Document Outline

• 9400 HighLine V01.37
  • Contents
  • 1 About this Manual
    • 1.1 Conventions used
    • 1.2 Terminology used
    • 1.3 Definition of notes used
  • 2 Introduction
    • 2.1 Parameter setting, configuring or programming?
      • 2.1.1 Technology applications
      • 2.1.2 Basic functionalities
    • 2.2 Communicating with the controller
      • 2.2.1 Going online via diagnostic adapter
      • 2.2.2 Going online via system bus (CAN on board)
      • 2.2.3 Use of other communication interfaces
    • 2.3 Signal types & scaling
  • 3 Commissioning
    • 3.1 Notes on commissioning using the keypad
    • 3.2 Test commissioning
    • 3.3 Initial commissioning
    • 3.4 Standard set-up
    • 3.5 Controller replacement
    • 3.6 Motor replacement
  • 4 Drive interface
    • 4.1 LED status displays
    • 4.2 Parameter setting
      • 4.2.1 Machine parameters
        • 4.2.1.1 Mains voltage
        • 4.2.1.2 Gearbox ratio
        • 4.2.1.3 Motor mounting direction
        • 4.2.1.4 Configuration feedback
        • 4.2.1.5 Unit/application unit
        • 4.2.1.6 Traversing range
        • 4.2.1.7 Feed constant
      • 4.2.2 Monitoring of the device utilisation
      • 4.2.3 Parameter for status display
    • 4.3 Monitoring of external events
    • 4.4 Set/remove controller inhibit
    • 4.5 Device states
      • 4.5.1 Status "initialisation active"
      • 4.5.2 Status "Safe torque off active"
      • 4.5.3 State "Device is ready to switch on"
      • 4.5.4 State "Device is switched on"
      • 4.5.5 State "Operation"
      • 4.5.6 State "Warning active"
      • 4.5.7 State "Warning locked active"
      • 4.5.8 State "Quick stop by trouble"
      • 4.5.9 Status"Trouble active"
      • 4.5.10 State "Fault active"
      • 4.5.11 State "System fault active"
    • 4.6 Controller commands
      • 4.6.1 Overview of device commands
      • 4.6.2 Status display for device command
      • 4.6.3 Start/stop application
      • 4.6.4 Load Lenze setting
      • 4.6.5 Save parameter set
      • 4.6.6 Load parameter set
      • 4.6.7 Activate application
      • 4.6.8 Save selected application
      • 4.6.9 Activate/archive parameter set
    • 4.7 System block "LS_DriveInterface"
      • 4.7.1 Status signals
  • 5 Motor interface
    • 5.1 Initial commissioning
      • 5.1.1 Read the motor data out of the controller
      • 5.1.2 Select motor in the »Engineer« motor catalog
      • 5.1.3 Display/edit motor data in the »Engineer«
      • 5.1.4 Accept/adapt route data
      • 5.1.5 Parameterise motor encoder
      • 5.1.6 Set rotor displacement angle
      • 5.1.7 Optimise the switching performance of the inverter
      • 5.1.8 Set motor parameters
      • 5.1.9 Define currents and speed limits
      • 5.1.10 Select switching frequency
      • 5.1.11 Optimise current controller
        • 5.1.11.1 Correction of the leakage inductance via saturation characteristic
        • 5.1.11.2 Example for determining the saturation characteristic
    • 5.2 Extended commissioning
      • 5.2.1 Optimise speed controller
      • 5.2.2 Set current setpoint filter
      • 5.2.3 Optimise phase controller
      • 5.2.4 Optimise the response to setpoint changes by means of the torque feedforward control
    • 5.3 Signal flow
    • 5.4 Parameter setting
      • 5.4.1 Motor monitoring (I·xt)
        • 5.4.1.1 Example for entry of the characteristic for asynchronous servo motor
        • 5.4.1.2 Example for entry of the characteristic for synchronous servo motor
      • 5.4.2 Special characteristic for motor temperature sensor
      • 5.4.3 Motor temperature monitoring
    • 5.5 System block "LS_MotorInterface"
  • 6 Encoder evaluation
    • 6.1 Signal flow
    • 6.2 Parameter setting
      • 6.2.1 Controller configuration
      • 6.2.2 System with motor encoder
      • 6.2.3 System with motor encoder and position encoder
      • 6.2.4 Use external position encoder.
    • 6.3 System block "LS_Feedback"
  • 7 I/O terminals
    • 7.1 Overview
    • 7.2 Analog inputs
      • 7.2.1 Terminal assignment/electrical data
      • 7.2.2 Parameter setting
      • 7.2.3 Reconfiguring analog input 1 as a current input
      • 7.2.4 System block "LS_AnalogInput"
    • 7.3 Analog outputs
      • 7.3.1 Terminal assignment/electrical data
      • 7.3.2 Parameter setting
      • 7.3.3 System block "LS_AnalogOutput"
    • 7.4 Digital inputs
      • 7.4.1 Terminal assignment/electrical data
      • 7.4.2 Parameter setting
      • 7.4.3 System block "LS_DigitalInput"
    • 7.5 Digital outputs
      • 7.5.1 Terminal assignment/electrical data
      • 7.5.2 Parameter setting
      • 7.5.3 System block "LS_DigitalOutput"
    • 7.6 Monitoring function "State bus"
      • 7.6.1 Detecting the current status
      • 7.6.2 Setting the state bus to the status "Error"
    • 7.7 Touch probe detection
      • 7.7.1 Actual value interpolation (principle)
      • 7.7.2 Dead time compensation
      • 7.7.3 System block "LS_TouchProbe1...8"
      • 7.7.4 System block "LS_TouchProbeMotor"
      • 7.7.5 System block "LS_TouchProbeLoad"
    • 7.8 System bus "CAN on board"
  • 8 Safety engineering
    • 8.1 Integration into the application
    • 8.2 Selecting the required safety module
    • 8.3 Control word of the safety module SM3xx
    • 8.4 Status information of the SM3xx safety module
    • 8.5 System block "LS_SafetyModule"
  • 9 Basic drive functions
    • 9.1 General information
      • 9.1.1 Conditions for the use of the basic functions
      • 9.1.2 Internal state machine
        • 9.1.2.1 "Initialisation" status
        • 9.1.2.2 Status "Controller not ready"
        • 9.1.2.3 Status "drive in standstill"
        • 9.1.2.4 Status "Drive is stopped"
        • 9.1.2.5 Status "Manual jog active"
        • 9.1.2.6 Status "Homing active"
        • 9.1.2.7 Status "Positioning active"
        • 9.1.2.8 Status "Setpoint follower active"
