S-0-0011

Class 1 diagnostic (C1D).

This parameter provides information on detected errors.

A class 1 diagnostics error leads to a Quick Stop (with transition to operating state Fault).

Type: Hexadecimal - 2 bytes

Write access via Sercos: Read only

-

0

0

65535

R/-

-

-

IDN S-0-0011

S-0-0012

Class 2 diagnostic (C2D).

This parameter provides information on warnings.

Type: Hexadecimal - 2 bytes

Write access via Sercos: Read only

-

0

0

65535

R/-

-

-

IDN S-0-0012

S-0-0014

Interface Status.

This parameter contains the status of the SERCOS interface.

Type: Binary - 2 bytes

Write access via Sercos: Read only

Class name: SCP_VarCFG

-

0

0

16383

R/-

-

-

IDN S-0-0014

S-0-0017

IDN-list of all operation data.

This parameter contains all procedure commands and parameters supported by the drive.

Type: IDN - 4 bytes (variable length)

Write access via Sercos: Read only

Class name: GDP_Basic

-

-

-

-

R/-

-

-

IDN S-0-0017

S-0-0021

IDN list of invalid operation data for CP2.

This parameter contains an IDN list with IDNs which are considered invalid by the drive when it performs the CP3 transition check (S-0-0127).

Type: IDN - 4 bytes (variable length)

Write access via Sercos: Read only

Class name: SCP_VarCFG, SCP_Diag

-

-

-

-

R/-

-

-

IDN S-0-0021

S-0-0022

IDN list of invalid operation data for CP3.

This parameter contains an IDN list with IDNs which are considered invalid by the drive when it performs the CP4 transition check (S-0-0128).

Type: IDN - 4 bytes (variable length)

Write access via Sercos: Read only

Class name: SCP_VarCFG, SCP_Diag

-

-

-

-

R/-

-

-

IDN S-0-0022

S-0-0032

Primary Operation Mode.

This parameter sets the primary operating mode of the drive. The operating mode is started via bits 8, 9 and 10 in the parameter Drive Control (S-0-0134). The active operating mode is indicated by bits 8, 9 and 10 in the status word (S-0-0135).

Type: Hexadecimal - 2 bytes

Write access via Sercos: CP2, CP3

-

3

3

3

R/W

-

-

IDN S-0-0032

S-0-0033

Secondary Operation Mode 1.

This parameter sets the secondary operating mode 1 of the drive. The operating mode is started via bits 8, 9 and 10 in the parameter Drive Control (S-0-0134). The active operating mode is indicated by bits 8, 9 and 10 in the status word (S-0-0135).

Type: Hexadecimal - 2 bytes

Write access via Sercos: CP2, CP3

-

2

2

2

R/W

-

-

IDN S-0-0033

S-0-0034

Secondary Operation Mode 2.

This parameter sets the secondary operating mode 2 of the drive. The operating mode is started via bits 8, 9 and 10 in the parameter Drive Control (S-0-0134). The active operating mode is indicated by bits 8, 9 and 10 in the status word (S-0-0135).

Type: Hexadecimal - 2 bytes

Write access via Sercos: CP2, CP3

-

1

1

1

R/W

-

-

IDN S-0-0034

S-0-0047

Position Command Value.

This parameter contains the target values for operating modes with position target values.

Type: Signed decimal - 4 bytes

Write access via Sercos: CP2, CP3, CP4

-

-2147483648

-

2147483647

R/W

-

-

IDN S-0-0047

S-0-0051

Position Feedback Value 1 (motor feedback.)

This parameter contains the position data of the motor encoder.

Type: Signed decimal - 4 bytes

Write access via Sercos: Read only

-

-2147483648

-

2147483647

R/-

-

-

IDN S-0-0051

S-0-0099

Reset class 1 diagnostic.

If this procedure command is received by the drive via the service channel, the detected errors, the error bits and the shut-down mechanism are cleared.

Type: Binary - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Class name: GDP_Basic

-

0

0

7

R/W

-

-

IDN S-0-0099

S-0-0127

CP3 transition check.

This procedure command instructs the drive to verify that all parameters necessary for CP3 have been transferred. If an error is detected, parameter S-0-0021 contains the appropriate IDNs. After correct termination of the command by the master, the master can activate CP3.

Type: Binary - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Class name: SCP_VarCFG

-

0

-

3

R/W

-

-

IDN S-0-0127

S-0-0128

CP4 transition check.

This procedure command instructs the drive to verify that all parameters necessary for CP4 have been transferred. If an error is detected, parameter S-0-0022 contains the appropriate IDNs. After correct termination of the command by the master, the master can activate CP4.

Type: Binary - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Class name: SCP_VarCFG

-

0

-

3

R/W

-

-

IDN S-0-0128

S-0-0134

Drive Control.

This parameter contains the control word.

Type: Hexadecimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

-

0

-

65535

R/W

-

-

IDN S-0-0134

S-0-0135

Drive Status.

This parameter contains the status word of the AT. It can be used for diagnostics purposes.

Type: Hexadecimal - 2 bytes

Write access via Sercos: Read only

-

0

-

65535

R/-

-

-

IDN S-0-0135

S-0-0148

Drive controlled homing procedure command.

This parameter starts homing with the homing method settings made in the drive objects. See the product manual for details on homing.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

-

0

-

3

R/W

-

-

IDN S-0-0148

S-0-0187

IDN list of configurable data as producer.

This parameter contains a list of all IDNs with operation data (feedback values) which can be cyclically processed by the drive.

Type: IDN - 4 bytes (variable length)

Write access via Sercos: Read only

Class name: SCP_VarCFG

-

-

-

-

R/-

-

-

IDN S-0-0187

S-0-0188

IDN list of configurable data as consumer.

This parameter contains a list of all IDNs with operation data command values) which can be cyclically processed by the drive.

Type: IDN - 4 bytes (variable length)

Write access via Sercos: Read only

Class name: SCP_VarCFG

-

-

-

-

R/-

-

-

IDN S-0-0188

S-0-0390

Diagnostic number.

The operation data of this parameter contains detailed information on the diagnostics event with the highest priority which is currently active in the drive.

Type: Hexadecimal - 4 bytes

Write access via Sercos: Read only

Class name: GDP_Basic

-

0

0

4294967295

R/-

-

-

IDN S-0-0390

S-0-1000.0.0

SCP Type & Version.

This parameter contains a list of the SERCOS communication capabilities/communication classes and the appropriate version supported by the drive.

Type: Hexadecimal - 2 bytes (variable length)

Write access via Sercos: Read only

Class name: SCP_VarCFG

-

-

-

-

R/-

-

-

IDN S-0-1000.0.0

S-0-1002

Communication Cycle time (tScyc).

This parameter specifies the intervals at which the cyclic real-time data is transmitted. Possible values are 1000 µs, 2000 µs and 4000 µs.

Type: Unsigned decimal - 4 bytes

Write access via Sercos: CP2

Class name: SCP_VarCFG

In increments of 0.001 µs.

µs

1000.000

1000.000

4000.000

R/W

-

-

IDN S-0-1002

S-0-1003

Allowed MST losses in CP3/CP4.

This parameter specifies the maximum number of successive communication cycles during which a drive is permitted to not receive the MST in CP3 and CP4.

Type: Unsigned decimal - 4 bytes

Write access via Sercos: CP2

Class name: SCP_VarCFG

-

0

2

65535

R/W

-

-

IDN S-0-1003

S-0-1005

Minimum feedback processing time (t5).

This parameter specifies the time required by the drive for receiving and processing actual values (such as encoder or touch probe data) and providing them in ATs.

Type: Unsigned decimal - 4 bytes

Write access via Sercos: Read only

Class name: SCP_Sync

In increments of 0.001 µs.

µs

-

-

-

R/-

-

-

IDN S-0-1005

S-0-1006

AT0 transmission starting time (t1).

This parameter specifies the nominal time interval between the end of MST and the beginning of AT0.

Type: Unsigned decimal - 4 bytes

Write access via Sercos: CP2

Class name: SCP_Sync

In increments of 0.001 µs.

µs

-

-

-

R/W

-

-

IDN S-0-1006

S-0-1007

Synchronisation Time (tSync).

This parameter specifies the point in time at which all producer cycle times (producing and consuming connections) in a drive are synchronized. This value is set by the master. It must be less than the value for the synchronization cycle time. The synchronization cycle time is the least common multiple of all producer cycle times (tPcyc) to be synchronized in the network.

Type: Unsigned decimal - 4 bytes

Write access via Sercos: CP2

Class name: SCP_Sync

In increments of 0.001 µs.

µs

0

-

4294967.295

R/W

-

-

IDN S-0-1007

S-0-1008

MDT Command value valid time (t3).

This parameter determines the point in time at which the drive is permitted to access the new reference values, related to the synchronization time.

Type: Unsigned decimal - 4 bytes

Write access via Sercos: CP2

Class name: SCP_Sync

In increments of 0.001 µs.

µs

0

-

4000.000

R/W

-

-

IDN S-0-1008

S-0-1009

Device Control Offset in MDT.

This parameter specifies the MDT number and the position within the specified MDT for device control. This parameter is transferred by the master to each drive during CP2 and becomes effective in the master and drive in CP3.

Type: Hexadecimal - 2 bytes

Write access via Sercos: CP2

Class name: SCP_VarCFG

-

0

-

1492

R/W

-

-

IDN S-0-1009

S-0-1010

Lengths of MDTs.

This parameter contains the lengths of the four possible MDTs in octets. These values are required for the initialization of the SERCOS hardware.

Type: Unsigned decimal - 2 bytes (variable length)

Write access via Sercos: CP2

Class name: SCP_VarCFG

-

0

-

1494

R/W

-

-

IDN S-0-1010

S-0-1011

Device Status Offset in AT.

This parameter specifies the position of the status field of the drive in the AT in octets. This parameter is transferred by the master to each drive during CP2 and becomes effective in the master and drive in CP3.

Type: Hexadecimal - 2 bytes

Write access via Sercos: CP2

Class name: SCP_VarCFG

-

0

-

1492

R/W

-

-

IDN S-0-1011

S-0-1012

Length of Ats.

This parameter contains the lengths of the four possible ATs in octets. These values are required for the initialization of the SERCOS hardware.

Type: Unsigned decimal - 2 bytes (variable length)

Write access via Sercos: CP2

Class name: SCP_VarCFG

-

0

-

1494

R/W

-

-

IDN S-0-1012

S-0-1013

SVC offset in MDT.

This parameter specifies the position of the service channel in the MDT for the drive. This parameter is transferred by the master to each drive during CP2 and becomes effective in CP3.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2

Class name: SCP_VarCFG

-

0

-

1484

R/W

-

-

IDN S-0-1013

S-0-1014

SVC offset in AT.

