Document Outline

• Servo Drives 9400 Servo PLC
  • Contents
  • 1 About this documentation
    • 1.1 Conventions used
    • 1.2 Terminology used
    • 1.3 Definition of the notes used
  • 2 Introduction
    • 2.1 Parameter setting, configuring, or programming?
      • 2.1.1 Basic functionalities
      • 2.1.2 Technology applications
    • 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 General information
    • 3.2 Notes on commissioning using the keypad
    • 3.3 Initial commissioning
    • 3.4 Standard set-up
    • 3.5 Controller replacement
    • 3.6 Motor replacement
  • 4 PLC functionality
    • 4.1 Setting the controller in »Engineer«
      • 4.1.1 First steps for setting the controller
      • 4.1.2 Export and import of PLC applications
    • 4.2 Preparations for creating a PLC program
      • 4.2.1 Starting »PLC Designer« from »Engineer«
        • 4.2.1.1 Standard project "PLC_Application.pro"
      • 4.2.2 Setting the communication parameters in »PLC Designer«
      • 4.2.3 Selecting libraries
      • 4.2.4 Configuring tasks
        • 4.2.4.1 Inserting other user tasks
        • 4.2.4.2 Program call
        • 4.2.4.3 Configuring system events
      • 4.2.5 Inserting more user POUs
    • 4.3 Programming notes
      • 4.3.1 Update function and scaling function
      • 4.3.2 Creating user-defined codes
      • 4.3.3 Generating application error messages
    • 4.4 Use of function blocks
    • 4.5 Use of system blocks
      • 4.5.1 Access via system variables
      • 4.5.2 Access via absolute addresses
      • 4.5.3 Definition of the inputs and outputs
      • 4.5.4 Implementing system blocks in »PLC Designer«
    • 4.6 Network communication
      • 4.6.1 Network communication with CAN on board
      • 4.6.2 Network communication with fieldbus module
    • 4.7 Completing the PLC project
      • 4.7.1 Compiling a PLC project
      • 4.7.2 Generating a boot project
      • 4.7.3 Saving the PLC project
      • 4.7.4 Import in the »Engineer« project
        • 4.7.4.1 Saving the »Engineer« project
      • 4.7.5 Project download
    • 4.8 Appendix
      • 4.8.1 Technical data
      • 4.8.2 Task and timing frame
      • 4.8.3 User task
      • 4.8.4 Runtime measurement
      • 4.8.5 Data consistency
      • 4.8.6 Storage capacities and memory modules
      • 4.8.7 Known function restrictions of the controller
      • 4.8.8 Sample collection for code creation with Pragma instruction
  • 5 Drive interface
    • 5.1 Machine parameters
      • 5.1.1 Mains voltage
      • 5.1.2 Gearbox ratio
      • 5.1.3 Motor mounting direction
      • 5.1.4 Feedback configuration
      • 5.1.5 Unit/user-defined unit
      • 5.1.6 Traversing range
      • 5.1.7 Feed constant
      • 5.1.8 Resolution of an encoder revolution
        • 5.1.8.1 Determining the optimum resolution
      • 5.1.9 Max. position, speed, and acceleration that can be displayed internally
    • 5.2 Device commands
      • 5.2.1 Load Lenze setting
      • 5.2.2 Load start parameters
      • 5.2.3 ENP:Load plant data
      • 5.2.4 Activate application
      • 5.2.5 Save selected application
      • 5.2.6 Save start parameters
      • 5.2.7 Delete logbook
      • 5.2.8 Archive logbook
      • 5.2.9 Start application
      • 5.2.10 Stop application
      • 5.2.11 Reset program
      • 5.2.12 Delete program
      • 5.2.13 Restart program
      • 5.2.14 Reset runtime measurement
      • 5.2.15 Inhibit controller
      • 5.2.16 Enable controller
      • 5.2.17 Reset error
      • 5.2.18 Activate quick stop
      • 5.2.19 Reset quick stop
      • 5.2.20 Identify pole position (360˚)
      • 5.2.21 Identify pole position (min. motion)
      • 5.2.22 Resolver error identification
      • 5.2.23 Load Lenze INV characteristic
      • 5.2.24 Calculate inv. characteristic
      • 5.2.25 Determine motor parameters
      • 5.2.26 Calculate current controller parameters
      • 5.2.27 Calculate speed controller parameters
      • 5.2.28 CAN on board: Reset Node
      • 5.2.29 CAN module: Reset node
      • 5.2.30 CAN on board: Pred.Connect.Set
      • 5.2.31 CAN module: Pred.Connect.Set
      • 5.2.32 CAN on board: Identify node
      • 5.2.33 CAN module: Identify node
      • 5.2.34 Unbind/bind Ethernet module MXI1
      • 5.2.35 Unbind/bind Ethernet module MXI2
      • 5.2.36 Activate parameter set 1 ... 4
      • 5.2.37 Activate parameter set 1 ... 4
      • 5.2.38 Load cam data
      • 5.2.39 Save cam data
      • 5.2.40 Calculate cam data
      • 5.2.41 Calculate cam data checksum
      • 5.2.42 Format file system
      • 5.2.43 Restore file system
      • 5.2.44 Prepare firmware update
      • 5.2.45 Restart controller
    • 5.3 Device states
      • 5.3.1 "Initialisation active" state
      • 5.3.2 "Safe torque off active" state
      • 5.3.3 "Device is ready to switch on" state
      • 5.3.4 "Device is switched on" state
      • 5.3.5 "Operation" state
      • 5.3.6 "Warning active"
      • 5.3.7 "Warning locked active"
      • 5.3.8 "Quick stop by trouble active" state
      • 5.3.9 "Trouble active" state
      • 5.3.10 "Fault active" state
      • 5.3.11 "System fault active" state
    • 5.4 Automatic restart after mains connection/trouble...
    • 5.5 Device output power
      • 5.5.1 Switching frequency
      • 5.5.2 Monitoring of the device utilisation
      • 5.5.3 Operation with increased continuous power
    • 5.6 Internal interfaces | "LS_DriveInterface" system block
      • 5.6.1 Status signals
      • 5.6.2 Monitoring of external events
  • 6 Motor interface
    • 6.1 General information
      • 6.1.1 Reading out motor data from the controller
      • 6.1.2 Selecting a motor from the motor catalogue in the »Engineer«
      • 6.1.3 Displaying/editing motor data in »Engineer«
    • 6.2 Select motor control
    • 6.3 Adjusting motor and controller to each other
      • 6.3.1 Accepting/adapting plant parameters
      • 6.3.2 Parameterising motor encoder
      • 6.3.3 Pole position identification
        • 6.3.3.1 Adjustment of the pole position identification
      • 6.3.4 Optimising the switching performance of the inverter
      • 6.3.5 Determining the motor parameters
    • 6.4 Servo control (SC)
      • 6.4.1 Optimising the control mode
        • 6.4.1.1 Optimise current controller
        • 6.4.1.2 Optimising the speed controller
        • 6.4.1.3 Set current setpoint filter (band-stop filter)
        • 6.4.1.4 Optimising phase controller
        • 6.4.1.5 Optimising response to setpoint changes
        • 6.4.1.6 Setting the field weakening for asynchronous machines
      • 6.4.2 Signal flow (servo control for synchronous motor)
      • 6.4.3 Signal flow (servo control for asynchronous motor)
    • 6.5 Sensorless vector control (SLVC)
      • 6.5.1 Basic settings
        • 6.5.1.1 Parameterising speed and torque controller
      • 6.5.2 Optimising motor parameters
        • 6.5.2.1 Motor power factor
        • 6.5.2.2 Motor stator resistance
        • 6.5.2.3 Mutual motor inductance
        • 6.5.2.4 Motor rotor resistance
      • 6.5.3 Optimising the control mode
        • 6.5.3.1 Optimising field feedforward control
        • 6.5.3.2 Optimising the speed controller
        • 6.5.3.3 Optimising torque controller
        • 6.5.3.4 Optimise current controller
      • 6.5.4 Signal flow
    • 6.6 V/f control (VFCplus)
      • 6.6.1 Basic settings
        • 6.6.1.1 Defining the V/f characteristic
        • 6.6.1.2 Setting the voltage boost
        • 6.6.1.3 Parameterising load adjustment
        • 6.6.1.4 Activating voltage vector control
        • 6.6.1.5 Defining the current limit (Imax controller)
      • 6.6.2 Optimising the control mode
        • 6.6.2.1 Defining a user-defined V/f characteristic
        • 6.6.2.2 Parameterising slip compensation
        • 6.6.2.3 Parameterising oscillation damping
        • 6.6.2.4 Optimise current controller
        • 6.6.2.5 Optimising pull-out slip limitation
      • 6.6.3 Signal flow
    • 6.7 V/f control (VFCplus)
      • 6.7.1 Signal flow
    • 6.8 Parameterisable additional functions
      • 6.8.1 Correction of the stator leakage inductance...