        • 9.1.2.9 Status "Quick stop active"
        • 9.1.2.10 Status "Error"
        • 9.1.2.11 Interrupting/replacing states
        • 9.1.2.12 Priorities
      • 9.1.3 Requesting control via a basic function
    • 9.2 Standard stop
      • 9.2.1 Parameter setting
      • 9.2.2 Behaviour of the function (example)
      • 9.2.3 System block "LS_Stop"
    • 9.3 Quick stop
      • 9.3.1 Parameter setting
      • 9.3.2 Activating/Deactivating quick stop
      • 9.3.3 System block "LS_quick stop"
    • 9.4 Manual jog
      • 9.4.1 Parameter setting
        • 9.4.1.1 Smooth start and quick stop of the drive
        • 9.4.1.2 Second manual speed
      • 9.4.2 Executing manual jog
        • 9.4.2.1 Manual jog in positive/negative direction
        • 9.4.2.2 Manual jog to limit position
        • 9.4.2.3 Retracting of an activated limit switch
      • 9.4.3 System block "LS_ManualJog"
    • 9.5 Homing
      • 9.5.1 Parameter setting
        • 9.5.1.1 Homing mode
        • 9.5.1.2 Home position & target position
        • 9.5.1.3 Second homing speed
        • 9.5.1.4 Homing to end stop
        • 9.5.1.5 Connection of reference switch
        • 9.5.1.6 Touch probe interface configuration
      • 9.5.2 Executing homing
        • 9.5.2.1 Setting reference search/setting reference directly
        • 9.5.2.2 Loading home position via input
        • 9.5.2.3 Resetting home position
      • 9.5.3 System block "LS_Homing"
    • 9.6 Positioning
      • 9.6.1 Parameter setting
      • 9.6.2 Carrying out positioning
        • 9.6.2.1 Starting positioning
        • 9.6.2.2 Aborting/interrupting positioning
        • 9.6.2.3 Continuing an interrupted positioning process
        • 9.6.2.4 Activating override
      • 9.6.3 System block "LS_Positioner"
    • 9.7 Position follower
      • 9.7.1 Signal flow
      • 9.7.2 Parameter setting
        • 9.7.2.1 Setpoint interpolation
        • 9.7.2.2 Inversion of the direction of rotation
      • 9.7.3 Activating setpoint interface
      • 9.7.4 System block "LS_PositionFollower"
    • 9.8 Speed follower
      • 9.8.1 Signal flow
      • 9.8.2 Parameter setting
        • 9.8.2.1 Setpoint interpolation
        • 9.8.2.2 Inversion of the direction of rotation
      • 9.8.3 Activating setpoint interface
      • 9.8.4 System block "LS_SpeedFollower"
    • 9.9 Torque follower
      • 9.9.1 Signal flow
      • 9.9.2 Parameter setting
        • 9.9.2.1 Setpoint interpolation
        • 9.9.2.2 Inversion of the direction of rotation
      • 9.9.3 Activating setpoint interface
      • 9.9.4 System block "LS_TorqueFollower"
    • 9.10 Limiter
      • 9.10.1 Parameter setting
        • 9.10.1.1 Software limit positions
        • 9.10.1.2 Hardware limit positions (limit switch)
        • 9.10.1.3 Limitations
        • 9.10.1.4 Limited speed
      • 9.10.2 Control word of the safety module
      • 9.10.3 System block "LS_Limiter"
    • 9.11 Brake control
      • 9.11.1 Parameter setting
        • 9.11.1.1 Operating mode
        • 9.11.1.2 Signal configuration
        • 9.11.1.3 Standstill monitoring
        • 9.11.1.4 Brake activation in automatic operation
        • 9.11.1.5 Brake time response
        • 9.11.1.6 Torque feedforward control
      • 9.11.2 Mode 0: Brake control is switched off
      • 9.11.3 Mode 1/11: Direct control of the brake
      • 9.11.4 Mode 2/12: Automatic control of the brake
        • 9.11.4.1 Behaviour at pulse inhibit
        • 9.11.4.2 Process when brake is released
        • 9.11.4.3 Process when brake is closed
      • 9.11.5 Grinding the brake
      • 9.11.6 Carry out brake test
      • 9.11.7 System block "LS_Brake"
  • 10 Technology applications (TAs)
    • 10.1 Overview
    • 10.2 Commissioning using the »Engineer«
      • 10.2.1 Parameterise application
      • 10.2.2 Parameterise signal combinations
      • 10.2.3 Configure application
      • 10.2.4 Networking via standardised ports
  • 11 Standard TAs
    • 11.1 Introduction
      • 11.1.1 Application examples
    • 11.2 TA "Actuator - speed"
      • 11.2.1 Basic signal flow
      • 11.2.2 Assignment of the I/O terminals
        • 11.2.2.1 Setpoint and control signals
        • 11.2.2.2 Actual value and status signals
      • 11.2.3 Machine parameters
      • 11.2.4 Speed setpoint conditioning
        • 11.2.4.1 Change-over to fixed setpoint
        • 11.2.4.2 Setpoint inversion
        • 11.2.4.3 Speed ramp generator
      • 11.2.5 Speed follower
      • 11.2.6 Manual jog
      • 11.2.7 Quick stop
      • 11.2.8 Limiter
      • 11.2.9 Brake control
      • 11.2.10 Signal configuration of drive and motor interface
      • 11.2.11 Signal configuration of the output ports
      • 11.2.12 Application error messages
    • 11.3 TA "Actuator - torque"
      • 11.3.1 Basic signal flow
      • 11.3.2 Assignment of the I/O terminals
        • 11.3.2.1 Setpoint and control signals
        • 11.3.2.2 Actual value and status signals
      • 11.3.3 Machine parameters
      • 11.3.4 Torque setpoint conditioning
        • 11.3.4.1 Setpoint inversion
        • 11.3.4.2 Ramp generator
      • 11.3.5 Speed limit value conditioning
        • 11.3.5.1 Change-over to fixed setpoint
        • 11.3.5.2 Speed ramp generator
      • 11.3.6 Torque follower
      • 11.3.7 Manual jog
      • 11.3.8 Quick stop
      • 11.3.9 Limiter
      • 11.3.10 Brake control
      • 11.3.11 Signal configuration of drive and motor interface
      • 11.3.12 Signal configuration of the output ports
      • 11.3.13 Application error messages
  • 12 TAs for interconnection via electrical shaft
    • 12.1 Introduction
      • 12.1.1 Synchronisation of the drives via a master angle
      • 12.1.2 Virtual master/real master
      • 12.1.3 Transmission of the master angle
      • 12.1.4 Speed or angular synchronism?
      • 12.1.5 Rail or cascade structure?
      • 12.1.6 Master or actual value transfer?
      • 12.1.7 Absolute or relative master angle processing?
