Document Outline

• Table of Contents
• 1 Preface
  • 1.1 Notes on the documentation
  • 1.2 Safety instructions
• 2 S-IDNs
  • S-0-0001 Control unit cycle time (TNcyc)
  • S-0-0002 Communication cycle time (tScyc)
  • S-0-0007 Feedback acquisition capture point (t4)
  • S-0-0011 Class 1 diagnostic (C1D)
  • S-0-0012 Class 2 diagnostic (C2D)
  • S-0-0013 Class 3 diagnostic (C3D)
  • S-0-0015 Telegram type
  • S-0-0016 Configuration list of AT
    • Actual length
    • Max length
    • Configured AT IDNs
  • S-0-0017 IDN-list of all operation data
    • Actual length
    • Max length
    • Configured AT IDNs
  • S-0-0018 IDN-list of operation data for CP2 (PreOp)
    • Actual length
    • Max length
    • All operation data
  • S-0-0019 IDN-list of operation data for CP3 (SafeOp)
    • Actual length
    • Max length
    • All operation data
  • S-0-0020 IDN-list of operation data for CP4 (Op)
    • Actual length
    • Max length
    • All operation data
  • S-0-0021 IDN-list of invalid operation data for CP2 (PreOp)
    • Actual length
    • Max length
    • Invalid operation data for CP2
  • S-0-0022 IDN-list of invalid operation data for CP3 (SafeOp)
    • Actual length
    • Max length
    • Invalid operation data for CP3
  • S-0-0024 Configuration list of MDT
    • Actual length
    • Max length
    • Configured MDT IDNs
  • S-0-0025 IDN-list of all procedure commands
    • Actual length
    • Max length
    • All operation data
  • S-0-0029 MDT error counter
  • S-0-0030 Manufacturer version
    • Actual length
    • Max length
  • S-0-0031 Hardware version
    • Actual length
    • Max length
  • S-0-0032 Primary operation mode
  • S-0-0033 Secondary operation mode 1
  • S-0-0034 Secondary operation mode 2
  • S-0-0035 Secondary operation mode 3
  • S-0-0036 Velocity command value
  • S-0-0037 Additive velocity command value
  • S-0-0040 Velocity feedback value 1
  • S-0-0043 Velocity polarity parameter
  • S-0-0044 Velocity data scaling type
  • S-0-0045 Velocity data scaling factor
  • S-0-0046 Velocity data scaling exponent
  • S-0-0047 Position command value
  • S-0-0048 Additive position command value
  • S-0-0051 Position feedback value 1 (motor feedback)
  • S-0-0053 Position feedback value 2 (external feedback)
  • S-0-0055 Position polarity parameters
  • S-0-0076 Position data scaling type
  • S-0-0079 Position resolution
  • S-0-0080 Torque command value
  • S-0-0081 Additive torque command value
  • S-x-0082 Positive torque limit value
    • S-0-0082 Positive torque limit value
    • S-1-0082 Positive torque limit value
    • S-2-0082 Positive torque limit value
    • S-3-0082 Positive torque limit value
    • S-4-0082 Positive torque limit value
    • S-5-0082 Positive torque limit value
    • S-6-0082 Positive torque limit value
    • S-7-0082 Positive torque limit value
  • S-x-0083 Negative torque limit value
    • S-0-0083 Negative torque limit value
    • S-1-0083 Negative torque limit value
    • S-2-0083 Negative torque limit value
    • S-3-0083 Negative torque limit value
    • S-4-0083 Negative torque limit value
    • S-5-0083 Negative torque limit value
    • S-6-0083 Negative torque limit value
    • S-7-0083 Negative torque limit value
  • S-0-0084 Torque feedback value
  • S-0-0085 Torque polarity parameter
  • S-0-0086 Torque/force data scaling type
  • S-x-0091 Bipolar velocity limit value
    • S-0-0091 Bipolar velocity limit value
    • S-1-0091 Bipolar velocity limit value
    • S-2-0091 Bipolar velocity limit value
    • S-3-0091 Bipolar velocity limit value
    • S-4-0091 Bipolar velocity limit value
    • S-5-0091 Bipolar velocity limit value
    • S-6-0091 Bipolar velocity limit value
    • S-7-0091 Bipolar velocity limit value
  • S-x-0092 Bipolar torque limit value
    • S-0-0092 Bipolar torque limit value
    • S-1-0092 Bipolar torque limit value
    • S-2-0092 Bipolar torque limit value
    • S-3-0092 Bipolar torque limit value
    • S-4-0092 Bipolar torque limit value
    • S-5-0092 Bipolar torque limit value
    • S-6-0092 Bipolar torque limit value
    • S-7-0092 Bipolar torque limit value
  • S-0-0095 Diagnostic message
    • Actual length
    • Max length
    • String
  • S-0-0099 Reset class 1 diagnostic (pc)
  • S-0-0100 Velocity loop proportional gain
  • S-0-0101 Velocity loop integral action time
  • S-0-0103 Modulo Value
