 3
Indication of cam 3.
I196.0 Bit 2
I196.3 2.3.1
Latch status Bit0, Latch status Bit1
Indication of Posi.Latch status (binary-coded by
bit 0 and bit 1).
Motion ID bit 0, Motion ID bit 1, Motion ID bit 2
ID of the current motion job
ID 441782.04
I200 Bit 2
www.stoeber.de
Limit
Group message: M-limit, following error, torque
limitation due to i²t.
Individual
Parameter
Signal
Function
Image on
Fieldbus
(Bit)
STÖBER ANTRIEBSTECHNIK
40
02
Function Description
Motion Block Positioning
RV-acknowledge 0 bis RV-acknowledge 7
RV-acknowledge 8 bis RV-acknowledge 15
Indication of the selected or active motion block
based on the signal state of Execute.
The signals RV fault reset 8 to RV fault reset 15
can only be polled via I204, bit 8 to bit 15.
N09.0 Bit 0
I200 Bit 10
N09.1 2.3.1
N09.0 Bit 1
N09.2 2.3.1
N09.0 Bit 2
N09.3 2.3.1
N09.0 Bit 3
N09.4 2.3.1
N09.0 Bit 4
N09.5 2.3.1
N09.0 Bit 5
N09.6 2.3.1
N09.0 Bit 6
N09.7 2.3.1
N09.0 Bit 7
N09.8 2.3.1
I204 Bit 0
I195.0 2.5.1
I204 Bit 1
I195.1 2.5.1
I204 Bit 2
I195.2 2.5.1
I204 Bit 3
I195.3 2.5.1
I204 Bit 4
I195.4 2.5.1
I204 Bit 5
I195.5 2.5.1
I204 Bit 6
I195.6 2.5.1
I204 Bit 7
I195.7 2.5.1
I204 Bit 8
bis
I204 Bit 15
-
2.5.1
Information
The bit patterns N09.0 and I196.0 are available based on the
axis. These bit patterns must be polled separately for each axis
when polling is done via a process data channel and fieldbus
connection!
ID 441782.04
www.stoeber.de
Switch memory 0 to Switch memory 7
Chapter
Signal
Function
Individual
Parameter
Image on
Fieldbus
(Bit)
STÖBER ANTRIEBSTECHNIK
41
02
Function Description
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Binary and analog outputs in the Posi Motion Blocks assistant
The Posi Motion Blocks assistant can be used to parameterize binary and
analog status signals for output on various terminals. Parameters F61 to F70
are available for the binary outputs on the Binary Outputs page depending on
which option board is used. For each selection, binary parameters can be
selected from an appropriate list. The entry of each binary parameter in F61 to
F70 is always possible.
The appropriate settings for an analog signal can be made in parameters F40
and F50 on the Analog Outputs page. Every parameter of data type I16 can be
entered here. The signal can be precisely scaled with the display fields on this
page (see figure).
2.2.3 Process Data Image
The following table summarizes the primary parameters for fieldbus operation.
The parameters can be accessed via the high-speed process data channel.
Parameter
Length
Meaning
[Byte]
E02
2
Motor torque
(bipolar)
E19
2
Binary inputs
incl. enable
E100
2
Motor speed
in 2-byte format relative to C01 n-max (16384=100 %).
E101
1
Inverter current
(amount) in % of the nominal inverter current.
E200
1
Device Status Byte
counterpart to DeviceControlByte A180.
1
BE Byte
BE1-BE8 as bit pattern for space-saving transmission on
process data channel
F200
ID 441782.04
The primary parameters for
the process data image
www.stoeber.de
Figure 2-16 Parameterization of the analog outputs
42
02
Function Description
Motion Block Positioning
Parameter
Length
Meaning
[Byte]
I82
2
Active Motion ID
indication of the active motion block.
I196.0
1
Electrical cam
bit pattern for indicating the cam status.
2
Posi status word
in addition to the bit signals listed in chapter 2.2.2, this
word contains the status of the Posi.Latch function and
the ID of the last motion block (MotionID).
1
Motion status byte
in addition to the bit signals listed in chapter 2.2.2, this
byte contains the status of positioning control (as per
I89).
4
Actual position
in user units; (counterpart to reference value position
I213).
2
RV fault reset
indication of the selected or the current motion block
based on the signal status of Execute.
J00
2
Ref. val. selector
for the selection of a motion block; the maximum number
of 16,000 motion blocks can be addressed via J00.
N09.0
1
Switch memory
status indication of the switch memory.
I200
I201
I203
I204
Information
The bit patterns N09.0 and I196.0 are available based on the
axis. These bit patterns must be polled separately for each axis
when polling is done via a process data channel and fieldbus
connection!
ID 441782.04
www.stoeber.de
STÖBER ANTRIEBSTECHNIK
43
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
3
Details
3.1
Motion Blocks
3.1.1
Start the motion blocks
There are several ways to start motion blocks:
1. Reference value selectors
2. Chaining
3. BlockStart signals
Reference value selectors can be used to select motion blocks, binary-coded,
in any order. The function is provided via binary inputs and the parameter J00.
The source is selected in parameters I118 to I125. Here you can select which
binary input to use or whether J00 is to be used. When I118 to I125 are all set
to 2:Parameter, J00 provides the motion block to be started. 256 motion blocks
are available via binary inputs. With J00 many more motion blocks can be
selected.
A motion block selected via reference value selectors is started with the
Execute signal (selector I100).
Chaining
With chaining, motion blocks are linked by a condition for further switching.
Which motion block is to be chained must be specified in J15.x. The type of
chaining is defined in J14.x. The following possibilities are available.
 NextStep1
 NextStep2
 Mit Pause
 NoStop
 Comparator
The NextStep signals can be used to switch into the chained motion block
during a motion block. A link with NextStep1 can be triggered with NextStep2
and vice versa. The signal sources for NextStep1 and NextStep2 are selected
in parameters I112 and I113.
When With delay is selected, the user defines a time period in parameter J16.x.
When the motion block is concluded, this time period is waited before the next
motion block starts.
The selection No Stop permits a switch without interruption after the current
motion block is concluded. With No Stop chaining, the target position is
appropriated at full speed. Adjustment to the next target position and speed is
not possible until the next switch in the chained motion block.
ID 441782.04
www.stoeber.de
Reference value selectors
44
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
With the commands MC_GearIn and MC_MoveVelocity, chains with With
Delay and No Stop occur when the command has been executed. The
MC_GearIn command is executed when a coupling to the master has taken
place. MC_MoveVelocity is finished when the specified speed was reached.
Comparator
Figure 3.1 Presentation of the comparator parameterization
To start the first motion block of a chain, the Execute signal and the selection
via reference value selectors or a BlockStart signal can be used (see next
section).
ID 441782.04
www.stoeber.de
The comparator is used to switch motion blocks. During this, the status of an
I16 parameter is checked with respect to a certain range. The I16 parameter is
entered in C41. If the value is between the limits C45 and C46, no further
switching takes place in the motion block. When this range is exited, the drive
changes to the chained motion block. The monitored range can be selected
symmetrically to 0 (C44=1:Absolute, i.e., the amount is generated from the
value to be monitored) or asymmetrically (C44=0:Range, see figure 3-1).
Parameter C42 can be used to scale the value to be monitored. Parameter C43
is used for smoothing. In online mode, the parameters C49, C48 as well as the
parameter entered in C41 are also indicated (see figure 3-1).
45
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
BlockStart
The BlockStart signals are available for intervening in a chain or interrupting
running motion blocks due to higher-priority events. There are three BlockStart
signals. A motion block can assigned to each of the signals. With a rising edge,
the assigned motion block is executed. When signals occur at the same time
as the Execute signal, the following priorities apply.
1. BlockStart1
2. BlockStart2
3. Execute
4. BlockStart3
Parameters I115 to I117 are available for the selection of the signal sources for
the BlockStart signals. The motion blocks are assigned in J01 to J03.
3.1.2
End of command
The Done signal tells you whether a command has been processed or not. You
can read the Done signal in parameter I189 or I201 Bit 4.
MC_MoveAbsolute
MC_MoveRelative
MC_MoveAdditive
MC_Continue
Condition for
I189 = 0:inactive
The Done signal becomes 0:inactive as
soon as you start the command with a
rising edge of the Execute signal. If the
Done signal was already 0:inactive, this
state does not change.
MC_MoveVelocity
The Done signal becomes 0:inactive as
soon as you start the command with a
rising edge of the Execute signal. If the
Done signal was already 0:inactive, this
state does not change.
MC_Stop
The Done signal becomes 0:inactive as
soon as you start the command with a
rising edge of the Execute signal. If the
Done signal was already 0:inactive, this
state does not change.
ID 441782.04
I189 = 1:active
The command is finished when the
motion profile has been covered and
the difference between reference and
actual position is less than the position
window. Internal state changes can
delay the change of the Done signal to
1:active by up to 3 cycles (A150). Once
the signal is 1:active, a departure from
the position window can also not cause
the signal to become 0:inactive again.
The command is finished when the
profile generator has reached the
reference speed. Internal state changes
can delay the change of the Done
signal to 1:active by up to 3 cycles
(A150).
The command is finished when the
profile generator has reached the
reference speed 0. Internal state
changes can delay the change of the
Done signal to 1:active by one cycle
(A150).
www.stoeber.de
Command
46
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
MC_Home
MC_Reset
AktivierePosi
DeaktivierePosi
MC_GearIn
MC_GearOut
MC_MoveSuperimposed
ID 441782.04
Condition for
I189 = 0:inactive
The Done signal becomes 0:inactive as
soon as you start the command with a
rising edge of the Execute signal. If the
Done signal was already 0:inactive, this
state does not change.
The Done signal becomes 0:inactive as
soon as you start the command with a
rising edge of the Execute signal. If the
Done signal was already 0:inactive, this
state does not change.
—
—
The Done signal becomes 0:inactive as
soon as you start the command with a
rising edge of the Execute signal. If the
Done signal was already 0:inactive, this
state does not change.
—
The Done signal becomes 0:inactive as
soon as you start the command with a
rising edge of the Execute signal. If the
Done signal was already 0:inactive, this
state does not change.
I189 = 1:active
The command is finished when the
referencing procedure is concluded and
the drive has come to a standstill after
the reference positioning. With the "set
reference" type of reference positioning,
the Done signal becomes 1:active
again 6 cycles (A150) after the rising
edge of the Execute signal.
—
The Done signal becomes 1:active as
soon as you start the command with a
rising edge of the Execute signal. If the
Done signal was already 1:active, this
state does not change.
—
The Done signal becomes 1:active
when the profile generator reaches the
master speed. This state is also
indicated by I192 Bit 1.
The Done signal becomes 1:active as
soon as you start the command with a
rising edge of the Execute signal. If the
Done signal was already 1:active, this
state does not change.
The command is finished when the
higher-level motion profile was covered.
Internal state changes can delay the
change of the Done signal to 1:active
by up to 3 cycles (A150).
www.stoeber.de
Command
47
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
3.2
General Functions
3.2.1
Software Stops
NOTICE
ID 441782.04
Since parameters I10 and I17 do not function as limits
during synchronous operation, the slave speed may
be substantially faster than I10. If, in this case, a
software limit switch is approached, correct target
deceleration is impossible.
For this reason, I10 and I17 should be adjusted to the
master speed and master acceleration.
www.stoeber.de
Software stops are used to protect the system. They are usually placed just in
front of the hardware limit switches.
Software stops are only available for applications with restricted axes. To be
able to use them, the drive must be referenced. The software stops are
activated by setting different values in parameters I50 and I51.
Motion jobs with targets behind the software stops are rejected. With position
endless, and tipping mode, braking is done with the quick stop ramp (I17)
before the software stop and the axis comes to a standstill on the software
stop.
48
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
3.2.2
Hardware Limit Switches
The hardware limit switches are available in applications with limited and
endless position range. They trigger a fault in the standard (except in the state
Homing). This is the application event 1 (ext. event1) Limit Switch0. The fault
must be acknowledged.
The source of the limit switch signals is specified in I101 and I102. The event
can be deactivated, set to message or warning in parameter U110.
When the HW limit switches represent actual
mechanical limits of a system and evaluation is
performed by the inverter, do not change the
parameterization!
If you deactivate the event or set message or warning, the
drive will not be stopped when it reaches the limit
switches.
After acknowledgment, positioning can be done in tipping mode (Tip Enable) or
local mode from the limit switch in the opposite direction. This can also be
accomplished in positioning mode with a command in the opposite direction.
The direction beyond the hardware limit switch is disabled until the limit switch
is enabled.
WARNING
When the limit switch is reached in tipping or local
mode, the drive must come to a standstill before the
limit switch is left. When the hardware limit switch is
left before the drive has braked, the drive accelerates
again in tipping or local mode.
In this case, limit switch signals may occur due to flat
deceleration ramps in tipping or local mode or may only
be queued briefly.
WARNING
Test the limit switches before commissioning! To
prevent damage, disconnect the connection between
motor and load!
Test to determine whether
- the limit switch signals are correctly evaluated
- the limit switches were connected logically correctly (HW
limit switch+ to the positive range limit, HW limit switch- to
the negative range limit).
ID 441782.04
www.stoeber.de
WARNING
49
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Information
Hardware limit switches are evaluated LOW-active!
3.2.3
Following Error
The distance between the position generated by the position controller and the
current actual position is called the following error. During synchronous
operation, the following error is the synchronous deviation between master and
slave. The current following error is indicated in I84.
When the following distance increases to more than the value in parameter I21,
application event 0 is triggered.
In the standard, this event is parameterized as a fault. This can be changed via
the event system to a message or a warning (parameter U100).
In addition, the parameter I187 can be scanned to determine whether a
following error has occurred. When scanning is performed via fieldbus, bit 2 is
available in parameter I200 as a group message (message that following error,
torque limit and T-limit i²t have been reached).
Speed Controller
To minimize the following error (difference between reference position and
actual position), the application uses speed feed forward. The maximum
permissible following deviation specified in I21 is continuously monitored. The
position controller runs continuously during the entire movement.
The gain of the position controller I20 (i.e., the "rigidity" of the position
controller) is called the Kv-factor.
Parameter J25.x (smoothing) can be used to parameterize relimited positioning
profiles or prevent high-frequency excitation due to a low pass. The time
constant J25 corresponds to a low pass limit frequency of fg=2/J25. The
currently valid ramp smoothing can be checked in I16.
The speed and position control circuit must be adjusted for optimal function to
the mechanical conditions.
It can always be said that, with unstable control, the gain (C31, I20) should be
reduced or the integral time (C32) should be increased.
To optimize system dynamics, the forward feed I25 should be adjusted to the
mechanical conditions. With a forward feed of 80 %, overswinging in the target
position is quite moderate or non-existent. With 100 % speed forward feed, the
drive always overswings over the target position. An external forward feed
exists for the synchronous functions (see chapter 3.4.3).
ID 441782.04
www.stoeber.de
3.2.4
50
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
3.2.5
Quick Stop Behavior
When the 24 V power supply is disconnected by the inverter due to an
emergency off, the current position is lost – when no absolute value encoder is
being used. Referencing must be performed again after the power is turned on.
A movement which is interrupted by the removal of the enable or by the
request for a quick stop can only (even when the electronics have power) be
finished after another enable by an absolute positioning to the intended
position. The remaining positioning distance is not stored in such cases.
When a quick stop is triggered by the source selected in A62, the positioning
controller assumes the state Errorstop. This state can be acknowledged with
an MC_Reset.
Additional relevant parameters for quick stop: A29, A44 and A45.
Local Mode
The motion block positioning application offers the following functions via the
operator panel:
 Error acknowledgment with the ESC key.
 Parameter entry
 Local mode with the
key.
Similarly, the current reference position is adjusted to the actual position at the
end of manual positioning.
To access local mode, press the
key. The following functions can then be
implemented on the keyboard.
 The controller enable is given and withdrawn with the I/O key.
 The motor halts when the ESC key is pressed.
The
keys are used to move at the speed specified in I12 as long as the
key is pressed. The value specified in I13 is the acceleration and deceleration
ramp.
WARNING
ID 441782.04
If the device remains in the device state switchon
disable since the state is reached with the given
enable (for bus operation enable and additional
enable) and then a change is made to local operation,
the inverter is enabled when local operation is exited!
This may cause the drive to move. For this reason,
deactivate the device enable during local operation!
www.stoeber.de
3.2.6
51
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
3.2.7
Setting the Reference System with I07 / I08
The mechanical reference system is set in parameters I07 and I08. The
distance covered by the system per encoder rotation is entered in the ratio
I07I08. The ratio always refers to the encoder parameterized in I02. The
encoder set in I02 is used for the position control. The encoder mounted on the
motor axis or an external measuring system mounted on the system can be
used for position control.
When an external measuring system is used, an encoder mounted directly on
the motor must be used in addition to obtain optimum speed control. An
external measuring system must supply at least 30 measuring increments per
motor revolution.
A change of the values in I07 and I08 also causes
changes in other position values (e.g., J11.x).
For this reason, the Posi Machine assistant must be
processed and concluded before the Posi Motion Blocks
assistant is processed. In addition, when changes occur
in I07 and I08, the drive must be referenced again.
The following sections present three examples of setting the mechanical
reference system when the motor encoder is used for position control. The
motor encoder is entered in B26 for our examples. The setting in I02 is
0:Motorencoder.
Example 1:
A rotary attachment is to be positioned endlessly and without drift in 60°
increments. A STÖBER K302 0170 with i=16.939393... is used as the gear.
The exact ratio is i=3354/198.
Figure 3.2 Ratio example 1
Solution:
The rotary attachment turns by precisely 360°·198 / 3354 per encoder rotation.
This means: I07=71280 and I08=3354. The distance is programmed in degrees
(I213=60°). The circular length (circular axis application) I01 is 360°.
ID 441782.04
www.stoeber.de
NOTICE
52
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Example 2:
A toothed belt drive is to transport clay jugs endlessly and without drift in fixed
increments (41 catches per circular length). The toothed disk has 23 teeth and
the belt has 917 teeth. Gear K302 0170 with i=16.939393... (as in example 1).
41 catches
23 teeth
917 teeth
Figure 3.3 Ration example 2
www.stoeber.de
Solution:
1/41 of the circular length is selected as the unit of distance for a precise
solution (circular axis application). A unit of distance I09=“Clay jug”
corresponds to the forward feed by exactly one catch. The belt drive turns by
exactly 198 / 3354 · 23 · 41 / 917 units of distance per encoder rotation. This
means: I07=198 * 23 * 41=186714 and I08=3354 * 917=3075618. The distance
is programmed in units of distance I09="Clay jug"=1/41 of the circular length.
The circular length I01 is 41 units.
ID 441782.04
53
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Example 3:
Slip-prone belt drive is to move in fixed increments endlessly and without drift.
Precisely 41 catches are distributed over a circular length of 4 m.
41 catches
Ref. switch
Figure 3.4 Example 3
NOTICE
ID 441782.04
The path to be traveled multiplied by the number of
catches (41) must exactly equal the circular length
I01. Otherwise the drive will also drift away even with
continuous referencing
For this reason, when necessary I01 and I07 must be
adjusted accordingly. The reference switch should be
located between two catches. Important: When
continuous referencing I36=1 is used, I07 must always be
rounded to the next larger number.
www.stoeber.de
Solution:
The distance per encoder rotation is l=2R / i=37.09 mm. This means:
I07=37.09 mm/U (I08=1). Drifting away is prevented by continuous referencing
(I36=1).
54
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Use of an external encoder
The diagram below shows the setup of positioning via an "external" measuring
system not mounted on the motor.
R
M
Figure 3.5 Example 4
The following interfaces are available on inverters of the 5th generation of
STÖBER inverters for the use of the external encoder:
Terminal
Remarks
Required Option
X4
HTL and TTL incremental encoder, SSI
encoder, EnDat® 2.1
—
X101.14/15
HTL incremental encoder,
stepper motor controller
SEA 5001, REA 5000
XEA 5001
X101.14/15 TTL incremental encoder
X140
Resolver
TTL incremental encoder, SSI encoder,
X120
stepper motor controller
REA 5000
REA 5000
X120
REA 5000
TTL incremental encoder
XEA 5001
FDS 5000
Terminal
Remarks
X4
HTL and TTL incremental encoder
X101.14/15 HTL incremental encoder, stepper motor
SDS 5000
Terminal
Remarks
Required Option
X4
HTL and TTL incremental encoder, SSI
encoder, EnDat® 2.2
—
X101.14/15
HTL incremental encoder,
stepper motor controller
SEA 5001, REA 5000
XEA 5001
X101.14/15 TTL incremental encoder
X140
Resolver
TTL incremental encoder, SSI encoder,
X120
stepper motor controller
REA 5000
REA 5000
X120
REA 5000
ID 441782.04
TTL incremental encoder
XEA 5001
www.stoeber.de
MDS 5000
55
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
The following examples illustrate the parameterization for an external
measuring system at the MDS 5000 inverter. The encoder mounted on the
motor is specified in B26. The examples assume that an EnDat® encoder is
mounted on the motor. The encoder is connected to terminal X4.
Example 4
A rotary attachment with a 360° angle of rotation is directly coupled with an
impulse encoder with 1024 impulses per rotation. The encoder is connected on
option board SEA 5001 as BE encoder (X101 14/15). The following settings
must be made:
I02
= 1:BE encoder
H40
= 1:Encoder In
H41
= 1024 I/U
I09
=°
I07
= 360
I08
=1r
The encoder from our example 4 can also be connected via an XEA 5001
(terminal X120). This requires the following parameterization.
I02
= 4:X120 encoder
H120 = 4:encoder In
H121 = 1024 I/r
I07 / I08 / I09 same as above
Example 6
A conveyor belt with a drive roller of Ø100 mm is combined with an pulse
encoder (1024 pulses per revolution) mounted on the drive roller.
I02
= 1:BE encoder
H40
= 1:encoder In
H41
= 1024 I/r
I07
= 314 (100 mm * ) Forward feed per roller revolution
I08
=1r
I09
= mm
Example 7
A linear axis with position encoder, 100 impulses per 1 mm.
I02
= 1:BE encoder
I07 = 1
H40
= 2:encoder In
I08 = 1 r
H41
= 100 I/r
I09 =
mm
To obtain an optimal speed forward feed for position control via external
encoder, the ratio of motor speed to encoder speed must be entered in I26. I26
has no effect on the accuracy of positioning. However, speed forward feed is
decisive for system dynamics.
ID 441782.04
www.stoeber.de
Example 5
56
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Special features of SSI encoders (only MDS 5000 and SDS 5000)
The SSI encoder is connected via
 the interface X4 on the MDS 5000 or SDS 5000 (H00=65:SSI master)
or
 X120 of the XEA 5001 (H120=67:SSI master).
At a resolution of 24 or 25 bits (see H10), one revolution is indicated with 12 or
13 bits (i.e., one revolution is divided into 4096 or 8192 positions). Starting with
software version V 5.3, single-turn encoders can also be evaluated (13 bits).
See also parameter H130.
Make sure that the coding is set correctly (gray or binary) in H62.
3.3
Extra Functions
3.3.1
Indicate or Measure Position or Area
The Posi.Latch function lets you measure a position or the difference between
signal edges in relation to the encoder specified in I02. An external signal is
usually used to trigger this. When the storage procedure is triggered via BE1 to
5, a processor runtime offset is made with the time stamp function of the binary
inputs.
The following parameters specify the behavior:
Parameter
Description
I75 Posi.Latch
Mode
Specifies whether a position or a length measurement
(difference between two positions) occurs and which edge of
the Execute signal (selector I110) will be used.
I109 Posi.Latch
Reset
Signal source (BE, bus) for the reset signal (activates the
function and resets the measurement, selector I109).
I110 Posi.Latch
Execute
Signal source (BE, bus) for the edge of latch storage.
I190 Posi.Latch
Status
Indication:
 0: Signals readiness to accept
 1: First detected edge for Latch Execute; position
measurement finished or length measurement started.
 2: Second detected edge for Latch Execute; length
measurement finished.
The status of the latch also becomes accessible in parameter
I200 Bit 11 and Bit 12 via fieldbus.
ID 441782.04
www.stoeber.de
Posi.Latch
57
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Parameter
Description
I191 Posi.Latch
Position
Indication: The position or length stored via Latch Execute.
Indicates the starting position of the measurement with length
measurement after the first edge of Posi.Latch Execute.
Teach-In
The teach-in function permits the storage of different positions in array parameter J11.x. With this, a position is approached, for example, in tip or local
mode. When a high signal is triggered at the signal source defined in I114, the
current actual position is stored in array J11 (in Paramodule, safe from power
failures). The target parameter in array J11 is specified by the reference value
selectors.
Example:
The drive is located at position 10.0°. BE2 is set in I114 as the signal source.
Motion block 5 is selected via the reference value selectors. With a rising edge
on BE2, the position 10.0° is written to J11.5.
Electrical cam
Three cams are available for motion block positioning. They can only function
correctly when they are in the referenced state. The electrical cam is a statecontrolled signal (i.e., as long as the current position is located between the
beginning and end of the cam, the applicable output signal is active). When the
cam function is used with the endless axis, the cam range can be placed
around the wrap-around point.
Example: When the value 350° is entered in I60 and the value 10° is entered in
I61, the cam is active around the angle of 20°.
With a limited axis, the cam beginning and end can be entered as desired in
I60 and I61. The cam is always active between the positions.
The cam signals can be monitored in array parameter I196. I196.1 to I196.3
shows the state of one cam each. They are used for the link with a binary
output. I196.0 supplies the cam signals in bits 0 to 2 for processing via fieldbus.
Electrical cam 1 is also shown in parameter I87 and status word I200, bit 9.
Parameter
Description
I60 El. cam begin
Start of the electrical cam in user units.
I61 El. cam end
End of the electrical cam in user units.
I62 El. cam 2 begin
Start of the electrical cam 2 in user units.
I63 El. cam 2 end
End of the electrical cam 2 in user units.
I64 El. cam 3 begin
Start of the electrical cam 3 in user units.
I65 El. cam 3 end
End of the electrical cam 3 in user units.
ID 441782.04
www.stoeber.de
Information
Storing on Paramodule is limited to 100,000 cycles.
58
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Posi switching point
Parameter
Description
N00 Switch position
name
Plain text designation of the switching point.
N01 SwitchPointposition
Position at which a switching point is executed (e.g.,
113.00 mm).
N02 SwitchPointmethod
Method of defining the position specification in N01
0:absolute, 1:relative to start position or 2:relative to
target position.
N03 SwitchPoint-set bit
With access via N03, memory bits are set.
N04 SwitchPointclear bit
With access via N04, memory bits are cleared.
N05 SwitchPointtoggle bit
With access via N05, memory bits change the signal
state.
Up to four switching points can be accessed in each motion profile. They are
entered in array parameters J30.x to J33.x (see motion profile). A total of
several hundred switching points can be defined. The number of switching
points can be changed offline on the page "Switching Points" of the "Posi
Motion Blocks" assistant. The switching point position can be defined absolute
(e.g., 1250.0 mm) or relative to the start or the end of the running motion block
(N01, N02). The position of the switching point must be located outside the
target window I22 as related to start and target position.
ID 441782.04
www.stoeber.de
A signal can be generated during the movement with the Posi switching point as with the electronic cam also. In contrast to the electronic cam which is active
between the positions I60 and I61 (state-controlled), the Posi switching point is
event-triggered (is processed when a position is reached). Correct function of
the switching points is only ensured with a referenced drive.
59
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Figure 3.6 Parameterization of a switching point
When motion block positioning is used for endless axes, the position
specification must be located absolutely within the circular length for the
switching point method.
Switching points for endless
Every switching point can access every switching memory. A total of eight
switching memories exist. A switching memory can be processed in three
different ways - set, delete or change (signal state). The access to a memory is
defined in parameters N03 to N05 (page "Switching points" of "Posi Motion
Blocks" assistant, see figure 3-1). Each switching point may process a memory
with only one method.
In the screen above, switching memory 1 is set by switching point 0, switching
memory 4 is deleted and the signal state of switching memory 6 is changed.
The state of the switching memories can be viewed in array parameter N09.x.
N09.0 indicates all switching memories as bit pattern. N09.1 to N09.8 are used
for the link with a binary output. N09.8 shows the MSB from N09.0 (switching
memory 7).
Switching memory 0 is also shown in I200, bit 10.
Switching memory
ID 441782.04
When the selection of the memory bits for a switching
point takes place in the parameter list, more than one
method can be selected for one bit!
No check is performed to determine whether the bit is
processed several times by a switching point. This check
is only executed by the "Posi Motion Blocks" assistant.
www.stoeber.de
NOTICE
axes
60
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Backlash Compensation
Due to design, with machines the drive may not be immediately located at the
mechanical end when a reverse in direction occurs.
To be able to correctly relate the actual and reference positions to the drive in
such cases, the backlash compensation needs to know the direction in which
the drive is pointing at the mechanical end - in addition to information about the
position encoder, and, if applicable, the referencing. In principle, this is not
possible until after a movement by at least the value of the backlash
compensation. This is why, when the axis is initialized, the drive must be at the
mechanical end. This is accomplished by referencing, for instance.
With the next movement in the same direction the mechanics would thus
remain pointing in the same direction at the mechanical end. And there would
also be no compensation of the backlash. However, if a movement is executed
in the other direction, the reference position is corrected by I24 in the
applicable direction. Each time the direction of movement changes, the
reference position is corrected based on the combination of I31 and the last
direction of motion.
Referencing mode Define home is not permitted together with the backlash
compensation since it does not supply any information on the mechanical end
of the machine!
I31=0:positive starts referencing in the positive direction, turns around at the
reference switch, and remains stopped in the negative direction. A movement
in the positive direction is now started. The drive must first cross the backlash
zone in this direction and then continue on in the positive direction. The
distance that the motor shaft must cover is thus I24 longer than the motion job.
The reference position is increased by I24 now. A further motion job in the
positive direction must not be compensated additionally since the drive is
already mechanically engaged in the positive direction. When a motion job in
the negative direction now occurs, compensation is needed again. This time,
compensation is by -I24 since the motor must now also cross the backlash
zone in the negative direction.
ID 441782.04
www.stoeber.de
3.3.2
61
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
3.3.3
Additional Functions for Override
Direction optimization
When both directions are permitted for positioning with endless position range
(I04=0 and bits 6 und 7=0 in the motion command byte), the movement from
point A to point B (absolute target specification) uses the shortest path.
Direction of rotation
When both directions are permitted for positioning with endless position range
(I04=0), the movement from A to B uses the shortest path for absolute (motion
command byte = 01) target specification. With a flying block change, the
original direction of rotation is retained, however. A restriction of the
permissible direction of rotation I04 affects all motion blocks and manual
positioning. The direction of rotation can be selected via bit 6/7 of the motion
command byte.
The override function can be used to affect the speed during a movement.
Analog interfaces and the transmission via fieldbus are available for the signal.
The selection is made in I130: The figure 3-7 shows the signal path. The
override function affects the speed during referencing, inching mode, and
positioning and endless commands.
Figure 3.7 Monitoring functions for override
ID 441782.04
www.stoeber.de
Override function
62
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
3.4
Synchronous Functions
The following chapter covers the settings necessary for synchronous motion.
You can connect a real master encoder to the interfaces:
 X120
 X140
 X101 (BE encoder)
In this case, see the information on slave parameterization in the examples in
chapter 3.4.2. If you want to couple the inverters of the 5th STÖBER generation
of inverters with each other, see also the interface combinations in chap. 3.4.1.
Information
The inverters of the SDS 5000 device family can exchange a
master position between themselves via the IGB-Motionbus. See
the operating manual SDS 5000 (ID 442289).
Interface Combinations
The coupling of two or several axes can be performed via various
inputs/outputs. The following table lists the possible combinations.
Slave
Inverter
MDS 5000, SDS 5000
Master
Required
XEA 5001 REA 5000 SEA 5001
(simulation)
Option
REA 5001 REA 5001 XEA 5001
Required
Interface
X120
X101
X101
Option
XEA 5001
X120
SSI, TTL
TTL
—
REA 5001
MDS 5000 REA 5000
X120
TTL
TTL
—
SDS 5000 SEA 5001
XEA 5001
X101
—
HTL
HTL
REA 5000
REA 5001
FDS 5000
—
X101
—
HTL
HTL
It is possible to control an inverter via stepper motor signals. We recommend
only using this reference value specification for specification via a controller.
The controller can be used to ensure that the slave position does not drift when
the step signal flickers.
Inverter
For detailed information on the interfaces, please refer to the projecting
manuals:
 MDS 5000: ID 442273
 FDS 5000: ID 442269
 SDS 5000: ID 442277
ID 441782.04
FDS 5000
—
X101
—
—
HTL
HTL
www.stoeber.de
3.4.1
63
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
3.4.2
The Assignments in Detail
1. Master X120 SSI Simulation – Slave X120 SSI Evaluation
Parameterization of the master
H120 =
82:SSI simulation
H125 =
0:gray
H126 =
25
H127 =
0:Motorencoder
Parameterization of the slave:
H120 =
67:SSI Master (Note: When the first slave is NOT an SSI slave.
With every additional slave, SSI-Slave must be set!)
H125 =
0:gray
H126 =
25
G27
=
4:X120-Encoder
Signal
N
/N
Clk
/Clk
Data
/Data
0V
Master PIN X120
2
3
5
4
6
7
1
Slave PIN X120
2
3
5
4
6
7
1
ID 441782.04
www.stoeber.de
This coupling can be executed under the following prerequisites:
Master:
 MDS 5000 with XEA 5001
 SDS 5000 with XEA 5001
Slave:
 MDS 5000 with XEA 5001
 SDS 5000 with XEA 5001
With the SSI coupling, the absolute value can be transmitted (i.e., even after a
system new start, both the axis positions of the respective axis and the master
position on the slave are known when absolute encoders are used for the
coupled axes). This coupling offers the maximum possible functionality.
64
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
2. Master X120 TTL simulation – Slave X120 TTL encoder
This coupling can be executed under the following prerequisites:
Master:
 MDS 5000 with XEA 5001 or REA 5000
 SDS 5000 with XEA 5001 or REA 5000
Slave:
 MDS 5000 with XEA 5001
 SDS 5000 with XEA 5001
This is an incremental coupling (i.e., the master position is not automatically
known to the slave axis after a system new start, even when an absolute
encoder system is used for both drives).
Parameterization of the master:
H120 =
80: Incremental-encoder simulation
H123 =
1024 Inc/r
Signal
N
/N
A
/A
B
/B
0V
Master PIN X120
2
3
5
4
6
7
1
Slave PIN X120
2
3
5
4
6
7
1
3. Master binary outputs X101 HTL – slave X101 binary inputs HTL
This coupling can be executed under the following prerequisites:
Master:
 MDS 5000 with SEA 5001 or XEA 5001 or REA 5000
 SDS 5000 with SEA 5001 or XEA 5001 or REA 5000
 FDS 5000
Slave
 MDS 5000 with SEA 5001 or XEA 5001 or REA 5000
 SDS 5000 with SEA 5001 or XEA 5001 or REA 5000
 FDS 5000
This is an incremental coupling (i.e., the master position is not automatically
known to the slave axis after a system new start, even when an absolute
encoder system is used for both drives).
Parameterization of the master:
H60
=
1: Incremental-encoder simulation
H63
=
5:1024 Inc/r (1:1)
ID 441782.04
www.stoeber.de
Parameterization of the slave:
H120 =
4:Inkremental encoder In
H121 =
1024 Inc/r
G27
=
4:X120 encoder
65
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Information
Connection of 24 V power of the binary outputs is mandatory.
Parameterization of the slave:
H40
=
1: Incremental-encoder In
H41
=
1024 Inc/r
G27
=
1:BE-encoder
Signal
A
B
0V
24V
Master PIN X101
16
17
10
18
Slave PIN X101
14
15
10
4. Master X120 TTL simulation – slave X101 binary inputs (only with
REA 5000 on the slave)
The selection switch for the input voltage of the
binary inputs must be set to TTL level since otherwise
the E/A terminal module may be damaged.
This coupling can be executed under the following prerequisites:
Master:
 MDS 5000 with XEA 5001 or REA 5000
 SDS 5000 with XEA 5001 or REA 5000
Slave
 MDS 5000 with REA 5000
 SDS 5000 with REA 5000
This is an incremental coupling (i.e., the master position is not automatically
known to the slave axis after a system new start, even when an absolute
encoder system is used for both drives).
Parameterization of the master:
H120 =
80:Incremental-encoder-simulation
H123 =
1024 Inc/r
Parameterization of the slave:
H40
=
1:Inkremental-encoder In
H41
=
1024 Inc/r
G27
=
1:BE-encoder
ID 441782.04
www.stoeber.de
NOTICE
66
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Information
STÖBER does not recommend this coupling. With the same
hardware, coupling number 5 is much better with respect to fault
interval and limit frequency.
Signal
N
/N
A
/A
B
/B
0V
Master PIN X120
2
3
5
4
6
7
1
NC
NC
14
NC
15
NC
10
Slave PIN X101
5. Resolver installed on the system side as real master
When an I/O terminal module, resolver (REA 5000) is installed, a resolver can
be used for master speed evaluation. This coupling is possible with the MDS
5000 and the SDS 5000.
See the projecting manuals for the terminal allocation:
 MDS 5000: ID 442273
 FDS 5000: ID 442269
 SDS 5000: ID 442277
ID 441782.04
www.stoeber.de
Parameterization of the slave:
H140 =
66:Resolver
G27
=
3:X140 resolver
67
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
3.4.3
Processing the Master Signals
Figure 3.8 Parameterization of the master-slave relationship
Signal path
The relationship between master and slave is defined in parameters G21 and
G22. The relation between master and slave can be manipulated further via
parameters G130 and G23. The master position is then converted to the slave
scaling (I07/I08). An offset can be added in G51 to the master position
converted to the slave scaling.
Parameters G28, G330, G85 and G81 are available for monitoring. A
synchronous difference is indicated as following error in I84.
ID 441782.04
www.stoeber.de
To be able to use the functionality of synchronous motion, additional
parameters must be changed in addition to the settings for the master encoder.
The Motion Block Positioning application offers the Electronic gear assistant.
The master encoder can be defined on the first page of this assistant. The
second page gives you the signal path as shown in figure 3-8.
68
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
External speed feed forward
To offset a synchronous difference, the external speed forward feed can be
used. With this, the master reference speed is supplied to the slave's forward
feed as an analog signal or as parameter value.
The external speed forward feed is activated in parameter G31. The analog
inputs and parameter G231 can be used as the signal source. The signal of the
analog inputs can be further manipulated via the F.. parameters (F11, F12, F21,
etc.). The value of the forward feed can be viewed in parameter G331 (see
figure 3-9).
The forward feed can be set in the Electronic Gear assistant on the page
entitled "External speed forward feed."
If the "external speed forward feed" is deactivated, a forward feed value is
calculated internally.
External speed
forward feed
Speed forward
G31
feed source
n-max
G131
C01
Rpm
AE3
Speed
forward feed G231
fieldbus
G331
Speed
forward feed
indication
Figure 3.9 Parameterization of the forward feed
ID 441782.04
Position
control
Inc/s
www.stoeber.de
AE1
AE2
69
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
3.5
Fieldbus
3.5.1
Handshake Procedure
Several handshake routines are available for a time-optimized allocation of the
status signals (e.g., In position) to the individual motion commands:
 Assignment via Motion ID (I200).
 Evaluation of the reference value acknowledgment (I204).
 Assignment via active PLCopen Step ID (I82).
 Evaluation of the toggle bit (A180 / E200).
Motion ID
Information
1. To be able to distinguish between two consecutive motion
jobs, motion blocks may not be used in succession with the same
motion ID (e.g., 15 and 7).
2. As a simple solution, the motion ID can be used for not more
than eight motion blocks.
SW acknowledgment
With the SW acknowledgment, the selected motion block is indicated based on
the Execute signal. As long as the Execute signal is inactive, the selected
motion block is indicated inverted in I204. When Execute is active, the current
motion block is shown uninverted.
This applies to all PLCopen states except passive. In the passive state, the
inversion of the selected motion block is always shown.
ID 441782.04
www.stoeber.de
The motion ID can be used to differentiate between motion blocks. With motion
block positioning, the motion ID shows the three LSB bits of the binary-coded
motion block number. The value 7 (111) is indicated for motion block 15
(binary: 00001111). The motion ID shows the current motion block. It can be
read in bits 13 to 15 of parameter I200. Together with other status signals, the
motion ID gives you information on the state of the positioning.
70
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Active PLCopen ID
In addition to the evaluation of the motion ID, the active PLCopen Step ID can
be monitored (parameter I82). The active PLCopen Step ID shows the
complete number of a motion block. The number of the motion block is used in
I82 when the motion block was started.
Information
The active PLCopen ID cannot be used to check which motion
block is currently selected.
Toggle Bit
Evaluation of the toggle bit in DeviceControl/StatusByte is much simpler. When
the job is created on the PLC, the toggle bit is set by the PLC in
DeviceControlByte A180. The DeviceStatusByte E200 then has high status in
the toggle bit when all data in the inverter have been received/processed. The
bit is only "passed on" and can then also be reset in A180 until the next job
sets the bit again.
Drive is
In position 1
Execute=0
Send start command
Drive is moving
Drive is
in position
Execute=1
Toggle bit
A180
Speed
In position=1
In position=0
Toggle bit E200
Figure 3.10 Timing diagram handshake procedure with toggle bit
ID 441782.04
Drive is moving
www.stoeber.de
Send start command (MotionID=2)
71
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
3.5.2
Fieldbus Communication
CANopen®
Below is a simple example of mapping for CANopen®.
Receiving range of the inverter
Controller  Inverter
A225.0 = A180
A225.1 = I221
A225.2 = I220
A225.3 = J00
A225.x
Length
Meaning
[Byte]
1
1
2
2
Sending range of the inverter
Setting
Device control byte
Motion block, Posi control byte
Motion block, Posi control word
Reference value selector
Further data may follow here.
Inverter  Controller
Length
Meaning
[Byte]
A233.0 = E200
1
Device status byte
A233.1 = 1.I196.0
1
Bit pattern of the cams on axis 1
A233.2 = I200
2
Posi status word
A233.3 = I203
2
Actual position
A233.x
Further data may follow here.
The switch between raw value and scaled bus operation takes place in
parameter A213 (for more information, see operating manual CANopen®, ID
441686).
ID 441782.04
www.stoeber.de
Setting
72
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
PROFIBUS
Below is a simple example of mapping for PROFIBUS.
Receiving range of the inverter Controller  Inverter
Length
Setting
Meaning
[Byte]
A90.0 = A180
1
Device control byte
A90.1 = I221
1
Motion block, Posi control byte
A90.2 = I220
2
Motion block, Posi control word
A90.3 = J00
2
Reference value selector
A90.x
Further data may follow here.
The switch between raw value and scaled bus operation takes place in
parameter A100. Operation with raw values is strongly recommended for timeoptimized operation.
For more information, see operating manual PROFIBUS, ID 441687
EtherCAT
The following are available via the EtherCAT fieldbus interface:
 Two PDO channels (tx / rx).
 One SDO channel (tx / rx).
Cf. operating manual EtherCAT, ID 441896
For mapping example: Cf. example of CANopen® mapping on previous page.
3.6
Communication with PROFINET
The following are available via the PROFINET fieldbus interface:
 The device description file in XML format
 The transfer of different data lengths
Cf. operating manual PROFINET, ID 442340.
Mapping example: cf. PROFIBUS mapping
ID 441782.04
www.stoeber.de
Sending range of the inverter Inverter  Controller 
Length
Setting
Meaning
[Byte]
A94.0 = E200
1
Device status byte
A94.2 = 1.I196.0
1
Bit pattern of the cams on axis 1
A94.1 = I200
2
Posi status word
A94.3 = I203
2
Actual position
A94.x
Further data may follow here.
73
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
3.7
Display
3.7.1
Operating indicators
In device state 4:Enabled, the motion block positioning application gives you
information on device states. In addition, the value of parameter E80 appears
in the bottom line of the display. Parameter E80 can assume the follow values
in the motion block positioning application:
18: homing
19: limit switch
20: denied
21: limited
ID 441782.04
Description
Initialize position control.
Position control is in the state 1:passive.
Position control is in the state 2:standstill.
Position control is in the state 3:discrete motion.
Position control is in the state 4:continuous motion.
Position control is in the state 5:synchronous motion.
Position control is in the state 6:stopping.
Position control is in the state 7:errorstop
(applications motion block positioning or electronic
cam)
Position control is in the state 8:homing.
One of the limit switches has tripped.
Position control has determined one of the following
events:
 The drive is not referenced but the motion job
requires the reference.
 A motion job was triggered whose target position
is located outside the software limit switch.
 A motion job was triggered which moved in a
direction of rotation which is inhibited.
The message combines faults 1 to 4 in /90
ErrorCode.
Position control has determined that one of the
following limits was reached:
 Torque limit
 Following error
2
 M-limitation by i t
www.stoeber.de
E80
10: PLCO_init
11: PLCO_Passive
12: standstill
13: discrete motion
14: continuous motion
15: synchronous
motion
16: stopping
17: errorStop
74
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E80
22: aborted
23: waiting
www.stoeber.de
24: delay
Description
Position control has determined one of the following
events:
 An MC_Stop was triggered.
 The enable was switched off.
 A quick stop was triggered.
The drive is located in a chain of motion blocks and
is waiting for the advance signal.
The drive is located in a chain of motion blocks with
pause and the pause is still in effect.
ID 441782.
75
03
Details
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
3.7.2
Application Events
Two application-specific events are defined in the application motion block
positioning. When event 60 occurs, a following error is recognized. Event 61
indicates that a limit switch has tripped.
Par. U100
60: FollowError
Trigger:
The following error exceeds the value entered in I21.
Cause:
Motor overload, blockage, too rapid acceleration,
encoder fault.
Can be parameterized in system parameter
U100/U101
Switch device off/on or programmed acknowledgment.
Acknowledgment:
Other:
Event counter:
Message/warning: Evaluation every 256 msec.
 Fault: Evaluation at parameterized cycle time
(A150)
Z60

Par. U110
61: LimitSwitch
Trigger:
One of the limit switches was tripped.
Level:
Can be parameterized in system parameter
U110/U111
Switch device off/on or programmed acknowledgment
Acknowledgment:
Other:
Event counter:
ID 441782.0
Message/warning: Evaluation every 256 msec
 Fault: Evaluation at parameterized cycle time
(A150)
The active direction when the limit switch is reached is
disabled until the limit switch is free again.
The limit switch can be freed:
1. In tipping mode in the enabled direction of rotation
2. Via a command job in the enabled direction
Z61

www.stoeber.de
Level:
76
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
4
Used Parameters
4.1
Parameter Legend
Par.
Description
C230
Global
Torque limit: Specification for the torque limit (absolute value) via fieldbus if the signal source is
C130=4:Parameter.
r=2, w=2
Value range in %: -200 to 200 to 200
Fieldbusaddress
24E6h
0h
Fieldbus: 1LSB=1·%; PDO ; Type: I16; (raw value: 32767 = 200 %); USS address: 03 39 80 00 hex
Global – Parameter is not dependent on
axis.
Achse – Parameter is axis-specific.
Off
– Parameter can only be changed
when enable is off.
Access level for read (r=2) and
write accesses (w=2)
ID 441782.04
Value range:
Specification of unit,
minimum and
maximum value
The default setting is
underlined.
PROFIBUS, PROFINET = PNU (PKW1)
CAN-Bus = Index
PROFIBUS, PROFINET = Subindex
CAN-Bus = Subindex
Fieldbus:
1st position: Scaling for integer (PROFIBUS and CAN bus)
2nd position: - PDO – Parameters can be imaged as process data.
- Blank – Parameter can only be accessed via PKW (PROFIBUS) or SDO
(CAN bus).
3rd position: Data type. See operating manuals, chapter 3.2.
4th position: Scaling for raw values
5th position: USS address
77
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
4.2
Parameter List
A.. Inverter
Par.
Description
A00.0
Global
r=0, w=0
Save values & start: When this parameter is activated, the inverter saves the current
configuration and the parameter values in the Paramodul. After power-off, the inverter starts with
the saved configuration. If the configuration data on the inverter and Paramodul are identical, only
the parameters are saved (speeds up the procedure).
Fieldbusaddress
2000h
0h
2000h
1h
2000h
2h
2009h
0h
2009h
1h
NOTE
Do not turn off the power of the control section (device version /L:24V, device version /H: supply
voltage) while the action is being executed. If the power is turned off while the action is running this
causes incomplete storage. After the device starts up again the fault "*ConfigStartERROR
parameters lost" appears on the display. Approx. 1000 storage procedures are possible per
Paramodul. When this limit has almost been reached, result 14 is indicated after the storage
procedure. When this happens, replace Paramodul as soon as possible.
0: error free;
10: write error;
11: invalid data;
12: write error;
14: warning;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 00 00 00 hex
A00.1
Global
read (0)
Process: Shows the progress of the "save vales" action in %.
0: error free;
10: write error;
11: invalid data;
12: write error;
14: warning;
Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 01 00 00 01 hex
A00.2
Global
read (0)
Result: Result of the "save values" action
0: error free
10: write error while opening a file: No Paramodul is installed or Paramodul is full or is damaged.
11: The inverter's configuration memory area that is to be saved is not written
12: write error while write-accessing Paramodul. Paramodul was removed, is full or is damaged.
14: Warning. Paramodul has already been write-accessed many times. The memory chip is
reaching the end of its ability to be write-accessed without errors. Error-free saving is still
possible. Replace the Paramodul as soon as possible!
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 00 00 02 hex
A09.0
Global,
OFF
r=3, w=3
A09.1
System reset & start: A reset of the microprocessor in the inverter is triggered if the parameter
is activated. A restart occurs as it does after switching off/on the control part supply (device version
/L: 24 V, device version /H: power supply).
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 02 40 00 hex
Global
Progress: displays the progress of the action System Reset in %. As the action causes a restart
of the control part, no action progress can be observed. The value is always 0 %.
read (3)
Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 01 02 40 01 hex
ID 441782.04
78
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A09.2
Global
Result: Result of action System Reset. As the action causes a restart of the control part, no action
result can be calculated. The value is always 0:error free.
read (3)
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 02 40 02 hex
A10.0
Userlevel: Specifies the access level of the user for the parameters via the "Display"
communication path. Each parameter has one level for read or write accesses. A parameter can
only be read or changed with the necessary access level.
The higher the set level the more parameters can be accessed.
Global
r=0, w=0
Fieldbusaddress
2009h
2h
200Ah
0h
Array
Possible settings:
0: Monitor; The elementary indicators can be monitored. General parameters can be changed.
1: Standard; The primary parameters of the selected application can be monitored and changed.
2: Extended; All parameters for commissioning and optimization of the selected application can be
monitored and changed.
3: Service; Service parameters. Permit a comprehensive diagnosis.
Value range: -32768 ... 1 ... 32767
Fieldbus: 1LSB=1; Type: I16; USS-Adr: 01 02 80 00 hex
A10.1
Global
r=0, w=0
Userlevel: Specifies the access level of the user for the parameters via the RS232 (X3)
communication path. Each parameter has one level each for read or write accesses. A parameter
can only be read or changed with the necessary access level.
The higher the set level the more parameters can be accessed.
1h
200Ah
Array
Possible settings:
0: Monitor; The elementary indicators can be monitored. General parameters can be changed.
1: Standard; The primary parameters of the selected application can be monitored and changed.
2: Extended; All parameters for commissioning and optimization of the selected application can be
monitored and changed.
3: Service; Service parameters. Permit a comprehensive diagnosis.
Value range: -32768 ... 3 ... 32767
Fieldbus: 1LSB=1; Type: I16; USS-Adr: 01 02 80 01 hex
A10.2
Global
r=0, w=0
Userlevel: Specifies the access level of the user for the parameters via the CAN-bus (SDO)
communication path. Each parameter has one level each for read or write accesses. A parameter
can only be read or changed with the necessary access level.
The higher the set level the more parameters can be accessed.
2h
200Ah
Array
Possible settings:
0: Monitor; The elementary indicators can be monitored. General parameters can be changed.
1: Standard; The primary parameters of the selected application can be monitored and changed.
2: Extended; All parameters for commissioning and optimization of the selected application can be
monitored and changed.
3: Service; Service parameters. Permit a comprehensive diagnosis.
Value range: -32768 ... 3 ... 32767
Fieldbus: 1LSB=1; Type: I16; USS-Adr: 01 02 80 02 hex
ID 441782.04
79
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A10.3
Global
r=0, w=0
Fieldbusaddress
Userlevel: Specifies the access level of the user for the parameters via the PROFIBUS
communication path with the PKW0 or PKW1 protocol. Each parameter has one level each for read
or write accesses. A parameter can only be read or changed with the necessary access level.
The higher the set level the more parameters can be accessed.
3h
200Ah
Array
Possible settings:
0: Monitor; The elementary indicators can be monitored. General parameters can be changed.
1: Standard; The primary parameters of the selected application can be monitored and changed.
2: Extended; All parameters for commissioning and optimization of the selected application can be
monitored and changed.
3: Service; Service parameters. Permit a comprehensive diagnosis.
Value range: -32768 ... 3 ... 32767
Fieldbus: 1LSB=1; Type: I16; USS-Adr: 01 02 80 03 hex
A10.4
Global
r=0, w=0
Userlevel: Specifies the access level of the user for the parameters via the "system bus"
communication path. Each parameter has one level each for read or write accesses. A parameter
can only be read or changed with the necessary access level.
The higher the set level the more parameters can be accessed.
4h
200Ah
Array
Possible settings:
0: Monitor; The elementary indicators can be monitored. General parameters can be changed.
1: Standard; The primary parameters of the selected application can be monitored and changed.
2: Extended; All parameters for commissioning and optimization of the selected application can be
monitored and changed.
3: Service; Service parameters. Permit a comprehensive diagnosis.
Value range: -32768 ... 3 ... 32767
Fieldbus: 1LSB=1; Type: I16; USS-Adr: 01 02 80 04 hex
A11.0
Global
r=1, w=1
Edited Axe: Specifies the axis to be edited via device display. Axis to be edited (A11) and active
axis (operating indicator, E84) must not be identical (e.g., axis 1 can be edited while the inverter
continues with axis 2).
0:
1:
2:
3:
0h
200Bh
Array
axis 1;
axis 2;
axis 3;
axis 4;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 02 C0 00 hex
A11.1
Global
r=1, w=1
®
Edited Axe: Selects the axis to be parameterized which is addressed with CANopen with SDO
channel 1 or with PROFIBUS DP-V0. The axis to be edited (A11) and the active axis (operation
indicator, E84) must not be identical (e.g., axis 1 can be edited while the inverter continues with
axis 2). With PROFIBUS DP-V0, a distinction can be made between two axes with the PKW
service. Axis 1 or axis 2 is selected with A11.1 = 0. Axis 3 or axis 4 is selected with A11.1 = 1.
0:
1:
2:
3:
1h
200Bh
Array
axis 1;
axis 2;
axis 3;
axis 4;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 02 C0 01 hex
ID 441782.04
80
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A11.2
Global
r=1, w=1
Fieldbusaddress
®
Edited Axe: Selects the axis to be parameterized which is addressed with CANopen with SDO
channel 2. The axis to be edited (A11) and the active axis (operation indicator, E84) must not be
identical (e.g., axis 1 can be edited while the inverter continues with axis 2).
0:
1:
2:
3:
2h
200Bh
Array
axis 1;
axis 2;
axis 3;
axis 4;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 02 C0 02 hex
A11.3
Global
r=1, w=1
®
Edited Axe: Selects the axis to be parameterized which is addressed with CANopen with SDO
channel 3. The axis to be edited (A11) and the active axis (operation indicator, E84) must not be
identical (e.g., axis 1 can be edited while the inverter continues with axis 2).
0:
1:
2:
3:
3h
200Bh
Array
axis 1;
axis 2;
axis 3;
axis 4;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 02 C0 03 hex
A11.4
Global
r=1, w=1
®
Edited Axe: Selects the axis to be parameterized which is addressed with CANopen with SDO
channel 4. The axis to be edited (A11) and the active axis (operation indicator, E84) must not be
identical (e.g., axis 1 can be edited while the inverter continues with axis 2).
0:
1:
2:
3:
4h
200Bh
Array
axis 1;
axis 2;
axis 3;
axis 4;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 02 C0 04 hex
A12
Language: Language on the display.
Global
0: German;
1: English;
2: French;
r=1, w=1
200Ch
0h
2015h
0h
2016h
0h
2017h
0h
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 03 00 00 hex
A21
Brake resistor R: Resistance value of the brake resistor being used.
Global,
Value range in Ohm: 100.0 ... 100 ... 600.0
OFF
Fieldbus: 1LSB=0,1Ohm; Type: I16; USS-Adr: 01 05 40 00 hex
r=1, w=2
A22
Global,
Brake resistor P: Power of the brake resistor used. A22 = 0 means the brake chopper is
deactivated. Only values in 10 W increments can be entered.
OFF
Value range in W: 0 ... 600 ... 6400
r=1, w=2
Fieldbus: 1LSB=1W; Type: I16; (raw value:1LSB=10·W); USS-Adr: 01 05 80 00 hex
A23
Brake resistor thermal: Thermal time constant of the brake resistor.
Global,
Value range in s: 1 ... 40 ... 2000
OFF
Fieldbus: 1LSB=1s; Type: I16; USS-Adr: 01 05 C0 00 hex
r=1, w=2
ID 441782.04
81
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A29
Global
r=2, w=2
Fault quick-stop: If the parameter is inactive, the power section is turned off when a fault
occurs. The motor coasts down. If the parameter is active, a quick stop is executed when a fault
occurs if the event permits (see event list). When the enable signal is LOW during a fault quick
stop, the quick stop is interrupted and the motor coasts down. This also applies when A44 enable
quick-stop is active.
Fieldbusaddress
201Dh
0h
2022h
0h
2023h
0h
2024h
0h
2025h
0h
2025h
1h
2025h
2h
0: inactive; Coast down (disable power section immediately).
1: active; Execute quick stop.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 07 40 00 hex
A34
Global
r=2, w=2
Auto-start: When A34 = 1 is set, the device state "switch-on disable" to "ready for switch-on" is
exited both during first startup and after a fault reset although the enable is active. With fault reset
via enable, this causes an immediately restart! A34 is only supported with standard device state
machines and not with DSP402 device state machine.
WARNING
Before activation of auto-start with A34 = 1, check to determine whether an automatic restart is
allowed (for safety reasons). Only use auto-start under consideration of the standards and
regulations which are applicable to the plant or machine.
0: inactive; After power on, a change of the enable from L-level to H-level is necessary to enable
the drive ( message "1:switch-on disable"). This prevents an undesired startup of the motor
(machine safety).
1: active; If auto-start is active, the drive can start running immediately after power on and existing
enable.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 08 80 00 hex
A35
Global,
OFF
r=2, w=2
Low voltage limit: When the inverter is enabled and the DC link voltage goes lower than the
value set here, the inverter triggers the indication of the event "46:Low voltage." A35 should be
approximately 85 % of the applied power voltage so that the possible failure of a network phase is
absorbed.
Value range in V: 180.0 ... 350 ... 570.0
Fieldbus: 1LSB=0,1V; Type: I16; USS-Adr: 01 08 C0 00 hex
A36
Global,
OFF
Mains voltage: Maximum voltage which the inverter provides to the motor. Usually the power
(mains) voltage. Starting with this voltage, the motor runs in the weak field range.
Value range in V: 220 ... 400 ... 480
r=2, w=2
Fieldbus: 1LSB=1V; Type: I16; (raw value:32767 = 2317 V); USS-Adr: 01 09 00 00 hex
A37.0
Global
Reset memorized values & start: The six different memorized values E33 to E37 and E41
(max. current, max. temperature, and so on) are reset.
r=2, w=2
0: error free;
A37.1
Process: Progress of the reset-memorized-values action in %.
Global
0: error free;
read (2)
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 09 40 01 hex
A37.2
Result: After conclusion of the reset-memorized-values action, the result can be queried here.
Global
0: error free;
read (2)
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 09 40 02 hex
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 09 40 00 hex
ID 441782.04
82
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A38
DC power-input: This parameter is effective for the following inverters:
Global