      • 12.1.8 Functions with synchronisation via the electrical shaft
      • 12.1.9 Application examples
    • 12.2 TA "Electronic gearbox"
      • 12.2.1 Basic signal flow
      • 12.2.2 Assignment of the I/O terminals
        • 12.2.2.1 Setpoint and control signals
        • 12.2.2.2 Actual value and status signals
      • 12.2.3 Machine parameters
        • 12.2.3.1 Master axis (master shaft)
        • 12.2.3.2 Slave axis (machine axis)
      • 12.2.4 Selection of master value source and output
        • 12.2.4.1 Master value source: Virtual master
        • 12.2.4.2 Master value source: Digital frequency input
        • 12.2.4.3 Master value source: Bus system
      • 12.2.5 Operating mode "Electronic gearbox"
        • 12.2.5.1 Master value processing
        • 12.2.5.2 Virtual clutch
        • 12.2.5.3 Master value trimming
        • 12.2.5.4 Setpoint conditioning
      • 12.2.6 "Homing" mode
      • 12.2.7 "Manual jog" mode
      • 12.2.8 "Positioning" mode"
      • 12.2.9 Following error monitoring
      • 12.2.10 Quick stop
      • 12.2.11 Limiter
      • 12.2.12 Brake control
      • 12.2.13 Signal configuration of drive and motor interface
      • 12.2.14 Signal configuration of the output ports
      • 12.2.15 Application error messages
      • 12.2.16 Step by step: Electrical shaft via system bus (CAN)
    • 12.3 TA "Synchronism with mark synchronisation"
      • 12.3.1 Basic signal flow
      • 12.3.2 Assignment of the I/O terminals
        • 12.3.2.1 Setpoint and control signals
        • 12.3.2.2 Actual value and status signals
      • 12.3.3 Machine parameters
        • 12.3.3.1 Master axis (master shaft)
        • 12.3.3.2 Slave axis (machine axis)
      • 12.3.4 Selection of master value source and output
        • 12.3.4.1 Master value source: Virtual master
        • 12.3.4.2 Master value source: Digital frequency input
        • 12.3.4.3 Master value source: Bus system
      • 12.3.5 "Synchronism" mode"
        • 12.3.5.1 Master value processing
        • 12.3.5.2 Mark synchronisation (master value)
        • 12.3.5.3 Virtual clutch
        • 12.3.5.4 Master value trimming
        • 12.3.5.5 Setpoint conditioning
        • 12.3.5.6 Mark synchronisation (setpoint)
      • 12.3.6 "Homing" mode
      • 12.3.7 "Manual jog" mode
      • 12.3.8 "Positioning" mode"
      • 12.3.9 Quick stop
      • 12.3.10 Limiter
      • 12.3.11 Brake control
      • 12.3.12 Signal configuration of drive and motor interface
      • 12.3.13 Signal configuration of the output ports
      • 12.3.14 Application error messages
  • 13 TAs for positioning tasks
    • 13.1 Introduction
      • 13.1.1 Application examples
    • 13.2 TA "Multi-purpose positioning"
      • 13.2.1 Basic signal flow
      • 13.2.2 Assignment of the I/O terminals
        • 13.2.2.1 Setpoint and control signals
        • 13.2.2.2 Actual value and status signals
      • 13.2.3 Basic settings
        • 13.2.3.1 Machine parameters
        • 13.2.3.2 Traversing range
        • 13.2.3.3 Position control
      • 13.2.4 Program flow
        • 13.2.4.1 Overview of action types
        • 13.2.4.2 Action type "Homing"
        • 13.2.4.3 Action type "Positioning"
        • 13.2.4.4 Action type "Variable branching"
        • 13.2.4.5 Sequencer inputs
        • 13.2.4.6 Sequencer outputs
        • 13.2.4.7 Parameter setting of the program flow in the Engineer
        • 13.2.4.8 Control of the sequence table
      • 13.2.5 Profile data management
        • 13.2.5.1 Profile parameters
        • 13.2.5.2 Variable tables
        • 13.2.5.3 Positioning modes
        • 13.2.5.4 Touch probe positioning
        • 13.2.5.5 "Teach" function
      • 13.2.6 Speed/acceleration override
      • 13.2.7 Following error monitoring
      • 13.2.8 Manual jog
      • 13.2.9 Quick stop
      • 13.2.10 Limiter
      • 13.2.11 Brake control
      • 13.2.12 Signal configuration of drive and motor interface
      • 13.2.13 Signal configuration of the output ports
      • 13.2.14 Application error messages
    • 13.3 TA "Table positioning"
      • 13.3.1 Basic signal flow
      • 13.3.2 Assignment of the I/O terminals
        • 13.3.2.1 Setpoint and control signals
        • 13.3.2.2 Actual value and status signals
      • 13.3.3 Control of the program flow via predefined ports
  • 14 Oscilloscope
    • 14.1 Technical data
    • 14.2 Function description
    • 14.3 User interface
      • 14.3.1 Oscilloscope toolbar
      • 14.3.2 Oscilloscope function bar
      • 14.3.3 Oscillograph
      • 14.3.4 Vertical settings
      • 14.3.5 Status bar
      • 14.3.6 Trigger/cursor settings
      • 14.3.7 Horizontal settings
      • 14.3.8 Recording settings
    • 14.4 Operation
      • 14.4.1 Selecting the variables to be recorded
      • 14.4.2 Selecting the recording time/sample rate
      • 14.4.3 Selecting the trigger condition
      • 14.4.4 Starting recording
      • 14.4.5 Adjusting the representation
      • 14.4.6 Reading individual measured values
    • 14.5 Data records
      • 14.5.1 Saving/exporting a data record
      • 14.5.2 Loading/importing a data record
      • 14.5.3 Deleting data record in the project
      • 14.5.4 Overlay function
      • 14.5.5 Copying data record to clipboard
    • 14.6 Variables of the motor control (oscilloscope signals)
  • 15 Diagnostics & error analysis
    • 15.1 Drive diagnostics with the »Engineer«
    • 15.2 Drive diagnostics via keypad/bus system
    • 15.3 Logbook
      • 15.3.1 Function description
      • 15.3.2 Filtering logbook entries
      • 15.3.3 Reading logbook entries
    • 15.4 Monitoring
      • 15.4.1 Setting the error response
    • 15.5 Maloperation of the drive
    • 15.6 Error messages of the operating system
      • 15.6.1 Format of the error numbers saved in the fault memory
        • 15.6.1.1 Response
        • 15.6.1.2 Instance-ID
        • 15.6.1.3 Module ID
        • 15.6.1.4 Error ID
        • 15.6.1.5 Example for bit coding of the error number
      • 15.6.2 Reset of error message
      • 15.6.3 Error list
        • Logbook: overflow [0x00650000]
        • Logbook: reset (read error) [0x00650001]
        • Logbook: reset (version error) [0x00650002]
        • Memory module missing [0x00650003]
        • Control card is defective [0x00680000]
        • Power section is defective [0x00680001]
        • Memory module is defective or missing [0x00680002]
        • Safety module is defective or missing [0x00680003]
        • MXI1: Module changed during operation [0x00680004]
        • MXI2: Module changed during operation [0x00680005]
        • Memory module has been removed [0x00680006]
        • Safety module has been removed [0x00680007]
        • Control card is defective [0x00680008]
        • Power section is defective [0x00680009]
        • MXI1: Module is defective or missing [0x0068000a]
        • MXI2: Module is defective or missing [0x0068000b]
        • Memory module is defective or missing [0x0068000c]
        • Safety module is defective or missing [0x0068000d]
        • Control card is not compatible [0x0068000e]
        • Power section is not compatible [0x0068000f]
        • MXI1: Wrong module [0x00680010]
        • MXI2: Wrong module [0x00680011]
        • Wrong memory module [0x00680012]
        • Wrong safety module [0x00680013]
        • Power section has been changed [0x00680014]
        • MXI1: Module has been changed [0x00680015]
        • MXI2: Module has been changed [0x00680016]