  • S-0-0104 Position loop Kv-factor
  • S-0-0106 Current loop proportional gain 1
  • S-0-0107 Current control loop integral action time 1
  • S-x-0109 Motor peak current
    • S-0-0109 Motor peak current
    • S-1-0109 Motor peak current
    • S-2-0109 Motor peak current
    • S-3-0109 Motor peak current
    • S-4-0109 Motor peak current
    • S-5-0109 Motor peak current
    • S-6-0109 Motor peak current
    • S-7-0109 Motor peak current
  • S-0-0110 Amplifier peak current
    • S-0-0110-AX5101 Amplifier peak current
    • S-0-0110-AX5103 Amplifier peak current
    • S-0-0110-AX5106 Amplifier peak current
    • S-0-0110-AX5112 Amplifier peak current
    • S-0-0110-AX5118 Amplifier peak current
    • S-0-0110-AX5125 Amplifier peak current
    • S-0-0110-AX5101 Amplifier peak current
    • S-0-0110-AX5160 Amplifier peak current
    • S-0-0110-AX5172 Amplifier peak current
    • S-0-0110-AX5190 Amplifier peak current
    • S-0-0110-AX5191 Amplifier peak current
    • S-0-0110-AX5192 Amplifier peak current
    • S-0-0110-AX5193 Amplifier peak current
    • S-0-0110-AX5201 Amplifier peak current
    • S-0-0110-AX5203 Amplifier peak current
    • S-0-0110-AX5206 Amplifier peak current
  • S-x-0111 Motor continuous stall current
    • S-0-0111 Motor continuous stall current
    • S-1-0111 Motor continuous stall current
    • S-2-0111 Motor continuous stall current
    • S-3-0111 Motor continuous stall current
    • S-4-0111 Motor continuous stall current
    • S-5-0111 Motor continuous stall current
    • S-6-0111 Motor continuous stall current
    • S-7-0111 Motor continuous stall current
  • S-0-0112 Amplifier rated current
    • S-0-0112 – AX5101 Amplifier rated current
    • S-0-0112 – AX5103 Amplifier rated current
    • S-0-0112 – AX5106 Amplifier rated current
    • S-0-0112 – AX5112 Amplifier rated current
    • S-0-0112 – AX5118 Amplifier rated current
    • S-0-0112 – AX5125 Amplifier rated current
    • S-0-0112 – AX5140 Amplifier rated current
    • S-0-0112 – AX5160 Amplifier rated current
    • S-0-0112 – AX5172 Amplifier rated current
    • S-0-0112 – AX5190 Amplifier rated current
    • S-0-0112 – AX5191 Amplifier rated current
    • S-0-0112 – AX5192 Amplifier rated current
    • S-0-0112 – AX5193 Amplifier rated current
    • S-0-0112 – AX5201 Amplifier rated current
    • S-0-0112 – AX5203 Amplifier rated current
    • S-0-0112 – AX5206 Amplifier rated current
  • S-x-0113 Maximum motor speed
    • S-0-0113 Maximum motor speed
    • S-1-0113 Maximum motor speed
    • S-2-0113 Maximum motor speed
    • S-3-0113 Maximum motor speed
    • S-4-0113 Maximum motor speed
    • S-5-0113 Maximum motor speed
    • S-6-0113 Maximum motor speed
    • S-7-0113 Maximum motor speed
  • S-0-0119 Current loop proportional gain 2
  • S-0-0120 Current control loop integral action time 2
  • S-0-0124 Standstill window
  • S-0-0126 Torque threshold Tx
  • S-0-0130 Probe value 1 positive edge
  • S-0-0131 Probe value 1 negative edge
  • S-0-0134 Master control word
  • S-0-0135 Drive status word
  • S-x-0136 Positive acceleration limit value
    • S-0-0136 Positive acceleration limit value
    • S-1-0136 Positive acceleration limit value
    • S-2-0136 Positive acceleration limit value
    • S-3-0136 Positive acceleration limit value
    • S-4-0136 Positive acceleration limit value
    • S-5-0136 Positive acceleration limit value
    • S-6-0136 Positive acceleration limit value
    • S-7-0136 Positive acceleration limit value
  • S-x-0137 Negative acceleration limit value
    • S-0-0137 Negative acceleration limit value
    • S-1-0137 Negative acceleration limit value
    • S-2-0137 Negative acceleration limit value
    • S-3-0137 Negative acceleration limit value
    • S-4-0137 Negative acceleration limit value
    • S-5-0137 Negative acceleration limit value
    • S-6-0137 Negative acceleration limit value
    • S-7-0137 Negative acceleration limit value
  • S-0-0143 Sercos interface version
    • Actual length
    • Max length
    • String
  • S-0-0149 Positive drive stop procedure command (pc)
  • S-0-0156 Velocity feedback value 2 (external feedback)
  • S-0-0159 Monitoring window
  • S-0-0160 Acceleration data scaling type
  • S-0-0161 Acceleration data scaling factor
  • S-0-0162 Acceleration data scaling exponent
  • S-0-0163 Weight counterbalance