r=2, w=2
Fieldbusaddress
2026h
0h
2027h
0h
2029h
0h
202Bh
0h
202Ch
0h
SDS 5000
SDS 5000A
MDS 5000A
FDS 5000A
With this parameter you set whether the inverter is only supplied via the intermediate circuit with
direct voltage. Also observe the DC-link connection section in the projecting manuals SDS 5000 (ID
442277), MDS 5000 (ID 442273) and FDS 5000 (ID 442269).
Groups 2 and 3 are exclusively powered via the DC link. Set A38 = 1:active for these inverters. Set
A38 = 1:inactive for group 1 inverters. If you do not set a DC link coupling at all, always set
parameter A38 to 0:inactive.
0: inactive; Inverter is powered by the three-phase network.
1: active; Inverter is powered with direct current exclusively via the terminals U+ and U- (size 0 to
size 2) or ZK+ and ZK- (MDS size 3).
Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 09 80 00 hex
A39
Global
r=2, w=2
t-max. quickstop: Maximum time available to a quick stop during enable=LOW or in the device
state "fault reaction active." After this time expires, the motor is de-energized (A900 = low). This
switch-off also occurs even when the quick stop has not yet been concluded.
Value range in ms: 0 ... 400 ... 32767
Fieldbus: 1LSB=1ms; Type: I16; USS-Adr: 01 09 C0 00 hex
A41
Global
read (1)
Axis-selector: Indicates the selected axis.
The selected axis does not have to be the active axis.
0: Axis 1;
1: Axis 2;
2: Axis 3;
3: Axis 4;
4: inactive; The last selected axis was axis 1.
5: inactive; The last selected axis was axis 2.
6: inactive; The last selected axis was axis 3.
7: inactive; The last selected axis was axis 4.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 0A 40 00 hex
A43
Global
r=3, w=3
Enable off delay: For suppression of short low-pulses on the X1.Enable. This finction is required
for the connection of safety devices which use OSSD pulses for the diagnosis of switching
cabability.
WARNING
The delay time is set always causes an A43-delayed reaction to the switch-off of the X1.Enable.
This Time must be considered when a stopping distance is calculated.
Value range in ms: 0.0 ... 0 ... 10.0
Fieldbus: 1LSB=0,1ms; Type: I16; (raw value:32767 = 32.8 ms); USS-Adr: 01 0A C0 00 hex
A44
Global
r=2, w=3
Enable quick-stop: If the parameter is inactive, the power pack is turned off immediately when
enable = LOW. The motor coasts down. When A44 is active, a quick stop is executed when enable
= LOW.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 0B 00 00 hex
ID 441782.04
83
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A45
Global
r=2, w=2
Quickstop end: When this parameter is set to "0:Standstill," the quick stop ends with standstill.
With the setting "1:no stop," the quick stop ends when the quick stop request is deleted.
Fieldbusaddress
202Dh
0h
2037h
0h
203Ch
0h
0: standstill;
1: no stop;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 0B 40 00 hex
A55
Global
r=2, w=3
Key hand function: With A55 = 1, the "HAND" key is enabled for turning local mode on/off.
During local mode, the device enable is granted with the "I/O" key. Local mode is indicated on the
display with an "L" at the bottom right. The arrow keys on the operator panel can be used to
traverse with the drive enabled with "I/O." The speed reference value is calculated during speed
mode from A51. In positioning applications, this corresponds to the hand speed I12.
NOTE
In local mode the regular enable via terminals or from the fieldbus is ignored!
0: inactive; - key has no function.
1: active; - key enabled for activation of local mode.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 0D C0 00 hex
A60
Global,
OFF
r=1, w=1
Additional enable source: The additional enable signal functions the same as the enable
signal on terminal X1. Both signals are AND linked. The power end state of the inverter is only
enabled when both signals are HIGH.
The A60 parameter specifies where the additional enable signal comes from. The selection "1:High"
has the same meaning as a fixed value. With A60 = 1:High, only the enable via the terminal is
active. With A60 = 3:BE1 ... 28:BE13-inverted, the additional enable is fed by the respective binary
input (either direct or inverted). With A60 = 2:Parameter, the signal comes from bit 0 in parameter
A180 Device Control Byte (global parameter).
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 0F 00 00 hex
ID 441782.04
84
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A61
Global,
OFF
r=1, w=1
Fault reset source: The fault reset signal triggers a fault reset. If the inverter has a malfunction,
a change from LOW to HIGH resets this fault. The fault reset is not possible as long as A00 Save
values is active or the cause of the fault still exists. Remember that not every fault can be
acknowledged.
The A61 parameter specifies where the fault reset signal comes from. With "0:Low" and "1:High," a
fault reset is only possible with the <ESC> key at the device operator panel or with a LOW-HIGHLOW change of the enable. With A61 = 3:BE1 ... 28:BE13-inverted, faults can be reset via the
selected binary input.
With A61 = 2:Parameter, the signal comes from bit 1 of parameter A180 Device Command Byte
(global parameter).
Fieldbusaddress
203Dh
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 0F 40 00 hex
ID 441782.04
85
0h
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A62
Global,
OFF
r=1, w=1
Quick stop source: The quick stop signal triggers a quick stop of the drive. With positioning
mode, the acceleration specified in I17 determines the braking time. When the axis is in speed
mode, the D81 parameter determines the braking time. (See also A45.)
The A62 parameter specifies where the signal is coming from which causes the quick stop. "0:Low"
means that no quick stop is executed. "1:High" means that the drive is permanently in quick stop
mode. With A62 = 3:BE1 ... 28:BE13-inverted, the quick stop is triggered by the selected binary
input. With A62 = 2:Parameter, A180 bit 2 is used as the signal source (global parameter).
Fieldbusaddress
203Eh
0h
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 0F 80 00 hex
ID 441782.04
86
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A63
Global,
OFF
r=1, w=1
Axis selector 0 source: There are 2 "axis selector 0/1" signals with which one of the max. of 4
axes are selected in binary coding. The A63 parameter specifies where bit 0 for the axis selection is
coming from. The possible selections "0:Low" and "1:High" are the same as fixed values. With A63
= 0:Low, the bit is set permanently to 0. With A63 = 1:High, it is permanently set to 1. With A63 =
3:BE1 ... 28:BE13-inverted, the axis selection can be made via the selected binary input. With A63
= 2:Parameter, A180, bit 3 is used as the signal source (global parameter).
Fieldbusaddress
203Fh
0h
NOTE
- Axis switchover is not possible unless the enable is off and E48 device control state is not 5:fault.
- With the FDS 5000, the axes can only be used as parameter records for a motor. The
POSISwitch® AX 5000 option cannot be connected.
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 0F C0 00 hex
ID 441782.04
87
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A64
Global,
OFF
r=1, w=1
Axis selector 1 source: There are 2 "axis selector 0/1" signals with which one of the max. of 4
axes are selected in binary coding. The A64 parameter specifies where bit 0 for the axis selection is
coming from. The possible selections "0:Low" and "1:High" are the same as fixed values. With A64
= 0:Low, the bit is set permanently to 0. With A64 = 1:High, it is permanently set to 1. With A64 =
3:BE1 ... 28:BE13-inverted, the axis selection can be made via the selected binary input. With A64
= 2:Parameter, A180, bit 4 is used as the signal source (global parameter).
Fieldbusaddress
2040h
0h
NOTE
- Axis switchover is not possible unless the enable is off and E48 device control state is not 5:fault.
- With the FDS 5000, the axes can only be used as parameter records for a motor. The
POSISwitch® AX 5000 option cannot be connected.
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 10 00 00 hex
ID 441782.04
88
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A65
Global,
OFF
r=1, w=1
Axis disable source: The axis-disable signal deactivates all axes. The A65 parameter specifies
where the signal comes from. With A65 = 3:BE1 ... 28:BE13-inverted, axis selection can be handled
with the selected binary input.
With A65 = 2:Parameter, A180, bit 5 is the signal source (global parameter).
Fieldbusaddress
2041h
0h
2050h
0h
2051h
0h
NOTE
- Axis switchover is not possible unless the enable is off and E48 device control state is not 5:fault.
- With the FDS 5000, the axes can only be used as parameter records for a motor. The
POSISwitch® AX 5000 option cannot be connected.
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 10 40 00 hex
A80
Global
r=2, w=2
A81
Global
r=1, w=1
Serial address: Specifies the address of the inverter for serial communication via X3 with
POSITool or another USS master.
Value range: 0 ... 0 ... 31
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 14 00 00 hex
Serial baudrate: Specifies the baud rate for serial communication via the X3 interface. Starting
with V 5.1, writing to A81 no longer changes the baud rate immediately but now not until after
device OFF-ON (previously with A00 save values) or A87 activate serial baud rate = 1 (activate
baud rate).
This makes the reaction identical to that of the fieldbuses.
0: 9600 Baud;
1: 19200 Baud;
2: 38400 Baud;
3: 57600 Baud;
4: 115200 Baud;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 14 40 00 hex
ID 441782.04
89
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A82
Global
r=0, w=0
CAN baudrate: Setting of the baud rate with which the CAN-Bus will be operated. Cf. operating
manual CAN, ID 441686.
Fieldbusaddress
2052h
0h
2053h
0h
2054h
0h
0: 10 kBit/s;
1: 20 kBit/s;
2: 50 kBit/s;
3: 100 kBit/s;
4: 125 kBit/s;
5: 250 kBit/s;
6: 500 kBit/s;
7: 800 kBit/s;
8: 1000 kBit/s;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 14 80 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A83
Global
r=0, w=0
Busaddress: Specifies the device address for operation with fieldbus. A83 has no effect on
communication via X3 with POSITool or another USS master.
Value range: 0 ... 1 ... 125
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 14 C0 00 hex
A84
Global
read (0)
PROFIBUS baudrate: When operated with a device of the 5th generation of STÖBER inverters
with option board "PROFIBUS DP," the baud rate found on the bus is indicated. Cf. operating
manual PROFIBUS DP, ID 441687.
0: Not found;
1: 9.6kBit/s;
2: 19.2kBit/s;
3: 45.45kBit/s;
4: 93.75kBit/s;
5: 187.5kBit/s;
6: 500 kBit/s;
7: 1500kBit/s;
8: 3000kBit/s;
9: 6000kBit/s;
10: 12000kBit/s;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 15 00 00 hex
 Only visible when a PROFIBUS device controller is selected in the device configuration or the
appropriate blocks were used with the option for free, graphic programming.
ID 441782.04
90
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A85
Global
read (3)
Fieldbusaddress
PROFIBUS diagnostic: Indication of internal inverter diagnostic information on the PROFIBUS
DP interface. See operating manual PROFIBUS DP, ID 441687.
Bit
0
Name
Shutdown fail
1
Data exchange
2
Wait for Param
3
4
5
Bus failure
Acyc. initiate 1
Acyc. initiate 2
6
MDS configured
7
8
Driver error
Application ready
9
10
LED red on
LED green on
2055h
0h
2056h
0h
2057h
0h
Meaning for bit = 1
Problem when shutting down the
PROFIBUS driver software.
PROFIBUS is in the cyclic data
exchange state with this subscriber.
Subscriber waits to be configured by
the PROFIBUS master.
Fault in PROFIBUS
An acyclic connection is established.
A second acyclic connection is
established.
Subscriber is configured by PROFIBUS
master.
Fault in PROFIBUS driver software.
Inverter firmware is ready for
connection to PROFIBUS.
The red LED of the DP 5000 lights up.
The green LED of the DP 5000 lights up.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 15 40 00 hex
 Only visible when a PROFIBUS device controller is selected in the device configuration or the
appropriate blocks were used with the option for free, graphic programming.
A86
Global
read (1)
PROFIBUS configuration: The inverter offers various ways (PPO types) to transfer cyclic user
data via PROFIBUS DP. These can be configured in the GSD file STOE5005.gsd on the controller
(bus master). This indication parameter can be used to check which of the possible configurations
was chosen.
0: No data communication via PROFIBUS started
1: PPO1: 4 PKW, 2 PZD
2: PPO2: 4 PKW, 6 PZD
3: PPO3: 0 PKW, 2 PZD
4: PPO4: 0 PKW, 6 PZD
5: PPO5: 4 PKW, 10 PZD
6: PPO2: 4 PKW, 6 PZD consis. 2 W
7: PPO4: 0 PKW, 6 PZD consis. 2 W
8: PPO5: 4 PKW, 10 PZD consis. 2 W
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 15 80 00 hex
 Only visible when a PROFIBUS device controller is selected in the device configuration or the
appropriate blocks were used with the option for free, graphic programming.
A87
Global
r=3, w=3
Activate serial baudrate: Starting with V 5.1, writing in A81 no longer changes the baud rate
immediately. The change now takes place only after device OFF/ON (previously with A00 save
values) or A87 = 1 (activate baud rate). This makes the reaction the same as the reaction of the
fieldbuses.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 15 C0 00 hex
ID 441782.04
91
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A90.0
Global
r=1, w=1
PZD Setpoint Mapping Rx 1. mapped Parameter: Address of the parameter which is
imaged first from the contents of the process data channel (receiving direction as seen by the
inverter).
Fieldbusaddress
205Ah
0h
205Ah
1h
205Ah
2h
205Ah
3h
205Ah
4h
205Ah
5h
205Bh
0h
205Bh
1h
205Bh
2h
Value range: A00 ... A180 ... A.Gxxx.yyyy (Parameter number in plain text)
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 16 80 00 hex
A90.1
Global
r=1, w=1
PZD Setpoint Mapping Rx 2. mapped Parameter: Address of the parameter which is
imaged second from the contents of the process data channel (receiving direction as seen by the
inverter).
Value range: A00 ... I221 ... A.Gxxx.yyyy (Parameter number in plain text)
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 16 80 01 hex
A90.2
Global
r=1, w=1
PZD Setpoint Mapping Rx 3. mapped Parameter: Address of the parameter which is
imaged third from the contents of the process data channel (receiving direction as seen by the
inverter).
Value range: A00 ... I220 ... A.Gxxx.yyyy (Parameter number in plain text)
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 16 80 02 hex
A90.3
Global
r=1, w=1
PZD Setpoint Mapping Rx 4. mapped Parameter: Address of the parameter which is
imaged fourth from the contents of the process data channel (receiving direction as seen by the
inverter).
Value range: A00 ... J00 ... A.Gxxx.yyyy (Parameter number in plain text)
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 16 80 03 hex
A90.4
Global
r=1, w=1
PZD Setpoint Mapping Rx 5. mapped Parameter: Address of the parameter which is
imaged fifth from the contents of the process data channel (receiving direction as seen by the
inverter).
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 16 80 04 hex
A90.5
Global
r=1, w=1
PZD Setpoint Mapping Rx 6. mapped Parameter: Address of the parameter which is
imaged sixth from the contents of the process data channel (receiving direction as seen by the
inverter).
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 16 80 05 hex
A91.0
Global
PZD Setpoint Mapping 2Rx 1. mapped Parameter: If more parameters are to be imaged
than can be specified in A90, this parameter offers a possible extension. See A90.0.
r=3, w=3
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 16 C0 00 hex
A91.1
PZD Setpoint Mapping 2Rx 2. mapped Parameter: For extension of A90, see A90.1.
Global
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 16 C0 01 hex
r=3, w=3
A91.2
Global
PZD Setpoint Mapping 2Rx 3. mapped Parameter: For extension of A90, See A90.2.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 16 C0 02 hex
r=3, w=3
ID 441782.04
92
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A91.3
Global
PZD Setpoint Mapping 2Rx 4. mapped Parameter: For extension of A90, see A90.3.
Fieldbusaddress
205Bh
3h
205Bh
4h
205Bh
5h
205Dh
0h
205Eh
0h
205Eh
1h
205Eh
2h
205Eh
3h
205Eh
4h
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 16 C0 03 hex
r=3, w=3
A91.4
Global
PZD Setpoint Mapping 2Rx 5. mapped Parameter: For extension of A90, see A90.4.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 16 C0 04 hex
r=3, w=3
A91.5
Global
PZD Setpoint Mapping 2Rx 6. mapped Parameter: For extension of A90, see A90.5.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 16 C0 05 hex
r=3, w=3
A93
Global
read (1)
PZD Setpoint Len: Indicator parameter which indicates the length in bytes of the expected
process data with reference values (data from PROFIBUS master to inverter) for the current
parameterization.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 17 40 00 hex
 Only visible when a PROFIBUS device controller is selected in the device configuration or the
appropriate blocks were used with the option for free, graphic programming.
A94.0
Global
r=1, w=1
PZD ActValue Mapping Tx 1. mapped Parameter: Address of the parameter which is
imaged first in the contents of the process data channel (sending direction as seen by the inverter).
Value range: A00 ... E200 ... A.Gxxx.yyyy (Parameter number in plain text)
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 17 80 00 hex
A94.1
Global
r=1, w=1
PZD ActValue Mapping Tx 2. mapped Parameter: Address of the parameter which is
imaged second in the contents of the process data channel (sending direction as seen by the
inverter).
Value range: A00 ... I201 ... A.Gxxx.yyyy (Parameter number in plain text)
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 17 80 01 hex
A94.2
Global
r=1, w=1
PZD ActValue Mapping Tx 3. mapped Parameter: Address of the parameter which is
imaged third in the contents of the process data channel (sending direction as seen by the inverter).
Value range: A00 ... I200 ... A.Gxxx.yyyy (Parameter number in plain text)
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 17 80 02 hex
A94.3
Global
r=1, w=1
PZD ActValue Mapping Tx 4. mapped Parameter: Address of the parameter which is
imaged fourth in the contents of the process data channel (sending direction as seen by the
inverter).
Value range: A00 ... I203 ... A.Gxxx.yyyy (Parameter number in plain text)
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 17 80 03 hex
A94.4
Global
PZD ActValue Mapping Tx 5. mapped Parameter: Address of the parameter which is
imaged fifth in the contents of the process data channel (sending direction as seen by the inverter).
r=1, w=1
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 17 80 04 hex
ID 441782.04
93
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A94.5
Global
r=1, w=1
PZD ActValue Mapping Tx 6. mapped Parameter: Address of the parameter which is
imaged sixth in the contents of the process data channel (sending direction as seen by the
inverter).
Fieldbusaddress
205Eh
5h
205Fh
0h
205Fh
1h
205Fh
2h
205Fh
3h
205Fh
4h
205Fh
5h
2061h
0h
2062h
0h
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 17 80 05 hex
A95.0
Global
PZD ActValue Mapping 2Tx 1. mapped Parameter: When more parameters are to be
imaged than can be specified in A94, this parameter offers a possible extension. See A94.0.
r=3, w=3
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 17 C0 00 hex
A95.1
PZD ActValue Mapping 2Tx 2. mapped Parameter: For extension of A94, see A94.1.
Global
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 17 C0 01 hex
r=3, w=3
A95.2
Global
PZD ActValue Mapping 2Tx 3. mapped Parameter: For extension of A94, see A94.2.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 17 C0 02 hex
r=3, w=3
A95.3
Global
PZD ActValue Mapping 2Tx 4. mapped Parameter: For extension of A94, see A94.3.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 17 C0 03 hex
r=3, w=3
A95.4
Global
PZD ActValue Mapping 2Tx 5. mapped Parameter: For extension of A94, see A94.4.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 17 C0 04 hex
r=3, w=3
A95.5
Global
PZD ActValue Mapping 2Tx 6. mapped Parameter: For extension of A94, see A94.5.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 17 C0 05 hex
r=3, w=3
A97
Global
read (1)
PZD ActValue Len: Indicator parameter which indicates the length in bytes of the current
process data with actual values (data from inverter to PROFIBUS master) for the current
parameterization.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 18 40 00 hex
 Only visible when a PROFIBUS device controller is selected in the device configuration or the
appropriate blocks were used with the option for free, graphic programming.
A98
DP time stamp mode: Currently has no function
Global
Value range: 0 ... 0 ... 5
r=3, w=3
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 18 80 00 hex
 Only visible when a PROFIBUS device controller is selected in the device configuration or the
appropriate blocks were used with the option for free, graphic programming.
ID 441782.04
94
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A100
Global
r=3, w=3
Fieldbusscaling: The selection is made here between internal raw values and whole numbers
for the representation/scaling of process data values during transmission via PZD channel.
Regardless of this setting, the representation is always the whole number via PKW channel and the
non cyclic parameter channel.
Fieldbusaddress
2064h
0h
2065h
0h
2066h
0h
2067h
0h
CAUTION
When "0:integer" is parameterized (scaled values), the runtime load increases significantly and it
may become necessary to increase A150 cycle time to avoid the fault "57:runtime usage" or
"35:Watchdog."
With few exceptions, the PKW channel is always transferred in scaled format.
0: integer without point; Values are transferred as whole number in user units * 10 to the power of
the number of positions after the decimal point.
1: native; Values are transferred at optimized speed in the internal inverter raw format (e.g.,
increments).
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 19 00 00 hex
 Only visible when a PROFIBUS device controller is selected in the device configuration or the
appropriate blocks were used with the option for free, graphic programming.
A101
Global
r=3, w=3
Dummy-Byte: This variable is used to replace a piece of process data with the byte length when
you want to test deactivation of the process variables via fieldbus.
NOTE
The parameter is only visible when fieldbus device control was selected in the configuration
assistant.
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 01 19 40 00 hex
A102
Global
r=3, w=3
Dummy-Word: This variable is used to replace a piece of process data with the word length when
you want to test deactivation of the process variables via fieldbus.
NOTE
The parameter is only visible when fieldbus device control was selected in the configuration
assistant.
Fieldbus: 1LSB=1; PDO ; Type: U16; USS-Adr: 01 19 80 00 hex
A103
Global
r=3, w=3
Dummy-Doubleword: This variable is used to replace a piece of process data with the doubleword length when you want to test deactivation of the process variables via fieldbus.
NOTE
The parameter is only visible when fieldbus device control was selected in the configuration
assistant.
Fieldbus: 1LSB=1; PDO ; Type: U32; USS-Adr: 01 19 C0 00 hex
ID 441782.04
95
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A109
Global
r=1, w=1
PZD-Timeout: To keep the inverter from continuing with the last received reference values after a
failure of PROFIBUS or the PROFIBUS master, process data monitoring should be activated. The
RX block monitors the regular receipt of process data telegrams (PZD) which the PROFIBUS
master sends cyclically during normal operation. The A109 PZD-Timeout parameter is used to
activate this monitoring function. A time is set here in milliseconds. The default setting is 200 msec.
The values 65535 and 0 mean that monitoring is inactive This is recommended while the inverter is
being commissioned on PROFIBUS and for service and maintenance work.
Monitoring should only be activated for the running process during which a bus master cyclically
sends process data to the inverter. The monitoring time must be adapted to the maximum total
cycle time on PROFIBUS plus a sufficient reserve for possible delays on the bus. Sensible values
are usually between 30 and 300 msec.
When process data monitoring is triggered on the inverter, the fault "52:communication" is
triggered.
Fieldbusaddress
206Dh
0h
206Eh
0h
206Eh
1h
206Eh
2h
206Eh
3h
* The A109 PZD-Timeout parameter is also used for communication via USS protocol for the USSPZD telegram.
Value range in ms: 0 ... 200 ... 65535
Fieldbus: 1LSB=1ms; Type: U16; USS-Adr: 01 1B 40 00 hex
A110.
0
Global
r=1, w=1
USS PZD Mapping Rx 1. mapped Parameter: Address of the parameter which is imaged
first from the contents of the process data telegram (receiving direction as seen by the inverter).
NOTE
The parameter is only visible when a USS device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1B 80 00 hex
A110.
1
Global
r=1, w=1
USS PZD Mapping Rx 2. mapped Parameter: Address of the parameter which is imaged
second from the contents of the process data telegram (receiving direction as seen by the inverter).
NOTE
The parameter is only visible when a USS device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1B 80 01 hex
A110.
2
Global
r=1, w=1
USS PZD Mapping Rx 3. mapped Parameter: Address of the parameter which is imaged
third from the contents of the process data telegram (receiving direction as seen by the inverter).
NOTE
The parameter is only visible when a USS device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1B 80 02 hex
A110.
3
Global
r=1, w=1
USS PZD Mapping Rx 4. mapped Parameter: Address of the parameter which is imaged
fourth from the contents of the process data telegram (receiving direction as seen by the inverter).
NOTE
The parameter is only visible when a USS device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1B 80 03 hex
ID 441782.04
96
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A110.
4
Global
r=1, w=1
USS PZD Mapping Rx 5. mapped Parameter: Address of the parameter which is imaged
fifth from the contents of the process data telegram (receiving direction as seen by the inverter).
Fieldbusaddress
206Eh
4h
206Eh
5h
2071h
0h
2072h
0h
2072h
1h
2072h
2h
NOTE
The parameter is only visible when a USS device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1B 80 04 hex
A110.
5
Global
r=1, w=1
USS PZD Mapping Rx 6. mapped Parameter: Address of the parameter which is imaged
sixth from the contents of the process data telegram (receiving direction as seen by the inverter).
NOTE
The parameter is only visible when a USS device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1B 80 05 hex
A113
Global
read (1)
USS PZD Rx Len: Indicator parameter which shows the length in bytes of the expected process
data telegram with reference values of USS master for the current parameterization.
NOTE
The parameter is only visible when a USS device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Value range: 0 ... 0 ... 255
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 1C 40 00 hex
A114.
0
Global
r=1, w=1
USS PZD Mapping Tx 1. mapped Parameter: Address of the parameter which is imaged
first in the contents of the process data telegram (sending direction as seen by the inverter).
NOTE
The parameter is only visible when a USS device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1C 80 00 hex
A114.
1
Global
r=1, w=1
USS PZD Mapping Tx 2. mapped Parameter: Address of the parameter which is imaged
second in the contents of the process data telegram (sending direction as seen by the inverter).
NOTE
The parameter is only visible when a USS device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1C 80 01 hex
A114.
2
Global
r=1, w=1
USS PZD Mapping Tx 3. mapped Parameter: Address of the parameter which is imaged
third in the contents of the process data telegram (sending direction as seen by the inverter).
NOTE
The parameter is only visible when a USS device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1C 80 02 hex
ID 441782.04
97
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A114.
3
Global
r=1, w=1
USS PZD Mapping Tx 4. mapped Parameter: Address of the parameter which is imaged
fourth in the contents of the process data telegram (sending direction as seen by the inverter).
Fieldbusaddress
2072h
3h
2072h
4h
2072h
5h
2075h
0h
2076h
0h
NOTE
The parameter is only visible when a USS device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1C 80 03 hex
A114.
4
Global
r=1, w=1
USS PZD Mapping Tx 5. mapped Parameter: Address of the parameter which is imaged
fifth in the contents of the process data telegram (sending direction as seen by the inverter).
NOTE
The parameter is only visible when a USS device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1C 80 04 hex
A114.
5
Global
r=1, w=1
USS PZD Mapping Tx 6. mapped Parameter: Address of the parameter which is imaged
sixth in the contents of the process data telegram (sending direction as seen by the inverter).
NOTE
The parameter is only visible when a USS device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1C 80 05 hex
A117
Global
read (1)
USS PZD Tx Len: Indicator parameter which indicates the length in bytes of the process data
telegram to be sent with actual values to the USS master for the current parameterization.
NOTE
The parameter is only visible when a USS device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Value range: 0 ... 0 ... 255
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 1D 40 00 hex
A118
Global
r=1, w=1
USS PZD scaling: The selection is made here between internal raw values and whole numbers
for the representation/scaling of parameter values during transmission via the process data
telegram. Regardless of this setting, the representation can be selected separately via the readparameter or write-parameter services.
NOTE
The parameter is only visible when a USS device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
0: integer without point; Values are transferred as whole number in user units * number of positions
after the decimal point to the 10th power.
1: native; Values are transferred in the internal inverter raw format (e.g., increments).
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 1D 80 00 hex
ID 441782.04
98
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A120
Global
r=3, w=3
IGB Address: The IGB address of the device is entered in this parameter. Since up to 32
inverters can be connected to one IGB network, enter a value between 0 and 31 in this parameter.
Remember that each IGB address can only be allocated once within an IGB network if you want to
utilize the functionality of the IGB Motionbus. This is why you should use the IGB Motionbus
Configuration assistant to set this parameter. Remember that the parameter does not exist unless
you activate the IGB Motionbus function in step 6 of the configuration assistant.
Fieldbusaddress
2078h
0h
2079h
0h
207Ch
0h
Value range: 0 ... 0 ... 31
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 1E 00 00 hex
A121
Global
r=3, w=3
IGB nominal number: The number of stations expected by the IGB Motionbus is entered in this
parameter.
If you plan to utilize the IGB Motionbus function, the parameter must be the same for all stations
and must be set to the expected number of stations so that the state A155 = 3:IGB Motionbus is
achieved. If the parameter is set to 0 or 1, the IGB Motionbus cannot be used.
Value range: 0 ... 0 ... 32
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 1E 40 00 hex
A124
Global
r=3, w=3
IGB exceptional motion: When an SDS 5000 is a station on the IGB Motionbus, the device
state machine cannot exit the state 1:switch on inhibit (see E48 device state) if the IGB Motionbus
cannot be established (A155 IGB-state does not indicate 3:IGB Motionbus).
You can activate IGB exceptional motion in A124 so that the axes can still be individually positioned
during commissioning and failure of the IGB or the device. When IGB exceptional motion is
activated, enabling is possible regardless of A155 IGB-state.
Warning
When A124 is activated, non-synchronous, undefined movements are possible which can endanger
personnel and machines. When you use A124, make sure that the movements cannot injure
personnel or cause property damage.
Information
This parameter cannot be saved. It is preset with 0:inactive each time the device boots.
0: inactive; Normal operation. When an SDS 5000 is a station on the IGB Motionbus, the device
state 1:switch on inhibit can only be exited if the IGB Motionbus can be established (A155 IGBstate indicates 3:IGB Motionbus).
1: active; IGB exceptional motion. When an SDS 5000 is a station on the IGB Motionbus, the
device state machine can also exit the state 1:switch on inhibit via the IGB exceptional motion
(see E48 device state) if the IGB Motionbus cannot be established (A155 IGB-state does not
indicate 3:IGB Motionbus). This may be necessary during maintenance, for example, when not
all the inverters for the IGB Motionbus are located at the same place.
Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 1F 00 00 hex
ID 441782.04
99
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A126.
0
Global
r=3, w=3
IGB Producer Mapping 1. mapped Parameter: Every SDS 5000 can cyclically send
("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These
parameters are entered in the elements of the array parameter A126.x. The first parameter which is
sent on the bus is entered in A126.0.
Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently
assigned:
- Byte 0: E48 device control state
- Byte 1: E80 operating condition
- Byte 2: E82 event type
- Byte 3: A163.0 IGB systembits element 0
- Byte 4: A163.1 IGB systembits element 1
- Byte 5: reserved
The parameters entered in A126.x are transmitted in succession, without gaps and with element 0,
beginning with byte 6.
Fieldbusaddress
0h
207Eh
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 00 hex
A126.
1
Global
r=3, w=3
IGB Producer Mapping 2. mapped Parameter: Every SDS 5000 can cyclically send
("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These
parameters are entered in the elements of the array parameter A126.x. The second parameter
which is sent on the bus is entered in A126.1.
Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently
assigned:
- Byte 0: E48 device control state
- Byte 1: E80 operating condition
- Byte 2: E82 event type
- Byte 3: A163.0 IGB systembits element 0
- Byte 4: A163.1 IGB systembits element 1
- Byte 5: reserved
The parameters entered in A126.x are transmitted in succession, without gaps and with element 0,
beginning with byte 6.
1h
207Eh
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 01 hex
A126.
2
Global
r=3, w=3
IGB Producer Mapping 3. mapped Parameter: Every SDS 5000 can cyclically send
("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These
parameters are entered in the elements of the array parameter A126.x. The third parameter which
is sent on the bus is entered in A126.2.
Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently
assigned:
- Byte 0: E48 device control state
- Byte 1: E80 operating condition
- Byte 2: E82 event type
- Byte 3: A163.0 IGB systembits element 0
- Byte 4: A163.1 IGB systembits element 1
- Byte 5: reserved
The parameters entered in A126.x are transmitted in succession, without gaps and with element 0,
beginning with byte 6.
2h
207Eh
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 02 hex
ID 441782.04
100
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A126.
3
Global
r=3, w=3
IGB Producer Mapping 4. mapped Parameter: Every SDS 5000 can cyclically send
("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These
parameters are entered in the elements of the array parameter A126.x. The 4th parameter which is
sent on the bus is entered in A126.3.
Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently
assigned:
- Byte 0: E48 device control state
- Byte 1: E80 operating condition
- Byte 2: E82 event type
- Byte 3: A163.0 IGB systembits element 0
- Byte 4: A163.1 IGB systembits element 1
- Byte 5: reserved
The parameters entered in A126.x are transmitted in succession, without gaps and with element 0,
beginning with byte 6.
Fieldbusaddress
3h
207Eh
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 03 hex
A126.
4
Global
r=3, w=3
IGB Producer Mapping 5. mapped Parameter: Every SDS 5000 can cyclically send
("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These
parameters are entered in the elements of the array parameter A126.x. The 5th parameter which is
sent on the bus is entered in A126.4.
Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently
assigned:
- Byte 0: E48 device control state
- Byte 1: E80 operating condition
- Byte 2: E82 event type
- Byte 3: A163.0 IGB systembits element 0
- Byte 4: A163.1 IGB systembits element 1
- Byte 5: reserved
The parameters entered in A126.x are transmitted in succession, without gaps and with element 0,
beginning with byte 6.
4h
207Eh
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 04 hex
A126.
5
Global
r=3, w=3
IGB Producer Mapping 6. mapped Parameter: Every SDS 5000 can cyclically send
("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These
parameters are entered in the elements of the array parameter A126.x. The 6th parameter which is
sent on the bus is entered in A126.5.
Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently
assigned:
- Byte 0: E48 device control state
- Byte 1: E80 operating condition
- Byte 2: E82 event type
- Byte 3: A163.0 IGB systembits element 0
- Byte 4: A163.1 IGB systembits element 1
- Byte 5: reserved
The parameters entered in A126.x are transmitted in succession, without gaps and with element 0,
beginning with byte 6.
5h
207Eh
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 05 hex
ID 441782.04
101
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A126.
6
Global
r=3, w=3
IGB Producer Mapping 7. mapped Parameter: Every SDS 5000 can cyclically send
("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These
parameters are entered in the elements of the array parameter A126.x. The 7th parameter which is
sent on the bus is entered in A126.6.
Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently
assigned:
- Byte 0: E48 device control state
- Byte 1: E80 operating condition
- Byte 2: E82 event type
- Byte 3: A163.0 IGB systembits element 0
- Byte 4: A163.1 IGB systembits element 1
- Byte 5: reserved
The parameters entered in A126.x are transmitted in succession, without gaps and with element 0,
beginning with byte 6.
Fieldbusaddress
6h
207Eh
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 06 hex
A126.
7
Global
r=3, w=3
IGB Producer Mapping 8. mapped Parameter: Every SDS 5000 can cyclically send
("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These
parameters are entered in the elements of the array parameter A126.x. The 8th parameter which is
sent on the bus is entered in A126.7.
Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently
assigned:
- Byte 0: E48 device control state
- Byte 1: E80 operating condition
- Byte 2: E82 event type
- Byte 3: A163.0 IGB systembits element 0
- Byte 4: A163.1 IGB systembits element 1
- Byte 5: reserved
The parameters entered in A126.x are transmitted in succession, without gaps and with element 0,
beginning with byte 6.
7h
207Eh
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 07 hex
A126.
8
Global
r=3, w=3
IGB Producer Mapping 9. mapped Parameter: Every SDS 5000 can cyclically send
("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These
parameters are entered in the elements of the array parameter A126.x. The 9th parameter which is
sent on the bus is entered in A126.8.
Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently
assigned:
- Byte 0: E48 device control state
- Byte 1: E80 operating condition
- Byte 2: E82 event type
- Byte 3: A163.0 IGB systembits element 0
- Byte 4: A163.1 IGB systembits element 1
- Byte 5: reserved
The parameters entered in A126.x are transmitted in succession, without gaps and with element 0,
beginning with byte 6.
8h
207Eh
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 08 hex
ID 441782.04
102
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A126.
9
Global
r=3, w=3
IGB Producer Mapping 10. mapped Parameter: Every SDS 5000 can cyclically send
("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These
parameters are entered in the elements of the array parameter A126.x. The 10th parameter which
is sent on the bus is entered in A126.9.
Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently
assigned:
- Byte 0: E48 device control state
- Byte 1: E80 operating condition
- Byte 2: E82 event type
- Byte 3: A163.0 IGB systembits element 0
- Byte 4: A163.1 IGB systembits element 1
- Byte 5: reserved
The parameters entered in A126.x are transmitted in succession, without gaps and with element 0,
beginning with byte 6.
Fieldbusaddress
9h
207Eh
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 09 hex
A126.
10
Global
r=3, w=3
IGB Producer Mapping 11. mapped Parameter: Every SDS 5000 can cyclically send
("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These
parameters are entered in the elements of the array parameter A126.x. The 11th parameter which
is sent on the bus is entered in A126.10.
Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently
assigned:
- Byte 0: E48 device control state
- Byte 1: E80 operating condition
- Byte 2: E82 event type
- Byte 3: A163.0 IGB systembits element 0
- Byte 4: A163.1 IGB systembits element 1
- Byte 5: reserved
The parameters entered in A126.x are transmitted in succession, without gaps and with element 0,
beginning with byte 6.
207Eh
000
Ah
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 0A hex
A126.
11
Global
r=3, w=3
IGB Producer Mapping 12. mapped Parameter: Every SDS 5000 can cyclically send
("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These
parameters are entered in the elements of the array parameter A126.x. The 12th parameter which
is sent on the bus is entered in A126.11.
Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently
assigned:
- Byte 0: E48 device control state
- Byte 1: E80 operating condition
- Byte 2: E82 event type
- Byte 3: A163.0 IGB systembits element 0
- Byte 4: A163.1 IGB systembits element 1
- Byte 5: reserved
The parameters entered in A126.x are transmitted in succession, without gaps and with element 0,
beginning with byte 6.
207Eh
000
Bh
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 0B hex
ID 441782.04
103
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A126.
12
Global
r=3, w=3
IGB Producer Mapping 13. mapped Parameter: Every SDS 5000 can cyclically send
("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These
parameters are entered in the elements of the array parameter A126.x. The 13th parameter which
is sent on the bus is entered in A126.12.
Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently
assigned:
- Byte 0: E48 device control state
- Byte 1: E80 operating condition
- Byte 2: E82 event type
- Byte 3: A163.0 IGB systembits element 0
- Byte 4: A163.1 IGB systembits element 1
- Byte 5: reserved
The parameters entered in A126.x are transmitted in succession, without gaps and with element 0,
beginning with byte 6.
Fieldbusaddress
207Eh
000
Ch
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 0C hex
A126.
13
Global
r=3, w=3
IGB Producer Mapping 14. mapped Parameter: Every SDS 5000 can cyclically send
("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These
parameters are entered in the elements of the array parameter A126.x. The 14th parameter which
is sent on the bus is entered in A126.13.
Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently
assigned:
- Byte 0: E48 device control state
- Byte 1: E80 operating condition
- Byte 2: E82 event type
- Byte 3: A163.0 IGB systembits element 0
- Byte 4: A163.1 IGB systembits element 1
- Byte 5: reserved
The parameters entered in A126.x are transmitted in succession, without gaps and with element 0,
beginning with byte 6.
207Eh
000
Dh
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 0D hex
A126.
14
Global
r=3, w=3
IGB Producer Mapping 15. mapped Parameter: Every SDS 5000 can cyclically send
("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These
parameters are entered in the elements of the array parameter A126.x. The 15th parameter which
is sent on the bus is entered in A126.14.
Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently
assigned:
- Byte 0: E48 device control state
- Byte 1: E80 operating condition
- Byte 2: E82 event type
- Byte 3: A163.0 IGB systembits element 0
- Byte 4: A163.1 IGB systembits element 1
- Byte 5: reserved
The parameters entered in A126.x are transmitted in succession, without gaps and with element 0,
beginning with byte 6.
207Eh
000
Eh
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 0E hex
ID 441782.04
104
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A126.
15
Global
r=3, w=3
IGB Producer Mapping 16. mapped Parameter: Every SDS 5000 can cyclically send
("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These
parameters are entered in the elements of the array parameter A126.x. The 16th parameter which
is sent on the bus is entered in A126.15.
Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently
assigned:
- Byte 0: E48 device control state
- Byte 1: E80 operating condition
- Byte 2: E82 event type
- Byte 3: A163.0 IGB systembits element 0
- Byte 4: A163.1 IGB systembits element 1
- Byte 5: reserved
The parameters entered in A126.x are transmitted in succession, without gaps and with element 0,
beginning with byte 6.
Fieldbusaddress
207Eh
000
Fh
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 0F hex
A126.
16
Global
r=3, w=3
IGB Producer Mapping 17. mapped Parameter: Every SDS 5000 can cyclically send
("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These
parameters are entered in the elements of the array parameter A126.x. The 17th parameter which
is sent on the bus is entered in A126.16.
Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently
assigned:
- Byte 0: E48 device control state
- Byte 1: E80 operating condition
- Byte 2: E82 event type
- Byte 3: A163.0 IGB systembits element 0
- Byte 4: A163.1 IGB systembits element 1
- Byte 5: reserved
The parameters entered in A126.x are transmitted in succession, without gaps and with element 0,
beginning with byte 6.
207Eh
10h
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 10 hex
A126.
17
Global
r=3, w=3
IGB Producer Mapping 18. mapped Parameter: Every SDS 5000 can cyclically send
("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These
parameters are entered in the elements of the array parameter A126.x. The 18th parameter which
is sent on the bus is entered in A126.17.
Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently
assigned:
- Byte 0: E48 device control state
- Byte 1: E80 operating condition
- Byte 2: E82 event type
- Byte 3: A163.0 IGB systembits element 0
- Byte 4: A163.1 IGB systembits element 1
- Byte 5: reserved
The parameters entered in A126.x are transmitted in succession, without gaps and with element 0,
beginning with byte 6.
207Eh
11h
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 11 hex
ID 441782.04
105
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A126.
18
Global
r=3, w=3
IGB Producer Mapping 19. mapped Parameter: Every SDS 5000 can cyclically send
("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These
parameters are entered in the elements of the array parameter A126.x. The 19th parameter which
is sent on the bus is entered in A126.18.
Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently
assigned:
- Byte 0: E48 device control state
- Byte 1: E80 operating condition
- Byte 2: E82 event type
- Byte 3: A163.0 IGB systembits element 0
- Byte 4: A163.1 IGB systembits element 1
- Byte 5: reserved
The parameters entered in A126.x are transmitted in succession, without gaps and with element 0,
beginning with byte 6.
Fieldbusaddress
207Eh
12h
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 12 hex
A126.
19
Global
r=3, w=3
IGB Producer Mapping 20. mapped Parameter: Every SDS 5000 can cyclically send
("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These
parameters are entered in the elements of the array parameter A126.x. The 20th parameter which
is sent on the bus is entered in A126.19.
Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently
assigned:
- Byte 0: E48 device control state
- Byte 1: E80 operating condition
- Byte 2: E82 event type
- Byte 3: A163.0 IGB systembits element 0
- Byte 4: A163.1 IGB systembits element 1
- Byte 5: reserved
The parameters entered in A126.x are transmitted in succession, without gaps and with element 0,
beginning with byte 6.
207Eh
13h
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 13 hex
A126.
20
Global
r=3, w=3
IGB Producer Mapping 21. mapped Parameter: Every SDS 5000 can cyclically send
("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These
parameters are entered in the elements of the array parameter A126.x. The 21th parameter which
is sent on the bus is entered in A126.20.
Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently
assigned:
- Byte 0: E48 device control state
- Byte 1: E80 operating condition
- Byte 2: E82 event type
- Byte 3: A163.0 IGB systembits element 0
- Byte 4: A163.1 IGB systembits element 1
- Byte 5: reserved
The parameters entered in A126.x are transmitted in succession, without gaps and with element 0,
beginning with byte 6.
207Eh
14h
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 14 hex
ID 441782.04
106
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A126.
21
Global
r=3, w=3
IGB Producer Mapping 22. mapped Parameter: Every SDS 5000 can cyclically send
("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These
parameters are entered in the elements of the array parameter A126.x. The 22th parameter which
is sent on the bus is entered in A126.21.
Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently
assigned:
- Byte 0: E48 device control state
- Byte 1: E80 operating condition
- Byte 2: E82 event type
- Byte 3: A163.0 IGB systembits element 0
- Byte 4: A163.1 IGB systembits element 1
- Byte 5: reserved
The parameters entered in A126.x are transmitted in succession, without gaps and with element 0,
beginning with byte 6.
Fieldbusaddress
207Eh
15h
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 15 hex
A126.
22
Global
r=3, w=3
IGB Producer Mapping 23. mapped Parameter: Every SDS 5000 can cyclically send
("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These
parameters are entered in the elements of the array parameter A126.x. The 23th parameter which
is sent on the bus is entered in A126.22.
Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently
assigned:
- Byte 0: E48 device control state
- Byte 1: E80 operating condition
- Byte 2: E82 event type
- Byte 3: A163.0 IGB systembits element 0
- Byte 4: A163.1 IGB systembits element 1
- Byte 5: reserved
The parameters entered in A126.x are transmitted in succession, without gaps and with element 0,
beginning with byte 6.
207Eh
16h
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 16 hex
A126.
23
Global
r=3, w=3
IGB Producer Mapping 24. mapped Parameter: Every SDS 5000 can cyclically send
("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These
parameters are entered in the elements of the array parameter A126.x. The 24th parameter which
is sent on the bus is entered in A126.23.
Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently
assigned:
- Byte 0: E48 device control state
- Byte 1: E80 operating condition
- Byte 2: E82 event type
- Byte 3: A163.0 IGB systembits element 0
- Byte 4: A163.1 IGB systembits element 1
- Byte 5: reserved
The parameters entered in A126.x are transmitted in succession, without gaps and with element 0,
beginning with byte 6.
207Eh
17h
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 1F 80 17 hex
ID 441782.04
107
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A128.
0
Global
r=3, w=3
IGB Consumer Mapping 1. mapped Parameter: Each device can read up to six selectable
values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
Fieldbusaddress
0h
2080h
Array
In A128.0 enter the parameter to which the first value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.0. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 00 hex
A128.
1
Global
r=3, w=3
IGB Consumer Mapping 2. mapped Parameter: Each device can read up to six selectable
values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
1h
2080h
Array
In A128.1 enter the parameter to which the second value is to be written. The length of the
parameter determines how many bytes are to be read starting at the address specified in A129.1.
Remember that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 01 hex
A128.
2
Global
r=3, w=3
IGB Consumer Mapping 3. mapped Parameter: Each device can read up to six selectable
values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2h
2080h
Array
In A128.2 enter the parameter to which the third value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.2. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 02 hex
A128.
3
Global
r=3, w=3
IGB Consumer Mapping 4. mapped Parameter: Each device can read up to six selectable
values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
3h
2080h
Array
In A128.3 enter the parameter to which the fourth value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.3. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 03 hex
ID 441782.04
108
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A128.
4
Global
r=3, w=3
IGB Consumer Mapping 5. mapped Parameter: Each device can read up to six selectable
values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
Fieldbusaddress
4h
2080h
Array
In A128.4 enter the parameter to which the fifth value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.4. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 04 hex
A128.
5
Global
r=3, w=3
IGB Consumer Mapping 6. mapped Parameter: Each device can read up to six selectable
values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
5h
2080h
Array
In A128.5 enter the parameter to which the sixth value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.5. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 05 hex
A128.
6
Global
r=3, w=3
IGB Consumer Mapping 7. mapped Parameter: Each device can read up to six selectable
values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
6h
2080h
Array
In A128.6 enter the parameter to which the 7th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.6. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 06 hex
A128.
7
Global
r=3, w=3
IGB Consumer Mapping 8. mapped Parameter: Each device can read up to six selectable
values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
7h
2080h
Array
In A128.7 enter the parameter to which the 8th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.7. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 07 hex
ID 441782.04
109
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A128.
8
Global
r=3, w=3
IGB Consumer Mapping 9. mapped Parameter: Each device can read up to six selectable
values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
Fieldbusaddress
8h
2080h
Array
In A128.8 enter the parameter to which the 9th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.8. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 08 hex
A128.
9
Global
r=3, w=3
IGB Consumer Mapping 10. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
9h
2080h
Array
In A128.9 enter the parameter to which the 10th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.9. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 09 hex
A128.
10
Global
r=3, w=3
IGB Consumer Mapping 11. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2080h
000
Ah
Array
In A128.10 enter the parameter to which the 11th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.10. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 0A hex
A128.
11
Global
r=3, w=3
IGB Consumer Mapping 12. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2080h
000
Bh
Array
In A128.11 enter the parameter to which the 12th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.11. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 0B hex
ID 441782.04
110
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A128.
12
Global
r=3, w=3
IGB Consumer Mapping 13. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
Fieldbusaddress
2080h
000
Ch
Array
In A128.12 enter the parameter to which the 13th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.12. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 0C hex
A128.
13
Global
r=3, w=3
IGB Consumer Mapping 14. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2080h
000
Dh
Array
In A128.13 enter the parameter to which the 14th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.13. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 0D hex
A128.
14
Global
r=3, w=3
IGB Consumer Mapping 15. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2080h
000
Eh
Array
In A128.14 enter the parameter to which the 15th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.14. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 0E hex
A128.
15
Global
r=3, w=3
IGB Consumer Mapping 16. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2080h
000
Fh
Array
In A128.15 enter the parameter to which the 16th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.15. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 0F hex
ID 441782.04
111
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A128.
16
Global
r=3, w=3
IGB Consumer Mapping 17. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
Fieldbusaddress
2080h
10h
Array
In A128.16 enter the parameter to which the 17th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.16. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 10 hex
A128.
17
Global
r=3, w=3
IGB Consumer Mapping 18. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2080h
11h
Array
In A128.17 enter the parameter to which the 18th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.17. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 11 hex
A128.
18
Global
r=3, w=3
IGB Consumer Mapping 19. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2080h
12h
Array
In A128.18 enter the parameter to which the 19th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.18. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 12 hex
A128.
19
Global
r=3, w=3
IGB Consumer Mapping 20. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2080h
13h
Array
In A128.19 enter the parameter to which the 20th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.19. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 13 hex
ID 441782.04
112
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A128.
20
Global
r=3, w=3
IGB Consumer Mapping 21. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
Fieldbusaddress
2080h
14h
Array
In A128.20 enter the parameter to which the 21st value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.20. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 14 hex
A128.
21
Global
r=3, w=3
IGB Consumer Mapping 22. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2080h
15h
Array
In A128.21 enter the parameter to which the 22nd value is to be written. The length of the
parameter determines how many bytes are to be read starting at the address specified in A129.21.
Remember that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 15 hex
A128.
22
Global
r=3, w=3
IGB Consumer Mapping 23. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2080h
16h
Array
In A128.22 enter the parameter to which the 23rd value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.22. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 16 hex
A128.
23
Global
r=3, w=3
IGB Consumer Mapping 24. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2080h
17h
Array
In A128.23 enter the parameter to which the 24th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.23. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 17 hex
ID 441782.04
113
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A128.
24
Global
r=3, w=3
IGB Consumer Mapping 25. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
Fieldbusaddress
2080h
18h
Array
In A128.24 enter the parameter to which the 25th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.24. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 18 hex
A128.
25
Global
r=3, w=3
IGB Consumer Mapping 26. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2080h
19h
Array
In A128.25 enter the parameter to which the 26th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.25. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 19 hex
A128.
26
Global
r=3, w=3
IGB Consumer Mapping 27. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2080h
001
Ah
Array
In A128.26 enter the parameter to which the 27th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.26. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 1A hex
A128.
27
Global
r=3, w=3
IGB Consumer Mapping 28. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2080h
001
Bh
Array
In A128.27 enter the parameter to which the 28th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.27. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 1B hex
ID 441782.04
114
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A128.
28
Global
r=3, w=3
IGB Consumer Mapping 29. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
Fieldbusaddress
2080h
001
Ch
Array
In A128.28 enter the parameter to which the 29th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.28. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 1C hex
A128.
29
Global
r=3, w=3
IGB Consumer Mapping 30. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2080h
001
Dh
Array
In A128.29 enter the parameter to which the 30th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.29. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 1D hex
A128.
30
Global
r=3, w=3
IGB Consumer Mapping 31. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2080h
001
Eh
Array
In A128.30 enter the parameter to which the 31rd value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A129.30. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 1E hex
A128.
31
Global
r=3, w=3
IGB Consumer Mapping 32. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2080h
001
Fh
Array
In A128.31 enter the parameter to which the 32nd value is to be written. The length of the
parameter determines how many bytes are to be read starting at the address specified in A129.31.
Remember that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 00 1F hex
ID 441782.04
115
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A129.
0
Global
r=3, w=3
IGB Consumer Quelladresse 1. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., (i.e., the inverter which sent the data and starting at what byte the sent
data are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
Fieldbusaddress
0h
2081h
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the first source address in A129.0.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 00 hex
A129.
1
Global
r=3, w=3
IGB Consumer Quelladresse 2. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., (i.e., the inverter which sent the data and starting at what byte the sent
data are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
1h
2081h
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the second source address in A129.1.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 01 hex
A129.
2
Global
r=3, w=3
IGB Consumer Quelladresse 3. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2h
2081h
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the third source address in A129.2.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 02 hex
ID 441782.04
116
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A129.
3
Global
r=3, w=3
IGB Consumer Quelladresse 4. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
Fieldbusaddress
3h
2081h
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the fourth source address in A129.3.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 03 hex
A129.
4
Global
r=3, w=3
IGB Consumer Quelladresse 5. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
4h
2081h
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the fifth source address in A129.4.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 04 hex
A129.
5
Global
r=3, w=3
IGB Consumer Quelladresse 6. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
5h
2081h
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the sixth source address in A129.5.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 05 hex
ID 441782.04
117
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A129.
6
Global
r=3, w=3
IGB Consumer Quelladresse 7. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
Fieldbusaddress
6h
2081h
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 7th source address in A129.6.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 06 hex
A129.
7
Global
r=3, w=3
IGB Consumer Quelladresse 8. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
7h
2081h
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 8th source address in A129.7.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 07 hex
A129.
8
Global
r=3, w=3
IGB Consumer Quelladresse 9. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
8h
2081h
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 9th source address in A129.8.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 08 hex
ID 441782.04
118
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A129.
9
Global
r=3, w=3
IGB Consumer Quelladresse 10. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
Fieldbusaddress
9h
2081h
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 10th source address in A129.9.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 09 hex
A129.
10
Global
r=3, w=3
IGB Consumer Quelladresse 11. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2081h
000
Ah
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 11th source address in A129.10.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 0A hex
A129.
11
Global
r=3, w=3
IGB Consumer Quelladresse 12. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2081h
000
Bh
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 12th source address in A129.11.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 0B hex
ID 441782.04
119
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A129.
12
Global
r=3, w=3
IGB Consumer Quelladresse 13. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
Fieldbusaddress
2081h
000
Ch
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 13th source address in A129.12.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 0C hex
A129.
13
Global
r=3, w=3
IGB Consumer Quelladresse 14. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2081h
000
Dh
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 14th source address in A129.13.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 0D hex
A129.
14
Global
r=3, w=3
IGB Consumer Quelladresse 15. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2081h
000
Eh
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 15th source address in A129.14.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 0E hex
ID 441782.04
120
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A129.
15
Global
r=3, w=3
IGB Consumer Quelladresse 16. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
Fieldbusaddress
2081h
000
Fh
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 16th source address in A129.15.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 0F hex
A129.
16
Global
r=3, w=3
IGB Consumer Quelladresse 17. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2081h
10h
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 17th source address in A129.16.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 10 hex
A129.
17
Global
r=3, w=3
IGB Consumer Quelladresse 18. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2081h
11h
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 18th source address in A129.17.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 11 hex
ID 441782.04
121
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A129.
18
Global
r=3, w=3
IGB Consumer Quelladresse 19. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
Fieldbusaddress
2081h
12h
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 19th source address in A129.18.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 12 hex
A129.
19
Global
r=3, w=3
IGB Consumer Quelladresse 20. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2081h
13h
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 20th source address in A129.19.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 13 hex
A129.
20
Global
r=3, w=3
IGB Consumer Quelladresse 21. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2081h
14h
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 21rd source address in A129.20.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 14 hex
ID 441782.04
122
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A129.
21
Global
r=3, w=3
IGB Consumer Quelladresse 22. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
Fieldbusaddress
2081h
15h
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 22nd source address in A129.21.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 15 hex
A129.
22
Global
r=3, w=3
IGB Consumer Quelladresse 23. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2081h
16h
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 23rd source address in A129.22.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 16 hex
A129.
23
Global
r=3, w=3
IGB Consumer Quelladresse 24. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2081h
17h
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 24th source address in A129.23.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 17 hex
ID 441782.04
123
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A129.
24
Global
r=3, w=3
IGB Consumer Quelladresse 25. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
Fieldbusaddress
2081h
18h
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 25th source address in A129.24.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 18 hex
A129.
25
Global
r=3, w=3
IGB Consumer Quelladresse 26. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2081h
19h
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 26th source address in A129.25.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 19 hex
A129.
26
Global
r=3, w=3
IGB Consumer Quelladresse 27. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2081h
001
Ah
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 27th source address in A129.26.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 1A hex
ID 441782.04
124
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A129.
27
Global
r=3, w=3
IGB Consumer Quelladresse 28. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
Fieldbusaddress
2081h
001
Bh
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 28th source address in A129.27.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 1B hex
A129.
28
Global
r=3, w=3
IGB Consumer Quelladresse 29. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2081h
001
Ch
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 29th source address in A129.28.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 1C hex
A129.
29
Global
r=3, w=3
IGB Consumer Quelladresse 30. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2081h
001
Dh
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 30th source address in A129.29.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 1D hex
ID 441782.04
125
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A129.
30
Global
r=3, w=3
IGB Consumer Quelladresse 31. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
Fieldbusaddress
2081h
001
Eh
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 31rd source address in A129.30.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 1E hex
A129.
31
Global
r=3, w=3
IGB Consumer Quelladresse 32. mapped Parameter: Each device can read up to six
selectable values from the IGB Motionbus. To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A129.x.
2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the
same time, this also allows you to specify how many bytes will be read.
2081h
001
Fh
Array
Enter the source address as a four-position value in A129.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A129.x.
Enter the 32nd source address in A129.31.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 40 1F hex
A130.
0
Global
r=3, w=3
IGB Consumer2 Mapping 1. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
0h
2082h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x an. the
same time, this also allows you to specify how many bytes will be read.
In A130.0, enter the parameter to which the first value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.0. Remember
that you can only use parameters with the PDO-Mapping attribute.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 00 hex
ID 441782.04
126
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A130.
1
Global
r=3, w=3
IGB Consumer2 Mapping 2. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
Fieldbusaddress
1h
2082h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.1 enter the parameter to which the second value is to be written. The length of the
parameter determines how many bytes are to be read starting at the address specified in A131.1.
Remember that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 01 hex
A130.
2
Global
r=3, w=3
IGB Consumer2 Mapping 3. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2h
2082h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.2 enter the parameter to which the third value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.2. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 02 hex
A130.
3
Global
r=3, w=3
IGB Consumer2 Mapping 4. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
3h
2082h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.3 enter the parameter to which the fourth value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.3. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 03 hex
ID 441782.04
127
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A130.
4
Global
r=3, w=3
IGB Consumer2 Mapping 5. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
Fieldbusaddress
4h
2082h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.4 enter the parameter to which the fifth value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.4. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 04 hex
A130.
5
Global
r=3, w=3
IGB Consumer2 Mapping 6. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
5h
2082h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.5 enter the parameter to which the sixth value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.5. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 05 hex
A130.
6
Global
r=3, w=3
IGB Consumer2 Mapping 7. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
6h
2082h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.6 enter the parameter to which the 7th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.6. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 06 hex
ID 441782.04
128
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A130.
7
Global
r=3, w=3
IGB Consumer2 Mapping 8. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
Fieldbusaddress
7h
2082h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.7 enter the parameter to which the 8th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.7. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 07 hex
A130.
8
Global
r=3, w=3
IGB Consumer2 Mapping 9. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
8h
2082h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.8 enter the parameter to which the 9. value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.8. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 08 hex
A130.
9
Global
r=3, w=3
IGB Consumer2 Mapping 10. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
9h
2082h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.9 enter the parameter to which the 10th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.9. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 09 hex
ID 441782.04
129
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A130.
10
Global
r=3, w=3
IGB Consumer2 Mapping 11. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
Fieldbusaddress
2082h
000
Ah
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.10 enter the parameter to which the 11th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.10. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 0A hex
A130.
11
Global
r=3, w=3
IGB Consumer2 Mapping 12. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2082h
000
Bh
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.11 enter the parameter to which the 12th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.11. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 0B hex
A130.
12
Global
r=3, w=3
IGB Consumer2 Mapping 13. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2082h
000
Ch
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.12 enter the parameter to which the 13th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.12. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 0C hex
ID 441782.04
130
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A130.
13
Global
r=3, w=3
IGB Consumer2 Mapping 14. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
Fieldbusaddress
2082h
000
Dh
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.13 enter the parameter to which the 14th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.13. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 0D hex
A130.
14
Global
r=3, w=3
IGB Consumer2 Mapping 15. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2082h
000
Eh
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.14 enter the parameter to which the 15th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.14. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 0E hex
A130.
15
Global
r=3, w=3
IGB Consumer2 Mapping 16. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2082h
000
Fh
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.15 enter the parameter to which the 16th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.15. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 0F hex
ID 441782.04
131
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A130.
16
Global
r=3, w=3
IGB Consumer2 Mapping 17. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
Fieldbusaddress
2082h
10h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.16 enter the parameter to which the 17th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.16. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 10 hex
A130.
17
Global
r=3, w=3
IGB Consumer2 Mapping 18. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2082h
11h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.17 enter the parameter to which the 18th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.17. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 11 hex
A130.
18
Global
r=3, w=3
IGB Consumer2 Mapping 19. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2082h
12h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.18 enter the parameter to which the 19th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.18. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 12 hex
ID 441782.04
132
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A130.
19
Global
r=3, w=3
IGB Consumer2 Mapping 20. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
Fieldbusaddress
2082h
13h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.19 enter the parameter to which the 20th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.19. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 13 hex
A130.
20
Global
r=3, w=3
IGB Consumer2 Mapping 21. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2082h
14h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.20 enter the parameter to which the 21rd value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.20. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 14 hex
A130.
21
Global
r=3, w=3
IGB Consumer2 Mapping 22. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2082h
15h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.21 enter the parameter to which the 22st value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.21. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 15 hex
ID 441782.04
133
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A130.
22
Global
r=3, w=3
IGB Consumer2 Mapping 23. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
Fieldbusaddress
2082h
16h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.22 enter the parameter to which the 23rd value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.22. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 16 hex
A130.
23
Global
r=3, w=3
IGB Consumer2 Mapping 24. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2082h
17h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.23 enter the parameter to which the 24th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.23. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 17 hex
A130.
24
Global
r=3, w=3
IGB Consumer2 Mapping 25. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2082h
18h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.24 enter the parameter to which the 25th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.24. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 18 hex
ID 441782.04
134
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A130.
25
Global
r=3, w=3
IGB Consumer2 Mapping 26. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
Fieldbusaddress
2082h
19h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.25 enter the parameter to which the 26th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.25. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 19 hex
A130.
26
Global
r=3, w=3
IGB Consumer2 Mapping 27. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2082h
001
Ah
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.26 enter the parameter to which the 27th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.26. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 1A hex
A130.
27
Global
r=3, w=3
IGB Consumer2 Mapping 28. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2082h
001
Bh
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.27 enter the parameter to which the 28th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.27. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 1B hex
ID 441782.04
135
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A130.
28
Global
r=3, w=3
IGB Consumer2 Mapping 29. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
Fieldbusaddress
2082h
001
Ch
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.28 enter the parameter to which the 29th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.28. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 1C hex
A130.
29
Global
r=3, w=3
IGB Consumer2 Mapping 30. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2082h
001
Dh
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.29 enter the parameter to which the 30th value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.29. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 1D hex
A130.
30
Global
r=3, w=3
IGB Consumer2 Mapping 31. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2082h
001
Eh
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.30 enter the parameter to which the 31st value is to be written. The length of the parameter
determines how many bytes are to be read starting at the address specified in A131.30. Remember
that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 1E hex
ID 441782.04
136
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A130.
31
Global
r=3, w=3
IGB Consumer2 Mapping 32. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
Fieldbusaddress
2082h
001
Fh
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
In A130.31 enter the parameter to which the 32nd value is to be written. The length of the
parameter determines how many bytes are to be read starting at the address specified in A131.31.
Remember that you can only use parameters with the PDO-Mapping characteristic.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 20 80 1F hex
A131.
0
Global
r=3, w=3
IGB Consumer2 Quelladresse 1. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
0h
2083h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the first source address in A131.0.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 00 hex
A131.
1
Global
r=3, w=3
IGB Consumer2 Quelladresse 2. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
1h
2083h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the second source address in A131.1.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 01 hex
ID 441782.04
137
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A131.
2
Global
r=3, w=3
IGB Consumer2 Quelladresse 3. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
Fieldbusaddress
2h
2083h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the third source address in A131.2.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 02 hex
A131.
3
Global
r=3, w=3
IGB Consumer2 Quelladresse 4. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
3h
2083h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the fourth source address in A131.3.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 03 hex
A131.
4
Global
r=3, w=3
IGB Consumer2 Quelladresse 5. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
4h
2083h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the fifth source address in A131.4.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 04 hex
ID 441782.04
138
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A131.
5
Global
r=3, w=3
IGB Consumer2 Quelladresse 6. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
Fieldbusaddress
5h
2083h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the sixth source address in A131.5.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 05 hex
A131.
6
Global
r=3, w=3
IGB Consumer2 Quelladresse 7. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
6h
2083h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 7th source address in A131.6.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 06 hex
A131.
7
Global
r=3, w=3
IGB Consumer2 Quelladresse 8. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
7h
2083h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 8th source address in A131.7.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 07 hex
ID 441782.04
139
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A131.
8
Global
r=3, w=3
IGB Consumer2 Quelladresse 9. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
Fieldbusaddress
8h
2083h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 9th source address in A131.8.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 08 hex
A131.
9
Global
r=3, w=3
IGB Consumer2 Quelladresse 10. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
9h
2083h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 10th source address in A131.9.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 09 hex
A131.
10
Global
r=3, w=3
IGB Consumer2 Quelladresse 11. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2083h
000
Ah
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 11th source address in A131.10.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 0A hex
ID 441782.04
140
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A131.
11
Global
r=3, w=3
IGB Consumer2 Quelladresse 12. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
Fieldbusaddress
2083h
000
Bh
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 12th source address in A131.11.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 0B hex
A131.
12
Global
r=3, w=3
IGB Consumer2 Quelladresse 13. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2083h
000
Ch
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 13th source address in A131.12.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 0C hex
A131.
13
Global
r=3, w=3
IGB Consumer2 Quelladresse 14. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2083h
000
Dh
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 14th source address in A131.13.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 0D hex
ID 441782.04
141
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A131.
14
Global
r=3, w=3
IGB Consumer2 Quelladresse 15. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
Fieldbusaddress
2083h
000
Eh
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 15th source address in A131.14.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 0E hex
A131.
15
Global
r=3, w=3
IGB Consumer2 Quelladresse 16. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2083h
000
Fh
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 16th source address in A131.15.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 0F hex
A131.
16
Global
r=3, w=3
IGB Consumer2 Quelladresse 17. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2083h
10h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 17th source address in A131.16.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 10 hex
ID 441782.04
142
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A131.
17
Global
r=3, w=3
IGB Consumer2 Quelladresse 18. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
Fieldbusaddress
2083h
11h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 18th source address in A131.17.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 11 hex
A131.
18
Global
r=3, w=3
IGB Consumer2 Quelladresse 19. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2083h
12h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 19th source address in A131.18.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 12 hex
A131.
19
Global
r=3, w=3
IGB Consumer2 Quelladresse 20. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2083h
13h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 20th source address in A131.19.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 13 hex
ID 441782.04
143
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A131.
20
Global
r=3, w=3
IGB Consumer2 Quelladresse 21. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
Fieldbusaddress
2083h
14h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 21st source address in A131.20.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 14 hex
A131.
21
Global
r=3, w=3
IGB Consumer2 Quelladresse 22. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2083h
15h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 22nd source address in A131.21.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 15 hex
A131.
22
Global
r=3, w=3
IGB Consumer2 Quelladresse 23. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2083h
16h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 23rd source address in A131.22.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 16 hex
ID 441782.04
144
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A131.
23
Global
r=3, w=3
IGB Consumer2 Quelladresse 24. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
Fieldbusaddress
2083h
17h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 24th source address in A131.23.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 17 hex
A131.
24
Global
r=3, w=3
IGB Consumer2 Quelladresse 25. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2083h
18h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 25th source address in A131.24.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 18 hex
A131.
25
Global
r=3, w=3
IGB Consumer2 Quelladresse 26. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2083h
19h
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 26th source address in A131.25.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 19 hex
ID 441782.04
145
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A131.
26
Global
r=3, w=3
IGB Consumer2 Quelladresse 27. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
Fieldbusaddress
2083h
001
Ah
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 27th source address in A131.26.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 1A hex
A131.
27
Global
r=3, w=3
IGB Consumer2 Quelladresse 28. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2083h
001
Bh
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 28th source address in A131.27.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 1B hex
A131.
28
Global
r=3, w=3
IGB Consumer2 Quelladresse 29. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2083h
001
Ch
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 29th source address in A131.28.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 1C hex
ID 441782.04
146
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A131.
29
Global
r=3, w=3
IGB Consumer2 Quelladresse 30. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
Fieldbusaddress
2083h
001
Dh
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 30th source address in A131.29.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 1D hex
A131.
30
Global
r=3, w=3
IGB Consumer2 Quelladresse 31. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2083h
001
Eh
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 31st source address in A131.30.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 1E hex
A131.
31
Global
r=3, w=3
IGB Consumer2 Quelladresse 32. mapped Parameter: Each device can read up to 32
selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus
Consumer2 Map block).
2083h
001
Fh
Array
To do this, you must make the following entries:
1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data
are to be read). Enter this information in A131.x.
2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the
same time, this also allows you to specify how many bytes will be read.
Enter the source address as a four-position value in A131.x. The first digits are the IGB address of
the inverter which is supposed to be read. The two last digits represent the number of the byte
starting at which the read access is to begin. If you want to read from the inverter with the IGB
address 11 starting at byte 5, you would enter the value 1105 in A131.x.
Enter the 32nd source address in A131.31.
Value range: 0 ... 6 ... 3131
Fieldbus: 1LSB=1; Type: U16; raw value:1LSB=Fnct.no.25; USS-Adr: 01 20 C0 1F hex
ID 441782.04
147
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A138
Global
read (3)
IGB motionbus time: This parameter indicates the global time (in milliseconds) on the IGBMotionbus. The value runs from 0 to 232 -1 = 4 294 967 295 ms and then starts again at 0. All
stations of the IGB-Motionbus run synchronously to each other and use the common device clock.
With the help of this parameter, you can trigger Scope imagines on different inverters, for example,
and then arrange the pictures in POSITool by time.
Fieldbusaddress
208Ah
0h
208Ch
0h
208Dh
0h
208Eh
0h
2090h
0h
2096h
0h
2097h
0h
Value range in ms: 0 ... 0 ... 4294967295
Fieldbus: 1LSB=1ms; PDO ; Type: U32; USS-Adr: 01 22 80 00 hex
A140
Global
LCD line0: Indication as character string of the top display line.
Fieldbus: Type: Str16; USS-Adr: 01 23 00 00 hex
read (0)
A141
Global
LCD line1: Indication as character string of the bottom display line.
Fieldbus: Type: Str16; USS-Adr: 01 23 40 00 hex
read (0)
A142
Global
Key code: Code of the effective key. 0=none, 1=LEFT, 2=RIGHT, 3=AB, 4=AUF, 5=#, 6=ESC,
7=F1, 8=F2, 9=F3, 10=F4, 11=HAND, 12= EIN, 13=AUS, 14=I/O
read (3)
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 23 80 00 hex
A144
Global
Remote key code: Key activations can be simulated by writing this parameter. For meaning,
see A142.
r=3, w=0
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 24 00 00 hex
A150
Cycle time: Cycle time of the real-time configuration on the axis. The load of the real-time task
can be checked in parameter E191 runtime usage. When the computing load becomes too great,
the event "57:runtime usage" is triggered.
Axis, OFF
r=1, w=3
NOTE
Changing this parameter may mean that a changed configuration is detected when you go online
with POSITool.
4: 1ms;
5: 2ms;
6: 4ms;
7: 8ms;
8: 16ms;
9: 32ms;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 25 80 00 hex
A151
Global
read (2)
Session ID: The parameter indicates the current session ID which was assigned to the inverter
by the Teleserver and the number which the person responsible for the machine gives the service
employee (e.g., over the telephone). The service employee can only establish the remote service
connection with the session ID if parameter A168 = 1:remote service with session ID is set.
The entry 0 in A151 means that there is no session ID.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 25 C0 00 hex
ID 441782.04
148
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A152
Global
read (2)
IGB position: The parameter indicates the current position of the inverter in the IGB network.
Fieldbusaddress
2098h
0h
2099h
0h
IGB Port X3 A State: The parameter indicates the status of the left-hand Ethernet socket X3 A.
209Ah
0h
0: ERROR. The status of the socket is not known.
1: NoConnection. The socket is not connected with other devices.
2: 10 MBit/s. A connection exists to a station with a transmission rate of 10 Mbit/s. The station is
not an SDS 5000.
3: 100 MBit/s. A connection exists to a station with a transmission rate of 100 Mbit/s.
Communication to this station does not have full-duplex capability and the station is not an SDS
5000.
4: link OK. A connection exists to a station with a transmission rate of 100 Mbit/s whose
communication has full-duplex capability.
Array
0: Single. The inverter is not connected with other SDS 5000s.
1: IGB-internal. Both RJ45 sockets are connected with other inverters (i.e., additional SDS 5000s
are connected on either side of the inverter).
2: Gateway X3 A. The inverter is located on the outer left-hand end of the IGB (i.e., a valid inverter
is not connected to its X3 A socket).
3: Gateway X3 B. The inverter is located on the outer right-hand end of the IGB (i.e., a valid
inverter is not connected to its X3 B socket) or more than 32 inverters are connected with each
other. In this case, the IGB is logically terminated after the 32nd SDS 5000 and this status is
indicated.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 26 00 00 hex
A153
Global
read (2)
IGB Actual Node Number: The parameter specifies the number of stations which are currently
registered with the IGB.
0: or 1: At this time no further station is connected with this inverter via IGB.
2 to 32: Indicated number corresponds to the number of inverters found in the IGB network.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 26 40 00 hex
A154.
0
Global
read (2)
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 26 80 00 hex
A154.
1
Global
read (2)
IGB Port X3 B State: The parameter indicates the status of the right-hand Ethernet socket X3
B.
0: ERROR. The status of the socket is not known.
1: NoConnection. The socket is not connected with other devices.
2: 10 MBit/s. A connection exists to a station with a transmission rate of 10 Mbit/s. The station is
not an SDS 5000.
3: 100 MBit/s. A connection exists to a station with a transmission rate of 100 Mbit/s.
Communication to this station does not have full-duplex capability and the station is not an SDS
5000.
4: link OK. A connection exists to a station with a transmission rate of 100 Mbit/s whose
communication has full-duplex capability.
1h
209Ah
Array
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 26 80 01 hex
ID 441782.04
149
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A155
Global
read (3)
IGB-State: The parameter indicates the IGB status of the device.
Fieldbusaddress
209Bh
0h
209Ch
0h
209Dh
0h
0: Booting. The IGB is booting. The connected inverters register themselves on the IGB network
and synchronize themselves.
1: Single. Currently there is no IGB network which is connected with other inverters. Either this
SDS did not find another inverter with which an IGB network could be established, or an already
existing connection to other inverters via IGB was disconnected. The functions Remote service
or Direct link can be used.
2: IGB-Running. Several inverters have established an IGB network. The functions Remote service
or Direct link (with POSITool) can be used. The function IGB-Motionbus is not used or cannot be
used for one of the following reasons:
- because the function was not selected during configuration
- because parameter A120 IGB Address was not set uniquely for all stations
- because A121 IGB nominal number was not parameterized
3: IGB-Motionbus; The IGB-Motionbus was established. This means that::
- The IGB-Motionbus function was activated on all inverters in the IGB network and
- There was no multiple assignment of IGB addresses (A120 IGB address) and
- Each inverter found the same number of partners in the IGB network and this number
corresponds to the expected number in A121 for every inverter and
- All inverters in the IGB network are synchronized and are receiving valid data.
- No inverter has reported a double error (event 52, causes 9 and 10).
In this state, the addition of further inverters has no effect on the existing IGB-Motionbus.
4: Motionbus error; The state A155 = 3:IGB-Motionbus was already reached once and exited
because of an error. Either an IGB cable was disconnected so that not all SDS 5000s in the IGB
network were still connected or there was a massive EMC disturbance or the synchronicity of
the inverters among each other was violated.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 26 C0 00 hex
A156
Global
read (3)
IGB Number Bootups: The parameter indicates the following information for each device: how
often the device detected a bootup of the IGB since the last time its power was switched on or it
triggered one itself.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 27 00 00 hex
A157.
0
Global
Active IP address X3A: The parameter indicates the current IP address which is used for X3
A. 0.0.0.0 is an invalid value. In this case, communication with POSITool via the interface is not
possible.
The active IP address is determined from the settings in A166.0 and is indicated in A157.0.
Array
read (0)
Information
Discuss this parameter with your network administrator so that an optimum connection is achieved.
See also the chapter system administration in the Operating Manual SDS 5000 (ID 442289).
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 27 40 00 hex
A157.
1
Global
Active IP address X3B: The parameter indicates the current IP address which is used for X3
B. 0.0.0.0 is an invalid value. In this case, communication with POSITool via the interface is not
possible.
The active IP address is determined from the settings in A166.1 and is indicated in A157.1.
209Dh
Array
read (0)
Information
Discuss this parameter with your network administrator so that an optimum connection is achieved.
See also the chapter system administration in the Operating Manual SDS 5000 (ID 442289).
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 27 40 01 hex
ID 441782.04
150
1h
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A158.
0
Global
read (0)
Active Subnetmask X3A: The parameter indicates the current subnetwork mask which is used
for X3 A. 0.0.0.0 is an invalid value. In this case, communication via X3 A is not possible.
Fieldbusaddress
0h
209Eh
Array
Information
Discuss this parameter with your network administrator so that an optimum connection is achieved.
See also the chapter system administration in the Operating Manual SDS 5000 (ID 442289).
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 27 80 00 hex
A158.
1
Global
read (0)
Active Subnetmask X3B: The parameter indicates the current subnetwork mask which is used
for X3 B. 0.0.0.0 is an invalid value. In this case, communication via X3 B is not possible.
1h
209Eh
Array
Information
Discuss this parameter with your network administrator so that an optimum connection is achieved.
See also the chapter system administration in the Operating Manual SDS 5000 (ID 442289).
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 27 80 01 hex
A160
Global
read (0)
Active DNS server address: The parameter indicates the IP address of the DNS server that is
used by the inverter. The server is used to break down Internet addresses into IP addresses. The
source for the DNS server shown here can be:
- Parameter A179 (manual setting of the IP address of the DNS server)
- The applicable DHCP server in the network
20A0h
0h
20A1h
0h
20A2h
0h
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 28 00 00 hex
A161
Global
read (0)
Active Gateway: The parameter indicates the IP address of the standard gateway used by the
inverter. The standard gateway is needed for the Internet connection via X3.
The source of the IP address of the standard gateway shown here can be:
-Parameter A175 (manual setting of the IP address)
- The applicable DHCP server in the network
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 28 40 00 hex
A162.
0
Global
read (3)
IGB Lost Frames.0: The parameter serves as a lost frames counter for the IGB-Motionbus. It
indicates a value for the current lost frames of expected but not correctly received data during the
millisecond cycle. When the IGB-Motionbus is running, each SDS sends its data to all other
inverters once every millisecond. When at least one inverter fails to send its data cyclically, this is
detected and registered in element 0 of the parameter. This counter is incremented by the value of
the expected but not received data. When all data of all inverters connected to the IGB have been
correctly received, the lost frame counter is decremented by 1.
This parameter thus provides information on the quality of the IGB network. When this value
increases rapidly, a connection cable of the IGB has probably become disconnected or an inverter
has been switched off.
Array
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 28 80 00 hex
ID 441782.04
151
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A162.
1
Global
read (3)
IGB Lost Frames.1: Indicates the sum of all registered errors of the IGB-Motionbus since the
inverter was switched on. When the IGB-Motionbus is in operation, each SDS sends its data to all
other inverters once every millisecond. This value is incremented for data which were expected and
correctly received but not within the millisecond cycle.
If you are using the IGB-Motionbus, the value is cleared the first time the state A155 = 3IGBMotionbus is reached so that the not yet perfect synchronization while the IGB was booting will not
be counted as an error.
After this, the value of the parameter can only be cleared by turning off the inverter.
This parameter thus provides information on the quality of the IGB network. When this value
increases rapidly, a connection cable of the IGB has probably become disconnected or an inverter
has been switched off. When this value increases irregularly, the cabling and the environment
should be checked for EMC-suitable wiring.
Fieldbusaddress
1h
20A2h
Array
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 28 80 01 hex
A163.
0
Global
read (3)
IGB Systembits: The parameter is used for the internal activation of IGB functions.
Bit 0:
Activate remote service
Bit 1&2: Progress of the remote service connection
0 0: Blue LED is off - no remote service requested.
0 1: Blue LED lights up like a bolt of lightning - connection to the Teleserver is being
established.
1 0: Blue LED flashes at regular intervals - device is waiting for connection of
POSITool to the Teleserver.
1 1: Blue LED on continuously - connection is completely established and remote service
can begin.
Bit 3:
Remote service response message
Bit 4:
This device is the active gateway at the moment.
Bit 5:
Reset inverter.
Bit 6:
The PLL of the device has been snapped onto the IGB.
Bit 7:
Remote service requires a valid session ID.
0h
20A3h
Array
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 01 28 C0 00 hex
A163.
1
Global
read (3)
IGB Systembits: The parameter is used for the internal activation of IGB functions.
Bit 0:
Host controller is dead (is not living)
Bit 1:
Lost-frame series (double error)
0: All stations sent Motionbus data on time.
1: At least twice in succession at least one station did not send the data on time.
Bit 2 - 7: Reserved
1h
20A3h
Array
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 01 28 C0 01 hex
ID 441782.04
152
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A164.
0
Global
r=3, w=3
Manual IP address for X3A: The IP address for X3 A is entered in this parameter when an IP
address must be assigned manually. This is the case when, for example, no DHCP server exists.
If you connect X3 A to a PC or the Ethernet network, make sure that X3 A and X3 B are assigned
manual IP addresses from different subnetworks. Do not connect X3 A and X3 B at the same time
with the same LAN and obtain their IP address from the DHCP server.
Fieldbusaddress
0h
20A4h
Array
Information
Discuss this parameter with your network administrator so that an optimum connection is achieved.
See also the chapter system administration in the Operating Manual SDS 5000 (ID 442289).
Information
Remember that a parameter change does not take effect until:
- the value is saved with action A00.0 and
- the inverter has been turned off and on again.
Value range: 0 ... 192.168.3.2 ... 4294967295
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 29 00 00 hex
A164.
1
Global
r=3, w=3
Manual IP address for X3B: The IP address for X3 B is entered in this parameter when an IP
address must be assigned manually. This is the case when, for example, no DHCP server exists.
If you connect X3 A to a PC or the Ethernet network, make sure that X3 A and X3 B are assigned
manual IP addresses from different subnetworks. Do not connect X3 A and X3 B at the same time
with the same LAN and obtain their IP address from the DHCP server.
1h
20A4h
Array
Information
Discuss this parameter with your network administrator so that an optimum connection is achieved.
See also the chapter system administration in the Operating Manual SDS 5000 (ID 442289).
Information
Remember that a parameter change does not take effect until:
- the value is saved with action A00.0 and
- the inverter has been turned off and on again.
Value range: 0 ... 192.168.4.2 ... 4294967295
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 29 00 01 hex
A165.
0
Global
Manual IP subnetmask for X3A: The subnet mask for X3 A is entered in this parameter when
an IP address has to be assigned manually. This is the case when, for example, no DHCP server
exists. The subnet mask is needed in addition to the IP address before you can communicate via
TCP/IP.
0h
20A5h
Array
r=3, w=3
Information
Discuss this parameter with your network administrator so that an optimum connection is achieved.
See also the chapter system administration in the Operating Manual SDS 5000 (ID 442289).
Information
Remember that a parameter change does not take effect until:
- the value is saved with action A00.0 and
- the inverter has been turned off and on again
Value range: 0 ... 255.255.255.0 ... 4294967295
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 29 40 00 hex
ID 441782.04
153
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A165.
1
Global
Manual IP subnetmask for X3B: The subnet mask for X3 B is entered in this parameter when
an IP address has to be assigned manually. This is the case when, for example, no DHCP server
exists. The subnet mask is needed in addition to the IP address before you can communicate via
TCP/IP.
Fieldbusaddress
1h
20A5h
Array
r=3, w=3
Information
Discuss this parameter with your network administrator so that an optimum connection is achieved.
See also the chapter system administration in the Operating Manual SDS 5000 (ID 442289).
Information
Remember that a parameter change does not take effect until:
- the value is saved with action A00.0 and
- the inverter has been turned off and on again
Value range: 0 ... 255.255.255.0 ... 4294967295
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 29 40 01 hex
A166.
0
Global
r=3, w=3
IP-Address-Delivery: This parameter specifies how the IP address and subnet mask of X3 A
are obtained.
0h
20A6h
Array
Information
Discuss this parameter with your network administrator so that an optimum connection is achieved.
See also the chapter system administration in the Operating Manual SDS 5000 (ID 442289).
Information
Remember that a parameter change does not take effect until:
- the value is saved with action A00.0 and
- the inverter has been turned off and on again
0: Only manual setting. The device only uses the information in the parameters:
- A164.0 Manual IP address
- A165.0 Manual IP subnet mask
These values are indicated in the parameters:
- A157.0 Active IP address
- A158.0 Active subnet mask
1: Standard. After being connected to the local network, the device registers like the other
components automatically with the DHCP server to obtain its IP address and subnet mask.
Depending on the settings in parameters A175 and A179, an attempt is made to obtain the IP
address of the standard gateway and the DNS server from the DHCP server. If the device
receives the information from the DHCP server within three minutes, this is entered in
parameters A157 and A158. Depending on the settings in parameters A175 and A179, the just
obtained IP address of the standard gateway and the DNS server are also indicated in
parameters A161 and A160. When the device fails to receive any information from the DHCP
server during this time, the manual values in A164.0 and A165.0 as well as A160 and A161 are
used instead.
2: Only DHCP. After its connection to the local network, the device registers automatically with the
DHCP server to obtain its information.
When the device receives the information from the DHCP server, this is entered in parameters
A157 and A158. Depending on the settings in parameters A175 and A179, the just obtained IP
address of the standard gateway and the DNS server are also indicated in parameters A161 and
A160.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 29 80 00 hex
ID 441782.04
154
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A166.
1
Global
r=3, w=3
IP-Address-Delivery: This parameter specifies how the IP address and subnet mask of X3 B
are obtained.
Fieldbusaddress
1h
20A6h
Array
Information
Remember that a parameter change does not take effect until:
- the value is saved with action A00.0 and
- the inverter has been turned off and on again
Information
Discuss this parameter with your network administrator so that an optimum connection is achieved.
0: Only manual setting. The device only uses the information in the parameters:
- A164.0 Manual IP address
- A165.0 Manual IP subnet mask
These values are indicated in the parameters:
- A157.0 Active IP address
- A158.0 Active subnet mask
1: Standard. After being connected to the local network, the device registers like the other
components automatically with the DHCP server to obtain its IP address and subnet mask.
Depending on the settings in parameters A175 and A179, an attempt is made to obtain the IP
address of the standard gateway and the DNS server from the DHCP server. If the device
receives the information from the DHCP server within three minutes, this is entered in
parameters A157 and A158. Depending on the settings in parameters A175 and A179, the just
obtained IP address of the standard gateway and the DNS server are also indicated in
parameters A161 and A160. When the device fails to receive any information from the DHCP
server during this time, the manual values in A164.1 and A165.1 as well as A160 and A161 are
used instead.
2: Only DHCP. After its connection to the local network, the device registers automatically with the
DHCP server to obtain its information.
When the device receives the information from the DHCP server, this is entered in parameters
A157 and A158. Depending on the settings in parameters A175 and A179, the just obtained IP
address of the standard gateway and the DNS server are also indicated in parameters A161 and
A160.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 29 80 01 hex
ID 441782.04
155
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A167
Global
r=3, w=3
Remote Service Start: This parameter is used to set the source of the signal which you will
use to start remote service.
Fieldbusaddress
20A7h
0h
Information
Read chapter integrated Bus of the Operating manual SDS 5000 before you start remote service!
Remote service is started by a positive edge change (change from low to high) of the signal which
you set in this parameter. The signal must then remain high.
Remote service is finished as soon as the high level can no longer be detected on the source.
Proceed as follows to control remote service via fieldbus:
1. Set A167 = 2:A181 Bit 0. In this case, parameter A181 Bit 0 is the signal source.
2. Now describe this source via fieldbus.
Remember that you cannot start remote service while a direct connection from PC to inverter
exists!
Information
This parameter determines the behavior of the inverter during remote service. It can be accidentally
overwritten by a remote service procedure which may change the parameter to its disadvantage
(termination of the connection, loss of data). There are two ways to prevent accidental changes:
- While the connection is being established, read the data from the inverter.
- Use a project file related to the inverter in which this parameter is correctly set.
0: inactive; No remote service wanted.
1: A800; Remote service is started by the parameter A800.
2: A181-Bit 0; Remote service is started by bit 0 in parameter A181 Device Control Byte 2.
3: BE1; Remote service is started by the signal on binary input 1.
4: BE1-inverted; Remote service is started by the inverted signal on binary input 1.
5: BE2; Remote service is started by the signal on binary input 2.
6: BE2-inverted; Remote service is started by the inverted signal on binary input 2.
7: BE3; Remote service is started by the signal on binary input 3.
8: BE3-inverted; Remote service is started by the inverted signal on binary input 3.
9: BE4; Remote service is started by the signal on binary input 4.
10: BE4-inverted; Remote service is started by the inverted signal on binary input 4.
11: BE5; Remote service is started by the signal on binary input 5.
12: BE5-inverted; Remote service is started by the inverted signal on binary input 5.
13: BE6; Die Fernwartung wird durch das Signal an Binäreingang 6 gestartet.
14: BE6-inverted; Remote service is started by the inverted signal on binary input 6.
15: BE7; Remote service is started by the signal on binary input 7.
16: BE7-inverted; Die Fernwartung wird durch das invertierte Signal an Binäreingang 7 gestartet.
17: BE8; Remote service is started by the signal on binary input 8.
18: BE8-inverted; Remote service is started by the inverted signal on binary input 8.
19: BE9; Die Fernwartung wird durch das Signal an Binäreingang 9 gestartet.
20: BE9-inverted; Remote service is started by the inverted signal on binary input 9.
21: BE10; Die Fernwartung wird durch das Signal an Binäreingang 10 gestartet.
22: BE10-inverted; Remote service is started by the inverted signal on binary input 10.
23: BE11; Remote service is started by the signal on binary input 11.
24: BE11-inverted; Die Fernwartung wird durch das invertierte Signal an Binäreingang 11 gestartet.
25: BE12; Remote service is started by the signal on binary input 12.
26: BE12-inverted; Die Fernwartung wird durch das invertierte Signal an Binäreingang 12 gestartet.
27: BE13; Remote service is started by the signal on binary input 13.
28: BE13-inverted; Remote service is started by the inverted signal on binary input 13.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 29 C0 00 hex
ID 441782.04
156
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A168
Global
r=3, w=3
Remote service with session-ID option: This parameter is used to set whether remote
service is to be performed with a session ID. The session ID makes remote service more secure.
When the value 1 is entered in this parameter for the inverter to which the link to the Internet is
connected, the POSITool user must also enter the session ID before starting remote service.
Fieldbusaddress
20A8h
0h
20A9h
0h
20AAh
0h
CAUTION
This parameter is only evaluated for the inverter which is the active gateway. The setting of this
parameter is ignored for all other inverters. This means that the parameter must always be set for
the inverter which is the active gateway when remote service with session ID is used.
Information
This parameter determines the behavior of the inverter during remote service. It can be accidentally
overwritten by a remote service procedure which may change the parameter to its disadvantage
(termination of the connection, loss of data). There are two ways to prevent accidental changes:
- While the connection is being established, read the data from the inverter.
- Use a project file related to the inverter in which this parameter is correctly set.
0: inactive; The service technician does not need a session ID to establish a remote service
connection.
1: active; The service technician needs a session ID to establish a remote service connection.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 2A 00 00 hex
A169
Global
read (3)
Remote service advance: The parameter indicates the progress of the establishment of the
connection is. The parameter supplies the same information as the blue LED on the front of the
device.
0: noRemoteService. Remote service is not desired.
1: connectToTeleser. The connection to the Teleserver is being established.
2: waitToPOSITool. The device is waiting for the connection to POSITool.
3: POSIToolOnline. The connection is established and remote service can begin.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 2A 40 00 hex
A170
Remote Service Acknowledge: The parameter changes bit 0 at the same frequency as the
Global
blue LED on the front with the following meaning:
read (3)
-Bit 0 = 1:LED on
-Bit 0 = 0:LED off
You can output this parameter to a binary output and then evaluate the signal of the blue LED.
Information
This parameter can be used to represent the status of the blue LED on an external signal lamp.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 2A 80 00 hex
ID 441782.04
157
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A175
Global
r=3, w=3
Default gateway: This parameter is used to specify the IP address of the gateway for X3 A
when this value cannot be obtained from a DHCP server.
There are two ways to do this:
When you enter an IP address in this parameter other than "0.0.0.0," this IP address is used by
the inverter without any further checks.
When you enter the value "0.0.0.0" in this parameter, there are two possibilities:
- If the value "1" or "2" is entered in parameter A166, the inverter automatically tries to obtain the
IP address of the standard gateway from the responsible DHCP server.
- If the value "0" is entered in parameter A166, no standard gateway is available on the inverter!
Fieldbusaddress
20AFh
0h
20B0h
0h
Please remember that the DHCP server usually also supplies the IP address of the standard
gateway. If you want the IP address of the standard gateway to be automatically set by the DHCP
server, please be sure to enter the value "0.0.0.0" here. Otherwise the IP address of the standard
gateway which is supplied by the DHCP server will be ignored.
Information
Remember that a change in the parameter does not take effect until you:
- save the value with the action A00.0 and
- turn the inverter off and on again.
Information
Discuss this parameter with your network administrator so that an optimum connection is achieved.
Value range: 0 ... 0.0.0.0 ... 4294967295
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 2B C0 00 hex
A176
Global
r=3, w=3
Teleserver Option: This parameter is used to set whether you want a remote service
connection via Internet or a local network (LAN).
Information
This parameter determines the behavior of the inverter during remote service. It can be accidentally
overwritten by a remote service procedure which may change the parameter to its disadvantage
(termination of the connection, loss of data). There are two ways to prevent accidental changes:
- While the connection is being established, read the data from the inverter.
- Use a project file related to the inverter in which this parameter is correctly set.
0: Internet. A remote service connection is established via the Internet.
1: LAN. A remote service connection is established via the local network. In this case, be sure to
consider parameter A177.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 2C 00 00 hex
ID 441782.04
158
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A177
Global
r=3, w=3
Name LAN teleserver: If you want to establish a remote service connection via the local
network, enter the address of the computer here on which the LAN Teleserver will be running.
The address can be entered in two formats:
When the IP address is known, it can be entered directly (e.g., "192.168.3.2").
When the name of the LAN Teleserver is known and the inverter has an IP address via a valid
DNS server, the name of the LAN Teleserver can also be entered. The inverter then determines
the IP address automatically.
Fieldbusaddress
20B1h
0h
20B2h
0h
20B3h
0h
CAUTION
When the name of the LAN Teleserver is entered, this must be entered with the fully qualified
domain name.
Example:
The PC on which the LAN Teleserver is running has the name "PcLanTeleserver."
The PC is assigned to the domain with the domain address "MuellerGmbh.de."
The following fully qualified domain name must then be entered in the parameter:
"PcLanTeleserver.MuellerGmbh.de"
Please also contact your network administrator in this matter.
Information
This parameter determines the behavior of the inverter during remote service. It can be accidentally
overwritten by a remote service procedure which may change the parameter to its disadvantage
(termination of the connection, loss of data). There are two ways to prevent accidental changes:
- While the connection is being established, read the data from the inverter.
- Use a project file related to the inverter in which this parameter is correctly set.
Fieldbus: Type: Str80; USS-Adr: 01 2C 40 00 hex
A178
Global
read (3)
Error remote service: The parameter indicates the status of remote service with a hexadecimal
number (length: 32 bits). One diagnostic value is coded in each of the four bytes. For the meaning
of the diagnostic values, see the operating manual SDS 5000 (ID 442289).
Fieldbus: 1LSB=1; PDO ; Type: U32; USS-Adr: 01 2C 80 00 hex
A179
Global
r=3, w=3
Manual DNS server IP address: This parameter is used to configure the setting of the DNS
server IP address on the inverter.
There are two ways to do this:
When you enter an IP address in this parameter other than "0.0.0.0," this IP address is used by
the inverter without any further checks.
When you enter the value "0.0.0.0" in this parameter, there are two possibilities:
- If the value "1" or "2" is entered in parameter A166, the inverter automatically tries to obtain the
IP address of the DNS server from the responsible DHCP server.
- If the value "0" is entered in parameter A166, no DNS server is available on the inverter!
Please remember that the DHCP server usually also supplies the IP address of the DNS server. If
you want the IP address of the DNS server to be automatically set by the DHCP server, please be
sure to enter the value "0.0.0.0" here. Otherwise the IP address of the DNS server which is
supplied by the DHCP server will be ignored. If you have questions concerning your DHCP or DNS
server, please contact your network administrator.
Value range: 0 ... 0.0.0.0 ... 4294967295
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 2C C0 00 hex
ID 441782.04
159
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A180
Global
r=2, w=2
Fieldbusaddress
Device control byte: This byte contains control signals for device control. It is designed for
fieldbus communication. The particular bit is only active when 2:Parameter is set in the related
source selector (A60 ... A65). The signals can be monitored directly via the parameters A300 ...
A305 on the device controller.
20B4h
0h
20B5h
0h
Bit 0: Additional enable (A300): Takes effect in addition to terminal enable. Must be HIGH.
Removal of the enable can also trigger a quick stop (set enable quick stop A44 =1:active).
The brakes are applied and the end stage switches off.
Bit 1: Fault reset (A301): Reset faults
Bit 2: Quick stop (A302): The active ramp is I17 (for positioning control) or D81 (speed control).
Bit 3,4: Axis selector 0 (A303), axis selector 1 (A304): With multiple-axis operation, the axis to be
activated is selected here.
Bit4
Bit3
Axis
0
0
Axis 1
0
1
Axis 2
1
0
Axis 3
1
1
Axis 4
Bit 5: Axis disable (A305): Deactivate all axes. No motor on.
Bit 6: Open the brake unconditionally.
Bit 7: Bit 7 in A180 (device control byte) is copied to bit 7 in E200 (device status byte) during each
cycle of the device controller. When bit 7 is toggled in A180, the host PLC is informed of a
concluded communication cycle (send, evaluate and return data). This makes cycle timeoptimized communication (e.g., with PROFIBUS) possible. The handshake bit 7 in A180 /
E200 supplies no information on whether the application reacted to the process data.
Depending on the application, other routines are provided (e.g., motion ID for command
positioning).
Value range: 0 ... 00000001bin ... 255
(Representation binary)
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 01 2D 00 00 hex
A181
Global
r=3, w=3
Device Control Byte 2: This parameter is used to control remote service via fieldbus. Proceed
as follows:
1. Set A167 = 2:Parameter. In this case, parameter A181, bit 0 is the signal source.
2. Describe this source via fieldbus.
Remember that since bits 1 to 7 of this parameter are reserved, they may not be write-accessed.
Information
This parameter determines the behavior of the inverter during remote service. It can be accidentally
overwritten by a remote service procedure which may change the parameter to its disadvantage
(termination of the connection, loss of data). There are two ways to prevent accidental changes:
- While the connection is being established, read the data from the inverter.
- Use a project file related to the inverter in which this parameter is correctly set.
Value range: 0 ... 00000000bin ... 255
(Representation binary)
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 01 2D 40 00 hex
ID 441782.04
160
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A182
IGB Motionbus conditions: This parameter indicates which of the conditions which are
Global
necessary for correct operation of the IGB Motionbus have been fulfilled.
read (3)
Fieldbusaddress
20B6h
0h
20C8h
0h
20C9h
0h
20CBh
0h
Bit 0: Indicates that the inverter processor is working correctly for other IGB subscribers.
Bit 1: Indicates that the inverter processor is working correctly.
Bit 2: Indicates that the other inverters have been correctly synchronized in IGB and that their
PLLs are engaged.
Bit 3: Indicates that the inverter has been correctly synchronized and that its PLL is engaged.
Bit 4: Indicates that the cyclical data has been correctly processed by the other IGB subscribers.
Bit 5: Indicates, that the cyclical data has been correctly processed.
Bit 6: Indicates whether the number of devices detected corresponds to the parameterized
number
Bit 7: Indicates whether the parameter A120 IGB Address has been correctly set.
The address must have a valid value and be unique in all inverters.
Bit 8: Indicates whether the parameter A121 (nominal number) has been correctly set.
The nominal number must have a valid value and be identical in all inverters.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 2D 80 00 hex
A200
Global
r=3, w=3
COB-ID SYNC Message: Specifies the identifier for which the inverter expects the receipt of the
SYNC telegrams from CAN-Bus. For most applications the default value should not be changed.
Value range: 1 ... 128 ... 2047
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 32 00 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A201
Global
r=3, w=3
Communication Cycle Period: When SYNCs are specified in a fixed time frame for
transmission of the PDO telegrams, A201 can be used for monitoring. The entry of 0 μsec means
the parameter is deactivated. When activated the cycle time of the SYNC telegrams is entered in
μsec. The threshold value for triggering a timeout is 150 % of this value. Monitoring takes place
when the NMT status is Operational and at least one SYNC telegram was received. When the
threshold value is exceeded, fault 52:Communication with cause 2:CAN SYNC Error is triggered.
The red LED of the CAN 5000 option board flashes three times briefly and then goes off for 1
second. Monitoring is deactivated when the NMT status Operational is exited and the entered value
is set to 0 μsec.
Value range in us: 0 ... 0 ... 32000000
Fieldbus: 1LSB=1us; Type: U32; USS-Adr: 01 32 40 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A203
Global
r=1, w=1
Guard Time: The master monitors the slaves with the node-guarding routine. The master polls
node-guarding telegrams cyclically. Parameter A203 specifies the cycle time in msec. The routine is
inactive when a cycle time of 0 msec is set.
Value range in ms: 0 ... 0 ... 4000
Fieldbus: 1LSB=1ms; Type: U16; USS-Adr: 01 32 C0 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
ID 441782.04
161
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A204
Global
r=1, w=1
Life Time Factor: The parameter A204 is used during the node guard routine to monitor the
master. When the queries of the master do not arrive at the slave within a certain amount of time,
the inverter triggers the life guard event (i.e., fault 52:communication). The time is calculated by
multiplying the parameters A204 and A203.
Fieldbusaddress
20CCh
0h
20CFh
0h
20D0h
0h
20D2h
0h
20D3h
0h
20D4h
0h
Value range: 0 ... 0 ... 255
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 33 00 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A207
Global
r=3, w=3
COB-ID Emergency Object: Specifies the identifier for which the inverter sends the emergency
telegrams to the CAN-Bus. Usually the default value should not be changed since this also
deactivates the automatic identifier assignment after the Pre-Defined Connection Set.
Value range: 0 ... 128 ... 4294967295
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 33 C0 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A208
Global
r=3, w=3
Inhibit Time Emergency: Specifies the time in multiples of 100 µsec which the inverter must at
least wait between the sending of emergency telegrams.
Value range in 100 us: 0 ... 0 ... 4294967295
Fieldbus: 1LSB=1·100 us; Type: U32; USS-Adr: 01 34 00 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A210
Global
r=1, w=1
Producer Heartbeat Time: In case the heartbeat protocol is to be used by the master for
station monitoring on the CAN-Bus, this time specifies in msec how frequently the inverter will send
heartbeat messages.
Value range in ms: 0 ... 0 ... 65535
Fieldbus: 1LSB=1ms; Type: U16; USS-Adr: 01 34 80 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A211
Global
r=3, w=3
Verify Config. Configuration date: The date on which the configuration and parameterization
were finished can be stored here as the number of days since 01.01.1984.
Value range in days since 01.01.1984: 0 ... 0 ... 4294967295
Fieldbus: 1LSB=1days since 01.01.1984; Type: U32; USS-Adr: 01 34 C0 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A212
Global
r=3, w=3
Verify Config. Configuration time: The time at which the configuration and parameterization
were finished can be stored here as the number of msec since 0:00 hours.
Value range in ms: 0 ... 0 ... 4294967295
Fieldbus: 1LSB=1ms; Type: U32; USS-Adr: 01 35 00 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
ID 441782.04
162
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A213
Global
r=1, w=1
Fieldbusscaling: The selection is made here between internal raw values and whole numbers
for the representation/scaling of process data values during transmission via the four PDO
channels. Regardless of this setting, the representation via SDO is always the whole number.
Fieldbusaddress
20D5h
0h
20D6h
0h
20DAh
0h
20DAh
1h
CAUTION
When "0:integer" is parameterized (scaled values), the runtime load increases significantly and it
may become necessary to increase A150 cycle time to avoid the fault "57:runtime usage" or
"35:Watchdog."
0: integer without point; Values are transmitted as whole numbers in user units * the number of
positions after the decimal place to the power of 10.
1: native; Values are transferred at optimized speed in internal inverter raw format (e.g.,
increments).
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 35 40 00 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
A214
Global
r=3, w=3
CAN Bit Sample-Access-Point: Specifies the position at which the bits received by CAN-Bus
are scanned. Arbitrary changes of the default value may cause transmission problems.
-1: CIA;
0: SAP-1;
1: SAP-2;
2: SAP-3;
Fieldbus: 1LSB=1; Type: I8; USS-Adr: 01 35 80 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A218.
0
Global
r=2, w=2
2. Server SDO Parameter . COB-ID Client -> Server: Specifies the identifier for which the
inverter expects the telegrams for the 2nd SDO channel with the requests from the client. As soon
as a station with a node-ID > 31 is active on the CAN-Bus, this parameter must be changed and the
automatic identifier assignment after the Pre-Defined Connection Set is also disabled. If the value is
0 or if bit 31 is 1, this SDO channel is turned off.
Value range: 0 ... 0 ... 4294967295
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 36 80 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A218.
1
Global
r=2, w=2
2. Server SDO Parameter . COB-Id Server -> Client: Specifies the identifier for which the
inverter sends the telegrams for the 2nd SDO channel with the responses from the client. As soon
as a station with a node-ID > 31 is active on the CAN-Bus, this parameter must be changed and the
automatic identifier assignment after the Pre-Defined Connection Set is also disabled. If the value is
0 or if bit 31 is 1, this SDO channel is turned off.
Value range: 0 ... 0 ... 4294967295
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 36 80 01 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
ID 441782.04
163
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A218.
2
2. Server SDO Parameter . Node-ID of SDO's Client: The client which uses this SDO
channel can enter its own node ID here for information purposes.
Global
Value range: 0 ... 0 ... 127
r=2, w=2
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 36 80 02 hex
Fieldbusaddress
20DAh
2h
20DBh
0h
20DBh
1h
20DBh
2h
20DCh
0h
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A219.
0
Global
r=2, w=2
3. Server SDO Parameter . COB-ID Client -> Server: Specifies the identifier for which the
inverter sends the telegrams for the 3rd SDO channel with the requests from the client. As soon as
a station with a node-ID > 31 is active on the CAN-Bus, this parameter must be changed and the
automatic identifier assignment after the Pre-Defined Connection Set is also disabled. If the value is
0 or if bit 31 is 1, this SDO channel is turned off.
Value range: 0 ... 0 ... 4294967295
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 36 C0 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A219.
1
Global
r=2, w=2
3. Server SDO Parameter . COB-Id Server -> Client: Specifies the identifier for which the
inverter sends the telegrams for the 3rd SDO channel with the responses to the client. As soon as a
station with a node-ID > 31 is active on the CAN-Bus, this parameter must be changed and the
automatic identifier assignment after the Pre-Defined Connection Set is also disabled. If the value is
0 or if bit 31 is 1, this SDO channel is turned off.
Value range: 0 ... 0 ... 4294967295
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 36 C0 01 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A219.
2
3. Server SDO Parameter . Node-ID of SDO's Client: The client which uses this SDO
channel can enter its own node ID here for information purposes.
Global
Value range: 0 ... 0 ... 127
r=2, w=2
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 36 C0 02 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A220.
0
Global
r=2, w=2
4. Server SDO Parameter . COB-ID Client -> Server: Specifies the identifier for which the
inverter expects the telegrams for the 4th SDO channel with the requests from the client. As soon
as a station with a node-ID > 31 is active on the CAN-Bus, this parameter must be changed and the
automatic identifier assignment after the Pre-Defined Connection Set is also disabled. If the value is
0 or if bit 31 is 1, this SDO channel is turned off.
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Value range: 0 ... 0 ... 4294967295
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 37 00 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
ID 441782.04
164
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A220.
1
Global
r=2, w=2
4. Server SDO Parameter . COB-ID Server -> Client: Specifies the identifier for which the
inverter sends the telegrams for the 4th SDO channel with the responses to the client. As soon as a
station with a node-ID > 31 is active on the CAN-Bus, this parameter must be changed and the
automatic identifier assignment after the Pre-Defined Connection Set is also disabled. If the value is
0 or if bit 31 is 1, this SDO channel is turned off.
Fieldbusaddress
20DCh
1h
20DCh
2h
20DDh
0h
20DDh
1h
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Value range: 0 ... 0 ... 4294967295
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 37 00 01 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A220.
2
Global
r=2, w=2
4. Server SDO Parameter . Node-Id of SDO's Client: The client which uses this SDO
channel can enter its own node ID here for information purposes.
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Value range: 0 ... 0 ... 127
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 37 00 02 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A221.
0
Global
1. rec. PDO Parameter . COB-ID: Specifies the identifier for which the inverter expects the
telegrams for the 1st PDO channel from the master. Usually the default value should not be
changed since this also disables the automatic identifier assignment after the Pre-Defined
Connection Set. If the value is 0 or bit 31 is 1, this service is off.
r=2, w=2
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Value range: 0 ... 512 ... 4294967295
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 37 40 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A221.
1
Global
r=2, w=2
1. rec. PDO Parameter . Transmission Type: Specifies the type of transmission (with or
without SYNC, etc.) when received process data from this 1st PDO channel are accepted by the
inverter. See operating manual CAN, ID 441686.
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Value range: 0 ... 254 ... 255
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 37 40 01 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
ID 441782.04
165
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A222.
0
Global
r=2, w=2
2. rec. PDO Parameter . COB-ID: Identifier for the receiving direction of the 2nd PDO
channel. See A221.0
Fieldbusaddress
20DEh
0h
20DEh
1h
20DFh
0h
20DFh
1h
20E0h
0h
20E0h
1h
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Value range: 0 ... 768 ... 4294967295
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 37 80 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A222.
1
Global
r=2, w=2
2. rec. PDO Parameter . Transmission Type: Transmission type for 2nd PDO channel.
See A221.1.
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Value range: 0 ... 254 ... 255
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 37 80 01 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A223.
0
3. rec. PDO Parameter§COB-ID
Value range: 0 ... 1024 ... 4294967295
Global
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 37 C0 00 hex
r=2, w=2
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A223.
1
3. rec. PDO Parameter§transmission type
Value range: 0 ... 254 ... 255
Global
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 37 C0 01 hex
r=2, w=2
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A224.
0
4. rec. PDO Parameter§COB-ID
Value range: 0 ... 1280 ... 4294967295
Global
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 38 00 00 hex
r=2, w=2
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A224.
1
4. rec. PDO Parameter§transmission type
Value range: 0 ... 254 ... 255
Global
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 38 00 01 hex
r=2, w=2
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
ID 441782.04
166
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A225.
0
Global
r=1, w=1
1. rec. PDO Mapping Rx. 1. mapped Parameter: Address of the parameter which is
imaged first from the contents of the 1st PDO channel (receiving direction as seen by the inverter).
Fieldbusaddress
20E1h
0h
20E1h
1h
20E1h
2h
20E1h
3h
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Value range: A00 ... A180 ... A.Gxxx.yyyy (Parameter number in plain text)
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 38 40 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A225.
1
Global
r=1, w=1
1. rec. PDO Mapping Rx. 2. mapped Parameter: Address of the parameter which is
imaged second from the contents of the 1st PDO channel (receiving direction).
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Value range: A00 ... I221 ... A.Gxxx.yyyy (Parameter number in plain text)
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 38 40 01 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A225.
2
Global
r=1, w=1
1. rec. PDO Mapping Rx. 3. mapped Parameter: Address of the parameter which is
imaged third from the contents of the 1st PDO channel (receiving direction).
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Value range: A00 ... I220 ... A.Gxxx.yyyy (Parameter number in plain text)
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 38 40 02 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A225.
3
Global
r=1, w=1
1. rec. PDO Mapping Rx. 4. mapped Parameter: Address of the parameter which is
imaged fourth from the contents of the 1st PDO channel (receiving direction).
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Value range: A00 ... J00 ... A.Gxxx.yyyy (Parameter number in plain text)
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 38 40 03 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
ID 441782.04
167
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A225.
4
Global
r=1, w=1
1. rec. PDO Mapping Rx. 5. mapped Parameter: Address of the parameter which is
imaged fifth from the contents of the 1st PDO channel (receiving direction).
Fieldbusaddress
20E1h
4h
20E1h
5h
20E2h
0h
20E2h
1h
20E2h
2h
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 38 40 04 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A225.
5
Global
r=1, w=1
1. rec. PDO Mapping Rx. 6. mapped Parameter: Address of the parameter which is
imaged sixth from the contents of the 1st PDO channel (receiving direction).
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 38 40 05 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A226.
0
Global
r=2, w=2
2. rec. PDO Mapping Rx. 1. mapped Parameter: For 2nd PDO channel, see A225.0.
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 38 80 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A226.
1
Global
r=2, w=2
2. rec. PDO Mapping Rx. 2. mapped Parameter: For 2nd PDO channel, see A225.1.
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 38 80 01 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A226.
2
Global
r=2, w=2
2. rec. PDO Mapping Rx. 3. mapped Parameter: For 2nd PDO channel, see A225.2.
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 38 80 02 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
ID 441782.04
168
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A226.
3
Global
r=2, w=2
2. rec. PDO Mapping Rx. 4. mapped Parameter: For 2nd PDO channel, see A225.3.
Fieldbusaddress
20E2h
3h
20E2h
4h
20E2h
5h
20E5h
0h
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 38 80 03 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A226.
4
Global
r=2, w=2
2. rec. PDO Mapping Rx. 5. mapped Parameter: For 2nd PDO channel, see A225.4.
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 38 80 04 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A226.
5
Global
r=2, w=2
2. rec. PDO Mapping Rx. 6. mapped Parameter: For 2nd PDO channel, see A225.5.
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 38 80 05 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A229.
0
Global
1. trans. PDO Parameter . COB-ID: Specifies the identifier for which the inverter sends the
telegrams for the 1st PDO channel to the master. Usually the default value should not be changed
since the automatic identifier assignment after the Pre-Defined Connection Set is also disabled. If
the value is 0 or bit 31 is 1, this service is off.
r=2, w=2
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Value range: 0 ... 384 ... 4294967295
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 39 40 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
ID 441782.04
169
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A229.
1
Global
r=2, w=2
1. trans. PDO Parameter . Transmission Type: Specifies the transmission type (with or
without SYNC, etc.) when process data are sent via this 1st PDO channel. See operating manual
CAN, ID 441686.
Fieldbusaddress
20E5h
1h
20E5h
2h
20E5h
3h
20E6h
0h
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Value range: 0 ... 254 ... 255
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 39 40 01 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A229.
2
Global
r=2, w=2
1. trans. PDO Parameter . Inhibit Time: Specifies the time in multiples of 100 µsec which
the inverter must adhere to between sending PDO telegrams on channel 1.
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Value range in 100 us: 0 ... 0 ... 65535
Fieldbus: 1LSB=1·100 us; Type: U16; USS-Adr: 01 39 40 02 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A229.
3
1. trans. PDO Parameter . Event Timer: Not supported at present.
Global
Fieldbus: 1LSB=1ms; Type: U16; USS-Adr: 01 39 40 03 hex
r=2, w=2
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
Value range in ms: 0 ... 0 ... 65535
module 1 in the device configuration.
A230.
0
Global
r=2, w=2
2. trans. PDO Parameter . COB-ID: Identifier for sending direction of the 2nd PDO channel.
See A230.1.
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Value range: 0 ... 640 ... 4294967295
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 39 80 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
ID 441782.04
170
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A230.
1
Global
r=2, w=2
2. trans. PDO Parameter . Transmission Type: Transmission type for 2nd PDO channel.
See A229.1.
Fieldbusaddress
20E6h
1h
20E6h
2h
20E6h
3h
20E7h
0h
20E7h
1h
20E7h
2h
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Value range: 0 ... 254 ... 255
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 39 80 01 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A230.
2
Global
r=2, w=2
2. trans. PDO Parameter . Inhibit Time: Pause time for PDO channel 2. See A229.2.
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Value range in 100 us: 0 ... 0 ... 65535
Fieldbus: 1LSB=1·100 us; Type: U16; USS-Adr: 01 39 80 02 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A230.
3
2. trans. PDO Parameter . Event Timer: Not supported at present.
Global
Fieldbus: 1LSB=1ms; Type: U16; USS-Adr: 01 39 80 03 hex
r=2, w=2
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
Value range in ms: 0 ... 0 ... 65535
module 1 in the device configuration.
A231.
0
3. trans. PDO Parameter§COB-ID
Value range: 0 ... 896 ... 4294967295
Global
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 39 C0 00 hex
r=2, w=2
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A231.
1
3. trans. PDO Parameter§transmission type
Value range: 0 ... 254 ... 255
Global
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 39 C0 01 hex
r=2, w=2
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A231.
2
3. trans. PDO Parameter§inhibit time
Value range in 100 us: 0 ... 0 ... 65535
Global
Fieldbus: 1LSB=1·100 us; Type: U16; USS-Adr: 01 39 C0 02 hex
r=2, w=2
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
ID 441782.04
171
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A231.
3
3. trans. PDO Parameter§event timer
Value range in ms: 0 ... 0 ... 65535
Global
Fieldbus: 1LSB=1ms; Type: U16; USS-Adr: 01 39 C0 03 hex
r=2, w=2
Fieldbusaddress
20E7h
3h
20E8h
0h
20E8h
1h
20E8h
2h
20E8h
3h
20E9h
0h
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A232.
0
4. trans. PDO Parameter§COB-ID
Value range: 0 ... 1152 ... 4294967295
Global
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 3A 00 00 hex
r=2, w=2
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A232.
1
4. trans. PDO Parameter§transmission type
Value range: 0 ... 254 ... 255
Global
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 3A 00 01 hex
r=2, w=2
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A232.
2
4. trans. PDO Parameter§inhibit time
Value range in 100 us: 0 ... 0 ... 65535
Global
Fieldbus: 1LSB=1·100 us; Type: U16; USS-Adr: 01 3A 00 02 hex
r=2, w=2
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A232.
3
4. trans. PDO Parameter§event timer
Value range in ms: 0 ... 0 ... 65535
Global
Fieldbus: 1LSB=1ms; Type: U16; USS-Adr: 01 3A 00 03 hex
r=2, w=2
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A233.
0
Global
r=1, w=1
1. trans. PDO Mapping Tx. 1. mapped Parameter: Address of the parameter which is
imaged first on the 1st PDO channel for sending.
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Value range: A00 ... E200 ... A.Gxxx.yyyy (Parameter number in plain text)
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 3A 40 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
ID 441782.04
172
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A233.
1
Global
r=1, w=1
1. trans. PDO Mapping Tx. 2. mapped Parameter: Address of the parameter which is
imaged second on the 1st PDO channel for sending.
Fieldbusaddress
20E9h
1h
20E9h
2h
20E9h
3h
20E9h
4h
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Value range: A00 ... I201 ... A.Gxxx.yyyy (Parameter number in plain text)
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 3A 40 01 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A233.
2
Global
r=1, w=1
1. trans. PDO Mapping Tx. 3. mapped Parameter: Address of the parameter which is
imaged third on the 1st PDO channel for sending.
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Value range: A00 ... I200 ... A.Gxxx.yyyy (Parameter number in plain text)
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 3A 40 02 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A233.
3
Global
r=1, w=1
1. trans. PDO Mapping Tx. 4. mapped Parameter: Address of the parameter which is
imaged fourth on the 1st PDO channel for sending.
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Value range: A00 ... I203 ... A.Gxxx.yyyy (Parameter number in plain text)
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 3A 40 03 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A233.
4
Global
r=1, w=1
1. trans. PDO Mapping Tx. 5. mapped Parameter: Address of the parameter which is
imaged fifth on the 1st PDO channel for sending.
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 3A 40 04 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
ID 441782.04
173
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A233.
5
Global
r=1, w=1
1. trans. PDO Mapping Tx. 6. mapped Parameter: Address of the parameter which is
imaged sixth on the 1st PDO channel for sending.
Fieldbusaddress
20E9h
5h
20EAh
0h
20EAh
1h
20EAh
2h
20EAh
3h
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 3A 40 05 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A234.
0
Global
r=2, w=2
2. trans. PDO Mapping Tx. 1. mapped Parameter: For 2nd PDO channel. See A233.0.
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 3A 80 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A234.
1
Global
r=2, w=2
2. trans. PDO Mapping Tx. 2. mapped Parameter: For 2nd PDO channel. See A233.1.
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 3A 80 01 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A234.
2
Global
r=2, w=2
2. trans. PDO Mapping Tx. 3. mapped Parameter: For 2nd PDO channel. See A233.2.
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 3A 80 02 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A234.
3
Global
r=2, w=2
2. trans. PDO Mapping Tx. 4. mapped Parameter: For 2nd PDO channel. See A233.3.
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 3A 80 03 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
ID 441782.04
174
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A234.
4
Global
r=2, w=2
2. trans. PDO Mapping Tx. 5. mapped Parameter: For 2nd PDO channel. See A233.4.
Fieldbusaddress
20EAh
4h
20EAh
5h
20EDh
0h
20EEh
0h
20F1h
0h
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 3A 80 04 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A234.
5
Global
r=2, w=2
2. trans. PDO Mapping Tx. 6. mapped Parameter: For 2nd PDO channel. See A233.5.
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 3A 80 05 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A237
Global
read (1)
1. rec. PDO-Mapped Len: Indication parameter indicating in bytes the size of the expected
receive telegram of the 1st PDO channel for the current parameterization.
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 3B 40 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A238
Global
read (2)
2. rec. PDO-Mapped Len: For 2nd PDO channel. See A237.
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 3B 80 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A241
Global
read (1)
1. trans. PDO-Mapped Len: Indication parameter indicating in bytes the size of the expected
send telegram of the 1st PDO channel for the current parameterization.
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 3C 40 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
ID 441782.04
175
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A242
Global
read (2)
Fieldbusaddress
2. trans. PDO-Mapped Len: For 2nd PDO channel. See A241.
20F2h
0h
20F5h
0h
20FCh
0h
NOTE
The parameter is only visible when a CAN device controller is selected in the device configuration
or the appropriate blocks were used with the option for free, graphic programming.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 3C 80 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A245
Global
r=3, w=3
CAN diagnostic: Indication of internal inverter diagnostic information via the CAN-Bus interface.
®
Bits 0-2: NMT state, state of the CANopen state machine: 0 = Inactive, 1 = Reset application,
2 = Reset communication, 3 = Bootup, 4 = Pre-operational, 5 = Stopped 6 = Operational
Bit 3:
CAN controller indicates warning level.
Bit 4:
CAN controller indicates bus off.
Bit 5:
Toggle bit: Telegrams are being received on SDO channel 1.
Bit 6:
Memory bit: Receiving FIFO of SDO channel 1 has exceeded the half-full filling level.
(Client is sending telegrams faster than they can be processed by the inverter.)
Bit 7:
Toggle bit: Telegrams are being received on PDO channel 1 (only for Operational).
Bit 8:
Memory bit: Receiving FIFO of PDO channel 1 has exceeded the half-full filling level (only
for Operational).
(Client is sending telegrams faster than they can be processed by the inverter.)
Bit 9:
Current state of the red LED on CAN 5000, is 1 when LED is on.
Bit 10: Current state of the green LED on CAN 5000, is 1 when LED is on.
Bit 11: PDO sync relationship error: PDO1 is using sync.
All bits can be briefly deleted by sending NMT command Reset Node.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 3D 40 00 hex
 Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option
module 1 in the device configuration.
A252.
0
Global
r=3, w=3
®
EtherCAT Sync Manager 2 PDO Assign: The Sync-Manager 2 controls the memory size
®
and the access of the inverter processor to the portion of memory in the EtherCAT Slave
®
Controller (ESC) in which the process output data with reference values are sent by the EtherCAT
master to the inverter. These data specify which PDO mapping parameters are assigned to this
Sync-Manager. This array contains four elements of the data type U16. We recommend entering
®
the CANopen index of parameter A225 (1600 hex) in element 0 of this parameter. The indices of
the parameters A226 (1601 hex), A227 (1602 hex) or A228 (1603 hex) can then be entered as
necessary in the other elements. The value 0 indicates a blank entry.
Value range: 0 ... 1600hex ... 65535
Array
(Representation hexadecimal)
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 3F 00 00 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
ID 441782.04
176
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A252.
1
Global
r=3, w=3
Fieldbusaddress
®
EtherCAT Sync Manager 2 PDO Assign: The Sync-Manager 2 controls the memory size
®
and the access of the inverter processor to the portion of memory in the EtherCAT Slave
®
Controller (ESC) in which the process output data with reference values are sent by the EtherCAT
master to the inverter. These data specify which PDO mapping parameters are assigned to this
Sync-Manager. This array contains four elements of the data type U16. We recommend entering
®
the CANopen index of parameter A226 (1601 hex) in element 1 of this parameter. The indices of
the parameters A225 (1600 hex), A227 (1602 hex) or A228 (1603 hex) can then be entered as
necessary in the other elements. The value 0 indicates a blank entry.
Value range: 0 ... 1601hex ... 65535
20FCh
1h
Array
(Representation hexadecimal)
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 3F 00 01 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
A252.
2
Global
r=3, w=3
®
EtherCAT Sync Manager 2 PDO Assign: The Sync-Manager 2 controls the memory size
®
and the access of the inverter processor to the portion of memory in the EtherCAT Slave
®
Controller (ESC) in which the process output data with reference values are sent by the EtherCAT
master to the inverter. These data specify which PDO mapping parameters are assigned to this
Sync-Manager. This array contains four elements of the data type U16. We recommend entering
the value 0 (for unused) in element 2 of this parameter because the indices of parameters A225
(1600 hex) and A226 (1601 hex) have already been entered as default values in elements 0 and 1.
Up to 12 parameters can already be transferred in this way. If more process data are required, the
®
CANopen index of parameter A227 (1602 hex) can be specified here. However, remember that
the corresponding block 100921 ECS PDO3-rx Map must also be instanced here.
Value range: 0 ... 0000hex ... 65535
20FCh
2h
Array
(Representation hexadecimal)
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 3F 00 02 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
A252.
3
Global
r=3, w=3
®
EtherCAT Sync Manager 2 PDO Assign: The Sync-Manager 2 controls the memory size
®
and the access of the inverter processor to the portion of memory in the EtherCAT Slave
®
Controller (ESC) in which the process output data with reference values are sent by the EtherCAT
master to the inverter. These data specify which PDO mapping parameters are assigned to this
Sync-Manager. This array contains four elements of the data type U16. We recommend entering
the value 0 (for unused) in element 3 of this parameter because the indices of parameters A225
(1600 hex) and A226 (1601 hex) have already been entered as default values in elements 0 and 1
and sometimes the index of A227 (1603 hex) in element 2. Up to 18 parameters can already be
®
transferred in this way. If more process data are required, the CANopen index of parameter A228
(1603 hex) can be specified here. However, remember that the corresponding block 100923 ECS
PDO4-rx Map must also be instanced here.
Value range: 0 ... 0000hex ... 65535
20FCh
Array
(Representation hexadecimal)
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 3F 00 03 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
ID 441782.04
177
3h
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A253.
0
Global
r=3, w=3
Fieldbusaddress
®
EtherCAT Sync Manager 3 PDO Assign: The Sync-Manager 3 controls the memory size
®
and the access of the inverter processor to the portion of memory in the EtherCAT Slave
Controller (ESC) in which the process input data with actual values are sent by the inverter to the
®
EtherCAT master. These data specify which PDO mapping parameters are assigned to this SyncManager. This array contains four elements of the data type U16. We recommend entering the
®
CANopen index of parameter A233 (1A00 hex) in element 0 of this parameter. The indices of the
parameters A234 (1A01 hex), A235 (1A02 hex) or A236 (1A03 hex) can then be entered as
necessary in the other elements. The value 0 indicates a blank entry.
Value range: 0 ... 1A00hex ... 65535
20FDh
0h
Array
(Representation hexadecimal)
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 3F 40 00 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
A253.
1
Global
r=3, w=3
®
EtherCAT Sync Manager 3 PDO Assign: The Sync-Manager 3 controls the memory size
®
and the access of the inverter processor to the portion of memory in the EtherCAT Slave
Controller (ESC) in which the process input data with actual values are sent by the inverter to the
®
EtherCAT master. These data specify which PDO mapping parameters are assigned to this SyncManager. This array contains four elements of the data type U16. We recommend entering the
®
CANopen index of parameter A234 (1A01 hex) in element 1 of this parameter. The indices of the
parameters A233 (1A00 hex), A235 (1A02 hex) or A236 (1604 hex) can then be entered as
necessary in the other elements. The value 0 indicates a blank entry.
Value range: 0 ... 1A01hex ... 65535
20FDh
1h
Array
(Representation hexadecimal)
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 3F 40 01 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
A253.
2
Global
r=3, w=3
®
EtherCAT Sync Manager 3 PDO Assign: The Sync-Manager 3 controls the memory size
®
and the access of the inverter processor to the portion of memory in the EtherCAT Slave
Controller (ESC) in which the process input data with actual values are sent by the inverter to the
®
EtherCAT master. These data specify which PDO mapping parameters are assigned to this SyncManager. This array contains four elements of the data type U16. We recommend entering the
value 0 (for unused) in element 2 of this parameter because the indices of parameters A233 (1A00
hex) and A234 (1A01 hex) have already been entered as default values in elements 0 and 1. Up to
12 parameters can already be transferred in this way. If more process data are required, the
®
CANopen index of parameter A235 (1A02 hex) can be specified here. However, remember that
the corresponding block 100922 ECS PDO3-rx Map must also be instanced here.
Value range: 0 ... 0000hex ... 65535
20FDh
Array
(Representation hexadecimal)
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 3F 40 02 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
ID 441782.04
178
2h
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A253.
3
Global
r=3, w=3
Fieldbusaddress
®
EtherCAT Sync Manager 3 PDO Assign: The Sync-Manager 3 controls the memory size
®
and the access of the inverter processor to the portion of memory in the EtherCAT Slave
Controller (ESC) in which the process input data with actual values are sent by the inverter to the
®
EtherCAT master. These data specify which PDO mapping parameters are assigned to this SyncManager. This array contains four elements of the data type U16. We recommend entering the
value 0 (for unused) in element 3 of this parameter because the indices of parameters A233 (1A00
hex) and A234 (1A01 hex) have already been entered as default values in elements 0 and 1 and
sometimes the index of A235 (1A03 hex) in element 2. Up to 18 parameters can already be
®
transferred in this way. If more process data are required, the CANopen index of parameter A236
(1A03 hex) can be specified here. However, remember that the corresponding block 100924 ECS
PDO4-tx Map must also be instanced here.
Value range: 0 ... 0000hex ... 65535
20FDh
3h
Array
(Representation hexadecimal)
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 3F 40 03 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
A255
Global
read (3)
®
EtherCAT Device State: Display of diagnostic information about the status of the EtherCAT
state machine in the ECS 5000 interface connection. Hexadecimal values are displayed. For this
®
purpose, the "AL status" register of the EtherCAT slave controller is evaluated.
The following values are possible:
0x0001
Init State
0x0002
Pre-Operational State
0x0003
Requested Bootstrap State (not supported)
0x0004
Safe-Operational State
0x0008
Operational State
0x0011
Error for State INIT
0x0012
Error for State PREOP
0x0013
Error for State BOOTSTRAP (not supported)
0x0014
Error for State Safe-Operational
0x0018
Error for State Operational
®
20FFh
0h
2100h
0h
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 3F C0 00 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
A256
Global
r=3, w=3
®
®
EtherCAT Address: Shows the address of the inverter within the EtherCAT network. The
®
value is usually specified by the EtherCAT master. It is either derived from position of the station
®
within the EtherCAT ring or is purposely selected by the user. Values usually start at 1001
®
hexadecimal (1001h is the first device after the EtherCAT master, 1002h is the second, and so
on).
Value range: 0 ... 0 ... 65535
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 40 00 00 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
ID 441782.04
179
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A257.
Fieldbusaddress
®
0
EtherCAT Diagnosis: Indication of internal inverter diagnostic information on the EtherCAT
®
interface ECS 5000 and the connection to the EtherCAT .
Global
A text with the following format is indicated in element 0: "StX ErX L0X L1X"
read (3)
Part 1 of the text means:
®
®
St
Abbreviation of EtherCAT Device State (State of the EtherCAT State Machine)
X
Digit for state:
1
Init State
2
Pre-operational state
(3
Requested Bootstrap State is not supported.)
4
Safe-operational state
8
Operational state
0h
2101h
Array
Part 2 of the text means:
®
Er
Abbreviation of EtherCAT Device Error
X
Digit for state:
0
No error
1
Booting error, ECS 5000 error
®
2
Invalid configuration, select configuration with EtherCAT in
POSI Tool.
3
Unsolicited state change, inverter has changed state by itself.
®
4
Watchdog, no more data from EtherCAT even though timeout
time expired.
5
PDI watchdog, host processor timeout
Part 3 of the text means:
L0
Abbreviation for LinkOn of port 0 (the RJ45 socket labeled "IN")
®
X
Digit for state:
0
No link (no connection to other EtherCAT device)
1
Link detected (connection to other device found)
Part 4 of the text means:
L1
Abbreviation for LinkOn of port 1 (the RJ45 socket labeled "OUT")
®
X
Digit for state:
0
No link (no connection to other EtherCAT device)
1
Link detected (connection to other device found)
Fieldbus: Type: Str16; USS-Adr: 01 40 40 00 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
A257.
1
Global
®
EtherCAT Diagnosis: Indication of internal inverter diagnostic information on the EtherCAT
®
interface ECS 5000 and the connection to the EtherCAT .
®
1h
2101h
Array
A text with the following format is indicated in element 1: „L0 xx L1 xx"
read (3)
Part 1 of the text means:
L0
Abbreviation for Link Lost Counter Port 0 (RJ45 socket labeled "IN")
xx
Number of lost connections (hexadecimal) on the port
Part 2 of the text means:
L1
Abbreviation for Link Lost Counter Port 1 (RJ45 socket labeled "OUT")
xx
Number of lost connections (hexadecimal) on the port.
Fieldbus: Type: Str16; USS-Adr: 01 40 40 01 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
ID 441782.04
180
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A257.
2
Global
®
EtherCAT Diagnosis: Indication of internal inverter diagnostic information on the EtherCAT
®
interface ECS 5000 and the connection to the EtherCAT .
Fieldbusaddress
®
2h
2101h
Array
A text with the following format is indicated in element 2: „R0 xxxx R1 xxxx"
read (3)
Part 1 of the text means:
R0
Abbreviation for Rx ErrorCounter Port 0 (RJ45 socket labeled "IN")
xxxx ErrorCounter in hexadecimal with number of registered errors such as, for example, FCS
checksum, …
Part 2 of the text means:
R0
Abbreviation for Rx ErrorCounter Port 1 (RJ45 socket labeled "OUT")
xxxx ErrorCounter in hexadecimal with number of registered errors such as, for example, FCS
checksum, …
Fieldbus: Type: Str16; USS-Adr: 01 40 40 02 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
A258
Global
r=3, w=3
®
EtherCAT PDO Timeout: This PDO monitoring function (PDO = Process Data Object) should
be activated so that the inverter does not continue with the last received reference values after a
®
®
failure of the EtherCAT network or the master. After the EtherCAT master has put this station
(the inverter in this case) into the state "OPERATIONAL," it begins to send new process data
(reference values, and so on) cyclically. When this monitor function has been activated, it is active
in the "OPERATIONAL" state.
When no new data are received via EtherCAT for longer than the set timeout time, the monitor
function triggers the fault 52:communication with the cause of fault 6:EtherCAT PDO.
®
If the EtherCAT master shuts down this station correctly (exits the "OPERATIONAL" state), the
monitoring function is not triggered.
2102h
0h
The timeout time can be set in milliseconds with this parameter.
The following special setting values are available:
0:
Monitoring inactive
1 to 99:
Monitoring by STÖBER watchdog is active. Timeout time is always 1000 milliseconds.
From 100: Monitoring by STÖBER watchdog is active. The numeric value is the timeout value in
milliseconds.
65534:
Monitoring is not set by this value but by the "SM Watchdog" functionality of EtherCAT.
For diagnosis of this externally set function, see parameter A259.
65535:
Monitoring inactive
Information
You will only need the STÖBER watchdog function if your controller does not have a watchdog
function itself. If your controller does have a watchdog function, STÖBER ANTRIEBSTECHNIK
®
recommends the setting A258 = 65534 (EtherCAT watchdog).
Value range in ms: 0 ... 65534 ... 65535
Fieldbus: 1LSB=1ms; Type: U16; USS-Adr: 01 40 80 00 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
ID 441782.04
181
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A259.
0
Global
read (3)
EtherCAT SM-Watchdog: This PDO monitoring function (PDO = Process Data Object) should
be activated so that the inverter does not continue with the last received reference values after a
failure of the EtherCAT network or the master.
If the value 65534 was set in another parameter A258 EtherCAT PDO-Timeout, the timeout can be
set in the EtherCAT master (TwinCAT software). The result is then indicated in this parameter:
Fieldbusaddress
0h
2103h
Array
Element 0 contains the resulting watchdog time in 1 milliseconds.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 40 C0 00 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
A259.
1
Global
read (3)
EtherCAT SM-Watchdog: This PDO monitoring function (PDO = Process Data Object) should
be activated so that the inverter does not continue with the last received reference values after a
failure of the EtherCAT network or the master.
If the value 65534 was set in another parameter A258 EtherCAT PDO-Timeout, the timeout can be
set in the EtherCAT master (TwinCAT software). The result is then indicated in this parameter:
1h
2103h
Array
Element 1 contains whether the watchdog was just triggered (1) or not (0).
When the watchdog is triggered and the function is activated (see value 65534 in parameter A258),
the fault 52:communication is triggered on the inverter with cause of fault 6:EtherCAT PDO.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 40 C0 01 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
A259.
2
Global
read (3)
®
EtherCAT SM-Watchdog: This PDO monitoring function (PDO = Process Data Object) should
be activated so that the inverter does not continue with the last received reference values after a
®
failure of the EtherCAT network or the master.
If the value 65534 was set in another parameter A258 EtherCAT PDO-Timeout, the timeout can be
®
set in the EtherCAT master (TwinCAT software). The result is then indicated in this parameter:
2h
2103h
Array
Element 2 contains the number of times this watchdog has been triggered.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 40 C0 02 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
ID 441782.04
182
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A260
Global
r=3, w=3
®
Fieldbusaddress
®
EtherCAT synchronization mode: This parameter activates EtherCAT synchronization
monitoring mode on the inverter. The inverter offers the option of monitoring the synchronization
between master and inverter via Distributed Clock. A check is made to determine whether the time
®
difference between the arrival of the EtherCAT Frame at the inverter and the point in time of the
SYNC0 signal on the inverter is within a tolerable time range.
When monitoring is activated, Sync errors are counted with an error counter and indicated in
parameter A261.2.
Synchronization mode is deactivated and activated by entering the following values:
2104h
0h
2105h
0h
0:Synchronization deactivated
1:Synchronization active
Other values are not defined and are therefore not permitted.
CAUTION
When the PLC cycle time is not the SYNC0 cycle time, all synchronization errors can no longer be
detected.
CAUTION
Activation of synchronization mode requires different amounts of run time depending on the cycle
time of the PLC and the inverter. With high-performance applications are being run on the inverter,
activation of synchronization mode may cause the error "runtime load."
Value range: 0 ... 0 ... 65535
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 41 00 00 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
A261.
0
Global
read (3)
®
EtherCAT Sync-Diagnostics: This parameter can be used to diagnose errors in
synchronization mode.
The parameter indicates the following error codes:
Array
0:
1:
2:
3:
4:
No error
Sync Manager 2 and Sync Manager 3 have different cycle times.
Cycle time < 1 ms: The cycle time must be ³ 1000 µs.
Uneven cycle time: Cycle time must be a whole-number multiple of 1000 µs.
Internal error: Internal device PLL could not be started.
Possible cause: The project does not contain parameter G90.
5: A required EtherCAT parameter does not exist.
®
Parameters A260 and A261 must be available for EtherCAT with synchronization.
6: Internal error: Inverter interrupt could not be initialized.
Possible cause: Firmware error
Other values: Not defined
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 41 40 00 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
A261.
1
Global
read (3)
®
EtherCAT Sync-Diagnostics: This element is reserved.
2105h
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 41 40 01 hex
Array
1h
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
ID 441782.04
183
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A261.
2
Global
read (3)
®
EtherCAT Sync-Diagnostics: This parameter indicates the synchronization errors which
have occurred up to now between master and inverter.
Synchronization mode must be activated in parameter A260 before the counter function becomes
active.
When the error counter is continuously incremented, this indicates a parameterization error on the
master or the inverter.
Occasional incrementing of the counter (e.g., in the minutes range) indicates a jitter in the total
EtherCAT system.
Fieldbusaddress
2h
2105h
Array
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 41 40 02 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
A262.
0
Global
®
EtherCAT Sync Manager 0 Synchronization type: The parameter indicates the
synchronization operating mode for Sync Manager 0 (write mailbox) which was set by the controller
on the inverter. Since Sync Managers for mailbox communication are never synchronized, the
parameter can only have the following values:
2106h
0h
r=3, w=3
0: not synchronized
No other values possible.
Information
Please note that the synchronization operating mode is set exclusively by the controller. If you
change the parameter, your settings will have no effect.
0: not synchronized;
1: synchronized with AL event on this Sync Manager;
2: synchronized with AL event Sync0;
3: synchronized with AL event Sync1;
32: synchronized with AL event of SM0;
33: synchronized with AL event of SM1;
34: synchronized with AL event of SM2;
35: synchronized with AL event of SM3;
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 41 80 00 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
ID 441782.04
184
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A262.
1
Global
®
EtherCAT Sync Manager 0 Cycle time: The parameter indicates the value of the cycle
time for Sync Manager 0 (write mailbox) which was set by the controller on the inverter. Since Sync
Managers for mailbox communication are never synchronized, the parameter can only have the
following values:
Fieldbusaddress
2106h
1h
2106h
2h
r=3, w=3
0: not synchronized
No other values possible.
Information
Please note that the cycle time is set exclusively by the controller. If you change the parameter,
your settings will have no effect.
0: not synchronized;
1: synchronized with AL event on this Sync Manager;
2: synchronized with AL event Sync0;
3: synchronized with AL event Sync1;
32: synchronized with AL event of SM0;
33: synchronized with AL event of SM1;
34: synchronized with AL event of SM2;
35: synchronized with AL event of SM3;
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 41 80 01 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
A262.
2
Global
®
EtherCAT Sync Manager 0 Shift time: The parameter indicates the value of the shift time
for Sync Manager 0 (write mailbox) which was set by the controller on the inverter. Since Sync
Managers for mailbox communication are never synchronized, the parameter can only have the
following values:
r=3, w=3
0: not synchronized
No other values possible.
Information
Please note that the shift time is set exclusively by the controller. If you change the parameter, your
settings will have no effect.
0: not synchronized;
1: synchronized with AL event on this Sync Manager;
2: synchronized with AL event Sync0;
3: synchronized with AL event Sync1;
32: synchronized with AL event of SM0;
33: synchronized with AL event of SM1;
34: synchronized with AL event of SM2;
35: synchronized with AL event of SM3;
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 41 80 02 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
ID 441782.04
185
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A263.
0
Global
®
EtherCAT Sync Manager 1 Synchronization type: The parameter indicates the
synchronization operating mode for Sync Manager 1 (read mailbox) which was set by the controller
on the inverter. Since Sync Managers for mailbox communication are never synchronized, the
parameter can only have the following values:
Fieldbusaddress
2107h
0h
2107h
1h
r=3, w=3
0: not synchronized
No other values possible.
Information
Please note that the synchronization operating mode is set exclusively by the controller. If you
change the parameter, your settings will have no effect.
0: not synchronized;
1: synchronized with AL event on this Sync Manager;
2: synchronized with AL event Sync0;
3: synchronized with AL event Sync1;
32: synchronized with AL event of SM0;
33: synchronized with AL event of SM1;
34: synchronized with AL event of SM2;
35: synchronized with AL event of SM3;
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 41 C0 00 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
A263.
1
Global
®
EtherCAT Sync Manager 1 Cycle time: The parameter indicates the value of the cycle
time for Sync Manager 1 (read mailbox) which was set by the controller on the inverter. Since Sync
Managers for mailbox communication are never synchronized, the parameter can only have the
following values:
r=3, w=3
0: not synchronized
No other values possible.
Information
Please note that the cycle time is set exclusively by the controller. If you change the parameter,
your settings will have no effect.
0: not synchronized;
1: synchronized with AL event on this Sync Manager;
2: synchronized with AL event Sync0;
3: synchronized with AL event Sync1;
32: synchronized with AL event of SM0;
33: synchronized with AL event of SM1;
34: synchronized with AL event of SM2;
35: synchronized with AL event of SM3;
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 41 C0 01 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
ID 441782.04
186
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A263.
2
Global
®
EtherCAT Sync Manager 1 Shift time: The parameter indicates the value of the shift time
for Sync Manager 1 (read mailbox) which was set by the controller on the inverter. Since Sync
Managers for mailbox communication are never synchronized, the parameter can only have the
following values:
Fieldbusaddress
2107h
2h
2108h
0h
r=3, w=3
0: not synchronized
No other values possible.
Information
Please note that the shift time is set exclusively by the controller. If you change the parameter, your
settings will have no effect.
0: not synchronized;
1: synchronized with AL event on this Sync Manager;
2: synchronized with AL event Sync0;
3: synchronized with AL event Sync1;
32: synchronized with AL event of SM0;
33: synchronized with AL event of SM1;
34: synchronized with AL event of SM2;
35: synchronized with AL event of SM3;

Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 41 C0 02 hex 

 Only visible when option module CAN 5000 or ECS 5000 was recognized.
A264.
0
Global
®
EtherCAT Sync Manager 2 Synchronization type: The parameter indicates the
synchronization operating mode for Sync Manager 2 (output process data) which was set by the
controller on the inverter. Since Sync Managers for mailbox communication are never
synchronized, the parameter can only have the following values:
r=3, w=3
0: not synchronized
2: Synchronized with AL Event Sync0: Synchronized operating mode (synchronous to sync 0
signal).
No other values possible.
Information
Please note that the synchronization operating mode is set exclusively by the controller. If you
change the parameter, your settings will have no effect.
0: not synchronized;
1: synchronized with AL event on this Sync Manager;
2: synchronized with AL event Sync0;
3: synchronized with AL event Sync1;
32: synchronized with AL event of SM0;
33: synchronized with AL event of SM1;
34: synchronized with AL event of SM2;
35: synchronized with AL event of SM3;
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 42 00 00 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
ID 441782.04
187
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A264.
1
Global
r=3, w=3
®
EtherCAT Sync Manager 2 Cycle time: The parameter indicates the value of the cycle
time in ns for Sync Manager 2 (output process data) which was set by the controller on the inverter.
Fieldbusaddress
2108h
1h
2108h
2h
Information
Please note that the cycle time is set exclusively by the controller. If you change the parameter,
your settings will have no effect.
0: not synchronized;
1: synchronized with AL event on this Sync Manager;
2: synchronized with AL event Sync0;
3: synchronized with AL event Sync1;
32: synchronized with AL event of SM0;
33: synchronized with AL event of SM1;
34: synchronized with AL event of SM2;
35: synchronized with AL event of SM3;
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 42 00 01 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
A264.
2
Global
r=3, w=3
®
EtherCAT Sync Manager 2 Shift time: The parameter indicates the value of the shift time
in ns for Sync Manager 2 (output process data) which was set by the controller on the inverter.
Information
Please note that the shift time is set exclusively by the controller. If you change the parameter, your
settings will have no effect.
0: not synchronized;
1: synchronized with AL event on this Sync Manager;
2: synchronized with AL event Sync0;
3: synchronized with AL event Sync1;
32: synchronized with AL event of SM0;
33: synchronized with AL event of SM1;
34: synchronized with AL event of SM2;
35: synchronized with AL event of SM3;
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 42 00 02 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
ID 441782.04
188
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A265.
0
Global
r=3, w=3
®
EtherCAT Sync Manager 3 Synchronization type: The parameter indicates the
synchronization operating mode for Sync Manager 3 (input process data) which was set by the
controller on the inverter. The parameter can only have the following values:
Fieldbusaddress
2109h
0h
2109h
1h
0: not synchronized
2: Synchronized with AL Event Sync0: Synchronized operating mode (synchronous to sync 0
signal)
No other values possible.
Information
Please note that the synchronization operating mode is set exclusively by the controller. If you
change the parameter, your settings will have no effect.
0: not synchronized;
1: synchronized with AL event on this Sync Manager;
2: synchronized with AL event Sync0;
3: synchronized with AL event Sync1;
32: synchronized with AL event of SM0;
33: synchronized with AL event of SM1;
34: synchronized with AL event of SM2;
35: synchronized with AL event of SM3;
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 42 40 00 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
A265.
1
Global
r=3, w=3
®
EtherCAT Sync Manager 3 Cycle time: The parameter indicates the value of the cycle
time in ns for Sync Manager 3 (output process data) which was set by the controller on the inverter.
Information
Please note that the cycle time is set exclusively by the controller. If you change the parameter,
your settings will have no effect.
0: not synchronized;
1: synchronized with AL event on this Sync Manager;
2: synchronized with AL event Sync0;
3: synchronized with AL event Sync1;
32: synchronized with AL event of SM0;
33: synchronized with AL event of SM1;
34: synchronized with AL event of SM2;
35: synchronized with AL event of SM3;
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 42 40 01 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
ID 441782.04
189
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A265.
2
EtherCAT Sync Manager 3 Shift time: The parameter indicates the value of the shift time
in ns for Sync Manager 3 (output process data) which was set by the controller on the inverter.
Global
Information
Please note that the shift time is set exclusively by the controller. If you change the parameter, your
settings will have no effect.
r=3, w=3
®
Fieldbusaddress
2109h
2h
210Ah
0h
210Bh
0h
0: not synchronized;
1: synchronized with AL event on this Sync Manager;
2: synchronized with AL event Sync0;
3: synchronized with AL event Sync1;
32: synchronized with AL event of SM0;
33: synchronized with AL event of SM1;
34: synchronized with AL event of SM2;
35: synchronized with AL event of SM3;
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 42 40 02 hex
 Only visible when option module CAN 5000 or ECS 5000 was recognized.
A266
Global
r=3, w=3
ECS Tolerance barrier: This parameter is used to specify the maximum permissible number of
ECS 5000 events. When this threshold value is exceeded, the fault 55:option board with the cause
9:ECS5000failure is triggered.
Never change this value without first contacting STÖBER ANTRIEBSTECHNIK GmbH & Co. KG.
Value range: 0 ... 1 ... 12
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 42 80 00 hex
A267.
0
Global
read (3)
A267.
1
Global
read (3)
A267.
2
Global
read (3)
A267.
3
Global
ECS internal test counter: This parameter counts any ECS-5000 events which are detected
between the control unit of the inverter and the ECS 5000. Different causes are counted separately
in an array with 4 elements. When the counter is incremented rapidly, this may mean EMC
interference.
Array
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 42 C0 00 hex
ECS internal test counter: This parameter counts any ECS-5000 events which are detected
between the control unit of the inverter and the ECS 5000. Different causes are counted separately
in an array with 4 elements. When the counter is incremented rapidly, this may mean EMC
interference.
Array
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 42 C0 01 hex
ECS internal test counter: This parameter counts any ECS-5000 events which are detected
between the control unit of the inverter and the ECS 5000. Different causes are counted separately
in an array with 4 elements. When the counter is incremented rapidly, this may mean EMC
interference.
2h
210Bh
Array
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 42 C0 02 hex
ECS internal test counter: This parameter counts any ECS-5000 events which are detected
between the control unit of the inverter and the ECS 5000. Different causes are counted separately
in an array with 4 elements. When the counter is incremented rapidly, this may mean EMC
interference.
Array
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 42 C0 03 hex
A267.
ECS internal test counter
210Bh
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 42 C0 04 hex
Array
Global
3h
210Bh
read (3)
4
1h
210Bh
4h
read (3)
ID 441782.04
190
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A268
Global
r=3, w=3
Fieldbusaddress
®
ECS compatibility mode: Adjustment of the behavior of the EtherCAT firmware to ensure it
can still be used with software in other devices which may possibly be outdated, for example in
®
EtherCAT Master.
210Ch
0h
210Eh
0h
®
0: current; This is the correct setting for the behavior for currently applicable EtherCAT
specifications. If possible, do not change this setting to produce and require behavior in
accordance with current requirements.
®
1: No PDO test before OP; In this case the drive as an EtherCAT slave no longer checks upon
prompt for transition to OPERATIONAL whether PDOs have previously been received (in sync
manager 2). Use this setting only if you do not need a workaround for non-problem free behavior
®
of the EtherCAT master!
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 43 00 00 hex
A270.
0
Global
read (2)
PN Port X200 state: For X200, the parameter shows whether a connection to another
Ethernet subscriber exists and which properties it has.
0: Error; it is not possible to read this information from the PN 5000.
1: No connection; the port is not physically connected to another Ethernet port (e.g. a PROFINET
device).
2: 10 MBit/s; the port is connected to a device which does not support the necessary data rate and
is unsuitable for PROFINET communication.
3: 100 MBit/s; the port is connected to a device which does not support offer full duplex and is
unsuitable for PROFINET communication.
4: Connection OK; the port is correctly connected to other devices on the Ethernet level. Please
note that this is a necessary criteria for correctly functioning PROFINET communication, but not
necessarily sufficient.
Array
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 43 80 00 hex
A270.
1
Global
read (2)
X20xstate
210Eh
0:
1:
2:
3:
4:
Array
error;
co connection;
10 MBit/s;
100 MBit/s;
link OK;
1h
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 43 80 01 hex
A271
Global
read (2)
PN state: The parameter shows the state of the PROFINET unification between a PROFINET IO
controller (controller) and the inverter. Evaluate these parameters if there are any problems during
booting up the PROFINET communication.
210Fh
0h
0:offline; error while detecting the PN 5000 in the inverter.
1: step 1;
2: step 2;
3: phase 1;
4: phase 2;
5: cyclic data exchange;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 43 C0 00 hex
ID 441782.04
191
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A272.
0
Global
r=3, w=5
PN module/submodule list: STÖBER ANTRIEBSTECHNIK offers several combinations of
modules and submodules. One of the combinations must be selected for configuring the
PROFINET. The selected combination is then shown in these parameters when the booting
process is completed. Evaluate these parameters if you have noted inconsistencies in the number
of bytes between the process data formation and the quantity of data exchanged with the controller.
The combination is displayed as a coded decimal number and contains four pieces of partial
information:
Fieldbusaddress
0h
2110h
Array
MMM-SSS-III-OOO
MMM: Module ID
SSS: Submodule ID
III: Input data byte length
OOO: Output data byte length
Example:
103103012012 corresponds to
Module ID: 103
Submodule ID: 104
Input data length: 12 byte
Output data length: 12 byte
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 44 00 00 hex
A272.
1
PN module list
2110h
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 44 00 01 hex
Array
A273
PN device name: The device name is of central importance for addressing in PROFINET. It
2111h
0h
Global
replaces the bus address known from PROFIBUS and must be entered individually for every
inverter in this parameter.
When deciding on the device name, please observe the existing convention as described in the
PROFINET manual.
The device name will only become active when you have saved the parameters in the inverter (A00
save values) and you have switched the inverter off and on again.
2112h
0h
2113h
0h
Global
1h
r=3, w=5
r=3, w=3
Default setting: STOEBER-Inverter
Fieldbus: Type: Str80; USS-Adr: 01 44 40 00 hex
A274
PN IP address: Display of the last IP address which the inverter took from a PROFINET IO
Global
controller. If there is no PROFINET communication, an old address will be displayed.
r=3, w=3
Value range: 0 ... 0.0.0.0 ... 4294967295
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 44 80 00 hex
A275
PN subnet mask: Display of the last subnet mask which the inverter took from a PROFINET
Global
IO controller. If there is no PROFINET communication, an old subnet mask will be displayed.
r=3, w=3
Value range: 0 ... 0.0.0.0 ... 4294967295
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 44 C0 00 hex
ID 441782.04
192
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A276
PN gateway: Display of the last gateway IP address which the inverter took from a PROFINET
Global
IO controller. If there is no PROFINET communication, an old address will be displayed.
r=3, w=3
Value range: 0 ... 0.0.0.0 ... 4294967295
Fieldbusaddress
2114h
0h
2116h
0h
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 45 00 00 hex
A278.
0
Global
read (3)
PN diagnosis: Parameter A278 is used for diagnosis of the PROFINET communication. Different
values are displayed in the 9 elements of the parameter.
Array
Element 0 shows a text in the following form:
CosXX StX ECntXX, this means:
CosXX
- Cos stands for Communication Change of State
- XX shows the messages from the following bits as a hexadecimal number:
Bit 0:
Ready (RCX_COMM_COS_READY) The Ready flag is set as soon as the protocol stack
is started properly.
Bit 1
Running (RCX_COMM_COS_RUN) The Running flag is set when the protocol stack has
been configured properly.
Bit 2
Bus On (RCX_COMM_COS_BUS_ON) The Bus On flag is set to indicate to the host
system whether or not the protocol stack has the permission to open network connections.
Bit 3
Configuration Locked (RCX_COMM_COS_CONFIG_LOCKED) The Configuration Locked
flag is set, if the communication channel firmware has locked the configuration database
against being overwritten.
Bit 4
Configuration New (RCX_COMM_COS_CONFIG_NEW) The Configuration New flag is set
by the protocol stack to indicate that a new configuration became available, which has not
been activated.
Bit 5
Restart Required (RCX_COMM_COS_RESTART_REQUIRED) The Restart Required flag
is set when the channel firmware requests to be restarted
Bit 6
Restart Required Enable (RCX_COMM_COS_RESTART_REQUIRED_ENABLE) The
Restart Required Enable flag is used together with the Restart Required flag above
Bit 7
currently not used
StX
- St stands for Communication State
- X shows the number of the state:
0 = UNKNOWN
1 = OFFLINE
2 = STOP
3 = IDLE
4 = OPERATE
ECntXX
- ECnt stands for Error Count
- XX shows the number of errors determined since the last supply on or reset
Fieldbus: Type: Str16; USS-Adr: 01 45 80 00 hex
A279.
0
Global
read (3)
PN error history: Array A279 shows the PROFINET communication error history in its four
elements. Element 0 shows the last (most up-to-date) error since the last time the inverter was
switched on.
If this parameter value is zero, no error has occurred.
If the value is different to 0, please refer to the PROFINET documentation.
0h
2117h
Array
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 45 C0 00 hex
ID 441782.04
193
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A300
Global
read (2)
Additional enable: Indicates the current value of the AdditEna signal (additional enable) on the
interface to the device control (configuration, block 100107).
The "additional enable" signal works exactly like the enable signal on terminal X1. Both signals are
AND linked. This means that the power end stage of the inverter is only enabled when both signals
are HIGH.
Fieldbusaddress
212Ch
0h
212Dh
0h
212Eh
0h
212Fh
0h
2130h
0h
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 4B 00 00 hex
A301
Global
read (2)
Fault reset: Indicates the current value of the FaultRes signal (fault reset) on the interface to the
device control (configuration, block 100107).
The Fault reset signal triggers a fault reset. When the inverter has malfunctioned, a change from
LOW to HIGH causes this fault to be reset if the cause of the fault has been corrected. Reset is not
possible as long as A00 Save values is active.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 4B 40 00 hex
A302
Global
read (2)
Quick stop: Indicates the current value of the QuickStp signal (quick stop) on the interface to the
device control (configuration, block 100107).
The quick stop signal triggers a quick stop of the drive. During positioning mode, the acceleration
specified in I17 determines the braking time. When the axis is in "revolutions" (speed) mode, the
parameter D81 determines the braking time (see also A39 and A45).
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 4B 80 00 hex
A303
Global
read (2)
Axis selector 0: Indicates the current value of the AxSel0 signal (axis selector 0) on the
interface to the device control (configuration, block 100107).
There are two "axis selector 0 / 1" signals with which one of the max. of 4 axes can be selected in
binary code.
NOTE
- Axis switchover is not possible unless the enable is off and E48 device control state is not 5:fault.
- With the FDS 5000, the axes can only be used as parameter records for a motor. The
®
POSISwitch AX 5000 option cannot be connected.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 4B C0 00 hex
A304
Global
read (2)
Axis selector 1: Indicates the current value of the AxSel1 signal (axis selector 1) on the
interface to the device control (configuration, block 100107).
There are two "axis selector 0 / 1" signals with which one of the max. of 4 axes can be selected in
binary code.
NOTE
- Axis switchover is not possible unless the enable is off and E48 device control state is not 5:fault.
- With the FDS 5000, the axes can only be used as parameter records for a motor. The
®
POSISwitch AX 5000 option cannot be connected.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 4C 00 00 hex
ID 441782.04
194
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A305
Global
read (2)
Axis disable: Indicates the current value of the AxDis signal (axis disable) on the interface to the
device control (configuration, block 100107).
The axis-disable signal deactivates all axes.
Fieldbusaddress
2131h
0h
2132h
0h
6040h
0h
NOTE
- Axis switchover is not possible unless the enable is off and E48 device control state is not 5:fault.
- With the FDS 5000, the axes can only be used as parameter records for a motor. The
®
POSISwitch AX 5000 option cannot be connected.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 4C 40 00 hex
A306
Global
read (2)
X1.Enable: The level of the X1.Enable binary input is displayed.
0: inactive;
1: active;
Fieldbus: 1LSB=1; PDO ; Type: B; USS-Adr: 01 4C 80 00 hex
A576
Global
r=1, w=1
Control word: Control word with control signals for the device state machine and the drive
function.
Note that this parameter is not available if you use a device state machine as per DSP 401 in your
project. Select the device state machine in the configuration assistant, step 4. Parameter E53
displays the device controller that you have chosen.









Bit 0: "Switch on" - is set to 1 for switchon when bit 0 in status word "Ready to Switch On" is 1.
Bit 1: "Enable voltage" - should always be left at 1, is active.
Bit 2: "Quick stop" - is set to 0 when the drive is to come to a standstill as soon as possible.
Bit 3: "Enable operation" - is set to 1 for enable when bit 1 in status word "Switched on" is 1.
Bit 4-6: "Operation mode specific" - see below.
Bit 7: "Fault reset" - edge 0 -> 1 to acknowledge queued fault.
Bit 8: "Halt" - is not supported, always leave 0 = inactive.
Bit 9 and 10: "Reserved" - always leave 0 = inactive.
Bit 11 and 12: Axis selector, bit 0 and 1. Select the axis here for multi-axis operation. 00 = axis1,
…
 Bit 13: Axis disable. Deactivate all axes. No motor connected.
 Bit 14: Release brake.
 Bit 15: "Reserved" - always leave 0 = inactive.
On bits 4-6 "operation mode specific" - the meaning of the bits depends on the operating mode of
the inverter. This is set in A608 (modes of operation).
The following operating modes and related bit meanings are available at this time:
Job mode:
 Bit-4: Jog +
 Bit-5: Jog  Bit-6: Reserved, always 0
Homing mode:
 Bit-4: Homing operation start
 Bit-5: Reserved, always 0
 Bit-6: Reserved, always 0
ID 441782.04
195
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
Fieldbusaddress
Interpolated position mode:
 Bit-4: Interpolation mode active
 Bit-5: Reserved, always 0
 Bit-6: Reserved, always 0
Comfort reference value:
 Bit-4: HLG block, ramp generator input = 0
 Bit-5: HLG stop, freeze ramp generator input
 Bit-6: HLG zero, ramp generator input = 0 (same as bit 4)
Can be accessed via CANopen® under:
Index
6040 hex
Subindex
0
Value range: 0 ... 0000hex ... 65535
A577
Global
read (1)
(Representation hexadecimal)
Fieldbus: 1LSB=1; PDO ; Type: U16; USS-Adr: 01 90 00 00 hex
Status word: The status word indicates the current state of the device. Some bits are operation
mode specific.
Note that this parameter is not available if you use a device state machine as per DSP 401 in your
project. Select the device state machine in the configuration assistant, step 4. Parameter E53
displays the device controller that you have chosen.