This parameter specifies the position of the service channel in the AT for the drive. This parameter is transferred by the master to each drive during CP2 and becomes effective in CP3.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2

Class name: SCP_VarCFG

-

0

-

1484

R/W

-

-

IDN S-0-1014

S-0-1015

Ring delay.

This parameter contains the entire ring delay determined by the master. The master assigns this value to the drives.

Type: Unsigned decimal - 4 bytes

Write access via Sercos: CP2, CP3, CP4

Class name: SCP_Sync

In increments of 0.001 µs.

µs

0

-

1048.575

R/W

-

-

IDN S-0-1015

S-0-1016

Slave delay (P/S).

This parameter contains the slave delay. After the master has assigned the ring delay (S-0-1015) to the slaves, the slaves measure their own delay (SYNCCNT-P/SYNCCNT-S) when the procedure command S-0-1024 is executed.

Type: Unsigned decimal - 4 bytes (variable length)

Write access via Sercos: Read only

Class name: SCP_Sync

In increments of 0.001 µs.

µs

0

-

4294967.296

R/-

-

-

IDN S-0-1016

S-0-1017

NRT transmission time.

This parameter contains the NRT transmission time.

Type: Hexadecimal - 1 byte (variable length)

Write access via Sercos: Read only

Class name: SCP_VarCFG

µs

0

650000

4000000

R/-

-

-

IDN S-0-1017

S-0-1019

MAC Address.

The drive writes its MAC address to this parameter.

Type: Unsigned decimal - 1 byte (variable length)

Write access via Sercos: CP2, CP3, CP4

Class name: SCP_NRT

-

-

-

-

R/W

-

-

IDN S-0-1019

S-0-1020

Current IP address.

This parameter contains the IP address of the SERCOS III interface of the drive. The master can change the IP address by writing this parameter.

Type: Unsigned decimal - 1 byte (variable length)

Write access via Sercos: CP2, CP3, CP4

Class name: SCP_NRT

-

-

-

-

R/W

-

-

IDN S-0-1020

S-0-1021

Subnet Mask.

This parameter contains the subnet mask. The master can change the subnet mask for IP communication via the NRT channel.

Type: Unsigned decimal - 1 byte (variable length)

Write access via Sercos: CP2, CP3, CP4

Class name: SCP_NRT

-

-

-

-

R/W

-

-

IDN S-0-1021

S-0-1022

Gateway address.

This parameter contains the gateway address. The master can change the gateway address for IP communication via the NRT channel.

Type: Unsigned decimal - 1 byte (variable length)

Write access via Sercos: CP2, CP3, CP4

Class name: SCP_NRT

-

-

-

-

R/W

-

-

IDN S-0-1022

S-0-1023

SYNC jitter.

This parameter contains the maximum synchronization jitter. The synchronization jitter is used by the drive to calculate the MST window (2 x synchronization jitter). This parameter is transmitted to all drives supporting SCP_Sync.

Type: Unsigned decimal - 4 bytes

Write access via Sercos: CP2

Class name: SPC_Sync

In increments of 0.001 µs.

µs

-

-

-

R/W

-

-

IDN S-0-1023

S-0-1024

SYNC delay measuring procedure command.

This procedure command causes the drive to determine its slave delay (S-0-1016) depending on the ring delay (S-0-1015).

Type: Binary - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Class name: SCP_Sync

-

0

0

3

R/W

-

-

IDN S-0-1024

S-0-1026

Version of communication hardware.

This parameter contains the SERCOS III-specific communication hardware identification.

Type: Text - 1 byte (variable length)

Write access via Sercos: Read only

Class name: SCP_VarCFG

-

-

-

-

R/-

-

-

IDN S-0-1026

S-0-1027.0.1

Requested MTU.

The requested MTU specifies the maximum number of octets that can be sent via the NRT channel by higher layers.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2

Class name: SCP_NRT

-

46

-

1500

R/W

-

-

IDN S-0-1027.0.1

S-0-1027.0.2

Effective MTU.

This parameter contains the current MTU. The current MTU is calculated using the parameters S-0-1017 and S-0-1027.0.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: Read only

Class name: SCP_NRT

-

46

-

1500

R/-

-

-

IDN S-0-1027.0.2

S-0-1028

Error counter MST P/S.

This parameter is an error counter which is incremented if no valid MST is received at port 1 or port 2 during CP 3 and CP4.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: Read only

Class name: SCP_Diag

-

0

0

65535

R/-

-

-

IDN S-0-1028

S-0-1031

Test pin assignment Port 1 & Port 2.

This parameter is used to assign communication-related hardware signals to the test pins TS1 and TS2.

Type: Binary - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Class name: SCP_Diag

-

0

0

3855

R/W

-

-

IDN S-0-1031

S-0-1035

Error counter Port1 and Port2.

This parameter is an error counter which counts the detected Ethernet errors.

Type: Hexadecimal - 4 bytes

Write access via Sercos: CP2, CP3, CP4

Class name: SCP_VarCFG

-

0

0

65535

R/W

-

-

IDN S-0-1035

S-0-1040

SERCOS address.

This parameter contains the SERCOS device address assigned to the drive.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Class name: SCP_VarCFG

-

0

0

511

R/W

-

-

IDN S-0-1040

S-0-1040.0.128

Topology address.

This parameter contains the topology address of the drive (physical position in the network). This address is independent of the SERCOS address. This parameter is a manufacturer-specific extension of the standard parameter.

Type: IDN - 2 bytes

Write access via Sercos: Read only

-

0

0

511

R/-

-

-

IDN S-0-1040.0.128

S-0-1041

AT Command value valid time (t9).

This parameter determines the point in time at which the drive is permitted to access the new reference values from the AT.

Type: Unsigned decimal - 4 bytes

Write access via Sercos: CP2

Class name: SCP_Sync

In increments of 0.001 µs.

µs

0

-

4000.000

R/W

-

-

IDN S-0-1041

S-0-1044

Device Control.

This parameter contains the control information (for example, topology control, fast-forward, loopback, physical topology, ring, etc.) set by the master and evaluated by the drive.

Type: Hexadecimal - 2 bytes

Write access via Sercos: Read only

Class name: SCP_Diag

-

-

-

-

R/-

-

-

IDN S-0-1044

S-0-1045

Device Status.

This parameter contains the status information (for example, topology status, fast-forward, loopback, physical topology, ring, etc.) set by the drive and evaluated by the master.

Type: Hexadecimal - 2 bytes

Write access via Sercos: Read only

Class name: SCP_Diag

-

-

-

-

R/-

-

-

IDN S-0-1045

S-0-1046

List of SERCOS addresses in device.

If a device comprises multiple SERCOS slaves, this parameter contains the SERCOS addresses of the slaves that participate in the communication.

Type: Unsigned decimal - 2 bytes (variable length)

Write access via Sercos: Read only

Class name: SCP_VarCFG

-

1

1

1

R/-

-

-

IDN S-0-1046

S-0-1050.x.01

Connection setup.

This parameter is used to configure connections.

Type: Hexadecimal - 2 bytes

Write access via Sercos: CP2

Class name: SCP_VarCFG, SCP_Sync, SCP_WDCon

-

0

8218

65535

R/W

-

-

IDN S-0-1050.x.01

S-0-1050.x.02

Connection Number.

The connection number is used to identify a connection. The producer and all consumers of the same connection have the same connection number.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2

Class name: SCP_VarCFG

-

0

0

65535

R/W

-

-

IDN S-0-1050.x.02

S-0-1050.x.03

Telegram Assignment.

This parameter contains the telegram type (MDT or AT), the telegram number and the telegram offset of connection control for this connection.

Type: Hexadecimal - 2 bytes

Write access via Sercos: CP2

Class name: SCP_VarCFG

-

0

0

15828

R/W

-

-

IDN S-0-1050.x.03

S-0-1050.x.04

Max. Length Of Connection.

This parameter specifies the maximum length of this connection.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: Read only

Class name: SCP_VarCFG

-

2

2

200

R/-

-

-

IDN S-0-1050.x.04

S-0-1050.x.05

Current length of connection.

This parameter specifies the current length of this connection.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: Read only

Class name: SCP_VarCFG

-

2

2

200

R/-

-

-

IDN S-0-1050.x.05

S-0-1050.x.06

Configuration List.

If the connection data is configured via IDNs (type of connection, bit 5-4 = 00, in S-0-1050.x.01), this parameter contains the list of IDNs within this connection.

Type: IDN - 4 bytes (variable length)

Write access via Sercos: CP2

Class name: SCP_VarCFG

-

-

-

-

R/W

-

-

IDN S-0-1050.x.06

S-0-1050.x.08

Connection Control (C-Con).

This parameter contains the image of the control word C-Con of this connection.

Type: Unsigned decimal - 4 bytes

Write access via Sercos: CP2

Class name: SCP_Diag

In increments of 0.001 .

-

-

-

-

R/W

-

-

IDN S-0-1050.x.08

S-0-1050.x.10

Producer Cycle Time.

This parameter contains the producer cycle time. The producer cycle time should be an integer multiple of the communication cycle time.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2

Class name: SCP_Sync, SCP_WDCon

µs

31250

1000000

4294967296

R/W

-

-

IDN S-0-1050.x.10

S-0-1050.x.11

Allowed Data Losses.

This parameter specifies the maximum amount of consecutive producer data that may be lost before a connection is closed.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: Read only

Class name: SCP_Sync, SCP_WDCon

-

1

1

65535

R/-

-

-

IDN S-0-1050.x.11

S-0-1050.x.12

Error Counter Data Losses.

This parameter is a counter which counts the amount of producer data lost.

Type: Hexadecimal - 2 bytes (variable length)

Write access via Sercos: Read only

Class name: SCP_Sync, SCP_Diag

-

0

0

65535

R/-

-

-

IDN S-0-1050.x.12

S-0-1051.0.0

Image of connection setups.

This parameter contains the actual state of all the connections of the drive, corresponding to the parameter S-0-1050.x.1.

Type: Unsigned decimal - 4 bytes (variable length)

Write access via Sercos: CP2

Class name: SCP_VarCFG

In increments of 0.001 .

-

-

-

-

R/W

-

-

IDN S-0-1051.0.0

S-0-1300.0.02

Vendor Name.

This parameter contains the vendor-specific name of the device.

Type: Text - 1 byte (variable length)

Write access via Sercos: Read only

Class name: GDP_Id

-

-

-

-

R/-

-

-

IDN S-0-1300.0.02

S-0-1300.0.03

Vendor Code.