      • 6.8.2 Field weakening for synchronous machines
      • 6.8.3 Flying restart function
      • 6.8.4 DC-injection braking
    • 6.9 Monitoring
      • 6.9.1 Signal flow
      • 6.9.2 Motor monitoring (I2xt)
        • 6.9.2.1 Example for entry of the characteristic for asynchronous servo motor
        • 6.9.2.2 Example for entry of the characteristic for synchronous servo motor
        • 6.9.2.3 UL 508-compliant I·xt motor temperature monitoring
      • 6.9.3 Motor temperature monitoring
        • 6.9.3.1 Specific characteristic for the motor temperature sensor
        • 6.9.3.2 Motor temperature monitoring (PTC)
        • 6.9.3.3 Temperature monitoring of a second motor
      • 6.9.4 Motor phase failure monitoring
        • 6.9.4.1 Monitoring of the individual motor phases during operation
        • 6.9.4.2 Checking the individual motor phases before operation is started
      • 6.9.5 Maximum current monitoring
    • 6.10 Internal interfaces | "LS_MotorInterface" system block
  • 7 Encoder evaluation
    • 7.1 Internal interfaces | "LS_Feedback" system block
      • 7.1.1 Use of an external position encoder
    • 7.2 Signal flow
    • 7.3 Parameter setting
      • 7.3.1 Controller configuration
      • 7.3.2 System with motor encoder
      • 7.3.3 System with motor encoder and position encoder
      • 7.3.4 Position feedback with a linear distance measuring device
        • 7.3.4.1 Conversion from linear to rotative encoder variables
      • 7.3.5 Adaptation of the resolver evaluation dynamics
      • 7.3.6 Parameterisation of an unknown Hiperface encoder
      • 7.3.7 Parameterisation of a Hiperface® encoder with increased initialisation time
      • 7.3.8 Use of an SSI encoder at X8
        • 7.3.8.1 "LS_SsiEncoderX8" system block
        • 7.3.8.2 Division of the SSI data word into partwords
        • 7.3.8.3 Linear distance measuring devices with SSI protocol
      • 7.3.9 Rotative encoder with SSI protocol
      • 7.3.10 Provision of the encoder signal of input X8
        • 7.3.10.1 System block "LS_EncoderX8"
        • 7.3.10.2 Activate evaluation
      • 7.3.11 Resolver error compensation
      • 7.3.12 Encoder angular drift monitoring
        • 7.3.12.1 Angular drift monitoring for encoders without absolute information
        • 7.3.12.2 Angular drift monitoring for encoders with absolute information
  • 8 Braking operation
    • 8.1 Parameter setting
      • 8.1.1 Setting the voltage threshold for braking operation
    • 8.2 Monitoring
      • 8.2.1 Overcurrent protection
      • 8.2.2 Ixt utilisation - brake transistor
      • 8.2.3 I2t utilisation - brake resistor
      • 8.2.4 Overvoltage in the DC bus
  • 9 I/O terminals
    • 9.1 Overview
    • 9.2 Analog inputs
      • 9.2.1 Terminal assignment/electrical data
      • 9.2.2 Parameter setting
      • 9.2.3 Reconfiguring analog input 1 into current input
      • 9.2.4 "LS_AnalogInput" system block
    • 9.3 Analog outputs
      • 9.3.1 Terminal assignment/electrical data
      • 9.3.2 Parameter setting
      • 9.3.3 "LS_AnalogOutput" system block
    • 9.4 Digital inputs
      • 9.4.1 Terminal assignment/electrical data
      • 9.4.2 Parameter setting
      • 9.4.3 "LS_DigitalInput" system block
    • 9.5 Digital outputs
      • 9.5.1 Terminal assignment/electrical data
      • 9.5.2 Parameter setting
      • 9.5.3 "LS_DigitalOutput" system block
    • 9.6 "State bus" monitoring function
      • 9.6.1 Detecting the current state
      • 9.6.2 Setting the state bus to the "Error" state
    • 9.7 Touch probe detection
      • 9.7.1 Actual value interpolation (principle)
      • 9.7.2 Dead time compensation
      • 9.7.3 "LS_TouchProbe1...8" system block
      • 9.7.4 "LS_TouchProbeMotor" system block
      • 9.7.5 "LS_TouchProbeLoad" system block
  • 10 "CAN on board" system bus
    • 10.1 General information
      • 10.1.1 General data and application conditions
      • 10.1.2 Supported protocols
      • 10.1.3 Communication time
    • 10.2 Possible settings by DIP switch
      • 10.2.1 Setting the node address
      • 10.2.2 Setting the baud rate
    • 10.3 LED status displays for the system bus
    • 10.4 Structure of the CAN data telegram
      • 10.4.1 Identifier
      • 10.4.2 User data
    • 10.5 Communication phases/network management
      • 10.5.1 Status transitions
      • 10.5.2 Network management telegram (NMT)
      • 10.5.3 Parameterising the controller as CAN master
    • 10.6 Process data transfer
      • 10.6.1 Identifiers of the process data objects
      • 10.6.2 Transmission type
      • 10.6.3 Masking of the TPDOs for event control
      • 10.6.4 Monitoring of the RPDOs for data reception
      • 10.6.5 Synchronisation of PDOs via sync telegram
        • 10.6.5.1 Parameter setting
        • 10.6.5.2 Effect of C01130 on the sync phase position
    • 10.7 Parameter data transfer
      • 10.7.1 Identifiers of the parameter data objects
      • 10.7.2 User data
        • 10.7.2.1 Command
        • 10.7.2.2 Addressing by means of index and subindex
        • 10.7.2.3 Data 1 ... Data 4
        • 10.7.2.4 Error messages
      • 10.7.3 Parameter data telegram examples
        • 10.7.3.1 Read parameters
        • 10.7.3.2 Write parameters
        • 10.7.3.3 Read block parameters
    • 10.8 Diagnostics
    • 10.9 Monitoring
      • 10.9.1 Node guarding protocol
        • 10.9.1.1 Telegram structure
        • 10.9.1.2 Parameter setting
        • 10.9.1.3 Commissioning example
      • 10.9.2 Heartbeat protocol
        • 10.9.2.1 Telegram structure
        • 10.9.2.2 Parameter setting
        • 10.9.2.3 Commissioning example
      • 10.9.3 Emergency telegram
    • 10.10 Implemented CANopen objects
      • Example
    • 10.11 System block "LS_SyncInput"
      • 10.11.1 Behaviour of the status signal bSyncInsideWindow
  • 11 Safety engineering
    • 11.1 Integration into the application
    • 11.2 Selecting the required safety module
    • 11.3 System block "LS_SafetyModuleInterface"
      • 11.3.1 Status information
      • 11.3.2 I/O status information
      • 11.3.3 Control information
  • 12 Basic drive functions
    • 12.1 General information
      • 12.1.1 Internal state machine
      • 12.1.2 Function states
      • 12.1.3 Interrupting/replacing states
      • 12.1.4 Priorities
      • 12.1.5 Requesting control via a basic function
      • 12.1.6 Start acceleration/acceleration reduction when the basic function changes
      • 12.1.7 Setting the S-ramp time
    • 12.2 Stop
      • 12.2.1 Internal interfaces | "LS_Stop" system block
      • 12.2.2 Parameter setting
      • 12.2.3 Behaviour of the function (example)
    • 12.3 Quick stop
      • 12.3.1 Internal interfaces | "LS_Quickstop" system block"
      • 12.3.2 Parameter setting
      • 12.3.3 Activate/deactivate quick stop
      • 12.3.4 DC-injection braking
        • 12.3.4.1 DC-injection braking and flying restart process
        • 12.3.4.2 DC-injection braking when quick stop is activated
    • 12.4 Manual jog
      • 12.4.1 Internal interfaces | "LS_ManualJog" system block"
      • 12.4.2 Parameter setting
        • 12.4.2.1 Smooth start and quick stop of the drive
        • 12.4.2.2 Second speed
      • 12.4.3 Executing manual jogging
        • 12.4.3.1 Manual jog in positive/negative direction
        • 12.4.3.2 Manual jog with step limitation
        • 12.4.3.3 Manual jog with intermediate stop
        • 12.4.3.4 Manual jog to limit position
        • 12.4.3.5 Retracting of an activated limit switch
    • 12.5 Manual job, encoderless
      • 12.5.1 Parameter setting
      • 12.5.2 Carrying out encoderless manual jogging
        • 12.5.2.1 Preconditions
        • 12.5.2.2 Activation
        • 12.5.2.3 Deactivation
        • 12.5.2.4 Selection and contents of the profile parameter set
        • 12.5.2.5 Encoderless manual jogging in a positive/negative direction
      • 12.5.3 Internal interfaces | "LS_ManualJogOpenLoop" system block
    • 12.6 Homing
      • 12.6.1 Internal interfaces | "LS_Homing" system block
      • 12.6.2 Parameter setting
        • 12.6.2.1 Behaviour of the home position after mains switching
        • 12.6.2.2 Homing mode
        • 12.6.2.3 Home position & target position
        • 12.6.2.4 Drive behaviour after setting the home position
        • 12.6.2.5 Profile data set change-over
        • 12.6.2.6 Homing to end stop
        • 12.6.2.7 Connection of reference switch
        • 12.6.2.8 Touch probe interface configuration