6041h
0h
Bit-0: "Ready to switch on"
Bit-1: "Switched on"
Bit-2: "Operation enabled"
Bit-3: "Fault"
Bit-4: "Voltage enabled"
Bit-5: "Quick stop"
Bit 6: "Switch on disabled"
Bit-7: "Warning"
Bit-8: "Message"
Bit-9: "Remote," corresponds to the negated output Local of block 320 Local
Bit-10: "Target reached," see below
Bit-11: "Internal limit active," 1 = limit is active
Bit-12 and 13: "Operation mode specific," see below
Bit-14 and 15: "PLL Bit0" and "PLL Bit1" with the meaning of interpolated position mode:
00: OK
01: Cycle time extended and still engaged
10: Cycle time shortened and still engaged
11: Not engaged
Bit-10 "Target reached," bit-11 "Internal limit active" and bits 12 and 13 "Operation mode specific."
The meaning of the bits depends on the operating mode of the inverter. This is set in the parameter
A608 modes of operation.
The following operating modes are currently available with their related bit meanings:
Comfort reference value:
 Bit-10: "Target reached," reference-value-reached flag, same as D183 "n-window reached"
 Bit-11: "Internal limit active," 1 = limit is active, one of the following signals is active: D182, D185,
D186, D308, D309, D462
Homing mode:
 Bit-12: Homing attained: Reference point found
 Bit-13: Homing error: termination of referencing due to error
ID 441782.04
196
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
Fieldbusaddress
Interpolated position mode:
 Bit-12: Interpolation mode active
 Bit-13: Reserved, always 0
Can be accessed via CANopen® under:
Index
6041hex
Subindex
0
Fieldbus: 1LSB=1; PDO ; Type: U16; USS-Adr: 01 90 40 00 hex
A800
Global
r=3, w=3
Remote service start: You can use this parameter to start remote service via the operator
panel on the front of the inverter. The effectiveness of this parameter depends on how parameter
A167 is set.
Information
Before you start remote service, read chapter Integrated Bus of the Operating Manual SDS 5000
and the description of parameter A167!
0: inactive; No remote service wanted.
1: active; Request remote service.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 C8 00 00 hex
A890
Global
r=3, w=3
Para-Acc-Cntrl: You can activate an access logging function in this parameter. This can be
useful in the diagnosis of parameter write modules or functions in conjunction with fieldbuses.
This function logs the last 10 write accesses to parameters usingCANopen, EtherCAT, PROFIBUS
and PROFINET. Even defective attempts which have been rejected by the inverter are logged here,
in this case A894 shows an error code as a result.
0: inactive; No parameter accesses have been logged.
1: active; Access logging function is active. When changing from 0: inactive after 1: active the
previously logged values are deleted.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 DE 80 00 hex
A891
Global
read (3)
Para-Acc-Next: If the access logging function is activated (see parameter A890 the element in
which the next write access will be logged is displayed here. The element number applies to
parameters
- A892 Para-Acc-Address,
- A893 Para-Acc-Value,
- A894 Para-Acc-Result and
- A895 Para-Acc-Time.
You will find the last logged entry in the parameters one element before the number displayed here.
Value range: 0 ... 0 ... 255
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 DE C0 00 hex
A892.
0
Global
read (3)
Para-Acc-Address: If the access locking function is activated (see parameter A890) the
addresses of the last 10 write accesses will be logged in the elements.
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 DF 00 00 hex
ID 441782.04
197
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A892.
1
Global
read (3)
Para-Acc-Address: If the access locking function is activated (see parameter A890) the
addresses of the last 10 write accesses will be logged in the elements.
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbusaddress
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 DF 00 01 hex
A892.
2
Global
read (3)
Para-Acc-Address: If the access locking function is activated (see parameter A890) the
addresses of the last 10 write accesses will be logged in the elements.
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 DF 00 02 hex
A892.
3
Global
read (3)
Para-Acc-Address: If the access locking function is activated (see parameter A890) the
addresses of the last 10 write accesses will be logged in the elements.
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 DF 00 03 hex
A892.
4
Global
read (3)
Para-Acc-Address: If the access locking function is activated (see parameter A890) the
addresses of the last 10 write accesses will be logged in the elements.
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 DF 00 04 hex
A892.
5
Global
read (3)
Para-Acc-Address: If the access locking function is activated (see parameter A890) the
addresses of the last 10 write accesses will be logged in the elements.
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 DF 00 05 hex
A892.
6
Global
read (3)
Para-Acc-Address: If the access locking function is activated (see parameter A890) the
addresses of the last 10 write accesses will be logged in the elements.
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 DF 00 06 hex
ID 441782.04
198
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A892.
7
Global
read (3)
Para-Acc-Address: If the access locking function is activated (see parameter A890) the
addresses of the last 10 write accesses will be logged in the elements.
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbusaddress
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 DF 00 07 hex
A892.
8
Global
read (3)
Para-Acc-Address: If the access locking function is activated (see parameter A890) the
addresses of the last 10 write accesses will be logged in the elements.
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 DF 00 08 hex
A892.
9
Global
read (3)
Para-Acc-Address: If the access locking function is activated (see parameter A890) the
addresses of the last 10 write accesses will be logged in the elements.
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Array
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 01 DF 00 09 hex
A893.
0
Global
read (3)
Para-Acc-Value: If the access locking function is activated (see parameter A890) the values of
the last 10 write accesses will be logged in the elements. The values are displayed as 4-byte
numbers in hexadecimal representation. The sequence of the bytes is displayed as they were
originally received by the fieldbus, and is different depending on the fieldbus system being used:
- in the case of PROFIBUS and PROFINET the data bytes are arranged readably as usual
(00001234 hex = 4660 dez).
- in the case of CANopen and EtherCAT the bytes are arranged otherwise (34120000 hex = 4660
dez).
Array
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 DF 40 00 hex
A893.
1
Global
read (3)
Para-Acc-Value: If the access locking function is activated (see parameter A890) the values of
the last 10 write accesses will be logged in the elements. The values are displayed as 4-byte
numbers in hexadecimal representation. The sequence of the bytes is displayed as they were
originally received by the fieldbus, and is different depending on the fieldbus system being used:
- in the case of PROFIBUS and PROFINET the data bytes are arranged readably as usual
(00001234 hex = 4660 dez).
- in the case of CANopen and EtherCAT the bytes are arranged otherwise (34120000 hex = 4660
dez).
Array
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 DF 40 01 hex
ID 441782.04
199
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A893.
2
Global
read (3)
Para-Acc-Value: If the access locking function is activated (see parameter A890) the values of
the last 10 write accesses will be logged in the elements. The values are displayed as 4-byte
numbers in hexadecimal representation. The sequence of the bytes is displayed as they were
originally received by the fieldbus, and is different depending on the fieldbus system being used:
- in the case of PROFIBUS and PROFINET the data bytes are arranged readably as usual
(00001234 hex = 4660 dez).
- in the case of CANopen and EtherCAT the bytes are arranged otherwise (34120000 hex = 4660
dez).
Fieldbusaddress
Array
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 DF 40 02 hex
A893.
3
Global
read (3)
Para-Acc-Value: If the access locking function is activated (see parameter A890) the values of
the last 10 write accesses will be logged in the elements. The values are displayed as 4-byte
numbers in hexadecimal representation. The sequence of the bytes is displayed as they were
originally received by the fieldbus, and is different depending on the fieldbus system being used:
- in the case of PROFIBUS and PROFINET the data bytes are arranged readably as usual
(00001234 hex = 4660 dez).
- in the case of CANopen and EtherCAT the bytes are arranged otherwise (34120000 hex = 4660
dez).
Array
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 DF 40 03 hex
A893.
4
Global
read (3)
Para-Acc-Value: If the access locking function is activated (see parameter A890) the values of
the last 10 write accesses will be logged in the elements. The values are displayed as 4-byte
numbers in hexadecimal representation. The sequence of the bytes is displayed as they were
originally received by the fieldbus, and is different depending on the fieldbus system being used:
- in the case of PROFIBUS and PROFINET the data bytes are arranged readably as usual
(00001234 hex = 4660 dez).
- in the case of CANopen and EtherCAT the bytes are arranged otherwise (34120000 hex = 4660
dez).
Array
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 DF 40 04 hex
ID 441782.04
200
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A893.
5
Global
read (3)
Para-Acc-Value: If the access locking function is activated (see parameter A890) the values of
the last 10 write accesses will be logged in the elements. The values are displayed as 4-byte
numbers in hexadecimal representation. The sequence of the bytes is displayed as they were
originally received by the fieldbus, and is different depending on the fieldbus system being used:
- in the case of PROFIBUS and PROFINET the data bytes are arranged readably as usual
(00001234 hex = 4660 dez).
- in the case of CANopen and EtherCAT the bytes are arranged otherwise (34120000 hex = 4660
dez).
Fieldbusaddress
Array
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 DF 40 05 hex
A893.
6
Global
read (3)
Para-Acc-Value: If the access locking function is activated (see parameter A890) the values of
the last 10 write accesses will be logged in the elements. The values are displayed as 4-byte
numbers in hexadecimal representation. The sequence of the bytes is displayed as they were
originally received by the fieldbus, and is different depending on the fieldbus system being used:
- in the case of PROFIBUS and PROFINET the data bytes are arranged readably as usual
(00001234 hex = 4660 dez).
- in the case of CANopen and EtherCAT the bytes are arranged otherwise (34120000 hex = 4660
dez).
Array
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 DF 40 06 hex
A893.
7
Global
read (3)
Para-Acc-Value: If the access locking function is activated (see parameter A890) the values of
the last 10 write accesses will be logged in the elements. The values are displayed as 4-byte
numbers in hexadecimal representation. The sequence of the bytes is displayed as they were
originally received by the fieldbus, and is different depending on the fieldbus system being used:
- in the case of PROFIBUS and PROFINET the data bytes are arranged readably as usual
(00001234 hex = 4660 dez).
- in the case of CANopen and EtherCAT the bytes are arranged otherwise (34120000 hex = 4660
dez).
Array
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 DF 40 07 hex
ID 441782.04
201
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A893.
8
Global
read (3)
Para-Acc-Value: If the access locking function is activated (see parameter A890) the values of
the last 10 write accesses will be logged in the elements. The values are displayed as 4-byte
numbers in hexadecimal representation. The sequence of the bytes is displayed as they were
originally received by the fieldbus, and is different depending on the fieldbus system being used:
- in the case of PROFIBUS and PROFINET the data bytes are arranged readably as usual
(00001234 hex = 4660 dez).
- in the case of CANopen and EtherCAT the bytes are arranged otherwise (34120000 hex = 4660
dez).
Fieldbusaddress
Array
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 DF 40 08 hex
A893.
9
Global
read (3)
Para-Acc-Value: If the access locking function is activated (see parameter A890) the values of
the last 10 write accesses will be logged in the elements. The values are displayed as 4-byte
numbers in hexadecimal representation. The sequence of the bytes is displayed as they were
originally received by the fieldbus, and is different depending on the fieldbus system being used:
- in the case of PROFIBUS and PROFINET the data bytes are arranged readably as usual
(00001234 hex = 4660 dez).
- in the case of CANopen and EtherCAT the bytes are arranged otherwise (34120000 hex = 4660
dez).
Array
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 DF 40 09 hex
A894.
0
Global
read (3)
Para-Acc-Result: If the access locking function is activated (see parameter A890) the results of
the last 10 write accesses will be logged in the elements. The following results are normally often
displayed:
- 00000000: The write access was successful, the parameter value has been accepted.
- 0000004D: The parameter which was accessed does not exist.
- 00000052: The parameter value to be transmitted is too small, it is not accepted.
- 00000053: The parameter value to be transmitted is too large, it is not accepted.
- other values: Please contact STÖBER ANTRIEBSTECHNIK.
Array
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 DF 80 00 hex
ID 441782.04
202
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A894.
1
Global
read (3)
Para-Acc-Result: If the access locking function is activated (see parameter A890) the results of
the last 10 write accesses will be logged in the elements. The following results are normally often
displayed:
- 00000000: The write access was successful, the parameter value has been accepted.
- 0000004D: The parameter which was accessed does not exist.
- 00000052: The parameter value to be transmitted is too small, it is not accepted.
- 00000053: The parameter value to be transmitted is too large, it is not accepted.
- other values: Please contact STÖBER ANTRIEBSTECHNIK.
Fieldbusaddress
Array
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 DF 80 01 hex
A894.
2
Global
read (3)
Para-Acc-Result: If the access locking function is activated (see parameter A890) the results of
the last 10 write accesses will be logged in the elements. The following results are normally often
displayed:
- 00000000: The write access was successful, the parameter value has been accepted.
- 0000004D: The parameter which was accessed does not exist.
- 00000052: The parameter value to be transmitted is too small, it is not accepted.
- 00000053: The parameter value to be transmitted is too large, it is not accepted.
- other values: Please contact STÖBER ANTRIEBSTECHNIK.
Array
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 DF 80 02 hex
A894.
3
Global
read (3)
Para-Acc-Result: If the access locking function is activated (see parameter A890) the results of
the last 10 write accesses will be logged in the elements. The following results are normally often
displayed:
- 00000000: The write access was successful, the parameter value has been accepted.
- 0000004D: The parameter which was accessed does not exist.
- 00000052: The parameter value to be transmitted is too small, it is not accepted.
- 00000053: The parameter value to be transmitted is too large, it is not accepted.
- other values: Please contact STÖBER ANTRIEBSTECHNIK.
Array
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 DF 80 03 hex
ID 441782.04
203
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A894.
4
Global
read (3)
Para-Acc-Result: If the access locking function is activated (see parameter A890) the results of
the last 10 write accesses will be logged in the elements. The following results are normally often
displayed:
- 00000000: The write access was successful, the parameter value has been accepted.
- 0000004D: The parameter which was accessed does not exist.
- 00000052: The parameter value to be transmitted is too small, it is not accepted.
- 00000053: The parameter value to be transmitted is too large, it is not accepted.
- other values: Please contact STÖBER ANTRIEBSTECHNIK.
Fieldbusaddress
Array
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 DF 80 04 hex
A894.
5
Global
read (3)
Para-Acc-Result: If the access locking function is activated (see parameter A890) the results of
the last 10 write accesses will be logged in the elements. The following results are normally often
displayed:
- 00000000: The write access was successful, the parameter value has been accepted.
- 0000004D: The parameter which was accessed does not exist.
- 00000052: The parameter value to be transmitted is too small, it is not accepted.
- 00000053: The parameter value to be transmitted is too large, it is not accepted.
- other values: Please contact STÖBER ANTRIEBSTECHNIK.
Array
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 DF 80 05 hex
A894.
6
Global
read (3)
Para-Acc-Result: If the access locking function is activated (see parameter A890) the results of
the last 10 write accesses will be logged in the elements. The following results are normally often
displayed:
- 00000000: The write access was successful, the parameter value has been accepted.
- 0000004D: The parameter which was accessed does not exist.
- 00000052: The parameter value to be transmitted is too small, it is not accepted.
- 00000053: The parameter value to be transmitted is too large, it is not accepted.
- other values: Please contact STÖBER ANTRIEBSTECHNIK.
Array
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 DF 80 06 hex
ID 441782.04
204
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A894.
7
Global
read (3)
Para-Acc-Result: If the access locking function is activated (see parameter A890) the results of
the last 10 write accesses will be logged in the elements. The following results are normally often
displayed:
- 00000000: The write access was successful, the parameter value has been accepted.
- 0000004D: The parameter which was accessed does not exist.
- 00000052: The parameter value to be transmitted is too small, it is not accepted.
- 00000053: The parameter value to be transmitted is too large, it is not accepted.
- other values: Please contact STÖBER ANTRIEBSTECHNIK.
Fieldbusaddress
Array
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 DF 80 07 hex
A894.
8
Global
read (3)
Para-Acc-Result: If the access locking function is activated (see parameter A890) the results of
the last 10 write accesses will be logged in the elements. The following results are normally often
displayed:
- 00000000: The write access was successful, the parameter value has been accepted.
- 0000004D: The parameter which was accessed does not exist.
- 00000052: The parameter value to be transmitted is too small, it is not accepted.
- 00000053: The parameter value to be transmitted is too large, it is not accepted.
- other values: Please contact STÖBER ANTRIEBSTECHNIK.
Array
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 DF 80 08 hex
A894.
9
Global
read (3)
Para-Acc-Result: If the access locking function is activated (see parameter A890) the results of
the last 10 write accesses will be logged in the elements. The following results are normally often
displayed:
- 00000000: The write access was successful, the parameter value has been accepted.
- 0000004D: The parameter which was accessed does not exist.
- 00000052: The parameter value to be transmitted is too small, it is not accepted.
- 00000053: The parameter value to be transmitted is too large, it is not accepted.
- other values: Please contact STÖBER ANTRIEBSTECHNIK.
Array
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 DF 80 09 hex
ID 441782.04
205
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A895.
0
Global
Para-Acc-Time: If the access locking function is activated (see parameter A890) the times of the
last 10 write accesses will be logged in the elements. The times are stated as values in
milliseconds, the values are relative to each other and are not related to the operation duration in
E30.
Fieldbusaddress
Array
read (3)
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 DF C0 00 hex
A895.
1
Global
Para-Acc-Time: If the access locking function is activated (see parameter A890) the times of the
last 10 write accesses will be logged in the elements. The times are stated as values in
milliseconds, the values are relative to each other and are not related to the operation duration in
E30.
Array
read (3)
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 DF C0 01 hex
A895.
2
Global
Para-Acc-Time: If the access locking function is activated (see parameter A890) the times of the
last 10 write accesses will be logged in the elements. The times are stated as values in
milliseconds, the values are relative to each other and are not related to the operation duration in
E30.
Array
read (3)
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 DF C0 02 hex
A895.
3
Global
Para-Acc-Time: If the access locking function is activated (see parameter A890) the times of the
last 10 write accesses will be logged in the elements. The times are stated as values in
milliseconds, the values are relative to each other and are not related to the operation duration in
E30.
Array
read (3)
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 DF C0 03 hex
ID 441782.04
206
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A895.
4
Global
Para-Acc-Time: If the access locking function is activated (see parameter A890) the times of the
last 10 write accesses will be logged in the elements. The times are stated as values in
milliseconds, the values are relative to each other and are not related to the operation duration in
E30.
Fieldbusaddress
Array
read (3)
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 DF C0 04 hex
A895.
5
Global
Para-Acc-Time: If the access locking function is activated (see parameter A890) the times of the
last 10 write accesses will be logged in the elements. The times are stated as values in
milliseconds, the values are relative to each other and are not related to the operation duration in
E30.
Array
read (3)
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 DF C0 05 hex
A895.
6
Global
Para-Acc-Time: If the access locking function is activated (see parameter A890) the times of the
last 10 write accesses will be logged in the elements. The times are stated as values in
milliseconds, the values are relative to each other and are not related to the operation duration in
E30.
Array
read (3)
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 DF C0 06 hex
A895.
7
Global
Para-Acc-Time: If the access locking function is activated (see parameter A890) the times of the
last 10 write accesses will be logged in the elements. The times are stated as values in
milliseconds, the values are relative to each other and are not related to the operation duration in
E30.
Array
read (3)
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 DF C0 07 hex
A895.
8
Global
Para-Acc-Time: If the access locking function is activated (see parameter A890) the times of the
last 10 write accesses will be logged in the elements. The times are stated as values in
milliseconds, the values are relative to each other and are not related to the operation duration in
E30.
Array
read (3)
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 DF C0 08 hex
ID 441782.04
207
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A895.
9
Global
Fieldbusaddress
Para-Acc-Time: If the access locking function is activated (see parameter A890) the times of the
last 10 write accesses will be logged in the elements. The times are stated as values in
milliseconds, the values are relative to each other and are not related to the operation duration in
E30.
Array
read (3)
The array parameter is designed as a ring memory. If element 9 is described, the next entry will
take place in element 0. Old entries will be overwritten. The element which is displayed in A891
Para-Acc-Next contains the oldest logged access. This element will be overwritten on the next
write access. The newest value is contained in the element which is smaller than A891 by 1.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 DF C0 09 hex
A900
Global
SysEnableOut: Enable output of the device controller to the axis(axes). Indicates that the power
section is on and enables reference value processing.
r=3, w=4
Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E1 00 00 hex
A901
SysQuickstopOut: Quick stop output of the device controller to the axis(axes). Indicates that the
device controller forces a quick stop which is executed by speed control. Reference value
processing of the axis must support this with priority before axis reference value processing.
Global
r=3, w=4
Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E1 40 00 hex
A902
Global
read (2)
SysStatusword: Status word of the device controller as per DSP402.
Bit
0
1
2
3
4
5
6
7
Ready for switch-on
Switched on
Oper. enabled
Fault
Voltage disabled
Quick stop
Switch-on disable
Warning
Bit
8
9
10
11
12...15
Message
Remote
Reference value reached
Limit value
Reserved
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 E1 80 00 hex
A903
Global
SysOpenBrake: Command bit: Open halting brake. This signal bypasses brake control and goes
directly to plug connector X2 (MDS/FDS) or X5 (SDS).
r=3, w=4
Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E1 C0 00 hex
A905
New PDO1 data for Tx: The parameter is set to "1" when a PDO is received.
Global
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 E2 40 00 hex
r=3, w=3
A906
Global
Time stamp PDO1: Time relationship between PDO receipt and cycle time.
Fieldbus: 1LSB=1µs; Type: U32; USS-Adr: 01 E2 80 00 hex
r=3, w=3
A907
Global
Reference timestamp PLL: Time relationship of PLL to cycle time.
Fieldbus: 1LSB=1µs; Type: U16; USS-Adr: 01 E2 C0 00 hex
r=3, w=3
ID 441782.04
208
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A910
Global
r=3, w=4
Fieldbusaddress
SysAdditionalEnableIn: Additional enable signal of the axis to the device controller. A logical
AND link with the enable signal (usually from binary input X1.enable) occurs on the device
controller.
Information
When POSITool establishes a connection to the inverter, this parameter is always read, even when
"write parameter" was specified in POSITool as the data communication direction.
Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E3 80 00 hex
A911
SysQuickstopIn: Quick stop request of the axis to the device controller.
Global
Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E3 C0 00 hex
r=3, w=4
A912
SysFaultResetInput: Fault reset of the axis to the device controller.
Global
Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E4 00 00 hex
r=3, w=4
A913
Global
r=3, w=4
SysQuickstopEndInput: Quick stop end signal of the axis to the device controller. Indicates
that a quick stop was concluded. With applications without braking control, this is usually the
"standstill reached" signal. With applications with braking control, this is usually the "brake closed"
signal.
Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E4 40 00 hex
A914
SysControlWord: Control word to DSP402 device controller.
Global
Bit
1
2
3
4
5
6
7
8
r=2, w=4
Switch on
Disable voltage
Quick stop
Enable oper.
Disable HLG
Stop HLG
HLG zero
Reset fault
Bit
9...15
Reserved
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 E4 80 00 hex
A916
Reference cycle-time: Cycle time of the SYNC telegram. Is created from G98.
Global
Fieldbus: 1LSB=1µs; Type: I16; USS-Adr: 01 E5 00 00 hex
r=3, w=4
A918
Global
SysLocal: Signal of the device controller to the axis (axes). Indicates that local operation is
activated ("hand" key).
r=3, w=4
Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E5 80 00 hex
A919
Global
SysEnableLocal: Signal of the device controller to the axis (axes). Indicates that local operation
("hand" key) and local enable ("I/O" or "I" key) are activated.
r=3, w=4
Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E5 C0 00 hex
A922
SysControlWordBit4: Signal of device control on the axis/axes. The function is applicationspecific. The parameter is only functional for the applications listed below.
Global
r=2, w=4
Application
Comfort reference value
Meaning
Corresponds to the Stop signal
Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E6 80 00 hex
ID 441782.04
209
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
A.. Inverter
Par.
Description
A923
Global
r=2, w=4
Fieldbusaddress
SysControlWordBit5: Signal of device control on the axis/axes. The function is applicationspecific. The parameter is only functional for the applications listed below.
Application
Comfort reference value
Meaning
Halt ramp generator (with lower priority than Stop and Quick
Stop)
Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E6 C0 00 hex
A924
Global
r=2, w=4
SysControlWordBit6: Signal of device control on the axis/axes. The function is applicationspecific. The parameter is only functional for the applications listed below.
Application
Comfort reference value
Meaning
Corresponds to the Stop signal
Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E7 00 00 hex
A925
Global
read (2)
SysTargetReached: Signal of the axis to the device control. The reference value was reached.
The function is application-specific. The parameter is only functional for the applications listed
below.
Application
Comfort reference value
Meaning
Reference-value-reached flag, same as D183 n-window
reached
Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E7 40 00 hex
A926
Global
read (2)
SysTargetReached: Signal of the axis to the device control. The reference value was reached.
The function is application-specific. The parameter is only functional for the applications listed
below.
Application
Comfort reference value
Meaning
One of the following signals is active: D182, D185, D186, D308,
D309, D462
Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E7 80 00 hex
B.. Motor
Par.
Description
B00
Axis
r=1, w=1
Motor-type: Indication of the motor name as text.
Fieldbusaddress
2200h
0h
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Default setting: ED213U
Fieldbus: Type: Str16; USS-Adr: 02 00 00 00 hex
ID 441782.04
210
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B01.0
Axis
read (3)
Job data: If an ED/EK motor with EnDat® encoder is connected to X4, the motor's job number can
be displayed in this parameter element.
The structure of the full number is as follows: AAAAAA/BBB/CCC-DDD/XX
AAAAAA: Job number
BBB: Job call number
CCC: Job remainder number
DDD: Job item number
XX: Sequential item number in the job
The numeric parts are displayed in the elements of parameter B01.
Fieldbusaddress
0h
2201h
Array
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 02 00 40 00 hex
 Only visible when B06 = 0:el. motor-type is set and the motor encoder is an EnDat®-Encoder on
X4 or X140.
B01.1
Axis
read (3)
Job data: If an ED/EK motor with EnDat® encoder is connected to X4, the motor's Job call
number can be displayed in this parameter element.
The structure of the full number is as follows: AAAAAA/BBB/CCC-DDD/XX
AAAAAA: Job number
BBB: Job call number
CCC: Job remainder number
DDD: Job item number
XX: Sequential item number in the job
The numeric parts are displayed in the elements of parameter B01.
1h
2201h
Array
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 02 00 40 01 hex
 Only visible when B06 = 0:el. motor-type is set and the motor encoder is an EnDat®-Encoder on
X4 or X140.
ID 441782.04
211
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B01.2
Axis
read (3)
Job data: If an ED/EK motor with EnDat® encoder is connected to X4, the motor's Job remainder
numbercan be displayed in this parameter element.
The structure of the full number is as follows: AAAAAA/BBB/CCC-DDD/XX
AAAAAA: Job number
BBB: Job call number
CCC: Job remainder number
DDD: Job item number
XX: Sequential item number in the job
The numeric parts are displayed in the elements of parameter B01.
Fieldbusaddress
2h
2201h
Array
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 02 00 40 02 hex
 Only visible when B06 = 0:el. motor-type is set and the motor encoder is an EnDat®-Encoder on
X4 or X140.
B01.3
Axis
read (3)
Job data: If an ED/EK motor with EnDat® encoder is connected to X4, the motor's Job item
number can be displayed in this parameter element.
The structure of the full number is as follows: AAAAAA/BBB/CCC-DDD/XX
AAAAAA: Job number
BBB: Job call number
CCC: Job remainder number
DDD: Job item number
XX: Sequential item number in the job
The numeric parts are displayed in the elements of parameter B01.
3h
2201h
Array
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 02 00 40 03 hex
 Only visible when B06 = 0:el. motor-type is set and the motor encoder is an EnDat®-Encoder on
X4 or X140.
ID 441782.04
212
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B01.4
Axis
read (3)
Job data: If an ED/EK motor with EnDat® encoder is connected to X4, the motor's sequential item
number in the job can be displayed in this parameter element.
The structure of the full number is as follows: AAAAAA/BBB/CCC-DDD/XX
AAAAAA: Job number
BBB: Job call number
CCC: Job remainder number
DDD: Job item number
XX: Sequential item number in the job
The numeric parts are displayed in the elements of parameter B01.
Fieldbusaddress
4h
2201h
Array
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 02 00 40 04 hex
 Only visible when B06 = 0:el. motor-type is set and the motor encoder is an EnDat®-Encoder on
X4 or X140.
B02
Axis, OFF
r=1, w=1
Back EMF: Specifies the peak value of induced voltage between two phases at 1000 Rpm. When
an effective value is specified for external motors, this must be multiplied by 1.41 before entry in
B02.
2202h
0h
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Value range in V/1000rpm: 5.0 ... 40 ... 3000.0
Fieldbus: 1LSB=0,1V/1000rpm; Type: I16; (raw value:1LSB=0,1·rpm); USS-Adr: 02 00 80 00 hex
 Only visible with servo operation (B20 greater or equal to 64:Servo-control).
ID 441782.04
213
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B04
Axis, OFF
r=1, w=1
El. motor-type: STÖBER motors of the ED, EK and EZ series are available with electronic single
and multi-turn encoders. These encoders offer a special parameter memory. In all standard models
STÖBER places all motor data in this memory including any existing halting brake ("electronic
nameplate").
Fieldbusaddress
2204h
0h
2205h
0h
B04 is only used when B06 = 0 is set.
With B04 = 0, B01 Job data is read. The other motor data can be entered as desired. The
commutation is also internally affected.
When B04 = 1 is set, the following parameters are read from the nameplate.
B00, B01, B02, B10, B11, B12, B13, B16 bzw. B19, B17, B38, B39, B52, B53, B61, B62, B64, B65,
B66, B67, B68, B70, B72, B73, B74, B82, B83
The commutation is also internally affected.
For this setting, F06 and F07 are also read if B07 = 0:el. motor-type is set.
If a KTY evaluation has been entered on the nameplate, U10 = 2:warning and U11 = 1 s will be set.
With B04 = 1, the motor data are read from the encoder after each power-on. Any manual changes
to motor data are only effective until the next power-off and power-on even when the changes are
stored non-volatilely in Paramodule. For permanent changes to the motor data, set B04 = 0. Then
store the changes with A00 = 1.
Electronic nameplates of other motor manufacturers cannot be evaluated.
NOTE
Correct evaluation of the electronic nameplate after a change in parameter B04 is not ensured until
after a device new start.
0: Commutation;
1: All data;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 01 00 00 hex
 Only visible when B06 = 0:el. motor-type is set and the motor encoder is an EnDat®-Encoder on
X4 or X140.
B05
Axis, OFF
r=1, w=1
Commutation-offset: Shift the encoder zero position in comparison to the motor. STÖBER
motors with resolvers are set to B05 = 0 at the plant and checked. Normally a change in the B05
parameter is not required. When phase test B40 produces a value B05 > 5° or B05 < 355°, a wiring
or plug problem is probably the cause.
With STÖBER motors with absolute value encoders, the commutation offset is written to the
electronic nameplate at the plant and is read by the inverter during "startup." In this case, B05 is
also set at the factory to 0. If B05 is changed, total offset = nameplate offset + B05 applies.
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Value range in °: 0.0 ... 0 ... 360.0
Fieldbus: 1LSB=0,1°; Type: I16; (raw value:32767 = 2879.9 °); USS-Adr: 02 01 40 00 hex
 Only visible with servo operation (B20 greater or equal to 64:Servo-control).
ID 441782.04
214
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B06
Axis, OFF
r=1, w=1
Motor-data: STÖBER motors of the ED, EK and EZ series are available with electronic single
and multi-turn encoders. These encoders offer a special parameter memory. In all standard models
STÖBER places the entire motor data in this memory including any existing halting brake
("electronic nameplate").
Fieldbusaddress
2206h
0h
2207h
0h
For B06 = 0, the data is read from the encoder after each power on according to the settings in B07
(only for SDS 5000) and B04. Any manual changes in motor data only remain effective until the
next power-off and power-on even when the changes are stored in Paramodule non-volatilely.
Set B06 = 1 for motors without electronic nameplates. The default values of the motor data entered
in the parameter list must then be checked and adjusted. The commutation offset can be autotuned with the action B40. The changes must then be stored with A00 = 1.
Electronic nameplates of other motor manufacturers cannot be evaluated.
NOTE
Up to and including firmware status V 5.2, correct evaluation of the nameplate after a change in
parameter B06 does not occur until a device new start. Starting with firmware status V 5.3, the
nameplate is evaluated immediately.
The parameter B06 only appears for inverters of the MDS 5000 and SDS 5000 series.
0: El. motor-type;
1: User defined;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 01 80 00 hex
 Only visible when the motor encoder is an EnDat®-Encoder on X4 or X140.
B07
Axis, OFF
r=1, w=1
Brake data: B07 is only used if B04 = 1 and F08 = 1 are set and is only available if a SDS 5000
is configured.
With B07 Brake data = 0, the data set in F06 Brake release time and F07 Brake application time are
read on every power on from the encoder. Any manual changes to these brake data are therefore
only effective until the next switch off and switch on, even if the changes have been saved in the
Paramodul in non-volatile memory. This setting is useful if

the drive only has one brake or

the drive has two brakes and the one that has data saved in the electronic name plate features
longer air and incidence times.
For B07 = 1, the parameters F06 and F07 can be manually set. This setting is useful if the drive has
two brakes but the air and incidence times that are saved in the electronic name plate are the
shorter ones.
0: electrical name plate;
1: arbitrary setting;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 01 C0 00 hex
 Only available if B06 Motor data = 0:el. name plate and F08 Brake = 1:active.
ID 441782.04
215
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B10
Axis, OFF
r=1, w=1
Motor-poles: Results from the nominal speed nNom [Rpm] and the nominal frequency f [Hz] of
the motor. B10 = 2·(f · 60 / nNom). Correct entry of the number of poles is mandatory for the
inverter to function.
Fieldbusaddress
220Ah
0h
220Bh
0h
220Ch
0h
220Dh
0h
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Value range: 2 ... 4 ... 20
Fieldbus: 1LSB=1; Type: U8; (raw value:255 = 510); USS-Adr: 02 02 80 00 hex
B11
Axis, OFF
r=1, w=1
Nominal motor power: Nominal power in kW as per nameplate. If only the nominal torque Mn
is known instead of the nominal power, B11 must be calculated from Mn [Nm] and the nominal
speed n [Rpm] based on the following formula: B11 = Mn · n / 9550.
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Value range in kW: 0.120 ... 0,213 ... 500.000
Fieldbus: 1LSB=0,001kW; Type: I32; USS-Adr: 02 02 C0 00 hex
B12
Axis, OFF
r=1, w=1
Nominal motor current: Nominal current in A as per nameplate.
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Value range in A: 0.001 ... 1,6 ... 327.670
Fieldbus: 1LSB=0,001A; Type: I32; USS-Adr: 02 03 00 00 hex
B13
Axis, OFF
r=1, w=1
Nominal motor speed: Nominal speed in Rpm as per nameplate.
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Value range in rpm: 0 ... 3000 ... 95999
Fieldbus: 1LSB=1rpm; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 02 03 40 00 hex
ID 441782.04
216
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B14
Axis, OFF
Nominal motor voltage: Nominal voltage as per nameplate. Since, with asynchronous motors,
the type of switching (Y/) must be adhered to, make sure that the parameters B11 ... B15 match!
r=1, w=1
Value range in V: 0 ... 400 ... 480
Fieldbusaddress
220Eh
0h
220Fh
0h
2211h
0h
2212h
0h
Fieldbus: 1LSB=1V; Type: I16; (raw value:32767 = 2317 V); USS-Adr: 02 03 80 00 hex
 Only visible with asynchronous machines (B20 less than 64:Servo-control).
B15
Axis, OFF
r=1, w=1
Nominal motor frequency: Nominal frequency of the motor as per nameplate. Parameters
B14 and B15 specify the inclination of the V/F characteristic curve and thus the characteristic of the
drive. The V/F characteristic curve determines the frequency (B15 f-nominal) at which the motor will
be operated (B14 V-nominal). Voltage and frequency can be linearly increased over the nominal
point. Upper voltage limit is the applied network voltage. STÖBER system motors up to a size of
112 offer the possibility of star/delta operation. Delta operation with 400 V permits a power increase
by the factor of 1.73 and an expanded speed range with constant torque. In this type of circuit, the
motor requires more current. It must be ensured that:
- The frequency inverter is designed for the corresponding power (PDelta = 1.73 · PStar).
- B12 (I-nominal) is parameterized for the corresponding nominal motor current (IDelta = 1.73 · IStar).
With quadratic characteristic curve (B21 = 1), nominal frequencies are limited via 124 Hz internally
to 124 Hz.
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Value range in Hz: 0.0 ... 50 ... 1600.0
Fieldbus: 1LSB=0,1Hz; Type: I32; (raw value:2147483647 = 512000.0 Hz); USS-Adr: 02 03 C0 00 hex
 Only visible with asynchronous machines (B20 less than 64:Servo-control).
B17
Axis, OFF
r=1, w=1
T0 (standstill): Standstill torque M0 as per nameplate. Used, among others, as reference value
for the torque and current limitation (C03 and C05).
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Value range in Nm: 0.000 ... 0,73 ... 2.147.483.647
Fieldbus: 1LSB=0,001Nm; Type: I32; USS-Adr: 02 04 40 00 hex
 Only visible with servo operation (B20 greater or equal to 64:Servo-control).
B18
Axis
read (3)
Related torque: The parameter B18 shows the reference value for percentage of torque values
(such as C03, C05, E62 and E66) in every control mode (B20).
Value range in Nm: -5.84 ... 0,73 ... Mai 84
Fieldbus: 1LSB=0,01Nm; Type: I16; raw value:1LSB=Fnct.no.22; USS-Adr: 02 04 80 00 hex
ID 441782.04
217
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B19
cos (phi): Cos (phi) as per nameplate.
Axis, OFF
Value range: 0.500 ... 0,72 ... 1.000
r=1, w=1
Fieldbus: 1LSB=0,001; Type: I16; USS-Adr: 02 04 C0 00 hex
Fieldbusaddress
2213h
0h
2214h
0h
2215h
0h
2216h
0h
2217h
0h
 Only visible with asynchronous machines (B20 less than 64:Servo-control).
B20
Axis, OFF
r=3, w=3
Control mode: Specifies the type of motor control.For servo motors, select 64:Servo-control.
Asynchronous machines can be operated without speed feedback in the control modes
0:V/f-control, 1:Sensorless vector control and 3:SLVC-HP. The selection 2:Vector control
is available for asynchronous motors with feedback.
NOTE
- With control type "0:V/f-control," there is no current or torque limitation. Similarly, connection to a
rotating motor is not possible ("capturing").
- Control type 64:Servo-control is not available with the FDS 5000 inverter.
0: V/f-control;
1: sensorless vector control;
2: vector control;
3: SLVC-HP;
64: servo-control;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 05 00 00 hex
B21
Axis, OFF
r=1, w=1
V/f-characteristic: Switch between linear and square characteristic curve.
NOTE
When the control mode is SLVC, only the linear characteristic curve format can be used.
0: Linear; Voltage/frequency characteristic curve is linear. Suitable for all applications.
1: Square; Square characteristic curve for use with fans and pumps. The characteristic curve is
continued linearly starting at the nominal frequency (B15).
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 05 40 00 hex
B22
Axis
r=1, w=1
V/f-factor: Offset factor for the increase of the V/f characteristic curve. The increase with V/F
factor = 100 % is specified by V-nominal (B14) and f-nominal (B15).
Value range in %: 90 ... 100 ... 110
Fieldbus: 1LSB=1%; Type: I16; (raw value:32767·LSB=800%); USS-Adr: 02 05 80 00 hex
B23
Axis
r=1, w=1
V/f-Boost: The term boost means an increase in voltage in the lower speed range whereby a
higher startup torque is available. With a boost of 100 % the nominal motor current flows at 0 Hz.
To specify the required boost voltage, the stator resistance of the motor must be known.
For this reason, with motors without electronic nameplate, it is essential that B41 (autotune motor)
be performed!!
With STÖBER standard motors, the stator resistance of the motor is specified by the choice of
motor.
Value range in %: 0 ... 10 ... 400
Fieldbus: 1LSB=1%; Type: I16; (raw value:32767·LSB=800%); USS-Adr: 02 05 C0 00 hex
 Only visible with V/f control (B20 = 0).
ID 441782.04
218
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B24
Axis
r=2, w=2
Switching frequency: The noise volume of the drive is affected by changing the switching
frequency. Increasing the switching frequency increases losses, however. For this reason, the
permissible nominal motor current (B12) must be reduced when the switching frequency is
increased. With operation of a servo motor (B20 = 64), at least 8 kHz must be set. With a setting of
4 kHz, an internal switch to 8 kHz is performed for servo operation. In some operating states, the
switching frequency is changed by the inverter itself. The currently active switching frequency can
be read in E151.
Fieldbusaddress
2218h
0h
2219h
0h
221Ah
0h
NOTE
The factory setting of this parameter depends on B20. With a servo controller, the value 8:8kHz is
entered in B24. When an asynchronous machine (V/f controller, sensorless vector controller and
vector controller) is used, B24 has the value 4:4kHz.
4: 4kHz;
8: 8kHz;
16: 16kHz;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 06 00 00 hex
B25
Axis, OFF
r=2, w=2
Halt flux: B25 specifies whether the motor with applied brakes remains electrified during halt and
quick stop. Particularly useful for positioning. After a HALT, the motor remains fully electrified for
the time B27. After expiration of this time, the electrification is lowered to the level specified in B25.
When 0 % is the setting and the brake is applied (halt, quick stop), the motor goes dead and the
flux is canceled. The advantage is a better thermal motor balance since the motor can cool off
during the pause times. The disadvantage is the additional time for establishment of magnetization
(rotor time constant, approx. 0.5 sec). The required time is determined automatically by the inverter
and added to brake release time F06.
Value range in %: 0 ... 100 ... 100
Fieldbus: 1LSB=1%; Type: I16; (raw value:32767·LSB=800%); USS-Adr: 02 06 40 00 hex
B26
Axis, OFF
r=1, w=1
Motor encoder: Selection of the interface to which the motor encoder is connected. The encoder
must be correctly parameterized in H.. for the particular interface (see encoder list in the H.. group).
NOTE
Remember that the interfaces X120 and X140 are only available on the MDS 5000 and SDS 5000.
The settings 3:X140-Resolver and 4:X120-encoder do not exist on the FDS 5000.
0: inactive;
1: BE-encoder; An incremental encoder which is connected to terminals BE4 and BE5 is used as
motor encoder. The exact parameterization of the encoder must be performed in H10 ... H12.
2: X4-encoder; The motor encoder is connected to interface X4. The exact parameterization of the
encoder must be performed in H00 ... H02.
3: X140-encoder; A encoder on the optional interface X140 is used as motor encoder. The exact
parameterization of the encoder must be performed in H30 ... H32.
4: X120-encoder; The motor encoder is connected to the optional interface X120. The precise
parameterization of the encoder must be performed in H120 to H126.
NOTE
The interface X120 is only available with the "I/O terminal module, expanded (XEA 5000)" and
"I/O terminal module, expanded (XEA 5001)" respectively!
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 06 80 00 hex
ID 441782.04
219
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B27
Axis, OFF
r=2, w=2
Time halt-flux: In case of a reduced halt flux B25, the applied brake and active power pack of
the full magnetization current is still maintained for the time B27.
Fieldbusaddress
221Bh
0h
221Ch
0h
221Dh
0h
221Eh
0h
221Fh
0h
Value range in s: 0 ... 0 ... 255
Fieldbus: 1LSB=1s; Type: U8; USS-Adr: 02 06 C0 00 hex
B28
Axis, OFF
r=2, w=2
Encoder gearfactor: When the encoder for motor control for setting B20 = 2 (control type =
vector control) is not mounted directly on the motor shaft, the gear ratio between motor shaft and
the encoder must be specified here.
It must apply:
 B28 = Number of motor revolutions/number of encoder revolutions.
 An SSI or an incremental encoder must be used.
B28 can also assume negative values. Values whose amount is less than 1/10 may not be set.
When B28 is not equal to 1.000, E09 indicates the encoder position and not the rotor position.
Value range: -32.000 ... 1 ... 31.999
Fieldbus: 1LSB=0,001; Type: I16; (raw value:10 Bit=1); USS-Adr: 02 07 00 00 hex
 Only visible with asynchronous machines (B20 less than 64:Servo-control).
B29
Axis
r=3, w=4
Tolerate overcurrent: With applications which run close to the overcurrent threshold of the
inverter, normal control procedures can cause undesired overcurrent malfunctions. For these
cases, the parameter B29 makes it possible to tolerate a crossing of the overcurrent threshold for
an adjustable number of current controller cycles.
The parameter should not be changed until after the max. current value has been checked with an
external current measuring instrument.
CAUTION
With B20 = 0:V/f-control and B20 = 1:sensorless vector control, B29 must be 0!
Value range in current-ctrl cycles: 0 ... 0 ... 20
Fieldbus: 1LSB=1current-ctrl cycles; Type: I8; USS-Adr: 02 07 40 00 hex
B30
Axis
r=3, w=3
Additional motor-operation: Only possible with B20 = 0 (V/f control). For multi-motor
operation. Permits the connection of an additional motor on the enabled inverter. This briefly
reduces motor voltage to prevent an overcurrent switch-off.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 02 07 80 00 hex
 Only visible with V/f control (B20 = 0).
B31
Axis, OFF
r=3, w=3
Oscillation damping: Large motors can have a tendency to sympathetic vibration during no
load. Increasing parameter B31 damps these vibrations with B20 = 2:SLVC. Values from 60 ... 100
% are suitable for problematic drives.
Value range in %: 0 ... 30 ... 100
Fieldbus: 1LSB=1%; Type: I16; (raw value:256·LSB=100%); USS-Adr: 02 07 C0 00 hex
 Only when B20 = 1:SLVC.
ID 441782.04
220
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B32
Axis, OFF
r=3, w=3
SLVC-dynamics: The reaction speed of the SLVC to changes in load can be influenced by B32.
The highest dynamics are B32 = 100 %.
Fieldbusaddress
2220h
0h
2223h
0h
2224h
0h
2226h
0h
Value range in %: 0 ... 70 ... 100
Fieldbus: 1LSB=1%; Type: I16; (raw value:256·LSB=100%); USS-Adr: 02 08 00 00 hex
 Only when B20 = 1:SLVC.
B35
Axis
r=3, w=3
Offset raw-motorencoder: The parameter B35 is added to the encoder raw value or
accumulated encoder raw value. The results are indicated in E154 raw motor-encoder and E153
accumulated raw-motor-encoder.
The scaling of B35 depends on the motor encoder being used:
®
- EnDat , SSI: MSB = 2048 encoder revolutions
- Resolver: 65,536 LSB = 1 encoder revolution (i.e., MSB = 32,768 encoder revolutions)
- Incremental encoder: 4 LSB = 1 increment
MSB = Most Significant Bit
LSB = Least Significant Bit
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 02 08 C0 00 hex
 Only visible when B26 is not set to 0:inactive.
B36
Axis, OFF
r=3, w=3
Maximum magnetisation: The parameter permits the motor to move within the basic speed
range with reduced magnetization. With a light load, this can be used to reduce heatup of motor
and inverter. The parameter should usually be set to 100 % (no reduction).
NOTE
The parameter is only effective in control type B20 = 2:Vectorcontrol.
Value range in %: 50 ... 100 ... 100
Fieldbus: 1LSB=1%; Type: I16; (raw value:32767·LSB=800%); USS-Adr: 02 09 00 00 hex
 Only when B20 = 1:SLVC or 2:VC.
B38
Axis
r=3, w=3
Motor temperature sensor: Select motor temperature sensor connected to X2.
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
0: PTC; A thermistor (PTC) is connected to X2 which increases its resistance suddenly to several
times as many Ohms when the nominal response temperature is reached.
1: KTY 84-1xx; A temperature sensor of type KTY 84 is connected to X2. At 100 °C it has a
resistance of 1000 ohms. This temperature sensors makes it possible to perform an analog
measurement of the motor temperature. The measurement is limited to one motor winding,
which also restricts motor protection. Evaluation of a KTY sensor is not possible with inverters
until HW200. The measured motor temperature is displayed in E12. The maximum permissible
temperature for the motor must be parameterized in B39.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 09 80 00 hex
ID 441782.04
221
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B39
Axis
r=3, w=3
Maximum temperature of motor: If a higher motor temperature (E12) is measured than
parameterized here, malfunction 41 is triggered.
Fieldbusaddress
2227h
0h
2228h
0h
2228h
1h
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Value range in °C: 0 ... 145 ... 145
Fieldbus: 1LSB=1°C; Type: I16; (raw value:32767 = 328 °C); USS-Adr: 02 09 C0 00 hex
 Only if B38 is not equal to 0.
B40.0
Global
r=2, w=2
Phase test & start: Writing a one starts the phase test action. It may only be used for servo
motors. A check is made to determine whether phases were mixed up when the motor was
connected, whether the number of motor poles (B10) is correct and auto-tunes the commutation
offset (B05). During the action the motor must be able to revolve freely.
The enable must be LOW at the starting point. After B40.0 = 1 the enable must be switched HIGH.
After the action was executed, the enable must be switched back to LOW. The result of the action
can be read after removal of the enable in B05.
During this action the cycle time is internally set to 32 ms. The switch is made when the action is
activated.
WARNING
Starting the action releases the motor brake. Since, due to the action, the motor is not sufficiently
energized, it is unable to carry any loads (e.g., in a lifting system). For this reason the action may
only be performed with motors which are not installed in a system.
0:
1:
2:
3:
4:
5:
error free;
aborted;
phase order;
motor poles;
commutation offset;
test run;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 0A 00 00 hex
 Only visible with servo operation (B20 greater or equal to 64:Servo-control).
B40.1
Global
read (2)
Process: Progress of the phase test in %.
0:
1:
2:
3:
4:
5:
error free;
aborted;
phase order;
motor poles;
commutation offset;
test run;
Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 02 0A 00 01 hex
 Only visible with servo operation (B20 greater or equal to 64:Servo-control).
ID 441782.04
222
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B40.2
Global
read (2)
Result: After conclusion of the phase test action, the result can be queried here.
Fieldbusaddress
2228h
2h
2229h
0h
2229h
1h
2229h
2h
0: error free; The action was executed without errors and concluded.
1: aborted; The action was aborted by turning off the enable. 2: phase order; It was found that two phases were mixed up. 3: motor poles; The determined number of poles is not the value in B10. 4: commutation offset; The measured commutation offset is not B05.
5: test run; A test run with the measured commutation offset could not be performed. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 0A 00 02 hex
 Only visible with servo operation (B20 greater or equal to 64:Servo-control).
B41.0
Global
r=2, w=2
Autotuning & start: Writing a one starts the Autotune motor action. It measures the resistance
(B53) and the inductivity (B52) of the motor. The drive may move during this action.
The enable must be LOW at the starting point. After B41.0 = 1, the enable must be switched to
HIGH. After the action is executed, the enable must be switched back to LOW. The result of the
action can be read in B52, B53 after the enable is removed.
During this action the cycle time is internally set to 32 ms. The switch is made when the action is
activated.
When an asynchronous machine (B20 < 64) is being used, the action also autotunes the values for
B54 leakage factor and B55 saturation coefficient.
WARNING
Starting the action releases the motor brake. Since, due to the action, the motor is not sufficiently
energized, it is unable to carry any loads (e.g., in a lifting system). For this reason the action may
only be performed with motors which are not installed in a system.
0: error free;
1: aborted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 0A 40 00 hex
B41.1
Global
read (2)
Process: Progress of autotuning the motor in %.
0: error free;
1: aborted;
Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 02 0A 40 01 hex
B41.2
Global
read (2)
Result: After conclusion of the Autotune motor action, the result can be queried.
0: error free;
1: aborted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 0A 40 02 hex
ID 441782.04
223
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B42.0
Global
r=2, w=2
Optimize current controller & start: Writing a one starts the Optimize current controller
action. This re-specifies the parameters for current controller gain (B64 ... B68). During the action,
the drive revolves at approx. 2000 Rpm and may make clicking noises at regular intervals. The
action may take up to approx. 20 minutes. The result of the action can be read in B64 ... B68 after
the enable is removed. When the action is enabled on the device during local operation, the action
can only be terminated with a very long delay.
Fieldbusaddress
222Ah
0h
222Ah
1h
222Ah
2h
222Bh
0h
222Bh
1h
During this action the cycle time is internally set to 32 ms. The switch is made when the action is
activated.
WARNING
Starting the action releases the motor brake. Since, due to the action, the motor is not sufficiently
energized, it is unable to carry any loads (e.g., in a lifting system). For this reason the action may
only be performed with motors which are not installed in a system.
0: error free;
1: aborted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 0A 80 00 hex
 Only visible with control types with current control (B20 = 64:Servo or 2:VC).
B42.1
Global
read (2)
Process: Progress of the current controller optimization %.
0: error free;
1: aborted;
Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 02 0A 80 01 hex
 Only visible with control types with current control (B20 = 64:Servo or 2:VC).
B42.2
Global
read (2)
Result: After conclusion of the current controller optimization action, the result can be queried
here.
0: error free;
1: aborted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 0A 80 02 hex
 Only visible with control types with current control (B20 = 64:Servo or 2:VC).
B43.0
Global
r=2, w=2
Winding test & start: Writing a one starts the Winding test action. This checks the symmetry of
the ohmic resistances of the motor windings. The enable must be LOW at the starting point. After
B43.0 = 1, the enable must be switched to HIGH. After the action is executed, the enable must be
switched back to LOW.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 0A C0 00 hex
B43.1
Process: Progress of the winding test in %.
Global
Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 02 0A C0 01 hex
read (2)
ID 441782.04
224
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B43.2
Global
read (2)
Result: After conclusion of the winding test action, the result can be queried.
Fieldbusaddress
222Bh
2h
222Dh
0h
222Dh
1h
0: error free: The action was executed without errors and concluded.
1: Aborted: The action was aborted by turning off the enable. 2: R_SYM_U: The resistance of phase U differs significantly from that of the other phases. 3: R_SYM_V: Same as 2.
4: R_SYM_W: Same as 2.
5: POLAR_SYM_U: An asymmetry was determined when the polarity changed.
6: POLAR_SYM_V: Same as 5.
7: POLAR_SYM_W: Same as 5. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 0A C0 02 hex
B45.0
Global
r=3, w=3
Optimize and start SLVC-HP: Writing a 1 starts the action Optimize and start SLVC-HP.
WARNING:
The action accelerates the motor up to twice its nominal speed. The optimization function only
provides suitable values when the load torque of the motor is sufficiently small.
Only perform the action when the motor is adequately fastened and the motor shaft can rotate
freely!
The action optimizes these parameters:
- B46 Feedback SLVC-HP,
- B47 P-gain SLVC-HP and
- B48 I-Gain SLVC-HP,
Note that the result is more accurate if you fit the motor with an encoder for this action. This is
possible for initial commissioning of a machine series, for example.
In this case, mount and connect the encoder, set control mode B20 = 2:vector control and
parameterize the encoder. Now perform the action as described in the following.
After you have dismantled the encoder, set control mode B20 = 3:SLVC-HP again.
Requirement:
The enable must be low at the starting point.
1. Set B45.0 = 1.
2. Switch enable to high.
3. Wait until successful completion is displayed in B45.1 (B45.1 = 100 %).
4. Switch enable to low again.
The result of the action can be read after removing the enable in B46, B47 & B48.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 0B 40 00 hex
 Only visible with asynchronous machines (B20 less than 64:Servo-control).
B45.1
Process: Process of the Optimize SLVC-HP action in %.
Global
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 0B 40 01 hex
read (3)
 Only visible with asynchronous machines (B20 less than 64:Servo-control).
ID 441782.04
225
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B45.2
Global
read (3)
Fieldbusaddress
Result: The result can be queried here after completion of the Optimize SLVC-HP action.
222Dh
2h
222Eh
0h
222Fh
0h
0: error free;
1: aborted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 0B 40 02 hex
 Only visible with asynchronous machines (B20 less than 64:Servo-control).
B46
Axis, OFF
r=3, w=3
Feedback ASM Observer: This parameter affects the accuracy of the SLVC-HP. For values
that are too large or too high, the stationary difference between the reference and actual speed
increases.
Note
The amount of feedback is an option to be reported to the ASM observer just as the machine
constants B54 leakage factor, B52 stator inductance and B53 stator winding resistance were
determined. The smaller the feedback selected, the more the ASM observer depends on these
constants.
Value range: 1.001 ... 1,03 ... 1.500
Fieldbus: 1LSB=0,001; Type: R32; (raw value:1LSB=1); USS-Adr: 02 0B 80 00 hex
B47
Axis, OFF
r=3, w=3
Proportional Gain SLVC-HP: This parameter affects the dynamic properties
of the motor (especially the stability and overshoot behaviour of the speed).
Setting note
The correct setting can be checked by means of the speed curve. If an encoder is present during
commissioning, E15 should be considered as the actual speed, otherwise E91.
B47 should not be smaller than 1% of B48. The drive can become unstable for values that are too
small. The resulting vibration oscillates at the mechanical frequency. By increasing B47, overshoots
in the speed can be dampened. Values that are too large lead to vibrations in the current and
speed.
E07 n-post-ramp
E91 n-motor or E15 n-motor-encoder (B48 too small)
E91 n-motor or E15 n-motor-encoder (B47 too large)
mech. frequency
Value range: 0.000 ... 1 ... 1.000.000
Fieldbus: 1LSB=0,001; Type: R32; (raw value:1LSB=1); USS-Adr: 02 0B C0 00 hex
ID 441782.04
226
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B48
Axis, OFF
r=3, w=3
Integral Gain SLVC-HP: This parameter affects the dynamic properties of the motor. The larger
B48 is, the faster the motor model can follow the actual speed.
Fieldbusaddress
2230h
0h
2234h
0h
Setting note
The correct setting can be checked by means of the speed curve. If an encoder is present during
commissioning, E15 n-motor encoder should be considered, otherwise E91.
If the motor can not follow the set speed ramp despite sufficiently large torque limits, B48 must be
increased. Values that are too large lead to the fault 56:Overspeed.
E07 n-post-ramp
E91 n-motor or E15 n-motor-encoder (B48 too small)
E91 n-motor or E15 n-motor-encoder (B48 too large)
Value range: 1.000 ... 50 ... 50.000.000
Fieldbus: 1LSB=0,001; Type: R32; (raw value:1LSB=1); USS-Adr: 02 0C 00 00 hex
B52
Axis, OFF
r=2, w=2
Stator inductance: Inductance Lu-v of the motor winding in mH. Enter only for external motors.
The value can be autotuned with the B41 action.
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Value range in mH: 0.001 ... 10,3 ... 2.147.483.647
Fieldbus: 1LSB=0,001mH; Type: I32; USS-Adr: 02 0D 00 00 hex
ID 441782.04
227
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B53
Axis, OFF
r=2, w=2
Stator winding resistance: Stator winding resistance Ru-v of the motor winding in ohm. Enter
only for external motors. The value can be autotuned with the B41 action.
Fieldbusaddress
2235h
0h
2236h
0h
2237h
0h
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Value range in Ohm: 0.001 ... 13,2 ... 2.147.483.647
Fieldbus: 1LSB=0,001Ohm; Type: I32; USS-Adr: 02 0D 40 00 hex
B54
Axis, OFF
r=3, w=3
Leakage factor: Ratio of leakage inductance to total inductance "Ls" of the motor
NOTE
The default value is sufficient for most motors and applications. Adjustments may become
necessary when an external motor is connected. In such cases the value can be autotuned with the
action B41. However, do not make this adjustment before consulting with STÖBER
ANTRIEBSTECHNIK GmbH & Co. KG.
Value range: 0.010 ... 0,1 ... 0.300
Fieldbus: 1LSB=0,001; Type: I16; USS-Adr: 02 0D 80 00 hex
 Only visible with asynchronous machines (B20 less than 64:Servo-control).
B55
Axis, OFF
r=3, w=3
Magnetic saturation coefficient: The parameter specifies how much the motor is
magnetically saturated at the nominal point. The parameter is important for the control accuracy of
control type VC (B20 = 2:VC) in the field weakening area.
NOTE
The default value is sufficient for most motors and applications. Adjustments may become
necessary when an external motor is connected. In such cases the value can be autotuned with the
action B41. However, do not make this adjustment before consulting with STÖBER
ANTRIEBSTECHNIK GmbH & Co. KG.
Value range: 0.000 ... 0,75 ... 0.950
Fieldbus: 1LSB=0,001; Type: I32; (raw value:2147483647 = 32767.000); USS-Adr: 02 0D C0 00 hex
 Only visible with asynchronous machines (B20 less than 64:Servo-control).
ID 441782.04
228
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B56
Axis, OFF
r=3, w=3
Fieldbusaddress
Proportional part of voltage controller: P-Gain of voltage regulator.
2238h
0h
Influence on the controller
The voltage controller controls the voltage reserve of the motor. Settings to B56 affect the formation
of E169 reference flux and E165 Id-ref. The P-part reduces the reference flux by the value entered
in B56 for a 10V voltage difference.
Note that the parameters E168 actual flux and E169 reference flux are not available in the standard
application.
Setting note
The correct setting can be checked using the curve of E165. Heavy vibrations when entering the
field weakening area (E05 > C39) indicates control gains that are too large.
E165 Id-ref (optimum curve)
E165 Id-ref (curve for voltage controller parameters that are too large)
basic speed range
field weakening area
E05 f1-Motor
C39 Cutoff frequency
Value range in %: 1.0 ... 21 ... 800.0
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 02 0E 00 00 hex
ID 441782.04
229
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B57
Axis, OFF
r=3, w=3
Fieldbusaddress
Integral part of voltage controller: I-Gain of voltage controller.
2239h
0h
Influence on the controller
The voltage controller controls the voltage reserve of the motor. Settings to B56 affect the formation
of E169 reference flux and E165 Id-ref. For a 10V voltage difference, the I-part reduces the
reference magnetisation by the value entered in B57 in 100 cycles (250 µs for each one).
Note that the parameters E168 actual flux and E169 reference flux are not available in the standard
application.
Setting note
The correct setting can be checked using the curve of E165. Heavy vibrations when entering the
field weakening area (E05 > C39) indicates control gains that are too large.
E165 Id-ref (optimum curve)
E165 Id-ref (curve for voltage controller parameters that are too large)
basic speed range
field weakening area
E05 f1-Motor
C39 Cutoff frequency
Value range in %: 1.0 ... 21 ... 800.0
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 02 0E 40 00 hex
ID 441782.04
230
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B58
Axis, OFF
r=3, w=3
Fieldbusaddress
Proportional part of the magnetisation controller: Proportional gain of magnetisation
controller.
223Ah
0h
Influence on the controller
The magnetisation controller controls the reference magnetisation determined by the voltage
controller and feed forward. Settings to B58 affect the formation of E165 Id-ref. For B58 = 100 %
and a magnetisation difference of 1%, the P-part E165 Id-ref increases by 10 %.
Note that the parameters E168 actual flux and E169 reference flux are not available in the standard
application.
Setting note
The correct setting can be checked using the curve of E165. Heavy vibrations when entering the
field weakening area (E05 > C39) indicates control gains that are too large.
E165 Id-ref (optimum curve)
E165 Id-ref (curve for magnetisation parameters that are too high)
basic speed range
field weakening area
E05 f1-Motor
C39 Cutoff frequency
Value range in %: 1.0 ... 12 ... 800.0
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 02 0E 80 00 hex
ID 441782.04
231
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B59
Axis
r=3, w=3
Minimum magnetization in part-load range: Control mode SLVC-HP has an efficiency
controller which attempts to set the motor to its energy-optimized operating point. Output variable
for this controller is E169 reference-flux. The parameter B59 Minimum magnetization part load is
the lower limit for the nominal magnetization in the part-load range. In the field-weakening range,
smaller magnetizations can also occur than those set in B59.
Fieldbusaddress
223Bh
0h
223Dh
0h
223Eh
0h
223Fh
0h
2240h
0h
NOTE
- The larger B59 is set, the larger is the possible dynamism. 100% means maximum dynamics and
minimum efficiency.
- With small values for B59 it may be necessary to adjust C31 Proportional gain n-control as the
motor otherwise tends to vibrate.
Value range in %: 35.0 ... 100 ... 100.0
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 02 0E C0 00 hex
B61
T-Motor (thermal): Time constant of motor heatup in seconds.
Axis, OFF
Value range in s: 0.1 ... 1240 ... 3276.7
r=2, w=2
Fieldbus: 1LSB=0,1s; Type: I16; USS-Adr: 02 0F 40 00 hex
B62
Motor inertia: Inertia J of the motor in kg cm².
Axis, OFF
r=2, w=2
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Value range in kg cm2: 0.0001 ... 0,167 ... 2.147.483.647
Fieldbus: 1LSB=0,0001kg cm2; Type: I32; (raw value:1LSB=0,0001); USS-Adr: 02 0F 80 00 hex
B63
Mmax/Mnom: Relationship of breakdown torque of the motor to its nominal torque.
Axis, OFF
Value range: 1.0 ... 2,5 ... 8.0
r=3, w=3
Fieldbus: 1LSB=0,1; Type: I16; (raw value:32767 = 8.0); USS-Adr: 02 0F C0 00 hex
 Only visible with asynchronous machines (B20 less than 64:Servo-control).
B64
Axis
r=3, w=3
Integral time lq: Integral time of the current controller for the torque-generating share in msec. A
setting under 0.6 msec causes an integral gain of 0 (corresponds to an infinite integral time).
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Value range in ms: 0.0 ... 1,2 ... 100.0
Fieldbus: 1LSB=0,1ms; Type: I16; USS-Adr: 02 10 00 00 hex
ID 441782.04
232
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B65
Axis
r=3, w=3
Proportional gain torque controller: Proportional gain of the torque controller.
Fieldbusaddress
2241h
0h
2242h
0h
2243h
0h
2244h
0h
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Value range in %: 0.0 ... 41,8 ... 800.0
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 02 10 40 00 hex
B66
Axis
r=3, w=3
Integral time Id: Integral time of the current controller for the flow-generating share in msec. A
setting under 0.6 msec causes an integral gain of 0 (corresponds to an infinite integral time).
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Value range in ms: 0.0 ... 1,2 ... 100.0
Fieldbus: 1LSB=0,1ms; Type: I16; USS-Adr: 02 10 80 00 hex
 Only visible when B20 is not 0:V/f-control.
B67
Axis
r=3, w=3
Proportional gain flux: Proportional gain of the flow controller.
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Value range in %: 0.0 ... 20,9 ... 800.0
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 02 10 C0 00 hex
 Only visible when B20 is not 0:V/f-control.
B68
Axis
r=3, w=3
Kd-iq: D share of the torque controller.
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Value range in %: 0.0 ... 19,4 ... 595.8
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=595,8%); USS-Adr: 02 11 00 00 hex
 Only visible when B20 is not 0:V/f-control.
ID 441782.04
233
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B70
Axis, OFF
r=3, w=3
TW: Thermal time constant of the winding.
Fieldbusaddress
2246h
0h
2248h
0h
2249h
0h
224Ah
0h
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Value range in s: 0.01 ... 81 ... 327.67
Fieldbus: 1LSB=0,01s; Type: I16; USS-Adr: 02 11 80 00 hex
B72
Axis, OFF
r=3, w=3
TH: Is used for the thermal motor model. The parameter specifies in % the ratio of housing
temperature and winding temperature at steady thermal factor. Example: During stationary
operation at nominal point, the housing has a temperature of 110 °C, the winding 150 °C, and the
ambient temperature is 25 °C. This results in: B72 = (110°C-25°C) / (150°C-25°C) * 100 % = 68 %.
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Value range in %: 5.0 ... 57,2 ... 95.0
Fieldbus: 1LSB=0,1%; Type: I32; (raw value:409600·LSB=100%); USS-Adr: 02 12 00 00 hex
B73
Axis, OFF
r=3, w=3
tr0: Specifies the speed-independent friction of the motor. Is used in the calculation of the thermal
motor model (i2t motor E23).
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Value range in Nm: -32.768 ... 0,026 ... 32.767
Fieldbus: 1LSB=0,001Nm; Type: I16; USS-Adr: 02 12 40 00 hex
B74
Axis, OFF
r=3, w=3
tr1: Specifies the speed-dependent friction of the motor. Is used in the calculation of the thermal
motor model (i2t motor E23).
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Value range in Nm/1000rpm: -32.768 ... 0,001 ... 32.767
Fieldbus: 1LSB=0,0001Nm/1000rpm; Type: I16; (raw value:1LSB=0,0001·rpm); USS-Adr: 02 12 80 00 hex
ID 441782.04
234
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B82
Axis, OFF
r=2, w=2
I-max: Maximum current before the motor is de-magnetized. Specification in A. The specification
is taken into account for the calculation of the permitted maximum torque for servo motors.
Fieldbusaddress
2252h
0h
2253h
0h
225Ch
0h
2327h
0h
2328h
0h
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
Value range in A: 0.000 ... 5,8 ... 2.147.483.647
Fieldbus: 1LSB=0,001A; Type: I32; USS-Adr: 02 14 80 00 hex
B83
n-max motor: Maximum permissible speed for the motor. Specification in Rpm.
Axis, OFF
For B04 = 1, this parameter is described after each power on with data from the electronic name
plate. Any manual changes are therefore only effective until the next switch off and switch on, even
if the changes have been saved in the Paramodule in non-volatile memory. For permanent
changes, set B04 = 0 and then save the changes with A00 = 1.
Note that in this case other parameters are no longer read from the name plate. A list of the
relevant parameters can be found in B04.
r=2, w=2
Value range in rpm: 0 ... 12500 ... 17 Bit
Fieldbus: 1LSB=1rpm; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 02 14 C0 00 hex
B92
Axis, OFF
r=3, w=3
Voltage limit of field weakening: Determines the entry point for field weakening. The
inverter starts with field weakening when its output voltage reaches the part of A36 mains voltage
entered in B92.
Setting note
The set value affects the dynamic properties of the drive:

the smaller the value, the better the dynamic properties.

the larger the value, the smaller the electrical consumption at an operating point.
Value range in %: 55.0 ... 80 ... 95.0
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 02 17 00 00 hex
B295
Global
read (3)
Double transmission motor-encoder: Indicates whether double transmission monitoring is
active for the SSI encoder used as the motor encoder. Evaluation of the encoder begins without
double transmission monitoring but double transmission monitoring is automatically activated after
a short time if the SSI encoder being used supports this. When monitoring is inactive, data security
is reduced significantly. If the motor encoder is not an SSI encoder, the parameter has no meaning.
NOTE
The parameter can only be used when an SSI encoder is evaluated on the inverter.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 02 49 C0 00 hex
 Only visible when SSI or EnDat®Encoder is used as the motor encoder.
B296
Global
read (3)
Error-counter motor-encoder: Counts the number of tolerable errors of the motor encoder
since the last device new start.
NOTE
®
The parameter can only be used when an SSI or EnDat encoder is evaluated on the inverter.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 02 4A 00 00 hex
 Only visible when SSI or EnDat®Encoder is used as the motor encoder.
ID 441782.04
235
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B297
Axis
r=3, w=3
Maximum-speed motorencoder: B297 can be used for a plausibility check of the motor
encoder signals for EnDat® and SSI encoders. The difference between two consecutive encoder
positions are monitored. If this difference exceeds the speed specified in B297, a fault is triggered
(37:n-feedback / double transmission, starting with V5.2: 37:Encoder / X4-speed or X120-speed).
Fieldbusaddress
2329h
0h
232Ah
0h
232Bh
0h
NOTE
®
The parameter can only be used when an SSI or EnDat encoder is evaluated on the inverter.
Value range in rpm: 0 ... 131071 ... 17 Bit
Fieldbus: 1LSB=1rpm; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 02 4A 40 00 hex
 Only visible when SSI or EnDat®Encoder is used as the motor encoder.
B298
Axis
r=3, w=3
Error-tolerance motorencoder: Sets the tolerance of the inverter to errors of the motor
encoder. This tolerance can be used to prevent a fault 37:Encoder when encoder errors occur
sporadically. The inverter extrapolates an encoder value in this case. The parameter B298 specifies
how many errors will be tolerated before the inverter malfunctions.
Error evaluation is structured as shown below:
Each arriving encoder value is checked. When an encoder error is determined, B299 and B298 are
compared. If the error evaluation counter B299 is greater than or equal to B298, fault 37:Encoder is
triggered. If B299 is less than B298, the error is tolerated. The counter status B299 is incremented
by 1.0.
If the arriving encoder value is correct, the error evaluation counter B299 is decremented by 0.1.
Decrementation continues until the value 0 is reached.
Example: With a setting in B298 of 1.0, one error is tolerated; at least 10 correct values must be
determined before the next error so that a malfunction is not triggered.
The following errors are tolerated:
- EnDat®-CRC
®
- EnDat -Busy
- SSI-double transmission
- SSI-Busy
- Violation of the maximum speed in B297
With other encoder errors (e.g., wire break), a fault is triggered immediately regardless of B298.
Error tolerance may negatively affect the quality of movement. The wiring should be checked when
encoder errors occur frequently.
NOTE
The parameter can only be used when an SSI or EnDat® encoder is evaluated on the inverter.
Value range: 0.0 ... 1 ... 3.0
Fieldbus: 1LSB=0,1; Type: I8; USS-Adr: 02 4A 80 00 hex
 Only visible when SSI or EnDat®Encoder is used as the motor encoder.
B299
Global
read (3)
Error-evaluation motorencoder: Shows the current status of the error evaluation counter
(see B298).
NOTE
®
The parameter can only be used when an SSI or EnDat encoder is evaluated on the inverter.
Fieldbus: 1LSB=0,1; Type: I8; USS-Adr: 02 4A C0 00 hex
 Only visible when SSI or EnDat®Encoder is used as the motor encoder.
ID 441782.04
236
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B300.
0
Brake test & start:
Global,
WARNING
Danger of injury or property damage due to defective motor halting brake. Starting the brake test
action releases the motor brakes one after the other. During the encoder test and/or in the case of a
faulty brake, the drive axis may move. Take special cautionary measures particularly in case of
gravity-stressed axes. Restrict the direction of rotation in B306 if the drive is not permitted to rotate
in a particular direction.
OFF
r=2, w=2
Fieldbusaddress
232Ch
Information
The brake test requires a motor encoder. Only the configured (slip-free) motor encoder is
evaluated.
The brake test checks to see whether the brakes can still provide the necessary stopping torque.
For this purpose an encoder test is performed initially with the brake released. Then brake 1 is
applied and the drive is taught a parameterizable testing torque in every permissible direction of
rotation. If the drive determined a movement and the brake could not provide the required counter
torque, the test is considered failed. The parameterizable testing torques are entered in the
parameters B304.x (positive torque) and B305.x (negative torque). This is repeated for brake 2 (if
brake 2 exists). Afterwards, the encoder is tested again.
Information
Remember that the motor torque is limited to the values in C03 and C05. If greater values are
entered in B304.x and B305.x, they cannot be achieved. Check E62 and E66 to determine whether
additional torque limits are also in effect.
Information
Remember that, with thrust axes, the torque to be provided by the motor for the direction of
revolution in which loads are reduced is calculated as follows:
MBrake - MLoad
MParameter =
MParameter: Torque to be entered in B304.x or B305.x
Stopping torque to be provided by the brake
MBrake:
MLoad:
Load torque
Information
During the brake test action, the cycle time is set internally to 32 ms. This occurs when the action is
activated. After conclusion of the action, the previous cycle time is used again.
Prerequisites for the performance of a brake test:
 You have parameterized the brake activation with the parameter F08 and F09.
 In B304.0 you specified for brake 1 the torque which must stop the brake in the positive direction
of revolution.
 In B305.0 you specified for brake 1 the torque which must stop the brake in the negative direction
of revolution.
 In B304.1 you specified for brake 2 the torque which must stop the brake in the positive direction
of revolution.
 In B305.1 you specified for brake 2 the torque which must stop the brake in the negative direction
of revolution.
If the drive may only revolve in one direction, you have restricted the direction of revolution for the
test in parameter B306.
 You have entered the angle of revolution in B307 which the drive evaluates as standstill.
ID 441782.04
237
0h
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
Fieldbusaddress
Information
If you would like to perform the action and brake management considers a brake test mandatory
(fault 72), the fault must be acknowledged before the action starts. However, the acknowledgment
is only in effect for 5 minutes. If a valid brake test B300 is not performed during this time, the fault
appears again. Once you have acknowledged the malfunction, you can continue with the perform
brake test instruction.
To perform the brake test, proceed as follows:
1. Change to the device state Ready for switch on.
2. Set the action B300.0 brake test & start to 1:active.
1
3. Switch on the enable signal. ( )
 
The inverter starts the brake test and the motor begins rotating. The drive may move during
this process.
4. Wait until B300.1 indicates the result 100 % and B300.2 indicates the result 0:error free.
5. Switch the enable signal off.
The brake test was performed successfully.
If you did not achieve the result, parameter B300.2 will give you information on the cause.
The inverter keeps an internal brake test memory with the last 20 events from B300.2 as well as the
actually achieved stopping torques for brakes 1 and 2 in the positive and negative direction. When
the result is 0: error free, these correspond to the values parameterized in B304.x and B305.x. If the
values stored in the brake test memory are less than these, the brake test was not successful.
The maximum positioning path for the brake test is approx. 45° in both directions. If a direction of
revolution is restricted, the positioning path is 2 x 45° in the permitted direction. A stopping distance
based on the torque and the inertia ratio is added in both cases. With coupled mechanics, you will
have to include the gear ratio in the calculations. When both directions of revolution are permitted in
B306, positioning in the positive direction occurs first. Remember that this calculation is only valid
for an intact brake. When the tested brake cannot provide the required stopping torque, the
positioning path cannot be calculated. In this case, the inverter switches off within < 10 ms and
activates a second brake (if one exists). The standstill of the drive is then primarily affected by the
application time and functional efficiency of the second brake. If there is no second brake, the motor
coasts down.
1
( ) If the enable signal is not switched on within 30 seconds, the function is interrupted
automatically.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 4B 00 00 hex
B300.
1
Process: Progress of the brake test in %.
232Ch
Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 02 4B 00 01 hex
Global
read (2)
ID 441782.04
238
1h
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B300.
2
Global
read (2)
Result: After conclusion of the brake test action, the result can be queried here. The achieved test
torques (in positive and negative directions - for brakes 1 and 2) of the last 20 tests are stored in a
brake test memory. These can only be indicated in POSITool.
Fieldbusaddress
232Ch
2h
232Dh
0h
0: error free
1: aborted. The brake test action was aborted. Reasons for the abortion may be:
- The enable was switched off during the test.
- The enable signal has not been switched on within 30 seconds.
Perform the brake test again.
2: maximal torque not reached for brake 1. During the test, brake 1 could not maintain the required
torque. Perform the grind-brake function for brake 1 or replace brake 1. Then perform the brake
test again.
3: maximal torque not reached for brake 2. During the test, brake 2 could not maintain the required
torque. Perform the grind-brake function for brake 2 or replace brake 2. Then perform the brake
test again.
4: Fault; Possible reasons for this message:
- No brake is parameterized. Set F08 to 1:active and F09 to the brake being used.
- No encoder is parameterized. Determine whether an encoder exists and whether the
connected motor can be operated in Servo control or Vector control control mode. Set B20
accordingly.
- Brake test has not been activated in the state "Ready for switch on" (e.g. in the state "Switch
on inhibit").
5: encoder defective. Reasons for this message may be:
- The brake(s) does/do not release. Test the brakes.
- The encoder is defective. Contact the STÖBER hotline at +49 (0) 180 5 786323.
6: E62/E66 torque limit; Possible reasons for this message:
- C03/C05 is not set high enough.
- Other application-dependent torque limits are in effect.
- The device is overloaded.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 4B 00 02 hex
B301.
0
Global,
OFF
r=2, w=2
Brake 1 grind &start:
WARNING
Danger of injury or property damage due to defective motor halting brake. Starting the brake
grinding function releases the motor brakes one after the other. During the encoder test and/or in
the case of a faulty brake, the drive axis may move. Take special cautionary measures particularly
in case of gravity-stressed axes. Restrict the direction of rotation in B306 if the drive is not permitted
to rotate in a particular direction.
WARNING
Danger due to movement of the drive. During the action, the motor rotates at approx. 20 Rpm and
with the torque entered in C03 or C05. Check E62 and E66 to determine whether additional torque
limits are also in effect. Ensure the following:
- Before the function starts, make sure the drive is in a position in which it is permissible for it to
move at this speed and torque.
Information
Note that this function can only be used with the SDS 5000 in conjunction with a BRS 5000 and
encoder feedback.
Information
The brake grinding function can, unlike the function B300 Brake test, also be used on
asynchronous motors without encoder.
ID 441782.04
239
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
Fieldbusaddress
Information
Please note that the brake grinding function is defined for the STÖBER drive system (gear motor
with brake and, if applicable ServoStop). For example, you cannot use the brake grinding function
with brakes that are attached to the output power of the gear unit. It is essential to clarify the
technical demands on a system from another manufacturer before you use this function.
During the brake grinding function, the brake is repeatedly applied for approx. 0.7 s and then
released for approx. 0.7 s while the motor is rotating with approx. 20 rpm. This grinds off any
deposits from the friction surface which may affect the halting function.
Action B301.0 starts the grind-brake function for brake 1.
You can parameterize:
- how often the brake is applied (B308) during rotation
- how often the drive is to rotate in each direction (B309)
- whether one direction of revolution is inhibited (B306)
Information
During the brake grinding action, the cycle time is set internally to 32 ms. The change occurs when
the action is activated. After the action is concluded, the previous cycle time is used again.
Prerequisites for the use of the grind-brake function:
 You have parameterized brake activation.
 In B308 you have entered how often the brake is to be applied while rotating in one direction.
 In B309 you have entered how often the drive is to grind in each direction.
 In B306 you have specified whether one direction of rotation is inhibited.
 The brake should be ground with its maximum holding torque. For normal motor-controller
combinations this is the case with C03/C05 = ±200 %.
 Check E62 and E66 to see whether other torque limits are also in effect.
Information
If you would like to perform the action and brake management considers a brake test mandatory
(fault 72), the fault must be acknowledged before the action starts. However, the acknowledgment
is only in effect for 5 minutes. If a valid brake test B300 is not performed during this time, the fault
appears again. Once you have acknowledge the malfunction, you can continue with the brake
grinding function instruction.
To perform the brake grinding function, proceed as shown below:
1. Change to the device state Ready for switch on.
2. Set parameter B301.0 grind brake 1 & start to 1:active.
3. Switch on the enable signal. (1)

The drive begins to revolve in accordance with the parameter specifications.
4. Wait until parameter B301.1 indicates the result 100 % and parameter B301.2 the result 0: error
free.
5. Turn the enable off.
 You have successfully performed the brake grinding function.
If you did not achieve the result, parameter B301.2 will provide you with information on the cause.
The inverter maintains an internal memory with the operating times of the last 40 successful
grinding procedures. All grinding procedures are counted in parameter E176 regardless of the
result.
The maximum positioning path is B308 x 0.5 motor revolutions. With coupled mechanics, you will
have to include the gear ratio in your calculations. When both directions of revolution are permitted
in B306, positioning in the positive direction occurs first.
(1) If the enable signal is not switched on within 30 seconds, the function is interrupted
automatically.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 4B 40 00 hex
ID 441782.04
240
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B301.
1
Global
Process: Progress of the grind-brake 1 action in %.
Fieldbusaddress
232Dh
1h
232Dh
2h
232Eh
0h
Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 02 4B 40 01 hex
read (2)
B301.
2
Global
read (2)
Result: After conclusion of the grind-brake 1 action, the result can be queried here. The operating
times of the last 40 error-free grind-brake X actions are saved. This memory can only be indicated
in POSITool.
0: error free
1: aborted. The brake grinding function was terminated. Reasons for the termination may be:
- The enable was switched off during the test.
- The enable signal has not been switched on within 30 seconds.
Perform the brake grinding function again.
4: Fault; Possible reasons for this message:
- Brake 1 is not parameterized. Set F08 to 1:active and F09 to 1:brake1 or 3:brake1and2.
- Brake grinding 1 has not been activated in the state "Ready for switch on" (e.g. in the state
"Switch on inhibit").
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 4B 40 02 hex
B302.
0
Global,
OFF
r=2, w=2
Brake 2 grind &start:
WARNING
Danger of injury or property damage due to defective motor halting brake. Starting the brake
grinding function releases the motor brakes one after the other. During the encoder test and/or in
the case of a faulty brake, the drive axis may move. Take special cautionary measures particularly
in case of gravity-stressed axes. Restrict the direction of rotation in B306 if the drive is not permitted
to rotate in a particular direction.
WARNING
Danger due to movement of the drive. During the action, the motor rotates at approx. 20 Rpm and
with the torque entered in C03 or C05. Check E62 and E66 to determine whether additional torque
limits are also in effect. Ensure the following:
- Before the function starts, make sure the drive is in a position in which it is permissible for it to
move at this speed and torque.
Information
Note that this function can only be used with the SDS 5000 in conjunction with a BRS 5000 and
encoder feedback.
Information
The brake grinding function can, unlike the function B300 Brake test, also be used on
asynchronous motors without encoder.
Information
Please note that the brake grinding function is defined for the STÖBER drive system (gear motor
with brake and, if applicable ServoStop). For example, you cannot use the brake grinding function
with brakes that are attached to the output power of the gear unit. It is essential to clarify the
technical demands on a system from another manufacturer before you use this function.
ID 441782.04
241
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B302.
0
Global,
OFF
r=2, w=2
During the brake grinding function, the brake is repeatedly applied for approx. 0.7 s and then
released for approx. 0.7 s while the motor is rotating with approx. 20 rpm. This grinds off any
deposits from the friction surface which may affect the halting function.
Action B302.0 starts the grind-brake function for brake 2.
You can parameterize:
- how often the brake is applied (B308) during rotation
- how often the drive is to rotate in each direction (B309)
- whether a direction of revolution is inhibited (B306)
Fieldbusaddress
232Eh
0h
Information
During the brake grinding action, the cycle time is set internally to 32 ms. The change occurs when
the action is activated. After the action is concluded, the previous cycle time is used again.
Prerequisites for the use of the grind-brake function:
 You have parameterized brake activation.
 In B308 you have entered how often the brake is to be applied while rotating in one direction.
 In B309 you have entered how often the drive is to grind in each direction.
 In B306 you have specified whether one direction of rotation is inhibited.
 The brake should be ground with its maximum holding torque. For normal motor-controller
combinations this is the case with C03/C05 = ±200 %.
 Check E62 and E66 to see whether other torque limits are also in effect.
Information
If you would like to perform the action and brake management considers a brake test mandatory
(fault 72), the fault must be acknowledged before the action starts. However, the acknowledgment
is only in effect for 5 minutes. If a valid brake test B300 is not performed during this time, the fault
appears again. Once you have acknowledge the malfunction, you can continue with the
brake grinding function instruction.
To perform the brake grinding function, proceed as shown below:
1. Change to the device state Ready for switch on.
2. Set parameter B302.0 grind brake 2 & start to 1:active.
3. Switch on the enable signal. (1)