This parameter contains the vendor code. The vendor code is a unique number assigned to each vendor and helps to identify a SERCOS device.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: Read only

Class name: GDP_Basic

-

1

1

1

R/-

-

-

IDN S-0-1300.0.03

S-0-1300.0.04

Device Name.

This parameter contains the device name published in vendor's price list.

Type: Text - 1 byte (variable length)

Write access via Sercos: Read only

Class name: GDP_Id

-

0

-

255

R/-

-

-

IDN S-0-1300.0.04

S-0-1300.0.05

Vendor Device ID.

The parameter contains the vendor device ID. The vendor device ID is a unique device ID managed by the vendor; it identifies the component number.

Type: Text - 1 byte (variable length)

Write access via Sercos: Read only

Class name: GDP_Basic

-

0

-

255

R/-

-

-

IDN S-0-1300.0.05

S-0-1300.0.08

Hardware Revision.

This parameter contains the hardware revision of the device.

Type: Text - 1 byte (variable length)

Write access via Sercos: Read only

-

0

-

255

R/-

-

-

IDN S-0-1300.0.08

S-0-1300.0.09

Software Revision.

This parameter contains the firmware version of the drive.

Type: Text - 1 byte (variable length)

Write access via Sercos: Read only

-

0

-

255

R/-

-

-

IDN S-0-1300.0.09

S-0-1300.0.11

Order Number.

This parameter contains the order number of the drive.

Type: Text - 1 byte (variable length)

Write access via Sercos: Read only

-

-

-

-

R/-

-

-

IDN S-0-1300.0.11

S-0-1300.0.12

Serial Number.

This parameter contains the serial number of the drive.

Type: Text - 1 byte (variable length)

Write access via Sercos: Read only

Class name: GDP_Id

-

0

-

255

R/-

-

-

IDN S-0-1300.0.12

S-0-1300.1.09

Software Revision.

This parameter contains the software version of the SERCOS III Communication Option.

Type: Text - 1 byte (variable length)

Write access via Sercos: Read only

-

0

-

255

R/-

-

-

IDN S-0-1300.1.09

S-0-1300.1.10

Firmware Loader Revision.

This parameter contains the revision of the firmware loader or bootloader implemented in the drive.

Type: Text - 1 byte (variable length)

Write access via Sercos: Read only

-

0

-

255

R/-

-

-

IDN S-0-1300.1.10

S-0-1300.2.09

Software Revision.

This parameter contains the software version of the FPGA of the SERCOS communication option.

Type: Text - 1 byte (variable length)

Write access via Sercos: Read only

-

0

-

255

R/-

-

-

IDN S-0-1300.2.09

S-0-1301

List of GDP classes & Version.

This parameter contains a list of the generic profile capabilities and the versions supported by the drive.

Type: Hexadecimal - 2 bytes (variable length)

Write access via Sercos: Read only

Class name: GDP_Basic

-

257

-

5889

R/-

-

-

IDN S-0-1301

S-0-1302.0.01

FSP Type & Version.

This parameter contains the function-specific type and the function-dependent version of the resource.

Type: Hexadecimal - 4 bytes

Write access via Sercos: Read only

Class name: GDP_Basic

-

0

-

4294967295

R/-

-

-

IDN S-0-1302.0.01

S-0-1302.0.02

Function groups.

The operation data of this parameter contains a list of all instanced function groups.

Type: IDN - 4 bytes (variable length)

Write access via Sercos: Read only

Class name: GDP_Basic

-

0

-

4294967295

R/-

-

-

IDN S-0-1302.0.02

S-0-1302.0.03

Application Type.

The operation data of this parameter contains the type of the sub-device application (for example, main spindle drive, round axis, X axis, etc.).

Type: Text - 1 byte (variable length)

Write access via Sercos: CP2, CP3, CP4

Class name: GDP_Id

-

0

-

255

R/W

-

-

IDN S-0-1302.0.03

_AccessInfo

Access channel information.

Low byte: Exclusive access

Value 0: No

Value 1: Yes

High byte: Access channel

Value 0: Reserved

Value 1: I/O

Value 2: HMI

Value 3: Modbus RS485

Value 4: Fieldbus main channel

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 280

IDN P-0-3001.0.12

_actionStatus

Action word.

Signal state:

0: Not activated

1: Activated

Bit assignments:

Bit 0: Error class 0

Bit 1: Error class 1

Bit 2: Error class 2

Bit 3: Error class 3

Bit 4: Error class 4

Bit 5: Reserved

Bit 6: Motor is at a standstill (_n_act < 9 RPM)

Bit 7: Motor movement in positive direction

Bit 8: Motor movement in negative direction

Bit 9: Assignment can be set via parameter DPL_intLim

Bit 10: Assignment can be set via parameter DS402intLim

Bit 11: Profile generator idle (reference velocity is 0)

Bit 12: Profile generator decelerates

Bit 13: Profile generator accelerates

Bit 14: Profile generator moves at constant speed

Bit 15: Reserved

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 7176

IDN P-0-3028.0.4

_AT_J

Moment of inertia of the system.

Is automatically calculated during Autotuning.

Type: Unsigned decimal - 2 bytes

In increments of 0.1 kg cm².

kg cm²

0.1

0.1

6553.5

UINT16

R/-

per.

-

Modbus 12056

IDN P-0-3047.0.12

_AT_M_friction

Friction torque of the system.

Is determined during Autotuning.

Type: Unsigned decimal - 2 bytes

In increments of 0.01 A_rms.

A_rms

-

-

-

UINT16

R/-

-

-

Modbus 12046

IDN P-0-3047.0.7

_AT_M_load

Constant load torque.

Is determined during Autotuning.

Type: Signed decimal - 2 bytes

In increments of 0.01 A_rms.

A_rms

-

-

-

INT16

R/-

-

-

Modbus 12048

IDN P-0-3047.0.8

_AT_progress

Progress of Autotuning.

Type: Unsigned decimal - 2 bytes

%

0

0

100

UINT16

R/-

-

-

Modbus 12054

IDN P-0-3047.0.11

_AT_state

Autotuning status.

Bit assignments:

Bits 0 ... 10: Last processing step

Bit 13: auto_tune_process

Bit 14: auto_tune_end

Bit 15: auto_tune_err

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 12036

IDN P-0-3047.0.2

_Cap1CountCons

Capture input 1 event counter (continuous).

Counts the capture events.

The event counter is reset when capture input 1 is activated.

By reading this parameter, the parameter "_Cap1PosCons" is updated and locked so it cannot be changed. Both parameter values remain consistent.

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 2606

IDN P-0-3010.0.23

_Cap1Pos

Capture input 1 captured position (one-time).

Captured position at the time of the "capture signal".

The captured position is re-calculated after "Position Setting" or "Reference Movement".

Type: Signed decimal - 4 bytes

usr_p

-

-

-

INT32

R/-

-

-

Modbus 2572

IDN P-0-3010.0.6

_Cap1PosCons

Capture input 1 captured position (continuous).

Captured position at the time of the "capture signal".

The captured position is re-calculated after "Position Setting" or "Reference Movement".

By reading the parameter "_Cap1CountCons", this parameter is updated and locked so it cannot be changed. Both parameter values remain consistent.

Type: Signed decimal - 4 bytes

usr_p

-

-

-

INT32

R/-

-

-

Modbus 2608

IDN P-0-3010.0.24

_Cap2CountCons

Capture input 2 event counter (continuous).

Counts the capture events.

The event counter is reset when capture input 2 is activated.

By reading this parameter, the parameter "_Cap2PosCons" is updated and locked so it cannot be changed. Both parameter values remain consistent.

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 2610

IDN P-0-3010.0.25

_Cap2Pos

Capture input 2 captured position (one-time).

Captured position at the time of the "capture signal".

The captured position is re-calculated after "Position Setting" or "Reference Movement".

Type: Signed decimal - 4 bytes

usr_p

-

-

-

INT32

R/-

-

-

Modbus 2574

IDN P-0-3010.0.7

_Cap2PosCons

Capture input 2 captured position (continuous).

Captured position at the time of the "capture signal".

The captured position is re-calculated after "Position Setting" or "Reference Movement".

By reading the parameter "_Cap2CountCons", this parameter is updated and locked so it cannot be changed. Both parameter values remain consistent.

Type: Signed decimal - 4 bytes

usr_p

-

-

-

INT32

R/-

-

-

Modbus 2612

IDN P-0-3010.0.26

_Cap3CountCons

Capture input 3 event counter (continuous).

Counts the capture events.

The event counter is reset when capture input 3 is activated.

By reading this parameter, the parameter "_Cap3PosCons" is updated and locked so it cannot be changed. Both parameter values remain consistent.

Available with hardware version ≥RS03.

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 2614

IDN P-0-3010.0.27

_Cap3Pos

Capture input 3 captured position (one-time).

Captured position at the time of the "capture signal".

The captured position is re-calculated after "Position Setting" or "Reference Movement".

Available with hardware version ≥RS03.

Type: Signed decimal - 4 bytes

usr_p

-

-

-

INT32

R/-

-

-

Modbus 2598

IDN P-0-3010.0.19

_Cap3PosCons

Capture input 3 captured position (continuous).

Captured position at the time of the "capture signal".

The captured position is re-calculated after "Position Setting" or "Reference Movement".

By reading the parameter "_Cap3CountCons", this parameter is updated and locked so it cannot be changed. Both parameter values remain consistent.

Available with hardware version ≥RS03.

Type: Signed decimal - 4 bytes

usr_p

-

-

-

INT32

R/-

-

-

Modbus 2616

IDN P-0-3010.0.28

_CapStatus

Status of the capture inputs.

Read access:

Bit 0: Position captured via input CAP1

Bit 1: Position captured via input CAP2

Bit 2: Position captured via input CAP3

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 2562

IDN P-0-3010.0.1

_CommutCntAct

Actual value of commutation monitoring counter.

Type: Signed decimal - 2 bytes

Available with firmware version ≥V01.06.

-

-

-

-

INT16

R/-

-

-

Modbus 16324

IDN P-0-3063.0.98

_Cond_State4

Conditions for transition to operating state Ready To Switch On.

Signal state:

0: Condition not met

1: Condition met

Bit 0: DC bus or mains voltage

Bit 1: Inputs for safety function

Bit 2: No configuration download ongoing

Bit 3: Velocity greater than limit value

Bit 4: Absolute position has been set

Bit 5: Holding brake not manually released

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 7244

IDN P-0-3028.0.38

_CTRL_ActParSet

Active control loop parameter set.

Value 1: Control loop parameter set 1 is active

Value 2: Control loop parameter set 2 is active

A control loop parameter set is active after the time for the parameter switching (CTRL_ParChgTime) has elapsed.

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 4398

IDN P-0-3017.0.23

_CTRL_KPid

Current controller d component P gain.