      • 12.6.3 Overview of the Lenze homing modes
        • Mode 0: pos. direction - via home mark - to TP
        • Mode 1: neg. direction - via home mark - to TP
        • Mode 2: pos. direction - reversing to limit switch - via home mark - to TP
        • Mode 3: neg. direction - reversing to limit switch - via home mark - to TP
        • Mode 4: pos. direction - reversing to home mark - to TP
        • Mode 5: neg. direction - reversing to home mark - to TP
        • Mode 8: positive direction to touch probe
        • Mode 9: negative direction to touch probe
        • Mode 10: pos. direction - reversing to limit switch - to TP
        • Mode 11: neg. direction - reversing to limit switch - to TP
        • Mode 12: positive direction to limit switch
        • Mode 13: negative direction to limit switch
        • Mode 14: positive direction to torque limit
        • Mode 15: negative direction to torque limit
        • Mode 100: Set reference directly
      • 12.6.4 Overview of DS402 homing modes
        • Mode 1001: DS402 homing method 01
        • Mode 1002: DS402 homing method 02
        • Mode 1003: DS402 homing method 03
        • Mode 1004: DS402 homing method 04
        • Mode 1005: DS402 homing method 05
        • Mode 1006: DS402 homing method 06
        • Mode 1007: DS402 homing method 07
        • Mode 1008: DS402 homing method 08
        • Mode 1009: DS402 homing method 09
        • Mode 1010: DS402 homing method 10
        • Mode 1011: DS402 homing method 11
        • Mode 1012: DS402 homing method 12
        • Mode 1013: DS402 homing method 13
        • Mode 1014: DS402 homing method 14
        • Mode 1015: DS402 homing method 15
        • Mode 1016: DS402 homing method 16
        • Mode 1017: DS402 homing method 17
        • Mode 1018: DS402 homing method 18
        • Mode 1019: DS402 homing method 19
        • Mode 1020: DS402 homing method 20
        • Mode 1021: DS402 homing method 21
        • Mode 1022: DS402 homing method 22
        • Mode 1023: DS402 homing method 23
        • Mode 1024: DS402 homing method 24
        • Mode 1025: DS402 homing method 25
        • Mode 1026: DS402 homing method 26
        • Mode 1027: DS402 homing method 27
        • Mode 1028: DS402 homing method 28
        • Mode 1029: DS402 homing method 29
        • Mode 1030: DS402 homing method 30
        • Mode 1031: DS402 homing method 31
        • Mode 1032: DS402 homing method 32
        • Mode 1033: DS402 homing method 33
        • Mode 1034: DS402 homing method 34
        • Mode 1035: DS402 homing method 35
      • 12.6.5 Execute homing
        • 12.6.5.1 Starting reference search/setting the reference directly
        • 12.6.5.2 Loading home position via input
        • 12.6.5.3 Resetting home position
    • 12.7 Positioning
      • 12.7.1 Internal interfaces | "LS_Positioner" system block
        • 12.7.1.1 Possibilities for the selection of the profile
      • 12.7.2 Parameter setting
        • 12.7.2.1 Actual value-based evaluation "Target position reached"
        • 12.7.2.2 Actual value- and setpoint-based evaluation "Drive in the target"
      • 12.7.3 Carrying out positioning
        • 12.7.3.1 Starting positioning
        • 12.7.3.2 Aborting/interrupting positioning
        • 12.7.3.3 Continue interrupted positioning
        • 12.7.3.4 Activating override
    • 12.8 Position follower
      • 12.8.1 Internal interfaces | "LS_PositionFollower" system block
      • 12.8.2 Signal flow
      • 12.8.3 Parameter setting
        • 12.8.3.1 Setpoint interpolation
        • 12.8.3.2 Inversion of the direction of rotation
      • 12.8.4 Activating setpoint interface
    • 12.9 Speed follower
      • 12.9.1 Internal interfaces | "LS_SpeedFollower" system block
      • 12.9.2 Signal flow
      • 12.9.3 Parameter setting
        • 12.9.3.1 Setpoint interpolation
        • 12.9.3.2 Inversion of the direction of rotation
      • 12.9.4 Activating setpoint interface
    • 12.10 Torque follower
      • 12.10.1 Internal interfaces | "LS_TorqueFollower" system block
      • 12.10.2 Signal flow
      • 12.10.3 Parameter setting
        • 12.10.3.1 Setpoint interpolation
        • 12.10.3.2 Inversion of the direction of rotation
      • 12.10.4 Activating setpoint interface
    • 12.11 Limiter
      • 12.11.1 Internal interfaces | "LS_Limiter" system block
        • 12.11.1.1 Interface to the safety module
      • 12.11.2 Parameter setting
        • 12.11.2.1 Software limit positions
        • 12.11.2.2 Triggering behaviour of software limit position monitoring
        • 12.11.2.3 Hardware limit positions (limit switch)
        • 12.11.2.4 Limitations
        • 12.11.2.5 Permissible direction of rotation
        • 12.11.2.6 Limited speed
        • 12.11.2.7 Limited increment for manual jog
    • 12.12 Brake control
      • 12.12.1 Internal interfaces | "LS_Brake" system block
      • 12.12.2 Parameter setting
        • 12.12.2.1 Modes of operation
        • 12.12.2.2 Signal configuration
        • 12.12.2.3 Standstill monitoring
        • 12.12.2.4 Brake activation in automatic operation
        • 12.12.2.5 Brake time response
        • 12.12.2.6 Torque feedforward control
        • 12.12.2.7 Torque feedforward control via ramp function
        • 12.12.2.8 Speed feedforward control via ramp function for V/f control
      • 12.12.3 Mode 0: Brake control is switched off
      • 12.12.4 Mode 1/11: Direct control of the brake
      • 12.12.5 Mode 2/12: Automatic control of the brake
        • 12.12.5.1 Behaviour in case of pulse inhibit
        • 12.12.5.2 Process when brake is released
        • 12.12.5.3 Process when brake is closed
      • 12.12.6 Mode 22: Automatic DC-injection braking
      • 12.12.7 Grinding the brake
      • 12.12.8 Carrying out brake test
      • 12.12.9 Control of two motor holding brakes
    • 12.13 Cam data management
      • 12.13.1 "Online" tab for cam data management
        • 12.13.1.1 Memory distribution
        • 12.13.1.2 Access protection
        • 12.13.1.3 Regenerating the cam data file and transferring it to the controller
      • 12.13.2 Internal interfaces | "LS_CamInterface" system block
      • 12.13.3 Parameter setting
        • 12.13.3.1 Password entry
        • 12.13.3.2 Online change mode
        • 12.13.3.3 Changing cam data via parameterisation
      • 12.13.4 Product/track change-over
      • 12.13.5 Invalid cam data due to changed machine parameters
      • 12.13.6 Behaviour after mains switching
    • 12.14 Pole position identification
      • 12.14.1 Internal interfaces | System block "LS_PolePositionIdentification"
      • 12.14.2 Parameter setting
      • 12.14.3 Execute pole position identification
      • 12.14.4 Signal characteristics
      • 12.14.5 Impacts of parameter changes on the signal PPI_bPolePositionAvailable
  • 13 Oscilloscope
    • 13.1 Technical data
    • 13.2 Functional description
    • 13.3 User interface
    • 13.4 Operation
      • 13.4.1 Selecting the variables to be recorded
      • 13.4.2 Selecting the recording time/sample rate
      • 13.4.3 Defining the trigger condition
      • 13.4.4 Starting recording
      • 13.4.5 Adjusting the representation
      • 13.4.6 Cursor function: Reading individual measured values
    • 13.5 Managing oscillograms (measured data sets)
      • 13.5.1 Commenting the oscillogram
      • 13.5.2 Saving the oscillogram
      • 13.5.3 Loading the oscillogram
      • 13.5.4 Closing the oscillogram
      • 13.5.5 Overlay function
      • 13.5.6 Deleting a data set saved in the project
    • 13.6 Variables of the motor control (oscilloscope signals)
  • 14 Diagnostics & fault analysis
    • 14.1 LED status displays
      • 14.1.1 LED status displays for the device state
    • 14.2 Drive diagnostics with the »Engineer«
    • 14.3 Drive diagnostics via keypad/bus system
    • 14.4 Logbook
      • 14.4.1 Functional description
      • 14.4.2 Filtering logbook entries
      • 14.4.3 Reading out logbook entries
      • 14.4.4 Exporting logbook entries to a file
    • 14.5 Monitoring
      • 14.5.1 Setting the error response
    • 14.6 Maloperation of the drive
    • 14.7 Error messages of the operating system
      • 14.7.1 Structure of the error number (bit coding)
        • 14.7.1.1 Response
        • 14.7.1.2 Instance ID
        • 14.7.1.3 Module ID
        • 14.7.1.4 Error ID
        • 14.7.1.5 Example for bit coding of the error number
      • 14.7.2 Reset error message
      • 14.7.3 Short overview (A-Z)