The drive begins to revolve in accordance with the parameter specifications.
4. Wait until parameter B302.1 indicates the result 100 % and parameter B302.2 the result 0: error
free.
5. Turn the enable off.
 You have successfully performed the brake grinding function.
If you did not achieve the result, parameter B302.2 will provide you with information on the cause.
The inverter maintains an internal memory with the operating times of the last 40 successful
grinding procedures. All grinding procedures are counted in parameter E176 regardless of the
result.
The maximum positioning path is B308 x 0.5 motor revolutions. With coupled mechanics, you will
have to include the gear ratio in your calculations. When both directions of revolution are permitted
in B306, positioning in the positive direction occurs first.
1
( ) If the enable signal is not switched on within 30 seconds, the function is interrupted
automatically.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 4B 80 00 hex
ID 441782.04
242
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B302.
1
Global
Process: Progress of the grind-brake 2 action in %.
Fieldbusaddress
232Eh
1h
232Eh
2h
2330h
0h
Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 02 4B 80 01 hex
read (2)
B302.
2
Global
read (2)
Result: After conclusion of the grind-brake 2 action, the result can be queried here. The operating
times of the last 40 error-free grind-brake X actions are saved. This memory can only be indicated
in POSITool.
0: fehlerfrei
1: aborted. The brake grinding function was terminated. Reasons for the termination may be:
- The enable was switched off during the test.
- The enable signal has not been switched on within 30 seconds.
Perform the brake grinding function again.
4: Fault; Possible reasons for this message:
- Brake 2 is not parameterized. Set F08 to 1:active and F09 to 2:brake2 or 3:brake1and2.
- Brake grinding 2 has not been activated in the state "Ready for switch on" (e.g. in the state
"Switch on inhibit").
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 4B 80 02 hex
B304.
0
Axis
r=2, w=3
Max-positive torque for B300: The maximum positive torque to be impressed during the
B300 brake test action as a percentage of motor standstill torque M0 for servo motors and nominal
torque Mn for asynchronous motors. If the maximum torque is not maintained by the brake during
the brake test, the action terminates with the result B300.2 = maximum torque not achieved for
brake 1/2. Enter the maximum torque for brake 1 in B304.0 and in B304.1 for brake 2.
Array
Value range in %: 0 ... 100 ... 200
Fieldbus: 1LSB=1%; Type: I16; (raw value:32767·LSB=800%); USS-Adr: 02 4C 00 00 hex
 Only visible when F08 brake is not 0:inactive.
B304.
1
Axis
r=2, w=3
Max-positive torque for B300: The maximum positive torque to be impressed during the
B300 brake test action as a percentrage of motor standstill torque M0 for servo motors and nominal
torque Mn for asynchronous motors. If the maximum torque is not maintained by the brake during
the brake test, the action terminates with the result B300.2 = maximum torque not achieved for
brake 1/2. Enter the maximum torque for brake 1 in B304.0 and in B304.1 for brake 2.
1h
2330h
Array
Value range in %: 0 ... 100 ... 200
Fieldbus: 1LSB=1%; Type: I16; (raw value:32767·LSB=800%); USS-Adr: 02 4C 00 01 hex
 Only visible when F08 brake is not 0:inactive.
B305.
0
Axis
r=2, w=3
Max-negative torque for B300: The maximum negative torque to be impressed during the
B300 brake test action as a percentrage of motor standstill torque M0 for servo motors and nominal
torque Mn for asynchronous motors. If the maximum torque is not maintained by the brake during
the brake test, the action terminates with the result B300.2 = maximum torque not achieved for
brake 1/2. Enter the maximum torque for brake 1 in B305.0 and in B305.1 for brake 2.
0h
2331h
Array
Value range in %: -200 ... -100 ... 0
Fieldbus: 1LSB=1%; Type: I16; (raw value:32767·LSB=800%); USS-Adr: 02 4C 40 00 hex
 Only visible when F08 brake is not 0:inactive.
ID 441782.04
243
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B305.
1
Axis
r=2, w=3
Max-negative torque for B300: The maximum negative torque to be impressed during the
B300 brake test action as a percentrage of motor standstill torque M0 for servo motors and nominal
torque Mn for asynchronous motors. If the maximum torque is not maintained by the brake during
the brake test, the action terminates with the result B300.2 = maximum torque not achieved for
brake 1/2. Enter the maximum torque for brake 1 in B305.0 and in B305.1 for brake 2.
Fieldbusaddress
1h
2331h
Array
Value range in %: -200 ... -100 ... 0
Fieldbus: 1LSB=1%; Type: I16; (raw value:32767·LSB=800%); USS-Adr: 02 4C 40 01 hex
 Only visible when F08 brake is not 0:inactive.
B306
Axis
r=2, w=3
Move direction for B300-B302: With axes which have only one mechanically permissible
direction, all actions for B300 brake test, B301 grind-brake 1 and B302 grind-brake 2 are only
performed in the specified direction.
2332h
0h
2333h
0h
2334h
0h
2335h
0h
0: positive and negative. Both directions are permitted.
1: positive. Only the positive direction is permitted.
2: negative. Only the negative direction is permitted.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 4C 80 00 hex
 Only visible when F08 brake is not 0:inactive.
B307
Axis
r=2, w=3
Standstill window for B300: The standstill window to be monitored in degrees during the
B300 brake test action.
If, during the brake test, the axis moves by more than the angle specified here, the action is
terminated with the result B300.2 = maximum torque not achieved for brake 1/2.
Value range in °: 0.0 ... 1,8 ... 360.0
Fieldbus: 1LSB=0,1°; Type: I16; (raw value:32767 = 2879.9 °); USS-Adr: 02 4C C0 00 hex
 Only visible when F08 brake is not 0:inactive.
B308
Axis
r=2, w=3
No of intervals for B301/B302: B308 contains how often the brake is to be applied per
direction during the actions B301 brake1 grind and B302 brake 2 grind during a grinding procedure.
Value range: 1 ... 5 ... 255
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 4D 00 00 hex
 Only visible when F08 brake is not 0:inactive.
B309
Axis
r=2, w=3
No of cycles for B301/B302: The repetitions of the grinding positioning movements in the
positive and negative direction to be performed for actions B301 grind-brake 1 and B302 grindbrake 2.
Value range: 1 ... 1 ... 255
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 4D 40 00 hex
 Only visible when F08 brake is not 0:inactive.
ID 441782.04
244
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
B.. Motor
Par.
Description
B310
Global
r=2, w=3
Brake management: Activates or deactivates brake management. Active brake management
forces the regular performance of the B300 brake test action.
Fieldbusaddress
2336h
0h
2337h
0h
Information
When brake management is inactive, all E177 time passed since last brake test timers are cleared.
0: inactive: Brake management is switched off.
1: global; Brake management is globally active. Common monitoring is performed for all
parameterized axes. The settings in F08 brake and B311 timeout for brake test B300 on axis 1
apply to brake management, regardless of the number of configured axes.
2: axis spec.: Brake management is active axis-specifically. An independent monitoring procedure
is performed for each parameterized axis. This setting must be selected when several motors
are connected to the inverter via POSISwitch®. The settings must be made for brake
management on each configured axis (e.g., in 1.F08 for axis 1 and in 3.F08 for axis 3).
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 4D 80 00 hex
B311
Axis
r=2, w=3
Timeout for brake test B300: Defines the time within which action B300 brake test should be
performed. After the set time expires, the device indicates a message. After the set time expires for
the second time, the device changes to the device fault state. Gerätezustand Störung. To avoid
interrupting your production process, the malfunction is only generated if there is no enable. This
makes it possible to delay the timeout. The fault must be acknowledged before the actions B300
brake test, B301 brake 1 grind and B302 brake 2 grind can be performed.
Value range in hours: 1 ... 168 ... 8760
Fieldbus: 1LSB=1hours; Type: U32; (raw value:4294967295 = 298261 hours); USS-Adr: 02 4D C0 00 hex
 Only visible when B310 exists and is not 0:inactive.
C.. Machine
Par.
Description
C01
Axis
r=2, w=2
n-max: Maximum permissible speed. The speed is related to the motor shaft speed. When
C01*1.1 + 100 Rpm is exceeded, the inverter assumes fault "56:Overspeed." C01 may not exceed
the maximum permissible motor speed B83.
For positioning application the n-forwardfeed is limited to C01.
Fieldbusaddress
2401h
0h
2403h
0h
2405h
0h
Value range in rpm: 0 ... 3000 ... 17 Bit
Fieldbus: 1LSB=1rpm; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 03 00 40 00 hex
C03
Axis
r=1, w=1
Max-positive Torque: Positive maximum torque in % of motor standstill torque M0 with servo
motors and nominal torque Mn for asynchronous motors. If the maximum torque is exceeded, the
controller reacts with the message "47:M-MaxLimit." Depending on the operational status and the
configuration being used, the actual, active, positive, maximum torque may differ from C03. The
active, positive maximum torque can be monitored in E62. See also E22 and C06 (if present).
Value range in %: 0 ... 150 ... 750
Fieldbus: 1LSB=1%; Type: I16; (raw value:32767·LSB=800%); USS-Adr: 03 00 C0 00 hex
C05
Axis
r=1, w=1
Max-negative Torque: Positive maximum torque in % of motor standstill torque M0 with servo
motors and nominal torque Mn for asynchronous motors. When the maximum torque is exceeded,
the controller reacts with the message "47:M-MaxLimit" and E180 = 1. Depending on the
operational state and the configuration being used, the actual, active, negative maximum torque
may differ from C05. The active, negative, maximum torque can be monitored in E66. See also E22
and C06 (if present).
Value range in %: -750 ... -150 ... 0
Fieldbus: 1LSB=1%; Type: I16; (raw value:32767·LSB=800%); USS-Adr: 03 01 40 00 hex
ID 441782.04
245
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
C.. Machine
Par.
Description
C06
Axis
r=2, w=2
Factor torque limit: Weighting factor for the torque limits. The reference value can be selected
for most standard applications via C130. When the parameterized torque limits C03, C05 specify
other limit values, the smaller value becomes the active torque limit. C06 must be increased for
some standard applications to allow torques over 200 % to take effect in C03, C05.
Fieldbusaddress
2406h
0h
2408h
0h
2414h
0h
Value range in %: 0.0 ... 200 ... 800.0
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 03 01 80 00 hex
C08
Axis
r=2, w=2
Quick stop torque limit: Quick stop causes the inverter to switch to the torque limit set in C08.
The limits specified in C03, C05 or other limits specified by the application are ignored during the
quick stop.
However, the effective torque limit can be automatically reduced if an operating limit of the inverter
or the motor would be violated otherwise.
Value range in %: 0 ... 150 ... 750
Fieldbus: 1LSB=1%; Type: I16; (raw value:32767·LSB=800%); USS-Adr: 03 02 00 00 hex
C20
Startup Mode: Specifies the startup behavior of the drive.
Axis, OFF
0: normal; Default setting
1: load start; For machines with increased break away torque. During the time time-load start
(C22), the motor torque is increased to torque load start (C21) and the speed is controlled with a
sixteenth of the current ramp.
2: cycle characteristic; A torque pre-control is performed, i.e. the inverter calculates the required
torque from the specified motor-type (B00) and the ratio of the inertias J-load/J-motor (C30).
This calculated torque is impressed on the drive. Forward feed is only calculated for acceleration
or deceleration procedures. When reference value changes are less than the used ramp or the
drive is in static operation, forward feed is deactivated. This provides a tolerance to reference
value noise.
3: capturing; A turning motor is connected to the inverter. The inverter determines the actual speed
of the motor, synchronizes itself and specifies the appropriate reference value.
4: cycle characteristic 2; A torque forward feed is performed with the setting 2:cycle characteristic
(i.e., the inverter calculates the required torque from the specified motor type (B00) and the
inertia ratio of load/motor (C30). This calculated torque is impressed on the drive.
In comparison to 2:cycle characteristic, the drive tends to vibrate with this setting.
r=3, w=3
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 03 05 00 00 hex
 Only when B20 = 1:SLVC.
ID 441782.04
246
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
C.. Machine
Par.
Description
C21
Axis, OFF
r=3, w=3
Fieldbusaddress
Torque load start: meaning dependent on B20 control mode.
2415h
0h
2416h
0h
B20 = 1: Sensorless vector control
Only when C20 = 1 (load start). Determination of the torque for the load start.
B20 = 3: SLVC-HP
C21 is used to specify a constant load torque (friction, weight for vertical axes, etc.) for the load
start at speeds < 5% B13 nominal speed. Reference value for C21 is B18. The torque specified in
C21 always refers to the motor shaft.
Mmotor
C21
M
n2
load
n1
C21 is irrelevant for speeds > 5% B13 nominal speed. The total torque is made up of an
acceleration torque and C21. The acceleration torque calculated from the mass moment of inertia
of the complete system, the acceleration (D00 for the speed application, derivation of the reference
speed for position applications) and the load torque. C21 has no influence on the brake torque. This
is only calculated from the brake ramp.
The effects of C21 are visible at E166 Iq-ref. If the actual load torque is significantly smaller than
C21, this leads to a jerky start and large stationary speed differences. If C21 is significantly smaller
than the load torque, the motor can not accelerate.
E166 Iq-ref
acceleration
torque
C21
brake torque
acceleration
constant travel
brake
Value range in %: 0 ... 10 ... 400
Fieldbus: 1LSB=1%; Type: I16; (raw value:32767·LSB=800%); USS-Adr: 03 05 40 00 hex
C22
Axis, OFF
r=3, w=3
Time load start: Only when C20 = 1. Time for the difficult startup with the torque defined under
C21.
Value range in s: 0.0 ... 5 ... 10.0
Fieldbus: 1LSB=0,1s; Type: I16; (raw value:32767 = 32.8 s); USS-Adr: 03 05 80 00 hex
 Only when B20 = 1:SLVC.
ID 441782.04
247
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
C.. Machine
Par.
Description
C30
Axis
r=2, w=3
J-load/J-motor: Ratio of the mass inertia of load to motor. The meaning is dependent on B20
control mode.
Fieldbusaddress
241Eh
0h
241Fh
0h
2420h
0h
2421h
0h
2422h
0h
2424h
0h
B20 = 1: Sensorless vector control
When using the SLVC control mode, C30 affects the dynamics of the torque limit. If the drive is
operated in this control mode in cycle operation, C30 is used for the calculation of the feed forward.
B20 = 3: SLVC-HP
When using the SLVC-HP control mode, C30 has an influence on the calculation of the acceleration
and brake torque in the low speed range (< 5 % nominal speed). D00, D01 and C21 also have an
influence on the acceleration and brake torque.
Value range: 0.0 ... 0 ... 512.0
Fieldbus: 1LSB=0,1; Type: I16; (raw value:32767 = 512.0); USS-Adr: 03 07 80 00 hex
C31
Axis
r=2, w=2
Proportional gain n-controller: Proportional gain of the speed controller. With C31 = 100 %
and a speed deviation of 32 Rpm, the P-share of the speed controller supplies the standstill
moment M0 as reference value to the current or torque controller.
Value range in %: 0.0 ... 10 ... 800.0
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 03 07 C0 00 hex
C32
Axis
r=2, w=2
Integral time n-controller: Time constant of the I share in speed controller. A short integral
time causes a high integration speed and thus increases the "static rigidity" of the drive. With
dynamic processes, a short integral time can cause overswinging in the target position. In this case,
increase C32. The I-controller is deactivated with C32 < 1 msec.
At C31 = 100 % and a speed deviation of 32 Rpm, the I share of the speed controller supplies the
nominal motor torque for the current or speed torque controller precisely after the integral time C32.
Value range in ms: 0.0 ... 50 ... 3276.7
Fieldbus: 1LSB=0,1ms; Type: I16; USS-Adr: 03 08 00 00 hex
C33
Axis
r=3, w=3
C34
Axis
r=2, w=2
Low pass reference speed: Reference value smoothing. C33 should be increased in case of
reference value noise, vibrating mechanics or large external masses.
Value range in ms: 0.0 ... 0 ... 500.0
Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1LSB=Fnct.no.12; USS-Adr: 03 08 40 00 hex
n-motor low pass: Smoothing time constant for the measured motor speed in msec. Any noise
during the measurement of the motor speed causes disagreeable noise and an additional thermal
motor load. C34 helps to reduce speed noise and thus improve the smoothness of running. C34
should be kept as low as possible since an increase of C34 reduces the achievable controller gain
C31 and thus the dynamics.
Value range in ms: 0.0 ... 0,8 ... 10.0
Fieldbus: 1LSB=0,1ms; Type: I16; raw value:1LSB=Fnct.no.6; USS-Adr: 03 08 80 00 hex
C36
Axis
r=2, w=2
Reference torque low pass: Smoothing time constant for the torque reference value on the
output of the speed controller in msec. Is used to suppress vibration and resonance. The effect of
torque smoothing is dosed with C37.
Value range in ms: 0.0 ... 1 ... 40.0
Fieldbus: 1LSB=0,1ms; Type: I16; raw value:1LSB=Fnct.no.5; USS-Adr: 03 09 00 00 hex
ID 441782.04
248
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
C.. Machine
Par.
Description
C37
Axis
r=3, w=3
Fieldbusaddress
Reference torque filter: The torque reference value is generated on the output of the speed
controller from two components whose relationship is affected by C37.
 Direct output of the PI speed controller (share corresponds to 100 %-C37).
 Smoothed output of PI speed controller (share corresponds to C37).
For maximum dynamics, set C37 = 0 %. The reference value low pass is cancelled out with the
time constant C36. C37 can be increased to 100 % to attenuate the vibrations.
2425h
0h
2426h
0h
Value range in %: 0 ... 25 ... 100
Fieldbus: 1LSB=1%; Type: I16; (raw value:32767·LSB=100%); USS-Adr: 03 09 40 00 hex
C38
Axis, OFF
r=3, w=3
Derating speed-controller: derating of the speed controller in the field weakening area.
C38 specifies what percentage of the speed controller gain set in C31 is still used for 200 % B15
nominal frequency. Derating is also performed for the I-Gain (ki = C31/C32). Derating starts with
initial field weakening (E05 f1-Motor > C39 cutoff frequency) and reaches the value for double the
nominal frequency entered in C38.
Derating
1
C38/100
C39 2*B15
C32 integral time n-ctrl
X
C31 proportional
gain n-control
X
Proportional
gain
Integral
gain
Speed controller
Mmax
E07 n-post-ramp
E91 n-Motor
PI controller
E166 Iq-ref
Mmin
Example:
C31 = 10 %, C32 = 50 msec, C38 = 50 %
Controller gains for E05 < C39:
kp = C31 = 10 %
ki = C31/C32 = 0,2 %/msec
Controller gains for E05 = 2 * B15:
kp = C31 = 5 %
ki = C31/C32 = 0,1 %/msec
Value range in %: 25.0 ... 100 ... 800.0
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 03 09 80 00 hex
ID 441782.04
249
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
C.. Machine
Par.
Description
C39
Axis, OFF
r=3, w=3
Fieldbusaddress
Cutoff frequency: Determines the cutoff frequency of the magnetisation feed forward.
2427h
0h
2429h
0h
Influence on the controller
The feed forward consists of a magnetisation frequency characteristic curve that controls the
reference magnetisation (independent of the motor voltage). If E05 < C39 applies, the feed forward
is constant. Magnetisation is reduced for larger frequencies. C39 also has some influence on the
tracking of the speed controller gain with C38.
E169
reference-flux
E03 DC-linkvoltage
voltage controller
magnetisation
controller
E165
Id-ref
E04 U-Motor
feed forward
Magn.
E05 f1-Motor
f
E168 Actual flux
Note that the parameters E168 actual flux and E169 reference flux are not available in the standard
application.
Setting note
The selection of C39 is determined by A36 supply voltage. A reference value for C39 can be
calculated as follows: C39 = A36/B14 * B15 * 0.82.
E165 Id-ref (C39 = Default)
E165 Id-ref (changes to C39)
basic speed range
field weakening area
E05 f1-Motor
C39 Cutoff frequency
Value range in Hz: 0.0 ... 50 ... 200.0
Fieldbus: 1LSB=0,1Hz; Type: I16; (raw value:32767 = 200.0 Hz); USS-Adr: 03 09 C0 00 hex
C41
Axis
r=3, w=3
Operating range source: The parameters C41 to C49 offer a universal comparator block for
monitoring a working range. C41 specifies the source to be monitored. A coordinate such as "E90"
(M-Motor) must be entered. Only parameters of the data type "I16" can be used as sources.
Value range: A00 ... E90 ... A.Gxxx.yyyy (Parameter number in plain text)
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 03 0A 40 00 hex
ID 441782.04
250
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
C.. Machine
Par.
Description
C42
Axis
r=3, w=3
C43
Axis
r=3, w=3
Operating range factor: The signal with the source parameterized with C41 is multiplied by
C42 before the comparison with the upper and lower limit occurs.
Fieldbusaddress
242Ah
0h
242Bh
0h
242Ch
0h
242Dh
0h
242Eh
0h
2430h
0h
2431h
0h
243Dh
0h
Value range in %: -800.0 ... 100 ... 800.0
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 03 0A 80 00 hex
Operating range low pass: C43 specifies the time constant of a PT1 low pass. Useful when
the signal to be monitored has noise.
NOTE
From firmware version V 5.6-F, C43 is used in the application Comfort reference value for
smoothing E91 n-Motor for generation of the parameter D442 forward direction.
Value range in ms: 0.0 ... 5 ... 200.0
Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1LSB=Fnct.no.11; USS-Adr: 03 0A C0 00 hex
C44
Axis
r=3, w=3
Operating range mode: With C44 = 1, the amount (absolute value) of the signal to be
monitored is generated.
0: range;
1: absolute;
Fieldbus: 1LSB=1; Type: I8; USS-Adr: 03 0B 00 00 hex
C45
Operating range lower limit: Lower limit (minimum) of the operating range.
Axis
Value range in %: -800.0 ... 0 ... 800.0
r=3, w=3
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 03 0B 40 00 hex
C46
Operating range upper limit: Upper limit (maximum) of the operating range.
Axis
Value range in %: -800.0 ... 100 ... 800.0
r=3, w=3
C48
Axis
read (3)
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 03 0B 80 00 hex
Operating range status: Result of the operating range. C48 assumes the value 1 when the
signal to be monitored is less than C45. If C48 has the value 2, the signal to be monitored is greater
than C46.
0: in range;
1: below range;
2: above range;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 03 0C 00 00 hex
C49
Axis
read (3)
C61
Axis
r=3, w=3
Operating range actual value: Current value of the signal to be monitored whose source was
specified by C41 after multiplication with C42. The value is indicated in the relative scaling of the
limits C45 and C46 and not in the physical unit of the signal source.
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 03 0C 40 00 hex
Speed limiter: Switches the speed limiter on. When n-limiter is on, the inverter still limits only the
maximum speed and is in torque control mode. Remember that the parameter is automatically set
by the comfort reference value application when torque control is parameterized. You must set C61
in the technology controller application if you want to use torque control. Torque control is not
possible for any of the other applications.
0: inactive; Normal speed control (possible with higher-level position control, see C62).
1: active; Torque control with speed limiter.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 03 0F 40 00 hex
ID 441782.04
251
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
C.. Machine
Par.
Description
C62
Axis
r=3, w=3
Position ctrl: Switch position control on and off. Position control is used, for example, for
positioning or precise-angle synchronous operation. With all positioning applications (also without
encoder), C62 = 1 is required.
Fieldbusaddress
243Eh
0h
2482h
0h
24E6h
0h
254Ah
0h
0: inactive;
1: active; position control
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 03 0F 80 00 hex
C130
Axis, OFF
r=2, w=2
Torque limit source: Selection of the source for the signal of the external torque limit "M-Max."
It can be permanently specified that the signal is supplied by the analog inputs or the fieldbus.
With C130 = 4:Parameter, the (global) parameter C230 is used as the signal source. The resulting
torque limit is indicated in C330.
0:
1:
2:
3:
4:
0 (zero);
AE1;
AE2;
AE3;
parameter;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 03 20 80 00 hex
C230
Global
r=2, w=2
C330
Axis
read (2)
Torque limit: Specification for the torque limit (absolute value) via fieldbus if the signal source is
C130 = 4:Parameter.
Value range in %: -200 ... 200 ... 200
Fieldbus: 1LSB=1%; PDO ; Type: I16; (raw value:32767·LSB=200%); USS-Adr: 03 39 80 00 hex
Torque limit: Indication of the value of the Torque Limit signal on the interface for calculation of
the torque limits.
The internal, currently effective torque limits also depend on the fixed torque limits C03 and C05 as
well as any possible torque limit due to the i²t model. The current limits are indicated in E62 and
E66.
Fieldbus: 1LSB=1%; PDO ; Type: I16; (raw value:32767·LSB=200%); USS-Adr: 03 52 80 00 hex
D.. Reference Value
Par.
Description
D93
Global
r=1, w=1
Reference value generator: For commissioning and optimization of speed control. If D93 =
0:bipolar, then +D95 and -D95 are specified alternately. If D93 = 1:unipolar, then 0 rpm and D95
are specified alternately. Each speed specification remains valid for the time D94.
Fieldbusaddress
265Dh
0h
265Eh
0h
265Fh
0h
0: bipolar; Normal reference value selection.
1: unipolar; ±D95 is cyclically specified as reference value. The time can be set in D94.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 04 17 40 00 hex
D94
Ref. val. generator time: The reference value changes each time this period of time expires.
Global
Value range in ms: -32768 ... 500 ... 32767
r=1, w=1
Fieldbus: 1LSB=1ms; Type: I16; USS-Adr: 04 17 80 00 hex
D95
Ref. val. generator speed: Speed reference value of the reference value generator.
Global
Value range in rpm: -8191 ... 250 ... 8191
r=1, w=1
Fieldbus: 1LSB=1rpm; Type: I16; (raw value:32767 = 8191 rpm); USS-Adr: 04 17 C0 00 hex
ID 441782.04
252
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
D.. Reference Value
Par.
Description
D96.0
Global
r=1, w=1
Reference value generator & start: Writing a one starts the reference value generator
action. A square-shaped reference value is specified for the motor. The action can only be used
with control modes servo-control and vector control (control mode B20). The enable must be LOW
at the starting point. After D96.0 = 1, the enable must be switched HIGH. Any existing brake is
automatically released.
Fieldbusaddress
2660h
0h
2660h
1h
2660h
2h
WARNING
Starting the action releases the motor brake. Since, due to the action, the motor is not sufficiently
energized, it is unable to carry any loads (e.g., in a lifting system). For this reason the action may
only be performed with motors which are not installed in a system.
0: error free;
1: aborted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 04 18 00 00 hex
D96.1
Global
read (1)
Process: Shows the progress of the reference value generator action in %.
0: error free;
1: aborted;
Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 04 18 00 01 hex
D96.2
Global
read (1)
Result: Shows the result of the reference value generator action.
0: error free;
1: aborted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 04 18 00 02 hex
E.. Display Value
Par.
Description
E00
Global
I-Motor: Indicates the current motor current as amount in amperes.
Fieldbusaddress
2800h
0h
2801h
0h
2802h
0h
2803h
0h
Fieldbus: 1LSB=0,1A; PDO ; Type: I16; raw value:1LSB=Fnct.no.3; USS-Adr: 05 00 00 00 hex
read (0)
E01
Global
read (0)
E02
Global
read (0)
P-Motor: Indicates the current active power of the motor in kW.
Fieldbus: 1LSB=0,001kW; PDO ; Type: I32; (raw value:2147483647 = 3435.973 kW); USS-Adr: 05 00 40 00
hex
M-Motor filtered: Indication of the current motor torque in Nm. With asynchronous types of
control as related to the nominal motor torque, with servo types of control as related to the standstill
moment M0. Smoothed for indication on the device display. Access to unsmoothed amount is
possible with E90.
Fieldbus: 1LSB=0,1Nm; PDO ; Type: I16; raw value:1LSB=Fnct.no.7; USS-Adr: 05 00 80 00 hex
E03
Global
DC-link-voltage: Indication of the current DC link voltage.
Value range with single-phase inverters: 0 to 500 V, with three-phase inverters 0 to 800 V.
read (1)
Fieldbus: 1LSB=0,1V; PDO ; Type: I16; USS-Adr: 05 00 C0 00 hex
ID 441782.04
253
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E.. Display Value
Par.
Description
E04
Global
U-Motor: Chained effective voltage present on the motor.
Fieldbusaddress
2804h
0h
2805h
0h
2807h
0h
2808h
0h
2809h
0h
280Ah
0h
280Bh
0h
280Ch
0h
Fieldbus: 1LSB=0,1V; PDO ; Type: I16; (raw value:32767 = 2317.0 V); USS-Adr: 05 01 00 00 hex
read (1)
E05
Global
f1-Motor: Frequency of the voltage applied to the motor.
Fieldbus: 1LSB=0,1Hz; PDO ; Type: I32; (raw value:2147483647 = 512000.0 Hz); USS-Adr: 05 01 40 00 hex
read (1)
E07
Global
read (1)
n-post-ramp: Indication of the current speed reference value as related to the motor shaft after
the ramp generator and the n-reference value lowpass. In operating mode position (C62 = 1), the
sum of output position control and n-forwardfeed (= speed control reference value) is indicated.
Fieldbus: 1LSB=0,1rpm; PDO ; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 05 01 C0 00 hex
E08
Global
read (0)
n-motor filtered: Indication of the current motor speed. Smoothed for indication on the device
display. Access to the unsmoothed motor speed is possible with E91. When the drive is operated
without feedback, this speed is determined mathematically via the motor model (in this case, the
actual motor speed may differ from the calculated speed).
Fieldbus: 1LSB=1rpm; PDO ; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 05 02 00 00 hex
E09
Global
read (0)
Rotor position: Position of the motor shaft and the motor encoder respectively. With absolute
value encoders, the encoder position is continuously read from the encoder and entered in this
parameter. The value range is limited to ±128 U. This position is available for all operating modes.
With types of control without motor encoders, E09 is simulated (not precise). The display shows
whole motor revolutions with 3 positions after the decimal point. The full resolution of 24 B bit/U is
supplied via fieldbus. Accuracy and maximum value range varies with the encoder.
When E09 is evaluated by a higher-level controller for position acquisition, the following must be
true:
 The encoder increment number must be an even power of two.
 E09 must be read cyclically
 The position must be accumulated on the controller.
Fieldbus: 1LSB=0,001revolutions; PDO ; Type: I32; (raw value:24 Bit=1·revolutions); USS-Adr: 05 02 40 00 hex
E10
Global
read (1)
AE1-Level: Level of the signal available on analog input 1 (X100.1 - X100.3) (without
consideration of F11, F12). To compensate for an offset (the value which arrives at the inverter
when the controller specifies 0 V), this must be entered with the opposite sign in F11.
Fieldbus: 1LSB=0,001V; PDO ; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 05 02 80 00 hex
E11
Global
read (1)
AE2-Level: Level of the signal on analog input 2 (X100.4 - X100.5) (without consideration of F21,
F22). To compensate for an offset (the value which arrives at the inverter when the controller
specifies 0 V), this must be entered in F21 with the opposite sign.
Fieldbus: 1LSB=0,001V; PDO ; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 05 02 C0 00 hex
E12
Global
read (1)
Motor temperature: Temperature measured on X2 by the motor temperature sensor.
Fieldbus: 1LSB=1°C; PDO ; Type: I16; (raw value:32767 = 328 °C); USS-Adr: 05 03 00 00 hex
 Only if B38 is not equal to 0.
ID 441782.04
254
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E.. Display Value
Par.
Description
E14
Global
read (2)
Chargerelay: Status of the internal charging relay. Active means that the relay contact is closed
and the charging resistors from the power network to the DC link are bypassed. When the network
voltage is turned on, the charging relay remains open at first. It closes when the DC link is charged
up via the charging resistors.
Fieldbusaddress
280Eh
0h
280Fh
0h
2810h
0h
2811h
0h
2812h
0h
2813h
0h
2814h
0h
NOTE
Make sure that the charging relay contacts are open (E14 = 0:inactive) before you connect the
power supply. Particularly in a DC link network, remember that the charging relays of all connected
inverters are open before the power supply is connected.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 05 03 80 00 hex
E15
Global
n-motor-encoder: Speed calculated from the motor encoder specified in B26. This indication
also functions when the control type in B20 does not require an encoder.
read (1)
Fieldbus: 1LSB=0,1rpm; PDO ; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 05 03 C0 00 hex
E16
Global
Analog-output1-level: Indication of the level on the analog output (X100.6 and X100.7). ±10 V
corresponds to ±16384.
read (1)
Fieldbus: 1LSB=0,001V; PDO ; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 05 04 00 00 hex
E17
Global
read (1)
Relay1: Status display of relay 1. The function of the relay contact on X1.1 and X1.2 (NO)
depends on the firmware version of the inverter.
Firmware up to and including V 5.5A
Status display 1:active means that the relay contact is closed. There is no malfunction.
Firmware beginning with V 5.5B
The function of relay 1 depends on parameter F10 Relay 1 function. The basic setting of parameter
F10 is 0: No malfunction.
0: inactive;
1: active;
Fieldbus: 1LSB=1; PDO ; Type: B; USS-Adr: 05 04 40 00 hex
E18
Global
read (1)
Relay2: MDS 5000 and FDS 5000: state of relay 2 (motor halting brake, X2.1, X2.2). Active
means that the relay contact is closed and the motor halting brake is released.
0: inactive;
1: active;
Fieldbus: 1LSB=1; PDO ; Type: B; USS-Adr: 05 04 80 00 hex
E19
Global
Binary inputs: Indicates level of all binary inputs as binary word. Bit 0 = enable, Bit 1 = BE1 to
Bit 13 = BE13 and so on.
read (2)
Fieldbus: 1LSB=1; PDO ; Type: U16; USS-Adr: 05 04 C0 00 hex
E20
Global
Device utilisation: Indicates the current utilization of the inverter in %. 100 % corresponds to
the nominal power of the inverter.
read (1)
Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 05 05 00 00 hex
ID 441782.04
255
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E.. Display Value
Par.
Description
E21
Global
Motor utilisation: Indicates current utilization of the motor in %. Reference number is the
nominal motor current entered under B12.
read (1)
Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 05 05 40 00 hex
E22
Global
read (1)
i2t-device: Level of the thermal device model (i2t model). The fault "59:overtemp.device i2t"
occurs at 105 % of full load. When the 100 % limit is reached, the inverter triggers the event
"39:overtemp.device i2t" with the level specified in U02. The output current is limited to the
permissible device nominal current for servo and vector control (B20 = 2 or 64).
Fieldbusaddress
2815h
0h
2816h
0h
2817h
0h
2818h
0h
2819h
0h
281Ah
0h
Value range in %: 0 ... 80 ... 255
Fieldbus: 1LSB=1%; PDO ; Type: U8; (raw value:100·LSB=100%); USS-Adr: 05 05 80 00 hex
E23
Axis
read (1)
i2t-motor: Level of the thermal motor model (i2t model). 100 % corresponds to full utilization. The
thermal model is based on the design data entered under group B.. (Motor) (i.e., continuous
operation - S1 operation). With more than 100 %, the reaction parameterized in U10, U11 is
triggered for the event "45:overtemp.device i2t."
If the motor is fitted with a KTY, the I2t model will be tracked using the motor temperature
measurement. If the nameplate is active in this case, U10 = 2.warning and U11 = 1 s will be set.
Value range in %: 0 ... 80 ... 255
Fieldbus: 1LSB=1%; PDO ; Type: U8; (raw value:100·LSB=100%); USS-Adr: 05 05 C0 00 hex
E24
Global
read (1)
i2t-braking resistor: Level of the thermal braking resistor model (i²t model). 100 % corresponds
to full utilization. The data of the braking resistor are specified with A21 ... A23. With more than 100
%, the fault "42:tempBrakeRes" occurs.
Value range in %: 0 ... 80 ... 255
Fieldbus: 1LSB=1%; PDO ; Type: U8; (raw value:100·LSB=100%); USS-Adr: 05 06 00 00 hex
E25
Global
Device-temperature: Current device temperature in °C. (Upper temperature limit R05 / Lower
temperature limit R25)
read (1)
Fieldbus: 1LSB=1°C; PDO ; Type: I16; (raw value:32767 = 328 °C); USS-Adr: 05 06 40 00 hex
E26.0
Global
read (2)
Brake: The parameter only exists with the SDS 5000. Element 0 indicates the control status of
brake 1 (on X5 or on brake module X302).
0: set;
1: release;
Array
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 05 06 80 00 hex
E26.1
Global
read (2)
Brake: The parameter only exists with the SDS 5000. Element 1 indicates the control status of
brake 2 (on X5 or on brake module X302).
0: set;
1: release;
1h
281Ah
Array
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 05 06 80 01 hex
E27
Global
read (2)
Binary outputs: The status of all binary outputs is indicated as binary word. Bit0 = BA1 to Bit9 =
BA10.
281Bh
0h
NOTE
Note that an encoder simulation on BA1 and BA2 is not indicated in E27.
Fieldbus: 1LSB=1; PDO ; Type: U16; USS-Adr: 05 06 C0 00 hex
ID 441782.04
256
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E.. Display Value
Par.
Description
E28
Global
Analog-output2-level: Indication of the level on the analog output (X1.7 and X1.8). ±10 V
corresponds to ±16384.
read (1)
Fieldbus: 1LSB=0,001V; PDO ; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 05 07 00 00 hex
E29
Axis
read (2)
Warning: Perform brake test!: If the brake management is not active (B310=0:inactive) the
warning remains at 0:inactive. With the activation of the brake management it is monitored whether
the time set in B311 Timeout for brake test B300 has elapsed but the action B300 Brake test has
not been performed.
Fieldbusaddress
281Ch
0h
281Dh
0h
281Eh
0h
281Fh
0h
2820h
0h
2821h
0h
2822h
0h
2823h
0h
2824h
0h
2825h
0h
0: Warning inactive;
1: Brake test necessary, reasons for this message can be:
- The time set in B311 Timeout for brake test B300 has elapsed but the action B300 Brake test has
not been performed.
- The time set in B311 Timeout for brake test B300 has elapsed twice but the action B300 Brake
test has not been performed (Malfunction 72:Brake test is present).
- The action B300 has been completed with an error.
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 07 40 00 hex
E30
Global
Run time: Indication of how long the inverter controller section was supplied with voltage
(operating hours counter).
read (1)
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 05 07 80 00 hex
E31
Global
read (1)
Enable time: Indication of how long the inverter controller section was supplied with voltage and
the power section enable was active.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 05 07 C0 00 hex
E32
Energy counter: Indication of the total supplied energy in Wh.
Global
Fieldbus: 1LSB=1Wh; PDO ; Type: U32; USS-Adr: 05 08 00 00 hex
read (1)
E33
Global
read (1)
E34
Global
read (1)
E35
Global
read (1)
E36
Global
read (1)
E37
Global
read (3)
Vi-max-memorized value: The DC link voltage is monitored continuously. The greatest
measured value is stored here non-volatilely. This value can be reset with A371.
Fieldbus: 1LSB=0,1V; PDO ; Type: I16; USS-Adr: 05 08 40 00 hex
I-max-memorized value: The motor current is monitored continuously. The greatest measured
value is stored here non-volatilely. This value can be reset with A371.
Fieldbus: 1LSB=0,1A; PDO ; Type: I16; raw value:1LSB=Fnct.no.3; USS-Adr: 05 08 80 00 hex
Tmin-memorized value: The temperature of the inverter is monitored continuously. The
smallest measured value is stored here non-volatilely. This value can be reset with A371.
Fieldbus: 1LSB=1°C; PDO ; Type: I16; (raw value:32767 = 328 °C); USS-Adr: 05 08 C0 00 hex
Tmax-memorized value: The temperature of the inverter is monitored continuously. The
greatest measured value is stored here non-volatilely. This value can be reset with A371.
Fieldbus: 1LSB=1°C; PDO ; Type: I16; (raw value:32767 = 328 °C); USS-Adr: 05 09 00 00 hex
Braking energy can be reset: The energy dissipated through the braking resistor (in watthours) is not saved in non-volatile memory. This value can be reset with A37 = 1.
Fieldbus: 1LSB=1Wh; PDO ; Type: U32; USS-Adr: 05 09 40 00 hex
ID 441782.04
257
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E.. Display Value
Par.
Description
E38
Global
read (3)
E39
Global
read (3)
E41
Global
read (3)
Braking energy life cycle: The energy dissipated by the braking energy (in watt-hours) is not
saved in non-volatile memory here. In contrast to E37, this value can not be reset.
Fieldbusaddress
2826h
0h
2827h
0h
2829h
0h
282Bh
0h
Fieldbus: 1LSB=1Wh; PDO ; Type: U32; USS-Adr: 05 09 80 00 hex
Application start time: When the configuration has started successfully on the device, E30
operating time is copied to E39.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 05 09 C0 00 hex
i2t maximum braking resistance: The maximum value of the thermal load of the braking
resistance is saved in non-volatile memory here. This value can be reset with A37 = 1.
NOTE
- This parameter does not specify the maximum value of E24.
- E24 is initialized with 80 % when the device starts, in contrast the parameter based on the model
is 0 %.
- For a meaningful maximum value measurement, the braking resistance when the device starts
must be approximately at ambient temperature.
Fieldbus: 1LSB=1%; PDO ; Type: U8; (raw value:100·LSB=100%); USS-Adr: 05 0A 40 00 hex
E43
Global
read (3)
Event cause: Diagnostic information concerning the fault which occurred last. The currently
active event is indicated in E82 event type.
Event "34:hardware fault"
1: FPGA; Fault while loading the FPGA block to the control section.
2: NOV-ST; The non-volatile memory of the control section board is defective.
3: NOV-LT; The non-volatile memory of the power section board is defective.
4: brake 1; Activation of brake 1 is defective or the brake module has no 24 V power.
5: brake 2; Activation of brake 2 is defective or the brake module has no 24 V power.
11: currentMeas; Deviation in current offset measurement during device startup is too great.
Event "37:n-feedback"
1: Para<->encoder; parameterization does not match the connected encoder.
2: ParaChgOffOn; Parameterchange; encoder parameterization cannot be changed during
operation. Save and then turn device off and on so that the change takes effect.
4: X4 chan.A/Clk; wire break, possibly track A / clock
5: X4 chan.B/Dat; wire break, possibly track B / data
6: X4 chan.0; wire break, track 0
®
7: X4EnDatAlarm; The EnDat encoder reported an alarm.
®
8: X4EnDatCRC; The EnDat encoder reported that too many errors were found during the
redundancy check. The cause can be wirebreak or errors in the cable shield.
10: resol.carrier; resolver is not or wrong connected, wirebreak is possible
11: X140-undervol; wrong transmission factor, wire break
12: X140-overvolt.; wrong transmission factor, wire break
14: resol.failure; wirebreak
15: X120-double t; Different values were determined during the double transmission to X120.
16: X120-Busy; encoder gave no response for too long; For SSI slave: No telegram for the last 5
ms and drive is enabled.
17: X120-wirebreak; A wire break was discovered on X120.
18: X120-Timeout;
19: X4-double tr.; Different values were determined during the double transmission to X4.
20: X4-Busy; encoder gave no response for too long
21: X4-wirebreak;
22: AX5000; Acknowledgment of the axis switch is not effected.
23: Ax5000require; comparison of E57 and E70.
24: X120-speed; B297, G297 or I297 exceeded for encoder on X120.
ID 441782.04
258
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E.. Display Value
Par.
Description
Fieldbusaddress
25: X4-speed; B297, G297 or I297 exceeded for encoder on X4.
26: No Enc. found; either no encoder was found on X4 or the EnDat®/SSI encoder has a wire
break.
27: X4-AX5000 found; a functional AX 5000 option board was found on X4 although incremental
®
®
encoder or EnDat encoder was parameterized, or no EnDat encoder is connected to the AX
5000 option board.
28: X4-EnDat found.; an EnDat® encoder was found on X4 although another encoder was
parameterized.
29: AX5000/IncEnc; either X4 has a faulty AX 5000 option board or the A-track of an incremental
encoder has a wire break.
30: opt2 incomp.; Version of option 2 is not current.
®
31: X140-EnDatAlar; The EnDat encoder on X140 reports an alarm.
32: X140-EnDatCRC; The EnDat® encoder on X140 reports that too many faults were found during
the redundancy test. Possible causes may be wire break or a cable shield fault.
33: IGB-speed; G297 exceeded on the IGB.
34: Battery low; While switching on the inverter it was determined that the voltage of the battery has
fallen below the warning limit of the encoder. Referencing of the axis remains intact. However,
the remaining service life of the backup battery is limited. Replace the AES battery before the
next time the inverter is switched off. Note also the operating instructions for the Absolute
Encoder Support AES.
35: Battery empty; While switching on the inverter it was determined that the voltage of the battery
has fallen below the minimum voltage of the encoder. Referencing of the axis has been deleted.
The backup battery is no longer able to retain the position in the encoder over the time during
which the inverter in switched off. Referencing the axis. Replace the AES battery before the
next time the inverter is switched off. Note also the operating instructions for the Absolute
Encoder Support AES.
Event "40:invalid data"
0 ... 7: Fault on the non-volatile memory of the control section board.
1: fault; Low-level write/read error or timeout
2: blockMiss; Unknown data block.
3: dataSecurity; Block has no data security
4: checksum; Data block has checksum error.
5: r/o; Data block is "read only."
6: readErr; Startup phase: block read error
7: blockMiss; Block not found.
16 ... 31: Non-volatile power module memory
17: fault; Low-level write/read error or timeout
18: blockMiss; Unknown data block.
19: dataSecurity; Block has no data security
20: checksum; Data block has checksum error.
21: r/o; Data block is "read only."
22: readErr; Startup phase: block read error
23: blockMiss; Block not found.
32 ... 47: Non-volatile encoder memory
32: el.mot-type; No nameplate data exists
33: el.typeLim; A parameter from the electrical motor nameplate could not be entered (limit value or
non existent).
48 to 59: Non-volatile option 2 memory
48: optionBoard2; Error in non-volatile memory of option 2 with REA 5000 and REA 5001
respectively and XEA 5000 and XEA 5001 respectively
ID 441782.04
259
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E.. Display Value
Par.
Description
Fieldbusaddress
Event "46: low voltage"
1: Low Voltage; the value in E03 DC-link-voltage has dropped below the value parameterized in
A35 low voltage limit.
2: Network phase; phase monitoring has found that a switched-on power unit is missing a phase.
3: Drop in networ; when phase monitoring finds that the network voltage is missing, the charging
relay is immediately switched off. Normal operation is maintained. If the power unit is still
switched on after network voltage returns, a fault is triggered after 0.5 s.
Event "52:communication"
1: CAN LifeGuard; The device recognized the "life-guarding-event" (master no longer sends RTR).
2: CAN Sync Error; the sync message was not received within the time set in parameter A201
cycle period timeout.
3: CAN Bus Off; went off when bus went off. The driver started it again.
4: PZD-Timeout; failure of the cyclic data connection (PROFIBUS).
5: USS; (under preparation) failure of the cyclic data connection (USS).
6: EtherCAT PDO-Ti; The inverter failed to receive process data within the time set in A258.
7: EtherCAT-DcSYNC0; There is a malfunction on the synchronization signal "SYNC 0". This
malfunction can only occur with EtherCAT synchronization activated using "Distributed Clock
(DC)".
8: IGB µC failure; The controller for IGB communication has failed.
9: IGB lost frame; IGB-Motionbus fault. The station discovered the loss of at least 2 consecutive
data frames (double error). This cause can only occur when the IGB state = 3:motionbus and
the motor is energized.
10: IGB P.lostFra; IGB-Motionbus fault. Another station discovered a double error and reported this
via A163. This causes that inverter to also malfunction with this cause. The cause can only
occur when the IGB state = 3:motionbus and the motor is energized.
11: IGB sync erro; The synchronization within the inverter has malfunctioned because the
configuration was stopped by POSITool. This fault can only occur when the IGB state equaled
3:motionbus and the motor was energized.
12: IGB configTim; A block was not executed at the beginning of the global area in real-time. The
runtime sequence of blocks may have been set incorrectly. This fault can only occur when the
IGB state equaled 3:motionbus and the motor was energized.
13: IGBPartnerSyn; Another station in the IGB network has a synchronization fault (see cause 11).
This station reported its fault via A163. This causes that inverter to also malfunction with cause
13. This fault can only occur when the IGB state equaled 3:Motionbus and the motor was
energized.
Event "55:Option board"
1: CAN5000failure; CAN 5000 was recognized , installed and failed.
2: DP5000failure; DP 5000 was recognized, installed and failed.
3: REA5000failure; REA 5000 was recognized, installed and failed.
4: SEA5000failure; SEA 5000 was recognized, installed and failed.
5: XEA5000failure; XEA 5000 or XEA 5001 was recognized, installed and failed.
6: EncSim-init; could not be initialized on XEA. The motor may have turned during initialization.
7: WrongOption; Incorrect or missing option board (comparison of E54/E58 with E68/E69)
8: LEA5000failure; LEA 5000 was recognized, installed and failed.
9: ECS5000failure; ECS 5000 was recognized, installed and failed.
10: supply; Failure of the 24 V supply for XEA 5001 or LEA 5000.
11: SEA5001failure; SEA 5001 was recognized, installed and failed.
12: REA5001failure; REA 5001 was recognized, installed and failed.
13: PN5000 fail 1; PN 5000 was recognized, installed and failed. Basic hardware tests have
detected an error.
14: PN5000 fail 2; PN 5000 was recognized, installed and failed. Basic software tests have
detected an error.
15: PN5000 fail 3; PN 5000 was recognized, installed and failed. The Watchdog function of the PN5000 monitoring system has detected an error.
ID 441782.04
260
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E.. Display Value
Par.
Description
Fieldbusaddress
17: Option2 too old; on SDS 5000: option board with old hardware version (XEA 5001: from HW 10,
REA 5000: from HW 19)
Event "57:Runtime usage"
A cyclic task cannot be completely processed within its cycle time. Cause is the number of the
affected task.
Event "69:Motor connection"
1: motorNotDiscon; The contactor is not released while the axis is being changed. The cause of
this can only be determined when at least two phase contacts are stuck and the DC link is
charged (see E03). With asynchronous motors, magnetization could not be established.
2: no motor; No motor connected at all or the line to the motor is disconnected.
Event "70:Parameter consistency"
1: encoder type; control mode B20 is set to "servo" but no appropriate encoder is selected (B26,
H.. parameter).
2: X120 direction; X120 is used as source in one parameter but is parameterized in H120 as drain
(or vice versa).
3: B12<->B20; Control mode B20 is not set to servo but the nominal motor current (B12) exceeds
the 4-kHz nominal current (R24) of the device by more than 1.5 times.
4: B10<->H31; Resolver/motorpoleno.; the set motor pole number (B10) and the resolver pole
number (H31) do not match.
5: Neg. slip. With use of control modes V/f, SLVE or Vector Control (B20): Control mode to "ASM":
A negative slip results from the values for nominal motor speed (B13), nominal motor frequency
(B15) and motor pole number (B10).
6: torque-lim; When the values entered in C03 or C05 are used, the maximum current of the
inverter would be exceeded. Enter lower torque limits.
7: B26:SSI-Slave; SSI slave may not be used as motor encoder (synchronization problems)
8: C01>B83; C01 may not be greater than B83.
9: E102/E103 miss; An attempt was made to obtain a master position via the IGB but parameters
E102 and E103 which are required for this do not exist.
10: G104<->G27; A master position is sent via the IGB-Motionbus (i.e., G104 is not set to
0:inactive), but G27 does not have the settings 0:inactive and 6:IGB which are valid for this
case.
Event "71:Firmware"
1: FW defective; The firmware states of the communication processor and the drive processor are
not consistent. The firmware must be downloaded again.
2: activate FW; New firmware was loaded to the inverter but not yet activated. Power supply must
be turned off/on.
3: CRC-error; The cyclic check discovered a checksum error. Power supply must be turned off/on.
If the error occurs again on renewed OFF/ON, the device hardware is faulty and must be
replaced.
Event "72:Brake test"
1: B311timeout; The time set in B311 timeout for brake test B300 has expired without action B300
brake test having been executed.
2: Brake defective; During the execution of the brake test action, the stopping torque entered in
B304 or B305 could not be maintained or the encoder test run included in the brake test was
concluded with errors.
Event "73:Ax2braketest"
1: B311timeout; The time set in B311 timeout for brake test B300 has expired without action B300
brake test having been executed with active axis 2.
2: Brake defective; During the execution of the brake test action with active axis 2, the stopping
torque entered in B304 or B305 could not be maintained or the encoder test run included in the
brake test was concluded with errors.
ID 441782.04
261
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E.. Display Value
Par.
Description
E43
Global
read (3)
Event "74:Ax3braketest"
1: B311timeout; The time set in B311 timeout for brake test B300 has expired without action B300
brake test having been executed with active axis 3.
2: Brake defective; During the execution of the brake test action with active axis 3, the stopping
torque entered in B304 or B305 could not be maintained or the encoder test run included in the
brake test was concluded with errors.
Fieldbusaddress
282Bh
0h
282Ch
0h
Event "75:Ax4braketest"
1: B311timeout; The time set in B311 timeout for brake test B300 has expired without action B300
brake test having been executed with active axis 4.
2: Brake defective; During the execution of the brake test action with active axis 4, the stopping
torque entered in B304 or B305 could not be maintained or the encoder test run included in the
brake test was concluded with errors.
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 0A C0 00 hex
E44
Global
read (0)
Event cause: Diagnostic information for the fault which occurred last. The cause is indicated in
plain text. The currently active event in indicated in E82 event type.
Fieldbus: Type: Str16; USS-Adr: 05 0B 00 00 hex
ID 441782.04
262
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E.. Display Value
Par.
Description
E48
Global
read (0)
Device control state: State of the device state machine. The device state machine enables or
disables the drive function and the power module (application on the active axis).
Fieldbusaddress
2830h
0h
2832h
0h
2833h
0h
0: Self-test; The inverter is executing a self test and calibration procedure and cannot be enabled
yet. The drive function is disabled. The device state automatically changes after a short time to
1:switch on inhibit.
1: Switch-on disable; This device state prevents an automatic restart during device startup and
with the fault acknowledgment. The drive function is disabled.
The device state can change to 2:ready for switch-on under the following conditions:
 Enable on low level or A34 autostart active during first startup AND
  DC link charged AND
  Axis activated
Additional conditions for the SDS 5000:
- No IGB Motionbus is configured or
- An IGB Motionbus is configured and the IGB is either located in the state 3:IGB Motionbus or
A124 IGB exceptional motion is activated.
Information
Remember that the change in device status from 1:switch on inhibit to 2:ready for switch-on
depends on parameter A34.
2: Ready for switch-on; The DC link is charged; E67 starting lockout is inactive; any possible axis
switch is finished. The drive function is disabled.
If the enable becomes active now, the device state changes to 3:switched on.
3: Switched on; The DC link is charged; E67 starting lockout is inactive; the power module is being
prepared for operation. The drive function is disabled.
The device state changes to 4:enabled after the longer of the two times 4 msec or A150 cycle time.
4: Enabled; The drive function is enabled. Reference values are processed.
5: Fault; A fault has occurred. The fault memory was written. The drive function is disabled. The
device state can changed to 1:switch on inhibit when the fault is acknowledged.
Information
Remember that the change in device state from 1:switch on inhibit to 2:ready for switch-on depends
on parameter A34.
5: Fault; A fault has occurred. The fault memory was written. The drive function is disabled. The
device state can changed to 1:switch on inhibit when the fault is acknowledged.
Information
Remember that the change in device state from 1:switch on inhibit to 2:ready for switch-on depends
on parameter A34.
7: Quick stop; A quick stop was triggered; the inverter moves with the quick stop ramp, speedcontrolled, to a standstill. The drive function remains enabled for the time of the quick stop. After
the quick stop is concluded, the device state changes (depending on the device control in the
global area, A39 t-max. Q-stop, A44 enable quick-stop, A45 quick stop end).
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 0C 00 00 hex
E50
Device: Indication of the device type (e.g., MDS 5015).
Global
Fieldbus: Type: Str16; USS-Adr: 05 0C 80 00 hex
read (0)
E51.0
Global
read (0)
Firmware version: Software version of the inverter (e.g., V5.0). With the SDS 5000, the version
of the active firmware is indicated in element 0 and the version of the firmware in the firmware
download memory is indicated in element 1.
Array
Fieldbus: Type: Str16; USS-Adr: 05 0C C0 00 hex
ID 441782.04
263
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E.. Display Value
Par.
Description
E51.1
Global
read (0)
Firmware version: Software version of the inverter (e.g., V5.0). With the SDS 5000, the version
of the active firmware is indicated in element 0 and the version of the firmware in the firmware
download memory is indicated in element 1.
Fieldbusaddress
1h
2833h
Array
Fieldbus: Type: Str16; USS-Adr: 05 0C C0 01 hex
E52
Global
Serial number: Number of the device from a manufactured series. Corresponds to the number
on the nameplate.
read (1)
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 05 0D 00 00 hex
E53
Configuration identification global: Indicates the abbreviation for the configuration of the
global area (independent of axis). If the configuration was changed, a leading asterisk (*) appears.
3:Klemmen (or IGB motion bus for SDS 5000)
4:USS
5:CANopen®
7:PROFIBUS
19:DSP402 device controller CANopen®
20:DSP402 device controller PROFIBUS
23:EtherCAT®
24:DSP402 device controller EtherCAT®
26:PROFINET
27:DSP 402 PROFINET
Global
r=1, w=4
2834h
0h
2835h
0h
2836h
0h
2837h
0h
Default setting: 5:CAN IGB
Fieldbus: Type: Str16; USS-Adr: 05 0D 40 00 hex
E54
Global
Option board 1: Indication of the upper option board (e.g., CAN 5000) which was detected
during initialization.
read (1)
Fieldbus: Type: Str16; USS-Adr: 05 0D 80 00 hex
E55
Configuration identification axis: Indicates the abbreviation for the configuration of the axis.
If the configuration was changed, a leading asterisk (*) appears.
0: Fast reference value
1: Command positioning endless
2: Command positioning limited
8: Electronic gear limited
9: Motion block positioning limited
10: Motion block positioning endless
11: Electronic gear endless
12: Electronic gear limited PLCopen®
13: Electronic gear endless PLCopen®
15: Interpolated positioning
16: Technology controller
18: Comfort reference value
21: Electronic cam endless
22: Electronic cam limited
25: Fast reference value with brake
Axis
r=1, w=4
Default setting: 10:MotBlkPoEndl
Fieldbus: Type: Str16; USS-Adr: 05 0D C0 00 hex
ID 441782.04
264
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E.. Display Value
Par.
Description
E56.0
Global
r=1, w=2
Parameter identification: Indicates whether parameters of the axis 1 were changed via the
operator panel (display and keys). When "0:axis 1" is selected in A11 axis edit and at least one
parameter was changed via the operator panel, the value of E56.0 Parameter identification is set to
255. When"1:axis 2" is selected in A11, the value of E56.1 is set to 255 if changes were made. The
same also applies to axis 3 and 4. This can be used as an indication of unauthorized manipulation
of parameters.
Fieldbusaddress
0h
2838h
Array
1:
Default setting of POSITool.
2..254: Value was purposely set by the user in POSITool or fieldbus and has not been changed yet.
255:
At least one value was changed via the operator panel!
Exceptions: When A11 is set on the operator panel or A00 save values is triggered, this has no
effect on E56.
Value range: 0 ... 1 ... 255
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 05 0E 00 00 hex
E56.1
Global
r=1, w=2
Parameter identification: Indicates whether parameters of the axis 2 were changed via the
operator panel (display and keys). When "0:axis 1" is selected in A11 axis edit and at least one
parameter was changed via the operator panel, the value of E56.0 Parameter identification is set to
255. When"1:axis 2" is selected in A11, the value of E56.1 is set to 255 if changes were made. The
same also applies to axis 3 and 4. This can be used as an indication of unauthorized manipulation
of parameters.
1h
2838h
Array
1:
Default setting of POSITool.
2..254: Value was purposely set by the user in POSITool or fieldbus and has not been changed yet.
255:
At least one value was changed via the operator panel!
Exceptions: When A11 is set on the operator panel or A00 save values is triggered, this has no
effect on E56.
Value range: 0 ... 1 ... 255
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 05 0E 00 01 hex
E56.2
Global
r=1, w=2
Parameter identification: Indicates whether parameters of the axis 3 were changed via the
operator panel (display and keys). When "0:axis 1" is selected in A11 axis edit and at least one
parameter was changed via the operator panel, the value of E56.0 Parameter identification is set to
255. When"1:axis 2" is selected in A11, the value of E56.1 is set to 255 if changes were made. The
same also applies to axis 3 and 4. This can be used as an indication of unauthorized manipulation
of parameters.
2h
2838h
Array
1:
Default setting of POSITool.
2..254: Value was purposely set by the user in POSITool or fieldbus and has not been changed yet.
255:
At least one value was changed via the operator panel!
Exceptions: When A11 is set on the operator panel or A00 save values is triggered, this has no
effect on E56.
Value range: 0 ... 1 ... 255
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 05 0E 00 02 hex
ID 441782.04
265
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E.. Display Value
Par.
Description
E56.3
Global
r=1, w=2
Parameter identification: Indicates whether parameters of the axis 4 were changed via the
operator panel (display and keys). When "0:axis 1" is selected in A11 axis edit and at least one
parameter was changed via the operator panel, the value of E56.0 Parameter identification is set to
255. When"1:axis 2" is selected in A11, the value of E56.1 is set to 255 if changes were made. The
same also applies to axis 3 and 4. This can be used as an indication of unauthorized manipulation
of parameters.
Fieldbusaddress
3h
2838h
Array
1:
Default setting of POSITool.
2..254: Value was purposely set by the user in POSITool or fieldbus and has not been changed yet.
255:
At least one value was changed via the operator panel!
Exceptions: When A11 is set on the operator panel or A00 save values is triggered, this has no
effect on E56.
Value range: 0 ... 1 ... 255
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 05 0E 00 03 hex
E57
Global
POSISwitch: Indication of a POSISwitch® which was detected during initialization.
2839h
0h
283Ah
0h
283Bh
0h
283Ch
0h
283Dh
0h
283Eh
0h
2842h
0h
Fieldbus: Type: Str16; USS-Adr: 05 0E 40 00 hex
read (1)
E58
Global
Optional board 2: Indication of the lower option board (e.g., SEA 5000) which was detected
during initialization.
read (1)
Fieldbus: Type: Str16; USS-Adr: 05 0E 80 00 hex
E59
Configuration identification: Indicates the abbreviation for the complete configuration (global
area and all four axes). If the configuration was changed, an asterisk (*) is shown.
Global
r=1, w=4
Default setting: user
Fieldbus: Type: Str16; USS-Adr: 05 0E C0 00 hex
E60
Global
Safe firmware version: Only with SDS 5000. Version of the boot firmware of the inverter (e.g.,
V 4.1).
read (3)
Fieldbus: Type: Str16; USS-Adr: 05 0F 00 00 hex
E61
Global
read (3)
ParaModul: Size of the ParaModul memory in kilobytes. This parameter makes it possible to
differentiate between the different sizes of ParaModul memory (128 kBytes, 256 kBytes or 1024
kBytes).
1024 kBytes are only supported from firmware V 5.5.
A size of 0 kBytes means that a ParaModul has not been found or the ParaModul size is not
supported.
Fieldbus: 1LSB=1kBytes; Type: U32; (raw value:10 Bit=1·kBytes); USS-Adr: 05 0F 40 00 hex
E62
Global
Act. pos. T-max: Currently effective positive torque limit in relation to B18.
Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 05 0F 80 00 hex
read (1)
E66
Global
Act. neg. T-max: Currently effective positive torque limit in relation to B18.
Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 05 10 80 00 hex
read (1)
ID 441782.04
266
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E.. Display Value
Par.
Description
E67
Global
read (1)
Starting lockout: Indication of the status of the ASP 5001 option.
Fieldbusaddress
2843h
0h
2844h
0h
2845h
0h
2846h
0h
2847h
0h
284Ah
0h
284Bh
0h
0: inactive; The starting lockout (startup disable) is inactive. The power section can be enabled.
1: active; The starting lockout (startup disable) is active. The power section is reliably disabled.
Fieldbus: 1LSB=1; PDO ; Type: B; USS-Adr: 05 10 C0 00 hex
E68
Global
read (3)
Required optional board 1: Is entered by the POSITool configuration assistant. When the
configuration is transferred via Paramodul to another device, a comparison of E68 and E54 ensures
that all hardware resources are present. If not, the fault "55:option board" is triggered with E43
event cause = 7:wrong or missing option board. The fault can then not be acknowledged.
Default setting: CAN 5000
Fieldbus: Type: Str16; USS-Adr: 05 11 00 00 hex
E69
Global
read (3)
Required optional board 2: Is entered by the POSITool configuration assistant. When the
configuration is transferred via Paramodul to another device, a comparison of E69 and E58 ensures
that all hardware resources are present. If not, the fault "55:option board" is triggered with E43
event cause = 7:wrong or missing option board. The fault can then not be acknowledged.
Default setting: SEA 5001
Fieldbus: Type: Str16; USS-Adr: 05 11 40 00 hex
E70
Global
read (3)
Required Ax5000: Is entered by the POSITool configuration assistant. When the configuration
via Paramodul is transferred to another device, a comparison of E70 with E57 ensures that all
hardware resources are present. If not, the fault "37:n-feedback" (from V5.2: 37:encoder) with E43
event cause = 23:Ax5000-n-reference is triggered. The fault can then not be acknowledged.
Default setting: AX 5000
Fieldbus: Type: Str16; USS-Adr: 05 11 80 00 hex
E71
Global
AE1 scale: AE1 signal by offset and gain. E71 = (E10 + F11) * F12.
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=200,0%); USS-Adr: 05 11 C0 00 hex
read (1)
E74
Global
read (1)
AE3-Level: Level of signal queued on the analog input 3 (X102.1 - X102.2) (without consideration
of F31, F32). To allow for an offset (the value which arrives at the inverter when the controller
specifies 0 V), this must be entered in F31 with the opposite sign.
Fieldbus: 1LSB=0,001V; PDO ; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 05 12 80 00 hex
 Only visible when an XEA board is installed in the bottom option slot.
E75
X1.Enable-inverted: The level of the X1.Enable binary input is displayed inverted.
Global
This signal can, for example, be used for inverted acknowledgement of X1.Enable via any binary
output if this is required for dual-channel activation together with the ASP 5000.
read (2)
0: inactive;
1: active;
Fieldbus: 1LSB=1; PDO ; Type: B; USS-Adr: 05 12 C0 00 hex
ID 441782.04
267
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E.. Display Value
Par.
Description
E80
Axis
read (0)
Operating condition: Indication of the current operating status as per the operating indication.
Useful for fieldbus queries or serial remote control.
Fieldbusaddress
2850h
0h
10: PLCO_init; Initialize position control (applications motion block positioning or electronic cam).
11: PLCO_Passive; Position control is in the state 1:passive (applications motion block positioning
or electronic cam).
12: standstill; Position control is in the state 2:standstill (applications motion block positioning or
electronic cam).
13: discr.motion; Position control is in the state 3:discrete motion (applications motion block
positioning or electronic cam).
14: cont.motion; Position control is in the state 4:continuous motion (applications motion block
positioning or electronic cam).
15: sync.motion; Position control is in the state 5:synchronous motion (applications motion block
positioning or electronic cam).
16: stopping; Position control is in the state 6:stopping (applications motion block positioning or
electronic cam).
17: errorStop; Position control is in the state 7:errorstop (applications motion block positioning or
electronic cam).
18: homing; Position control is in the state 8:homing (applications motion block positioning or
electronic cam).
19: limit switch; One of the limit switches has tripped. Remember that not every application has the
limit switch function (applications motion block positioning or electronic cam).
20: denied; Position control has determined one of the following events (applications motion block
positioning or electronic cam):
- The drive is not referenced but the motion job requires the reference.
- A motion job was triggered whose target position is located outside the software limit switch.
- A motion job was triggered which moved in a direction of rotation which is inhibited.
The message combines faults 1 to 4 in /90 ErrorCode.
21: limited; Position control has determined that one of the following limits was reached
(applications motion block positioning or electronic cam):
- Torque limit
- Following error
- M-limitation by i2t
22: aborted; Position control has determined one of the following events (applications motion block
positioning or electronic cam):
- An MC_Stop was triggered.
- The enable was switched off.
- A quick stop was triggered.
23: waiting; The drive is located in a chain of motion blocks and is waiting for the advance signal
(application motion block positioning).
24: delay; The drive is located in a chain of motion blocks with pause and the pause is still in effect
(application motion block positioning).
30: fault; The inverter ist in the state fault.
31: self test; The inverter ist in the state self test.
32: switch-on disable; The inverter ist in the state switch-on diable (see the Operating Manuals of
the inverters).
33: param.lock; reserved
34: quick stop; The inverter performs a quick stop.
35: switched on; The inverter is in the state switcjed on (see the Operating Manuals of the
inverters).
36: jog active; Tipping operation is active in the comfort reference value application (D437 =
1:active).
37: stop active; During the comfort reference value application, a halt command is queued and the
speed has reached the range +C40 to -C40 once (D438 = 1:active).
38: stop; During the comfort reference value application, a halt command is queued (D302 =
1:active) and the drive delays with the ramp D84.
ID 441782.04
268
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E.. Display Value
Par.
Description
Fieldbusaddress
39: not allowed direction; During the comfort reference value application, a reference value is
specified for a certain direction of rotation which is inhibited (D184 = 1:active, see also D308 and
D309).
40: capturing; During the comfort reference value application, the inverter is in scan active mode
(D433 = 1:active).
41: heavy duty starting; During the comfort reference value application, the inverter is in startup
under load mode (D434 = 1:active).
42: accelerating; During the comfort reference value application, the amount of motor speed
increases (D443 = 1:active).
43: decelerating; During the comfort reference value application, the amount of motor speed
decreases (D444 = 1:aktiv).
44: reference > max reference; During the comfort reference value application, the speed limit is
reached which limit is indicated in D336 (torque control) or D338 (speed control) (D185 =
1:active).
45: reference < min reference; During the comfort reference value application, the speed limit is
reached which limit is indicated in D337 (torque control) or D339 (speed control) (D186 =
1:active).
46:zero torque=0; During torque control mode in the comfort reference value application, the
current torque is in the range of -5 % MN to +5 % MN.
47: positive torque; During torque control mode in the comfort reference value application, the
current torque (E90) is greater than 5 % as related to the user direction of rotation (D57) (D440
= 1:active).
48: negative torque; During torque control mode in the comfort reference value application, the
current torque (E90) is lower than -5 % as related to the user direction of rotation (D57) (D441 =
1:active).
49: standstill; During speed control mode in the comfort reference value application, the speed has
reached the range of +C40 to -C40 (D180 = 1:active).
50: forward direction; During speed control mode in the comfort reference value application, the
speed (E91) is greater than C40 as related to the user direction (D57) (D442 = 1:active).
51: backward direction; During speed control mode in the comfort reference value application, the
speed (E91) is lower than -C40 as related to the user direction (D57).
52: limit switch wrong; During the comfort reference value application, the limit switches are mixed
up (i.e., the -limit switch triggered for a positive reference value (D304 = 1:active) or vice versa).
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 14 00 00 hex
E81
Global
read (1)
Event level: Indicates whether a current event is queued. The corresponding event type is
indicated in E82. Useful for fieldbus polling or serial remote control.
2851h
0h
2852h
0h
0: inactive. The event system is inactive. The inverter is running in normal operating mode.
1: Message. A message is waiting. Operation continues.
2: Warning. A warning is waiting. Operation can be continued until expiration of the warning time
for this event (indicated in E83 warning time). After that a fault is triggered.
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 14 40 00 hex
E82
Global
read (0)
Event type: Indication of the currently queued event/fault. Useful for fieldbus polling or serial
remote control. The cause is stored in E43 / E44.
30: inactive;
31: Short/ground; The hardware overcurrent switch off is active because the motor demands too
much current from the inverter (interwinding fault, overload).
32: Short/ground internal; During the enabling of the inverter, a short circuit was determined. An
internal device error has probably occurred.
33: Overcurrent; The total motor current exceeds the permissible maximum. Could be acceleration
times are too short or torque limits in C03 and C05 were set incorrectly.
34: Hardware fault; A hardware error has occurred (e.g., in the memory of the control section). See
E43.
ID 441782.04
269
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E.. Display Value
Par.
Description
Fieldbusaddress
35: Watchdog; The watchdog of the microprocessor has triggered. The microprocessor is being
used to full capacity or its function may be faulty.
36: High voltage; The voltage in the DC link exceeds the permissible maximum. This can be due to
excessive network voltage, the feedback of the drive during braking mode, too low a braking
resistor or due to a brake ramp which is too steep.
37: Encoder; An error in the parameterized encoder was determined (for details, see E43).
38: Overtemp.device sensor; The temperature measured by the device sensor exceeds the
permissible maximum value. The cause may be that ambient and switching cabinet
temperatures are too high.
39: Overtemp.device i2t; The i2t-model for the inverter exceeds 100 % of the thermal capacity.
Causes may be an inverter overload due to a motor blockage or a switching frequency which is
too high.
40: Invalid data; While the non-volatile memory was being initialized, a data error was found (for
details, see E43).
41: Temp.MotorTMP; The motor temperature sensor reports excessive temperature. The motor may
be overloaded or the temperature sensor is not connected.
42: TempBrakeRes.; The i2t model for the braking resistor exceeds 100 % of the capacity. The
braking resistor may not be designed to handle the application.
43: inactive;
44: External fault 1; Triggering is programmed application-specifically.
45: Overtemp.motor i2t; The i2t model of the motor reaches 100 % of the load. The motor may be
overloaded.
46: Low voltage; The DC link voltage is below the limit value set in A35. The cause can be drops in
the network voltage, the failure of a phase with three-phase connection or the acceleration times
are too short.
47: Torque limit; The torque permitted for static operation is exceeded in the controller types servo
controller, vector controller or sensorless vector controller. The limits may have been set
incorrectly in C03 and C05.
48: inactive;
49: inactive;
50: inactive;
51: inactive;
52: Communication; A fault in communication was determined (for details, see E43).
53: inactive;
54: inactive;
55: Option board; A fault in the operation of an option board was determined (for details, see E43).
56: Overspeed; The measured speed was greater than C01 x 1.1 + 100 Rpm. The encoder may be
defective.
57: Second activation; The cycle time of a real-time task was exceeded (for details, see E43).
58: Grounded; The power module has determined an error (starting with module 3).
59: Overtemp.device i2t; The i2t model of the inverter exceeds 105 % of the capacity. The cause
may be an overload of the inverter due to a motor blockage or a switching frequency which is
too high.
60: <u102>;
61: <u112>;
62: <u122>;
63: <u132>;
64: <u142>;
65: <u152>;
66: <u162>;
67: <u172>;
68: External fault 2; Triggering is programmed application-specifically.
69: Motor connection; A connection error of the motor was determined (for details, see E43).
70: Parameter consistency; The parameterization has inconsistencies (for details, see E43).
71: firmware;
ID 441782.04
270
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E.. Display Value
Par.
Description
Fieldbusaddress
72: Brake test timeout; Brake test timeout. Brake management reports that a brake test is necessary
(see E43).
73: Axis 2 brake test timeout; Brake management reports that a brake test of axis 2 is necessary
(see E43).
74: Axis 3 brake test timeout; Brake management reports that a brake test of axis 3 is necessary
(see E43).
75: Axis 4 brake test timeout; Brake management reports that a brake test of axis 4 is necessary
(see E43).
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 14 80 00 hex
E83
Global
Warning time: While warnings are running, the time remaining until the fault is triggered is
indicated. Useful for fieldbus polling or serial remote control.
read (1)
Fieldbus: 1LSB=1s; PDO ; Type: U8; USS-Adr: 05 14 C0 00 hex
E84
Active axis: Indication of the current axis. Useful for fieldbus polling or serial remote control.
Global
read (1)
2853h
0h
2854h
0h
285Ah
0h
285Bh
0h
285Ch
0h
285Dh
0h
285Eh
0h
0: Axis 1;
1: Axis 2;
2: Axis 3;
3: Axis 4;
4: All axes inactive. Axis 1 was active last.
5: All axes inactive. Axis 2 was active last.
7: All axes inactive. Axis 4 was active last.
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 15 00 00 hex
E90
Global
M-Motor: Indication of the current motor torque in Nm. In contrast to E02, not smoothed.
Fieldbus: 1LSB=0,01Nm; PDO ; Type: I16; raw value:1LSB=Fnct.no.16; USS-Adr: 05 16 80 00 hex
read (3)
E91
Global
read (3)
n-motor: Indication of the current motor speed in Rpm. In contrast to E08, not smoothed. When
the drive is operated without feedback, this speed is mathematically determined via the motor
model (in this case, the actual motor speed may differ from the calculated speed).
Fieldbus: 1LSB=0,1rpm; PDO ; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 05 16 C0 00 hex
E92
Global
I-d: Flux current in %.
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 05 17 00 00 hex
read (3)
E93
Global
I-q: Torque-generating current in %.
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 05 17 40 00 hex
read (3)
E94
Global
I-a: Measured a-current components in ab-system.
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 05 17 80 00 hex
read (3)
ID 441782.04
271
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E.. Display Value
Par.
Description
E95
Global
I-b: Measured b-current components in ab-system.
Fieldbusaddress
285Fh
0h
2860h
0h
2861h
0h
2862h
0h
2863h
0h
2864h
0h
2865h
0h
2866h
0h
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 05 17 C0 00 hex
read (3)
E96
Global
I-u: Measured u-current components in uvw-system.
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 05 18 00 00 hex
read (3)
E97
Global
I-v: Measured v-current component in uvw-sysstem.
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 05 18 40 00 hex
read (3)
E98
Global
Ud: Voltage in d-direction in V (chained peak voltage).
Fieldbus: 1LSB=0,1V; Type: I16; USS-Adr: 05 18 80 00 hex
read (3)
E99
Global
Uq: Voltage in q-direction in V (chained peak voltage).
Fieldbus: 1LSB=0,1V; Type: I16; USS-Adr: 05 18 C0 00 hex
read (3)
E100
Global
n-motor: Indication of the current motor speed as % in space-saving 16-bit format. The
specification is related to C01 n-max.
read (1)
Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767·LSB=200,0%); USS-Adr: 05 19 00 00 hex
E101
Global
I-Motor: Indicates the current motor current in % of the nominal device current at 4 kHz switching
frequency.
read (1)
Fieldbus: 1LSB=1%; PDO ; Type: U8; USS-Adr: 05 19 40 00 hex
E102
Lead position consumer: Receiving parameter for a lead position via IGB. E102 must be
allocated to parameter E163 of the lead position in IGB mapping.
Global
r=2, w=3
The parameter value is indicated scaled in revolutions. The internal scaling raw value is 1 MSB =
2048 revolutions.
MSB = most significant Bit
Information
When POSITool establishes a connection to the inverter, this parameter is always read, even when
"write parameter" was specified in POSITool as the data communication direction.
Fieldbus: 1LSB=1E-6revolutions; PDO ; Type: I32; (raw value:20 Bit=1·revolutions); USS-Adr: 05 19 80 00 hex
ID 441782.04
272
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E.. Display Value
Par.
Description
E103
Global
r=2, w=3
Lead position consumer timestamp: Receiving parameter for a time stamp for the lead
position (E102) via IGB. E103 must be allocated to parameter E164 of the lead position in IGB
mapping.
Fieldbusaddress
2867h
0h
2878h
0h
2879h
0h
287Ah
0h
The parameter value is indicated scaled in µs. The internal scaling raw value is 1 LSB = 7.63 ns.
LSB = least significant Bit
Information
When POSITool establishes a connection to the inverter, this parameter is always read, even when
"write parameter" was specified in POSITool as the data communication direction.
Fieldbus: 1LSB=1µs; PDO ; Type: U32; (raw value:4294967295 = 32767999 µs); USS-Adr: 05 19 C0 00 hex
E120
Global
Equipment: The text entered in the field "equipment" during step 1/6 of the device configuration.
Fieldbus: Type: Str8; USS-Adr: 05 1E 00 00 hex
r=1, w=5
E121
Global
User: The text entered in the field "user" during step 1/6 of the device configuration.
Fieldbus: Type: Str16; USS-Adr: 05 1E 40 00 hex
read (1)
E122.0
Global
Download information: Contains information on the active firmware: User/login name on the
PC with which the download was performed.
read (3)
Fieldbus: Type: Str16; USS-Adr: 05 1E 80 00 hex
E122.1
Global
Download information: Contains information on the active firmware: Computer name of the PC
with which the download was performed.
read (3)
Fieldbus: Type: Str16; USS-Adr: 05 1E 80 01 hex
E122.2
Global
Download information: Contains information on the active firmware: Date and time of the
firmware download.
read (3)
Fieldbus: Type: Str16; USS-Adr: 05 1E 80 02 hex
E122.3
Global
Download information: Contains information on the active firmware: Number of previously
performed downloads on the connected inverter.
read (3)
Fieldbus: Type: Str16; USS-Adr: 05 1E 80 03 hex
E123.0
Global
Download information 2: Contains information on the firmware download memory.
User/registration name on the PC on which the download was performed.
read (3)
Fieldbus: Type: Str16; USS-Adr: 05 1E C0 00 hex
E123.1
Global
Download information 2: Contains information on the firmware download memory. Computer
name of the PC with which the download was performed.
read (3)
Fieldbus: Type: Str16; USS-Adr: 05 1E C0 01 hex
ID 441782.04
Array
1h
287Ah
Array
2h
287Ah
Array
3h
287Ah
Array
0h
287Bh
Array
1h
287Bh
Array
273
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E.. Display Value
Par.
Description
E123.2
Global
Download information 2: Contains information on the firmware download memory. Date and
time of the firmware download.
read (3)
Fieldbus: Type: Str16; USS-Adr: 05 1E C0 02 hex
E123.3
Global
Download information 2: Contains information on the firmware download memory. Number of
downloads to the connected inverter that have been performed up to now.
read (3)
Fieldbus: Type: Str16; USS-Adr: 05 1E C0 03 hex
E149
Global
Hardware Version: Device family (FDS/MDS/SDS), hardware version of the power section
(layout version), power section manufacturing date (calendar week and year).
read (1)
Fieldbus: Type: Str16; USS-Adr: 05 25 40 00 hex
E151
Active switching frequency: The current switching frequency used by the inverter.
Global
Fieldbusaddress
2h
287Bh
Array
3h
287Bh
Array
2895h
0h
2897h
0h
2898h
0h
2899h
0h
Fieldbus: 1LSB=1kHz; Type: U8; USS-Adr: 05 25 C0 00 hex
read (2)
E152
Global
read (3)
SSI simulation raw value: Indicates the position which is output via the SSI simulation.
With a 25-bit SSI simulation, the upper 25 bits (31..7) of E152 correspond to the position output via
SSI.
With a 13-bit SSI simulation, bits 19..7 correspond to the position output via SSI.
Bits 6..0 are hidden when SSI is used.
Fieldbus: 1LSB=1; PDO ; Type: U32; USS-Adr: 05 26 00 00 hex
 Only visible when E58 = XEA 5000 (and XEA 5001 respectively) and H120 is greater than
80:Incremental-Encoder-Simulation.
E153
Global
read (3)
Accumulated raw-motor-encoder: Supplies an accumulated raw value of the motor encoder
parameterized in B26. The value contains the value of B35 as the adding offset.
Since these values are raw values, scaling depends on the motor encoder being used.
 EnDat®, SSI: MSB = 2048U
 Resolver: 65536LSBs = 1U (i.e., MSB = 32768U)
 Incremental encoder: 1LSB = 1Count (4-fold evaluation of the number of markers)
MSB = Most Significant Bit
LSB = Least Significant Bit
Fieldbus: 1LSB=1; PDO ; Type: U32; USS-Adr: 05 26 40 00 hex
 Only visible when B26 is not set to 0:inactive.
ID 441782.04
274
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E.. Display Value
Par.
Description
E154
Global
read (3)
Raw motor-encoder: Supplies the raw value of the motor encoder parameterized in B26. The
value contains the value of B35 as the adding offset.
Fieldbusaddress
289Ah
0h
289Bh
0h
289Ch
0h
28A1h
0h
28A3h
0h
Since these values are raw values, scaling depends on the motor encoder being used.
 EnDat®, SSI: MSB = 2048 U
 Resolver: 65536LSBs = 1U (i.e., MSB = 32768U)
 Incremental encoder: 1LSB = 1Count (4-fold evaluation of the number of markers), Counter
resolution: 16 bits
MSB = Most Significant Bit
LSB = Least Significant Bit
Fieldbus: 1LSB=1; PDO ; Type: U32; USS-Adr: 05 26 80 00 hex
 Only visible when B26 is not set to 0:inactive.
E155
Global
read (3)
Raw position-encoder: Raw value of the encoder parameterized in I02. The format varies
depending on which encoder is used. For EnDat® and SSI encoders, the data word is specified leftjustified by the encoder.
Example:
- EnDat® Multiturn, SSI: MSB = 2048 encoder revolutions
®
- EnDat Singleturn, resolver: MSB = 0.5 encoder revolutions
- Incremental encoder: Only the upper 16 bits are used. They contain the counted increments after
4-fold evaluation.
MSB = Most Significant Bit
Fieldbus: 1LSB=1; PDO ; Type: U32; USS-Adr: 05 26 C0 00 hex
E156
Global
read (3)
Raw master-encoder: Raw value of the encoder parameterized in G27. The format varies with
the encoder being used.
Example:
- EnDat® Multiturn, SSI: MSB = 2048 encoder revolutions
- EnDat® Singleturn, resolver: MSB = 0.5 encoder revolutions
- Incremental encoder: Only the upper 16 bits are used. They contain the counted increments after
4-fold evaluation.
MSB = Most Significant Bit
Fieldbus: 1LSB=1; PDO ; Type: U32; USS-Adr: 05 27 00 00 hex
E161
Global
n-rmpg: The speed reference value on the output of the ramp generator.
Fieldbus: 1LSB=0,1rpm; PDO ; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 05 28 40 00 hex
read (3)
E163
Global
read (2)
Lead-Position Producer: The parameter provides a lead axis position for the further
distribution via IGB. The source of this lead axis position can be selected in G104.
The parameter value is indicated scaled in revolutions. The internal scaling raw value is 1 MSB =
2048 revolutions.
(MSB = Most Significant Bit)
Fieldbus: 1LSB=1E-6revolutions; PDO ; Type: I32; (raw value:20 Bit=1·revolutions); USS-Adr: 05 28 C0 00 hex
ID 441782.04
275
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E.. Display Value
Par.
Description
E164
Global
Lead-Position Prod. Timestamp: The parameter provides a timestamp for the lead axis
position in E163 for the further distribution via IGB.
read (2)
The parameter value is indicated scaled in µs. The internal scaling raw value is 1 LSB = 7.63 ns.
Fieldbusaddress
28A4h
0h
28A5h
0h
28A6h
0h
28A7h
0h
28A8h
0h
28A9h
0h
28AAh
0h
28AEh
0h
28AFh
0h
(LSB = Least Significant Bit)
Fieldbus: 1LSB=1µs; PDO ; Type: U32; (raw value:4294967295 = 32767999 µs); USS-Adr: 05 29 00 00 hex
E165
Global
Id-ref: Reference value for the flux current in %.
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 05 29 40 00 hex
read (3)
E166
Global
Iq-ref: Reference value for the torque generating current in %.
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 05 29 80 00 hex
read (3)
E167
Global
read (3)
Power module state: Specifies whether the power end stage is enabled.
192: power module off;
248: activate power module;
255: power module on;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 05 29 C0 00 hex
E168
Global
Actual flux: Actual value of the flux in %.
Fieldbus: 1LSB=0,1%; Type: I32; (raw value:2147483647·LSB=800,0%); USS-Adr: 05 2A 00 00 hex
read (3)
E169
Global
Reference-flux: Reference value of the flux in %.
Fieldbus: 1LSB=0,1%; Type: I32; (raw value:4096·LSB=100%); USS-Adr: 05 2A 40 00 hex
read (3)
E170
Global
T-reference: Only for control types with torque specification. Reference torque currently required
by the speed controller.
read (2)
Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 05 2A 80 00 hex
E174
Global
read (3)
CRC-counter: Counts non-volatilely the CRC and Busy errors which occurred on EnDat®
encoders. The occurrence of CRC errors indicates EMC problems. This value can be reset with
A371.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 05 2B 80 00 hex
E175
Global
read (3)
SSI-errors: Counts the erroneous protocols which occur with SSI encoders. Erroneous protocols
are recognized when the maximum incremental value contained in H900 exceeds two consecutive
protocols. The erroneous value is rejected. When the second error occurs in succession, the
system malfunctions (maximum following error, encoder).
NOTE
The parameter H900 can only be read/changed by level-4 users.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 05 2B C0 00 hex
ID 441782.04
276
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E.. Display Value
Par.
Description
E176.0
Counter grind actions: Counts all B301 grind-brake 1 actions, regardless of result B301.2.
Axis
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 05 2C 00 00 hex
E176.1
Counter grind actions: Counts all B301 grind-brake 2 actions, regardless of result B302.2.
Axis
E177
Axis
read (2)
0h
28B0h
Array
read (2)
read (2)
Fieldbusaddress
1h
28B0h
Array
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 05 2C 00 01 hex
Time passed since last brake test: Indicates the time in hours which has passed since the
last B300 brake test action.
28B1h
0h
28B2h
0h
28B4h
0h
28B5h
0h
If brake management is not active (B310 = 0:inactive), the time remains zero. The time begins to
run when brake management is activated.
The time remaining until event 72 is indicated as the "brake test" message is calculated as follows:
(B311 timeout brake test B300) - (E177 time since last brake test).
The next brake test should be performed within this time.
The time remaining until event 72 is indicated as the "brake test" fault is calculated as follows:
2 * B311 - E177
The inverter is blocked due to the fault. The fault must be acknowledged before the functions B300
brake test and B301/B302 brake 1/2 grind can be performed.
Information
This parameter applies similarly to events 73, 74 and 75 in axes 2, 3 and 4.
Fieldbus: 1LSB=1hours; Type: U32; (raw value:4294967295 = 298261 hours); USS-Adr: 05 2C 40 00 hex
E178
Global
Counter ASP switching cycles: The parameter counts each request and deselection of the
ASP 5001 when the control part is active.
read (2)
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 05 2C 80 00 hex
E180
Global
read (3)
Status positive T-limit: The positive torque limit is in effect. In the "comfort reference value"
application, the signal can be read in D200 Bit 3 in fieldbus mode.
0: inactive;
1: active;
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 2D 00 00 hex
E181
Global
read (3)
Status negative T-limit: The negative torque limit is in effect. In the "comfort reference value"
application, the signal can be read in D200 Bit 4 in fieldbus mode.
0: inactive;
1: active;
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 2D 40 00 hex
ID 441782.04
277
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
E.. Display Value
Par.
Description
E182
Global
read (3)
Status positive n-limit: With operation with speed limiter or with torque control (C61 = 1), the
positive maximum speed was reached. With operation without speed limiter or with speed control
(C61 = 0), a too large positive reference value speed was limited to +C01.
Fieldbusaddress
28B6h
0h
28B7h
0h
28BFh
0h
28C8h
0h
0: inactive;
1: active;
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 2D 80 00 hex
E183
Global
read (3)
Status negative n-limit: With operation with speed limiter or torque control (C61 = 1), the
negative maximum speed was reached. With operation without speed limiter or with speed control
(C61 = 0), an excessively negative reference value speed was limited to -C01.
0: inactive;
1: active;
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 2D C0 00 hex
E191
Global
r=2, w=4
Runtime usage: Indication of the relative utilization of the real-time task by the graphic
configuration. The maximum value is calculated for each cycle of the configuration. When utilization
is too high (> approx. 75 %), the cycle time in A150 should be set to a higher value. With changes
of A150, E191 starts at 0 %.
Fieldbus: 1LSB=1%; Type: U16; raw value:1LSB=Fnct.no.9; USS-Adr: 05 2F C0 00 hex
E200
Global
read (2)
Device status byte: This byte contains status signals of the device controller.
Bit 0: Enabled. The drive is ready. No faults, the device status corresponds to E84 = 4:oper.
enabled.
Bit 1: Error. Device status is "fault reaction active" or "fault."
Bit 2: Quick stop (also quick stop in "fault reaction active").
Bit 3,4: With multiple-axis operation, the active axis is shown here.
Bit 4 Bit 3
Axis
0
0
Axis 1
0
1
Axis 2
1
0
Axis 3
1
1
Axis 4
Bit-5: Axis in E84 is active.
Bit-6: Local: Local operation is activated.
Bit-7: Bit 7 in A180 (device control byte) is copied once every device controller cycle to bit 7 in
E200 (device status byte). When bit 7 in A180 is toggled, the higher-level PLC is informed of
a concluded communication cycle (send, evaluate, return data). For PROFIBUS for
example, this permits cycle-time-optimized communication. The handshake bit 7 in A180 /
E200 supplies no information as to whether the application has reacted to the process data.
Depending on the application, other routines are provided for this (e.g., motion-Id for
command positioning).
NOTE
You can only use the toggle signal of bit 7 when device controllers 3:terminals, 4:USS, 5:CANopen,
6:PROFIBUS or 23:EtherCAT are used. If you configured a DSP 402 device controller, bit 7 always
has signal status 0.
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 32 00 00 hex
E941
Global
Id-min: Display of the smallest value that the controller can request as a reference value for E92
Id. The current reference value is displayed in E165 Id-ref.
read (3)
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=800,0%); USS-Adr: 05 EB 40 00 hex
ID 441782.04
278
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
F.. Control Interface
Par.
Description
F01
Axis
n brake release: The specified speed is represented internally as a frequency at which the
brake is released in control mode B20 = 0:V/f-control or B20 = 1:sensorless vector control.
r=2, w=2
The speed is not evaluated in control mode B20 = 2:vector control or B20 = 64:servo-control.
Fieldbusaddress
2A01h
0h
2A02h
0h
2A06h
0h
2A07h
0h
Value range in rpm: 1 ... 1 ... 8191
Fieldbus: 1LSB=1rpm; Type: I16; (raw value:32767 = 8191 rpm); USS-Adr: 06 00 40 00 hex
 Only visible when B20 = 0:V/f-control or B20 = 1:SLVC and F08 is not 0:inactive.
F02
n-brake set: When this speed is passed below during halting, the brake is applied.
Axis
Value range in rpm: 1 ... 30 ... 8191
r=2, w=2
Fieldbus: 1LSB=1rpm; Type: I16; (raw value:32767 = 8191 rpm); USS-Adr: 06 00 80 00 hex
 Only visible when B20 = 0:V/f-control or B20 = 1:SLVC and F08 is not 0:inactive.
F06
Axis
r=2, w=3
T-brake release: Only when F08 = 1 (brake). Defines the release time of the connected brake.
Select F06 as a factor 1.3 greater than the time t2 (SMS Catalog, Section M: Servo Motors
ED+EK). When the halt/quick stop signal is enabled or removed, the release is delayed by the time
F06.
NOTE
When a coupling relay is used, the brake release time must be increased by the trigger time of the
relay.
For B07 = 0 (only for SDS 5000) and B04 = 1, this parameter is described after each power on with
data from the electronic name plate. Any manual changes are therefore only effective until the next
switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile
memory. For permanent changes, set B07 = 1 and then save the changes with A00 = 1.
Note that in this case F07 can also no longer be read from the name plate.
Value range in ms: 0 ... 0 ... 32767
Fieldbus: 1LSB=1ms; Type: I16; USS-Adr: 06 01 80 00 hex
 Only visible when F08 brake is not 0:inactive.
F07
Axis
r=2, w=3
T-brake set: Only when F08 = 1 (brake). Defines the application time of the connected brake.
Select F07 as a factor 1.3 greater than the time t1 (SMS Catalog, Section M: Servo Motors
ED+EK). With the removal of the enable and halt/quick stop, the drive still remains in the control for
the time F07.
NOTE
When a coupling relay is used, the brake application time must be extended by the opening time of
the rely.
For B07 = 0 (only for SDS 5000) and B04 = 1, this parameter is described after each power on with
data from the electronic name plate. Any manual changes are therefore only effective until the next
switch off and switch on, even if the changes have been saved in the Paramodule in non-volatile
memory. For permanent changes, set B07 = 1 and then save the changes with A00 = 1.
Note that in this case F06 can also no longer be read from the name plate.
Value range in ms: 0 ... 0 ... 32767
Fieldbus: 1LSB=1ms; Type: I16; USS-Adr: 06 01 C0 00 hex
 Only visible when F08 brake is not 0:inactive.
ID 441782.04
279
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
F.. Control Interface
Par.
Description
F08
Axis
r=2, w=2
Brake: Activates the control of the halting brake by the inverter. When F08 is parameterized to
0:inactive, the status of brake activation corresponds to the status of A900.
With SDS 5000, F08 must be activated so that F09 can be set and actions B300, B301 and B302
can be triggered. When B310 brake management is active, F08 must be activated.
Fieldbusaddress
2A08h
0h
2A09h
0h
Information
A change in this parameter does not take effect for the brake management of the SDS 5000 until
after the device is turned off and on again
0: inactive; The brake is not controlled by the application. It is always released with enable on (24 V
on X2).
1: active; The brake is activated by the application. The activation of the brake is triggered by
setting the stop or quick stop signal and removing the enable.
The integral portion of the speed controller (reference torque) is saved at the moment the brake is
applied and restored during the restart.
The saved torque is deleted when the enable is deactivated (A900 = 0).
2: Do not save torque; The function of the brake is identical to the selection 1:active.
The integral portion of the speed controller (reference torque) is NOT saved.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 06 02 00 00 hex
F09
Axis
r=2, w=2
Utilized brakes:
WARNING
Danger of injury and property damage! Selection of the actions B300 Brake test or B301/B302
brake 1/2 grind without an actually connected brake can cause dangerous, unintentional
movements of the drive with maximum motor torque! It is very important to adjust the setting of this
parameter to the wiring of the brake!
Parameter F09 specifies which brake will have cyclic status monitoring. If the reported status of the
brake does not coincide with that of the controller, fault 34 hardware defect, cause 4:brake1 or
5:brake2 will be triggered.
Actions B300 brake test and B301/B302 brake 1/2 grind use parameter F09 to determine which
brakes are present. The actions are only performed on brakes which were parameterized before as
present.
Information
The settings for brake management must be performed for every configured axis (e.g., in 1.F09 for
axis 1 and in 3.F09 for axis 3).
1: Brake1, Only one brake is connected to X300.1 of STÖBER's BRS 5000 brake module.
2: Brake2, Only one brake is connected to X300.3 of STÖBER's BRS 5000 brake module.
3: Brake 1and2; Two brakes are connected to X300 of STÖBER's BRS 5000 brake module.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 06 02 40 00 hex
 Only visible when F08 brake is not 0:inactive.
ID 441782.04
280
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
F.. Control Interface
Par.
Description
F10
Global
r=3, w=3
Relay 1-function: The parameters for the behavior of relay 1 are set in F10.
.
Fieldbusaddress
2A0Ah
0h
2A0Bh
0h
2A0Ch
0h
2A0Dh
0h
0: Function 0;
Relay 1 is open if no configuration is active or
E48 device status:
0: Self-test
5: Malfunction
6: Malfunction reaction active
Relay 1 is closed if a configuration is active and
E48 device status:
1: Switch on inhibit
2: Ready for switch on
3: Switched on
4: Operation enabled
7: Fast stop active
.
1: Function 1;
Relay 1 is open if no configuration is active or
E48 device status:
0: Self-test
1: Switch on inhibit
5: Malfunction
Relay 1 is closed if a configuration is active and
E48 device status:
2: Ready for switch on
3: Switched on
4: Operation enabled
6: Malfunction reaction
7: Fast stop active
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 06 02 80 00 hex
F11
Axis
r=2, w=2
AE1-Offset: F11 is added to E10. The result is multiplied by F12. This signal is supplied to the
configuration. To compensate for an offset (the value which arrives at the inverter when the
controller specifies 0 V), this must be entered in F11 with the opposite sign.
Value range in V: -10.000 ... 0 ... 10.000
Fieldbus: 1LSB=0,001V; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 06 02 C0 00 hex
 Only visible when a board is installed in the bottom option slot.
F12
Axis
r=2, w=2
AE1-gain: The result of the addition of F11 and E10 is multiplied by F12. This signal is supplied to
the configuration.
Value range in %: -400.0 ... 100 ... 400.0
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=400,0%); USS-Adr: 06 03 00 00 hex
 Only visible when a board is installed in the bottom option slot.
F13
Axis
r=2, w=2
AE1 ref low pass filter: The time constant for filtering a reference value specified on AE1 is
parameterized in F13.
Value range in ms: 0.0 ... 5 ... 200.0
Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1LSB=Fnct.no.11; USS-Adr: 06 03 40 00 hex
ID 441782.04
281
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
F.. Control Interface
Par.
Description
F14
Axis, OFF
r=2, w=2
AE1-mode selector: The reference value mode for AE1 is set in F14. When 0:-10V to 10V is
selected, a voltage reference value can be connected to AE1 in the specified range.
The selections 1 and 2 can be set when a current reference value is specified. With 1: 0 to 20mA
the specification 0 mA is interpreted as the minimum reference value and 20 mA as the maximum
reference value. This interpretation is reversed for the setting 2. In other words, at 0 mA (wire
break) the motor is activated with the maximum reference value (pump control).
Wire break monitoring can be activated in F15 for the settings 3 and 4. With these settings a current
reference value of 4 to 20 mA is connected. With 3:4 to 20 mA, 4 mA is processed as the minimum
reference value and 20 mA as the maximum reference value. When the selection is 4:20 to 4 mA,
processing is reversed (i.e., at 4 mA the motor is activated with the maximum reference value).
0:
1:
2:
3:
4:
Fieldbusaddress
2A0Eh
0h
2A0Fh
0h
2A15h
0h
2A16h
0h
2A1Fh
0h
2A20h
0h
-10V to 10V;
0 to 20mA;
20 to 0mA;
4 to 20mA;
20 to 4mA;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 06 03 80 00 hex
F15
Axis
r=2, w=2
Wire breakage sensing: When F14 is set to 3:4 to 20 mA or 4:20 to 4 mA, wire break
monitoring can be activated in F15. Active wire break monitoring means that application event 4 will
be generated as per the parameterization in U140 to U142 if a wire break occurs. The drive
continues at the velocity which was valid before the wire break until either a fault is generated by
the event parameterization, the enable is switched off or the drive is stopped with a stop or quick
stop command.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 06 03 C0 00 hex
F21
Axis
r=2, w=2
AE2-Offset: F21 is added to E11. The result is multiplied by F22. This signal is supplied to the
configuration. To compensate for an offset (the value which arrives at the inverter when the
controller specifies 0 V), this must be entered in F21 with the opposite sign.
Value range in V: -10.000 ... 0 ... 10.000
Fieldbus: 1LSB=0,001V; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 06 05 40 00 hex
 Only visible when a board is installed in the bottom option slot.
F22
Axis
r=2, w=2
AE2-gain: F21 is added to E11. The result is multiplied by F22. This signal is supplied to the
configuration.
Value range in %: -400.0 ... 100 ... 400.0
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=400,0%); USS-Adr: 06 05 80 00 hex
 Only visible when a board is installed in the bottom option slot.
F31
Axis
r=2, w=2
AE3-Offset: F31 is added to E74. The result is multiplied by F32. This signal is supplied to the
configuration. To compensate an offset (the value which arrives at the inverter when the controller
specifies 0 V), this must be entered in F31 with opposite sign.
Value range in V: -10.000 ... 0 ... 10.000
Fieldbus: 1LSB=0,001V; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 06 07 C0 00 hex
 Only visible when an XEA board is installed in the bottom option slot.
F32
Axis
r=2, w=2
AE3-gain: F31 is added to E74. The result is multiplied by F32. This signal is supplied to the
configuration.
Value range in %: -400.0 ... 100 ... 400.0
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=400,0%); USS-Adr: 06 08 00 00 hex
 Only visible when an XEA board is installed in the bottom option slot.
ID 441782.04
282
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
F.. Control Interface
Par.
Description
F40
Axis
r=2, w=2
Analog-output1-source: The value output in analog output AA1 is calculated as follows from
the parameters F40 to F44:
Fieldbusaddress
2A28h
0h
2A29h
0h
Up to and including V 5.6-C:
1. The following intermediate result is initially calculated: (value of the parameter entered in F40) x
F42 + F41
2. This intermediate result is then smoothed with the time constant specified in F43.
3. If this is activated in F44, the amount is formed from the smoothed value.
From V 5.6-D
1. The following intermediate result is initially calculated: (value of the parameter entered in F40) x
F42
2. This intermediate result is then smoothed with the time constant specified in F43.
3. If this is activated in F44, the amount is formed from the smoothed value.
4. The offset F43 is then added.
A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mV. The scanning time
corresponds to A150.
Enter the coordinate of the parameter in F40 whose value you want to output to AA1. You can only
enter parameters with the data type 16-bit with sign as the source (data type I16, ± 16384 = ± 10
V).
Value range: A00 ... E100 ... A.Gxxx.yyyy (Parameter number in plain text)
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 06 0A 00 00 hex
 Only visible when a board is installed in the bottom option slot.
F41
Axis
r=2, w=2
Analog-output1-offset: The value output in analog output AA1 is calculated as follows from the
parameters F40 to F44:
Up to and including V 5.6-C:
1. The following intermediate result is initially calculated: (value of the parameter entered in F40) x
F42 + F41
2. This intermediate result is then smoothed with the time constant specified in F43.
3. If this is activated in F44, the amount is formed from the smoothed value.
From V 5.6-D
1. The following intermediate result is initially calculated: (value of the parameter entered in F40) x
F42
2. This intermediate result is then smoothed with the time constant specified in F43.
3. If this is activated in F44, the amount is formed from the smoothed value.
4. The offset F43 is then added.
A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mV. The scanning time
corresponds to A150.
Enter the offset in F41.
Value range in V: -10.000 ... 0 ... 10.000
Fieldbus: 1LSB=0,001V; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 06 0A 40 00 hex
 Only visible when a board is installed in the bottom option slot.
ID 441782.04
283
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
F.. Control Interface
Par.
Description
F42
Axis
r=2, w=2
Analog-output1-gain: The value output in analog output AA1 is calculated as follows from the
parameters F40 to F44:
Fieldbusaddress
2A2Ah
0h
2A2Bh
0h
Up to and including V 5.6-C:
1. The following intermediate result is initially calculated: (value of the parameter entered in F40) x
F42 + F41
2. This intermediate result is then smoothed with the time constant specified in F43.
3. If this is activated in F44, the amount is formed from the smoothed value.
From V 5.6-D
1. The following intermediate result is initially calculated: (value of the parameter entered in F40) x
F42
2. This intermediate result is then smoothed with the time constant specified in F43.
3. If this is activated in F44, the amount is formed from the smoothed value.
4. The offset F43 is then added.
A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mV. The scanning time
corresponds to A150.
Enter the ratio factor in F42.
Value range in %: -3198.9 ... 100 ... 3198.9
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:1024·LSB=100%); USS-Adr: 06 0A 80 00 hex
 Only visible when a board is installed in the bottom option slot.
F43
Axis
r=2, w=2
Analog-output1-act low pass filter: The value output in analog output AA1 is calculated as
follows from the parameters F40 to F44:
Up to and including V 5.6-C:
1. The following intermediate result is initially calculated: (value of the parameter entered in F40) x
F42 + F41
2. This intermediate result is then smoothed with the time constant specified in F43.
3. If this is activated in F44, the amount is formed from the smoothed value.
From V 5.6-D
1. The following intermediate result is initially calculated: (value of the parameter entered in F40) x
F42
2. This intermediate result is then smoothed with the time constant specified in F43.
3. If this is activated in F44, the amount is formed from the smoothed value.
4. The offset F43 is then added.
A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mV. The scanning time
corresponds to A150.
Enter the time constant for smoothing the intermediate result in F43.
Value range in ms: 0.0 ... 5 ... 200.0
Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1LSB=Fnct.no.11; USS-Adr: 06 0A C0 00 hex
ID 441782.04
284
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
F.. Control Interface
Par.
Description
F44
Axis
r=2, w=2
Analog-output1-absolut: The value output in analog output AA1 is calculated as follows from
the parameters F40 to F44:
Fieldbusaddress
2A2Ch
0h
2A32h
0h
Up to and including V 5.6-C:
1. The following intermediate result is initially calculated: (value of the parameter entered in F40) x
F42 + F41
2. This intermediate result is then smoothed with the time constant specified in F43.
3. If this is activated in F44, the amount is formed from the smoothed value.
From V 5.6-D
1. The following intermediate result is initially calculated: (value of the parameter entered in F40) x
F42
2. This intermediate result is then smoothed with the time constant specified in F43.
3. If this is activated in F44, the amount is formed from the smoothed value.
4. The offset F43 is then added.
A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mV. The scanning time
corresponds to A150.
In F44, activate the amount generation for analog output AA1. Amount generation is activated when
you set F44 = 1:active.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 06 0B 00 00 hex
F50
Axis
r=2, w=2
Analog-output2-source: The value output in analog output AA2 is calculated as follows from
the parameters F50 to F54:
Up to and including V 5.6-C:
1. The following intermediate result is initially calculated: (value of the parameter entered in F50) x
F52 + F51
2. This intermediate result is then smoothed with the time constant specified in F53.
3. If this is activated in F54, the amount is formed from the smoothed value.
From V 5.6-D
1. The following intermediate result is initially calculated: (value of the parameter entered in F50) x
F52
2. This intermediate result is then smoothed with the time constant specified in F53.
3. If this is activated in F54, the amount is formed from the smoothed value.
4. The offset F53 is then added.
A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mV. The scanning time
corresponds to A150.
Enter the coordinate of the parameter in F50 whose value you want to output to AA2. You can only
enter parameters with the data type 16-bit with sign as the source (data type I16, ± 16384 = ± 10
V).
Value range: A00 ... E00 ... A.Gxxx.yyyy (Parameter number in plain text)
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 06 0C 80 00 hex
 Only visible when a board is installed in the bottom option slot.
ID 441782.04
285
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
F.. Control Interface
Par.
Description
F51
Axis
r=2, w=2
Analog-output2-offset: The value output in analog output AA2 is calculated as follows from the
parameters F50 to F54:
Fieldbusaddress
2A33h
0h
2A34h
0h
Up to and including V 5.6-C:
1. The following intermediate result is initially calculated: (value of the parameter entered in F50) x
F52 + F51
2. This intermediate result is then smoothed with the time constant specified in F53.
3. If this is activated in F54, the amount is formed from the smoothed value.
From V 5.6-D
1. The following intermediate result is initially calculated: (value of the parameter entered in F50) x
F52
2. This intermediate result is then smoothed with the time constant specified in F53.
3. If this is activated in F54, the amount is formed from the smoothed value.
4. The offset F53 is then added.
A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mV. The scanning time
corresponds to A150.
Enter the offset in F51.
Value range in V: -10.000 ... 0 ... 10.000
Fieldbus: 1LSB=0,001V; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 06 0C C0 00 hex
 Only visible when a board is installed in the bottom option slot.
F52
Axis
r=2, w=2
Analog-output2-gain: The value output in analog output AA2 is calculated as follows from the
parameters F50 to F54:
Up to and including V 5.6-C:
1. The following intermediate result is initially calculated: (value of the parameter entered in F50) x
F52 + F51
2. This intermediate result is then smoothed with the time constant specified in F53.
3. If this is activated in F54, the amount is formed from the smoothed value.
From V 5.6-D
1. The following intermediate result is initially calculated: (value of the parameter entered in F50) x
F52
2. This intermediate result is then smoothed with the time constant specified in F53.
3. If this is activated in F54, the amount is formed from the smoothed value.
4. The offset F53 is then added.
A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mV. The scanning time
corresponds to A150.
Enter the ratio factor in F52.
Value range in %: -3198.9 ... 100 ... 3198.9
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:1024·LSB=100%); USS-Adr: 06 0D 00 00 hex
 Only visible when a board is installed in the bottom option slot.
ID 441782.04
286
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
F.. Control Interface
Par.
Description
F53
Axis
r=2, w=2
Analog-output2-act low pass filter: The value output in analog output AA2 is calculated as
follows from the parameters F50 to F54:
Fieldbusaddress
2A35h
0h
2A36h
0h
2A3Dh
0h
Up to and including V 5.6-C:
1. The following intermediate result is initially calculated: (value of the parameter entered in F50) x
F52 + F51
2. This intermediate result is then smoothed with the time constant specified in F53.
3. If this is activated in F54, the amount is formed from the smoothed value.
From V 5.6-D
1. The following intermediate result is initially calculated: (value of the parameter entered in F50) x
F52
2. This intermediate result is then smoothed with the time constant specified in F53.
3. If this is activated in F54, the amount is formed from the smoothed value.
4. The offset F53 is then added.
A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mV. The scanning time
corresponds to A150.
Enter the time constant for smoothing the intermediate result in F53.
Value range in ms: 0.0 ... 5 ... 200.0
Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1LSB=Fnct.no.11; USS-Adr: 06 0D 40 00 hex
F54
Axis
r=2, w=2
Analog-output2-absolut: The value output in analog output AA2 is calculated as follows from
the parameters F50 to F54:
Up to and including V 5.6-C:
1. The following intermediate result is initially calculated: (value of the parameter entered in F50) x
F52 + F51
2. This intermediate result is then smoothed with the time constant specified in F53.
3. If this is activated in F54, the amount is formed from the smoothed value.
From V 5.6-D
1. The following intermediate result is initially calculated: (value of the parameter entered in F50) x
F52
2. This intermediate result is then smoothed with the time constant specified in F53.
3. If this is activated in F54, the amount is formed from the smoothed value.
4. The offset F53 is then added.
A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mV. The scanning time
corresponds to A150.
In F54, activate the amount generation for analog output AA2. Amount generation is activated when
you set F54 = 1:active.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 06 0D 80 00 hex
F61
BA1-source: The value of the parameterized coordinate is output on binary output 1 (X101.8).
Axis
NOTE
Please remember that binary output BA1 is already being used by the encoder simulation via the
binary outputs. In this case no entry is permitted in F61.
r=2, w=2
Value range: A00 ... F181 ... A.Gxxx.yyyy (Parameter number in plain text)
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 06 0F 40 00 hex
 Only visible when a board is installed in the bottom option slot.
ID 441782.04
287
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
F.. Control Interface
Par.
Description
F62
Axis
r=2, w=2
BA2-source: The value of the parameterized coordinate is output on binary output 2 (X101.9).
Fieldbusaddress
2A3Eh
0h
2A3Fh
0h
2A40h
0h
2A41h
0h
2A42h
0h
2A43h
0h
2A44h
0h
2A45h
0h
NOTE
Please remember that binary output BA2 is already being used by the encoder simulation via the
binary outputs. In this case no entry is permitted in F62.
Value range: A00 ... F182 ... A.Gxxx.yyyy (Parameter number in plain text)
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 06 0F 80 00 hex
 Only visible when a board is installed in the bottom option slot.
F63
BA3-source: The value of the parameterized coordinate is output on binary output 1 (X103.1).
Axis
Value range: A00 ... F183 ... A.Gxxx.yyyy (Parameter number in plain text)
r=2, w=2
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 06 0F C0 00 hex
 Only visible when an XEA board is installed in the bottom option slot.
F64
BA4-source: The value of the parameterized coordinate is output on binary output 4 (X103.2).
Axis
Value range: A00 ... F184 ... A.Gxxx.yyyy (Parameter number in plain text)
r=2, w=2
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 06 10 00 00 hex
 Only visible when an XEA board is installed in the bottom option slot.
F65
BA5-source: The value of the parameterized coordinate is output on binary output 5 (X103.3).
Axis
Value range: A00 ... F185 ... A.Gxxx.yyyy (Parameter number in plain text)
r=2, w=2
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 06 10 40 00 hex
 Only visible when an XEA board is installed in the bottom option slot.
F66
BA6-source: The value of the parameterized coordinate is output on binary output 6 (X103.4).
Axis
Value range: A00 ... F186 ... A.Gxxx.yyyy (Parameter number in plain text)
r=2, w=2
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 06 10 80 00 hex
 Only visible when an XEA board is installed in the bottom option slot.
F67
BA7-source: The value of the parameterized coordinate is output on binary output 7 (X103.5).
Axis
Value range: A00 ... F187 ... A.Gxxx.yyyy (Parameter number in plain text)
r=2, w=2
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 06 10 C0 00 hex
 Only visible when an XEA board is installed in the bottom option slot.
F68
BA8-source: The value of the parameterized coordinate is output on binary output 8 (X103.6).
Axis
Value range: A00 ... F188 ... A.Gxxx.yyyy (Parameter number in plain text)
r=2, w=2
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 06 11 00 00 hex
 Only visible when an XEA board is installed in the bottom option slot.
F69
Axis
r=2, w=2
BA9-source: The value of the parameterized coordinate is output on binary output 9 (X103.7).
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 06 11 40 00 hex
 Only visible when an XEA board is installed in the bottom option slot.
ID 441782.04
288
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
F.. Control Interface
Par.
Description
F70
BA10-source: The value of the parameterized coordinate is output on binary output 10 (X103.8).
Axis
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 06 11 80 00 hex
r=2, w=2
 Only visible when an XEA board is installed in the bottom option slot.
F80
BA1 on delay: A signal which is output on BA1 can be delayed with the parameters F80 and
F81. When a value is entered in F80, the switchon procedure of the signal is delayed by this
number of milliseconds.
Axis
r=2, w=2
Fieldbusaddress
2A46h
0h
2A50h
0h
2A51h
0h
2A52h
0h
2A53h
0h
2A54h
0h
2A55h
0h
Value range in ms: 0 ... 0 ... 4294967
Fieldbus: 1LSB=1ms; Type: U32; (raw value:1LSB=0,00099999993131496·ms); USS-Adr: 06 14 00 00 hex
 Only visible when a board is installed in the bottom option slot.
F81
Axis
r=2, w=2
BA1 off delay: A signal which is output on BA1 can be delayed with the parameters F80 and
F81. When a value is entered in F81, the switchoff procedure of the signal is delayed by this
number of milliseconds.
Value range in ms: 0 ... 0 ... 4294967
Fieldbus: 1LSB=1ms; Type: U32; (raw value:1LSB=0,00099999993131496·ms); USS-Adr: 06 14 40 00 hex
 Only visible when a board is installed in the bottom option slot.
F82
Axis
r=2, w=2
BA1 inverting: When the parameter F82 is activated, the output of the signal entered in F61 is
inverted on BA1.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 06 14 80 00 hex
 Only visible when a board is installed in the bottom option slot.
F83
Axis
r=2, w=2
BA2 on delay: A signal which is output on BA2 can be delayed with the parameters F83 and
F84. When a value is entered in F83, the switchon procedure of the signal is delayed by this
number of milliseconds.
Value range in ms: 0 ... 0 ... 4294967
Fieldbus: 1LSB=1ms; Type: U32; (raw value:1LSB=0,00099999993131496·ms); USS-Adr: 06 14 C0 00 hex
 Only visible when a board is installed in the bottom option slot.
F84
Axis
r=2, w=2
BA2 off delay: A signal which is output on BA2 can be delayed with the parameters F83 and
F84. When a value is entered in F84, the switch-off procedure of the signal is delayed by this
number of milliseconds.
Value range in ms: 0 ... 0 ... 4294967
Fieldbus: 1LSB=1ms; Type: U32; (raw value:1LSB=0,00099999993131496·ms); USS-Adr: 06 15 00 00 hex
 Only visible when a board is installed in the bottom option slot.
F85
Axis
r=2, w=2
BA2 inverting: When the parameter F85 is activated, the output of the signal entered in F62 is
inverted on BA2.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 06 15 40 00 hex
 Only visible when a board is installed in the bottom option slot.
ID 441782.04
289
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
F.. Control Interface
Par.
Description
F90
Global
r=2, w=3
F91
Global
r=2, w=3
F100
Global,
OFF
r=1, w=1
Release time axis-switch: Specifies the release time of the contactor used for the axis
switchover. This minimum time is waited before the inverter lets the next contactor be applied.
Fieldbusaddress
2A5Ah
0h
2A5Bh
0h
2A64h
0h
Value range in ms: 0 ... 20 ... 32767
Fieldbus: 1LSB=1ms; Type: I16; USS-Adr: 06 16 80 00 hex
Set time axis-switch: Specifies the set time of the contactor used for the axis switchover. This
time is at least waited before the inverter lets the axis be electrified.
Value range in ms: 0 ... 20 ... 32767
Fieldbus: 1LSB=1ms; Type: I16; USS-Adr: 06 16 C0 00 hex
Brake release source: Selection of the source for the "release brake" signal. The signal can be
permanently pre-specified as supplied by the binary inputs or the fieldbus. With F100 = 2:Parameter, A180, bit 6 (global parameter) is used as the signal source. This is the setting for fieldbus
operation.
CAUTION
The "release brake" signal releases the brake regardless of the device state - this may cause
accidental movements.
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 06 19 00 00 hex
ID 441782.04
290
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
F.. Control Interface
Par.
Description
F181
Global
read (1)
BA1: Bit 0 from the BA control bits byte F210. In the "comfort reference value" application, the
status of BE1 can be indicated based on F209.
Fieldbusaddress
2AB5h
0h
2AB6h
0h
2AB7h
0h
2AB8h
0h
2AB9h
0h
2ABAh
0h
0: Low;
1: High;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 06 2D 40 00 hex
 Only visible when a board is installed in the bottom option slot.
F182
Global
read (1)
BA2: Bit 1 from the BA control bits byte F210. In the "comfort reference value" application, the
status of BE2 can be indicated based on F209.
0: Low;
1: High;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 06 2D 80 00 hex
 Only visible when a board is installed in the bottom option slot.
F183
Global
read (1)
BA3: Bit 2 from the BA control bits byte F210. In the "comfort reference value" application, the
status of BE3 can be indicated based on F209.
0: Low;
1: High;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 06 2D C0 00 hex
 Only visible when an XEA board is installed in the bottom option slot.
F184
Global
read (1)
BA4: Bit 3 from the BA control bits byte F210. In the "comfort reference value" application, the
status of BE4 can be indicated based on F209.
0: Low;
1: High;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 06 2E 00 00 hex
 Only visible when an XEA board is installed in the bottom option slot.
F185
Global
read (1)
BA5: Bit 4 from the BA control bits byte F210. In the "comfort reference value" application, the
status of BE5 can be indicated based on F209.
0: Low;
1: High;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 06 2E 40 00 hex
 Only visible when an XEA board is installed in the bottom option slot.
F186
Global
read (1)
BA6: Bit 5 from the BA control bits byte F210. In the "comfort reference value" application, the
status of BE6 can be indicated based on F209.
0: Low;
1: High;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 06 2E 80 00 hex
 Only visible when an XEA board is installed in the bottom option slot.
ID 441782.04
291
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
F.. Control Interface
Par.
Description
F187
Global
read (1)
Fieldbusaddress
BA7: Bit 6 from the BA control bits byte F210. In the "comfort reference value" application, the
status of BE7 can be indicated based on F209.
2ABBh
0h
2ABCh
0h
2AC8h
0h
2AD2h
0h
2B2Ch
0h
0: Low;
1: High;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 06 2E C0 00 hex
 Only visible when an XEA board is installed in the bottom option slot.
F188
Global
read (1)
BA8: Bit 7 from the BA control bits byte F210. In the "comfort reference value" application, the
status of BE8 can be indicated based on F209.
0: Low;
1: High;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 06 2F 00 00 hex
 Only visible when an XEA board is installed in the bottom option slot.
F200
Global
read (2)
F210
Global
r=2, w=2
BE-byte: BE1-BE8 as bit pattern for space-saving transmission on the process data channel.
Binary input 9 to 13 (only with XEA 5000 and XEA 5001 for MDS 5000 or LEA 5000 for FDS 5000
respectively) are available in parameter E19.
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 06 32 00 00 hex
BA control bits: The parameter F210 is primarily used to permit a higher-level controller access
to the binary outputs of the inverter. The individual bits of F210 are automatically extracted in the bit
parameters F181 ... F188. With the help of the parameters F61 ... F70, the individual bits can be
written to the binary outputs.
In the "comfort reference value" application, the function of F210 can be changed with the
parameter F209.
Value range: 0 ... 00000000bin ... 255
(Representation binary)
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 06 34 80 00 hex
 Only visible when a board is installed in the bottom option slot.
F300
Axis
read (2)
Open brake: Indication of the "release brake" signal. With HIGH, the halting brake is activated
and released via relay contacts 1 and 2 on plug X2 (MDS/FDS) or X5 (SDS), regardless of the
current operating state of the inverter. The "release brake" signal is required, for example, to
manually move the drive without enable or without power (with an external 24 V power supply).
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 06 4B 00 00 hex
ID 441782.04
292
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
G.. Technology
Par.
Description
G21
Axis
r=1, w=1
Master revolution: For specification of the master-slave transmission ratio for master-slave
coupling without coupling characteristic curve and without own master units. The slave speed is
calculated from nSlave=G22/G21·nMaster. With G21 = 1 and G22 = 2, the slave runs twice as fast
as the master. We recommend selecting the number of increments of the master encoder as per
G27 as the power of 2 (e.g., 1024). G22 and G21 are shortened mathematically internally against
each other and multiplied by the related increment numbers per encoder revolution. The result is
stored in parameters G253 and G254. In addition to the inversion of the encoder signal in the
appropriate parameter of the H group, the counting direction of the master position can be reversed
with a negative value in G21.
Fieldbusaddress
2C15h
0h
2C16h
0h
2C17h
0h
2C1Bh
0h
2C1Ch
0h
Value range: -31Bit ... 1 ... 31 Bit
Fieldbus: 1LSB=1; Type: I32; USS-Adr: 07 05 40 00 hex
G22
Axis
r=1, w=1
Slave revolutions: For specification of the master-slave transmission ratio for master-slave
coupling without coupling characteristic curve and without own master units. The slave speed is
calculated from nSlave=G22/G21·nMaster. With G21 = 1 and G22 = 2, the slave runs twice as fast
as the master. We recommend selecting the number of increments of the master encoder as per
G27 as the power of 2 (e.g., 1024). G22 and G21 are shortened mathematically internally against
each other and multiplied by the related increment numbers per encoder revolution. The result is
stored in parameters G253 and G254.
Value range: 0 ... 1 ... 31 Bit
Fieldbus: 1LSB=1; Type: I32; USS-Adr: 07 05 80 00 hex
G23
Axis
r=1, w=1
Gear ratio: Affects the master-slave ratio without delay. G23 and the source set in G130 together
represent the effective master-slave relationship. This makes it possible to adjust a basic ratio
somewhat (e.g., via analog input). Example: Parameterize G130 to an analog input. Set G23 to 100
%, for example. Set the analog input factor to 1 %, for instance. After this, the master-slave ratio is
99 % to 101 % at -10 V to +10 V on the analog input.
When the scaling causes excessively large counter or denominator values, the rounding-free
transmission ratio can no longer be guaranteed. This is true when G246 has a value greater than 1.
Value range in %: 0.00 ... 100 ... 200.00
Fieldbus: 1LSB=0,01%; Type: I16; (raw value:32767·LSB=200,00%); USS-Adr: 07 05 C0 00 hex
G27
Master encoder: The encoder which is to supply the signals for the master position is selected.
Axis, OFF
0:
1:
3:
4:
5:
6:
r=3, w=3
inactive; No master signals are evaluated.
BE-encoder; Master signals are connected to binary inputs.
X140-encoder; Master signals arrive via plug connector X140.
X120-encoder; Master signals arrive via plug connector X120.
virt. Master; Master position of the integrated virtual master.
IGB; Only for SDS 5000. The values in E102 and E103 are used as master signals. Remember
that E102 and E103 must be written by the IGB-Motionbus. For an explanation of the settings
required for this, see the Operating Manual SDS 5000 (ID 442289), chapter communication.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 06 C0 00 hex
G28
Axis
n-master: For monitoring purposes during commissioning. Speed of the master encoder as per
G27.
read (0)
Fieldbus: 1LSB=1rpm; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 07 07 00 00 hex
ID 441782.04
293
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
G.. Technology
Par.
Description
G30
Axis
r=1, w=1
Type of master axis: Specification of whether the master axis is an axis with limited positioning
range or an endless axis.
Fieldbusaddress
2C1Eh
0h
2C1Fh
0h
2C22h
0h
2C24h
0h
0: limited;
1: endless;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 07 80 00 hex
G31
Axis
r=2, w=2
External speed feed forward: The dynamic angle of deviation for acceleration procedures is
reduced with the speed feed forward. Under normal circumstances, the master increments are
differentiated and added as feed forward to the speed reference value. Advantage: No additional
wiring. Disadvantage: The master must move first before the slave can react. See also G131,
G231, G331.
Note: When the speed feed forward is performed with an external speed signal from the master
drive, remember that the speed feed forward must be calculated with the speed ratio G21/G22. The
speed feed forward refers to the slave drive.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 07 C0 00 hex
G34
Axis
r=1, w=1
Reference position of master axis: Value which is loaded to the reference point as the
actual position for the master axis. The reference point is used when the slave axis is being
referenced. Consecutive re-referencing is available with the master reference switch (input).
NOTE
The parameter is identical with I34 of the slave axis.
Value range in G49: -47185920.00 ... 0 ... 47185919.97