This value is calculated on the basis of the motor parameters.

Type: Unsigned decimal - 2 bytes

In increments of 0.1 V/A.

Modified settings become effective immediately.

V/A

0.5

-

1270.0

UINT16

R/-

per.

-

Modbus 4354

IDN P-0-3017.0.1

_CTRL_KPiq

Current controller q component P gain.

This value is calculated on the basis of the motor parameters.

Type: Unsigned decimal - 2 bytes

In increments of 0.1 V/A.

Modified settings become effective immediately.

V/A

0.5

-

1270.0

UINT16

R/-

per.

-

Modbus 4358

IDN P-0-3017.0.3

_CTRL_TNid

Current controller d component integral action time.

This value is calculated on the basis of the motor parameters.

Type: Unsigned decimal - 2 bytes

In increments of 0.01 ms.

Modified settings become effective immediately.

ms

0.13

-

327.67

UINT16

R/-

per.

-

Modbus 4356

IDN P-0-3017.0.2

_CTRL_TNiq

Current controller q component integral action time.

This value is calculated on the basis of the motor parameters.

Type: Unsigned decimal - 2 bytes

In increments of 0.01 ms.

Modified settings become effective immediately.

ms

0.13

-

327.67

UINT16

R/-

per.

-

Modbus 4360

IDN P-0-3017.0.4

_DCOMopmd_act

Active operating mode.

-6 / Manual Tuning / Autotuning: Manual Tuning / Autotuning

-1 / Jog: Jog

0 / Reserved: Reserved

4 / Profile Torque: Profile Torque

6 / Homing: Homing

8 / Cyclic Synchronous Position: Cyclic Synchronous Position

9 / Cyclic Synchronous Velocity: Cyclic Synchronous Velocity

10 / Cyclic Synchronous Torque: Cyclic Synchronous Torque

Type: Signed decimal - 2 bytes

-

-6

0

10

INT16

R/-

-

-

Modbus 6920

IDN P-0-3027.0.4

_DCOMstatus

DriveCom status word.

Bit assignments:

Bit 0: Operating state Ready To Switch On

Bit 1: Operating state Switched On

Bit 2: Operating state Operation Enabled

Bit 3: Operating state Fault

Bit 4: Voltage Enabled

Bit 5: Operating state Quick Stop

Bit 6: Operating state Switch On Disabled

Bit 7: Error of error class 0

Bit 8: HALT request active

Bit 9: Remote

Bit 10: Target Reached

Bit 11: Internal Limit Active

Bit 12: Operating mode-specific

Bit 13: x_err

Bit 14: x_end

Bit 15: ref_ok

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 6916

IDN P-0-3027.0.2

_DEV_T_current

(Mon)

(tdEV)

Temperature of device.

Type: Signed decimal - 2 bytes

°C

-

-

-

INT16

R/-

-

-

Modbus 7204

IDN P-0-3028.0.18

_ENC_AmplMax

Maximum value of the SinCos amplitude.

This value is only available if monitoring of the SinCos amplitude has been activated.

Type: Unsigned decimal - 2 bytes

Available with firmware version ≥V01.06.

mV

-

-

-

UINT16

R/-

-

-

Modbus 16320

IDN P-0-3063.0.96

_ENC_AmplMean

Mean value of the SinCos amplitude.

This value is only available if monitoring of the SinCos amplitude has been activated.

Type: Unsigned decimal - 2 bytes

Available with firmware version ≥V01.06.

mV

-

-

-

UINT16

R/-

-

-

Modbus 16316

IDN P-0-3063.0.94

_ENC_AmplMin

Minimum value of the SinCos amplitude.

This value is only available if monitoring of the SinCos amplitude has been activated.

Type: Unsigned decimal - 2 bytes

Available with firmware version ≥V01.06.

mV

-

-

-

UINT16

R/-

-

-

Modbus 16318

IDN P-0-3063.0.95

_ENC_AmplVal

Value of the SinCos amplitude.

This value is only available if monitoring of the SinCos amplitude has been activated.

Type: Unsigned decimal - 2 bytes

Available with firmware version ≥V01.06.

mV

-

-

-

UINT16

R/-

-

-

Modbus 16314

IDN P-0-3063.0.93

_Enc2Cos

Cosine signal of encoder 2.

Type: Signed decimal - 2 bytes

In increments of 0.001 V.

Available with firmware version ≥V01.06.

V

-

-

-

INT16

R/-

-

-

Modbus 20746

IDN P-0-3081.0.5

_Enc2Sin

Sine signal of encoder 2.

Type: Signed decimal - 2 bytes

In increments of 0.001 V.

Available with firmware version ≥V01.06.

V

-

-

-

INT16

R/-

-

-

Modbus 20748

IDN P-0-3081.0.6

_ENCAnaHallStatu

Sequence of Hall effect sensor signals of analog encoder.

This parameter can be used to read the sequence of the Hall effect sensor signals of an analog encoder with the interface "SinCos 1Vpp (with Hall)".

Type: Unsigned decimal - 2 bytes

-

0

-

7

UINT16

R/-

-

-

Modbus 20742

IDN P-0-3081.0.3

_ERR_class

Error class.

Value 0: Error class 0

Value 1: Error class 1

Value 2: Error class 2

Value 3: Error class 3

Value 4: Error class 4

Type: Unsigned decimal - 2 bytes

-

0

-

4

UINT16

R/-

-

-

Modbus 15364

IDN P-0-3060.0.2

_ERR_DCbus

DC bus voltage at the time the error was detected.

Type: Unsigned decimal - 2 bytes

In increments of 0.1 V.

V

-

-

-

UINT16

R/-

-

-

Modbus 15374

IDN P-0-3060.0.7

_ERR_enable_cycl

Number of cycles of enabling the power stage at error time.

Number of cycles of enabling the power stage from the time the control voltage was applied to the time the error was detected.

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 15370

IDN P-0-3060.0.5

_ERR_enable_time

Time between enabling of power stage and detection of the error.

Type: Unsigned decimal - 2 bytes

s

-

-

-

UINT16

R/-

-

-

Modbus 15372

IDN P-0-3060.0.6

_ERR_motor_I

Motor current at the time the error was detected.

Type: Unsigned decimal - 2 bytes

In increments of 0.01 A_rms.

A_rms

-

-

-

UINT16

R/-

-

-

Modbus 15378

IDN P-0-3060.0.9

_ERR_motor_v

Motor velocity at the time the error was detected.

Type: Signed decimal - 4 bytes

usr_v

-

-

-

INT32

R/-

-

-

Modbus 15376

IDN P-0-3060.0.8

_ERR_number

Error code.

Reading this parameter copies the entire entry for the detected error (error class, time of detection of error, …) to an intermediate memory from which the elements of the detected error can then be read.

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

Type: Unsigned decimal - 2 bytes

-

0

-

65535

UINT16

R/-

-

-

Modbus 15362

IDN P-0-3060.0.1

_ERR_powerOn

(Mon)

(PoWo)

Number of power on cycles.

Type: Unsigned decimal - 4 bytes

-

0

-

4294967295

UINT32

R/-

-

-

Modbus 15108

IDN P-0-3059.0.2

_ERR_qual

Additional information on detected error.

This entry contains additional information on the detected error, depending on the error number.

Example: a parameter address

Type: Unsigned decimal - 2 bytes

-

0

-

65535

UINT16

R/-

-

-

Modbus 15368

IDN P-0-3060.0.4

_ERR_temp_dev

Temperature of device at the time the error was detected.

Type: Signed decimal - 2 bytes

°C

-

-

-

INT16

R/-

-

-

Modbus 15382

IDN P-0-3060.0.11

_ERR_temp_ps

Temperature of power stage at the time the error was detected.

Type: Signed decimal - 2 bytes

°C

-

-

-

INT16

R/-

-

-

Modbus 15380

IDN P-0-3060.0.10

_ERR_time

Time of detection of error.

With reference to operating hours counter

Type: Unsigned decimal - 4 bytes

s

0

-

536870911

UINT32

R/-

-

-

Modbus 15366

IDN P-0-3060.0.3

_ErrNumFbParSvc

Last error code of fieldbus parameter services.

Some fieldbusses only provide general error codes if a request for a parameter service is not successful. This parameter returns the vendor-specific error code of the last unsuccessful service.

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 16518

IDN P-0-3064.0.67

_eSM_funct

(Mon)

(SMoP)

eSM function.

Active eSM function

Value 0: Safe Torque Off (STO)

Value 1: No function active

Value 2: Safe Operating Stop (SOS)

Value 3: Safely Limited Speed (SLS)

Value 4: Reserved

Value 5: Safe Stop 1 (SS1)

Value 6: Safe Stop 2 (SS2)

Value 7: Safe Operating Stop (SOS) after error

Value 8: Safely Limited Speed (SLS) in machine operating mode Automatic Mode

If bit 15 of the value is set: GUARD_ACK was triggered

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 19502

IDN P-0-3076.0.23

_eSM_LI_act

eSM digital inputs channel B.

Signal state:

0: 0 level

1: 1 level

Bit assignments:

Bit 0: /ESTOP_B

Bit 1: GUARD_B

Bit 3: SETUPMODE_B

Bit 4: SETUPENABLE_B

Bit 6: GUARD_ACK

Bit 8: ESMSTART

Bit 9: /INTERLOCK_IN

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 19492

IDN P-0-3076.0.18

_eSM_LI_mask

eSM digital inputs channel B mask.

Mask of active digital inputs

0: Digital input is not active

1: Digital input is active

Bit assignments:

See digital inputs channel.

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 19494

IDN P-0-3076.0.19

_eSM_LO_act

eSM digital outputs channel B.

Signal state:

0: 0 level

1: 1 level

Bit assignments:

Bit 0: CCM24V_OUT_B

Bit 1: Drive operating state 6 Operation Enabled (B)

Bit 2: RELAY_OUT_B

Bit 3: AUXOUT2

Bit 4: /INTERLOCK_OUT

Bits 5 ... 15: Reserved

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 19496

IDN P-0-3076.0.20

_eSM_state

(Mon)

(SMSt)

eSM operating state.

0 / eSM module missing / (MiSS): eSM module missing

1 / Start / (Strt): Start

2 / Not Ready To Switch On / (nrdy): Not Ready To Switch On

3 / Switch On Disabled / (diS): Switch On Disabled

4 / Ready To Switch On / (rdy): Ready To Switch On

6 / Operation Enabled / (run): Operation Enabled

7 / Quick Stop / (qStP): Quick Stop

8 / Fault Reaction Active / (FLt): Fault Reaction Active

9 / Fault / (FLt): Fault

Status word of eSM state machine

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 19500

IDN P-0-3076.0.22

_eSMVer

eSM revision of firmware.