      • 14.7.4 Cause & possible remedies
        • Logbook: Overflow [0x00650000]
        • Logbook: Reset (read error) [0x00650001]
        • Logbook: Reset (version error) [0x00650002]
        • Memory module is missing [0x00650003]
        • Control card is defect [0x00680000]
        • Power section is defect [0x00680001]
        • Memory module is defect or missing [0x00680002]
        • Safety module is defect 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 defect [0x00680008]
        • Power section is defect [0x00680009]
        • MXI1: Module is defect or missing [0x0068000a]
        • MXI2: Module is defect or missing [0x0068000b]
        • Memory module is defect or missing [0x0068000c]
        • Safety module is defect or missing [0x0068000d]
        • Control card incompatible [0x0068000e]
        • Power section incompatible [0x0068000f]
        • MXI1: Wrong module [0x00680010]
        • MXI2: Wrong module [0x00680011]
        • Incorrect memory module [0x00680012]
        • Incorrect safety module [0x00680013]
        • Power section was 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: Faulty file system [0x0068001c]
        • Electronic nameplate: Checksum error [0x0068001d]
        • Firmware is incompatible with control card [0x0068001e]
        • Combination memory module/device not possible [0x0068001f]
        • Combination of module in MXI1/device not possible [0x00680020]
        • Combination of module in MXI2/device not possible [0x00680021]
        • Real-time clock is defective [0x00680022]
        • Real-time clock: Change battery [0x00680023]
        • Real-time clock: Battery empty, time lost [0x00680024]
        • Code refresh [0x00690000]
        • Internal error (memory area - logbook) [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 (semaphores) [0x0069000c]
        • Internal error (file system lifetime) [0x0069000d]
        • General error in the application [0x006a0000]
        • Faulty program download [0x006a0001]
        • Fault during the update of the inputs and outputs [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 stopped [0x006a000e]
        • Breakpoint reached [0x006a000f]
        • Faulty application parameter [0x006a0010]
        • Division by zero [0x006a0011]
        • Pointer access in impermissible memory area [0x006a0012]
        • Application has started [0x006a0013]
        • Application has stopped [0x006a0014]
        • PDO mapping (MXI1): Faulty configuration [0x006a0015]
        • PDO mapping (MXI2): Faulty configuration [0x006a0016]
        • Fault in the control configuration [0x006a0017]
        • Retain memory of the application faulty [0x006a001a]
        • Watchdog cycle is greater than task cycle [0x006a001b]
        • Control card: Supply voltage (24 V DC) too low [0x006f0000]
        • Read error service register [0x00720000]
        • External error [0x00750000]
        • Controller enabled [0x00750001]
        • Controller in STO state [0x00750003]
        • Controller: Pulse inhibit is active [0x00750005]
        • PLC configuration invalid [0x00750006]
        • Heatsink: Temperature > C00122 [0x00770000]
        • Heatsink: Overtemperature [0x00770001]
        • Motor: Temperature > C00121 [0x00770002]
        • Motor: Overtemperature [0x00770003]
        • CPU: Temperature > C00126 [0x00770008]
        • CPU: Overtemperature [0x00770009]
        • Heatsink: Thermal detector is defect [0x0077000a]
        • Inside the device: Thermal detector is defective [0x0077000b]
        • Motor: Thermal detector is defect [0x0077000c]
        • DC-bus capacitor: Thermal detector is defect [0x0077000d]
        • CPU: Thermal detector is defect [0x0077000e]
        • Motor: PTC has triggered [0x0077000f]
        • Heatsink: Fan is defect [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 defect (UB24) [0x00780004]
        • Control card is defect (VCC15) [0x00780005]
        • Control card is defect (UB8) [0x00780006]
        • Control card is defect (VCC15 neg.) [0x00780007]
        • Control card is defect (UB18 neg.) [0x00780008]
        • Control card is defect (VCC5) [0x00780009]
        • Electronic nameplate: Data are incompatible [0x0078000a]
        • Device command transferred incorrectly [0x00790000]
        • Time error - controller interface [0x00790001]
        • Violation of time slice [0x00790002]
        • Motor: Calculated motor impedance unrealistic [0x007b0001]
        • Motor: Calculated mutual inductance unrealistic [0x007b0002]
        • Motor data are inconsistent [0x007b0003]
        • Motor: Phase resistance too high [0x007b0004]
        • Motor: Device current too low for rated magnetisation [0x007b0006]
        • Motor: Rated current < rated magnetising current [0x007b0007]
        • Motor: Calculated rotor resistance unrealistic [0x007b0009]
        • Motor: Calculated mutual inductance unrealistic [0x007b000a]
        • Motor: Calculated e. m. f. 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 outside the tolerance (C00576) [0x007b0012]
        • Motor control: Task overflow [0x007b0013]
        • Internal communication error (host MCTRL) [0x007b0014]
        • Motor data are inconsistent [0x007b0017]
        • Resolver: Open circuit [0x007b0018]
        • Motor: Calculated leakage inductance unrealistic [0x007b0019]
        • Absolute value encoder: Communication error [0x007b001a]
        • Encoder: Open circuit [0x007b001b]
        • Brake transistor: 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 transistor: Overcurrent [0x007b0021]
        • Position encoder: Module selected in C00490 not available [0x007b0023]
        • Motor encoder: Module selected in C00495 not available [0x007b0024]
        • Motor temperature: Module selected in 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: Battery empty [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: Encoder protocol unknown [0x007b0032]
        • Electronic nameplate: Encoder signal unknown [0x007b0033]
        • Internal communication error (DMA) [0x007b0034]
        • Controller: Overload during acceleration phases [0x007b0035]
        • Internal communication error (host MCTRL) [0x007b0036]
        • PLC configuration invalid [0x007b0037]
        • Motor parameter identification was cancelled [0x007b0038]
        • Electronic nameplate: Data outside the parameter limits [0x007b0039]
        • Hiperface encoder: Transmission error [0x007b003a]
        • Hiperface encoder: Command error [0x007b003b]
        • Hiperface encoder: Unknown encoder [0x007b003c]
        • Hiperface encoder: Position initialisation error [0x007b003d]
        • Encoder monitoring: Pulse deviation detected [0x007b003e]
        • Failure of a mains phase [0x007b003f]
        • Brake chopper: Ixt > C00570 [0x007b0040]
        • Brake resistor: I2t > C00572 [0x007b0041]
        • Power section is defect [0x007b0042]
        • Controller: Clamp operation [0x007b0047]
        • Pole position recognition cancelled [0x007b004a]
        • Motor switched off [0x007b004c]
        • EnDat encoder: Transmission error [0x007b004e]
        • EnDat encoder: Command error [0x007b004f]
        • EnDat encoder: Position initialisation error [0x007b0050]
        • Memory module: File system has been formatted [0x007c0000]
        • Memory module: File system has been restored [0x007c0001]
        • Analog input 1: Master current < 4 mA [0x007d0000]
        • PLC configuration invalid [0x007d0001]
        • Communication error between device and device module [0x007f0002]
        • Communication with module in MXI1 interrupted [0x007f0003]
        • Communication with module in MXI2 interrupted [0x007f0004]
        • CAN on board: Bus off [0x00830000]
        • CAN on board: Invalid node address 0 [0x00830001]
        • CAN on board: Basic configuration invalid [0x00830002]
        • CAN on board: Heartbeat error index 1 ... 32 [0x00840000 ... 0x0084001f]
        • CAN on board: Lifeguarding error [0x00840020]
        • CAN on board: Faulty NMT slave configuration [0x00840021]
        • CAN on board: Faulty emergency configuration [0x00850000]
        • CAN on board: Node guarding error 1 ... 32 [0x00860000 ... 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]
        • File ProjectSelection.dat defect [0x008c0000]
        • File ProjectList.dat defect [0x008c0001]
        • File DeviceCFG.dat defect [0x008c0002]