Fieldbus: 1LSB=siehe G46; PDO ; Type: P64; raw value:1LSB=Fnct.no.19; USS-Adr: 07 08 80 00 hex
G36
Axis
r=1, w=1
Continous master referencing: A rising edge on the master reference switch input causes
dynamic re-referencing of the actual master position.
CAUTION
When coupled in, re-referencing abruptly creates a following error in the amount of the change in
position during re-referencing.
0: inactive;
1: standard; There is exactly one reference switch (input) over the total positioning range or within
a circular length (endless axis). When the reference edge of this reference switch (input) is
passed, the actual position is automatically corrected.
2: periodic; Several reference switches (inputs) each of which cause the correction of the actual
position are located along the positioning range at intervals of G41 reference periods.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 09 00 00 hex
ID 441782.04
294
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
G.. Technology
Par.
Description
G37
Axis
r=1, w=1
Power-on referencing: With 1:active, the increment remainder of the master position and the
current position of the master encoder is stored 100 ms after the device enable is removed and is
reconstructed after the device is powered off and on again. With single-turn, absolute value
encoders (e.g., resolvers), the position is only reconstructed after power-on when the angle of
deviation was less than 5°. With incremental encoders, the position is always reconstructed.
Fieldbusaddress
2C25h
0h
2C29h
0h
2C2Eh
0h
2C2Fh
0h
2C30h
0h
NOTE
To implement the function, I37 must also be set to 2:reconstruct stored angle.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: I8; USS-Adr: 07 09 40 00 hex
G41
Axis
r=1, w=1
Reference period: Only when G36 = 2 (periodic consecutive referencing). Specifies the
distance between reference marks or reference flags for periodic consecutive referencing.
Value range in G49: 0.00 ... 360 ... 21474836.47
Fieldbus: 1LSB=siehe G46; Type: P64; USS-Adr: 07 0A 40 00 hex
G46
Axis
r=1, w=1
Decimal digits: Number of decimal places for the indication and the entry of master position
reference values, speeds - accelerations as well as G47. Important: A change in G46 causes a shift
in the decimal point and thus a change in the affected values. For this reason, G46 should be
programmed at the beginning of a commissioning procedure.
NOTE
The parameter is identical with I06 of the slave axis.
Example: When G46 is reduced from 2 to 1, values such as 12.27 mm are changed to 122.7 mm.
Value range: 0 ... 2 ... 3
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 0B 80 00 hex
G47
Axis, OFF
r=1, w=1
Distance per rev. Numerator: Together with G48, G47 specifies the distance (position
difference) in relation to one revolution of the master encoder G27. The number of decimal places
corresponds to G46. The direction of counting of the master position can be reversed with a
negative value in G47.
NOTE
The parameter is identical with I07 of the slave axis.
Value range in G49: -21474836.48 ... 360 ... 21474836.47
Fieldbus: 1LSB=siehe G46; Type: I32; USS-Adr: 07 0B C0 00 hex
G48
Axis, OFF
r=1, w=1
Distance per rev. Denominator: Counter G47 is divided by the denominator G48. This can
be used to calculate a mathematically precise gear ratio as a fraction (toothed gearing, toothed belt
transmission).
NOTE
The parameter is identical with I08 of the slave axis.
Value range in encoder revolutions: 0 ... 1 ... 31 Bit
Fieldbus: 1LSB=1encoder revolutions; Type: I32; USS-Adr: 07 0C 00 00 hex
ID 441782.04
295
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
G.. Technology
Par.
Description
G49
Axis
r=1, w=1
Measure.unit: Entry and indication of the unit of measure defined as desired by the user for the
master axis via POSITool. A max. of 8 characters are permitted. Examples of permissible entries:
Inc, mm, °, Grad, inch.
Fieldbusaddress
2C31h
0h
2C32h
0h
2C33h
0h
2C34h
0h
2C51h
0h
2C55h
0h
2C57h
0h
2C5Ah
0h
NOTE
The parameter is identical with I09 of the slave axis.
Default setting: °
Fieldbus: Type: Str8; USS-Adr: 07 0C 40 00 hex
G50
Shifting of master encoder value: Currently no function.
Axis
Value range in bits: -8 ... 0 ... 8
r=3, w=3
Fieldbus: 1LSB=1bits; Type: I8; USS-Adr: 07 0C 80 00 hex
G51
Offset for actual master position: The value in G51 has an additive effect on the actual
master position.
Axis
r=2, w=2
Value range in increments: -31Bit ... 0 ... 31 Bit
Fieldbus: 1LSB=1increments; Type: I32; USS-Adr: 07 0C C0 00 hex
G52
Axis
r=2, w=2
Master velocity offset: The value in G52 has an additive effect on the arriving master
impulses. The value is specified in increments/sec of the master encoder. G52 is primarily suitable
for simulating a movement of the master encoder to make commissioning easier.
Value range in Inc/s: -31Bit ... 0 ... 31 Bit
Fieldbus: 1LSB=1Inc/s; Type: I32; USS-Adr: 07 0D 00 00 hex
G81
Axis
read (2)
Master actual position: Indication of the actual master position of the "master el. gear" block.
The actual position has already been converted to the reference system of the slave drive and is
indicated in the units as specified in I06, I07, I08 and I09.
Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 07 14 40 00 hex
G85
Axis
read (2)
Master velocity: Indication of the master speed of the "master el. gear" block. The speed has
already been converted to the reference system of the slave drive and is indicated in the units as
specified in I06, I07, I08 and I09.
Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 07 15 40 00 hex
G87
Axis
Timestamp of master position: Suitable time stamp for the current master actual position.
Fieldbus: 1LSB=1µs; Type: U16; USS-Adr: 07 15 C0 00 hex
read (3)
G90
Global
r=3, w=3
PLL: The parameter activates PLL control. PLL control synchronizes the inverter with the SYNC
telegrams of the CAN bus or the SYNC signal of the EtherCAT bus.
Information
Do not change this parameter if you are using the EtherCAT PCB ECS 5000 or the Integrated Bus
(IGB)! In these cases, the parameter is set automatically. A manual change can cause the
synchronization to malfunction.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 07 16 80 00 hex
ID 441782.04
296
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
G.. Technology
Par.
Description
G91
Global
r=3, w=3
PLL phase-offset: Time offset value between the arrival of the SYNC telegram and the phase
position of the cycle time on the inverter.
Fieldbusaddress
2C5Bh
0h
2C5Ch
0h
2C5Dh
0h
2C5Fh
0h
2C60h
0h
2C61h
0h
2C62h
0h
Value range in µs: -32768 ... -800 ... 32767
Fieldbus: 1LSB=1µs; Type: I16; USS-Adr: 07 16 C0 00 hex
 Only when the value of the parameter is not 0 for the next smaller coordinate divisible by 10.
G92
Global
r=3, w=3
PLL gain: Proportional gain of PLL control.
The gain must be reduced when the jitter of the SYNC telegrams increases.
Value range in %: 0.0 ... 20 ... 100.0
Fieldbus: 1LSB=0,1%; Type: I32; (raw value:2,14748E9·LSB=100%); USS-Adr: 07 17 00 00 hex
 Only when the value of the parameter is not 0 for the next smaller coordinate divisible by 10.
G93
Global
r=3, w=3
PLL low pass: Determines the limit frequency of the low pass filter of PLL control.
The time must be increased when the jitter of the SYNC telegrams increases.
Value range in ms: 0.0 ... 40 ... 200.0
Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1LSB=Fnct.no.11; USS-Adr: 07 17 40 00 hex
 Only when the value of the parameter is not 0 for the next smaller coordinate divisible by 10.
G95
Global
read (3)
PLL status: Shows the status of PLL control.
Bit-0: PLL status
Bit-1: PLL status
00 PLL engaged
01 Engaged, but more than half the control range is utilized (frequency too high).
10 Engaged, but more than half the control range is utilized (frequency too low).
11 PLL not engaged.
Bit-2: Is 1 when PLL has extended the internal cycle time (A150).
Bit-3: Is 1 when control hits the limits of the control range.
Bit-4: Is 1 when the measured cycle time (G96) is greater than the specification (G98).
Bit-5: Is 1 when G90 = inactive (PLL is deactivated).
Bit-6: Reserved
Bit-7: Reserved
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 17 C0 00 hex
 Only when the value of the parameter is not 0 for the next smaller coordinate divisible by 10.
G96
Global
read (3)
PLL measured cycle-time: Cycle time (filtered value) of the SYNC telegrams determined by
PLL control.
Fieldbus: 1LSB=1µs; Type: I32; USS-Adr: 07 18 00 00 hex
 Only when the value of the parameter is not 0 for the next smaller coordinate divisible by 10.
G97
PLL cycle-correction: Cycle correction specified by PLL control.
Global
Fieldbus: 1LSB=1clock-cycles; Type: I8; USS-Adr: 07 18 40 00 hex
read (3)
 Only when the value of the parameter is not 0 for the next smaller coordinate divisible by 10.
G98
Reference cycle-time: Specified value for the cycle time of the SYNC telegram.
Global
Value range in µs: 0 ... 4000 ... 8000
r=3, w=3
Fieldbus: 1LSB=1µs; Type: I16; USS-Adr: 07 18 80 00 hex
ID 441782.04
297
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
G.. Technology
Par.
Description
G104
Axis, OFF
r=3, w=3
Lead-Position Source: Selects the source encoder for a lead axis position which is indicated in
parameters E163 and E164. These parameters can be distributed via the IGB to forward the lead
axis position to other inverters.
Fieldbusaddress
2C68h
0h
2C82h
0h
2C83h
0h
Information
A plausibility check can be performed with parameters G297 and G298 for the encoder selected
with this parameter.
Remember that not all applications contain parameters G297 and G298!
0: inactive; No lead axis position is output.
1: BE-encoder; The signals on binary inputs BE3, BE4 and BE5 are output as the lead axis
position.
2: X4-encoder; The signals on X4 are output as the lead axis position.
3: X140-encoder; The signals on plug connector X140 are output as the lead axis position.
4: X120-encoder; The signals on X120 are output as the lead axis position.
5: virt. Master; The signals of the virtual master are output as the lead axis position.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 1A 00 00 hex
 Only visible when E163 Lead-position producer exists.
G130
Axis, OFF
r=1, w=1
Gear ratio offset source: Selection of the source for the Scaling signal. The master-slave
relationship is affected without delay. G23 and the source set in G130 together represent the
effective master-slave relationship. The signal can be permanently preset to 0, or supplied by the
analog inputs (AE1 to AE3) or the fieldbus. With G130 = 4:Parameter, the (global) parameter G230
is used as the signal source. This setting must be used for fieldbus operation.
This makes it possible to adjust a basic ratio somewhat (e.g., via analog input). Parameterize G130
to an analog input. Set G23 to 100 %, for example. Set the analog input factor to 1 %, for instance.
After this, the master-slave ratio is 99 % to 101 % at -10 V to +10 V on the analog input.
0:
1:
2:
3:
4:
0 (zero);
AE1;
AE2;
AE3;
parameter;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 20 80 00 hex
G131
Axis, OFF
r=2, w=2
Speed feed forward source: Selection of the source for the SpeedFeedFwd signal. The signal
can be permanently preset to 0, or supplied by the analog inputs (AE1 to AE3) or the fieldbus. With
G131 = 4:Parameter, the (global) parameter G231 is used as the signal source. This setting must
be used for fieldbus operation.
Note: When the speed feed forward is performed with an external speed signal from the master
drive, remember that the speed feed forward must be calculated with the speed ratio G21/G22. The
speed feed forward refers to the slave drive.
0:
1:
2:
3:
4:
0 (zero);
AE1;
AE2;
AE3;
parameter;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 20 C0 00 hex
ID 441782.04
298
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
G.. Technology
Par.
Description
G230
Global
r=2, w=2
Gear ratio offset: Affects the master-slave ratio without delay. G23 and the source set in G130
together represent the effective master-slave relationship. The signal can be permanently preset to
0, or supplied by the analog inputs (AE1 to AE3) or the fieldbus. With G130 = 4:Parameter, the
(global) parameter G230 is used as the signal source. This setting must be used for fieldbus
operation.
This makes it possible to adjust a basic ratio somewhat (e.g., via analog input). Example:
Parameterize G130 to an analog input. Set G23 to 100 %, for example. Set the analog input factor
to 1 %, for instance. After this, the master-slave ratio is 99 % to 101 % at -10 V to +10 V on the
analog input.
When the scaling causes excessively large counter or denominator values, the rounding-free
transmission ratio can no longer be guaranteed. This is true when G246 has a value greater than 1.
Fieldbusaddress
2CE6h
0h
2CE7h
0h
2CF5h
0h
2CF8h
0h
2CF9h
0h
2CFAh
0h
Value range in %: -200.01 ... 0 ... 200.00
Fieldbus: 1LSB=0,01%; PDO ; Type: I16; (raw value:32767·LSB=200,00%); USS-Adr: 07 39 80 00 hex
G231
Global
r=2, w=2
Speed feed forward: The dynamic angle of deviation during acceleration procedures is reduced
with speed precontrol. Normally, the master increments are differentiated and are added as
precontrol to the speed reference value. Advantage: No extra wiring. Disadvantage: The master
has to move first before the slave can react. The speed reference value of the slave can be directly
connected via G231. The master can use E07 for this via fieldbus or analog output. G131 can also
be used to derive the precontrol from an analog input. With G31 = 0:inactive, the speed precontrol
is calculated from the master position.
Note: When the speed feed forward is performed with an external speed signal from the master
drive, remember that the speed feed forward must be calculated with the speed ratio G21/G22. The
speed feed forward refers to the slave drive.
Value range in %: -200.01 ... 0 ... 200.00
Fieldbus: 1LSB=0,01%; PDO ; Type: I16; (raw value:32767·LSB=200,00%); USS-Adr: 07 39 C0 00 hex
G245
Measure.unit: Unit of measure for master speed automatically derived from G49.
Axis
Default setting: °/s
read (3)
Fieldbus: Type: Str8; USS-Adr: 07 3D 40 00 hex
G248
Axis
read (3)
Technology increments: (When the "Master SyncPosi" block is used). Automatically
generated from G27 and the related encoder parameters. The effective encoder increment number
is indicated.
Value range: 0 ... 16384 ... 16384
Fieldbus: 1LSB=1; Type: I16; USS-Adr: 07 3E 00 00 hex
G249
Axis
read (3)
Effective master revolutions: (When the "Master SyncPosi" block is used). G249 and G250
provide the effective master-slave transmission ratio based on increments. The entries are
generated automatically.
Fieldbus: 1LSB=1; Type: I32; USS-Adr: 07 3E 40 00 hex
G250
Axis
read (3)
Effective slave revolutions: (When the "Master SyncPosi" block is used). G249 and G250
provide the effective master-slave transmission ratio based on increments. The entries are
generated automatically.
Fieldbus: 1LSB=1; Type: I32; USS-Adr: 07 3E 80 00 hex
ID 441782.04
299
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
G.. Technology
Par.
Description
G251
Axis
read (3)
Effective master counting direction: (When the "Master SyncPosi" block is used). Direction
in which the actual master value is moving when the master encoder is rotating clockwise.
Fieldbusaddress
2CFBh
0h
2CFCh
0h
2CFDh
0h
2CFEh
0h
2CFFh
0h
2D22h
0h
2D23h
0h
2D27h
0h
0: positive;
1: negative;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 07 3E C0 00 hex
G252
Axis
read (3)
Technology increments: (When "master el. gear" block is used.) Automatically generated from
G27 and the dependent encoder parameters. The effective number of increments of the encoder is
shown.
Value range: 0 ... 16384 ... 16384
Fieldbus: 1LSB=1; Type: I16; USS-Adr: 07 3F 00 00 hex
G253
Axis
Effective master revolutions: G253 and G254 represent the effective transmission ratio of
master slave on an incremental basis. The entries are generated automatically.
read (3)
Fieldbus: 1LSB=1; Type: I32; USS-Adr: 07 3F 40 00 hex
G254
Axis
Effective slave revolutions: G253 and G254 represent the effective transmission ratio of
master slave on an incremental basis. The entries are generated automatically.
read (3)
Fieldbus: 1LSB=1; Type: I32; USS-Adr: 07 3F 80 00 hex
G255
Axis
read (3)
Effective master counting direction: Direction in which the actual master value is moving
when the master encoder is turning forward.
0: positive;
1: negative;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 07 3F C0 00 hex
G290
Global
read (3)
Error-evaluation lead-position source: This parameter indicates the current state of the
error evaluation counter (see G298) for the encoder selected in G104.
Value range: 0.0 ... 0 ... 12.0
Fieldbus: 1LSB=0,1; Type: I8; USS-Adr: 07 48 80 00 hex
G291
Global
Error-counter lead-position source: This parameter counts the errors tolerated by the
encoder selected in G104 since the new start of the device.
r=3, w=3
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 07 48 C0 00 hex
G295
Global
read (3)
Double transmission master-encoder: Indicates whether double-transmission monitoring is
active for the SSI encoder used as the master encoder. Double-transmission monitoring is not
active at first when encoder evaluation begins but shortly thereafter it is activated automatically if
the SSI encoder supports this. Inactive monitoring significantly reduces data security. This
parameter can be disregarded if the master encoder is not an SSI encoder.
NOTE
This parameter can only be used when an SSI or an EnDat® encoder is being evaluated on the
inverter.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 07 49 C0 00 hex
ID 441782.04
300
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
G.. Technology
Par.
Description
G296
Global
read (3)
Error-counter master-encoder: Counts the number of tolerated errors of the master encoder
since the last new start of the device.
Fieldbusaddress
2D28h
0h
2D29h
0h
NOTE
This parameter can only be used when an SSI or an EnDat® encoder is being evaluated on the
inverter.
Value range: 0 ... 0 ... 4294967295
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 07 4A 00 00 hex
G297
Axis
r=3, w=3
Maximum-speed master-encoder: A plausibility check of the encoders selected in G104 and
G27 is available with G297. The difference between two consecutive encoder values is monitored. f
this difference exceeds the speed specified in G297, a malfunction is triggered (37:nfeedback/double transmission, starting with V5.2: 37:Encoder/X4-speed or X120-speed and starting
with V5.4 IGB-wirebreak)
Regardless of the encoder system being used, specification of the incremental difference is always
standardized to 8192 increments/rotation.
Information
®
This parameter can only be used when an SSI or an EnDat encoder is being evaluated on the
inverter.
The selection 6:IGB can also be monitored for the encoder selected in G27.
Value range in increments/ms: 0 ... 16777216 ... 24 Bit
Fieldbus: 1LSB=1increments/ms; Type: I32; (raw value:7 Bit=1·increments/ms); USS-Adr: 07 4A 40 00 hex
ID 441782.04
301
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
G.. Technology
Par.
Description
G298
Axis
r=3, w=3
Error-tolerance master-encoder: Sets the inverter's tolerance of faults of the encoders
selected in G104 and G27. This tolerance keeps fault 37:encoder from being triggered due to
sporadic encoder errors. The inverter extrapolates an encoder value in this case. Parameter G298
specifies how many errors will be tolerated before the inverter malfunctions.
Fieldbusaddress
2D2Ah
0h
2D2Bh
0h
2D4Ah
0h
The fault evaluation is set up as follows (example for the encoder parameterized in G27. G290 is
the reference parameter instead of G299 for the G104 encoder):
Each arriving encoder value is checked. When an encoder error is found, G299 and G298 are
compared. If the error evaluation counter G299 is greater than or equal to G298, fault 37:encoder is
triggered. If G299 is less than G298, the error is tolerated. Counter G299 is incremented by 1.0.
When the arriving encoder value is correct, error evaluation counter G299 is decremented by 0.1.
Decrementation continues until the value 0.
Example: When 0.1 is set in G298 one error is tolerated. At least 10 correct values must then be
determined before the next error is found.
The following errors are tolerated:
®
- EnDat -CRC
- EnDat®-Busy
- SSI-double transmission
- SSI-Busy
- Violation of the maximum speed from G297
A malfunction is triggered immediately for other encoder errors (e.g., wire break) regardless of
G298.
The quality of motion may suffer due to error toleration. When encoder errors occur frequently we
recommend checking the wiring.
The fault evaluation counter can be viewed in G299 or G291.
Information
®
This parameter can only be used when an SSI or an EnDat encoder is being evaluated on the
inverter.
The selection 6:IGB can also be monitored for the encoder selected in G27.
Value range: 0.0 ... 1 ... 3.0
Fieldbus: 1LSB=0,1; Type: I8; USS-Adr: 07 4A 80 00 hex
G299
Global
read (3)
Error-evaluation master-encoder: Indicates the current status of the error evaluation counter
(see G298).
NOTE
This parameter can only be used when an SSI or an EnDat® encoder is being evaluated on the
inverter.
Value range: 0.0 ... 0 ... 12.0
Fieldbus: 1LSB=0,1; Type: I8; USS-Adr: 07 4A C0 00 hex
G330
Axis
read (1)
Gear ratio: Indication parameter which visualizes the result of the addition of G23 gear ratio and
the value selected by G130 (G230 gear ratio offset, AE1 to AE3). 100 % corresponds to neutral.
NOTE
If the sum of G23 gear ratio and the source selected in G130 is not zero or is less than zero, the
negative value or the 0 does appear in G330 but only the value 0 takes effect. This value of the
gear ratio causes the slave axis to come to a standstill.
Fieldbus: 1LSB=0,01%; Type: I16; (raw value:32767·LSB=200,00%); USS-Adr: 07 52 80 00 hex
ID 441782.04
302
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
G.. Technology
Par.
Description
G331
Axis
read (2)
Speed feed forward: Indication of the current value of the signal SpeedFeedFwd (speed
precontrol). See also G131, G231.
Fieldbusaddress
2D4Bh
0h
2D54h
0h
2D55h
0h
2D56h
0h
2D57h
0h
2D58h
0h
Note: When the speed feed forward is performed with an external speed signal from the master
drive, remember that the speed feed forward must be calculated with the speed ratio G21/G22. The
speed feed forward refers to the slave drive.
Fieldbus: 1LSB=0,01%; Type: I16; (raw value:32767·LSB=200,00%); USS-Adr: 07 52 C0 00 hex
G340
Axis, OFF
r=3, w=3
Masterfilter: Activates filter via the master actual-value filter. Incremental multiplication is always
active regardless of the filter.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 07 55 00 00 hex
G341
Axis, OFF
r=3, w=3
Masterfilter increment multiplier: Multiplication factor for the master position to the
exponent of 2. For example, a value of 5 results in the multiplication of the master position by a
factor of 32.
Value range: 0 ... 0 ... 8
Fieldbus: 1LSB=1; Type: I8; USS-Adr: 07 55 40 00 hex
G342
Axis
r=3, w=3
Masterfilter position low pass: Time constant for the position low pass of the master actualvalue filter.
Value range in ms: 0.0 ... 10 ... 1007.2
Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1LSB=Fnct.no.11; USS-Adr: 07 55 80 00 hex
 Only when the value of the parameter is not 0 for the next smaller coordinate divisible by 10.
G343
Axis
r=3, w=3
Masterfilter speed low pass: Time constant for the speed low pass of the master actualvalue filter.
Value range in ms: 0.0 ... 30 ... 1007.2
Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1LSB=Fnct.no.11; USS-Adr: 07 55 C0 00 hex
 Only when the value of the parameter is not 0 for the next smaller coordinate divisible by 10.
G344
Axis
r=3, w=3
Masterfilter dead time compensation: Compensation option for dead times which are
created while the master actual value is being processed.
Value range in ms: 0.0 ... 0 ... 1000.0
Fieldbus: 1LSB=0,1ms; Type: I32; (raw value:2147483647 = 32768000.0 ms); USS-Adr: 07 56 00 00 hex
 Only when the value of the parameter is not 0 for the next smaller coordinate divisible by 10.
G904
Axis
read (3)
Connector master position raw value for referencing: Connector parameter which
establishes the connection to the referencing blocks. G904 contains the raw value of the encoder
as delivered to it by the encoder driver. The value is needed for position reconstruction during
power-on.
Fieldbus: 1LSB=1increments; Type: I32; USS-Adr: 07 E2 00 00 hex
ID 441782.04
303
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
G.. Technology
Par.
Description
G905
Axis
read (3)
Fieldbusaddress
Connector master referencing difference limited: Connector parameter which
establishes the connection of the referencing blocks. The referencing block provides the actual
position of the desired value with this parameter.
Fieldbus: 1LSB=1increments; Type: I32; USS-Adr: 07 E2 40 00 hex
G906
Axis
read (3)
Connector master referencing difference for endless: Connector parameter which
establishes the connection of the referencing blocks. The referencing block provides the actual
position of the desired value with this parameter.
Fieldbus: 1LSB=1increments; Type: I32; USS-Adr: 07 E2 80 00 hex
G907
Axis
read (3)
Connector signal save master rest: Connector parameter which establishes the connection
of the referencing blocks to the master actual value block. G907 is used to tell the master actual
value block when it must initialize itself from the stored values and when values are stored (see
also G37).
Fieldbus: 1LSB=1; Type: I8; USS-Adr: 07 E2 C0 00 hex
G908
Axis
read (3)
Connector master position limited: Connector parameter which establishes the connection
to the referencing blocks. The actual position has already been converted to the reference system
of the slave drive and is indicated in the units as specified by I06, I07, I08 and I09. Even when the
master axis is parameterized with an endless position range, G900 shows consecutive actual
positions without a break at the round-trip length.
Fieldbus: 1LSB=1; Type: P64; USS-Adr: 07 E3 00 00 hex
G909
Axis
read (3)
Connector master position endless: Connector parameter which establishes the
connection to the referencing blocks. The actual position has already been converted to the
reference system of the slave drive and is indicated in the units as specified by I06, I07, I08 and
I09. When the master axis is parameterized as endless axis, G901 always supplies values between
0 and the value of G940 (see also G940 and G40). In contrast to G901, G909 shows the value
before a master slave coupling block.
Fieldbus: 1LSB=1; Type: P64; USS-Adr: 07 E3 40 00 hex
G940
Axis
read (3)
Circular length of master axis: Connector parameter which establishes the connection to
positioning control and to the referencing blocks. G940 is derived directly from G40 and is only
indicated in the slave reference system instead of in the master reference system. The circular
length has already been converted to the reference system of the slave drive and is shown in the
units as specified by I06, I07, I08 und I09.
Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 07 EB 00 00 hex
ID 441782.04
304
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
H.. Encoder
Par.
Description
H00
Axis, OFF
r=2, w=2
X4-function: Function of encoder interface X4 (motor encoder).
Fieldbusaddress
2E00h
0h
2E01h
0h
2E02h
0h
2E05h
0h
2E08h
0h
NOTE
Please remember that only the setting 3:Incremental-encoder In is available on the FDS 5000.
NOTE
Also please remember that a change in H00 may cause position values to be rescaled (in
positioning applications). Scaling can take several seconds.
0: inactive;
3: incremental encoder in; (only for asynchronous motors)
64: EnDat®;
65: SSI master;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 00 00 00 hex
H01
Axis, OFF
r=2, w=2
X4-increments: Number of increments for the encoder set in H00. With incremental encoders,
each increment supplies 4 counting increments via the edge evaluation and thus a four-fold higher
resolution of the position. In the case of an SSI encoder, H01 functions as a gear factor, whereby
1024 is equivalent to 1. Please contact STÖBER ANTRIEBSTECHNIK for other settings to the
parameters for SSI encoders.
Value range in inc/r: 30 ... 1024 ... 8191
Fieldbus: 1LSB=1inc/r; Type: I16; USS-Adr: 08 00 40 00 hex
 Only visible when H00 = 3:EncoderIn.
H02
Axis, OFF
r=2, w=2
X4-inverted: Inverts the sign of the angle supplied by the encoder in the encoder acquisition. Can
be used for reversed phases. Adhere to B05!
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 00 80 00 hex
 Only visible when H00 is not 0:inactive.
H05
X4-SSI-code: Type of coding of the angle via the SSI encoder.
Axis, OFF
0: gray;
1: binary;
r=2, w=2
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 01 40 00 hex
 Only visible when H00 = 65:SSI-Master.
H08
Axis, OFF
r=2, w=2
POSISwitch® encoder selector: Available as an option, the POSISwitch® control module
permits the connection of several motors to one inverter. In H08 it can be set separately for each of
the four (software) axes which connection on the POSISwitch® (i.e., which motor) is allocated to the
particular axis configuration. This routine permits two or more applications to be run together on
separate (software) axes with a single motor.
NOTE
Following a change in parameter H08, correct evaluation of the electronic nameplate is not ensured
until after a device new start.
0: Enc1;
1: Enc2;
2: Enc3;
3: Enc4;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 02 00 00 hex
 Only visible when a POSISwitch® was detected on X4.
ID 441782.04
305
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
H.. Encoder
Par.
Description
H10
Axis, OFF
r=2, w=2
X4-SSI data bits: With 24 or 25-bit evaluation, the 12-bit highest significance for rotary encoders
corresponds to whole encoder rotations (multi-turns). Afterwards 12 or 13 bits within one rotation
can still be coded. When 24-bit is set, the bit with the least significance is forced to 0.
When 13-bit is set, all 13 bits code the angle within one rotation (single-turn).
0:
1:
2:
3:
Fieldbusaddress
2E0Ah
0h
2E0Bh
0h
2E0Eh
0h
2E12h
0h
25
24
13 short; Evaluation of a single-turn SSI encoder with 13-bit telegram.
13 tree; Evaluation of a 13-bit single-turn SSI encoder with 25-bit telegram. The evaluation
ignores the upper 12 bits.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 02 80 00 hex
 Only visible when H00 = 65:SSI-Master.
H11
Axis, OFF
r=2, w=2
X4 double transmission: Switches off double transmission for SSI encoder. When double
transmission is activated, the angle is scanned twice in immediate succession to increase data
reliability. If the encoder does not support double transmission, the inverter automatically switches
off the monitoring but continues to scan twice. When double transmission is switched off with this
parameter, the inverter no longer generates a second scan.
Double transmission should not be deactivated if the hardware permits this function.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 08 02 C0 00 hex
 Only visible when H00 = 65:SSI-Master.
H14
N-track monitoring: If there is an incremental encoder without zero track at X4, the cable
Axis, OFF
monitoring for the zero track can be switched off at this point.
r=3, w=3
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 08 03 80 00 hex
 Only visible when H00 = 3:EncoderIn.
H18
Global,
POSISwitch® port-status: Indicates as a binary word the POSISwitch® ports to which encoders
are connected. This is determined by the inverter during startup.
OFF
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 04 80 00 hex
read (2)
 Only visible when a POSISwitch® was detected on X4.
ID 441782.04
306
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
H.. Encoder
Par.
Description
H40
Axis, OFF
r=2, w=2
Fieldbusaddress
BE-encoder: Function of the encoder evaluation on BE3 (X101.13), BE4 (X101.14) and BE5
(X101.15).
The binary inputs have the following functions for the different settings:
BE3
BE4
BE5
1: incremental encoder in
Zero track
Track A+
Track B+
2E28h
0h
2E29h
0h
2E2Ah
0h
2E3Ch
0h
2: stepmotor in
(Increments) freq.+
(Direction of rotation) sign+
NOTE
Also please remember that a change in H40 may cause position values to be rescaled (in
positioning applications). Scaling can take several seconds.
0: inactive;
1: incremental encoder in;
2: stepmotor In;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 0A 00 00 hex
 Only visible when a board is installed in the bottom option slot.
H41
Axis, OFF
r=2, w=2
BE-increments: Increments per encoder revolution of the encoder on BE4 (X101.14) and BE5
(X101.15). With incremental encoders, each increment supplies 4 counting steps via edge
evaluation and thus four times as high a resolution of the position.
Value range in inc/r: 30 ... 1024 ... 8191
Fieldbus: 1LSB=1inc/r; Type: I16; USS-Adr: 08 0A 40 00 hex
 Only visible when a board is installed in the bottom option slot and H40 is not 0:inactive.
H42
Axis, OFF
r=2, w=2
BE-inverted: Inverts the sign of the angle supplied by the BE encoder in the encoder acquisition.
Can be used for reversed motor phases.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 0A 80 00 hex
 Only visible when a board is installed in the bottom option slot and H40 is not 0:inactive.
H60
Axis, OFF
r=2, w=2
BA-encodersimulation: Function of the encoder simulation on binary outputs BA1 and BA2
(terminals X101.16 and X101.17). The encoder simulation is available as system function in all
applications.
Important: The encoder simulation only works when no other function is assigned to the binary
outputs. If present at all in the application, the corresponding parameters F61 and F62 may not
contain any entries (blank input).
0: inactive;
1: incremental encoder simulation;
2: stepmotor Simulation;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 0F 00 00 hex
 Only visible when a board is installed in the bottom option slot.
ID 441782.04
307
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
H.. Encoder
Par.
Description
H62
BA-inverted: Inverts the sign of the BA encoder simulation.
Axis, OFF
0: inactive;
1: active;
r=2, w=2
Fieldbusaddress
2E3Eh
0h
2E3Fh
0h
2E43h
0h
2E78h
0h
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 0F 80 00 hex
 Only visible when a board is installed in the bottom option slot and H60 is not 0:inactive.
H63
Axis, OFF
r=2, w=2
BA-increments: Increments of the encoder simulation on BA1 / BA2. When the source is an
absolute value encoder, H63 specifies the increments as with a real incremental encoder. When the
source is an incremental encoder, the scaling factor determines the selection. 1:2 means that half
of the source increments are output on the BAs.
1:
2:
3:
4:
5:
64 i/r(1:16);
128 i/r(1:8);
256 i/r(1:4);
512 i/r(1:2);
1024 i/r(1:1);
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 0F C0 00 hex
 Only visible when a board is installed in the bottom option slot and H60 is not 0:inactive.
H67
Axis, OFF
r=2, w=2
BA-encodersimulation source: Specifies which source is used as position encoder for the BA
encoder simulation.
0: motor-encoder;
1: Configuration; H67 = 1 provides an opportunity to calculate as desired the increments to be
output within the graphic configuration (e.g., as frequency proportionate to the motor torque). In
standard applications, simulation with H67 = 1 usually does not take effect.
2: position-encoder;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 10 C0 00 hex
 Only visible when a board is installed in the bottom option slot and H60 is not 0:inactive.
H120
Axis, OFF
r=2, w=2
X120-Function: Function of plug connector X120 on the I/O terminal module expanded (XEA
5000 and XEA 5001 respectively) and on the I/O terminal module resolver REA 5001 respectively.
NOTE
The X120 interface on the REA 5000 option board permanently simulates TTL encoder signals in
reference to a resolver connected to X140.
This is the reason why this interface cannot be affected with H120.
NOTE
Also please remember that a change in H120 may cause position values to be rescaled (in
positioning applications). Scaling can take several seconds.
0: inactive;
4: incremental encoder in;
5: stepmotor In;
67: SSI master;
68: SSI slave;
80: incremental encoder simulation;
81: stepmotor Simulation;
82: SSI simulation;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 1E 00 00 hex
ID 441782.04
308
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
H.. Encoder
Par.
Description
H121
Axis, OFF
r=2, w=2
X120-increments: Increments per encoder rotation of the encoder on X120. With incremental
encoders each increment supplies 4 counting steps via edge evaluation and thus four times as high
a resolution of the position.
Fieldbusaddress
2E79h
0h
2E7Ah
0h
2E7Bh
0h
2E7Ch
0h
Value range in inc/r: 30 ... 1024 ... 8191
Fieldbus: 1LSB=1inc/r; Type: I16; USS-Adr: 08 1E 40 00 hex
 Only visible when an XEA board is installed in the bottom option slot and an encoder input is
parameterized in H120.
H122
Axis, OFF
r=2, w=2
X120-inverted: Inverts the sign of the angle supplied by the X120 encoder in the encoder
acquisition. Can be used for reversed motor phases. Adhere to B05!
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 1E 80 00 hex
 Only visible when an XEA board is installed in the lower option slot and H120 is not 0:inactive
or when an REA board is installed in the lower option slot.
H123
Axis, OFF
r=2, w=2
X120-encoder simulation increments: Increments of the encoder simulation on X120.
When the source is an absolute value encoder, H123 specifies the increments as with a real
incremental encoder. When the source is an incremental encoder, the scaling factor provides the
selection. 1:2 means that half of the source increments are output on X120. 2:1 means that twice as
many increments are output on X120.
NOTE
The X120 interface on the REA 5000 option board permanently simulates TTL encoder signals in
reference to a resolver connected to X140.
This is the reason why the scaling factor set in H123 always refers to X140 in this case.
1:
2:
3:
4:
5:
6:
64 i/r(1:16);
128 i/r(1:8);
256 i/r(1:4);
512 i/r(1:2);
1024 i/r(1:1);
2048 i/r(2:1);
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 1E C0 00 hex
 Only visible when an XEA board is installed in the lower option slot and an encoder simulation
is parameterized in H120 or when an REA board is installed in the lower option slot.
H124
X120-zero position offset: Shift the zero pulse during incremental encoder simulation.
Axis, OFF
Value range in °: 0.0 ... 0 ... 360.0
r=2, w=2
Fieldbus: 1LSB=0,1°; Type: I16; USS-Adr: 08 1F 00 00 hex
 Only visible when an XEA board is installed in the lower option slot and an encoder simulation
is parameterized in H120 or when an REA board is installed in the lower option slot.
ID 441782.04
309
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
H.. Encoder
Par.
Description
H125
X120-SSI-Code: Type of angle coding via the SSI encoder and for the SSI simulation.
Axis, OFF
0: gray;
1: binary;
r=2, w=2
Fieldbusaddress
2E7Dh
0h
2E7Fh
0h
2E82h
0h
2E83h
0h
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 1F 40 00 hex
 Only visible when an XEA board is installed in the bottom option slot and an SSI functionality is
selected in H120.
H127
Axis, OFF
r=2, w=2
X120-encoder simulation source: Specifies which source will be used as position encoder
for the X120 encoder simulation.
0: Motorencoder; The encoder set in B26 is used as the source.
1: Configuration; The virtual master is used as the source.
2: Positions-encoder; The encoder set in I02 is used as the source.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 1F C0 00 hex
 Only visible when E58 = XEA 5000 (and XEA 5001 respectively) and H120 is greater than
80:Incremental-Encoder-Simulation.
H130
Axis, OFF
r=2, w=2
X120-SSI-data bits: With evaluation or simulation with 24 or 25 bit, the 12-bit highest
significance for rotary encoders corresponds to whole encoder rotations (multi-turns). Afterwards 12
or 13 bits can still be coded within one rotation. When 24 bit is set, the bit with the least significance
is forced to 0.
With a setting to 13 bits, all 13 bits code the angle within one rotation (single-turn).
NOTE
Note that the SSI data bits are set with the parameter H126 in version V 5.2. For questions
concerning the documentation of H126, contact [email protected].
0:
1:
2:
3:
25
24
13 short; Evaluation or simulation of a single-turn SSI encoder with 13-bit telegram
13 tree; Evaluation or simulation of a single-turn SSI encoder with 25-bit telegram. The upper 12
bits are ignored for the evaluation. For simulation, 0 is forced.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 20 80 00 hex
 Only visible when an XEA board is installed in the bottom option slot and an SSI functionality is
selected in H120.
H131
Axis, OFF
r=2, w=2
X120 double transmission: Switches off double transmission for SSI encoder. When double
transmission is activated, the angle is scanned twice in immediate succession to increase data
reliability. If the encoder does not support double transmission, the inverter automatically switches
off the monitoring but continues to scan twice with running switching cycle. When double
transmission is switched off with this parameter, the inverter no longer generates a second scan.
NOTE
Double transmission should not be deactivated if the hardware permits this function.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 08 20 C0 00 hex
 Only visible when an XEA board is installed in the bottom option slot and an SSI functionality is
selected in H120.
ID 441782.04
310
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
H.. Encoder
Par.
Description
H132
Axis, OFF
r=3, w=3
SSI-Timeout: The parameter activates timeout monitoring for SSI simulation on X120. Timeout
monitoring triggers fault 37 when no position has been scanned during the last 5 ms for an MDS
5000 or during the last 1.25 ms for an SDS 5000.
If timeout monitoring is deactivated, the higher-level controller must ensure that the SSI
transmission is error-free and within the correct cycle. This monitoring is then switched off on the
drive!
When the SSI simulation is part of an SSI motion bus (e.g., synchronous operation, cam),
monitoring must remain on. Otherwise the SSI motion bus is not safe and, with it, the application.
When the simulation is ready for operation after the inverter starts up, it also takes approx. 5 s
before monitoring starts even if timeout is already activated. This gives the evaluated device
(controller, other inverter) a somewhat longer startup time before the fault is triggered.
Fieldbusaddress
2E84h
0h
2E85h
0h
2E86h
0h
2E8Ch
0h
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 08 21 00 00 hex
 Only visible when E58 = XEA 5000 (and XEA 5001 respectively) and H120 is greater than
80:Incremental-Encoder-Simulation.
H133
Global
r=3, w=3
SSI simulation offset: This parameter specifies an offset for the SSI simulation. This is added
to the value from the evaluation of a real source encoder. The parameter has no effect if a virtual
master encoder is used as the SSI source.
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 08 21 40 00 hex
 Only visible when E58 = XEA 5000 (and XEA 5001 respectively) and H120 is greater than
80:Incremental-Encoder-Simulation.
H134
Axis, OFF
r=3, w=3
N-track monitoring: If there is an incremental encoder without zero track at X120, the cable
monitoring for the zero track can be switched off at this point.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 08 21 80 00 hex
 Only visible when an XEA board is installed in the bottom option slot and an encoder input is
parameterized in H120.
H140
Axis, OFF
r=2, w=2
X140-function: Function of plug connector X140 on the resolver I/O terminal module (REA 5000,
REA 5001).
NOTE
Also please remember that a change in H140 may cause position values to be rescaled (in
positioning applications). Scaling can take several seconds.
0: inactive;
66: resolver;
71: EnDat with sine and cosine;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 23 00 00 hex
 Only visible when a resolver option board is installed in the bottom option slot.
ID 441782.04
311
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
H.. Encoder
Par.
Description
H142
Axis, OFF
r=2, w=2
X140-inverted: Inverts the sign of the angle supplied by the X140 encoder in the encoder
acquisition. Can be used for reversed motor phases. Adhere to B05!
Fieldbusaddress
2E8Eh
0h
2E94h
0h
2E95h
0h
2F2Ch
0h
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 23 80 00 hex
 Only visible when a resolver option board is installed in the bottom option slot and H140 is not
0:inactive.
H148
Axis, OFF
r=2, w=2
X140-resolver poles: Number of poles of the resolver on X140 (Firmware versions prior to V
5.4 only permit the operation of two-pole resolvers).
NOTE
Only for use with an REA 5000. The incremental encoder simulation on X120 outputs a number of
markers which is incremented by the factor H148/2 in comparison to the number of markers
parameterized in H123.
Value range: 2 ... 2 ... 6
Fieldbus: 1LSB=1; Type: U8; (raw value:255 = 510); USS-Adr: 08 25 00 00 hex
 Only visible when E58 is parameterized as "REA 5000" or "REA 5001" and H140 =
66:Resolver.
H149
Axis
read (3)
Sinus-Cosinus-Periods: The sine-cosine periods for an EnDat encoder (with sine-cosine
tracks) connected to the X140 are displayed. The parameter is invisible if the parameter H140 X140
function has not been set to 71: EnDat with sin-cos tracks. The parameter is also invisible if no REA
5000 or REA 5001 option board is planned.
Fieldbus: 1LSB=1·1/revolution; Type: I16; USS-Adr: 08 25 40 00 hex
H300
Axis, OFF
r=3, w=3
Keep reference: With the setting "1:active" the status "In Reference" (I86) is not deleted on the
occurrence of an EnDat® CRC error on X4, as would otherwise normally be the case. The setting
of H300 is relevant for the following parameter combinations: 1. I02 = 2:X4-Encoder 2. I02 = 0:Motor encoder and B26 = 2:X4-Encoder
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 4B 00 00 hex ID 441782.04
312
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I01
Axis
r=1, w=1
Circular length: Only when a positioning application with endless positioning range exists.
Maximum value for the actual position starting at which the position is counted from zero again
(e.g., 360 degrees - modulo function).
Fieldbusaddress
3001h
0h
3002h
0h
3004h
0h
3006h
0h
3007h
0h
Value range in I09: -31Bit ... 360 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 00 40 00 hex
I02
Axis, OFF
r=1, w=1
Position-encoder: Selection of the interface to which the position encoder is connected. The
encoder must be correctly parameterized for the particular interface in the H.. group.
0: Motor-encoder; The encoder selected with B26 (motor feedback).
1: BE-encoder; Incremental encoder on binary inputs BE4 and BE5.
2: X4-encoder; Encoder on plug connector X4 of the MDS 5000 and FDS 5000 respectively basic
device. The encoder connected to X4 is usually used for motor control. In this case, the settings
I02 = 0 and I02 = 2 produce the same result.
3: X140-encoder; Resolver on plug connector X140 of the REA 5000, resolver or EnDat®-Encoder
on plug connector X140 of the REA 5001. When the resolver is used for motor control, I02 = 0
and I02 = 3 have the same effect.
4: X120-encoder; Encoder on plug connector X120 of the expanded I/O terminal module (XEA
5000 and XEA 5001 respectively).
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 00 80 00 hex
I04
Axis
r=1, w=1
Move direction: With endless axes with only one mechanically permissible direction of
movement. Movements in the wrong direction are answered with the message "refused" in
parameter I200.1. The referencing is completely executed with the speed I33. The direction of
rotation is not reversed.
0: Positive and negative; Both directions are permitted.
1: Positive; Only the positive direction is permitted (also applies to manual traversing!).
2: Negative;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 01 00 00 hex
I06
Axis
r=1, w=1
Decimal digits: Number of positions after the decimal point for indication and entry of position
reference values, speeds, accelerations as well as I07. Important: A change in I06 causes a shift in
the decimal point (i.e., the affected values are changed). For this reason, I06 should be
programmed at the very beginning of commissioning. Example: When I06 is reduced from 2 to 1,
values are changed (e.g., 12.27 mm to 122.7 mm). The reason for this is the error-free rounding of
the positioning software.
Value range: 0 ... 2 ... 3
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 01 80 00 hex
I07
Axis, OFF
r=1, w=1
Distance per rev. Numerator: Together with I08, I07 determines the distance (position
difference) with reference to one rotation of the POSI encoder I02. I06 corresponds to the number
of decimal positions. A left/right reversal can be performed with negative values in I07. (In this case
the hardware limit switches must also be reversed!)
Example: A gear ratio of i = 2015/144 = 13.99 and an angle reference value specification [degrees]
on the driven shaft results in I07 = 360°/13.99R=25.73°/R. I07 = 360*144=51840 and I08 = 2015
must be specified for a correct rounding conversion.
When a directly driven ball screw spindle with an incline of 10 mm/R is used, I07=10.00 results with
I09 = 'mm' and two positions after the decimal point.
With high demands, I08 can help to increase precision almost to any amount: 12.34567 mm/R
corresponds to I07 = 12345.67 and I08 = 1000.
Value range in I09: -21474836.48 ... 360 ... 21474836.47
Fieldbus: 1LSB=siehe I06; Type: I32; (raw value:1LSB=0,01·<I09>); USS-Adr: 09 01 C0 00 hex
ID 441782.04
313
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I08
Axis, OFF
r=1, w=1
Distance per rev. Denominator: Counter I07 is divided by denominator I08. This means that
a mathematically precise gear ratio can also be calculated as a fraction (toothed gearing, toothed
belt transmission).
External encoders which are not mounted on the motor: An "encoder rotation" must be placed in
relation to a motor rotation.
Fieldbusaddress
3008h
0h
3009h
0h
300Ah
0h
300Bh
0h
300Ch
0h
Important: Since a change in I08 also affects the values of other parameters, /08 should be
parameterized at the beginning of a commissioning procedure.
Value range in encoder revolutions: 0 ... 1 ... 31 Bit
Fieldbus: 1LSB=1encoder revolutions; Type: I32; USS-Adr: 09 02 00 00 hex
I09
Axis
r=1, w=1
Measure.unit: Input and indication of the unit of measure defined as desired by the user with
POSITool. A maximum of 8 characters is possible Examples of permissible entries: Inc, mm, °,
degree, inch, and so on.
Default setting: °
Fieldbus: Type: Str8; USS-Adr: 09 02 40 00 hex
I10
Axis
r=1, w=1
Maximal speed: When a higher feed speed is specified, the value is limited to I10 without the
occurrence of a following error.
NOTE
The parameterized value is rounded internally to whole increments of the measuring system used.
Depending on the resolution of the position encoder I02, the entered values cannot always be
precisely imaged.
The maximum motor speed is calculated from nmax = I10*I08 / I07 (take units into account).
Value range in I09/s: 0.00 ... 10 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 09 02 80 00 hex
I11
Axis
r=1, w=1
Maximal acceleration: Specified accelerations are limited to the maximum value I11. Quick
stop, manual positioning and reference positioning have their own acceleration ramps (I17, I13 and
I39).
NOTE
The parameterized value is internally rounded to whole increments of the measuring system used.
Depending on the resolution of the position encoder I02, the entered values may sometimes not be
able to be precisely imaged.
The acceleration time to the nominal speed is calculated as t = I10 / I11 (note units).
Value range in I09/s2: 0.00 ... 10 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 09 02 C0 00 hex
I12
Axis
r=1, w=1
Tip speed: Speed in tip mode. As with all other speeds, it can be changed via velocity override.
Acceleration in tip mode is specified via I13.
NOTE
The parameterized value is rounded internally to whole increments of the measuring system used.
Depending on the resolution of the position encoder I02, the entered values may sometimes not be
able to be precisely imaged.
Value range in I09/s: 0.00 ... 180 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 09 03 00 00 hex
ID 441782.04
314
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I13
Axis
r=1, w=1
Fieldbusaddress
Tip acceleration: Acceleration during tip mode.
300Dh
0h
300Eh
0h
300Fh
0h
3010h
0h
3011h
0h
NOTE
The parameterized value is rounded internally to whole increments of the measuring system used.
Depending on the resolution of the position encoder I02, entered values may sometimes not be
able to be precisely imaged.
Value range in I09/s2: 0.00 ... 1000 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 09 03 40 00 hex
I14
Axis
r=1, w=1
TipStep: Increment which is traversed when a rising edge is detected on the TipStep+ or TipStepsignal. The signal must be parameterized to a source via the related parameter I107 TipStep+
signal source.
Value range in I09: -31Bit ... 256 ... 31Bit
Fieldbus: 1LSB=siehe I06; PDO ; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 03 80 00 hex
I15
Axis
r=1, w=1
Tip deceleration: Deceleration in tip mode.
NOTE
The parameterized value is rounded internally to whole increments of the measuring system used.
Depending on the resolution of the position encoder I02, the entered values can therefore not be
imaged exactly.
Value range in I09/s2: 0.00 ... 1000 ... 31Bit Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 09 03 C0 00 hex
I16
Axis
r=2, w=2
Ramp smoothing: Reverse limitation via ramp smoothing. The generated acceleration profile
(position, speed, torque) is smoothed with a filter of the 2nd order (PT2) whose time constant
corresponds to I16. This can be used to reduce or even completely eliminate high-frequency
excitations of vibration-prone mechanics. The positioning procedure is lengthened somewhat by the
smoothing but the drive traverses more smoothly to the target position (fewer overswings).
NOTE
With the motion block positioning application, I16 is used as indicator parameter. Smoothing times
are entered in array parameter J25.X. The current smoothing time is copied during operation to I16
where it can be viewed there.
Value range in ms: 0 ... 0 ... 32766
Fieldbus: 1LSB=1ms; Type: I16; raw value:1LSB=Fnct.no.13; USS-Adr: 09 04 00 00 hex
I17
Axis
r=1, w=1
Quickstop deceleration: Acceleration for quick stop.
NOTE
The parameterized value is rounded internally to whole increments of the measuring system being
used. The entered values may thus not be able to be imaged exactly as entered depending on what
the resolution of the position encoder I02 is.
Value range in I09/s2: 0.00 ... 10 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 09 04 40 00 hex
ID 441782.04
315
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I20
Axis
r=1, w=1
Proportional gain position control: Position control gain (purely P behavior). Particularly in
the machine tool sector, I20 is called "speed gain" or "proportional gain position control." In actual
practice, the proportional gain position control is sometimes also specified with the unit [m/min /
mm]. This is exactly 0.06 · I20.
Fieldbusaddress
3014h
0h
3015h
0h
3016h
0h
3017h
0h
3018h
0h
Value range in 1/s: 0 ... 30 ... 300
Fieldbus: 1LSB=1·1/s; Type: I32; USS-Adr: 09 05 00 00 hex
I21
Axis
r=1, w=1
Maximal following error: When the following error exceeds the value set here, external event
0 is triggered. The reaction to the violation of the following error can be specified via POSITool.
Value range in I09: -31Bit ... 360 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 05 40 00 hex
I22
Axis
r=1, w=1
Target window: Window for the generation of the signal I85 "In Position" and I180 "Position
window reached."
Value range in I09: -31Bit ... 5 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 05 80 00 hex
I23
Axis
r=2, w=2
Deadband position control: Deadband of the position controller. Useful for avoiding idle-state
oscillations caused by friction or reversal play, particularly when an external position encoder is
used.
CAUTION
I23 Deadband must be less than target window I22. Otherwise the drive will not reach its target
position!
Value range in I09: -31Bit ... 0 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 05 C0 00 hex
I24
Axis
r=2, w=2
Backlash compensation: Due to design, with machines the drive may not be immediately
located at the mechanical end when a reverse in direction occurs.
To be able to correctly relate the actual and reference positions to the drive in such cases, the
backlash compensation needs to know the direction in which the drive is pointing at the mechanical
end - in addition to information about the position encoder, and, if applicable, the referencing. In
principle, this is not possible until after a movement by at least the value of the backlash
compensation. This is why, when the axis is initialized, the drive must be at the mechanical end.
This is accomplished by referencing, for instance.
With the next movement in the same direction the mechanics would thus remain pointing in the
same direction at the mechanical end. And there would also be no compensation of the backlash.
However, if a movement is executed in the other direction, the reference position is corrected by I24
in the applicable direction. Each time the direction of movement changes, the reference position is
corrected based on the combination of I31 and the last direction of motion.
Referencing mode Define home is not permitted together with the backlash compensation since it
does not supply any information on the mechanical end of the machine!
Value range in I09: -31Bit ... 0 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 06 00 00 hex
ID 441782.04
316
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I25
Axis
r=2, w=2
Speed feedforward: Application of the calculated speed profile on the output of the position
controller. The n-feed forward relieves the position controller and thus reduces following error. At
I25 = 100 %, the drive traverses at a constant speed without a stationary following error but tends to
overswing in the target position. For this reason that I25 is 60 ... 95 % for most applications. In
addition to reducing I25, overswinging in the target position can also be combated by increasing
C32 (time constant I-share).
Fieldbusaddress
3019h
0h
301Ah
0h
301Eh
0h
301Fh
0h
Value range in %: 0 ... 80 ... 100
Fieldbus: 1LSB=1%; Type: I16; (raw value:32767·LSB=400%); USS-Adr: 09 06 40 00 hex
I26
Axis
r=2, w=2
Posi gear ratio: When an external position encoder I02 which is not mounted on the motor shaft
is used, the ratio of motor and encoder speed is specified in I26. With a rotating position encoder,
the following applies directly: I26 = motor speed/encoder speed or I26 = distance per rotation of the
external encoder/distance per rotation of the motor encoder.
Example of linear axis:
SSI external encoder with 1LSB = 0.01 mm and a 24-bit encoder resolution result in 12-bit
resolution per "rotation" and 12 bits for the number of rotations.
With 2^12 bits = 4096, the axis covers 40.96 mm with an external "encoder rotation." The motor is
connected with the linear axis with an effective radius of 30 mm. This results in a length per motor
encoder rotation of R = 2 x Pi x r = 188.49 mm --> I26 = 40.96 mm / 188.49 mm = 0.215.
In this case, I07 = 4096 and I08 = 100 are set (corresponds to 40.96 mm per external encoder
rotation).
Value range: 0.000 ... 1 ... 65.535
Fieldbus: 1LSB=0,001; Type: U16; USS-Adr: 09 06 80 00 hex
I30
Referencing mode: The type of referencing.
Axis
0: reference input; The reference input (switch) is important when searching for the reference
point. Reference traversing type I30 = 0 can also be used to reference the hardware stop by
having the reference switch react to the signal of the end switch. Remember that the LOW
active signal of the hardware limit switch causes the drive to move in the direction opposite to
I31. (Reference switch source I103)
1: Encoder signal 0; Useful only for drives without gear to adjust the motor shaft to a defined
position.
2: Define home; With the start of Referencing, the current actual position is equated with reference
position I34. No movement takes place. Important referencing type for absolute value encoders.
With I30 = 2 it is also very easy to set the actual position to zero at all times.
r=1, w=1
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 07 80 00 hex
I31
Axis
r=1, w=1
Referencing direction: Initial direction to begin the reference point search if the reference
switch signal is LOW. If the reference switch is HIGH, the drive runs in the opposite direction. If a
application with endless position range only permits one direction (I04 > 0), the referencing direction
is based on I04 and not I31.
0: positive;
1: negative;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 07 C0 00 hex
ID 441782.04
317
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I32
Axis
r=1, w=1
Referencing speed fast: Unit in E09/s. Speed for the first phase of referencing (rough
approaching of the reference switch). The reference traversing acceleration is specified by I39.
Fast reference traversing I32 is omitted when only one direction of rotation (I04) is permitted for a
application with endless position range. In this case, referencing can only be performed at the slow
speed (I33).
Fieldbusaddress
3020h
0h
3021h
0h
3022h
0h
3023h
0h
NOTE
The parameterized value is internally rounded to whole increments of the measuring system being
used. Depending on the resolution of the positioning encoder I02, the entered values can thus not
always be precisely imaged.
Value range in I09/s: 0.00 ... 90 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 09 08 00 00 hex
I33
Axis
r=1, w=1
Referencing speed slow: Unit in E09/s. Speed for the concluding phase of referencing.
Switching between I32 and I33 is performed automatically after the reference switch is found. The
reference traversing acceleration is specified by I39.
NOTE
The parameterized value is internally rounded to whole increments of the measuring system being
used. Depending on the resolution of the positioning encoder I02, the entered values can thus not
always be precisely imaged.
Value range in I09/s: 0.00 ... 4,5 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 09 08 40 00 hex
I34
Axis
r=1, w=1
Reference position: Value which is loaded as the actual position in the reference point.
Depending on the type of reference traversing I30, the reference point is specified by traversing to a
reference switch or the encoder zero track or, with I30 = 2:define home, is accepted immediately
after a command.
The drive stops just behind the reference point after reference traversing based on the brake ramp
I39.
Value range in I09: -31Bit ... 0 ... 31Bit
Fieldbus: 1LSB=siehe I06; PDO ; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 08 80 00 hex
I35
Axis
r=1, w=1
Referencing on encoder signal 0: Only when I36 = 0 and I30 = 0. In addition to the
reference switch, the encoder zero track is evaluated. After the appropriate reference switch signal
has been recognized, the drive continues traversing with the low reference speed until it reaches
the encoder zero track. It does not stop until then. Referencing exclusively on the encoder zero
track (I30 = 1) is not affected by I35.
0: inactive; Zero pulse is not evaluated. Referencing to the edge of the end or reference switch.
Important, for example, for endless axes with gears. Also useful when there are not enough
binary inputs and, at the same time, low demands on accuracy.
1: Motor encoder; This setting is reserved for future expansions and should not be used.
2: Positions-encoder; The zero track of the position encoder set in I02 is evaluated.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 08 C0 00 hex
ID 441782.04
318
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I36
Axis
r=1, w=1
Continuous referencing: These parameters are used for the fully automatic offset of slip or an
imprecise gear ratio. After the first referencing, the actual position I80 is overwritten with the
reference position I34 every time the reference switch is passed over. Since the distance still to be
covered is corrected, even with slip-prone drives, the axis can execute any number of relative
movements in one direction without drifting away.
Fieldbusaddress
3024h
0h
3025h
0h
I36 = 1:standard is used when there is one reference switch in the entire position range or within
one circular length I01. When the reference switch is reached, I80 is offset with the I34 reference
position.
With rotary attachment applications, the circular length I01 must correspond as precisely as
possible to the distance between two reference signals. After one belt circle is completed, for
instance, the same position must be indicated again. The actual position I80 must be checked
during a rotation at I36 = 0:inactive and, if necessary, I07 must be adjusted. The distance per
rotation I07 must always be rounded to higher numbers to prevent bothersome backwards
corrections. The reference switch should not be addressed during a deceleration ramp since a
negative correction would cause a backwards movement.
When several reference switches are located along the position range, the setting I36 = 2:periodic
is used. The distance of the reference switches is entered in I41 reference period. With this
function, the device carries a "potential reference position" which it would expect for the next
reference point. When a signal occurs at the reference point, the device compares the distance of
its own actual position with the last and the expected reference position. The nearest position is
selected as the new reference position and it becomes the actual position of the initiator time.
0: inactive;
1: standard; Exactly one reference switch exists over the entire traversing range or within one
circular length (endless axis). When the reference edge of this reference switch is passed, the
actual position is automatically corrected.
2: periodic; Several reference switches are positioned at intervals of I41 reference period along the
traversing area. These switches trigger correction of the actual position.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 09 00 00 hex
I37
Axis
r=1, w=1
Power-on referencing: Affects the referencing behavior during device startup (control portion
startup with 24 V).
0: inactive;
1: active; With first enable after power-on, reference positioning is started automatically. This is
only possible when the axis has not yet been referenced!
NOTE
With absolute value encoders, only possible/necessary once.
2: reconstruct saved angle; The current position of the position encoder is stored 100 ms after the
device enable is removed and is reconstructed after the device is powered off and on again.
With single-turn, absolute value encoders (e.g., resolvers), the position is only reconstructed
after power-on when the angle of deviation was less than 5°. With incremental encoders, the
position is always reconstructed.
NOTE
The parameter can only reconstruct the angle in the positioning function. When the synchronous
function is used, G37 must also be activated.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 09 40 00 hex
ID 441782.04
319
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I39
Referencing acceleration: Acceleration which is used for referencing.
Axis
NOTE
The parameterized value is rounded internally to whole increments of the measuring system used.
Depending on the resolution of position encoder I02, the entered values cannot always be imaged
precisely.
r=1, w=1
Fieldbusaddress
3027h
0h
3029h
0h
3032h
0h
3033h
0h
3034h
0h
303Ch
0h
Value range in I09/s2: 0.00 ... 10 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 09 09 C0 00 hex
I41
Axis
r=1, w=1
I50
Axis
r=1, w=1
Reference period: Only when I36 = 2 (periodic, continuous referencing). Specifies the distance
of the reference markers or reference flags for periodic, continuous referencing.
Value range in I09: -31Bit ... 360 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 0A 40 00 hex
Software stop +: Only for limited traversing area. No meaning for applications with endless
position range. Effective only when the axis is referenced. The position controller rejects motion
block jobs to destinations outside the software stops (ErrorCode I90 = 2). Hand (manual) and
endless motion blocks are stopped at the software stops. If I50 and I51 are both set to the value 0,
their function is deactivated.
CAUTION
Violations of the permissible positioning range due to a flying motion block change with slower
ramps are not stopped by software stops.
Value range in I09: -31Bit ... 10000000 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 0C 80 00 hex
I51
Axis
r=1, w=1
Software stop -: Only for limited traversing area. No meaning for applications with endless
position range. Effective only when the axis is referenced. The position controller refuses motion
block jobs to destinations outside the software stops (ErrorCode I90 = 3). Hand (manual) and
endless motion blocks are stopped at the software stops. If I50 and I51 are both set to the value 0,
their function is deactivated.
CAUTION
Violations of the permissible positioning range due to a flying motion block change with slower
ramps are not stopped by software stops.
Value range in I09: -31Bit ... -10000000 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 0C C0 00 hex
I52
Axis
r=1, w=1
PosiAutoEnable: Automatic enable of the positioning block. With I52 = 0:inactive the positioning
block must be activated via the "aktivatePosi" command. With I52 = 1:active, this procedure is
executed automatically and the PLCOpen state of positioning changes to "standstill" as soon as the
drive state permits.
Since "Activate Posi" is executed when the enable of the commands is set with I52 = 1:active, the
"done" signal (e.g., I189) is set afterwards.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 0D 00 00 hex
I60
Axis
r=1, w=1
Electronic cam begin: The el. cam signal (I200.9 and I87) becomes high in the position area
between I60 and I61.
NOTE
The electrical cam functions only when referenced.
Value range in I09: -31Bit ... 0 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 0F 00 00 hex
ID 441782.04
320
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I61
Axis
r=1, w=1
Electronic cam end: The el. cam signal (I200.9 and I87) becomes high in the position area
between I60 and I61.
Fieldbusaddress
303Dh
0h
303Eh
0h
303Fh
0h
3040h
0h
3041h
0h
304Bh
0h
NOTE
The electrical cam functions only when referenced.
Value range in I09: -31Bit ... 100 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 0F 40 00 hex
I62
Axis
r=3, w=3
Electronic cam 2 begin: In the position range between I62 and I63 the cam 2 output signal
becomes high. The parameter I196.0 contains a bit pattern of all existing cams, starting with cam 1
in bit 0. The following array elements I196.1 to I196.3 each contain the individual signal of cam 1,
cam 2 and so on.
NOTE
The electrical cam only functions when in referenced status.
Value range in I09: -31Bit ... 0 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 0F 80 00 hex
I63
Axis
r=3, w=3
Electronic cam 2 end: In the position range between I62 and I63 the cam 2 output signal
becomes high. The parameter I196.0 contains a bit pattern of all existing cams, starting with cam 1
in bit 0. The following array elements I196.1 to I196.3 each contain the individual signal of cam 1,
cam 2 and so on.
NOTE
The electrical cam only functions when in referenced status.
Value range in I09: -31Bit ... 100 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 0F C0 00 hex
I64
Axis
r=3, w=3
Electronic cam 3 begin: In the position range between I64 and I65 the cam 3 output signal
becomes high. For the indication parameters of the cams, see I62 / I63.
NOTE
The electrical cam only functions when in referenced status.
Value range in I09: -31Bit ... 0 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 10 00 00 hex
I65
Axis
r=3, w=3
Electronic cam 3 end: In the position range between I64 and I65 the cam 3 output signal
becomes high. For the indication parameters of the cams, see I62 / I63.
NOTE
The electrical cam only functions when in referenced status.
Value range in I09: -31Bit ... 100 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 10 40 00 hex
I75
Axis
r=2, w=2
Posi.latch mode: Controls Posi.Latch function for microsecond-precise measuring of a position
or length with an external signal.
0: Save actual position at rising edge of Latch-Execute.
1: Save actual position at falling edge of Latch-Execute.
2: Save actual position at next edge (falling or rising) of Latch-Execute.
3: Reserved; Preliminarily same as 2.
4: Difference measurement of rising to rising edge of Latch-Execute.
5: Difference measurement of falling to falling edge of Latch-Execute.
6: Difference measurement of rising to falling edge of Latch-Execute.
7: Difference measurement of falling to rising edge of Latch-Execute.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 12 C0 00 hex
ID 441782.04
321
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I80
Axis
read (1)
I81
Axis
read (1)
Current position: Read only. Indication of the actual (current) position (without leeway
compensation). Please note that I80 contains a dedicated value for each axis. I203 current position
is available as a global parameter (active axis value) for the process data image.
Fieldbusaddress
3050h
0h
3051h
0h
3052h
0h
3053h
0h
3054h
0h
3055h
0h
Fieldbus: 1LSB=siehe I06; PDO ; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 14 00 00 hex
x-reference: Read only. Indication of the reference position of the current motion block job. The
externally specified target position I353 is accepted when a motion block job is started (rising edge
of the Execute signal) in I81. The consecutive, continuous reference value of the position controller
can be indicated in I95.
Fieldbus: 1LSB=siehe I06; PDO ; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 14 40 00 hex
I82
Axis
read (1)
Active motionID: The value of MotionID which was accepted with the last rising "Execute" edge.
A MotionID which is accepted with the rising edge of the "Execute" signal can be transferred with
each command. When the applicable MotionID is indicated as the active MotionID, the command is
being processed.
Fieldbus: 1LSB=1; PDO ; Type: U16; USS-Adr: 09 14 80 00 hex
I83
Axis
read (1)
Selected motion block: Read only. The value of the Motion ID which will be taken with the
next rising edge of the "Execute" signal. A Motion ID can be transmitted with each command which
will be accepted with the rising edge of the "Execute" signal. When the applicable Motion ID is
indicated as Active Motion ID, this means that the command is being processed.
Fieldbus: 1LSB=1; PDO ; Type: U16; USS-Adr: 09 14 C0 00 hex
I84
Axis
read (1)
I85
Axis
read (1)
Following error: Read only. Indication of the current position deviation. If the following error I84
is not below the permissible maximum I21, the drive triggers a fault.
Fieldbus: 1LSB=siehe I06; PDO ; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 15 00 00 hex
In position: Indication of the current value on the same-name output of the positioning block.
Remember that the "In Position" signal is not only dependent on the positioning window I22. "In
Position" is set when the specified speed profile is completely traversed and the difference between
actual position and reference position passes below the value I22 for the first time. "In Position"
then remains until the next motion block job starts - even when the actual position overswings
beyond the position window. Signal I180 (position window reached) is available as an alternate
choice.
If, after a movement job with active "In Position", the enable is switched off, "In Position" remains
active until the difference between actual position and reference position is more than the value I22
for the first time. Then "In Position" becomes inactive.
NOTE
When a position controller with deadband is used, the following must be true: I22 > I23!
0: inactive; Axis not within the target position window.
1: active; Axis within the target position window.
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 15 40 00 hex
ID 441782.04
322
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I86
Axis
read (1)
In reference: Read only. Indication of the "In reference" output signal. The signal is set when the
drive changed its current actual position to the reference position I34. If the drive is still in motion at
this moment, standstill (i.e., the end of the state I89 = 8:homing) must be waited for before a next
command is started.
Fieldbusaddress
3056h
0h
3057h
0h
3058h
0h
3059h
0h
CAUTION
When the event "37:encoder" is triggered, the signal In Reference is deleted regardless of the
encoder used. After off/on (acknowledgement), referencing must be performed again.
0: inactive; Drive not referenced. No absolute positioning possible.
1: active; Drive referenced.
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 15 80 00 hex
I87
Axis
read (1)
Electronic cam 1: Indication of the "electronic cam 1" output signal. Indicates that the (leewaycompensated) actual position is between I60 and I61.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 15 C0 00 hex
I88
Speed: Read only. Current reference value of the positioning speed with unit.
Axis
read (1)
Fieldbus: 1LSB=siehe I06; PDO ; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 09 16 00 00 hex
I89
PLCopen-state: Status of the positioning controller after PLCopen definition.
Axis
read (1)
0: PLCO_Init; Position is in the initialization phase.
1: PLCO_Passive; Positioning is passive. When the drive is located outside the last target window,
the reference position is updated with the actual position and the "In position" signal becomes
inactive.
2: Standstill; Drive is in position control. No motion block job is being executed currently. The drive
is ready to accept a motion block job.
3: Discrete motion; Drive is within a movement which has a defined target position.
4: Continuous motion; Drive is in a movement which does not have a defined target position.
5: Synchronous motion; Drive is in a synchronous movement.
6: Stopping; Drive is traversing with position control to the set brake ramp until standstill. A
transition to the "standstill" state then follows.
7: ErrorStop; Drive is executing a quick stop with deactivated position control. When the drive has
stopped, the state ErrorStop is retained.
8: Homing; Reference traversing is active.
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 09 16 40 00 hex
ID 441782.04
323
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I90
Axis
read (1)
Error code: When the PLCOpen state is "ErrorStop," the cause can be read out here.
Fieldbusaddress
305Ah
0h
305Bh
0h
305Dh
0h
305Eh
0h
0: error free;
1: illegal direction; An attempt was made to start a process block job in an illegal direction of
rotation.
2: SW-lim.switch+; An attempt was made to start a motion block job whose target position is
outside the positive SW limit switch.
3: SW-lim.switch-; An attempt was made to start a motion block job whose target position is
outside the negative SW limit switch.
4: Absolute positioning without referencing; An attempt was made to start a motion block job with
an absolute target while the drive was not referenced.
5: Hardware-Limit-Switch +; ErrorStop due to activated hardware limit switch+.
6: Hardware-Limit-Switch-; ErrorStop due to activated hardware limit switch-.
7: SW-lim.switch+; ErrorStop due to activated software limit switch+.
8: SW-lim.switch-; ErrorStop due to activated software limit switch-.
9: External Quickstop; ErrorStop due to externally triggered quick stop.
10: Denied because Position is not in circular;
11: denied because of sync. on position during motion,
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 09 16 80 00 hex
I91
Axis
read (1)
Profile generator flags: Status signals of the profile generator which generates reference
values for the position and speed controller.
 Bit-0: In reserve
 Bit-1: ACCmax (ACC specification greater than I11)
 Bit-2: DECmax (DECEL specification greater than I11)
 Bit-3: VmaxOVR+ (speed specification after inclusion of override > I10)
 Bit-4: VmaxOVR- (speed specification after inclusion of override < -I10)
 Bit-5: HW-LimSwitch+ (+hardware limit switch touched)
 Bit-6: HW-LimSwitch- (-hardware limit switch touched)
 Bit-7: SW-LimSwitch+ (current reference value of position controller I95 is located on or outside a
SW limit switch (e.g., during manual traversing). In contrast, "refusal" of motion block jobs is
signaled in I90 ErrorCode.
 Bit-8: SW-LimSwitch Bit-9: In reserve
 Bit-10: ConstVelocity (disappears during speed changes, also due to override)
 Bit-11: Accelerating
 Bit-12: Decelerating
 Bit-13: BacklashComp
0: Reference position is not offset by I24 to compensate for the leeway. The drive is in the original
direction in mechanical intervention.
1: Reference position is not offset by I24 to compensate for the leeway. The drive is in the opposite
direction in mechanical intervention.
 Bit-14: LeewayDir
Depending on the referencing direction, I24 must be added to or subtracted from the current
actual position to obtain the real mechanical actual position.
0: I24 must be added.
1: I24 must be subtracted.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 09 16 C0 00 hex
I93
Axis
read (1)
I94
Axis
read (1)
Speed feed forward: Indication of the current value of the speed feed forward which the profile
generator sends to the speed controller. The speed feed forward is specified in I25.
Fieldbus: 1LSB=0,1rpm; Type: I32; (raw value:14 Bit=1·rpm); USS-Adr: 09 17 40 00 hex
Torque feed forward: Indication of the current value of the torque feed forward which the profile
generator sends to the speed controller. The torque feed forward is calculated from the inertia ratio
entered in I30.
Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 09 17 80 00 hex
ID 441782.04
324
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I95
Axis
read (1)
I96
Axis
read (1)
Position controller reference value: Indication of the continuous position reference value
calculated by the profile generator.
Fieldbusaddress
305Fh
0h
3060h
0h
3064h
0h
Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 17 C0 00 hex
Current position: Read only. Indication of the actual position (including backlash
compensation). This position is indicated with positioning applications in the operational indicator of
the device display.
Fieldbus: 1LSB=siehe I06; PDO ; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 18 00 00 hex
I100
Axis, OFF
r=1, w=1
Execute source: The Execute signal starts the actual command (see I351). Parameter I100
specifies the source for the Execute signal.
The available selections 0:low and 1:high are the same as fixed values. With I100 =
3:BE1...28:BE13-inverted, the Execute can be executed via the selected binary input. With I100 =
2:Parameter, the control word of the selected application is used as the signal source (e.g., I210.0).
This setting is designed for fieldbus operation. The Execute input of the positioning block can be
monitored in I300 regardless of the parameterized signal source.
Possible control words (global parameters) are:
Application
Parameter
Bit
Command positioning
I210
0
Motion block positioning
I220
0
Synchronous running
I222
0
Interpolated Position Mode
I427
7
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 19 00 00 hex
ID 441782.04
325
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I101
Axis, OFF
r=1, w=1
/HW-Limit-Switch+ source: The /limit-switch+ signal limits the traversing area in the positive
direction. Parameter I101 specifies from where the signal comes. The signal is low active (i.e.,
cable-break-proof implementation). For available selections, see I100. With I101 = 2:Parameter, the
control word of the selected application (e.g., I210 Bit 1) is used as the signal source (global
parameters). This must be set for fieldbus operation. With I301, the signal can be directly monitored
on the block input.
Possible control words (global parameters) are:
Application
Parameter
Bit
Command positioning
I210
1
Motion block positioning
I220
1
Synchronous running
I222
1
Fieldbusaddress
3065h
0h
NOTE
The limit switch inputs are LOW active. LOW level causes the "limit switch" fault.
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 19 40 00 hex
ID 441782.04
326
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I102
Axis, OFF
r=1, w=1
/HW-Limit-Switch- source: The /limit-switch- signal limits the traversing area in the negative
direction. Parameter I102 specifies from where the signal comes. The signal is low active (i.e.,
cable-break-proof implementation). For available selections, see I100. With I102 = 2:Parameter, the
control word of the selected application (e.g., I210 Bit 2) is used as the signal source (global
parameters). This must be set for fieldbus operation. With I302, the signal can be directly monitored
on the block input.
Possible control words (global parameters) are:
Application
Parameter
Bit
Command positioning
I210
2
Motion block positioning
I220
2
Synchronous running
I222
2
NOTE
The limit switch inputs are LOW active. LOW level causes the "limit switch" fault.
Fieldbusaddress
3066h
0h
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 19 80 00 hex
ID 441782.04
327
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I103
Axis, OFF
r=1, w=1
Reference switch source: Selection of the source for the reference switch signal. For
available selections, see I100. The reference switch signal is used to detect the reference position
during reference traversing. Reference traversing is started with the command MC_HOME in the
motion-command byte I211.
With I103 = 2:Parameter, the control word of the selected application (e.g., I210 Bit 3) is used as
the signal source (global parameters). This must be set for fieldbus operation. I303 can be used to
monitor the signal directly on the block input.
Possible control words (global parameters) are:
Application
Parameter
Bit
Command positioning
I210
3
Motion block positioning
I220
3
Synchronous running
I222
3
Interpolated Position Mode
I427
4
Fieldbusaddress
3067h
0h
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 19 C0 00 hex
ID 441782.04
328
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I104
Axis, OFF
r=1, w=1
Tip enable source: Selection of the source for the enable tip signal. The enable tip signal puts
the axis in tip mode. For available selections, see I100. With I104 = 2:Parameter, the control word
of the selected application (e.g., I210 Bit 4) is used as the signal source (global parameters). This
must be set for fieldbus operation. The signal can be directly monitored on the block input via I304.
Possible control words (global parameters) are:
Application
Parameter
Bit
Command positioning
I210
4
Motion block positioning
I220
4
Synchronous running
I222
4
Interpolated Position Mode
I427
0/1
Fieldbusaddress
3068h
0h
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1A 00 00 hex
ID 441782.04
329
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I105
Axis, OFF
r=1, w=1
Tip+ source: Selection of the source for the Tip+ signal. The Tip+ signal starts manual traversing
in the positive direction. For available selections, see I100. With I105 = 2:Parameter, the control
word of the selected application (e.g., I210 Bit 5) is used as the signal source (global parameters).
This must be set for fieldbus operation. The signal can be directly monitored on the block input via
I305.
Possible control words (global parameters) are:
Application
Parameter
Bit
Command positioning
I210
5
Motion block positioning
I220
5
Synchronous running
I222
5
Interpolated Position Mode
I427
2
Fieldbusaddress
3069h
0h
NOTE
Tip mode must be activated.
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1A 40 00 hex
ID 441782.04
330
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I106
Axis, OFF
r=1, w=1
Tip- source: Selection of the source for the Tip- signal. For available selections, see I100.
The signal starts tip mode in the negative direction. With I106 = 2:Parameter, the control word of
the selected application (e.g., I210 Bit 6) is used as the signal source (global parameters). This
must be set for fieldbus operation. The signal can be directly monitored on the block input via I306.
Possible control words (global parameters) are:
Application
Parameter
Bit
Command positioning
I210
6
Motion block positioning
I220
6
Synchronous running
I222
6
Interpolated Position Mode
I427
3
Fieldbusaddress
306Ah
0h
NOTE
Tip mode must be activated.
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1A 80 00 hex
ID 441782.04
331
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I107
Axis, OFF
r=1, w=1
HandStep+ source: Selection of the source for the "HandStep+" signal. The signal starts handstep traversing in the positive direction. Positioning is performed with a fixed distance (I14) relative
to the positive direction. For available selections, see I100. With I107 = 2:Parameter, the control
word of the selected application (e.g., I210 Bit 7) is used as the signal source (global parameters).
This must be set for fieldbus operation. The signal can be monitored directly on the block input via
I307.
Possible control words (global parameters) are:
Application
Parameter
Bit
Command positioning
I210
7
Motion block positioning
I220
7
Synchronous running
I222
7
Fieldbusaddress
306Bh
0h
NOTE
For correct function, tip mode must be activated.
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1A C0 00 hex
ID 441782.04
332
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I108
Axis, OFF
r=1, w=1
HandStep- source: Selection of the source for the HandStep- signal. The signal starts handstep traversing in the negative direction. Positioning is performed with a fixed distance (I14) relative
to the negative direction. For available selections, see I100. With I108 = 2:Parameter, the control
word of the selected application (e.g., I210 Bit 8) is used as the signal source (global parameters).
This must be set for fieldbus operation. The signal can be monitored directly on the block input via
I308.
Possible control words (global parameters) are:
Application
Parameter
Bit
Command positioning
I210
8
Motion block positioning
I220
8
Synchronous running
I222
8
Fieldbusaddress
306Ch
NOTE
For correct function, tip mode must be activated.
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1B 00 00 hex
ID 441782.04
333
0h
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I109
Axis, OFF
r=1, w=1
Posi latch reset source: The Posi.latch reset signal activates the Posi.latch function which
permits microsecond-precise acquisition of the current position and is thus suitable for measuring
work pieces, for example. The Posi.latch status I190 is reset at the rising edge of the reset signal.
I109 specifies the source of the Posi.latch reset signal.
For available selections, see I100. With I109 = 2:Parameter, the control word of the selected
application (e.g., I210 Bit 9) is used as the signal source (global parameters). This must be set for
fieldbus operation. The signal can be directly monitored on the block input via I309.
Possible control words (global parameters) are:
Application
Parameter
Bit
Command positioning
I210
9
Motion block positioning
I220
9
Synchronous running
I222
9
Interpolated Position Mode
I427
5
Fieldbusaddress
306Dh
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1B 40 00 hex
ID 441782.04
334
0h
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I110
Axis, OFF
r=1, w=1
Posi latch execute source: The edge of the Execute signal triggers (depending on mode I75)
the microsecond-precise measurement (only BE1 to BE5) of the current actual position in I191.
I110 specifies the source of the Posi.Latch Execute signal. With I110 = 2:Parameter, the control
word of the selected application (e.g., I210 Bit 10) is used as the signal source (global parameters).
This must be set with fieldbus operation. The signal can be directly monitored on the block input via
I310.
The status of Posi.Latch can be monitored in I190.
Possible control words (global parameters) are:
Application
Parameter
Bit
Command positioning
I210
10
Motion block positioning
I220
10
Synchronous running
I222
10
Interpolated Position Mode
I427
6
Fieldbusaddress
306Eh
0h
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1B 80 00 hex
ID 441782.04
335
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I111
Axis, OFF
r=1, w=1
Switching point reset source: Selection of the source for the Posi.switchingpoint reset
signal. The reset signal resets the switching point defined by N10 ... N12. With I111 = 2:Parameter,
the control word of the selected application (e.g., I210 Bit 11) is used as the signal source (global
parameters). This must be set for fieldbus operation. The signal can be monitored directly on the
block input via I311.
Possible control words (global parameters) are:
Application
Parameter
Bit
Command positioning
I210
11
Motion block positioning
I220
11
Synchronous running
I222
11
Fieldbusaddress
306Fh
0h
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1B C0 00 hex
ID 441782.04
336
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I112
Axis, OFF
r=1, w=1
Next.Step1: The signals Next.Step1 and Next.Step2 are used for motion block chaining. When
the parameter J14 (follow start) contains the value "1:next.Step1" or "2:next.Step1," the appropriate
signal causes a jump to the next block specified in J15. Also during the movement, the Next.Step
signal causes the immediate jumpt to the next motion block. I112 = 2:Parameter: The control word
I220, bit 12 is used as the signal source. This must be set for fieldbus mode.
Fieldbusaddress
3070h
0h
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1C 00 00 hex
ID 441782.04
337
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I113
Axis, OFF
r=1, w=1
Next.Step2: See I112. I113 = 2:Parameter: The control word I220, bit 13 is used as the signal
source (fieldbus mode).
Fieldbusaddress
3071h
0h
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1C 40 00 hex
ID 441782.04
338
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I114
Axis, OFF
r=1, w=1
Teach-In: At the rising edge of the teach-in signal, the current position is stored non-volatilely in
array J11 (in Paramodul). The target parameter in array J11 is selected with the aid of the reference
value selector (signals RV-Select0 to RV-Select7 or J00). I114 = 2:Parameter: The control word
I220, bit 14 is used as the signal source. This must be set for fieldbus mode.
Fieldbusaddress
3072h
0h
NOTE
The number of write cycles in Paramodule is limited.
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1C 80 00 hex
ID 441782.04
339
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I115
Axis, OFF
r=1, w=1
Block start 1: In addition to the Execute signal, three signals are available to the user which
cause the immediate start of a motion block: BlockStart1 to BlockStart3. A motion block number
can be assigned to each of these three signals in the parameters J01 to J03. The practical
usefulness is being able to place special commands (e.g., referencing or stop) at permanently
assigned inputs.
I115 = 2:Parameter: The control word I221, bit 0 is used as the signal source. This must be set for
fieldbus mode.
Fieldbusaddress
3073h
0h
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1C C0 00 hex
ID 441782.04
340
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I116
Block start 2: See I115. I116 = 2:Parameter: The control word I221, bit 1 (fieldbus mode).
Axis, OFF
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
r=1, w=1
Fieldbusaddress
3074h
0h
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1D 00 00 hex
ID 441782.04
341
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I117
Block start 3: See I115. I117 = 2:Parameter: The control word I221, bit 2 (fieldbus mode).
Axis, OFF
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
r=1, w=1
Fieldbusaddress
3075h
0h
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1D 40 00 hex
ID 441782.04
342
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I118
Axis, OFF
r=1, w=1
RV-Select0: The signals SWSelect0 to SWSelect7 are used to select a motion block which is
started with Execute or its position is stored with Teach-In. With the selection 2:Parameter, the
signal is taken from the appropriate bit in J00.
Fieldbusaddress
3076h
0h
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1D 80 00 hex
ID 441782.04
343
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I119
RV-Select1: See I118.
Axis, OFF
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
r=1, w=1
Fieldbusaddress
3077h
0h
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1D C0 00 hex
ID 441782.04
344
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I120
RV-Select2: See I118.
Axis, OFF
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
r=1, w=1
Fieldbusaddress
3078h
0h
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1E 00 00 hex
ID 441782.04
345
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I121
RV-Select3: See I118.
Axis, OFF
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
r=1, w=1
Fieldbusaddress
3079h
0h
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1E 40 00 hex
ID 441782.04
346
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I122
RV-Select4: See I118.
Axis, OFF
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
r=1, w=1
Fieldbusaddress
307Ah
0h
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1E 80 00 hex
ID 441782.04
347
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I123
RV-Select5: See I118.
Axis, OFF
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
r=1, w=1
Fieldbusaddress
307Bh
0h
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1E C0 00 hex
ID 441782.04
348
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I124
RV-Select6: See I118.
Axis, OFF
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
r=1, w=1
Fieldbusaddress
307Ch
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1F 00 00 hex
ID 441782.04
349
0h
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I125
RV-Select7: See I118.
Axis, OFF
0: Low;
1: High;
2: parameter;
3: BE1;
4: BE1-inverted;
5: BE2;
6: BE2-inverted;
7: BE3;
8: BE3-inverted;
9: BE4;
10: BE4-inverted;
11: BE5;
12: BE5-inverted;
13: BE6;
14: BE6-inverted;
15: BE7;
16: BE7-inverted;
17: BE8;
18: BE8-inverted;
19: BE9;
20: BE9-inverted;
21: BE10;
22: BE10-inverted;
23: BE11;
24: BE11-inverted;
25: BE12;
26: BE12-inverted;
27: BE13;
28: BE13-inverted;
r=1, w=1
Fieldbusaddress
307Dh
0h
3082h
0h
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1F 40 00 hex
I130
Axis, OFF
r=1, w=1
Override source: Override affects all speeds (velocities) (hand traversing, positioning, reference
traversing). Selection of the source for the Override signal. The signal can be permanently prespecified to 0, and be supplied by the analog inputs (AE1 to AE3) or the fieldbus.
With I130 = 4:Parameter, parameter (global) I230 is the signal source. This setting must be used for
fieldbus operation.
0:
1:
2:
3:
4:
0 (zero);
AE1;
AE2;
AE3;
parameter;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 20 80 00 hex
ID 441782.04
350
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I131
Axis, OFF
r=1, w=1
Reference value offset source: Selection of the source for the Reference value offset signal.
This signal serves as the weighting factor of the reference value offset parameter I70. For further
details, see I70. For available selections, see I130. With I131 = 4:Parameter, the (global) parameter
I231 is the signal source. The result of the reference value link can be read directly on the block
input via I353. The value is composed of I70 * Value [I131] + I213 = I353.
0:
1:
2:
3:
4:
Fieldbusaddress
3083h
0h
30B4h
0h
30B5h
0h
30B6h
0h
30B7h
0h
30B8h
0h
0 (zero);
AE1;
AE2;
AE3;
parameter;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 20 C0 00 hex
I180
Axis
read (1)
Position window reached: Actual position is located in the position window. Indication of the
InPosWin signal on the output interface of the positioning controller. In contrast to In Position I85,
the signal I180 immediately becomes LOW when it leaves the position window I22 (e.g., due to
overswings).
Remark: With the enable switched off, once the actual position has left the position window for the
first time, the reference position from the position controller is continuously updated to the actual
position. As a consequence, the actual position is always in the position window and I180 is active.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 2D 00 00 hex
I181
Axis
read (1)
Error: Indication of the Error signal on the output interface of the positioning controller. HIGH
means that an error has occurred. For the type of error, see I90 ErrorCode.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 2D 40 00 hex
I182
Axis
read (1)
Aborted: Indication of the Aborted signal on the output interface of the positioning controller.
HIGH means that the last motion block job was aborted (e.g., by a halt command or a new motion
block who was denied). Since the signal is set to LOW when a motion block job is started, it is not
possible to detect the abortion of a previous motion block job with the "aborted" flag.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 2D 80 00 hex
I183
Axis
read (1)
Constant velocity: Indication of the ConstVel signal (constant velocity) on the output interface
of the positioning controller. With HIGH, the drive moves at a constant speed (velocity).
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 2D C0 00 hex
I184
Axis
read (1)
Accelerating: Indication of the Accelera signal (acceleration) on the output interface of the
positioning controller. The speed increases with HIGH.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 2E 00 00 hex
ID 441782.04
351
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I185
Axis
read (1)
Decelerating: Indication of the Decelera signal (deceleration) on the output interface of the
positioning controller. The current speed is reduced with HIGH.
Fieldbusaddress
30B9h
0h
30BBh
0h
30BCh
0h
30BDh
0h
30BEh
0h
30BFh
0h
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 2E 40 00 hex
I187
Axis
read (1)
Maximum following error: Indication of the ErrMaxFo signal (maximum following error
exceeded) on the output interface of the positioning controller. With HIGH, the maximum following
error I21 was exceeded.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 2E C0 00 hex
I188
Axis
read (1)
Tipping active: Indication of the Tip Activ signal (tipping active) on the output interface of the
positioning controller. With HIGH, the axis is in manual mode.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 2F 00 00 hex
I189
Axis
read (1)
Done: Indication of the Done signal on the output interface of the positioning controller. With HIGH,
the command to be executed was processed successfully.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 2F 40 00 hex
I190
Axis
read (1)
Posi latch state: Indication of the current posi latch state.
0: The latch is ready and is waiting for the set signal edge on the "Latch-Execute" input.
1: In modes 0, 1 and 2, the latch has stored a position and is located in the end state. The ready
state 0 is achieved again with the latch reset. In modes 4, 5, 6 and 7, the first of two signal
edges has been detected and, depending on the mode, the latch is waiting for the second signal
edge.
2: Only in modes 4, 5, 6 and 7. The latch has stored the second position and calculated the
position difference. It is in the end state. The ready state 0 is achieved again with the latch reset.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 2F 80 00 hex
I191
Axis
read (1)
Posi latch position: Indication of the position measured with the Latch function. With a length
measurement (I75 = 4..7), the output position is indicated after the first edge of Pos.Latch Execute
and the measured length is indicated after the second edge.
Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 2F C0 00 hex
ID 441782.04
352
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I192
Axis
read (2)
Flags for synchronous motion: Uses status bits to indicate the current state of a
synchronous movement.
Fieldbusaddress
30C0h
0h
30C1h
0h
30C2h
0h
30C3h
0h
Bit-0: Superimposed positioning command is in position.
When a relative or absolute positioning job is started as superimposed on a synchronous
movement, it is shown here that the superimposed positioning command is in position.
Bit 7 and bit 1 are set simultaneously.
Bit-1: Snapped in
Master and slave axes are totally connected. Acceleration procedures for synchronization
are finished. Bit 7 is set simultaneously.
Bit-2: Wait for synchronization.
After starting MC_GearInAtAbsPositon or MC_GearInAtRelPosition, the drive can remain in
a wait state without moving. This state is indicated with this bit.
Bit 7 is set simultaneously.
Bit-3: With endless master axis, always look for the next possible circle.
Bit-4: Destination cannot be reached.
Endless position range: Next possible circle selected.
Linear axis: Synchronized to speed and snapped in.
Bit-5: Reserved
Bit-6: Reserved
Bit-7: Movement with synchronous master reference active. This bit indicates that a command
with synchronous master reference was started. Additional bits may also have been set.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 30 00 00 hex
I193
Axis
read (2)
Active PLCopen Step-ID: This parameter is used by the device display to indicate the motion
block which was started last.
With Motion Block Positioning applications, I82 is copied to I193 to indicate the posi motion block
(in the background - i.e., not in real time. For Scope displays, please use I82).
When PLCopen blocks are used, the reference value interface of each of these blocks has a step
ID as an identifier which can be set as desired (a number from 0 to 65535). The ID of the last
started PLCopen block can then be entered in I193 (in real time).
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 09 30 40 00 hex
I194
Axis
read (1)
I195.0
Axis
read (1)
Timestamp of actual position: Shows the time stamp of the current actual position I80.
Fieldbus: 1LSB=1µs; Type: U16; USS-Adr: 09 30 80 00 hex
RV-acknowledge: The following is valid for each PLCopen state except passive: As long as
Execute of motion block positioning is inactive, the individual RV select bits are indicated inverted in
the applicable elements of I195. When Execute is active, the RV select bits are stored and
indicated uninverted. In the PLCopen status passive, inversion is always indicated.
Array
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 30 C0 00 hex
I196.0
Axis
read (1)
Electronic cams: The electrical cam is a state-controlled signal (i.e., the output signal is active
as long as the current position is located between start and end of the cam.
Element 0 of I196 contains a bit pattern of all existing cams.
Element 1 of I196 contains the output signal of cam 1 and is identical to I87.
Element 2 of I196 contains the output signal of cam 2.
Element 3 of I196 contains the output signal of cam 3.
30C4h
Array
NOTE
The electrical cam only functions in the referenced state.
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 09 31 00 00 hex
ID 441782.04
353
0h
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I200
Global
read (2)
Posi.status word: Supplies information on the reaction of the axis during operation on a
fieldbus.
Fieldbusaddress
30C8h
Bit 0: Limit switch (group message: one of the two hardware limit switch or software limit switch).
See bit 5...8 in I91Profile generator flags
Bit 1: Rejected (group message: not referenced, software limit switch, disable direction of
rotation). The last command could not be executed, error code I90 is between 1 and 4.
Bit 2: Limit (group message: Torque limit, following error, torque limitation by i²t)
Bit 3: Aborted (group message: MC_Stop, enable off, quick stop)
Bit 4: Constant velocity (I183): The ramp generator specifies constant speed
Bit 5: In position (I85): Reference value reached .
Bit 6: In reference (I86): Drive referenced
Bit 7: Standstill (in accordance with PLCopen I89 = 2).
Bit 8: Inching or local operation: Inching is active (also applies to local mode via keyboard) (I188).
Bit 9: Cam 1: The electrical cam is in the active area. (I60, I61).
Bit 10: Switching point 1: The switching point was approached.
Bit 11: Latch Status Bit 0:
0: Latch ready to receive.
1: If measurement with rising edge, value is ready to be fetched in parameter I191.
1: If differential measurement, the first edge was detected.
Bit 12: Latch Status Bit 1: 1 If differential measurement, the value is ready to be fetched in
parameter I191. If measurement with rising edge, this bit has no function.
Identifier of the positioning job processed last (lower 3 bits). The Motion ID is specified in
Posi control word /210 / I222 and is used in status word I200 for the unambiguous
assignment of the status bits to a certain positioning job.
Bit 13: Motion ID Bit 0
Bit 14: Motion ID Bit 1
Bit 15: Motion ID Bit 2
CAUTION
When the event "37:encoder" is triggered, the signal In Reference (Bit 6) is deleted regardless of
the encoder used. After off/on (acknowledgement), referencing must be performed again.
NOTE
Bits 9 to 12 are not available in application synchronous command positioning.
NOTE
Bits 10 to 12 are not available in application el. cam.
Fieldbus: 1LSB=1; PDO ; Type: U16; USS-Adr: 09 32 00 00 hex
ID 441782.04
354
0h
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I201
Global
read (2)
Fieldbusaddress
Motion Status-Byte: Supplies information on the reaction of the axis during operation on a
fieldbus.
Bit 0:
Bit 1:
Bit 2:
Bit 3:
Bit 4:
30C9h
0h
30CBh
0h
30CCh
0h
PLCopenstate bit0
PLCopenState bit1
PLCopenState bit2
PLCopenState bit3
Done (in acc. w. PLCopen) (I189): Command executed successfully
Bit 5: Position window reached (I180)
Bit 6: Accelerating (I184)
Bit 7: Decelerating (I185)
.
Bit 0 to 3 PLCopenState are coded as shown below (as I89).
0: Init
1: Passive
2: Standstill
3: Discr. motion
4: Cont. motion
5: Sync. motion
6: Stopping
7: Error stop
8: Homing
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 09 32 40 00 hex
I203
Global
read (2)
Current position: Global parameter for calling up the current (actual) position via a fieldbus.
I203 is the counterpart of target position I213. The position is indicated with customer scaling
without decimal places: "123.45 mm" is sent to the controller as I203 = 12345.
Fieldbus: 1LSB=siehe I06; PDO ; Type: I32; (raw value:1LSB=0,01·<I09>); USS-Adr: 09 32 C0 00 hex
I204
Global
read (1)
RV-acknowledge: The following is valid for every PLCopen state except passive: As long as
Execute of motion block positioning is inactive, the selected motion block is indicated inverted.
When Execute is active, the current motion block is indicated uninverted. The inversion is always
shown in the passive PLCopen status.
How to better distinguish between inverted and uninverted presentation:
Since parameter I204 has the data format U16 and the maximum number of motion blocks is
several hundred, inversion and non-inversion can be clearly distinguished by the number range.
Example: Motion block no. 250 is indicated inverted in data format U16 with the value 65285.
Fieldbus: 1LSB=1; PDO ; Type: U16; USS-Adr: 09 33 00 00 hex
ID 441782.04
355
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I210
Global
r=2, w=2
Fieldbusaddress
Posi.control word: Global parameter for control of the application via fieldbus. The individual
bits are only active when they have also been selected via the related source selector. Example:
With Execute source I100 = 4:Parameter, I210, bit 0 supplies the Execute signal. When I100 =
7:BE3 is set, bit 0 in parameter I210 has no function.
30D2h
Bit 0: Execute
Bit 1: HW-limit switch+
Bit 2: HW-limit switchBit 3: Reference switch
Bit 4: Tip enable
Bit 5: Hand+
Bit 6: HandBit 7: HandStep+
Bit 8: HandStepBit 9: Posi.Latch reset
Bit 10: Posi.Latch execute
Bit 11: Switching point reset
Identifier of the current motion block job (lower 3 bits). The motion ID is specified in posi
control word I210 and is used in status word I200 for the unique allocation of the status bits
to the particular motion block job.
Bit 12: Motion ID bit 0
Bit 13: Motion ID bit 1
Bit 14: Motion ID bit 2
Bit 15: Reserve
Value range: 0 ... 0000000000000000bin ... 65535
(Representation binary)
Fieldbus: 1LSB=1; PDO ; Type: U16; USS-Adr: 09 34 80 00 hex
ID 441782.04
356
0h
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I211
Global
r=2, w=2
Fieldbusaddress
Motion command byte: Global parameter for specification of the command to be executed via
fieldbus. Bits 0 to 4 code the command number as shown below.
30D3h
0h
30D5h
0h
Bit 0:
Bit 1:
Bit 2:
Bit 3:
Bit 4:
Bit 5:
CMD
A positioning command is coded here (see below).
CMD
CMD
CMD
CMD
Brake: Reaction of the halting brake (F08 = 1:active) at the end of the job: HIGH causes the
halting brake to be applied after the command is executed. The end stage remains on and
the torque is set to zero. The brake is automatically released when the next command is
executed. Application of the brake during the pauses between positioning commands
decreases thermal stress on the drive and helps to save on energy costs.
Bit 6: Bit 0
Bit 7: Bit 1
Used to specify the direction of rotation for applications with endless position range.
00:Direction optimization, 01:only positive direction, 10:only negative direction, 11:retain
current direction
CMD coding
MC_MoveAbsolute
MC_MoveRelative
MC_MoveAdditive
MC_MoveVelocity
MC_Stop
MC_Home
MC_Reset
AktivierePosi
DeaktivierePosi
MC_Continue
hexadecimal
01
02
03
04
05
06
07
08
09
0d
binary
00001
00010
00011
00100
00101
00110
00111
01000
01001
01101
Only for applications with "electronic gear":
MC_GearIn
MC_GearOut
MC_MoveSuperimposed
hexadecimal
0a
0b
0c
Value range: 0 ... 00000000bin ... 255
binary
01010
01011
01100
(Representation binary)
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 09 34 C0 00 hex
I213
Global
r=2, w=2
Target position: Global parameter for target specification via fieldbus. The position is specified
with the customer's scaling (I07, I08, I06) without decimal point: "123.45 mm" is sent to the inverter
as I213 = 12345. The number of positions after the decimal point is specified in parameter I06.
Parameter I353 is used to monitor the value directly on the block input. I353 is comprised as
follows: I70 * Value[I131] + I213 = I353.
Value range in I09: -21474836.48 ... 0 ... 21474836.47
Fieldbus: 1LSB=siehe I06; PDO ; Type: I32; (raw value:1LSB=0,01·<I09>); USS-Adr: 09 35 40 00 hex
ID 441782.04
357
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I215
Global
r=2, w=2
Fieldbusaddress
V-factor: Weighting of the traversing speed. The maximum speed I10 is multiplied by I215 and
the thus calculated speed is used as the basis for the motion block job to be started. The parameter
I215 can also be transferred via a fieldbus system to the inverter. The following scaling is then
used: 16384 = 100 %.
30D7h
0h
30D8h
0h
30D9h
0h
30DCh
0h
Value range in %: -200.0 ... 100 ... 200.0
Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767·LSB=200,0%); USS-Adr: 09 35 C0 00 hex
I216
Global
r=2, w=2
Acc-factor: Weighting of the acceleration ramp. The maximum acceleration I11 is multiplied by
I216 and the thus calculated acceleration is used as the basis for the motion block job to be started.
The parameter I216 can also be transferred to the inverter via a fieldbus system. The following
scaling is then used: 255 = 100 %.
Value range in %: 0 ... 100 ... 100
Fieldbus: 1LSB=1%; PDO ; Type: U8; (raw value:255·LSB=100%); USS-Adr: 09 36 00 00 hex
I217
Global
r=2, w=2
Dec-factor: Weighting of the brake ramp. The maximum acceleration I11 is multiplied by I217
and the thus calculated brake ramp is used as the basis for the motion block job to be started. The
parameter I217 can also be transferred to the inverter via a fieldbus system. The following scaling is
then used: 255 = 100 %.
Value range in %: 0 ... 100 ... 100
Fieldbus: 1LSB=1%; PDO ; Type: U8; (raw value:255·LSB=100%); USS-Adr: 09 36 40 00 hex
I220
Global
r=2, w=2
Motion block posi. control word: Global parameter for control of the application via fieldbus.
The individual bits are only active when they are also selected via the applicable related source
selector.
Example: With Execute Source I100 = 4:Parameter, I220, bit 0 supplies the Execute signal. When
I100 = 7:BE3 is set, bit 0 in parameter I220 has no function.
Bit 0:
Bit 1:
Bit 2:
Bit 3:
Bit 4:
Bit 5:
Bit 6:
Bit 7:
Bit 8:
Bit 9:
Bit 10:
Bit 11:
Bit 12:
Execute (I300)
/HW-Limit-Switch+ (I301)
/HW-Limit-Switch- (I302)
Reference switch (I303)
Tip enable (I304)
Tip+ (I305)
Tip- (I306)
TipStep+ (I307)
TipStep- (I308)
Posi Latch Reset (I309)
Posi Latch Execute (I310)
Switching point Reset (I311)
Next Step1(I312): Switches to the J15 following block when follow start of the current motion
block NextStep1 is selected in J14.
Bit 13: Next Step2 (I313): Switches to the J15 following block when follow start of the current
motion block NextStep2 is selected in J14.
Bit 14: Teach-In (I314): Stores the actual position in J11 of the selected motion block. This one
parameter is written to Paramodule.
Bit 15: Reserve
Value range: 0 ... 0000000000000000bin ... 65535
(Representation binary)
Fieldbus: 1LSB=1; PDO ; Type: U16; USS-Adr: 09 37 00 00 hex
ID 441782.04
358
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I221
Global
r=2, w=2
Fieldbusaddress
Motion block posi. control byte: Global parameter for control of the application via fieldbus.
The individual bits are only active when they are also selected via the applicable related source
selector. When Execute and a BlockStart signal become high in the same polling cycle, the priority
is defined as follows (from highest to lowest priority): BlockStart1, BlockStart2, Execute, BlockStart3
Bit 0:
Bit 1:
Bit 2:
Bit 3:
Bit 4:
Bit 5:
Bit 6:
Bit 7:
30DDh
0h
30E6h
0h
30E7h
0h
30F6h
0h
30F7h
0h
30F8h
0h
30F9h
0h
BlockStart1 (I315): Starts the motion block parameterized in J01.
BlockStart2 (I316): Starts the motion block parameterized in J02.
BlockStart3 (I317): Starts the motion block parameterized in J03.
Reserve
Reserve
Reserve
Reserve
Reserve
Value range: 0 ... 00000000bin ... 255
(Representation binary)
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 09 37 40 00 hex
I230
Global
r=2, w=2
Override: Override affects all speeds (hand traversing, positioning, reference traversing).
Selection of the source for the Override signal via I130. The signal can be permanently prespecified to 0 and can be supplied by the analog inputs (AE1 to AE3) of the fieldbus. With I130 =
4:Parameter, (global) parameter I230 is used as the signal source. This setting must be set for
fieldbus operation. The value can be directly monitored on the block input via I330. The reference
parameters are I10 for positioning, I12 for tipping (inching), and I32 and I33 for referencing.
Value range in %: -200.0 ... 100 ... 200.0
Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767·LSB=200,0%); USS-Adr: 09 39 80 00 hex
I231
Global
r=2, w=2
Reference value offset: Specification for the weighting of I70 reference value offset if the
signal source is I131 = 4:Parameter. This global parameter can be written via the process data
channel of a fieldbus, for example.
Value range in %: -200.0 ... 0 ... 200.0
Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767·LSB=200,0%); USS-Adr: 09 39 C0 00 hex
I246
Axis
read (1)
Reference difference limited pos. range: Parameter I246 (reference difference limited pos.
range) converts position values of the positioning controller to internal values without the reference
shift. In particular this requires the parameter for the fast cam function.
Fieldbus: 1LSB=1; Type: I32; USS-Adr: 09 3D 80 00 hex
I247
Axis
Start position: Position at which the current or the last started motion block job started.
Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 3D C0 00 hex
read (3)
I248
Axis
Reference-difference: Internally used value which implements the shift of the current position
encoder value to the referenced actual position.
read (3)
Fieldbus: 1LSB=1; Type: I32; USS-Adr: 09 3E 00 00 hex
I249
Axis
read (3)
Measure.unit: Read access only. Internally used text which is derived from the text in I09. The
text in I09 is supplemented with "/s." Is used as a units string for posi speeds (velocities).
Default setting: °/s
Fieldbus: Type: Str8; USS-Adr: 09 3E 40 00 hex
ID 441782.04
359
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I250
Axis
read (3)
Measure.unit: Read access only. Internally used text which is derived from the text in I09. The
text in I09 is supplemented with "/s2." Is used as a units string for posi accelerations.
Fieldbusaddress
30FAh
0h
30FBh
0h
30FCh
0h
30FDh
0h
30FEh
0h
30FFh
0h
Default setting: °/s²
Fieldbus: Type: Str8; USS-Adr: 09 3E 80 00 hex
I251
Axis
read (3)
Measure.unit: Read access only. Internally used text which is derived from the text in I09. The
text in I09 is supplemented with "/s3." Is used as a units string for posi jerk.
Default setting: °/s³
Fieldbus: Type: Str8; USS-Adr: 09 3E C0 00 hex
I252
Axis
read (3)
Posi-increments: Read access only. The position controller uses the resolution indicated in I252
internally. I252 is generated internally from the values of the position encoder specified in I02. The
actual encoder parameterization is performed in the H.. group. With incremental encoders, the
resolution is quadruple the increment number. With the resolver or an EnDat® encoder on the
motor, the encoder resolution for the positioning controller is reduced uniformly to 16.384 inc/U.
Value range: 0 ... 16384 ... 16384
Fieldbus: 1LSB=1; Type: I16; USS-Adr: 09 3F 00 00 hex
I253
Axis
read (3)
Effective distance per rev. Numerator: Read only. The factor I253 / I254 indicates the
distance per one increment of position control.
Valid: I253 / I254 = I07 / (I08 * I252). Common factors in I253 / I254 are automatically shortened.
I253 and I254 make it quick and simple to convert between position values in the user
representation and internal system representation in increments.
Pos_intern [ink] = I254 / I253 * Pos_user [e.g., mm].
The relationship which is represented applies when the number of positions after the decimal point
in the user presentation ("Pos_user") corresponds to the number of positions after the decimal point
in I07 and thus also in I253.
Value range in I09: 0.00 ... 360 ... 21474836.47
Fieldbus: 1LSB=siehe I06; Type: I32; (raw value:1LSB=0,01·<I09>); USS-Adr: 09 3F 40 00 hex
I254
Effective distance per rev. Denominator: Read access only. See I253.
Axis
Value range: 0 ... 16384 ... 31 Bit
read (3)
Fieldbus: 1LSB=1; Type: I32; USS-Adr: 09 3F 80 00 hex
I255
Axis
read (3)
Posi counting direction: Read access only. Sign of I07. This value specifies the direction in
which the position values are counted positively.
0: positive;
1: negative;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 3F C0 00 hex
ID 441782.04
360
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I295
Global
read (3)
Double transmission position-encoder: Indicates whether double transmission monitoring
is active for the SSI encoder used as the position encoder. Double-transmission monitoring is not
active at first when encoder evaluation begins but shortly thereafter it is activated automatically if
the SSI encoder supports this. Inactive monitoring significantly reduces data security. This
parameter can be disregarded if the master encoder is not an SSI encoder.
Fieldbusaddress
3127h
0h
3128h
0h
3129h
0h
NOTE
When the motor encoder is used as position encoder, encoder monitoring is only parameterized
effectively in the motor group and indicated (B295 ... B299). I295 ... I299 are irrelevant in this case.
®
The parameter can only be used when an SSI or an EnDat encoder is evaluated on the inverter.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 49 C0 00 hex
 Only visible when SSI or EnDat®Encoder is used as the position encoder and I02 is not set to
0:Motorencoder.
I296
Global
read (3)
Error-counter position-encoder: Counts the number of tolerated errors of the position
encoder since the last new start of the device.
NOTE
When the motor encoder is used as position encoder, encoder monitoring is only parameterized
effectively in the motor group and indicated (B295 ... B299). I295 ... I299 are irrelevant in this case.
The parameter can only be used when an SSI or an EnDat® encoder is evaluated on the inverter.
Value range: 0 ... 0 ... 4294967295
Fieldbus: 1LSB=1; Type: U32; USS-Adr: 09 4A 00 00 hex
 Only visible when SSI or EnDat®Encoder is used as the position encoder and I02 is not set to
0:Motorencoder.
I297
Axis
r=3, w=3
Maximum-speed position-encoder: I297 offers a plausibility check of the encoder signals for
EnDat® and SSI encoders. The difference between two consecutive encoder values is monitored. If
this difference exceeds the speed specified in I297 a malfunction is triggered (37:n-feedback/double
transmission, starting with V5.2: 37:encoder/X4-wirebreak or X120-wirebreak).
Regardless of the encoder system being used, specification of the incremental difference is always
standardized to 8192 increments/rotation.
NOTE
When the motor encoder is used as position encoder, encoder monitoring is only parameterized
effectively in the motor group and indicated (B295 ... B299). I295 ... I299 are irrelevant in this case.
®
The parameter can only be used when an SSI or an EnDat encoder is evaluated on the inverter.
Value range in increments/ms: 0 ... 16777216 ... 24 Bit
Fieldbus: 1LSB=1increments/ms; Type: I32; (raw value:7 Bit=1·increments/ms); USS-Adr: 09 4A 40 00 hex
 Only visible when SSI or EnDat®Encoder is used as the position encoder and I02 is not set to
0:Motorencoder.
ID 441782.04
361
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I298
Axis
r=3, w=3
Error-tolerance position-encoder: Sets the tolerance of the inverter to errors of the motor
encoder. This tolerance keeps fault 37:encoder from being triggered due to sporadic encoder
errors. The inverter extrapolates an encoder value in this case. Parameter I298 specifies how many
errors will be tolerated before the inverter malfunctions.
Error evaluation:
Each arriving encoder value is checked. When an encoder error is found, I299 and I298 are
compared. If the error evaluation counter I299 is greater than or equal to I298, fault 37:Encoder is
triggered. If I299 is less than I298, the error is tolerated. Counter I299 is incremented by 1.0.
When the arriving encoder value is correct, error evaluation counter I299 is decremented by 0.1.
Decrementation continues until the value 0.
Example: When 0.1 is set in I298 one error is tolerated. At least 10 correct values must then be
determined before the next error is found.
The following errors are tolerated:
®
- EnDat -CRC
- EnDat®-Busy
- SSI-double transmission
- SSI-Busy
- Violation of the maximum speed from I297
A malfunction is triggered immediately for other encoder errors (e.g., wire break) regardless of I298.
The quality of motion may suffer due to error toleration. When encoder errors occur frequently we
recommend checking the wiring.
Fieldbusaddress
312Ah
0h
312Bh
0h
312Ch
0h
NOTE
When the motor encoder is used as position encoder, encoder monitoring is only parameterized
effectively in the motor group and indicated (B295 ... B299). I295 ... I299 are irrelevant in this case.
®
The parameter can only be used when an SSI or an EnDat encoder is evaluated on the inverter.
Value range: 0.0 ... 1 ... 3.0
Fieldbus: 1LSB=0,1; Type: I8; USS-Adr: 09 4A 80 00 hex
 Only visible when SSI or EnDat®Encoder is used as the position encoder and I02 is not set to
0:Motorencoder.
I299
Global
read (3)
Error-evaluation position-encoder: Indicates the current status of the error evaluation
counter (see I298).
NOTE
When the motor encoder is used as position encoder, encoder monitoring is only parameterized
effectively in the motor group and indicated (B295 ... B299). I295 ... I299 are irrelevant in this case.
The parameter can only be used when an SSI or an EnDat® encoder is evaluated on the inverter.
Value range: 0.0 ... 0 ... 12.0
Fieldbus: 1LSB=0,1; Type: I8; USS-Adr: 09 4A C0 00 hex
 Only visible when SSI or EnDat®Encoder is used as the position encoder and I02 is not set to
0:Motorencoder.
I300
Axis
read (2)
Execute: Indication of the Execute signal on the input interface of the positioning controller. The
Execute signal starts a command in accordance with the PLCopen standard.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4B 00 00 hex
ID 441782.04
362
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I301
Axis
read (2)
/HW-LimSwitch+: Indication of the /HW-Limi signal (HW limit switch+) on the input interface of
the positioning controller. The /limit switch+ limits the traversing area in the positive direction.
Fieldbusaddress
312Dh
0h
312Eh
0h
312Fh
0h
3130h
0h
3131h
0h
NOTE
The limit switch inputs are LOW active. LOW level causes the fault "limit switch."
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4B 40 00 hex
I302
Axis
read (2)
/HW-LimSwitch-: Indication of the /HW-Limi signal (/HW limit switch-) on the input interface of
the positioning controller. The /limit switc- limits the traversing area in the negative direction.
NOTE
The limit switch inputs are LOW active. LOW level causes the fault "limit switch."
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4B 80 00 hex
I303
Axis
read (2)
Reference switch: Indication of the RefSwitc signal (reference switch) on the input interface of
the positioning controller. Indication of the current signal state on the RefSwitch input (reference
switch) of the positioning block. The RefSwitc signal is used to reference the axis during reference
traversing.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4B C0 00 hex
I304
Axis
read (2)
Tip enable: Indication of the TipEnable signal on the input interface of the positioning controller.
The TipEnable signal switches the axis to hand (manual) mode.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4C 00 00 hex
I305
Axis
read (2)
Tip+: Indication of the Tip+ signal on the input interface of the positioning controller.
The Hand+ signal starts hand (manual) traversing in the positive direction.
NOTE
Correct function is not possible unless hand (manual) mode has been activated (TipEnable signal).
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4C 40 00 hex
ID 441782.04
363
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I306
Axis
read (2)
Tip-: Indication of the Tip- signal on the input interface of the positioning controller.
The signal starts hand (manual) traversing in the negative direction.
Fieldbusaddress
3132h
0h
3133h
0h
3134h
0h
3135h
0h
3136h
0h
NOTE
Correct function is not possible unless hand (manual) mode has been activated (TipEnable signal).
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4C 80 00 hex
I307
Axis
read (2)
TipStep+: Indication of the TipStep+ signal on the input interface of the positioning controller.
The signal starts hand (manual) step traversing in the positive direction. Positioning is performed
with a fixed distance (I14) relative to the positive direction.
NOTE
Correct function is not possible unless hand (manual) mode has been activated (TipEnable signal).
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4C C0 00 hex
I308
Axis
read (2)
TipStep-: Indication of the TipStep- signal on the input interface of the positioning controller.
The signal starts hand (manual) step traversing in the negative direction. Positioning is performed
with a fixed distance (I14) relative to the negative direction.
NOTE
Correct function is not possible unless hand (manual) mode has been activated (TipEnable signal).
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4D 00 00 hex
I309
Axis
read (2)
Posi Latch reset: Indication of the LReset signal (reset Posi.Latch) on the input interface of the
Latch controller. The Posi.Latch Reset signal resets the Posi.Latch status and thus activates the
Posi.Latch function.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4D 40 00 hex
I310
Axis
read (2)
Posi Latch execute: Indication of the LExec signal (Posi-Latch Execute) on the input interface
of the Posi.Latch block. The edge of the Posi.Latch Execute signal triggers the measurement of the
current actual position (depending on which mode is set).
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4D 80 00 hex
ID 441782.04
364
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I311
Axis
read (2)
Switching point reset: Indication of the Reset signal (reset switching points) on the input
interface of the Posi switching point controller. The Reset signal resets the switching point.
Fieldbusaddress
3137h
0h
3138h
0h
3139h
0h
313Ah
0h
313Bh
0h
313Ch
0h
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4D C0 00 hex
I312
Axis
read (2)
Next.Step1: Indication parameter for the signal selected with I112. The signals Next.Step1 and
Next.Step2 are required for motion block chaining. When parameter J14 (next start) contains the
value "1:next.Step1" or "2:next.Step2," the applicable signal causes the jump to the next block
specified in J15. Also during the movement, the Next.Step signal causes the immediate jump to the
next block.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4E 00 00 hex
I313
Axis
read (2)
Next.Step2: Indication parameter for the signal selected with I113. See I312.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4E 40 00 hex
I314
Axis
read (2)
Teach-In: Indication parameter for the signal selected with I114. The current position is nonvolatilely stored (in Paramodul) with the rising edge of the teach-in signal. The target parameter in
array J11 is selected with the reference value selector (signals RV-Select0 to RV-Select7 or J00).
NOTE
The number of write cycles with Paramodule is limited.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4E 80 00 hex
I315
Axis
read (2)
Block start1: In addition to the Execute signal, three signals are available to the user which
cause the immediate start of a motion block: BlockStart1 to BlockStart3. A motion block number
can be assigned to each of these three signals in parameters J01 to J03. The practical usefulness
is being able to place special commands (e.g., referencing or stop) at permanently assigned inputs.
I315 to I317 are used as indication parameters for these signals.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4E C0 00 hex
I316
Axis
read (2)
Block start2: See I315.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4F 00 00 hex
ID 441782.04
365
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I317
Axis
read (2)
Block start3 : See I315.
Fieldbusaddress
313Dh
0h
313Eh
0h
313Fh
0h
3140h
0h
3141h
0h
3142h
0h
3143h
0h
3144h
0h
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4F 40 00 hex
I318
Axis
read (3)
RV-Select0: The signals RVSelect0 to RVSelect7 are used to select a motion block which is
started with Execute or its position which is stored with Teach-In. I318 to I325 are used as
indication parameters for these signals.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4F 80 00 hex
I319
Axis
read (3)
RV-Select1: See I318.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4F C0 00 hex
I320
Axis
read (3)
RV-Select2: See I318.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 50 00 00 hex
I321
Axis
read (3)
RV-Select3: See I318.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 50 40 00 hex
I322
Axis
read (3)
RV-Select4: See I318.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 50 80 00 hex
I323
Axis
read (3)
RV-Select5: See I318.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 50 C0 00 hex
I324
Axis
read (3)
RV-Select6: See I318.
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 51 00 00 hex
ID 441782.04
366
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I325
Axis
read (3)
RV-Select7: See I318.
Fieldbusaddress
3145h
0h
314Ah
0h
315Eh
0h
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 51 40 00 hex
I330
Axis
read (2)
Velocity override: Indication of the Override signal (speed override) on the input interface of the
positioning controller. Override affects all speeds (hand traversing, positioning, referencing).
The reference parameters are I10 (only with synchronous command positioning and command
positioning) as soon as J21.x (with motion block positioning) for positioning, I12 for tipping (inching)
and I32, I33 for referencing.
NOTE
- With a signal value of 0 %, the axis does not move!
- Since motion block positioning uses the override function based on profile, the current override
value is indicated based on the selected motion block (and thus the linked profile). If the override
function is not used in a profile, I330 indicates the value 100 % and not the value of the source
(e.g., AE1) entered in I130. When a motion block is triggered via the BlockStart signals, the
current override value can be polled after the start of the motion block in I330.
Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767·LSB=400,0%); USS-Adr: 09 52 80 00 hex
I350
Axis
read (2)
Motion ID: Indication of the MotionID signal (Motion ID) on the input interface of the positioning
controller. Motion ID is an identifier for a motion block job which the user can assign as desired.
The value is transferred at the rising edge of "Execute" to the output (parameter I82 active motion
ID) so that the status bits can always be precisely allocated to a concrete motion block job, for
example. The positioning controller itself does not interprete the value. The value of I350 MotionID
is accepted with the following commands in accordance with I82 active motionID:
 MC_MoveAbsolute 01 (hex)
 MC_MoveRelative 02 (hex)
 MC_MoveAdditive 03 (hex)
 MC_MoveVelocity 04 (hex)
 MC_Home
06 (hex)
 MC_Continue
0d (hex)
The value is not accepted for:
 MC_Stop
05 (hex)
 MC_Reset
07 (hex)
 Activate posi
08 (hex)
 Deactivate posi
09 (hex)
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 09 57 80 00 hex
ID 441782.04
367
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I351
Axis
read (2)
Fieldbusaddress
Command: Indication of the CMD signal (command) on the input interface of the positioning
controller.
315Fh
0h
3161h
0h
3163h
0h
3164h
0h
3165h
0h