        • Memory module has been changed [0x00680017]
        • Safety module has been changed [0x00680018]
        • Combination MXI1/MXI2 not possible [0x00680019]
        • Firmware has been changed [0x0068001a]
        • Electronic nameplate: Communication error [0x0068001b]
        • Memory module: File system is faulty [0x0068001c]
        • Electronic nameplate: Checksum error [0x0068001d]
        • Firmware is not compatible [0x0068001e]
        • Combination memory module/device not possible [0x0068001f]
        • Combination module in MXI1/device not possible [0x00680020]
        • Combination module in MXI2/device not possible [0x00680021]
        • Internal error (CRC code - RAM) [0x00690000]
        • Internal error (logbook memory area) [0x00690001]
        • Internal error (LDS instance data) [0x00690002]
        • Internal error (LDS tasks) [0x00690003]
        • Internal error (storage blocks) [0x00690004]
        • Internal error (task queue) [0x00690005]
        • Internal error (message memory) [0x00690006]
        • Internal error (message queue) [0x00690007]
        • Internal error (name data base) [0x00690008]
        • Internal error (event mechanism) [0x00690009]
        • Internal error (event mechanism) [0x0069000a]
        • Internal error (semaphores) [0x0069000b]
        • Internal error (faulty binary semaphores) [0x0069000c]
        • Internal error (file system) [0x0069000d]
        • General application error [0x006a0000]
        • Program download is faulty [0x006a0001]
        • Error during input and output update [0x006a0002]
        • New application loaded [0x006a0003]
        • User task 1: Overflow [0x006a0004]
        • User task 2: Overflow [0x006a0005]
        • User task 3: Overflow [0x006a0006]
        • User task 4: Overflow [0x006a0007]
        • User task 5: Overflow [0x006a0008]
        • User task 6: Overflow [0x006a0009]
        • User task 7: Overflow [0x006a000a]
        • User task 8: Overflow [0x006a000b]
        • User task 9: Overflow [0x006a000c]
        • Runtime error [0x006a000d]
        • Application has been stopped [0x006a000e]
        • Breakpoint has been reached [0x006a000f]
        • Faulty application parameter [0x006a0010]
        • Division by zero [0x006a0011]
        • Pointer access in impermissible memory area [0x006a0012]
        • Application has been started [0x006a0013]
        • Application has been stopped [0x006a0014]
        • PDO mapping (MXI1): Faulty configuration [0x006a0015]
        • PDO mapping (MXI2): Faulty configuration [0x006a0016]
        • Control card: Supply voltage (24 V DC) too low [0x006f0000]
        • Read error - service register [0x00720000]
        • External error [0x00750000]
        • Controller is enabled [0x00750001]
        • Controller has been initialised [0x00750002]
        • Controller in STO state [0x00750003]
        • Controller: Pulse inhibit is active [0x00750005]
        • PLC configuration is invalid [0x00750006]
        • Heatsink: Temperature > C00122 [0x00770000]
        • Heatsink: Overtemperature [0x00770001]
        • Motor: Temperature > C00121 [0x00770002]
        • Motor: Overtemperature [0x00770003]
        • DC-bus capacitor: Temperature > CXXXXX [0x00770004]
        • DC-bus capacitor: overtemperature [0x00770005]
        • Inside the device: Temperature > CXXXXX [0x00770006]
        • Inside the device: Overtemperature [0x00770007]
        • CPU: Temperature > C00126 [0x00770008]
        • CPU: Overtemperature [0x00770009]
        • Heatsink: Temperature sensor defective [0x0077000a]
        • Inside the device: Temperature sensor defective [0x0077000b]
        • Motor: Temperature sensor defective [0x0077000c]
        • DC-bus capacitor: Temperature sensor defective [0x0077000d]
        • CPU: Temperature sensor defective [0x0077000e]
        • Motor: PTC has triggered [0x0077000f]
        • Heatsink: Fan is defective [0x00770010]
        • Inside the device: Fan is defective [0x00770011]
        • Device utilisation Ixt > C00123 [0x00780000]
        • Device utilisation Ixt > 100 % [0x00780001]
        • Motor load I·xt > C00127 [0x00780002]
        • Motor load I·xt > C00120 [0x00780003]
        • Control card is defective (UB24) [0x00780004]
        • Control card is defective (VCC15) [0x00780005]
        • Control card is defective (UB8) [0x00780006]
        • Control card is defective (VCC15 neg.) [0x00780007]
        • Control card is defective (UB18 neg.) [0x00780008]
        • Control card is defective (VCC5) [0x00780009]
        • Electronic nameplate: Data incompatible [0x0078000a]
        • Device command transmitted incorrectly [0x00790000]
        • Time error - controller interface [0x00790001]
        • Violation of the time dial [0x00790002]
        • Motor: Calculated motor impedance unrealistic [0x007b0001]
        • Motor: Calculated mutual inductance unrealistic [0x007b0002]
        • Motor data is inconsistent [0x007b0003]
        • Motor: Phase resistance is too high [0x007b0004]
        • Motor: Device current is too low for rated magnetisation [0x007b0006]
        • Motor: Rated current < rated magnetisation current [0x007b0007]
        • Motor: Calculated rotor resistance unrealistic [0x007b0009]
        • Motor: Calculated mutual inductance unrealistic [0x007b000a]
        • Motor: Calculated electromotive force factor unrealistic [0x007b000b]
        • Motor: Calculated rotor time constant unrealistic [0x007b000c]
        • Motor: Calculated flux factor unrealistic [0x007b000d]
        • DC-bus overvoltage [0x007b000e]
        • DC-bus undervoltage [0x007b000f]
        • Overcurrent detected [0x007b0010]
        • Earth fault detected [0x007b0011]
        • Actual speed value out of monitoring window C00576 [0x007b0012]
        • Motor control: Task overflow [0x007b0013]
        • Internal communication error (host MCTRL) [0x007b0014]
        • Motor data is inconsistent [0x007b0017]
        • Resolver: Open circuit [0x007b0018]
        • Motor: Calculated leakage inductance unrealistic [0x007b0019]
        • Absolute value encoder: Communication error [0x007b001a]
        • Encoder: Open circuit [0x007b001b]
        • Brake chopper: Ixt overload [0x007b001c]
        • Brake resistor: I·xt overload [0x007b001d]
        • Motor: Actual current value > C00620 [0x007b001e]
        • Resolver: Calculated acceleration unrealistic [0x007b001f]
        • Motor: Actual speed value > C00596 [0x007b0020]
        • Brake chopper: Overcurrent [0x007b0021]
        • Position encoder: Module selected under C00490 not available [0x007b0023]
        • Motor encoder: Module selected under C00495 not available [0x007b0024]
        • Motor temperature: Module selected under C01193 not available [0x007b0025]
        • EnDat encoder: Lamp error [0x007b0026]
        • EnDat encoder: Signal error [0x007b0027]
        • EnDat encoder: Position error [0x007b0028]
        • EnDat encoder: Overvoltage [0x007b0029]
        • EnDat encoder: Undervoltage [0x007b002a]
        • EnDat encoder: Overcurrent [0x007b002b]
        • EnDat encoder: Flat battery [0x007b002c]
        • Failure of motor phase U [0x007b002d]
        • Failure of motor phase V [0x007b002e]
        • Failure of motor phase W [0x007b002f]
        • Electronic nameplate: Data loaded [0x007b0030]
        • Electronic nameplate: Not found [0x007b0031]
        • Electronic nameplate: Unknown encoder protocol [0x007b0032]