        • File ProjectSelection.dat is missing [0x008c0003]
        • File ProjectList.dat is missing [0x008c0004]
        • File DeviceCFG.dat is missing [0x008c0005]
        • File ProjectSelection.dat invalid [0x008c0006]
        • File ProjectList.dat invalid [0x008c0007]
        • File DeviceCFG.dat invalid [0x008c0008]
        • Project is not loaded [0x008c0009]
        • Project is not available [0x008c000a]
        • Required licence missing [0x008c000b]
        • Application and device are incompatible [0x008c000c]
        • MXI1: Module is missing or incompatible [0x008c000d]
        • MXI2: Module is missing or incompatible [0x008c000e]
        • MXI1: PROFIBUS module is missing or incompatible [0x008c000f]
        • MXI2: PROFIBUS module is missing or incompatible [0x008c0010]
        • MXI1: Ethernet module is missing or incompatible [0x008c0011]
        • MXI2: Ethernet module is missing or incompatible [0x008c0012]
        • MXI1: Digital frequency module is missing or incompatible [0x008c0013]
        • MXI2: Digital frequency module is missing or incompatible [0x008c0014]
        • MXI1: ICM module is missing or incompatible [0x008c0015]
        • MXI2: ICM module is missing or incompatible [0x008c0016]
        • MXI1: CAN module is missing or incompatible [0x008c0017]
        • MXI2: CAN module is missing or incompatible [0x008c0018]
        • ConnectTable active [0x008c001a]
        • Internal error (CRC application) [0x008c001d]
        • Storage capacity for user parameters exceeded [0x008c001e]
        • 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 duplicated [0x00900008]
        • Parameter set: Type of standard device has been changed [0x00900009]
        • No parameters for module in MXI1 [0x0090000a]
        • No parameters for module in MXI2 [0x0090000b]
        • Disconnection in the case of par. storage [0x0090000c]
        • Mains voltage is switched on [0x00910000]
        • Mains voltage is 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]
        • Block function in wrong MEC task [0x00910012]
        • Safety module: Incompatible with setting in C00214 [0x00920000]
        • Communication with safety module interrupted [0x00920001]
        • DFIN (MXI1): Track error A-/A [0x00990000]
        • DFIN (MXI1): Track error B-/B [0x00990001]
        • DFIN (MXI1): Track error Z-/Z [0x00990002]
        • DFIN (MXI1): Signal error enable/lamp control [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 ... 32 [0x009e0000 ... 0x009e001f]
        • CAN module (MXI1): Lifeguarding error [0x009e0020]
        • CAN module (MXI1): Faulty NMT slave configuration [0x009e0021]
        • CAN module (MXI1): Faulty emergency configuration [0x009f0000]
        • CAN module (MXI1): Node guarding error 1 ... 32 [0x00a00000 ... 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 or 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): Track error A-/A [0x00aa0000]
        • DFIN (MXI2): Track error B-/B [0x00aa0001]
        • DFIN (MXI2): Track error Z-/Z [0x00aa0002]
        • DFIN (MXI2): Signal error enable/lamp control [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 ... 32 [0x00ad0000 ... 0x00ad001f]
        • CAN module (MXI2): Lifeguarding error [0x00ad0020]
        • CAN module (MXI2): Faulty NMT slave configuration [0x00ad0021]
        • CAN module (MXI2): Faulty emergency configuration [0x00ae0000]
        • CAN module (MXI2): Node guarding error 1 ... 32 [0x00af0000 ... 0x00a0001f]
        • 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]
        • PLC configuration invalid [0x00b80000]
        • Positive limit switch has triggered [0x00b80001]
        • Negative limit switch has triggered [0x00b80002]
        • Motor brake: Angular drift with closed brake too high [0x00b80003]
        • Motor brake: Automatically activated after waiting time has elapsed [0x00b80004]
        • Motor brake: Status monitoring error [0x00b80005]
        • Positive software limit switch overtravelled [0x00b80007]
        • Negative software limit switch overtravelled [0x00b80008]
        • Positive direction of rotation limited [0x00b80009]
        • Negative direction of rotation limited [0x00b8000a]
        • Speed has been limited [0x00b8000b]
        • Acceleration has been limited [0x00b8000c]
        • Deceleration has been limited [0x00b8000d]
        • Jerk has been limited [0x00b8000e]
        • Position target outside the software limit positions [0x00b8000f]
        • Maximum speed exceeded [0x00b80010]
        • Maximum acceleration exceeded [0x00b80011]
        • Time-out torque feedforward control - brake [0x00b80012]
        • Cam data: Serial number MM does not match [0x00b80013]
        • Cam data are corrupted [0x00b80014]
        • Cam data restored [0x00b80015]
        • Cam data locked due to incorrect password [0x00b80016]
        • Cam data locked due to incorrect safety key [0x00b80017]
        • Homing mode not allowed [0x00b80019]
        • Cam data: Invalidated due to change of mechanical data [0x00b80034]
        • Cam data: invalid product number [0x00b80035]
  • 15 Parameter reference
    • 15.1 Structure of the parameter descriptions
      • 15.1.1 Data type
      • 15.1.2 Parameters with read-only access
      • 15.1.3 Parameters with write access
        • 15.1.3.1 Parameters with setting range
        • 15.1.3.2 Parameters with selection list
        • 15.1.3.3 Parameters with bit-coded setting
        • 15.1.3.4 Parameters with subcodes
      • 15.1.4 Parameter attributes
      • 15.1.5 Abbreviations used in parameter & selection texts
    • 15.2 Parameter list
      • C00002 | Device command
      • C00003 | Device command status
      • C00004 | Service password
      • C00005 | Application selection
      • C00006 | Select motor control
      • C00007 | Active application
      • C00008 | Progress of device command
      • C00011 | Motor reference speed
      • C00018 | Switching frequency
      • C00019 | Threshold - standstill recognition
      • C00022 | Maximum current
      • C00034 | Config. analog input 1
      • C00050 | Speed setpoint [rpm]
      • C00051 | Actual speed [rpm]
      • C00052 | Motor voltage
      • C00053 | DC-bus voltage
      • C00054 | Motor current
      • C00055 | Phase currents
      • C00056 | Torque setpoint
      • C00057 | Torque
      • C00058 | Pole position
      • C00059 | Motor - number of pole pairs
      • C00060 | Rotor position
      • C00061 | Heatsink temperature
      • C00062 | Temperature inside the controller
      • C00063 | Motor temperature
      • C00064 | Device utilisation (Ixt)
      • C00065 | Ext. 24-V voltage
      • C00066 | Thermal motor load (I·xt)
      • C00068 | Capacitor temperature
      • C00069 | CPU temperature
      • C00070 | Speed controller gain
      • C00071 | Speed contr. reset time
      • C00072 | Speed contr.D component
      • C00074 | Feedfwd. ctrl. - current contr.
      • C00075 | Current controller gain
      • C00076 | Current contr. reset time
      • C00077 | Field controller gain
      • C00078 | Field contr. reset time
      • C00079 | Motor - mutual inductance
      • C00080 | Resolver - number of pole pairs
      • C00081 | Rated motor power
      • C00082 | Motor rotor resistance
      • C00083 | Motor rotor time constant
      • C00084 | Motor stator resistance
      • C00085 | Motor stator leakage inductance
      • C00087 | Rated motor speed
      • C00088 | Rated motor current
      • C00089 | Rated motor frequency
      • C00090 | Rated motor voltage
      • C00091 | Motor cosine phi
      • C00092 | Motor - magnetising current
      • C00093 | Field weakening for SM
      • C00099 | Firmware version
      • C00100 | Resol. of an encoder revolution
      • C00105 | Decel. time - quick stop
      • C00106 | Quick stop S-ramp time
      • C00107 | Ref. for quick stop dec. time
      • C00114 | Dig. input x: Terminal polarity
      • C00118 | Dig. output. x: Terminal polarity
      • C00120 | Mot. overload protection (I·xt)
      • C00121 | Warning threshold motor temperature
      • C00122 | Heatsink temp. warn. threshold
      • C00123 | Warning threshold device util.
      • C00126 | CPU temp. warning threshold
      • C00127 | Mot. overload warning threshold
      • C00128 | Therm. motor time constant
      • C00129 | Brake resistance value
      • C00130 | Rated power - brake resistor
      • C00131 - Rated quantity of heat for brake res.