Revision of firmware:

Bits 0 ... 7: Firmware evolution (dec)

Bits 8 ... 15: Firmware minor revision (dec)

Bits 16 ... 23: Firmware major revision (dec)

Bits 24 ... 31: Reserved

Type: Unsigned decimal - 4 bytes

-

-

-

-

UINT32

R/-

-

-

Modbus 19486

IDN P-0-3076.0.15

_fwNoSlot1

Firmware number of slot 1.

Example: PR0912.00

The value is provided as a decimal value: 91200.

If no module is installed, the value 0 is returned.

Type: Unsigned decimal - 4 bytes

-

-

-

-

UINT32

R/-

-

-

Modbus 558

IDN P-0-3002.0.23

_fwNoSlot2

Firmware number of slot 2.

Example: PR0912.00

The value is provided as a decimal value: 91200.

If no module is installed, the value 0 is returned.

Type: Unsigned decimal - 4 bytes

-

-

-

-

UINT32

R/-

-

-

Modbus 568

IDN P-0-3002.0.28

_fwNoSlot3

Firmware number of slot 3.

Example: PR0912.00

The value is provided as a decimal value: 91200.

If no module is installed, the value 0 is returned.

Type: Unsigned decimal - 4 bytes

-

-

-

-

UINT32

R/-

-

-

Modbus 578

IDN P-0-3002.0.33

_fwNoSlot3Boot

Firmware number of slot 3 (Bootloader).

Example: PR0912.00

The value is provided as a decimal value: 91200.

If no module is installed, the value 0 is returned.

Type: Unsigned decimal - 4 bytes

-

-

-

-

UINT32

R/-

-

-

Modbus 590

IDN P-0-3002.0.39

_fwNoSlot3FPGA

Firmware number of slot 3 (FPGA).

Example: PR0912.00

The value is provided as a decimal value: 91200.

If no module is installed, the value 0 is returned.

Type: Unsigned decimal - 4 bytes

-

-

-

-

UINT32

R/-

-

-

Modbus 584

IDN P-0-3002.0.36

_fwNoSlot3PRU

Firmware number of slot 3 (PRU).

Example: PR0912.00

The value is provided as a decimal value: 91200.

If no module is installed, the value 0 is returned.

Type: Unsigned decimal - 4 bytes

-

-

-

-

UINT32

R/-

-

-

Modbus 596

IDN P-0-3002.0.42

_fwRevSlot1

Firmware revision of slot 1.

The version format is XX.YY.ZZ.

Part XX.YY is contained in parameter _fwVerSlot1.

Part ZZ is used for quality evolution and contained in this parameter.

If no module is installed, the value 0 is returned.

Example: V01.23.45

The value is provided as a decimal value: 45

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 562

IDN P-0-3002.0.25

_fwRevSlot2

Firmware revision of slot 2.

The version format is XX.YY.ZZ.

Part XX.YY is contained in parameter _fwVersSlot2.

Part ZZ is used for quality evolution and contained in this parameter.

If no module is installed, the value 0 is returned.

Example: V01.23.45

The value is provided as a decimal value: 45

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 572

IDN P-0-3002.0.30

_fwRevSlot3

(ConF) → (inF-)

(ArEV)

Firmware revision of slot 3.

The version format is XX.YY.ZZ.

Part XX.YY is contained in parameter _fwVerSlot3.

Part ZZ is used for quality evolution and contained in this parameter.

If no module is installed, the value 0 is returned.

Example: V01.23.45

The value is provided as a decimal value: 45

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 582

IDN P-0-3002.0.35

_fwRevSlot3Boot

(ConF) → (inF-)

(brEV)

Firmware revision of slot 3 (Bootloader).

The version format is XX.YY.ZZ.BB.

Part XX.YY is contained in parameter _fwVerSlot3Boot.

Part ZZ.BB is used for quality evolution and contained in this parameter.

If no module is installed, the value 0 is returned.

Example: V01.23.45.67

The value is provided as a decimal value: 4567

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 594

IDN P-0-3002.0.41

_fwRevSlot3FPGA

(ConF) → (inF-)

(FrEV)

Firmware revision of slot 3 (FPGA).

The version format is XX.YY.ZZ.

Part XX.YY is contained in parameter _fwVerSlot3FPGA.

Part ZZ is used for quality evolution and contained in this parameter.

If no module is installed, the value 0 is returned.

Example: V01.23.45

The value is provided as a decimal value: 45

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 588

IDN P-0-3002.0.38

_fwRevSlot3PRU

(ConF) → (inF-)

(PrEV)

Firmware revision of slot 3 (PRU).

The version format is XX.YY.ZZ.B.

Part XX.YY is contained in parameter _fwVerSlot3PRU.

Part ZZ.B is used for quality evolution and contained in this parameter.

If no module is installed, the value 0 is returned.

Example: V01.23.45.6

The value is provided as a decimal value: 456

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 600

IDN P-0-3002.0.44

_fwVersSlot1

Firmware version of slot 1.

The version format is XX.YY.ZZ.

Part XX.YY is contained in this parameter.

Part ZZ is contained in parameter _fwRevSlot1.

If no module is installed, the value 0 is returned.

Example: V01.23.45

The value is provided as a decimal value: 123

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 560

IDN P-0-3002.0.24

_fwVersSlot2

Firmware version of slot 2.

The version format is XX.YY.ZZ.

Part XX.YY is contained in this parameter.

Part ZZ is contained in parameter _fwRevSlot2.

If no module is installed, the value 0 is returned.

Example: V01.23.45

The value is provided as a decimal value: 123

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 570

IDN P-0-3002.0.29

_fwVersSlot3

(ConF) → (inF-)

(AVEr)

Firmware version of slot 3.

The version format is XX.YY.ZZ.

Part XX.YY is contained in this parameter.

Part ZZ is contained in parameter _fwRevSlot3.

If no module is installed, the value 0 is returned.

Example: V01.23.45

The value is provided as a decimal value: 123

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 580

IDN P-0-3002.0.34

_fwVersSlot3Boot

(ConF) → (inF-)

(bVEr)

Firmware version of slot 3 (Bootloader).

The version format is XX.YY.ZZ.BB.

Part XX.YY is contained in this parameter.

Part ZZ.BB is contained in parameter _fwRevSlot3Boot.

If no module is installed, the value 0 is returned.

Example: V01.23.45.67

The value is provided as a decimal value: 123

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 592

IDN P-0-3002.0.40

_fwVersSlot3FPGA

(ConF) → (inF-)

(FVEr)

Firmware version of slot 3 (FPGA).

The version format is XX.YY.ZZ.

Part XX.YY is contained in this parameter.

Part ZZ is contained in parameter _fwRevSlot3FPGA.

If no module is installed, the value 0 is returned.

Example: V01.23.45

The value is provided as a decimal value: 123

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 586

IDN P-0-3002.0.37

_fwVersSlot3PRU

(ConF) → (inF-)

(PVEr)

Firmware version of slot 3 (PRU).

The version format is XX.YY.ZZ.B.

Part XX.YY is contained in this parameter.

Part ZZ.B is contained in parameter _fwRevSlot3PRU.

If no module is installed, the value 0 is returned.

Example: V01.23.45.6

The value is provided as a decimal value: 123

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 598

IDN P-0-3002.0.43

_HMdisREFtoIDX

Distance from switching point to index pulse.

Allows you to verify the distance between the index pulse and the switching point and serves as a criterion for determining whether the reference movement with index pulse can be reproduced.

The parameter _HMdisREFtoIDX_usr allows you to enter the value in user-defined units.

Type: Signed decimal - 4 bytes

In increments of 0.0001 revolution.

revolution

-

-

-

INT32

R/-

-

-

Modbus 10264

IDN P-0-3040.0.12

_HMdisREFtoIDX_usr

Distance from switching point to index pulse.

Allows you to verify the distance between the index pulse and the switching point and serves as a criterion for determining whether the reference movement with index pulse can be reproduced.

Type: Signed decimal - 4 bytes

usr_p

-2147483648

-

2147483647

INT32

R/-

-

-

Modbus 10270

IDN P-0-3040.0.15

_hwVersCPU

Hardware version of control board.

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 548

IDN P-0-3002.0.18

_hwVersPS

Hardware version of power stage.

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 552

IDN P-0-3002.0.20

_hwVersSlot1

Hardware version of module in slot 1.

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 556

IDN P-0-3002.0.22

_hwVersSlot2

Hardware version of module in slot 2.

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 566

IDN P-0-3002.0.27

_hwVersSlot3

Hardware version of module in slot 3.

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 576

IDN P-0-3002.0.32

_I_act

(Mon)

(iAct)

Total motor current.

Type: Signed decimal - 2 bytes

In increments of 0.01 A_rms.

A_rms

-

-

-

INT16

R/-

-

-

Modbus 7686

IDN P-0-3030.0.3

_Id_act_rms

Actual motor current (d component, field weakening).

Type: Signed decimal - 2 bytes

In increments of 0.01 A_rms.

A_rms

-

-

-

INT16

R/-

-

-

Modbus 7684

IDN P-0-3030.0.2

_Id_ref_rms

Reference motor current (d component, field weakening).

Type: Signed decimal - 2 bytes

In increments of 0.01 A_rms.

A_rms

-

-

-

INT16

R/-

-

-

Modbus 7714

IDN P-0-3030.0.17

_Imax_act

Currently effective current limitation.

Value of the currently effective current limitation. This is one of the following values (whichever is lowest):

- CTRL_I_max (only during normal operation)

- LIM_I_maxQSTP (only during Quick Stop)

- LIM_I_maxHalt (only during Halt)

- Current limitation via digital input

- _M_I_max (only if motor is connected)

- _PS_I_max

Limitations caused by I2t monitoring are also taken into account.

Type: Unsigned decimal - 2 bytes

In increments of 0.01 A_rms.

A_rms

-

-

-

UINT16

R/-

-

-

Modbus 7248

IDN P-0-3028.0.40

_Imax_system

Current limitation of the system.

This parameter specifies the maximum system current. This is the lower value of the maximum motor current and the maximum power stage current. If no motor is connected, only the maximum power stage current is taken into account in this parameter.

Type: Unsigned decimal - 2 bytes

In increments of 0.01 A_rms.

A_rms

-

-

-

UINT16

R/-

-

-

Modbus 7246

IDN P-0-3028.0.39

_Inc_ENC2Raw

Raw increment value of encoder 2.

This parameter is only needed for commissioning of encoder 2 in case of an unknown machine encoder resolution.

Type: Signed decimal - 4 bytes

EncInc

-

-

-

INT32

R/-

-

-

Modbus 7754

IDN P-0-3030.0.37

_InvalidParam

Modbus address of parameter with invalid value.