        • Electronic nameplate: Unknown encoder signal [0x007b0033]
        • Internal communication error (DMA) [0x007b0034]
        • Internal communication error (MCTRL host) [0x007b0036]
        • Invalid PLC configuration [0x007b0037]
        • Motor parameter identification has been cancelled [0x007b0038]
        • Electronic nameplate: Data out of parameter limits [0x007b0039]
        • Memory module: File system has been formatted [0x007c0000]
        • Memory module: File system has been restored [0x007c0001]
        • Analog input 1: Master current < 4 mA [0x007d0000]
        • Invalid PLC configuration [0x007d0001]
        • Communication error between device and device module [0x007f0002]
        • CAN on board: Bus-off [0x00830000]
        • CAN on board: Invalid node address 0 [0x00830001]
        • CAN on board: Invalid basic configuration [0x00830002]
        • CAN on board: Heartbeat error index 1 [0x00840000]
        • CAN on board: Heartbeat error index 2 [0x00840001]
        • CAN on board: Heartbeat error index 3 [0x00840002]
        • CAN on board: Heartbeat error index 4 [0x00840003]
        • CAN on board: Heartbeat error index 5 [0x00840004]
        • CAN on board: Heartbeat error index 6 [0x00840005]
        • CAN on board: Heartbeat error index 7 [0x00840006]
        • CAN on board: Heartbeat error index 8 [0x00840007]
        • CAN on board: Heartbeat error index 9 [0x00840008]
        • CAN on board: Heartbeat error index 10 [0x00840009]
        • CAN on board: Heartbeat error index 11 [0x0084000a]
        • CAN on board: Heartbeat error index 12 [0x0084000b]
        • CAN on board: Heartbeat error index 13 [0x0084000c]
        • CAN on board: Heartbeat error index 14 [0x0084000d]
        • CAN on board: Heartbeat error index 15 [0x0084000e]
        • CAN on board: Heartbeat error index 16 [0x0084000f]
        • CAN on board: Heartbeat error index 17 [0x00840010]
        • CAN on board: Heartbeat error index 18 [0x00840011]
        • CAN on board: Heartbeat error index 19 [0x00840012]
        • CAN on board: Heartbeat error index 20 [0x00840013]
        • CAN on board: Heartbeat error index 21 [0x00840014]
        • CAN on board: Heartbeat error index 22 [0x00840015]
        • CAN on board: Heartbeat error index 23 [0x00840016]
        • CAN on board: Heartbeat error index 24 [0x00840017]
        • CAN on board: Heartbeat error index 25 [0x00840018]
        • CAN on board: Heartbeat error index 26 [0x00840019]
        • CAN on board: Heartbeat error index 27 [0x0084001a]
        • CAN on board: Heartbeat error index 28 [0x0084001b]
        • CAN on board: Heartbeat error index 29 [0x0084001c]
        • CAN on board: Heartbeat error index 30 [0x0084001d]
        • CAN on board: Heartbeat error index 31 [0x0084001e]
        • CAN on board: Heartbeat error index 32 [0x0084001f]
        • CAN on board: Life guarding error [0x00840020]
        • CAN on board: Faulty NMT slave configuration [0x00840021]
        • CAN on board: Faulty emergency configuration [0x00850000]
        • CAN on board: Node guarding error 1 [0x00860000]
        • CAN on board: Node guarding error 2 [0x00860001]
        • CAN on board: Node guarding error 3 [0x00860002]
        • CAN on board: Node guarding error 4 [0x00860003]
        • CAN on board: Node guarding error 5 [0x00860004]
        • CAN on board: Node guarding error 6 [0x00860005]
        • CAN on board: Node guarding error 7 [0x00860006]
        • CAN on board: Node guarding error 8 [0x00860007]
        • CAN on board: Node guarding error 9 [0x00860008]
        • CAN on board: Node guarding error 10 [0x00860009]
        • CAN on board: Node guarding error 11 [0x0086000a]
        • CAN on board: Node guarding error 12 [0x0086000b]
        • CAN on board: Node guarding error 13 [0x0086000c]
        • CAN on board: Node guarding error 14 [0x0086000d]
        • CAN on board: Node guarding error 15 [0x0086000e]
        • CAN on board: Node guarding error 16 [0x0086000f]
        • CAN on board: Node guarding error 17 [0x00860010]
        • CAN on board: Node guarding error 18 [0x00860011]
        • CAN on board: Node guarding error 19 [0x00860012]
        • CAN on board: Node guarding error 20 [0x00860013]
        • CAN on board: Node guarding error 21 [0x00860014]
        • CAN on board: Node guarding error 22 [0x00860015]
        • CAN on board: Node guarding error 23 [0x00860016]
        • CAN on board: Node guarding error 24 [0x00860017]
        • CAN on board: Node guarding error 25 [0x00860018]
        • CAN on board: Node guarding error 26 [0x00860019]
        • CAN on board: Node guarding error 27 [0x0086001a]
        • CAN on board: Node guarding error 28 [0x0086001b]
        • CAN on board: Node guarding error 29 [0x0086001c]
        • CAN on board: Node guarding error 30 [0x0086001d]
        • CAN on board: Node guarding error 31 [0x0086001e]
        • CAN on board: Node guarding error 32 [0x0086001f]
        • CAN on board: Faulty NMT master configuration [0x00860020]
        • CAN on board RPDO1: Telegram not received or faulty [0x00870000]
        • CAN on board RPDO2: Telegram not received or faulty [0x00870001]
        • CAN on board RPDO3: Telegram not received or faulty [0x00870002]
        • CAN on board RPDO4: Telegram not received or faulty [0x00870003]
        • CAN on board PDO manager: Faulty configuration [0x00870008]
        • CAN on board SDO server: Faulty configuration [0x00880000]
        • CAN on board SDO client: Faulty configuration [0x00890000]
        • ProjectSelection.dat file faulty [0x008c0000]
        • ProjectList.dat file faulty [0x008c0001]
        • DeviceCFG.dat file faulty [0x008c0002]
        • ProjectSelection.dat missing [0x008c0003]
        • ProjectList.dat file missing [0x008c0004]
        • DeviceCFG.dat file missing [0x008c0005]
        • ProjectSelection.dat file invalid [0x008c0006]
        • ProjectList.dat file invalid [0x008c0007]
        • DeviceCFG.dat file invalid [0x008c0008]
        • Project is not loaded [0x008c0009]
        • Project is not available [0x008c000a]
        • Required license missing [0x008c000b]
        • MXI1: Module missing or incompatible [0x008c000d]
        • MXI2: Module missing or incompatible [0x008c000e]
        • MXI1: PROFIBUS module missing or incompatible [0x008c000f]
        • MXI2: PROFIBUS module missing or incompatible [0x008c0010]
        • MXI1: Ethernet module missing or incompatible [0x008c0011]
        • MXI2: Ethernet module missing or incompatible [0x008c0012]
        • MXI1: Digital frequency module missing or incompatible [0x008c0013]
        • MXI2: Digital frequency module missing or incompatible [0x008c0014]
        • MXI1: ICM module missing or incompatible [0x008c0015]
        • MXI2: ICM module missing or incompatible [0x008c0016]
        • MXI1: CAN module missing or incompatible [0x008c0017]
        • MXI2: CAN module missing or incompatible [0x008c0018]
        • Connection table in use [0x008c001a]
        • Internal error (CRC application) [0x008c001d]
        • Parameter set faulty [0x00900000]
        • Lenze setting loaded [0x00900001]
        • Parameter set saved [0x00900002]
        • Parameter set loaded [0x00900003]
        • Loading of Lenze setting failed [0x00900004]
        • Parameter set restored [0x00900005]
        • Saving of parameters failed [0x00900006]
        • Parameter set: Version conflict [0x00900007]