      • C00133 | Ref.: Brake chopper utilisation
      • C00134 | Minimum brake resistance
      • C00137 | Brake transistor utilisation
      • C00138 | Brake resistor utilisation
      • C00142 | Autom. restart after mains ON
      • C00150 | Status word device control 1
      • C00155 | Status word device control 2
      • C00156 | Status/Control word MCTRL
      • C00158 | Controller inhibit by (source)
      • C00159 | Quick stop by (source)
      • C00162 | Masked Error number
      • C00166 | Error description
      • C00168 | Error number
      • C00169 | Logbook - event filter
      • C00173 | Mains voltage
      • C00174 | Undervoltage (LU) threshold
      • C00178 | Elapsed-hour meter
      • C00179 | Power-on time meter
      • C00180 | Service code
      • C00181 | Red. brake chopper threshold
      • C00182 | Time for device search function
      • C00183 | Device status
      • C00185 | Mains recov. detect. threshold
      • C00186 | ENP: Identified motor type
      • C00187 | ENP: Identified serial number
      • C00188 | ENP: Status
      • C00199 | Device name
      • C00200 | Firmware product type
      • C00201 | Firmware - compiling date
      • C00202 | Autom. ENP data transfer
      • C00203 | HW product types
      • C00204 | HW serial numbers
      • C00205 | HW descriptions
      • C00206 | HW manufacturing data
      • C00208 | HW manufacturer
      • C00209 | HW countries of origin
      • C00210 | HW versions
      • C00211 | Application: Version
      • C00212 | Application: Type code
      • C00213 | Application: Compiler date
      • C00214 | Required safety module
      • C00218 | Application: ID number
      • C00227 | Behaviour due to change of parameter set
      • C00254 | Phase controller gain
      • C00270 | Freq. - current setpoint filter
      • C00271 | Width - current setp. filter
      • C00272 | Depth - current setp. filter
      • C00273 | Moment of inertia
      • C00274 | Max. acceleration change
      • C00275 | Signal source - speed setpoint
      • C00276 | Signal source - torque setpoint
      • C00280 | Filter time const. DC detection
      • C00281 | Filter for PWM adjustment
      • C00311 | CAN TPDO1 mask byte x
      • C00312 | CAN TPDO2 mask byte x
      • C00313 | CAN TPDO3 mask byte x
      • C00314 | CAN TPDO4 mask byte x
      • C00320 | CAN TPDOx identifier
      • C00321 | CAN RPDOx identifier
      • C00322 | CAN TPDOx Tx mode
      • C00323 | CAN RPDOx Rx mode
      • C00324 | CAN TPDOx delay time
      • C00343 | CAN TPDO counter
      • C00344 | CAN RPDO counter
      • C00345 | CAN error
      • C00346 | CAN heartbeat activity
      • C00347 | CAN heartbeat status
      • C00348 | CAN status DIP switch
      • C00349 | CAN setting - DIP switch
      • C00350 | CAN node address
      • C00351 | CAN baud rate
      • C00352 | CAN slave/master
      • C00356 | CAN TPDOx cycle time
      • C00357 | CAN RPDOx monitoring time
      • C00359 | CAN status
      • C00360 | CAN telegram and error counter
      • C00361 | CAN bus load
      • C00367 | CAN SYNC Rx identifier
      • C00368 | CAN SYNC Tx identifier
      • C00369 | CAN sync transmission cycle time
      • C00372 | CAN SDO server Rx identifier
      • C00373 | CAN SDO server Tx identifier
      • C00374 | CAN SDO client node address
      • C00375 | CAN SDO client Rx identifier
      • C00376 | CAN SDO client Tx identifier
      • C00377 | CAN SDO server node address
      • C00378 | CAN delay boot-up - Operational
      • C00381 | CAN Heartbeat producer time
      • C00382 | CAN Guard Time
      • C00383 | CAN Life Time Factor
      • C00385 | CAN Heartbeat Consumer Time
      • C00386 | CAN Node Guarding
      • C00387 | CAN Node Guarding Activity
      • C00388 | CAN node guarding status
      • C00390 | CAN Error Register (DS301V402)
      • C00391 | CAN Emergency Object
      • C00392 | CAN emergency delay time
      • C00393 | CAN result - bus scan
      • C00394 | CAN predefined error field (DS301V402)
      • C00398 | Test mode motor control
      • C00399 | Settings for test mode
      • C00412 | Hiperface: Initialisation time
      • C00413 | Hiperface: detected TypeCode
      • C00414 | Hiperface: TypeCode
      • C00415 | Hiperface: number of rev.
      • C00417 | Dynamic of resolver evaluation
      • C00418 | Activate resolver error compensation
      • C00420 | Number of encoder increments
      • C00421 | Encoder voltage
      • C00422 | Encoder type
      • C00423 | SSI encoder: Bit rate
      • C00424 | SSI encoder: Data word length
      • C00427 | TTL encoder signal evaluation
      • C00435 | SSI encoder: partword start position
      • C00436 | SSI encoder: partword length
      • C00437 | SSI encoder: partword data coding
      • C00443 | Status: Digital inputs
      • C00444 | Status: Digital outputs
      • C00464 | Keypad: Mode
      • C00465 | Keypad: Timeout welcome screen
      • C00466 | Keypad: Default parameter
      • C00467 | Keypad: Default welcome screen
      • C00469 | Keypad: Fct. STOP key
      • C00490 | Position encoder selection
      • C00494 | Motor standstill time constant
      • C00495 | Motor encoder selection
      • C00497 | Speed act. val. time const.
      • C00569 | Resp. brake trans. ixt > C00570
      • C00570 | Warning thres. brake transistor
      • C00571 | Resp. to brake res. i·xt > C00572
      • C00572 | Warning thres. brake resistor
      • C00573 | Resp. to overload brake trans.
      • C00574 | Resp. to brake resist. overtemp.
      • C00576 | Speed monitoring tolerance
      • C00577 | Field weakening controller gain
      • C00578 | Field weak. contr. reset time
      • C00579 | Resp. to speed monitoring
      • C00580 | Resp. to encoder open circuit
      • C00581 | Resp. to external fault
      • C00582 | Resp. to heatsink temp. > C00122
      • C00583 | Resp. to motor KTY overtemp.
      • C00584 | Resp. to motor temp. > C00121
      • C00585 | Resp. to motor overtemp. PTC
      • C00586 | Resp. to resolver open circuit
      • C00587 | Fan control status
      • C00588 | Resp. to failure t. sensor drive
      • C00589 | Resp. to CPU temp. > C00126
      • C00591 | Resp. to CAN-RPDOx error
      • C00594 | Resp. temp. sensor motor X7/X8
      • C00595 | Resp. to CAN bus OFF
      • C00596 | Threshold max. speed reached
      • C00597 | Resp. to motor phase failure
      • C00598 | Resp. to open circuit AIN1
      • C00599 | Motor phase failure threshold
      • C00600 | Resp. to DC bus overvoltage
      • C00601 | Resp. to encoder comm. error
      • C00604 | Resp. to device overload > C00123
      • C00606 | Resp. to motor overload > C00127
      • C00607 | Resp. to max. speed reached
      • C00610 | Resp. to failure heatsink fan
      • C00611 | Resp. to failure integral fan
      • C00612 | Resp. to CAN node guarding error
      • C00613 | Resp. to CAN heartbeat error
      • C00614 | Resp. to CAN life guarding error
      • C00615 | Resp. to imp. device config.
      • C00618 | No. of CRC cycles
      • C00619 | Resp. to motor current > C00620
      • C00620 | Ultimate motor current I_ult
      • C00621 | Resp. to encoder pulse deviation
      • C00625 | CAN behaviour in case of fault
      • C00635 | Resp to new firmw. standard dev.
      • C00636 | Resp. to new module in MXI1
      • C00637 | Resp. to new module in MXI2
      • C00640 | Resp. to pole pos. id. monit.
      • C00641 | PLI 360˚ current amplitude
      • C00642 | PolePosId 360˚ ramp time
      • C00643 | PLI 360˚ traversing direction
      • C00644 | PolePosId 360˚ fault tol.
      • C00645 | PLI 360˚ absolute current amplitude
      • C00646 | PLI min.mov. curr. amplitude
      • C00647 | PolePosId min.mov. cur.rise rate
      • C00648 | PolePosId min.mov. gain
      • C00649 | PLI min. mov. reset time
      • C00650 | PolePosId min.mov. max.perm.mov.
      • C00651 | PLI min. motion absolute cur. amp.