If a configuration error is detected, the Modbus address of the parameter with an invalid value is indicated here.

Type: Unsigned decimal - 2 bytes

-

-

0

-

UINT16

R/-

-

-

Modbus 7180

IDN P-0-3028.0.6

_IO_act

Physical status of the digital inputs and outputs.

Low byte:

Bit 0: DI0

Bit 1: DI1

Bit 2: DI2

Bit 3: DI3

Bit 4: DI4

Bit 5: DI5

High byte:

Bit 8: DQ0

Bit 9: DQ1

Bit 10: DQ2

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 2050

IDN P-0-3008.0.1

_IO_DI_act

(Mon)

(diMo)

Status of digital inputs.

Bit assignments:

Bit 0: DI0

Bit 1: DI1

Bit 2: DI2

Bit 3: DI3

Bit 4: DI4

Bit 5: DI5

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 2078

IDN P-0-3008.0.15

_IO_DQ_act

(Mon)

(doMo)

Status of digital outputs.

Bit assignments:

Bit 0: DQ0

Bit 1: DQ1

Bit 2: DQ2

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 2080

IDN P-0-3008.0.16

_IO_STO_act

(Mon)

( Sto)

Status of the inputs for the safety-related function STO.

Bit 0: STO_A

Bit 1: STO_B

If no safety module eSM is plugged in, this parameter indicates the status of the signal inputs STO_A and STO_B.

If a safety module eSM is plugged in, the safety function STO can be triggered via the signal inputs or via the safety module eSM. This parameter indicates whether or not the safety function STO was triggered (regardless of whether it was triggered via the signal inputs or via the safety module eSM).

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 2124

IDN P-0-3008.0.38

_IOdataMtoS01

I/O parameter data Master to Slave - parameter 01.

Data of the cyclic communication between the master and slave.

This parameter contains the data of the first parameter mapped from the master to the slave.

The parameters _IOdataMtoS02 to _IOdataMtoS16 contain the data of the remaining mapped parameters.

Type: Unsigned decimal - 4 bytes

-

0

FFFFFFFF hex

4294967295

UINT32

R/-

-

-

Modbus 16386

IDN P-0-3064.0.1

_IOdataStoM01

I/O parameter data Slave to Master - parameter 01.

Data of the cyclic communication between the master and slave.

This parameter contains the data of the first parameter mapped from the slave to the master.

The parameters _IOdataStoM02 to _IOdataStoM16 contain the data of the remaining mapped parameters.

Type: Unsigned decimal - 4 bytes

-

0

FFFFFFFF hex

4294967295

UINT32

R/-

-

-

Modbus 16450

IDN P-0-3064.0.33

_IOmappingMtoS01

I/O parameter mapping Master to Slave - parameter 01.

Mapping of the cyclic communication between the master and slave.

This parameter contains the mapping of the first parameter mapped from the master to the slave.

The parameters _IOmappingMtoS02 to _IOmappingMtoS16 contain the mapping of the remaining mapped parameters.

Type: Unsigned decimal - 2 bytes

-

0

FFFF hex

65535

UINT16

R/-

-

-

Modbus 16418

IDN P-0-3064.0.17

_IOmappingStoM01

I/O parameter mapping Slave to Master - parameter 01.

Mapping of the cyclic communication between the master and slave.

This parameter contains the mapping of the first parameter mapped from the slave to the master.

The parameters _IOmappingStoM02 to _IOmappingStoM16 contain the mapping of the remaining mapped parameters.

Type: Unsigned decimal - 2 bytes

-

0

FFFF hex

65535

UINT16

R/-

-

-

Modbus 16482

IDN P-0-3064.0.49

_Iq_act_rms

(Mon)

(qAct)

Actual motor current (q component, generating torque).

Type: Signed decimal - 2 bytes

In increments of 0.01 A_rms.

A_rms

-

-

-

INT16

R/-

-

-

Modbus 7682

IDN P-0-3030.0.1

_Iq_ref_rms

(Mon)

(qrEF)

Reference motor current (q component, generating torque).

Type: Signed decimal - 2 bytes

In increments of 0.01 A_rms.

A_rms

-

-

-

INT16

R/-

-

-

Modbus 7712

IDN P-0-3030.0.16

_LastError

(Mon)

(LFLt)

Detected error causing a stop (error classes 1 to 4).

Error code of the most recent detected error. Consecutive detected errors do not overwrite this error code.

Example: If an error response to a detected limit switch error causes overvoltage, this parameter contains the code of the detected limit switch error.

Exception: Detected errors of error class 4 overwrite existing entries.

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 7178

IDN P-0-3028.0.5

_LastError_Qual

Additional info on most recent error.

This parameter contains additional information on the most recent detected error, depending on the error code. For example: a parameter address.

Type: Unsigned decimal - 2 bytes

-

-

0

-

UINT16

R/-

-

-

Modbus 7230

IDN P-0-3028.0.31

_LastWarning

(Mon)

(LWrn)

Code of most recent error of error class 0.

If the error is no longer active, the code is stored until the next Fault Reset.

Value 0: No error of error class 0

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 7186

IDN P-0-3028.0.9

_M_BRK_T_apply

Holding brake application time.

Type: Unsigned decimal - 2 bytes

ms

-

-

-

UINT16

R/-

-

-

Modbus 3394

IDN P-0-3013.0.33

_M_BRK_T_release

Holding brake release time.

Type: Unsigned decimal - 2 bytes

ms

-

-

-

UINT16

R/-

-

-

Modbus 3396

IDN P-0-3013.0.34

_M_Enc_Cosine

Voltage of cosine signal of encoder.

Type: Signed decimal - 2 bytes

In increments of 0.001 V.

Available with firmware version ≥V01.06.

V

-

-

-

INT16

R/-

-

-

Modbus 7254

IDN P-0-3028.0.43

_M_Enc_Sine

Voltage of sine signal of encoder.

Type: Signed decimal - 2 bytes

In increments of 0.001 V.

Available with firmware version ≥V01.06.

V

-

-

-

INT16

R/-

-

-

Modbus 7256

IDN P-0-3028.0.44

_M_Encoder

(ConF) → (inF-)

(SEnS)

Type of motor encoder.

1 / SinCos With HiFa / (SWhi): SinCos with Hiperface

2 / SinCos Without HiFa / (SWoh): SinCos without Hiperface

3 / SinCos With Hall / (SWhA): SinCos with Hall

4 / SinCos With EnDat / (SWEn): SinCos with EnDat

5 / EnDat Without SinCos / (EndA): EnDat without SinCos

6 / Resolver / (rESo): Resolver

7 / Hall / (hALL): Hall (not supported yet)

8 / BISS / (biSS): BISS

High byte:

Value 0: Rotary encoder

Value 1: Linear encoder

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 3334

IDN P-0-3013.0.3

_M_HoldingBrake

Holding brake identification.

Value 0: Motor without holding brake

Value 1: Motor with holding brake

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 3392

IDN P-0-3013.0.32

_M_I_0

Continuous stall current of motor.

Type: Unsigned decimal - 2 bytes

In increments of 0.01 A_rms.

A_rms

-

-

-

UINT16

R/-

-

-

Modbus 3366

IDN P-0-3013.0.19

_M_I_max

(ConF) → (inF-)

(MiMA)

Maximum current of motor.

Type: Unsigned decimal - 2 bytes

In increments of 0.01 A_rms.

A_rms

-

-

-

UINT16

R/-

-

-

Modbus 3340

IDN P-0-3013.0.6

_M_I_nom

(ConF) → (inF-)

(Mino)

Nominal current of motor.

Type: Unsigned decimal - 2 bytes

In increments of 0.01 A_rms.

A_rms

-

-

-

UINT16

R/-

-

-

Modbus 3342

IDN P-0-3013.0.7

_M_I2t

Maximum permissible time for maximum current of motor.

Type: Unsigned decimal - 2 bytes

ms

-

-

-

UINT16

R/-

-

-

Modbus 3362

IDN P-0-3013.0.17

_M_Jrot

Moment of inertia of motor.

Units:

Rotary motors: kgcm²

Linear motors: kg

Type: Unsigned decimal - 4 bytes

In increments of 0.001 motor_f.

motor_f

-

-

-

UINT32

R/-

-

-

Modbus 3352

IDN P-0-3013.0.12

_M_kE

Voltage constant kE of motor.

Voltage constant in Vrms at 1000 RPM.

Units:

Rotary motors: Vrms/RPM

Linear motors: Vrms/(m/s)

Type: Unsigned decimal - 4 bytes

In increments of 0.1 motor_u.

motor_u

-

-

-

UINT32

R/-

-

-

Modbus 3350

IDN P-0-3013.0.11

_M_L_d

Inductance d component of motor.

Type: Unsigned decimal - 2 bytes

In increments of 0.01 mH.

mH

-

-

-

UINT16

R/-

-

-

Modbus 3358

IDN P-0-3013.0.15

_M_L_q

Inductance q component of motor.

Type: Unsigned decimal - 2 bytes

In increments of 0.01 mH.

mH

-

-

-

UINT16

R/-

-

-

Modbus 3356

IDN P-0-3013.0.14

_M_load

(Mon)

(LdFM)

Load of motor.

Type: Signed decimal - 2 bytes

%

-

-

-

INT16

R/-

-

-

Modbus 7220

IDN P-0-3028.0.26

_M_M_0

Continuous stall torque of motor.

A value of 100 % in operating mode Profile Torque corresponds to this parameter.

Units:

Rotary motors: Ncm

Linear motors: N

Type: Unsigned decimal - 2 bytes

motor_m

-

-

-

UINT16

R/-

-

-

Modbus 3372

IDN P-0-3013.0.22

_M_M_max

Maximum torque of motor.

Type: Unsigned decimal - 2 bytes

In increments of 0.1 Nm.

Nm

-

-

-

UINT16

R/-

-

-

Modbus 3346

IDN P-0-3013.0.9

_M_M_nom

Nominal torque/force of motor.

Units:

Rotary motors: Ncm

Linear motors: N

Type: Unsigned decimal - 2 bytes

motor_m

-

-

-

UINT16

R/-

-

-

Modbus 3344

IDN P-0-3013.0.8

_M_maxoverload

Maximum value of overload of motor.

Maximum overload of motor during the last 10 seconds.

Type: Signed decimal - 2 bytes

%

-

-

-

INT16

R/-

-

-

Modbus 7222

IDN P-0-3028.0.27

_M_n_max

(ConF) → (inF-)

(MnMA)

Maximum permissible speed of rotation/velocity of motor.