        • Code number assigned twice [0x00900008]
        • Parameter set: Variant conflict [0x00900009]
        • No parameters for module in MXI1 [0x0090000a]
        • No parameters for module in MXI2 [0x0090000b]
        • Mains voltage switched on [0x00910000]
        • Mains voltage switched off [0x00910001]
        • No heartbeat signal detected [0x00910002]
        • Heartbeat not periodic [0x00910003]
        • Internal error: See C00180 [0x00910004]
        • Internal error: See C00180 [0x00910005]
        • Internal error: See C00180 [0x00910006]
        • Internal error: See C00180 [0x00910008]
        • Internal error: See C00180 [0x00910009]
        • System task 1: Task overflow [0x0091000a]
        • System task 2: Task overflow [0x0091000b]
        • System task 3: Task overflow [0x0091000c]
        • System task: Task overflow [0x0091000d]
        • Communication task: Standstill > 3 s [0x0091000e]
        • Cyclic task: Standstill > 60 s [0x0091000f]
        • Position value faulty [0x00910010]
        • Error during initialisation [0x00910011]
        • Blocking function in MEC task [0x00910012]
        • Safety module: Incompatible to setting under C00214 [0x00920000]
        • DFIN (MXI1): A-/A track error [0x00990000]
        • DFIN (MXI1): B-/B track error [0x00990001]
        • DFIN (MXI1): Z-/Z track error [0x00990002]
        • DFIN (MXI1): Enable/lamp control signal error [0x00990003]
        • DFIN (MXI1): Supply cannot be corrected anymore [0x00990004]
        • DFOUT (MXI1): Maximum frequency reached [0x00990005]
        • CAN module (MXI1): Bus-off [0x009d0000]
        • CAN module (MXI1): Invalid node address 0 [0x009d0001]
        • CAN module (MXI1): Basic configuration invalid [0x009d0002]
        • CAN module (MXI1): Heartbeat error index 1 [0x009e0000]
        • CAN module (MXI1): Heartbeat error index 2 [0x009e0001]
        • CAN module (MXI1): Heartbeat error index 3 [0x009e0002]
        • CAN module (MXI1): Heartbeat error index 4 [0x009e0003]
        • CAN module (MXI1): Heartbeat error index 5 [0x009e0004]
        • CAN module (MXI1): Heartbeat error index 6 [0x009e0005]
        • CAN module (MXI1): Heartbeat error index 7 [0x009e0006]
        • CAN module (MXI1): Heartbeat error index 8 [0x009e0007]
        • CAN module (MXI1): Heartbeat error index 9 [0x009e0008]
        • CAN module (MXI1): Heartbeat error index 10 [0x009e0009]
        • CAN module (MXI1): Heartbeat error index 11 [0x009e000a]
        • CAN module (MXI1): Heartbeat error index 12 [0x009e000b]
        • CAN module (MXI1): Heartbeat error index 13 [0x009e000c]
        • CAN module (MXI1): Heartbeat error index 14 [0x009e000d]
        • CAN module (MXI1): Heartbeat error index 15 [0x009e000e]
        • CAN module (MXI1): Heartbeat error index 16 [0x009e000f]
        • CAN module (MXI1): Heartbeat error index 17 [0x009e0010]
        • CAN module (MXI1): Heartbeat error index 18 [0x009e0011]
        • CAN module (MXI1): Heartbeat error index 19 [0x009e0012]
        • CAN module (MXI1): Heartbeat error index 20 [0x009e0013]
        • CAN module (MXI1): Heartbeat error index 21 [0x009e0014]
        • CAN module (MXI1): Heartbeat error index 22 [0x009e0015]
        • CAN module (MXI1): Heartbeat error index 23 [0x009e0016]
        • CAN module (MXI1): Heartbeat error index 24 [0x009e0017]
        • CAN module (MXI1): Heartbeat error index 25 [0x009e0018]
        • CAN module (MXI1): Heartbeat error index 26 [0x009e0019]
        • CAN module (MXI1): Heartbeat error index 27 [0x009e001a]
        • CAN module (MXI1): Heartbeat error index 28 [0x009e001b]
        • CAN module (MXI1): Heartbeat error index 29 [0x009e001c]
        • CAN module (MXI1): Heartbeat error index 30 [0x009e001d]
        • CAN module (MXI1): Heartbeat error index 31 [0x009e001e]
        • CAN module (MXI1): Heartbeat error index 32 [0x009e001f]
        • CAN module (MXI1): Life guarding error [0x009e0020]
        • CAN module (MXI1): Faulty NMT slave configuration [0x009e0021]
        • CAN module (MXI1): Faulty emergency configuration [0x009f0000]
        • CAN module (MXI1): Node guarding error 1 [0x00a00000]
        • CAN module (MXI1): Node guarding error 2 [0x00a00001]
        • CAN module (MXI1): Node guarding error 3 [0x00a00002]
        • CAN module (MXI1): Node guarding error 4 [0x00a00003]
        • CAN module (MXI1): Node guarding error 5 [0x00a00004]
        • CAN module (MXI1): Node guarding error 6 [0x00a00005]
        • CAN module (MXI1): Node guarding error 7 [0x00a00006]
        • CAN module (MXI1): Node guarding error 8 [0x00a00007]
        • CAN module (MXI1): Node guarding error 9 [0x00a00008]
        • CAN module (MXI1): Node guarding error 10 [0x00a00009]
        • CAN module (MXI1): Node guarding error 11 [0x00a0000a]
        • CAN module (MXI1): Node guarding error 12 [0x00a0000b]
        • CAN module (MXI1): Node guarding error 13 [0x00a0000c]
        • CAN module (MXI1): Node guarding error 14 [0x00a0000d]
        • CAN module (MXI1): Node guarding error 15 [0x00a0000e]
        • CAN module (MXI1): Node guarding error 16 [0x00a0000f]
        • CAN module (MXI1): Node guarding error 17 [0x00a00010]
        • CAN module (MXI1): Node guarding error 18 [0x00a00011]
        • CAN module (MXI1): Node guarding error 19 [0x00a00012]
        • CAN module (MXI1): Node guarding error 20 [0x00a00013]
        • CAN module (MXI1): Node guarding error 21 [0x00a00014]
        • CAN module (MXI1): Node guarding error 22 [0x00a00015]
        • CAN module (MXI1): Node guarding error 23 [0x00a00016]
        • CAN module (MXI1): Node guarding error 24 [0x00a00017]
        • CAN module (MXI1): Node guarding error 25 [0x00a00018]
        • CAN module (MXI1): Node guarding error 26 [0x00a00019]
        • CAN module (MXI1): Node guarding error 27 [0x00a0001a]
        • CAN module (MXI1): Node guarding error 28 [0x00a0001b]
        • CAN module (MXI1): Node guarding error 29 [0x00a0001c]
        • CAN module (MXI1): Node guarding error 30 [0x00a0001d]
        • CAN module (MXI1): Node guarding error 31 [0x00a0001e]
        • CAN module (MXI1): Node guarding error 32 [0x00a0001f]
        • CAN module (MXI1): Faulty NMT master configuration [0x00a00020]
        • CAN module (MXI1) RPDO1: Telegram not received or faulty [0x00a10000]
        • CAN module (MXI1) RPDO2: Telegram not received or faulty [0x00a10001]
        • CAN module (MXI1) RPDO3: Telegram not received or faulty [0x00a10002]
        • CAN module (MXI1) RPDO4: Telegram not received of faulty [0x00a10003]
        • CAN module (MXI1) RPDO5: Telegram not received or faulty [0x00a10004]
        • CAN module (MXI1) RPDO6: Telegram not received or faulty [0x00a10005]
        • CAN module (MXI1) RPDO7: Telegram not received or faulty [0x00a10006]
        • CAN module (MXI1) RPDO8: Telegram not received or faulty [0x00a10007]
        • CAN module (MXI1) PDO manager: Faulty configuration [0x00a10008]
        • CAN module (MXI1) SDO server: Faulty configuration [0x00a20000]
        • CAN module (MXI1) SDO client: Faulty configuration [0x00a30000]
        • DFIN (MXI2): A-/A track error [0x00aa0000]
        • DFIN (MXI2): B-/B track error [0x00aa0001]
        • DFIN (MXI2): Z-/Z track error [0x00aa0002]
        • DFIN (MXI2): Enable/lamp control signal error [0x00aa0003]
        • DFIN (MXI2): Supply cannot be corrected anymore [0x00aa0004]