      • C00691 | Total speed setpoint
      • C00692 | Speed setpoint [%]
      • C00693 | Actual speed [%]
      • C00694 | Speed controller output
      • C00695 | Total torque setpoint
      • C00696 | Torque setpoint [%]
      • C00697 | Filtered torque setpoint
      • C00698 | Actual torque [%]
      • C00770 | MCTRL_dnMotorPosAct
      • C00771 | MCTRL_dnLoadPosAct
      • C00772 | MCTRL_dnMotorSpeedAct
      • C00773 | MCTRL_dnLoadSpeedAct
      • C00774 | MCTRL_dnTorqueAct
      • C00775 | MCTRL_dnOutputSpeedCtrl
      • C00776 | MCTRL_dnInputJerkCtrl
      • C00777 | MCTRL_dnInputTorqueCtrl
      • C00778 | MCTRL_dnFluxAct
      • C00779 | MCTRL_dnDCBusVoltage
      • C00780 | MCTRL_dnImotAct
      • C00781 | MCTRL_dwMaxMotorSpeed
      • C00782 | MCTRL_dwMaxMotorTorque
      • C00783 | MCTRL_dwMotorVoltageAct
      • C00784 | MCTRL_dnMotorFreqAct
      • C00786 | MCTRL_dnIxtLoad
      • C00787 | MCTRL_dnFlyingSpeedAct
      • C00788 | MCTRL_dwMaxEffMotorTorque
      • C00789 | MCTRL_dwMaxDeviceCurrent
      • C00790 | MCTRL_dnI2xtLoad
      • C00791 | MCTRL_dnDeltaMotorPos_p
      • C00792 | MCTRL_dnOutputPosCtrlMotor_s
      • C00800 | MCTRL_dnPosSet
      • C00802 | MCTRL_dnSpeedAdd
      • C00803 | MCTRL_dnTorqueAdd
      • C00804 | MCTRL_dnAccelerationAdd
      • C00805 | MCTRL_dnSpeedLowLimit
      • C00806 | MCTRL_dnTorqueLowLimit
      • C00807 | MCTRL_dnTorqueHighLimit
      • C00808 | MCTRL_dnPosCtrlOutLimit
      • C00809 | MCTRL_dnTorqueCtrlAdapt
      • C00810 | MCTRL_dnSpeedCtrlAdapt
      • C00811 | MCTRL_dnPosCtrlAdapt
      • C00812 | MCTRL_dnMotorPosRefValue
      • C00813 | MCTRL_dnLoadPosRefValue
      • C00814 | MCTRL_dnBoost
      • C00815 | MCTRL_dnSpeedCtrlIntegrator
      • C00816 | MCTRL_dnFieldWeak
      • C00817 | MCTRL_dnSpeedSet_s
      • C00818 | MCTRL_dnMvorAdapt
      • C00854 | ID status
      • C00878 | Status DCTRL control input
      • C00909 | Speed limitation
      • C00950 | VFC: V/f characteristic shape
      • C00951 | VFC: V/f base frequency
      • C00952 | VFC: Frequency interpol. point n
      • C00953 | VFC: Voltage interpol. point n
      • C00954 | VFC: Activat. interpol. point n
      • C00955 | VFC: Vmax reduction
      • C00957 | VFC: VVC current setpoint
      • C00958 | VFC: VVC gain
      • C00959 | VFC: VVC reset time
      • C00960 | VFC: V/f voltage boost
      • C00961 | VFC: Load - cw/ccw-operation
      • C00962 | VFC: Load adjustment
      • C00963 | VFC: Gain - Imax controller
      • C00964 | VFC: Reset time - Imax contr.
      • C00965 | VFC: Gain - slip compensation
      • C00966 | VFC: Time const. slip comp.
      • C00967 | VFC: Gain - oscillation damping
      • C00968 | VFC: Time const. - oscill. damp.
      • C00969 | VFC: Limitation - oscill. damp.
      • C00970 | VFC: ramp-end frequ. - oscill. damp.
      • C00971 | VFC: Influence - speed controller
      • C00972 | VFC: Gain - speed controller
      • C00973 | VFC: Reset time - speed contr.
      • C00974 | DC brake: Current
      • C00975 | DC brake: Current for quick stop
      • C00976 | DC brake: Activat. by quick stop
      • C00977 | Min. inh-time aft. overvolt
      • C00980 | VFC: Override point of field weakening
      • C00985 | SLVC: Field current controller gain
      • C00986 | SLVC: Cross current controller gain
      • C00987 | SLVC: Gain - torque controller
      • C00988 | SLVC: Reset time - torque contr.
      • C00989 | SLVC: Time const.- Para. adj.
      • C00990 | Flying restart: Activation
      • C00991 | Flying restart: Current
      • C00992 | Flying restart: Start frequency
      • C00993 | Flying restart: Integration time
      • C00994 | Flying restart: Min. deviation
      • C00995 | Flying restart: Delay time
      • C00998 | VFC: Frequency setpoint
      • C01120 | Sync source
      • C01121 | Sync cycle time
      • C01122 | Sync phase position
      • C01123 | Sync tolerance
      • C01124 | Sync-PLL increment
      • C01130 | CAN SYNC application cycle
      • C01190 | Motor thermal sensor
      • C01191 | Spec. charact.: temperature
      • C01192 | Spec. characteristic: resistance
      • C01193 | Motor temp. feedback system
      • C01194 | Motor operating temperature
      • C01195 | Influence winding I·xt mon.
      • C01196 | S1 torque characteristic I·xt mon.
      • C01197 | Starting value I·xt monitoring
      • C01198 | Async. motor: Stall protection
      • C01199 | Enhanced Power
      • C01200 | Dual motor temperature
      • C01201 | Delay time for fan start
      • C01203 | Counter: Brake chopper overload
      • C01204 | Counter: Ixt overload
      • C01205 | Counter: DC bus overvoltage
      • C01206 | Counter: Mains switching
      • C01208 | Counter: Heatsink overtemp.
      • C01209 | Counter: Housing overtemp.
      • C01210 | Counter: Internal
      • C01212 | Counter: Power section overload
      • C01214 | Internal clock
      • C01215 | Set time and date
      • C01230 | Resp. to comm. task overflow
      • C01501 | Resp. to comm. error with MXI1
      • C01502 | Resp. to comm. error with MXI2
      • C01510 | Ethernet IP address client x
      • C01511 | Ethernet status client x
      • C01700 | Energy: Mode inform.
      • C01701 | Energy: toff min
      • C01702 | Energy: toff
      • C01703 | Energy: ton
      • C01704 | Energy: Comp. to be switched off
      • C01705 | Energy: Power input
      • C01902 | Diagnostics X6: Max. baud rate
      • C01903 | Diagnostics X6: Change baud rate
      • C01905 | Diagnostics X6: Curr. baud rate
      • C02104 | Program auto-start
      • C02108 | Program status
      • C02109 | Program runtime
      • C02110 | User code memory load
      • C02112 | B. code: Read non-vol. memory
      • C02113 | Program name
      • C02119 | Active target ID
      • C02121 | Runtime task prio. 1
      • C02122 | Runtime task prio. 2
      • C02123 | Runtime task prio. 3
      • C02124 | Runtime task prio. 4
      • C02125 | Runtime task prio. 5
      • C02126 | Runtime task prio. 6
      • C02127 | Runtime task prio. 7
      • C02128 | Runtime task prio. 8
      • C02129 | Runtime task prio. 9
      • C02520 | Gearbox factor numerator: Motor
      • C02521 | Gearbox factor denom.: Motor
      • C02522 | Gearbox factor num.: Pos. enc.
      • C02523 | Gearbox fac. denom.: Pos. enc.
      • C02524 | Feed constant
      • C02525 | Unit
      • C02526 | User-defined unit
      • C02527 | Motor mounting direction
      • C02528 | Traversing range
      • C02529 | Position encoder mounting dir.
      • C02530 | Active function state
      • C02531 | Gearbox factors (decimal)
      • C02532 | Resolution of a unit
      • C02533 | Time unit
      • C02534 | Used time unit
      • C02535 | Used unit
      • C02536 | Cycle
      • C02537 | Speed unit
      • C02538 | Acceleration unit
      • C02539 | Max. presentable position
      • C02540 | Max. presentable speed
      • C02541 | Max. presentable acceleration
      • C02542 | Load reference speed
      • C02543 | Load reference torque
      • C02544 | Reference speed
      • C02545 | Reference S-ramp time
      • C02547 | DI_dnState
      • C02548 | DI_bErrors
      • C02549 | Drive interface: Signals
      • C02550 | Setpoint interpolation
      • C02552 | Position setpoint (mctrl)
      • C02553 | Position controller gain
      • C02554 | Position controller reset time
      • C02555 | D component position controller
      • C02556 | Pos. contr. limitation
      • C02557 | Phase controller output
      • C02558 | Pos. contr. output
      • C02559 | Internal torque limits
      • C02560 | Messages - motor interface
      • C02561 | Speed feedforw. control gain
      • C02562 | Filter time constant
      • C02564 | Service code
      • C02567 | Control mode
      • C02568 | Motor interface: % signals
      • C02569 | Motor interface.: Dig. signals
      • C02570 | Position control structure
      • C02572 | Speed setpoint (enc. eval.)