  • S-0-0169 Probe control parameter
  • S-0-0170 Probing cycle procedure command (pc)
  • S-0-0179 Probe status
  • S-0-0185 Length of the configurable data record in the AT
  • S-0-0186 Length of the configurable data record in the MDT
  • S-0-0187 IDN-list of configurable data in the AT
    • Actual length
    • Max length
    • All operation data
  • S-0-0188 IDN-list of configurable data in the MDT
    • Actual length
    • Max length
    • All operation data
  • S-0-0189 Following distance
  • S-x-0196 Motor rated current
    • S-0-0196 Motor rated current
    • S-1-0196 Motor rated current
    • S-2-0196 Motor rated current
    • S-3-0196 Motor rated current
    • S-4-0196 Motor rated current
    • S-5-0196 Motor rated current
    • S-6-0196 Motor rated current
    • S-7-0196 Motor rated current
  • S-0-0200 Amplifier warning temperature
  • S-0-0201 Motor warning temperature
  • S-0-0203 Amplifier shut down temperature
  • S-0-0204 Motor shut down temperature
  • S-0-0206 Drive on delay time
  • S-0-0207 Drive off delay time
  • S-0-0216 Switch parameter set (pc)
  • S-0-0217 Parameter set preselection
  • S-0-0219 IDN-list of parameter set
    • Actual length
    • Max length
    • All operation data
  • S-0-0254 Actual parameter set
  • S-0-0256 Multiplication factor 1 (motor feedback)
  • S-0-0257 Multiplication factor 2 (external feedback)
  • S-0-0267 Password
    • Actual length
    • Max length
    • All operation data
  • S-0-0273 Maximum drive off delay time
  • S-0-0274 Received drive addresses
    • Actual length
    • Max length
    • Data
  • S-0-0292 List of supported operation modes
    • Actual length
    • Max length
    • String
  • S-0-0295 Drive enable delay time
  • S-0-0296 Velocity feed forward gain
  • S-0-0301 Allocation of real-time control bit 1
  • S-0-0303 Allocation of real-time control bit 2
  • S-0-0305 Allocation of real-time status bit 1
  • S-0-0307 Allocation of real-time status bit 2
  • S-0-0347 Velocity error
  • S-0-0348 Acceleration feed forward gain
  • S-x-0372 Drive Halt acceleration bipolar
    • S-0-0372 Drive Halt acceleration bipolar
    • S-1-0372 Drive Halt acceleration bipolar
    • S-2-0372 Drive Halt acceleration bipolar
    • S-3-0372 Drive Halt acceleration bipolar
    • S-4-0372 Drive Halt acceleration bipolar
    • S-5-0372 Drive Halt acceleration bipolar
    • S-6-0372 Drive Halt acceleration bipolar
    • S-7-0372 Drive Halt acceleration bipolar
  • S-0-0374 Procedure command error list
    • Actual length
    • Max length
    • String
  • S-0-0375 Diagnostic numbers list
    • Actual length
    • Max length
    • Elements
  • S-0-0380 DC bus voltage
  • S-0-0381 DC bus current
  • S-0-0383 Motor temperature
  • S-0-0384 Amplifier temperature
  • S-0-0390 Diagnostic number
  • S-0-0403 Position feedback value status
  • S-0-0405 Probe 1 enable
  • S-0-0409 Probe 1 positive latched (Counter)
    • Single mode
    • Probe 1 positive latched
    • Reserved
    • Continuous mode
  • S-0-0410 Probe 1 negative latched (Counter)
    • Single mode
    • Probe 1 positive latched
    • Reserved
    • Continuous mode
  • S-x-0429 Emergency stop deceleration
    • S-0-0429 Emergency stop deceleration
    • S-1-0429 Emergency stop deceleration
    • S-2-0429 Emergency stop deceleration
    • S-3-0429 Emergency stop deceleration
    • S-4-0429 Emergency stop deceleration
    • S-5-0429 Emergency stop deceleration
    • S-6-0429 Emergency stop deceleration
    • S-7-0429 Emergency stop deceleration
  • S-0-0432 Serial number drive control
    • Actual length
    • Max length
  • S-0-0435 Operating time drive control
  • S-0-0436 Operating time power stage
  • S-0-0903 Configuration list of dynamic AT
    • Actual length
    • Max length
    • Configured AT IDNs
  • S-0-0904 Configuration list of dynamic MDT
    • Actual length
    • Max length
    • Configured MDT IDNs
  • S-0-0905 IDN-list of configurable data in the dynamic AT
    • Actual length
    • Max length
    • All operation data
  • S-0-0906 IDN-list of configurable data in the dynamic MDT
    • Actual length
    • Max length
    • All operation data
  • S-0-0907 Control word dynamic MDT
    • Output cycle counter
    • rsvd
  • S-0-0908 Status word dynamic AT
    • Input cycle counter
    • rsvd
  • S-0-0909 Dynamic MDT error counter
• 3 Support and Service