        • DFOUT (MXI2): Maximum frequency reached [0x00aa0005]
        • CAN module (MXI2): Bus-off [0x00ac0000]
        • CAN module (MXI2): Invalid node address 0 [0x00ac0001]
        • CAN module (MXI2): Basic configuration invalid [0x00ac0002]
        • CAN module (MXI2): Heartbeat error index 1 [0x00ad0000]
        • CAN module (MXI2): Heartbeat error index 2 [0x00ad0001]
        • CAN module (MXI2): Heartbeat error index 3 [0x00ad0002]
        • CAN module (MXI2): Heartbeat error index 4 [0x00ad0003]
        • CAN module (MXI2): Heartbeat error index 5 [0x00ad0004]
        • CAN module (MXI2): Heartbeat error index 6 [0x00ad0005]
        • CAN module (MXI2): Heartbeat error index 7 [0x00ad0006]
        • CAN module (MXI2): Heartbeat error index 8 [0x00ad0007]
        • CAN module (MXI2): Heartbeat error index 9 [0x00ad0008]
        • CAN module (MXI2): Heartbeat error index 10 [0x00ad0009]
        • CAN module (MXI2): Heartbeat error index 11 [0x00ad000a]
        • CAN module (MXI2): Heartbeat error index 12 [0x00ad000b]
        • CAN module (MXI2): Heartbeat error index 13 [0x00ad000c]
        • CAN module (MXI2): Heartbeat error index 14 [0x00ad000d]
        • CAN module (MXI2): Heartbeat error index 15 [0x00ad000e]
        • CAN module (MXI2): Heartbeat error index 16 [0x00ad000f]
        • CAN module (MXI2): Heartbeat error index 17 [0x00ad0010]
        • CAN module (MXI2): Heartbeat error index 18 [0x00ad0011]
        • CAN module (MXI2): Heartbeat error index 19 [0x00ad0012]
        • CAN module (MXI2): Heartbeat error index 20 [0x00ad0013]
        • CAN module (MXI2): Heartbeat error index 21 [0x00ad0014]
        • CAN module (MXI2): Heartbeat error index 22 [0x00ad0015]
        • CAN module (MXI2): Heartbeat error index 23 [0x00ad0016]
        • CAN module (MXI2): Heartbeat error index 24 [0x00ad0017]
        • CAN module (MXI2): Heartbeat error index 25 [0x00ad0018]
        • CAN module (MXI2): Heartbeat error index 26 [0x00ad0019]
        • CAN module (MXI2): Heartbeat error index 27 [0x00ad001a]
        • CAN module (MXI2): Heartbeat error index 28 [0x00ad001b]
        • CAN module (MXI2): Heartbeat error index 29 [0x00ad001c]
        • CAN module (MXI2): Heartbeat error index 30 [0x00ad001d]
        • CAN module (MXI2): Heartbeat error index 31 [0x00ad001e]
        • CAN module (MXI2): Heartbeat error index 32 [0x00ad001f]
        • CAN module (MXI2): Life guarding error [0x00ad0020]
        • CAN module (MXI2): Faulty NMT slave configuration [0x00ad0021]
        • CAN module (MXI2): Faulty emergency configuration [0x00ae0000]
        • CAN module (MXI2): Node guarding error 1 [0x00af0000]
        • CAN module (MXI2): Node guarding error 2 [0x00af0001]
        • CAN module (MXI2): Node guarding error 3 [0x00af0002]
        • CAN module (MXI2): Node guarding error 4 [0x00af0003]
        • CAN module (MXI2): Node guarding error 5 [0x00af0004]
        • CAN module (MXI2): Node guarding error 6 [0x00af0005]
        • CAN module (MXI2): Node guarding error 7 [0x00af0006]
        • CAN module (MXI2): Node guarding error 8 [0x00af0007]
        • CAN module (MXI2): Node guarding error 9 [0x00af0008]
        • CAN module (MXI2): Node guarding error 10 [0x00af0009]
        • CAN module (MXI2): Node guarding error 11 [0x00af000a]
        • CAN module (MXI2): Node guarding error 12 [0x00af000b]
        • CAN module (MXI2): Node guarding error 13 [0x00af000c]
        • CAN module (MXI2): Node guarding error 14 [0x00af000d]
        • CAN module (MXI2): Node guarding error 15 [0x00af000e]
        • CAN module (MXI2): Node guarding error 16 [0x00af000f]
        • CAN module (MXI2): Node guarding error 17 [0x00af0010]
        • CAN module (MXI2): Node guarding error 18 [0x00af0011]
        • CAN module (MXI2): Node guarding error 19 [0x00af0012]
        • CAN module (MXI2): Node guarding error 20 [0x00af0013]
        • CAN module (MXI2): Node guarding error 21 [0x00af0014]
        • CAN module (MXI2): Node guarding error 22 [0x00af0015]
        • CAN module (MXI2): Node guarding error 23 [0x00af0016]
        • CAN module (MXI2): Node guarding error 24 [0x00af0017]
        • CAN module (MXI2): Node guarding error 25 [0x00af0018]
        • CAN module (MXI2): Node guarding error 26 [0x00af0019]
        • CAN module (MXI2): Node guarding error 27 [0x00af001a]
        • CAN module (MXI2): Node guarding error 28 [0x00af001b]
        • CAN module (MXI2): Node guarding error 29 [0x00af001c]
        • CAN module (MXI2): Node guarding error 30 [0x00af001d]
        • CAN module (MXI2): Node guarding error 31 [0x00af001e]
        • CAN module (MXI2): Node guarding error 32 [0x00af001f]
        • CAN module (MXI2): Faulty NMT master configuration [0x00af0020]
        • CAN module (MXI2) RPDO1: Telegram not received or faulty [0x00b00000]
        • CAN module (MXI2) RPDO2: Telegram not received or faulty [0x00b00001]
        • CAN module (MXI2) RPDO3: Telegram not received or faulty [0x00b00002]
        • CAN module (MXI2) RPDO4: Telegram not received or faulty [0x00b00003]
        • CAN module (MXI2) RPDO5: Telegram not received or faulty [0x00b00004]
        • CAN module (MXI2) RPDO6: Telegram not received or faulty [0x00b00005]
        • CAN module (MXI2) RPDO7: Telegram not received or faulty [0x00b00006]
        • CAN module (MXI2) RPDO8: Telegram not received or faulty [0x00b00007]
        • CAN module (MXI2) PDO manager: Faulty configuration [0x00b00008]
        • CAN module (MXI2) SDO server: Faulty configuration [0x00b10000]
        • CAN module (MXI2) SDO client: Faulty configuration [0x00b20000]
        • Invalid PLC configuration [0x00b80000]
        • Positive limit switch has tripped [0x00b80001]
        • Negative limit switch has tripped [0x00b80002]
        • Motor brake: Angular drift with closed brake is too large [0x00b80003]
        • Motor brake: Automatically activated when the waiting time has elapsed [0x00b80004]
        • Motor brake: Status monitoring error [0x00b80005]
        • Positive software limit switch has been overtravelled [0x00b80007]
        • Negative software limit switch has been overtravelled [0x00b80008]
        • Positive direction of rotation has been limited [0x00b80009]
        • Negative direction of rotation has been limited [0x00b8000a]
        • Speed has been limited [0x00b8000b]
        • Acceleration has been limited [0x00b8000c]
        • Deceleration has been limited [0x00b8000d]
        • Jerk has been limited [0x00b8000e]
        • Position target is outside software limit positions [0x00b8000f]
        • Maximum speed has been exceeded [0x00b80010]
        • Maximum acceleration has been exceeded [0x00b80011]
  • 16 Parameter reference
    • 16.1 Structure of the parameter descriptions
      • 16.1.1 Data type
      • 16.1.2 Parameters with read-only access
      • 16.1.3 Parameters with write access
        • 16.1.3.1 Parameters with setting range
        • 16.1.3.2 Parameters with selection list
        • 16.1.3.3 Parameters with bit-code setting
        • 16.1.3.4 Parameters with subcodes
      • 16.1.4 Parameter attributes
    • 16.2 Abbreviations used in parameter & selection texts
    • 16.3 Parameter list
      • C00002
      • C00003
      • C00004
      • C00005
      • C00006
      • C00007
      • C00011
      • C00018
      • C00019
      • C00022
      • C00034
      • C00050
      • C00051
      • C00052
      • C00053
      • C00054
      • C00055