Units:

Rotary motors: RPM

Linear motors: mm/s

Type: Unsigned decimal - 2 bytes

motor_v

-

-

-

UINT16

R/-

-

-

Modbus 3336

IDN P-0-3013.0.4

_M_n_nom

Nominal speed of rotation/velocity of motor.

Units:

Rotary motors: RPM

Linear motors: mm/s

Type: Unsigned decimal - 2 bytes

motor_v

-

-

-

UINT16

R/-

-

-

Modbus 3338

IDN P-0-3013.0.5

_M_overload

Overload of motor (I2t).

Type: Signed decimal - 2 bytes

%

-

-

-

INT16

R/-

-

-

Modbus 7218

IDN P-0-3028.0.25

_M_Polepair

Number of pole pairs of motor.

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 3368

IDN P-0-3013.0.20

_M_PolePairPitch

Pole pair pitch of motor.

Type: Unsigned decimal - 2 bytes

In increments of 0.01 mm.

mm

-

-

-

UINT16

R/-

-

-

Modbus 3398

IDN P-0-3013.0.35

_M_R_UV

Winding resistance of motor.

Type: Unsigned decimal - 2 bytes

In increments of 0.01 Ω.

Ω

-

-

-

UINT16

R/-

-

-

Modbus 3354

IDN P-0-3013.0.13

_M_T_current

(Mon)

(tMot)

Temperature of motor.

Type: Signed decimal - 2 bytes

°C

-

-

-

INT16

R/-

-

-

Modbus 7202

IDN P-0-3028.0.17

_M_T_max

Maximum temperature of motor.

Type: Signed decimal - 2 bytes

°C

-

-

-

INT16

R/-

-

-

Modbus 3360

IDN P-0-3013.0.16

_M_Type

(ConF) → (inF-)

(MtyP)

Motor type.

Value 0: No motor selected

Value >0: Connected motor type

Type: Unsigned decimal - 4 bytes

-

-

-

-

UINT32

R/-

-

-

Modbus 3332

IDN P-0-3013.0.2

_M_U_max

Maximum voltage of motor.

Type: Unsigned decimal - 2 bytes

In increments of 0.1 V.

V

-

-

-

UINT16

R/-

-

-

Modbus 3378

IDN P-0-3013.0.25

_M_U_nom

Nominal voltage of motor.

Type: Unsigned decimal - 2 bytes

In increments of 0.1 V.

V

-

-

-

UINT16

R/-

-

-

Modbus 3348

IDN P-0-3013.0.10

_ModuleSlot1

Module in slot 1.

0 / None: No module

1025 / eSM: Safety module eSM

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 554

IDN P-0-3002.0.21

_ModuleSlot2

Module in slot 2.

0 / None: No module

769 / Encoder ANA: Encoder module ANA

770 / Encoder DIG: Encoder module DIG

771 / Encoder RSR: Encoder module RSR

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 564

IDN P-0-3002.0.26

_ModuleSlot3

Module in slot 3.

0 / None: No module

513 / CANopen (D-SUB): Fieldbus CANopen (D-SUB)

514 / CANopen (RJ45): Fieldbus CANopen (RJ45)

515 / DeviceNet (Open-Style): Fieldbus DeviceNet (Open-Style)

517 / CANopen (Open-Style): Fieldbus CANopen (Open-Style)

528 / ProfibusDP: Fieldbus Profibus DP

529 / EtherNetIP: Fieldbus EtherNetIP

530 / EtherCAT: Fieldbus EtherCAT

531 / SercosII: Fieldbus Sercos II

533 / SercosIII: Fieldbus Sercos III

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 574

IDN P-0-3002.0.31

_n_act

(Mon)

(nAct)

Actual speed of rotation.

Type: Signed decimal - 2 bytes

RPM

-

-

-

INT16

R/-

-

-

Modbus 7696

IDN P-0-3030.0.8

_n_act_ENC1

Actual speed of rotation of encoder 1.

Type: Signed decimal - 2 bytes

RPM

-

-

-

INT16

R/-

-

-

Modbus 7760

IDN P-0-3030.0.40

_n_act_ENC2

Actual speed of rotation of encoder 2 (module).

Type: Signed decimal - 2 bytes

RPM

-

-

-

INT16

R/-

-

-

Modbus 7740

IDN P-0-3030.0.30

_n_ref

(Mon)

(nrEF)

Reference speed of rotation.

Type: Signed decimal - 2 bytes

RPM

-

-

-

INT16

R/-

-

-

Modbus 7694

IDN P-0-3030.0.7

_OpHours

(Mon)

( oPh)

Operating hours counter.

Type: Unsigned decimal - 4 bytes

s

-

-

-

UINT32

R/-

-

-

Modbus 7188

IDN P-0-3028.0.10

_p_absENC

(Mon)

(PAMu)

Absolute position with reference to the encoder range.

This value corresponds to the modulo position of the absolute encoder range.

The value is no longer valid if the gear ratio of machine encoder and motor encoder is changed. A restart is required in such a case.

Type: Unsigned decimal - 4 bytes

usr_p

-

-

-

UINT32

R/-

-

-

Modbus 7710

IDN P-0-3030.0.15

_p_absmodulo

Absolute position with reference to internal resolution in internal units.

This value is based on encoder raw position with reference to internal resolution (131072 Inc).

Type: Unsigned decimal - 4 bytes

Inc

-

-

-

UINT32

R/-

-

-

Modbus 7708

IDN P-0-3030.0.14

_p_act

Actual position.

Type: Signed decimal - 4 bytes

usr_p

-

-

-

INT32

R/-

-

-

Modbus 7706

IDN P-0-3030.0.13

_p_act_ENC1

Position of encoder 1.

Type: Signed decimal - 4 bytes

usr_p

-

-

-

INT32

R/-

-

-

Modbus 7758

IDN P-0-3030.0.39

_p_act_ENC1_int

Actual position of encoder 1 in internal units.

Type: Signed decimal - 4 bytes

Inc

-

-

-

INT32

R/-

-

-

Modbus 7756

IDN P-0-3030.0.38

_p_act_ENC2

Position of encoder 2 (module).

Type: Signed decimal - 4 bytes

usr_p

-

-

-

INT32

R/-

-

-

Modbus 7732

IDN P-0-3030.0.26

_p_act_ENC2_int

Actual position of encoder 2 (module) in internal units.

Type: Signed decimal - 4 bytes

Inc

-

-

-

INT32

R/-

-

-

Modbus 7730

IDN P-0-3030.0.25

_p_act_int

Actual position in internal units.

Type: Signed decimal - 4 bytes

Inc

-

-

-

INT32

R/-

-

-

Modbus 7700

IDN P-0-3030.0.10

_p_dif

Position deviation including dynamic position deviation.

Position deviation is the difference between reference position and actual position. The position deviation consists of the load-dependent position deviation and the dynamic position deviation.

The parameter _p_dif_usr allows you to enter the value in user-defined units.

Type: Signed decimal - 4 bytes

In increments of 0.0001 revolution.

revolution

-214748.3648

-

214748.3647

INT32

R/-

-

-

Modbus 7716

IDN P-0-3030.0.18

_p_dif_load

Load-dependent position deviation between reference and actual positions.

The load-dependent position deviation is the difference between the reference position and the actual position caused by the load. This value is used for following error monitoring.

The parameter _p_dif_load_usr allows you to enter the value in user-defined units.

Type: Signed decimal - 4 bytes

In increments of 0.0001 revolution.

revolution

-214748.3648

-

214748.3647

INT32

R/-

-

-

Modbus 7736

IDN P-0-3030.0.28

_p_dif_load_peak

Maximum value of the load-dependent position deviation.

This parameter contains the maximum load-dependent position deviation reached so far. A write access resets this value.

The parameter _p_dif_load_peak_usr allows you to enter the value in user-defined units.

Type: Unsigned decimal - 4 bytes

Write access via Sercos: CP2, CP3, CP4

In increments of 0.0001 revolution.

Modified settings become effective immediately.

revolution

0.0000

-

429496.7295

UINT32

R/W

-

-

Modbus 7734

IDN P-0-3030.0.27

_p_dif_load_peak_usr

Maximum value of the load-dependent position deviation.

This parameter contains the maximum load-dependent position deviation reached so far. A write access resets this value.

Type: Signed decimal - 4 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

usr_p

0

-

2147483647

INT32

R/W

-

-

Modbus 7722

IDN P-0-3030.0.21

_p_dif_load_usr

Load-dependent position deviation between reference and actual positions.

The load-dependent position deviation is the difference between the reference position and the actual position caused by the load. This value is used for following error monitoring.

Type: Signed decimal - 4 bytes

usr_p

-2147483648

-

2147483647

INT32

R/-

-

-

Modbus 7724

IDN P-0-3030.0.22

_p_dif_usr

Position deviation including dynamic position deviation.

Position deviation is the difference between reference position and actual position. The position deviation consists of the load-dependent position deviation and the dynamic position deviation.

Type: Signed decimal - 4 bytes

usr_p

-2147483648

-

2147483647

INT32

R/-

-

-

Modbus 7720

IDN P-0-3030.0.20

_p_DifENC1toENC2

Deviation of encoder positions.

Type: Signed decimal - 4 bytes

Inc

-

-

-

INT32

R/-

-

-

Modbus 7728

IDN P-0-3030.0.24

_p_PTI_act

Actual position at PTI interface.

Counted position increments at PTI interface.

Type: Signed decimal - 4 bytes

Available with firmware version ≥V01.04.

Inc

-2147483648

-

2147483647

INT32

R/-

-

-

Modbus 2058

IDN P-0-3008.0.5

_p_ref

Reference position.

Value corresponds to the reference position of the position controller.

Type: Signed decimal - 4 bytes

usr_p

-

-

-

INT32

R/-

-

-

Modbus 7704

IDN P-0-3030.0.12

_p_ref_int

Reference position in internal units.

Value corresponds to the reference position of the position controller.

Type: Signed decimal - 4 bytes

Inc

-

-

-

INT32

R/-

-

-

Modbus 7698

IDN P-0-3030.0.9

_PAR_ScalingError

Additional information on error detected during recalculation.

Coding:

Bits 0 ... 15: Address of the parameter that caused the error

Bits 16 ... 31: Number of the data set in the operating mode Motion Sequence that caused the error

Type: Unsigned decimal - 4 bytes

Modified settings become effective immediately.

-

-

-

-

UINT32

R/-

-

-

Modbus 1068

IDN P-0-3004.0.22

_PAR_ScalingState

Status of recalculation of the parameters with user-defined units.

0 / Recalculation Active: Recalculation active

1 / Reserved (1): Reserved

2 / Recalculation Finished - No Error: Recalculation finished, no error

3 / Error During Recalculation: Error during recalculation

4 / Initialization Successful: Initialization successful

5 / Reserved (5): Reserved

6 / Reserved (6): Reserved

7 / Reserved (7): Reserved

Status of recalculation of the parameters with user-defined units which are recalculated with a changed scaling factor.