Bit-0: CMD bit 0
Bit-1: CMD bit 1
Bit-2: CMD bit 2
Bit-3: CMD bit 3
Bit-4: CMD bit 4
Bit-5: Controls the reaction of the halting brake after the conclusion of a motion block job.
Bit-6: Bits 6 and 7 are used to specify the direction of rotation for applications with endless
position range.
 Bit-7:00 Direction optimization. 01 only positive direction, 10 only negative direction, 11 retain
current direction.
CMD coding (hex)
01hex MC_MoveAbsolute
02hex MC_MoveRelativ
03hex MC_MoveAdditiv
04hex MC_MoveVelocity
05hex MC_Stop
06hex MC_Home
07hex MC_Reset
08hex ActivatePosi
09hex DeactivatePosi
0dhex MC_Continue
Expedient applicable only for applications with integrated Master-Slave functionality:
0ahex MC_GearIn
0fhex MC_GearInAtRelPos
0bhex MC_GearOut
10hex MC_StopSuperimposed
0chex MC_MoveSuperimposed
11hex MC_VelocitySuperimposed
0ehex MC_GearInAtAbsPos
12hex MC_SuperimposedAbs
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 57 C0 00 hex
I353
Axis
TargetPosition: Indication of the TargetPo signal (target position) on the input interface of the
positioning controller.
read (2)
Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 58 40 00 hex
I355
Axis
read (2)
Velocity: Specified speed. Indication of the current value on the input interface of the positioning
controller. When a motion block job is started with the Execute signal, the speed (velocity) indicated
in I355 is used.
Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 09 58 C0 00 hex
I356
Axis
read (2)
Acceleration ramp: Specified acceleration. Indication of the current value on the input interface
of the positioning controller. When a motion block job is started by the Execute signal, the
acceleration shown in I356 is used by the profile generator.
Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 09 59 00 00 hex
I357
Axis
read (2)
Deceleration ramp: Braking ramp specification. Indication of the current value on the input
interface of the positioning controller. When a motion block job is started with the Execute signal,
the deceleration shown in I357 is used by the profile generator.
Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 09 59 40 00 hex
ID 441782.04
368
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
I.. Positioning
Par.
Description
I360
Axis
read (3)
Transient command on internal bus: For monitoring the commands which reach positioning
control. The command format in I360 is not identical with the indication parameter I351. I360 is only
used to monitor internal processes.
Fieldbusaddress
3168h
0h
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 09 5A 00 00 hex
I900
Axis
read (3)
Actual pos. limited positioning range: I900 is used as the actual-value source for universal
axis cams. I900 contains the actual position of the axis and also shows the actual value without
break in the circular length when the axis is parameterized with endless position range. In the case
of parameterizing as an axis with endless position range, on the initialization of the axis I900 is set
to the value of I80. The continuous value is reconstructed. I900 is indicated as position value with
the units determined by I06, I07, I08 and I09.
Fieldbus: 1LSB=siehe I06; PDO ; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 E1 00 00 hex
I901
Axis
read (3)
Actual pos. endless positioning range: I900 is used as the actual-value source for
universal axis cams. I900 contains the actual position of the axis and also shows the actual value
with break in the circular length when the axis is parameterized with endless position range. I901 is
identical to I80. I900 is indicated as position value with the units determined by I06, I07, I08 and
I09.
Fieldbus: 1LSB=siehe I06; PDO ; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 09 E1 40 00 hex
J.. Process Blocks
Par.
Description
J00
Global
r=2, w=2
RV-selector for execute signal: Motion blocks can be selected either by binary signals RVSelect0 to RV-Select7 or with the appropriate bits in parameter J00. The signal source (binary input
or J00) is determined with parameters I118 to I125. J00 is only effective with motion block selection
when the source selectors I118 to I125 are set to "2:Parameter." In this case, the signals are
obtained from the appropriate bits in J00 (bit 0 corresponds to RV-Select0, and so on).
The selection made with RV-Select0 to RV-Select7 or J00 is accepted by positioning control with
the rising edge of the Execute signal.
Fieldbusaddress
3200h
0h
3201h
0h
3202h
0h
3203h
0h
Value range: 0 ... 0 ... 65535
Fieldbus: 1LSB=1; PDO ; Type: U16; USS-Adr: 0A 00 00 00 hex
J01
Axis
r=2, w=2
RV-selector for start1 signal: Number of the motion block which is triggered with a rising
edge of the BlockStart1 signal. The source for the BlockStart1 signal is specified with I115.
Value range: 0 ... 0 ... 65535
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0A 00 40 00 hex
J02
Axis
r=2, w=2
RV-selector for start2 signal: Number of the motion block which is triggered with a rising
edge of the BlockStart2 signal. The source for the BlockStart2 signal is specified with I116.
Value range: 0 ... 1 ... 65535
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0A 00 80 00 hex
J03
Axis
r=2, w=2
RV-selector for start3 signal: Number of the motion block which is triggered with a rising
edge of the BlockStart3 signal. The source for the BlockStart3 signal is specified with I117.
Value range: 0 ... 2 ... 65535
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0A 00 C0 00 hex
ID 441782.04
369
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
J.. Process Blocks
Par.
Description
J10.0
Axis
r=1, w=1
Motion block name: A plain text designation can be assigned to each motion block or each
position (e.g., "top," "end stop"). The primary purpose of the plain text designation is to improve
orientation in the motion block assistant of POSITool.
Fieldbusaddress
0h
320Ah
Array
Default setting: Homing
Fieldbus: Type: Str16; USS-Adr: 0A 02 80 00 hex
J10.1
Axis
r=1, w=1
J10.2
Axis
r=1, w=1
J10.3
Axis
r=1, w=1
J11.0
Axis
r=1, w=1
motion block name
Default setting: Stop
Fieldbus: Type: Str16; USS-Adr: 0A 02 80 01 hex
motion block name
Default setting: Move Absolute
Fieldbus: Type: Str16; USS-Adr: 0A 02 80 02 hex
motion block name
Default setting: Move Relative
Fieldbus: Type: Str16; USS-Adr: 0A 02 80 03 hex
Target position: Position specification. The value can also be changed during the positioning,
but the change does not take effect until the next Execute command. With relative positioning, the
direction of rotation can be changed with a negative entry of the position.
1h
320Ah
Array
2h
320Ah
Array
3h
320Ah
Array
0h
320Bh
Array
Note for USS address: The address below is the basis. The element must be added to this basis
(e.g., J11.12 = 0A 02 C0 00 + C = 0A 02 C0 0C).
Value range in I09: -31Bit ... 0 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 0A 02 C0 00 hex
J11.1
Axis
r=1, w=1
Target position: Position specification. The value can also be changed during the positioning,
but the change does not take effect until the next Execute command. With relative positioning, the
direction of rotation can be changed with a negative entry of the position.
1h
320Bh
Array
Value range in I09: -31Bit ... 0 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 0A 02 C0 01 hex
J11.2
Axis
r=1, w=1
Target position: Position specification. The value can also be changed during the positioning,
but the change does not take effect until the next Execute command. With relative positioning, the
direction of rotation can be changed with a negative entry of the position.
2h
320Bh
Array
Value range in I09: -31Bit ... 0 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 0A 02 C0 02 hex
J11.3
Axis
r=1, w=1
Target position: Position specification. The value can also be changed during the positioning,
but the change does not take effect until the next Execute command. With relative positioning, the
direction of rotation can be changed with a negative entry of the position.
3h
320Bh
Array
Value range in I09: -31Bit ... 0 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 0A 02 C0 03 hex
ID 441782.04
370
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
J.. Process Blocks
Par.
Description
J12.0
Axis
r=1, w=1
Command: "Method of motion" in the current motion block. The available selections correspond
to the command set of the command positioning which is being used as the basis (similar to
PLCopen Motion Control Standard).
Fieldbusaddress
320Ch
0h
Array
0:
1:
2:
3:
MC_DoNothing;
MC_MoveAbsolute; Move absolute. Only available in the referenced state.
MC_MoveRelative; Move relative to the current actual value.
MC_MoveAdditive; Move relative to the current reference value. Use for chain dimension
positioning to avoid cumulative errors due to control errors in the target position.
4: MC_MoveVelocity; Move endlessly at the specified speed.
5: MC_Stop; Stop.
6: MC_Home; Starts reference positioning.
7: MC_Reset; As per PLCopen transition from the "error stop" state to the "standstill" state.
8: Aktiviere Positionierung; Positioning control changes from the "passive" state to the "standstill"
state.
9: Deaktiviere Positionierung; Positioning control changes to the "passive" state. Here the internal
reference position is always updated to the current actual position.
10: MC_GearIn; Accelerate to master speed with specified acceleration ramp and the continue
angle synchronously.
11: MC_GearOut; Uncouple from synchronous operation and continue at the same speed.
12: MC_MoveSuperimposed; Move relative to synchronous movement.
13: MC_Continue; Start or continue movement to the previous target position.
14: reserved; Selection is not functional at this time.
15: reserved; Selection is not functional at this time.
16: reserved; Selection is not functional at this time.
17: reserved; Selection is not functional at this time.
18: reserved; Selection is not functional at this time.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0A 03 00 00 hex
J13.0
Axis
r=1, w=1
Motion profile: Number of the motion profile with speed, acceleration, etc. which is to be used in
the current motion block. The motion profiles which are separate from the motion blocks (J20 to
J32) reduce the amount of data and the related expense of entering and changing the data when
several positions can be approached with one and the same motion profile.
320Dh
0h
Array
Value range: 0 ... 0 ... 255
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0A 03 40 00 hex
J14.0
Axis
r=1, w=1
Follow start: For programming motion procedures by the chaining of motion blocks. Defines how
chaining is to be performed from the current motion block to a following block. The following block is
specified in J15. With a flying change in blocks without a stop (J14 =4:no stop) no Reference Value
Reached (="In-Position") signal is generated.
0:
1:
2:
3:
4:
5:
0h
320Eh
Array
inactive;
Next.Step1;
Next.Step2;
with delay;
no stop;
comparator;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0A 03 80 00 hex
J15.0
Axis
r=1, w=1
Following block: For chaining motion blocks. Specification of a motion block which is to be
started as the next block. The starting condition is specified in J14.
Value range: 0 ... 0 ... 65535
0h
320Fh
Array
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0A 03 C0 00 hex
ID 441782.04
371
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
J.. Process Blocks
Par.
Description
J16.0
Axis
r=1, w=1
Delay: Only when J14 = 3:with delay. The inverter waits for the delay time J16 before the following
block J15 is started. It is not possible to shorten the delay time with an external signal. An Execute
or BlockStart signal aborts the delay with the complete motion block chaining and triggers the newly
selected motion block.
Fieldbusaddress
0h
3210h
Array
Value range in ms: 0 ... 0 ... 65535
Fieldbus: 1LSB=1ms; Type: U16; USS-Adr: 0A 04 00 00 hex
J20.0
Axis
r=1, w=1
Profile name: A plain text designation can be assigned to each motion profile (e.g., "fast,"
"slow"). The primary purpose of this designation is to improve orientation in POSITool.
Default setting: Profil 0
0h
3214h
Array
Fieldbus: Type: Str16; USS-Adr: 0A 05 00 00 hex
J21.0
Axis
r=1, w=1
Velocity: Motion speed, unit/s. When a value greater than the max. speed I10 is entered in J21,
the speed is limited to I10.
Value range in I09/s: -47185920.00 ... 1000 ... 31Bit
0h
3215h
Array
Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 0A 05 40 00 hex
J22.0
Axis
r=1, w=1
Accel: Acceleration, unit/s2.
3216h
CAUTION
When the value J12 exceeds the maximum acceleration I11, the acceleration during motion is
limited to I11.
Array
0h
Value range in I09/s2: 0.00 ... 1000 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 0A 05 80 00 hex
J23.0
Axis
r=1, w=1
Decel: Delay, unit/s2.
3217h
CAUTION
When the value J12 exceeds the maximum acceleration I11, the acceleration during motion is
limited to I11.
Array
0h
Value range in I09/s2: 0.00 ... 1000 ... 31Bit
Fieldbus: 1LSB=siehe I06; Type: I32; raw value:1LSB=Fnct.no.14; USS-Adr: 0A 05 C0 00 hex
J25.0
Axis
r=1, w=1
Ramp smoothing: Jerk limitation via ramp smoothing. The generated acceleration profile
(position, speed, torque) is smoothed with a filter of the 2nd order (PT2) whose time constant
corresponds to J25. High-frequency excitation of vibration-prone mechanics can be reduced or
eliminated by this. The positioning procedure is extended by the smoothing but at the same time
the drive travels with less jerking to the target position (fewer overswings).
0h
3219h
Array
NOTE
Parameter I16 is used as the indication parameter of the currently selected value.
Value range in ms: 0 ... 0 ... 32766
Fieldbus: 1LSB=1ms; Type: I16; raw value:1LSB=Fnct.no.13; USS-Adr: 0A 06 40 00 hex
ID 441782.04
372
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
J.. Process Blocks
Par.
Description
J26.0
Axis
r=1, w=1
Direction optimizing: With an endless axis, this parameter specifies the direction in which
absolute positions are to be approached starting from standstill.
0:
1:
2:
3:
direction optimized;
only positive;
only negative;
keep direction;
Fieldbusaddress
0h
321Ah
Array
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0A 06 80 00 hex
 Only visible when I01 does not exist (i.e., when the position range is type "limited without
circular length").
J27.0
Axis
r=1, w=1
Brake: With drives with a halting brake, it can be specified here whether the brake is to be applied
after the end of the motion block to save energy, for example, or to save the drive from thermal
stress (lifting systems).
0h
321Bh
Array
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0A 06 C0 00 hex
J28.0
Axis
r=1, w=1
Override enable: The parameter permits the signal "speed override" to be suppressed in certain
motion profiles. The drive then always travels at 100 % of the programmed speed.
0: inactive;
1: active;
321Ch
0h
Array
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0A 07 00 00 hex
J30.0
Axis
r=1, w=1
Switching Point A: First of the maximum of four simultaneously effective motion block-switching
point blocks. Any number of switching points can be defined which are described by array
parameters N00 to N05. A maximum of 4 switching points (designation "A" to "D") can be used in
each motion profile. The parameters J30 to J33 contain the numbers of the switching points to be
evaluated within the motion profile. The switching point is deactivated with the value -1.
0h
321Eh
Array
Value range: -1 ... -1 ... 127
Fieldbus: 1LSB=1; Type: I8; USS-Adr: 0A 07 80 00 hex
J31.0
Axis
r=1, w=1
Switching Point B: Second of the four switching point blocks which can be used
simultaneously. See also J30, switching point A.
Value range: -1 ... -1 ... 127
0h
321Fh
Array
Fieldbus: 1LSB=1; Type: I8; USS-Adr: 0A 07 C0 00 hex
J32.0
Axis
r=1, w=1
Switching Point C: Third of the four switching point blocks which can be used simultaneously.
See also J30, switching point A.
Value range: -1 ... -1 ... 127
0h
3220h
Array
Fieldbus: 1LSB=1; Type: I8; USS-Adr: 0A 08 00 00 hex
J33.0
Axis
r=1, w=1
Switching Point D: Fourth of the four switching point blocks which can be used simultaneously.
See also J30, switching point A.
Value range: -1 ... -1 ... 127
0h
3221h
Array
Fieldbus: 1LSB=1; Type: I8; USS-Adr: 0A 08 40 00 hex
ID 441782.04
373
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
N.. Posi.Switches
Par.
Description
N00.0
Axis
r=1, w=1
Switch position name: Almost any number of switching points can be defined which are
described by array parameters N00 to N05. However, of these, a maximum of 4 switching points
(designation "A" to "D" in parameters J30 to J33) can be used in each motion profile. The switching
point name N00 can be used to assign plain text names to the individual switching points for better
orientation.
Fieldbusaddress
0h
3A00h
Array
Fieldbus: Type: Str16; USS-Adr: 0E 00 00 00 hex
N01.0
Axis
SwitchPoint-position: Position of the switching point. With relative movements (N02 > 1), the
absolute value is generated internally.
r=1, w=1
Fieldbus: 1LSB=siehe I06; Type: P64; raw value:1LSB=Fnct.no.8; USS-Adr: 0E 00 40 00 hex
N02.0
SwitchPoint-method: Reference to position N01.
3A02h
Axis
0: switch method absolute;
1: relative to start position;
2: relative to target position;
Array
r=1, w=1
0h
3A01h
Array
0h
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 00 80 00 hex
N03.0
Axis
r=1, w=1
SwitchPoint-set bit: Each individual switching point can affect 8 switching memories. Each of
the 8 bits in N03 can set the corresponding switching memory bit.
Example: N03 = 00000011 sets bits 0 and 1 in N09 to high. The other bits remain unaffected: N09 =
xxxxxx11.
0h
3A03h
Array
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 00 C0 00 hex
N04.0
Axis
r=1, w=1
SwitchPoint-clear bit: Each of the 8 bits in N04 can clear a corresponding switching memory bit
Example: N04 = 00000011 sets bits 0 and 1 in N09 back to low. The other bits remain unaffected:
N09 = xxxxxx00.
0h
3A04h
Array
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 01 00 00 hex
N05.0
Axis
r=1, w=1
SwitchPoint-toggle bit: Each of the 8 bits in N05 can toggle a corresponding switching
memory bit.
Example: N05 = 00000011 toggles bits 0 and 1 in N09. The other bits remain unaffected. N09 =
xxxxxx10 turns into N09 = xxxxxx01.
0h
3A05h
Array
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 01 40 00 hex
N09.0
Axis
read (1)
SwitchPoint-memory: When used in motion profiles, switching points can set, clear or toggle 8
different swtiching memory bits (see N03 to N05). All 8 switching memory bits are visible in N09.0
as a bit pattern. The individual bits for output on binary outputs are available in parameters N09.1 to
N09.8. N09.8 corresponds to the MSB bit of bit pattern N09.0.
0h
3A09h
Array
Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 0E 02 40 00 hex
ID 441782.04
374
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
R.. Production data
Par.
Description
R01.0
Global
Hardware-version power-unit for hardware: Number specifying the hardware status of the
power pack. All changes in the hardware states are counted here.
read (3)
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 12 00 40 00 hex
R01.1
Global
read (3)
Hardware-version power-unit for software : Number specifying the hardware status of the
power pack. Only changes in the hardware states which require a software adjustment are counted
here.
Fieldbusaddress
4201h
0h
4201h
1h
4202h
0h
4203h
0h
4204h
0h
4205h
0h
4218h
0h
4219h
0h
421Ah
0h
421Bh
0h
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 12 00 40 01 hex
R02
Global
read (3)
Power phases: Specifies whether the device is a single-phase or three-phase device.
0: Single-phase;
1: Three-phase;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 12 00 80 00 hex
R03
Global
Power supply: Power supply of the input rectifier.
Fieldbus: 1LSB=1V; Type: I16; USS-Adr: 12 00 C0 00 hex
read (3)
R04
Global
Nominal current async: Nominal current of the inverter for operation of asynchronous
machines and normal switching (B24 = 4 kHz).
read (3)
Fieldbus: 1LSB=0,001A; Type: I32; USS-Adr: 12 01 00 00 hex
R05
Global
Upper temperature limit: Maximum permissible inverter temperature. When the measured
inverter temperature E25 exceeds this value, a fault "38:Temperature device sensor" is triggered.
read (3)
Fieldbus: 1LSB=1°C; Type: I16; (raw value:32767 = 328 °C); USS-Adr: 12 01 40 00 hex
R24
Global
Nominal current servo: Nominal current of the inverter during operation with servo motors and
normal switching (B24 = 8 kHz).
read (3)
Fieldbus: 1LSB=0,001A; Type: I32; USS-Adr: 12 06 00 00 hex
R25
Global
read (3)
Lower temperature limit: Minimum permissible inverter temperature. When the measured
inverter temperature E25 passes below this value, a fault "38:temperature device sensor" is
triggered. May indicate that the temperature sensor is defective.
Fieldbus: 1LSB=1°C; Type: I16; (raw value:32767 = 328 °C); USS-Adr: 12 06 40 00 hex
R26
Global
read (3)
Maximum current async: Specifies the current strength above which the inverter triggers a
fault "33:overcurrent" during operation with ASM. Specification is made in %, reference value is
R04.
Fieldbus: 1LSB=1%; Type: I16; (raw value:32767·LSB=800%); USS-Adr: 12 06 80 00 hex
R27
Global
read (3)
Maximum current servo: Specifies the current strength above which the inverter triggers a
fault "33:overcurrent" during operation with servo. Specification is made in %, reference value is
R24.
Fieldbus: 1LSB=1%; Type: I16; (raw value:32767·LSB=800%); USS-Adr: 12 06 C0 00 hex
ID 441782.04
375
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
R.. Production data
Par.
Description
R28
Global
Upper voltage limit: Maximum permissible DC link voltage. When the measured DC link
voltage E03 exceeds this value, a fault "36:high voltage" is triggered.
read (3)
Fieldbus: 1LSB=1V; Type: I16; (raw value:32767 = 3277 V); USS-Adr: 12 07 00 00 hex
R29
Global
Lower voltage limit: Minimum required DC link voltage. Represents the lower limit for
parameter A35.
read (3)
Fieldbus: 1LSB=1V; Type: I16; (raw value:32767 = 3277 V); USS-Adr: 12 07 40 00 hex
R30
Global
read (3)
Brake chopper available: Specifies whether a brake resistance can be connected to the
inverter.
Fieldbusaddress
421Ch
0h
421Dh
0h
421Eh
0h
421Fh
0h
4220h
0h
4221h
0h
4222h
0h
4223h
0h
4224h
0h
4224h
1h
0: inactive; No brake resistance possible.
1: active; Brake resistance possible.
Fieldbus: 1LSB=1; Type: B; USS-Adr: 12 07 80 00 hex
R31
Global
Brake chopper on level: The brake chopper is turned on at the latest when this value is
exceeded.
read (3)
Fieldbus: 1LSB=1V; Type: I16; (raw value:32767 = 3277 V); USS-Adr: 12 07 C0 00 hex
R32
Global
Brake chopper off level: The brake chopper is switched off at the latest when this value is
passed below.
read (3)
Fieldbus: 1LSB=1V; Type: I16; (raw value:32767 = 3277 V); USS-Adr: 12 08 00 00 hex
R33
Global
Maximum motor power: Maximum power which a motor that is operated on this inverter may
have. Represents the upper limit for B11.
read (3)
Fieldbus: 1LSB=0,001kW; Type: I16; (raw value:1LSB=0,01·kW); USS-Adr: 12 08 40 00 hex
R34
Global
Maximum brakeresistor power: Maximum power which a brake resistor that is connected to
this inverter may have. Represents the upper limit for A22.
read (3)
Fieldbus: 1LSB=1W; Type: I16; (raw value:1LSB=10·W); USS-Adr: 12 08 80 00 hex
R35
Global
Minimum brakeresistor resistance: Minimum resistance value which a braking resistor
connected to this inverter must have. Represents the lower limit for A21.
read (3)
Fieldbus: 1LSB=1Ohm; Type: I16; (raw value:32767 = 3277 Ohm); USS-Adr: 12 08 C0 00 hex
R36.0
Global
Hardware-version control-unit for hardware: Number specifying the hardware version of
the control unit. All changes in the hardware states are counted here.
read (3)
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 12 09 00 00 hex
R36.1
Global
read (3)
Hardware-version control-unit for software: Number specifying the hardware version of
the control unit. All changes in the hardware states which require a software adjustment are
counted here.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 12 09 00 01 hex
ID 441782.04
376
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
T.. Scope
Par.
Description
T25
Global
r=3, w=3
Automatic scope start: When T25 is "1:active," Scope starts automatically after the
configuration is downloaded. With a device new start, Scope is also automatically started with the
settings saved last.
Fieldbusaddress
4619h
0h
0: inactive;
1: active;
Fieldbus: 1LSB=1; Type: B; USS-Adr: 14 06 40 00 hex
U.. Protection functions
Par.
Description
U00
Global
r=3, w=3
Level low voltage: Level at which the event "46:low voltage" is triggered due to cause "1:low
voltage DC link voltage limit."
Fieldbusaddress
4800h
0h
4801h
0h
4802h
0h
2: Warning; After the tolerance time in U01 expires, the device assumes fault status.
3: Fault; When the value in A35 is passed below, the device immediately assumes fault status.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 00 00 00 hex
U01
Global
r=3, w=3
Time low voltage: Can only be set with U00 = 2:warning. Defines the time during which the
triggering of low voltage monitoring is tolerated. After expiration of this time, the device assumes
fault status.
Value range in s: 1.00 ... 1 ... 10.00
Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1·s); USS-Adr: 15 00 40 00 hex
 Only visible when the appropriate event level is parameterized to 2:Warning.
U02
Global
r=3, w=3
Level overtemperature Device i2t: Parallel to the monitoring of the heat dissipater
temperature, an additional protective function is offered via i²t. The device load can be indicated as
a percentage via parameter E22. If the value in E22 is greater than 100 %, event 39 is triggered.
When the event is triggered, a current limitation occurs in the control modes Servo, Vectorcontrol
and Sensorless Vectorcontrol (SLVC). At the same time a quick stop is triggered when U02 is
parameterized as a failure. Reduction of the current can mean that the quick stop is no longer
executed correctly.
WARNING
Undesired sinking of the gravity-stressed axes!
Remember that the current limitation also causes a torque limitation.
This may cause gravity-stressed axes to sink.
NOTE
Remember that event 59 is always triggered when E22 is greater than 105 %.
0: inactive; Device does not react to the triggering of U02.
1: Message; When U02 is triggered, this is only indicated. The device continues to remain ready
for operation.
2: Warning; After expiration of the tolerance time in U03, the device assumes fault status (for E39,
see chap. 17).
3: Fault; After U02 is triggered, the device immediately assumes fault status (for E39, see chap.
17).
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 00 80 00 hex
ID 441782.04
377
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
U.. Protection functions
Par.
Description
U03
Global
r=3, w=3
Time overtemperature Device i2t: Can only be set with U02 = 2:warning. Defines the time
during which a trigger of the i²t monitoring is tolerated. After expiration of this time, the device
assumes fault status.
Fieldbusaddress
4803h
0h
480Ah
0h
480Bh
0h
480Ch
0h
480Fh
0h
4810h
0h
Value range in s: 1.00 ... 10 ... 60.00
Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1·s); USS-Adr: 15 00 C0 00 hex
 Only visible when the appropriate event level is parameterized to 2:Warning.
U10
Global
r=3, w=3
Level temperature motor i2t: Parallel to the monitoring of the positor line on the motor, the
inverter simulates the motor temperature via an i²t model. The motor load is indicated as a
percentage in parameter E23. If the value in E23 is greater than 100 %, event 45 is triggered.
If a motor KTY evaluation has been entered on the nameplate, the parameter is set to 2:warning.
0: inactive; Device does not react to the triggering of U10.
1: Message; Triggering of U10 is only indicated. The device continues to be ready for operation.
2: Warning; After expiration of the tolerance time U11, the device assume fault status.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 02 80 00 hex
U11
Global
r=3, w=3
Time temperature motor i2t: Can only be set when U10 = 2:warning. Defines the time during
which a trigger of i²t monitoring is tolerated. After expiration of this time, the device assumes fault
status.
If a motor KTY evaluation has been entered on the nameplate, the parameter is set to 1 s.
Value range in s: 1.00 ... 30 ... 60.00
Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1·s); USS-Adr: 15 02 C0 00 hex
 Only visible when the appropriate event level is parameterized to 2:Warning.
U12
Global
r=3, w=3
Level motor connection: When the axis switch via POSISwitch® is utilized, the inverter can
test during switching whether the contactor of the motor to be switched off has actually broken
contact (opened). In addition, under certain circumstances, it can be determined that no motor is
connected.
0: inactive;
3: Fault;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 03 00 00 hex
U15
Level MotorTMP: Trips when the motor temperature sensor on X2 triggers.
Global
2: Warning; After expiration of the tolerance time U16, the device assume fault status.
3: Fault; The device immediately assumes fault status after the motor TMP is triggered.
r=3, w=3
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 03 C0 00 hex
U16
Global
r=3, w=3
Time MotorTMP: Can only be set when U15 = 2:warning. Defines the time during which
triggering of the motor TMP is tolerated. After expiration of this time, the device assumes fault
status.
Value range in s: 1.00 ... 2 ... 60.00
Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1·s); USS-Adr: 15 04 00 00 hex
 Only visible when the appropriate event level is parameterized to 2:Warning.
ID 441782.04
378
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
U.. Protection functions
Par.
Description
U20
Axis
r=3, w=3
Level M-Max limit: When the calculated motor torque exceeds the current torque limit in E62
during stationary operation, event 47 is triggered.
Fieldbusaddress
4814h
0h
4815h
0h
481Eh
0h
4850h
0h
4851h
0h
0: inactive; Device does not react to the triggering of U20.
1: Message; Triggering of U20 is only indicated. The device continues to remain ready for
operation.
2: Warning; After expiration of the tolerance time in U21, the device assumes fault status.
3: Fault; The device immediately assumes fault status after U20 is triggered.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 05 00 00 hex
U21
Axis
r=3, w=3
Time M-Max limit: Can only be set when U20 = 2:warning. Defines the time during which a
drive overload is tolerated. After expiration of this time, the device assumes fault status.
Value range in s: 1.00 ... 10 ... 60.00
Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1·s); USS-Adr: 15 05 40 00 hex
 Only visible when the appropriate event level is parameterized to 2:Warning.
U30
Axis
r=3, w=3
Emergency braking: In case of some malfunctions that normally result in the drive coasting
down, emergency braking can be performed as an option. The emergency braking is treated like a
malfunction fast stop for these malfunctions, however the emergency braking does not follow the
fast stop ramp (D81), but is performed using an internally pre-calculated current. Emergency
braking is only possible in the servo mode (B20=64:Servo).
Only the malfunction reaction for the selected malfunctions is affected.
In addition to the setting in U30, the malfunction fast stop must also be activated in A29.
A39 (t-max. fast stop) should be set such that the emergency braking can be ceased.
In the case of the following malfunctions in which the drive is switched so it is free of torque ("coasts
down"), emergency braking can be performed as an option:
 Malfunction 37:Encoder,
 Malfunction 46:Overvoltage with cause 3:Line drop,
 Malfunction 56:Overspeed.
NOTE
At the start of the emergency braking, brake actuation is triggered simultaneously.
0: inactive; all malfunctions for which a fast stop is not possible result in coasting down. The setting
in A29 applies to the malfunctions for which a fast stop can be used.
1: active; in the case of the malfunctions 37:Encoder, 56:Overspeed and 46:Undervoltage with
cause 3:Line drop emergency braking is performed. The malfunction fast stop must be activated
in A29. The malfunctions for which a fast stop can be used continue to react with the normal fast
stop.
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 07 80 00 hex
 Only visible with servo operation (B20 greater or equal to 64:Servo-control).
U80
Axis
Fault sample parameter 0: Each of the 10 fault memory entries has space for user-defined
data which are also saved when a fault is triggered. The parameter to be recorded is set here.
r=3, w=3
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 15 14 00 00 hex
U81
Axis
Fault sample parameter 1: Each of the 10 fault memory entries has space for user-defined
data which are also saved when a fault is triggered. The parameter to be recorded is set here.
r=3, w=3
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 15 14 40 00 hex
ID 441782.04
379
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
U.. Protection functions
Par.
Description
U82
Axis
Fault sample parameter 2: Each of the 10 fault memory entries has space for user-defined
data which are also saved when a fault is triggered. The parameter to be recorded is set here.
r=3, w=3
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 15 14 80 00 hex
U83
Axis
Fault sample parameter 3: Each of the 10 fault memory entries has space for user-defined
data which are also saved when a fault is triggered. The parameter to be recorded is set here.
r=3, w=3
Fieldbus: 1LSB=1; Type: U32; raw value:USS-Adr; USS-Adr: 15 14 C0 00 hex
U100
Level application event 0: Application-specific event no. 60. Starting with the level
"1:message," the display shows the event number with the text specified in U102 (e.g., "60:my
fault") when this event occurs.
Axis
r=3, w=3
Fieldbusaddress
4852h
0h
4853h
0h
4864h
0h
4865h
0h
4866h
0h
486Eh
0h
486Fh
0h
4870h
0h
0: inactive;
1: Message;
2: Warning;
3: Fault;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 19 00 00 hex
U101
Axis
r=3, w=3
Time application event 0: Can only be set with U100 = 2:warning. Defines the time during
which the event remains a warning. After expiration of this time, the device assumes fault status.
Value range in s: 0.00 ... 0 ... 63.75
Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1·s); USS-Adr: 15 19 40 00 hex
 Only visible when the appropriate event level is parameterized to 2:Warning.
U102
Text application event 0: Text which appears on the display when the event is triggered.
Axis
Default setting: FollowError
r=3, w=3
Fieldbus: Type: Str16; USS-Adr: 15 19 80 00 hex
U110
Level application event1: Application-specific event no. Nr. 61. Starting with the level
"1:message," the display shows the event number with the text specified in U112 (e.g., "61:my
fault") when this event occurs.
Axis
r=3, w=3
0: inactive;
1: Message;
2: Warning;
3: Fault;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 1B 80 00 hex
U111
Axis
r=3, w=3
Time application event 1: Can only be set when U110 = 2:warning. Defines the time during
which the event remains a warning. After expiration of this time, the device assumes fault status.
Value range in s: 0.00 ... 0 ... 63.75
Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1·s); USS-Adr: 15 1B C0 00 hex
 Only visible when the appropriate event level is parameterized to 2:Warning.
U112
Text application event 1: Indication which appears on the display when the event is triggered.
Axis
Default setting: LimitSwitch
r=3, w=3
Fieldbus: Type: Str16; USS-Adr: 15 1C 00 00 hex
ID 441782.04
380
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
U.. Protection functions
Par.
Description
U120
Axis
r=3, w=3
Level application event 2: Application-specific event no. 62. Starting with the level
"1:message," the event number and the text specified in U122 (e.g., "62:my fault") appear on the
display when this event occurs.
Fieldbusaddress
4878h
0h
4879h
0h
487Ah
0h
4882h
0h
4883h
0h
4884h
0h
488Ch
0h
0: inactive;
1: Message;
2: Warning;
3: Fault;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 1E 00 00 hex
U121
Axis
r=3, w=3
Time application event 2: Can only be set when U120 = 2:warning. Defines the time during
which the event remains a warning. After expiration of this time, the device assumes fault status.
Value range in s: 0.00 ... 0 ... 63.75
Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1·s); USS-Adr: 15 1E 40 00 hex
 Only visible when the appropriate event level is parameterized to 2:Warning.
U122
Text application event 2: Indication which appears on the display when the event is triggered.
Axis
Default setting: Range 2 lowerLim
r=3, w=3
Fieldbus: Type: Str16; USS-Adr: 15 1E 80 00 hex
U130
Level application event 3: Application-specific event no. 63. Starting with level "1:message,"
the event number and the text specified in U132 (e.g., "63:my fault") appear on the display when
this event occurs.
Axis
r=3, w=3
0: inactive;
1: Message;
2: Warning;
3: Fault;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 20 80 00 hex
U131
Axis
r=3, w=3
Time application event 3: Can only be set when U130 = 2:warning. Defines the time during
which the event remains a warning. After this time expires, the device assumes fault status.
Value range in s: 0.00 ... 0 ... 63.75
Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1·s); USS-Adr: 15 20 C0 00 hex
 Only visible when the appropriate event level is parameterized to 2:Warning.
U132
Text application event 3: Indication which appears on the display when the event is triggered.
Axis
Default setting: Range 2 upperLim
r=3, w=3
Fieldbus: Type: Str16; USS-Adr: 15 21 00 00 hex
U140
Level application event 4: Application-specific event no. 64. Starting with the level
"1:message," the event number and the text specified in U142 (e.g., "64:my fault") appear on the
display when this event occurs.
Axis
r=3, w=3
0: inactive;
1: Message;
2: Warning;
3: Fault;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 23 00 00 hex
ID 441782.04
381
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
U.. Protection functions
Par.
Description
U141
Axis
r=3, w=3
Time application event 4: Can only be set when U140 = 2:warning. Defines the time during
which the event remains a warning. After this time expires, the device assumes fault status.
Fieldbusaddress
488Dh
0h
488Eh
0h
4896h
0h
4897h
0h
4898h
0h
48A0h
0h
48A1h
0h
Value range in s: 0.00 ... 0 ... 63.75
Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1·s); USS-Adr: 15 23 40 00 hex
 Only visible when the appropriate event level is parameterized to 2:Warning.
U142
Text application event 4: Indication which appears on the display when the event is triggered.
Axis
Default setting: currentloop lost
r=3, w=3
Fieldbus: Type: Str16; USS-Adr: 15 23 80 00 hex
U150
Level application event 5: Application-specific event no. 65. Starting with the level
"1:message," the event number and the text specified in U152 (e.g., "65:my fault") appear on the
display when this event occurs.
Axis
r=3, w=3
0: inactive;
1: Message;
2: Warning;
3: Fault;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 25 80 00 hex
U151
Axis
r=3, w=3
Time application event 5: Can only be set when U150 = 2:warning. Defines the time during
which the event remains a warning. After this time expires, the device assumes fault status.
Value range in s: 0.00 ... 0 ... 63.75
Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1·s); USS-Adr: 15 25 C0 00 hex
 Only visible when the appropriate event level is parameterized to 2:Warning.
U152
Text application event 5: Indication which appears on the display when the event is triggered.
Axis
Default setting: limit switch
r=3, w=3
Fieldbus: Type: Str16; USS-Adr: 15 26 00 00 hex
U160
Level application event 6: Application-specific event no. 66. Starting with level "1:message,"
the event number and the text specified in U162 (e.g., "66:my fault") appear on the display when
this event occurs.
Axis
r=3, w=3
0: inactive;
1: Message;
2: Warning;
3: Fault;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 28 00 00 hex
U161
Axis
r=3, w=3
Time application event 6: Can only be set when U160 = 2:warning. Defines the time during
which the event remains a warning. After this time expires, the device assumes fault status.
Value range in s: 0.00 ... 0 ... 63.75
Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1·s); USS-Adr: 15 28 40 00 hex
 Only visible when the appropriate event level is parameterized to 2:Warning.
ID 441782.04
382
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
U.. Protection functions
Par.
Description
U162
Text application event 6: Indication which appears on the display when the event is triggered.
Axis
Default setting: Ext6
r=3, w=3
Fieldbus: Type: Str16; USS-Adr: 15 28 80 00 hex
U170
Level application event 7: Application-specific event no. 67. Starting with level "1:message,"
the event number and the text specified in U172 (e.g., "67:my fault") appear on the display when
this event occurs.
Axis
r=3, w=3
Fieldbusaddress
48A2h
0h
48AAh
0h
48ABh
0h
48ACh
0h
48B4h
0h
48B5h
0h
0: inactive;
1: Message;
2: Warning;
3: Fault;
Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 2A 80 00 hex
U171
Axis
r=3, w=3
Time application event 7: Can only be set when U170 = 2:warning. Defines the time during
which the event remains a warning. After this time expires, the device assumes fault status.
Value range in s: 0.00 ... 0 ... 63.75
Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1·s); USS-Adr: 15 2A C0 00 hex
 Only visible when the appropriate event level is parameterized to 2:Warning.
U172
Text application event 7: Indication which appears on the display when the event is triggered.
Axis
Default setting: Ext7
r=3, w=3
Fieldbus: Type: Str16; USS-Adr: 15 2B 00 00 hex
U180
Text external fault 1: In addition to the 8 external events whose level (fault, warning, and so
on) can be specified as desired by the user, two other events which always trigger a fault are
available for application development. The related fault messages are specified by the parameters
U180 and U181.
Axis
r=2, w=2
Default setting: ExtFault1
Fieldbus: Type: Str16; USS-Adr: 15 2D 00 00 hex
U181
Text external fault 2: See U180.
Axis
Default setting: ExtFault2
r=2, w=2
Fieldbus: Type: Str16; USS-Adr: 15 2D 40 00 hex
Z.. Fault counter
Par.
Description
Z31
Global
read (3)
Short/ground.: The parameter indicates how frequently event 31:short/ground has occurred.
Event description:
Trigger: The hardware overcurrent switchoff is active.
Cause:
The motor requires too much current from the inverter (interwinding fault,
overload)
Level:
Fault
Acknowledgment: Turn device off/on or programmed acknowledgment.
Other:
The motor always coasts down. The brake chopper cuts out.
Fieldbusaddress
521Fh
0h
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 07 C0 00 hex
ID 441782.04
383
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Z.. Fault counter
Par.
Description
Z32
Global
read (3)
Short/ground internal: The parameter indicates how frequently event 32:short/ground internal
has occurred.
Event description:
Trigger:
When the device switches on (switch on 24 V with power supply already
present) a short-circuit ground fault is detected.
Cause:
There is a device-internal bridge short-circuit or an internal or external ground
fault.
Level:
Fault
Acknowledgment: Turn device off/on or programmed acknowledgment
Other:
The power stage is switched off on the hardware side. The motor always coasts
down. The brake chopper is switched off as long as the malfunction is present.
Please send the device in for repair.
Fieldbusaddress
5220h
0h
5221h
0h
5222h
0h
5223h
0h
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 08 00 00 hex
Z33
Global
read (3)
Overcurrent: The parameter indicates how frequently event 33:overcurrent has occurred.
Event description:
Trigger:
The total motor current exceeds the permissible maximum.
Cause:

Acceleration times too short

Wrong torque limitations in parameters C03 and C05
Level:
Fault
Acknowledgment: Turn device off/on or programmed acknowledgment.
Other:
The motor always coasts down.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 08 40 00 hex
Z34
Global
read (3)
Hardware fault: The parameter indicates how frequently event 34:hardware fault has occurred.
Event description:
Trigger:
A hardware error occurred.
Cause:
1: FPGA; Error while loading the FPGA.
2: NOV-ST; Control unit memory defective (FERAM).
3: NOV-LT; Power unit memory defective (EEPROM).
4: brake 1; Activation of brake 1 is defective or the brake module has no 24 V
power.
5: brake 2; Activation of brake 2 is defective or the brake module has no 24 V
power.
11: currentMeas; Current offset measurement when device starts up - deviation
too great
Level:
Fault
Acknowledgment: Cannot be acknowledged
Other:
The brake chopper is switched off as long as the malfunction is present. The
inverter must be sent in for repairs.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 08 80 00 hex
Z35
Global
read (3)
Watchdog: The parameter indicates how frequently event 35:watchdog has occurred.
Event description:
Trigger:
The watchdog of the microprocessor has triggered.
Cause:
The microprocessor is busy or it is faulty.
Level:
Fault
Acknowledgment: Turn device off/on or programmed acknowledgment.
Other:
The motor always coasts down. The brake chopper is switched off while the
inverter restarts.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 08 C0 00 hex
ID 441782.04
384
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Z.. Fault counter
Par.
Description
Z36
Global
read (3)
High voltage: The parameter indicates how frequently event 36:high voltage has occurred.
Event description:
Trigger:
The voltage in the DC link exceeds permissible maximum (indication DC link
voltage in E03).
Cause:
 Network voltage too high
 Feedback of drive in braking mode (no brake resistor connected brake
chopper deactivated with A22=0 or defective).
 Brake resistor too low (overcurrent protection)
 Ramp too steep
Level:
Fault
Acknowledgment: Turn device off/on or programmed acknowledgment.
Other:
The motor always coasts down. The brake chopper is switched off as long as the
malfunction is present.
Fieldbusaddress
5224h
0h
5225h
0h
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 09 00 00 hex
Z37
Global
read (3)
Encoder: The parameter indicates how frequently event 37:encoder has occurred.
Event description:
Trigger:
Error by encoder.
Cause:
1: Para <-> encoder; Parameterization does not match connected encoder.
2: ParaChgOffOn; Parameterchange; Encoder parameterization cannot be
changed during operation. Save and then turn device off and on so that the
change takes effect.
4: X4 chan.A/Clk; Wire break, track A / clock
5: X4 chan.B/Dat; Wire break, track B / data
6: X4 chan.0; Wire break, track 0
7: X4EnDatAlarm; The EnDat® encoder reported an alarm.
8: X4EnDatCRC; The EnDat® encoder reported that too many errors were
found during the redundancy check. The cause can be wirebreak or errors in
the cable shield.
10: resol.carrier; Resolver is not or wrong connected, wirebreak is possible
11: X140-undervol.; Wrong transmission factor
12: X140-overvolt; Wrong transmission factor
14: resol.failure; Wirebreak
15: X120-double t; X120 double transmission occurred
16: X120-Busy; Encoder gave no response for too long; bei SSI-Slave: bei
freigegebenen Antrieb seit 5 ms keine Telegramm
17: X120-wirebreak; A wire break was discovered on X120.
18: X120-Timeout;
19: X4-double tr.; X4 double transmission occurred
20: X4-Busy; Encoder gave no response for too long
21: X4-wirebreak;
22: AX5000; Acknowledgment of the axis switch is not effected.
23: Ax5000require; Comparison of E57 and E70.
24: X120-speed; B297, G297 or I297 exceeded for encoder on X120.
25: X4-speed; B297, G297 or I297 exceeded for encoder on X4.
26: No Enc. found; Either no encoder was found on X4 or the EnDat®/SSI
encoder has a wire break.
ID 441782.04
385
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Z.. Fault counter
Par.
Description
Fieldbusaddress
27: AX5000 found; A functional AX 5000 option board was found on X4
although incremental encoder or EnDat® encoder was parameterized, or no
EnDat® encoder is connected to the AX 5000 option board.
28: EnDat found.; An EnDat® encoder was found on X4 although another
encoder was parameterized.
29: AX5000/IncEnc; Either X4 has a faulty AX 5000 option board or the A-track
of an incremental encoder has a wire break.
30: opt2 incomp.; Version of option 2 is not current.
31: X140-EnDatAla; The EnDat® encoder on X140 reports an alarm.
32: X140-EnDatCRC; The EnDat® encoder on X140 reports that too many faults
were found during the redundancy test. Possible causes may be wire break
or a cable shield fault.
33: IGB-speed; G297 exceeded on the IGB.
34: Battery low; While switching on the inverter it was determined that the
voltage of the battery has fallen below the warning limit of the encoder.
Referencing of the axis remains intact. However, the remaining service life of
the backup battery is limited. Replace the AES battery before the next time
the inverter is switched off. Note also the operating instructions for the
Absolute Encoder Support AES.
35: Battery empty; While switching on the inverter it was determined that the
voltage of the battery has fallen below the minimum voltage of the encoder.
Referencing of the axis has been deleted. The backup battery is no longer
able to retain the position in the encoder over the time during which the
inverter in switched off. Referencing the axis. Replace the AES battery
before the next time the inverter is switched off. Note also the operating
instructions for the Absolute Encoder Support AES.
Level:
Fault
Acknowledgment: Turn the device off/on for causes 7, 10, 11, 12, 13 and 14. Programmed
acknowledgment for other causes.
Other:
The motor always coasts down.
CAUTION
With positioning applications, the reference is deleted by the event "37:encoder."
After acknowledgment, referencing must be performed again.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 09 40 00 hex
Z38
Global
read (3)
Overtemp.device sensor: The parameter indicates how frequently event 38:overtemp.device
sensor has occurred.
Event description:
Trigger:
The temperature measured by the device sensor exceeds the permissible
maximum value or is below the permissible minimum value.
Cause:
Ambient/switching cabinet temperatures too high or to low.
Level:
Fault
Acknowledgment: Turn device off/on or programmed acknowledgment.
Other:
The permissible temperatures are stored on the power section of the inverter.
5226h
0h
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 09 80 00 hex
ID 441782.04
386
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Z.. Fault counter
Par.
Description
Z39
Global
read (3)
Overtemp.device i2t: The parameter indicates how frequently event 39:overtemp.device i2t
has occurred.
Event description:
Trigger:
The i2t model for the inverter exceeds 100 % of the thermal load.
Cause:
 Inverter overloaded (e.g., because motor blocked).
 Too high clock pulse frequency.
Level:
Inactive, message, warning or fault, can be parameterized in U02 (Default: fault).
Other:
When the event is triggered, a current limitation occurs initially for control types
servo and vector control. At the same time, a quick stop is triggered as a fault
when parameterized in U02. Reduction of the current may mean that the quick
stop is no longer executed correctly!
Fieldbusaddress
5227h
0h
5228h
0h
5229h
0h
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 09 C0 00 hex
Z40
Global
read (3)
Invalid data: The parameter indicates how frequently event 40:invalid data has occurred.
Event description:
Trigger:
A data error was detected when the non-volatile memory was initialized.
Cause:
1 to 7: Control unit memory
1: fault; Low-level read/write error or timeout.
2: blockMiss; Unknown data block.
3: dataSecurity; Block has no data security.
4: checksum; Block has checksum error.
5: r/o; Block is r/o.
6: readErr; Startup phase: block read error.
7: blockMiss; Block not found .
17 to 23: power unit memory
17: fault; Low-level read/write error or timeout.
18: blockMiss; Unknown data block.
19: dataSecurity; Block has no data security.
20: checksum; Block has checksum error.
21: r/o; Block is r/o.
22: readErr; Startup phase: block read error.
23: blockMiss; Block not found.
32 and 33: encoder memory
32: el.mot-type; No nameplate data present.
33: el.typeLim; Elecronic motor-type limit; nameplate parameters cannot be
entered (limit or existence).
48: optionBoard2; Error in memory of option 2 with REA 5000 and XEA 5000
and XEA 5001 respectively.
Level:
Fault
Acknowledgment: The event cannot be acknowledged for cause 1 to 23 and 48.
The inverter must be sent in for repairs. The event can be acknowledged for
causes 32 and 33.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0A 00 00 hex
Z41
Global
read (3)
Temp.MotorTMP: The parameter indicates how frequently event 41:temp.MotorTMP has
occurred.
Event description:
Trigger:
Motor temperature sensor reports excess temperature. (Connection terminals
X2.3, X2.4).
Cause:
 The motor is overloaded.

 The temperature sensor is not connected.
Level:
Fault
Acknowledgment: Turn device off/on or programmed acknowledgment.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0A 40 00 hex
ID 441782.04
387
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Z.. Fault counter
Par.
Description
Z42
Global
read (3)
TempBrakeRes: The parameter indicates how frequently event 42:tempBrakeRes has occurred.
Event description:
Trigger:
The i2t model for the brake resistor exceeds 100 % of the load.
Cause:
The brake resistor may not be adequate for the application.
Level:
Fault
Acknowledgment: Programmed acknowledgment. Acknowledgment by turning the device off/on is
not recommended since the i2t model would be reset to 80 % in this case and
there is a danger of the deceleration resistor being damaged.
Other:
The brake chopper is switched off as long as the malfunction is present.
Fieldbusaddress
522Ah
0h
522Ch
0h
522Dh
0h
522Eh
0h
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0A 80 00 hex
Z44
Global
read (3)
External fault 1: The parameter indicates how frequently event 44:External fault 1 has occurred.
Event description:
Trigger:
Application specific or by free programming option.
Level:
Fault
Acknowledgment: Turn device off/on or programmed acknowledgment.
Other:
Should only be used for application events which may not be set lower than the
"fault" level.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0B 00 00 hex
Z45
Global
read (3)
Overtemp.motor i2t: The parameter indicates how frequently event 45:overtemp.motor i2t has
occurred.
Event description:
Trigger:
The i2t model for the motor has reached 100 % of load.
Cause:
 The motor is overloaded.
Level:
Can be parameterized as inactive, message or warning in U10 and U11.
Acknowledgment: Turn device off/on or programmed acknowledgment.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0B 40 00 hex
Z46
Global
read (3)
Low voltage: The parameter indicates how frequently event 46:low voltage has occurred.
Event description:
Trigger:
The DC link voltage is lower than the limit value set in A35.
Cause:
1: Low Voltage; The value in E03 DC-link-voltage has dropped below the value
parameterized in A35 low voltage limit.
2: Network phase; Phase monitoring has found that a switched-on power unit is
missing a phase.
3: Drop in network; When phase monitoring finds that the network voltage is
missing, the charging relay is immediately switched off. Normal operation is
maintained. If the power unit is still switched on after network voltage returns,
a fault is triggered after 0.5 s.
Level:
Can be parameterized for cause 1 in U00 and U01. Warning with 10-second
warning time for cause 2, fault for cause 3.
Acknowledgment: Can be acknowledged for "fault" level by turning device off/on or programmed
acknowledgment.
Other:
The motor always coasts down for cause 3.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0B 80 00 hex
ID 441782.04
388
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Z.. Fault counter
Par.
Description
Z47
Global
read (3)
Torque limit: The parameter indicates how frequently event 47:torque limit has occurred.
Event description:
Trigger:
The maximum torque permitted for static operation is exceeded for the control
types servo control, vector control or senorless vector control (E62:act. pos. Mmax, E66:act. neg. M-max).
Cause:
 Limitation by parameters C03 and C05.
Level:
Can be parameterized in U20 and U21.
Fieldbusaddress
522Fh
0h
5234h
0h
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0B C0 00 hex
Z52
Global
read (3)
Communication: The parameter indicates how frequently event 52:communication has
occurred.
Event description:
Trigger:
Communication fault
Cause:
1: CAN LifeGuard; The device recognized the "life-guarding-event" (master no
longer sends RTR).
2: CAN Sync Error; The sync message was not received within the time set in
parameter A201 Cycle Period Timeout.
3: CAN Bus Off; Went off when bus went off. The driver started it again.
4: PZD-Timeout; Failure of the cyclic data connection (PROFIBUS).
5: USS; (under preparation) failure of the cyclic data connection (USS).
6: EtherCAT PDO; The inverter received no process data during the time set in
A258.
7: EtherCAT-DcSYNC0; There is a malfunction on the synchronization signal
"SYNC 0". This malfunction can only occur with EtherCAT® synchronization
activated using "Distributed Clock (DC)".
8: IGB µC failure; The controller for IGB communication has failed.
9: IGB Lost Frame; IGB-Motionbus fault. The station discovered the loss of at
least 2 consecutive data frames (double error). This cause can only occur
when the IGB state = 3:Motionbus and the motor is energized.
10: IGB P.LostFra; IGB-Motionbus fault. Another station discovered a double
error and reported this via A163. This causes that inverter to also malfunction
with this cause. The cause can only occur when the IGB state = 3:Motionbus
and the motor is energized.
11: IGB Sync Erro; The synchronization within the inverter has malfunctioned
because the configuration was stopped by POSITool. This fault can only occur
when the IGB state equaled 3:Motionbus and the motor was energized.
12: IGB ConfigTim; A block was not executed at the beginning of the global
area in real-time. The runtime sequence of blocks may have been set
incorrectly. This fault can only occur when the IGB state equaled 3:Motionbus
and the motor was energized.
13: IGBPartnerSyn; Another station in the IGB network has a synchronization
fault (see cause 11). This station reported its fault via A163. This causes that
inverter to also malfunction with cause 13. This fault can only occur when the
IGB state equaled 3:Motionbus and the motor was energized.
Level:
Fault
Acknowledgment: Turn device off/on or programmed acknowledgment.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0D 00 00 hex
ID 441782.04
389
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Z.. Fault counter
Par.
Description
Z55
Global
read (3)
Option board: The parameter indicates how frequently event 55:option board has occurred.
Event description:
Trigger:
Error during operation with option board.
Cause:
1: CAN 5000 failure; CAN 5000 was recognized, installed and failed.
2: DP 5000 failure; DP5000 was recognized, installed and failed.
3: REA 5000 failure; REA 5000 was recognized, installed and failed.
4: SEA 5000 failure; SEA 5000 was recognized, installed and failed.
5: XEA 5000 failure; XEA 5000 or XEA 5001was recognized, installed and
failed.
6: EncSim-init; Incremental encoder simulation could not be initialized on
XEA. The motor may have turned during initialization.
7: WrongOption; Incorrect or missing option board (comparison of E54/E58
with E68/E69) or on SDS 5000: option board with old hardware version (XEA
5001: from HW 10, REA 5000: from HW19)
8: LEA5000 failure; LEA 5000 was recognized, installed and failed.
9: ECS5000 failure; ECS 5000 was recognized, installed and failed..
10: 24V failure; Failure of the 24 V supply for XEA 5001 or LEA 5000.
11:SEA 5001 failure; SEA 5001 was recognized, installed and failed.
12:REA 5001 failure; REA 5001 was recognized, installed and failed.
13: PN5000 fail 1; PN 5000 was recognized, installed and failed. Basic
hardware tests have detected an error.
14: PN5000 fail 2; PN 5000 was recognized, installed and failed. Basic software
tests have detected an error.
15: PN5000 fail 3; PN 5000 was recognized, installed and failed. The Watchdog
function of the PN-5000 monitoring system has detected an error.
17: Option2 too old; on SDS 5000: option board with old hardware version
(XEA 5001: from HW 10, REA 5000: from HW 19)
Level:
Fault
Acknowledgment: Turn device off/on for all causes or programmed acknowledgment of causes 1 to
6 and 8 to 10.
Fieldbusaddress
5237h
0h
5238h
0h
5239h
0h
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0D C0 00 hex
Z56
Global
read (3)
Overspeed: The parameter indicates how frequently event 56:overspeed has occurred.
Event description:
Trigger:
The measured speed is greater than C01*1,1 + 100 rpm.
Cause:
Encoder defective
Level:
Fault
Acknowledgment: Turn device off/on or programmed acknowledgment.
Other:
The motor always coasts down (from V5.0D on).
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0E 00 00 hex
Z57
Global
read (3)
Runtime usage: The parameter indicates how frequently event 57:runtime usage has occurred.
Event description:
Trigger:
The cycle time of a real-time task was exceeded.
Cause:
2: RT2; Cycle time of real-time task 2 exceeded (1 msec)
3: RT3; Cycle time of real-time task 3 exceeded (technology task)
4: RT4; Cycle time of real-time task 4 exceeded (32 msec)
5: RT5; Cycle time of real-time task 5 exceeded (256 msec)
Level:
Fault
Acknowledgment: Turn device off/on or programmed acknowledgment.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0E 40 00 hex
ID 441782.04
390
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Z.. Fault counter
Par.
Description
Z58
Global
read (3)
Grounded: The parameter indicates how frequently event 58:grounded has occurred.
Event description:
Trigger:
Hardware signal from power section with MDS 5000 BG3 or SDS 5000 BG 3.
Cause:

Asymmetrical motor currents.
Level:
Fault
Acknowledgment: Turn device off/on or programmed acknowledgment.
Other:
The motor always coasts down. The brake chopper is switched off as long as the
malfunction is present.
Fieldbusaddress
523Ah
0h
523Bh
0h
523Ch
0h
523Dh
0h
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0E 80 00 hex
Z59
Global
read (3)
Overtemp.device i2t: The parameter indicates how frequently event 59:overtemp.device i2t
has occurred.
Event description:
Trigger:
The i2t model calculated for the inverter exceeds 105 % of the thermal load.
Cause:
 Inverter overloaded (e.g., because motor is blocked).
 Clock pulse frequency too high.
Level:
Fault
Acknowledgment: Turn device off/on or programmed acknowledgment.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0E C0 00 hex
Z60
Global
read (3)
Application event 0: The parameter indicates how frequently event 60:application event 0 has
occurred.
Event description:
Trigger:
Application specific or by free programming option.
Cause:
 Can be programmed as desired for each axis separately.
Level:
Can be parameterized in system parameters U100.
Acknowledgment: Turn device off/on or programmed acknowledgment.
Other:
- Message/warning: Evaluation in 256-msec cycle.
- Fault: Evaluation in parameterizable cycle time (A150). Texts, times and level
can be set in parameter group U.. starting with U100.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0F 00 00 hex
Z61
Global
read (3)
Application event 1: The parameter indicates how frequently event 61:application event 1 has
occurred.
Event description:
Trigger:
Application specific or by free programming option.
Cause:
 Can be programmed as desired for each axis separately.
Level:
Can be parameterized in system parameters U110.
Acknowledgment: Turn device off/on or programmed acknowledgment.
Other:
- Message/warning: Evaluation in 256-msec cycle.
- Fault: Evaluation in parameterizable cycle time (A150). Texts, times and level
can be set in parameter group U.. starting with U100.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0F 40 00 hex
ID 441782.04
391
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Z.. Fault counter
Par.
Description
Z62
Global
read (3)
Application event 2: The parameter indicates how frequently event 62:application event 2 has
occurred.
Event description:
Trigger:
Application specific or by free programming option.
Cause:
 Can be programmed as desired for each axis separately.
Level:
Can be parameterized in system parameters U120.
Acknowledgment: Turn device off/on or programmed acknowledgment.
Other:
- Message/warning: Evaluation in 256-msec cycle.
- Fault: Evaluation in parameterizable cycle time (A150). Texts, times and level
can be set in parameter group U.. starting with U100.
Fieldbusaddress
523Eh
0h
523Fh
0h
5240h
0h
5241h
0h
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0F 80 00 hex
Z63
Global
read (3)
Application event 3: The parameter indicates how frequently event 63:application event 3 has
occurred.
Event description:
Trigger:
Application specific or by free programming option.
Cause:
 Can be programmed as desired for each axis separately.
Level:
Can be parameterized in system parameters U130.
Acknowledgment: Turn device off/on or programmed acknowledgment.
Other:
- Message/warning: Evaluation in 256-msec cycle.
- Fault: Evaluation in parameterizable cycle time (A150). Texts, times and level
can be set in parameter group U.. starting with U100.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 0F C0 00 hex
Z64
Global
read (3)
Application event 4: The parameter indicates how frequently event 64:application event 4 has
occurred.
Event description:
Trigger:
Application specific or by free programming option.
Cause:
 Can be programmed as desired for each axis separately.
Level:
Can be parameterized in system parameters U140.
Acknowledgment: Turn device off/on or programmed acknowledgment.
Other:
- Message/warning: Evaluation in 256-msec cycle.
- Fault: Evaluation in parameterizable cycle time (A150). Texts, times and level
can be set in parameter group U.. starting with U100.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 10 00 00 hex
Z65
Global
read (3)
Application event 5: The parameter indicates how frequently event 65:application event 5 has
occurred.
Event description:
Trigger:
Application specific or by free programming option.
Cause:
 Can be programmed as desired for each axis separately.
Level:
Can be parameterized in system parameters U150.
Acknowledgment: Turn device off/on or programmed acknowledgment.
Other:
- Message/warning: Evaluation in 256-msec cycle.
- Fault: Evaluation in parameterizable cycle time (A150). Texts, times and level
can be set in parameter group U.. starting with U100.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 10 40 00 hex
ID 441782.04
392
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Z.. Fault counter
Par.
Description
Z66
Global
read (3)
Application event 6: The parameter indicates how frequently event 66:application event 6 has
occurred.
Event description:
Trigger:
Application specific or by free programming option.
Cause:
 Can be programmed as desired for each axis separately.
Level:
Can be parameterized in system parameters U160.
Acknowledgment: Turn device off/on or programmed acknowledgment.
Other:
- Message/warning: Evaluation in 256-msec cycle.
- Fault: Evaluation in parameterizable cycle time (A150). Texts, times and level
can be set in parameter group U.. starting with U100.
Fieldbusaddress
5242h
0h
5243h
0h
5244h
0h
5245h
0h
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 10 80 00 hex
Z67
Global
read (3)
Application event 7: The parameter indicates how frequently event 67:application event 7 has
occurred.
Event description:
Trigger:
Application specific or by free programming option.
Cause:
 Can be programmed as desired for each axis separately.
Level:
Can be parameterized in system parameters U170.
Acknowledgment: Turn device off/on or programmed acknowledgment.
Other:
- Message/warning: Evaluation in 256-msec cycle.
- Fault: Evaluation in parameterizable cycle time (A150). Texts, times and level
can be set in parameter group U.. starting with U100.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 10 C0 00 hex
Z68
Global
read (3)
External fault 2: The parameter indicates how frequently event 68:external fault 2 has occurred.
Event description:
Trigger:
Application specific or by free programming option.
Level:
Fault
Acknowledgment: Turn device off/on or programmed acknowledgment.
Other:
Should be used for application events which can only be parameterized at the
"fault" level.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 11 00 00 hex
Z69
Global
read (3)
Motor connection: The parameter indicates how frequently event 69:motor connection has
occurred.
Event description:
Trigger:
Connection error of the motor.
Cause:
1: motorNotDiscon; The contactor did not open when the axis changed. This
cause can only be determined when at least two phase contacts are stuck and
the DC link is charged (see E03). No magnetization could be established with
asynchronous motors.
2: no motor; Possibly no motor connected or line to motor interrupted.
Level:
Can be parameterized as inactive or warning in U12.
Acknowledgment: Turn device off/on or programmed acknowledgment.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 11 40 00 hex
ID 441782.04
393
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Z.. Fault counter
Par.
Description
Z70
Global
read (3)
Parameter consistency: The parameter indicates how frequently event 70:parameter
consistency has occurred.
Event description:
Trigger:
The parameterization is contradictory.
Cause:
1: no servoencoder; No servo-type encoder; Control mode B20 is set to "servo"
but no appropriate encoder is selected (B26, H.. parameter).
2: X120 direction; X120 is used as source in one parameter but is
parameterized in H120 as drain (or vice versa).
3: B12<->B20; Control mode B20 is not set to servo but the nominal motor
current (B12) exceeds the 4-kHz nominal current (R24) of the device by more
than 1.5 times.
4: B10<->H31; Resolver/motorpoleno.; the set motor pole number (B10) and the
resolver pole number (H31) do not match.
5: neg.slip; With the control modes V/f, SLVC or VC (B20). The values for motor
nominal speed (B13), motor nominal frequency (B15) and motor pole number
(B10) indicate a negative slip.
6: torque-lim; When the values entered in C03 or C05 are used, the maximum
current of the inverter would be exceeded. Enter lower torque limits.
7: B26:SSI-Slave; SSI slave may not be used as motor encoder
(synchronization problems).
8: C01>B83; C01 may not be greater than B83.
9: E102/E103 miss.; An attempt is made to move to a master position via the
integrated bus but the required parameters E102 and E103 are missing.
10: G104<->G27; A master position is sent via the IGB-Motionbus (i.e., G104 is
not set to 0:inactive), but G27 does not have the settings 0:inactive and
6:IGB which are valid for this case.
Level:
Fault
Acknowledgment: Turn device off/on or programmed acknowledgment.
Other:
With an incorrect parameterization, a fault is not triggered until enabling takes
place.
Fieldbusaddress
5246h
0h
5247h
0h
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 11 80 00 hex
Z71
Global
read (3)
Firmware: The parameter indicates how often the fault 71:firmware has occurred.
Description of the event:
Trigger:
A firmware error was detected.
Cause:
1: FW defective; Only for SDS 5000: An error of the active firmware was
discovered or faulty firmware was determined in the firmware download
memory. Load the firmware again.
2: Activate FW; Only for SDS 5000: The firmware was loaded to the inverter but
not yet activated. Activate the firmware and perform a device new start!
3: CRC-error; A firmware error was discovered. Turn the 24 V power off and on
again. If the error occurs again on renewed OFF/ON, the device hardware is
faulty and must be replaced.
Level:
Fault
Acknowledgment: Turn device off and on again.
Other:
Causes 1 and 2 only occur during device startup so that the inverter cannot be
enabled. Cause 3 can also occur during operation.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 11 C0 00 hex
ID 441782.04
394
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Z.. Fault counter
Par.
Description
Z72
Global
read (3)
Brake test timeout: The parameter indicates how often the fault 72:brake test has occurred.
Description of the event:
Trigger:
Active brake management on the SDS 5000 means that the time set in B311 has
expired without the B300 brake test action having been performed.
Cause:
1: B311timeout; The time set in B311 timeout for brake test B300 has expired
without action B300 brake test having been executed.
2: Brake defective; During the execution of the brake test action, the stopping
torque entered in B304 or B305 could not be maintained or the encoder test
run included in the brake test was concluded with errors.
Level:
Message until twice the time set in B311 timeout for brake test B300 has
expired. After that, fault.
Acknowledgment: At the "fault" level, the event can be acknowledged for a period of 5 minutes so
that the action B300 brake test can be executed. If this time expires without
action B300 brake test having been executed successfully, the inverter resumes
the "fault" state. If action B300 brake test is performed successfully, the event is
automatically acknowledged.
Other:
This error is only generated with enable switched off.
Fieldbusaddress
5248h
0h
5249h
0h
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 12 00 00 hex
Z73
Global
read (3)
Axis 2 brake test timeout: The parameter indicates how often the fault 73:ax2braketest has
occured.
Description of the event:
Trigger:
When brake management is active on the SDS 5000, the time set in B311 has
expired without action B300 brake test having been executed with active axis 2.
Cause:
1: B311timeout; The time set in B311 timeout for brake test B300 has expired
without action B300 brake test having been executed with active axis 2.
2:Brake defective; During the execution of the brake test action with active axis
2, the stopping torque entered in B304 or B305 could not be maintained or the
encoder test run included in the brake test was concluded with errors.
Level:
Message until twice the time set in B311 timeout for brake test B300 has
expired. After that, fault.
Acknowledgment: At the "fault" level, the event can be acknowledged for a period of 5 minutes so
that the action B300 brake test can be executed. If this time expires without
action B300 brake test having been executed successfully with active axis 2, the
inverter resumes the "fault" state. If action B300 brake test is performed
successfully, the event is automatically acknowledged.
Other:
This error is only generated with enable switched off.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 12 40 00 hex
ID 441782.04
395
04
Used Parameters
Motion Block Positioning
STÖBER ANTRIEBSTECHNIK
Z.. Fault counter
Par.
Description
Z74
Global
read (3)
Axis 3 brake test timeout: The parameter indicates how often the fault 74:ax3braketest has
occurred.
Description of the event:
Trigger:
When brake management is active on the SDS 5000, the time set in B311 has
expired without action B300 brake test having been executed with active axis 3.
Cause:
1: B311timeout; The time set in B311 timeout for brake test B300 has expired
without action B300 brake test having been executed with active axis 3.
2:Brake defective; During the execution of the brake test action with active axis
3, the stopping torque entered in B304 or B305 could not be maintained or the
encoder test run included in the brake test was concluded with errors.
Level:
Message until twice the time set in B311 timeout for brake test B300 has
expired. After that, fault.
Acknowledgment: At the "fault" level, the event can be acknowledged for a period of 5 minutes so
that the action B300 brake test can be executed. If this time expires without
action B300 brake test having been executed successfully with active axis 3, the
inverter resumes the "fault" state. If action B300 brake test is performed
successfully, the event is automatically acknowledged.
Other:
This error is only generated with enable switched off.
Fieldbusaddress
524Ah
0h
524Bh
0h
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 12 80 00 hex
Z75
Global
read (3)
Axis 4 brake test timeout: The parameter indicates how often the fault 75:ax4braketest has
occured.
Description of the event:
Trigger:
When brake management is active on the SDS 5000, the time set in B311 has
expired without action B300 brake test having been executed with active axis 4.
Cause:
1: B311timeout; The time set in B311 timeout for brake test B300 has expired
without action B300 brake test having been executed with active axis 4.
2:Brake defective; During the execution of the brake test action with active axis
4, the stopping torque entered in B304 or B305 could not be maintained or the
encoder test run included in the brake test was concluded with errors.
Level:
Message until twice the time set in B311 timeout for brake test B300 has
expired. After that, fault.
Acknowledgment: At the "fault" level, the event can be acknowledged for a period of 5 minutes so
that the action B300 brake test can be executed. If this time expires without
action B300 brake test having been executed successfully with active axis 4, the
inverter resumes the "fault" state. If action B300 brake test is performed
successfully, the event is automatically acknowledged.
Other:
This error is only generated with enable switched off.
Fieldbus: 1LSB=1; Type: U16; USS-Adr: 1A 12 C0 00 hex
ID 441782.04
396
Global Presence
Address registers
Always up to date on the internet: www.stober.com → contact
• Technical Offices (TB) for advice and marketing in Germany
• Global presence for advice and marketing in about 25 countries
• Service Network Germany
• Service Network International
• STÖBER Subsidiaries:
STÖBER ANTRIEBSTECHNIK GmbH
Hauptstraße 41a
4663 Laakirchen
Fon +43 7613 7600-0
Fax +43 7613 7600-2525
E-Mail: [email protected]
www.stoeber.at
Switzerland
STÖBER SCHWEIZ AG
Rugghölzli 2
5453 Remetschwil
Fon +41 56 496 96 50
Fax +41 56 496 96 55
eMail: [email protected]
www.stoeber.ch
China
STOBER CHINA
German Centre Beijing
Unit 2010, Landmark Tower 2,
8 North Dongsanhuan Road
Chaoyang District
100004 Beijing
Fon +86 10 65907391
Fax +86 10 65907393
eMail: [email protected]
www.stoeber.cn
USA
STOBER DRIVES INC.
1781 Downing Drive
Maysville, KY 41056
Fon +1 606 7595090
Fax +1 606 7595045
eMail: [email protected]
www.stober.com
Great Britain
STOBER DRIVES LTD.
Upper Keys Business Village
Keys Park Road, Hednesford
Cannock WS12 2HA
Fon +44 (0) 1543 458 858
Fax +44 (0) 1543 448 688
E-Mail: [email protected]
www.stober.co.uk
Japan
STOBER Japan
P.O. Box 113-002, 6 chome
15-8, Hon-komagome
Bunkyo-ku
Tokyo
Fon +81 3 5395-6788
Fax +81 3 5395-6799
eMail: [email protected]
www.stober.co.jp
France
STÖBER S.a.r.l.
131, Chemin du Bac à Traille
Les Portes du Rhône
69300 Caluire et Cuire
Fon +33 4 78989180
Fax +33 4 78985901
eMail: [email protected]
www.stober.fr
Italy
STÖBER TRASMISSIONI S. r. l.
Via Risorgimento, 8
20017 Mazzo di Rho (Milano)
Fon +39 02 93909-570
Fax +39 02 93909-325
eMail: [email protected]
www.stoeber.it
Singapore
STOBER Singapore
50 Tagore Lane
#05-06B
Entrepreneur Centre
Singapore 787494
Fon +632 241 89 - 01/02/03/04/05
Fax +632 241 40 - 40/60
E-Mail: [email protected]
www.stober.sg
www.stober.com
Austria
m
STÖBER ANTRIEBSTECHNIK GmbH + Co. KG
Kieselbronner Str. 12
75177 PFORZHEIM
GERMANY
Tel. +49 (0)7231 582-0
Fax. +49 (7231) 582-1000
E-Mail: [email protected]
24/h service hotline +49(0) 180 5 786 323
www.stober.com
Technische Änderungen vorbehalten
Errors and changes excepted
ID 441782.04
01/2013