      • C02573 | Position setpoint (enc. eval.)
      • C02574 | Actual speed (enc. eval.)
      • C02575 | Actual position (enc. eval.)
      • C02576 | Following error
      • C02577 | External actual position
      • C02578 | Offset actual pos. value/setp.
      • C02579 | Encoder eval.: Dig. signals
      • C02580 | Operating mode brake
      • C02581 | Threshold - brake activation
      • C02582 | Brake resp. to pulse inhibit
      • C02583 | Status input monitoring
      • C02585 | Brake control polarity
      • C02586 | Starting torque 1
      • C02587 | Starting torque 2
      • C02588 | Source of starting torque
      • C02589 | Brake closing time
      • C02590 | Brake opening time
      • C02591 | Waiting time - state monitoring
      • C02593 | Waiting time - brake activation
      • C02594 | Test torque
      • C02595 | Permissible angle of rotation
      • C02596 | Grinding speed
      • C02597 | Accel./decel. time - grinding
      • C02598 | Grinding ON time
      • C02599 | Grinding OFF time
      • C02600 | Acceleration time feedf. control
      • C02601 | Ref. for Accel. time of brake
      • C02602 | Source for feedf. control brake
      • C02603 | Threshold 1 for opening brake
      • C02604 | Threshold 2 for opening brake
      • C02605 | Brake test - time
      • C02607 | BRK_dnState
      • C02608 | BRK_dnTorqueAdd_n
      • C02609 | Brake control: Dig. signals
      • C02610 | Deceleration time for stop
      • C02611 | S-ramp time for stop
      • C02612 | Ref. for decel. time of stop
      • C02616 | STP_dnState
      • C02617 | STP_bStopActive
      • C02619 | Quick stop: Dig. signals
      • C02620 | Manual jog: Speed 1
      • C02621 | Manual jog: Speed 2
      • C02622 | Manual jog: Acceleration
      • C02623 | Manual jog: Deceleration
      • C02624 | Manual jog: S-ramp time
      • C02625 | Manual jog: Step size
      • C02626 | Manual jog:Index Stop position
      • C02627 | Manual jog:Selected Stop position
      • C02637 | MAN_dnSpeedOverride_n
      • C02638 | Manual jog: Status
      • C02639 | Manual jog: Dig. signals
      • C02640 | Homing mode
      • C02641 | Action after detect Home position
      • C02642 | Home position
      • C02643 | Homing: Target position
      • C02644 | Homing: Speed 1
      • C02645 | Homing: Acceleration 1
      • C02646 | Homing: Speed 2
      • C02647 | Homing: Acceleration 2
      • C02648 | Homing: S-ramp time
      • C02649 | Homing: Torque limit
      • C02650 | Homing: Blocking time
      • C02651 | Homing: TP configuration
      • C02652 | Ref. pos. after mains switching
      • C02653 | Max. rot. ang. aft. mns. swtch.
      • C02655 | HM_dnSpeedOverride_n
      • C02656 | Actual position (homing)
      • C02657 | HM_dnState
      • C02658 | HM_dnHomePos_p
      • C02659 | Homing: Dig. signals
      • C02670 | Tolerance for POS_bActPosInTarget
      • C02671 | Tolerance for POS_bDriveInTarget
      • C02672 | Hysteresis for POS_bDriveInTarget
      • C02673 | Activate DriveInTarget Modulo
      • C02674 | POS_dwActualProfileNumber
      • C02675 | POS_dnState
      • C02676 | POS_dnProfileSpeed_s
      • C02677 | Positioning: % signals
      • C02678 | Positioning: Pos. signals
      • C02679 | Positioning: Dig. signals
      • C02680 | Source position setpoint
      • C02681 | Source add. speed
      • C02685 | PF_dnMotorAcc_x
      • C02686 | PF_dnSpeedAdd1_s
      • C02687 | Position follower: % signals
      • C02688 | PF_dnPositionSet_p
      • C02689 | Position follower: Dig. signals
      • C02692 | SF_dnMotorAcc_x
      • C02693 | SF_dnSpeedAdd_s
      • C02694 | Speed follower: % signals
      • C02695 | Speed follower: Dig. signals
      • C02698 | Torque follower: % signals
      • C02699 | Torque follower: Dig. signals
      • C02700 | Software limits pos. effective
      • C02701 | Software limit positions
      • C02702 | Limitations effective
      • C02703 | Max. speed
      • C02704 | Max. speed [rpm]
      • C02705 | Max. acceleration
      • C02706 | Min. S-ramp time
      • C02707 | Permissible direction of rot.
      • C02708 | Limited speed
      • C02709 | Limited speed [rpm]
      • C02710 | Delay lim. speed
      • C02711 | S-ramp time lim. speed
      • C02712 | Decel. time lim. speed
      • C02713 | Max. dist. manual control
      • C02714 | Max. dist. manual jog [inc.]
      • C02715 | Limitation active
      • C02716 | Resp. to limitation
      • C02717 | LIM_dwControl
      • C02718 | LIM_dnState
      • C02719 | Limiter: Dig. signals
      • C02720 | observation software limit positions
      • C02730 | Analog inputs: Gain
      • C02731 | Analog inputs: Offset
      • C02732 | Analog inputs: Dead band
      • C02733 | Analog outputs: Gain
      • C02734 | Analog outputs: Offset
      • C02760 | Activate encoder
      • C02761 | Multiturn resolution
      • C02762 | Encoderpos
      • C02763 | Encoderrev
      • C02764 | Encoderspeed
      • C02765 | Enc_bError
      • C02770 | Operating mode
      • C02771 | Frequency
      • C02772 | Starting angle
      • C02773 | Current
      • C02774 | Acceleration time
      • C02775 | Deceleration time
      • C02776 | Time
      • C02779 | MOL_SetpointCurrent
      • C02780 | MOL_dnState
      • C02781 | ManualJogOpenLoop: Dig. signals
      • C02785 | PPI activation
      • C02786 | PPI mode
      • C02787 | PPI_dnState
      • C02788 | PolePosition setpoint
      • C02789 | PolePositionIdentification: Dig. signals
      • C02800 | Analog input x: Input signal
      • C02801 | Analog output x: Output signal
      • C02802 | Status word: Digital outputs
      • C02803 | Status word: Digital inputs
      • C02810 | Touch probe x: Delay time
      • C02830 | Digital inputs: Delay time
      • C02853 | Lss sat. characteristic
      • C02855 | Imax f. Lss sat. characteristic
      • C02859 | Activate Lss sat. char.
      • C02860 | Rr adjustment
      • C02861 | Lh adjustment
      • C02862 | Resolver: Gain
      • C02863 | Resolver: phase correction
      • C02865 | Adaptation of Ur
      • C02867 | Motor phase failure volt. threshold
      • C02871 | Voltage reserve
      • C02900 | User Password
      • C02901 | CamMemory
      • C02902 | Timestamp
      • C02903 | GUID
      • C02905 | Online Change Mode
      • C02906 | Online Change State
      • C02908 | Product Count
      • C02909 | Active Product
      • C02910 | Product Name
      • C02911 | Product Choice
      • C02912 | Product Count
      • C02919 | Number Of Cam Tracks
      • C02920 | Cam Track Choice
      • C02921 | Cam Track Type
      • C02922 | Number Of Cam Data Points
      • C02923 | Cam Data Point Choice
      • C02924 | Change Cam Data Point X
      • C02925 | Change Cam Data Point Y
      • C02926 | Change Cam Data Point M
      • C02927 | Auto Inc Cam Data Points
      • C02939 | Number Of Cont Tracks
      • C02940 | Cont Track Choice
      • C02941 | Cont Type
      • C02942 | Number Of Cont Data Points
      • C02943 | Cont Data Point Choice
      • C02944 | Cont Pos X0
      • C02945 | Cont Pos X1
      • C02946 | Cont Time
      • C02959 | Number of Pos Tracks
      • C02960 | Pos Track Choice
      • C02962 | Number of Pos Data Points
      • C02963 | Pos Data Point Choice
      • C02964 | Change Pos Data Point X
      • C02965 | Change Pos Data Point Y
    • 15.3 Table of attributes
  • Index
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