      • C00056
      • C00057
      • C00058
      • C00059
      • C00060
      • C00061
      • C00062
      • C00063
      • C00064
      • C00065
      • C00066
      • C00068
      • C00069
      • C00070
      • C00071
      • C00072
      • C00074
      • C00075
      • C00076
      • C00077
      • C00078
      • C00079
      • C00080
      • C00081
      • C00082
      • C00083
      • C00084
      • C00085
      • C00087
      • C00088
      • C00089
      • C00090
      • C00091
      • C00092
      • C00099
      • C00100
      • C00105
      • C00106
      • C00107
      • C00114
      • C00118
      • C00120
      • C00121
      • C00122
      • C00123
      • C00126
      • C00127
      • C00128
      • C00129
      • C00130
      • C00131
      • C00132
      • C00142
      • C00150
      • C00155
      • C00156
      • C00158
      • C00159
      • C00166
      • C00167
      • C00168
      • C00169
      • C00171
      • C00173
      • C00174
      • C00175
      • C00176
      • C00177
      • C00178
      • C00179
      • C00180
      • C00181
      • C00183
      • C00185
      • C00186
      • C00187
      • C00188
      • C00199
      • C00200
      • C00201
      • C00203
      • C00204
      • C00205
      • C00206
      • C00208
      • C00209
      • C00210
      • C00211
      • C00212
      • C00213
      • C00214
      • C00217
      • C00218
      • C00225
      • C00254
      • C00270
      • C00271
      • C00272
      • C00273
      • C00274
      • C00275
      • C00276
      • C00280
      • C00308
      • C00309
      • C00310
      • C00311
      • C00312
      • C00313
      • C00314
      • C00320
      • C00321
      • C00322
      • C00323
      • C00324
      • C00325
      • C00326
      • C00327
      • C00328
      • C00329
      • C00330
      • C00335
      • C00336
      • C00337
      • C00338
      • C00345
      • C00346
      • C00347
      • C00348
      • C00349
      • C00350
      • C00351
      • C00352
      • C00356
      • C00357
      • C00359
      • C00360
      • C00361
      • C00367
      • C00368
      • C00369
      • C00372
      • C00373
      • C00374
      • C00375
      • C00376
      • C00377
      • C00378
      • C00379
      • C00381
      • C00382
      • C00383
      • C00385
      • C00386
      • C00387
      • C00388
      • C00390
      • C00391
      • C00392
      • C00393
      • C00395
      • C00396
      • C00397
      • C00398
      • C00399
      • C00416
      • C00420
      • C00421
      • C00422
      • C00427
      • C00443
      • C00444
      • C00465
      • C00466
      • C00467
      • C00468
      • C00469
      • C00490
      • C00494
      • C00495
      • C00497
      • C00512
      • C00513
      • C00514
      • C00515
      • C00516
      • C00573
      • C00574
      • C00576
      • C00577
      • C00578
      • C00579
      • C00580
      • C00581
      • C00582
      • C00583
      • C00584
      • C00585
      • C00586
      • C00587
      • C00588
      • C00589
      • C00591
      • C00594
      • C00595
      • C00596
      • C00597
      • C00598
      • C00599
      • C00600
      • C00601
      • C00604
      • C00606
      • C00607
      • C00610
      • C00611
      • C00612
      • C00613
      • C00614
      • C00615
      • C00618
      • C00619
      • C00620
      • C00625
      • C00635
      • C00636
      • C00637
      • C00691
      • C00692
      • C00693
      • C00694
      • C00695
      • C00696
      • C00697
      • C00698
      • C00730
      • C00731
      • C00732
      • C00733
      • C00734
      • C00735
      • C00736
      • C00737
      • C00738
      • C00739
      • C00770
      • C00771
      • C00772
      • C00773
      • C00774
      • C00775
      • C00776
      • C00777
      • C00778
      • C00779
      • C00780
      • C00781
      • C00782
      • C00783
      • C00784
      • C00786
      • C00787
      • C00788
      • C00789
      • C00790
      • C00791
      • C00792
      • C00800
      • C00802
      • C00803
      • C00804
      • C00805
      • C00806
      • C00807
      • C00808
      • C00809
      • C00810
      • C00811
      • C00812
      • C00813
      • C00814
      • C00815
      • C00816
      • C00817
      • C00854
      • C00878
      • C00909
      • C01120
      • C01121
      • C01122
      • C01123
      • C01124
      • C01190
      • C01191
      • C01192
      • C01193
      • C01194
      • C01195
      • C01196
      • C01203
      • C01204
      • C01205
      • C01206
      • C01208
      • C01209
      • C01210
      • C01211
      • C01212
      • C01213
      • C01214
      • C01501
      • C01502
      • C01510
      • C01511
      • C01902
      • C01903
      • C01905
      • C02104
      • C02108
      • C02109
      • C02113
      • C02121
      • C02122
      • C02123
      • C02520
      • C02521
      • C02522
      • C02523
      • C02524
      • C02525
      • C02526
      • C02527
      • C02528
      • C02529
      • C02530
      • C02531
      • C02532
      • C02533
      • C02534
      • C02535
      • C02536
      • C02537
      • C02538
      • C02539
      • C02540
      • C02541
      • C02542
      • C02543
      • C02547
      • C02548
      • C02549
      • C02550
      • C02552
      • C02553
      • C02554
      • C02555
      • C02556
      • C02557
      • C02558
      • C02559
      • C02560
      • C02567
      • C02568
      • C02569
      • C02570
      • C02572
      • C02573
      • C02574
      • C02575
      • C02576
      • C02577
      • C02578
      • C02579
      • C02580
      • C02581
      • C02582
      • C02583
      • C02585
      • C02586
      • C02587
      • C02588
      • C02589
      • C02590
      • C02591
      • C02593
      • C02594
      • C02595
      • C02596
      • C02597
      • C02598
      • C02599
      • C02607
      • C02608
      • C02609
      • C02610
      • C02611
      • C02612
      • C02616
      • C02617
      • C02619
      • C02620
      • C02621
      • C02622
      • C02623
      • C02624
      • C02638
      • C02639
      • C02640
      • C02642
      • C02643
      • C02644
      • C02645
      • C02646
      • C02647
      • C02648
      • C02649
      • C02650
      • C02651
      • C02652
      • C02653
      • C02656
      • C02657
      • C02658
      • C02659
      • C02674
      • C02675
      • C02676
      • C02677
      • C02678
      • C02679
      • C02680
      • C02681
      • C02685
      • C02686
      • C02687
      • C02688
      • C02689
      • C02692
      • C02693
      • C02694
      • C02695
      • C02698
      • C02699
      • C02700
      • C02701
      • C02702
      • C02703
      • C02704
      • C02705
      • C02706
      • C02707
      • C02708
      • C02709
      • C02710
      • C02711
      • C02712
      • C02713
      • C02714
      • C02715
      • C02716
      • C02717
      • C02718
      • C02719
      • C02730
      • C02731
      • C02732
      • C02733
      • C02734
      • C02800
      • C02801
      • C02802
      • C02803
      • C02810
      • C02830
      • C02850
      • C02851
      • C02852
      • C02853
      • C02854
      • C02855
      • C02856
      • C02857
      • C02858
      • C02859
      • C02860
      • C02861
      • C02996
      • C02997
      • C02998
      • C02999
    • 16.4 Attribute table
  • 17 Index
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