Type: Unsigned decimal - 2 bytes

Modified settings become effective immediately.

-

0

2

7

UINT16

R/-

-

-

Modbus 1066

IDN P-0-3004.0.21

_Power_act

Output power.

Type: Signed decimal - 4 bytes

W

-

-

-

INT32

R/-

-

-

Modbus 7194

IDN P-0-3028.0.13

_Power_mean

Mean output power.

Type: Unsigned decimal - 2 bytes

W

-

-

-

UINT16

R/-

-

-

Modbus 7196

IDN P-0-3028.0.14

_pref_acc

Acceleration of reference value for acceleration feed-forward control.

Sign according to the changed velocity value:

Increased velocity: Positive sign

Reduced velocity: Negative sign

Type: Signed decimal - 4 bytes

usr_a

-

-

-

INT32

R/-

-

-

Modbus 7954

IDN P-0-3031.0.9

_pref_v

Velocity of reference value for velocity feed-forward control.

Type: Signed decimal - 4 bytes

usr_v

-

-

-

INT32

R/-

-

-

Modbus 7950

IDN P-0-3031.0.7

_prgNoDEV

(ConF) → (inF-)

( Prn)

Firmware number of device.

Example: PR0912.00

The value is provided as a decimal value: 91200

Type: Unsigned decimal - 4 bytes

-

-

-

-

UINT32

R/-

-

-

Modbus 258

IDN P-0-3001.0.1

_prgRevDEV

(ConF) → (inF-)

( Prr)

Firmware revision of device.

The version format is XX.YY.ZZ.

Part XX.YY is contained in parameter _prgVerDEV.

Part ZZ is used for quality evolution and contained in this parameter.

Example: V01.23.45

The value is provided as a decimal value: 45

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 264

IDN P-0-3001.0.4

_prgVerDEV

(ConF) → (inF-)

( PrV)

Firmware version of device.

The version format is XX.YY.ZZ.

Part XX.YY is contained in this parameter.

Part ZZ is contained in parameter _prgRevDEV.

Example: V01.23.45

The value is provided as a decimal value: 123

Type: Unsigned decimal - 2 bytes

-

-

-

-

UINT16

R/-

-

-

Modbus 260

IDN P-0-3001.0.2

_PS_I_max

(ConF) → (inF-)

(PiMA)

Maximum current of power stage.

Type: Unsigned decimal - 2 bytes

In increments of 0.01 A_rms.

A_rms

-

-

-

UINT16

R/-

per.

-

Modbus 4100

IDN P-0-3016.0.2

_PS_I_nom

(ConF) → (inF-)

(Pino)

Nominal current of power stage.

Type: Unsigned decimal - 2 bytes

In increments of 0.01 A_rms.

A_rms

-

-

-

UINT16

R/-

per.

-

Modbus 4098

IDN P-0-3016.0.1

_PS_load

(Mon)

(LdFP)

Load of power stage.

Type: Signed decimal - 2 bytes

%

-

-

-

INT16

R/-

-

-

Modbus 7214

IDN P-0-3028.0.23

_PS_maxoverload

Maximum value of overload of power stage.

Maximum overload of power stage during the last 10 seconds.

Type: Signed decimal - 2 bytes

%

-

-

-

INT16

R/-

-

-

Modbus 7216

IDN P-0-3028.0.24

_PS_overload

Overload of power stage.

Type: Signed decimal - 2 bytes

%

-

-

-

INT16

R/-

-

-

Modbus 7240

IDN P-0-3028.0.36

_PS_overload_cte

Overload of power stage (chip temperature).

Type: Signed decimal - 2 bytes

%

-

-

-

INT16

R/-

-

-

Modbus 7236

IDN P-0-3028.0.34

_PS_overload_I2t

Overload of power stage (I2t).

Type: Signed decimal - 2 bytes

%

-

-

-

INT16

R/-

-

-

Modbus 7212

IDN P-0-3028.0.22

_PS_overload_psq

Overload of power stage (power squared).

Type: Signed decimal - 2 bytes

%

-

-

-

INT16

R/-

-

-

Modbus 7238

IDN P-0-3028.0.35

_PS_T_current

(Mon)

( tPS)

Temperature of power stage.

Type: Signed decimal - 2 bytes

°C

-

-

-

INT16

R/-

-

-

Modbus 7200

IDN P-0-3028.0.16

_PS_T_max

Maximum temperature of power stage.

Type: Signed decimal - 2 bytes

°C

-

-

-

INT16

R/-

per.

-

Modbus 4110

IDN P-0-3016.0.7

_PS_T_warn

Advisory temperature limit of power stage (error class 0).

Type: Signed decimal - 2 bytes

°C

-

-

-

INT16

R/-

per.

-

Modbus 4108

IDN P-0-3016.0.6

_PS_U_maxDC

Maximum permissible DC bus voltage.

Type: Unsigned decimal - 2 bytes

In increments of 0.1 V.

V

-

-

-

UINT16

R/-

per.

-

Modbus 4102

IDN P-0-3016.0.3

_PS_U_minDC

Minimum permissible DC bus voltage.

Type: Unsigned decimal - 2 bytes

In increments of 0.1 V.

V

-

-

-

UINT16

R/-

per.

-

Modbus 4104

IDN P-0-3016.0.4

_PS_U_minStopDC

DC bus voltage low threshold for Quick Stop.

If the threshold is reached, the drive performs a Quick Stop.

Type: Unsigned decimal - 2 bytes

In increments of 0.1 V.

V

-

-

-

UINT16

R/-

per.

-

Modbus 4116

IDN P-0-3016.0.10

_PT_max_val

Maximum possible value for operating mode Profile Torque.

100.0 % correspond to the continuous stall torque _M_M_0.

Type: Signed decimal - 2 bytes

In increments of 0.1 %.

%

-

-

-

INT16

R/-

-

-

Modbus 7228

IDN P-0-3028.0.30

_RAMP_p_act

Actual position of profile generator.

Type: Signed decimal - 4 bytes

usr_p

-

-

-

INT32

R/-

-

-

Modbus 7940

IDN P-0-3031.0.2

_RAMP_p_target

Target position of profile generator.

Absolute position value of the profile generator, calculated on the basis of the relative and absolute position values received.

Type: Signed decimal - 4 bytes

usr_p

-

-

-

INT32

R/-

-

-

Modbus 7938

IDN P-0-3031.0.1

_RAMP_v_act

Actual velocity of profile generator.

Type: Signed decimal - 4 bytes

usr_v

-

-

-

INT32

R/-

-

-

Modbus 7948

IDN P-0-3031.0.6

_RAMP_v_target

Target velocity of profile generator.

Type: Signed decimal - 4 bytes

usr_v

-

-

-

INT32

R/-

-

-

Modbus 7946

IDN P-0-3031.0.5

_RES_load

(Mon)

(LdFb)

Load of braking resistor.

The braking resistor set via parameter RESint_ext is monitored.

Type: Signed decimal - 2 bytes

%

-

-

-

INT16

R/-

-

-

Modbus 7208

IDN P-0-3028.0.20

_RES_maxoverload

Maximum value of overload of braking resistor.

Maximum overload of braking resistor during the last 10 seconds.

The braking resistor set via parameter RESint_ext is monitored.

Type: Signed decimal - 2 bytes

%

-

-

-

INT16

R/-

-

-

Modbus 7210

IDN P-0-3028.0.21

_RES_overload

Overload of braking resistor (I2t).

The braking resistor set via parameter RESint_ext is monitored.

Type: Signed decimal - 2 bytes

%

-

-

-

INT16

R/-

-

-

Modbus 7206

IDN P-0-3028.0.19

_RESint_P

Nominal power of internal braking resistor.

Type: Unsigned decimal - 2 bytes

W

-

-

-

UINT16

R/-

per.

-

Modbus 4114

IDN P-0-3016.0.9

_RESint_R

Resistance value of internal braking resistor.

Type: Unsigned decimal - 2 bytes

In increments of 0.01 Ω.

Ω

-

-

-

UINT16

R/-

per.

-

Modbus 4112

IDN P-0-3016.0.8

_ScalePOSmax

Maximum user-defined value for positions.

Type: Signed decimal - 4 bytes

usr_p

-

-

-

INT32

R/-

-

-

Modbus 7956

IDN P-0-3031.0.10

_ScaleRAMPmax

Maximum user-defined value for acceleration and deceleration.

This value depends on ScaleRAMPdenom and ScaleRAMPnum.

Type: Signed decimal - 4 bytes

usr_a

-

-

-

INT32

R/-

-

-

Modbus 7960

IDN P-0-3031.0.12

_ScaleVELmax

Maximum user-defined value for velocity.

This value depends on ScaleVELdenom and ScaleVELnum.

Type: Signed decimal - 4 bytes

usr_v

-

-

-

INT32

R/-

-

-

Modbus 7958

IDN P-0-3031.0.11

_SigActive

Status of monitoring signals.

See _SigLatched for more details on the bit codes.

Type: Unsigned decimal - 4 bytes

-

-

-

-

UINT32

R/-

-

-

Modbus 7182

IDN P-0-3028.0.7

_SigLatched

(Mon)

(SiGS)

Saved status of monitoring signals.

Signal state:

0: Not activated

1: Activated

Bit assignments:

Bit 0: General error

Bit 1: Hardware limit switches (LIMP/LIMN/REF)

Bit 2: Out of range (software limit switches, tuning)

Bit 3: Quick Stop via fieldbus

Bit 4: Error in active operating mode

Bit 5: Commissioning interface (RS485)

Bit 6: Integrated fieldbus

Bit 7: Reserved

Bit 8: Following error

Bit 9: Reserved

Bit 10: Inputs STO are 0

Bit 11: Inputs STO different

Bit 12: Reserved

Bit 13: DC bus voltage low

Bit 14: DC bus voltage high

Bit 15: Mains phase missing

Bit 16: Integrated encoder interface

Bit 17: Overtemperature motor

Bit 18: Overtemperature power stage

Bit 19: Reserved

Bit 20: Memory card

Bit 21: Fieldbus module

Bit 22: Encoder module

Bit 23: Safety module eSM

Bit 24: Reserved

Bit 25: Reserved

Bit 26: Motor connection

Bit 27: Motor overcurrent/short circuit

Bit 28: Frequency of reference signal too high

Bit 29: Nonvolatile memory error detected

Bit 30: System start-up (hardware or parameter)

Bit 31: System error detected (for example, watchdog, internal hardware interface)

Monitoring functions are product-dependent.

Type: Unsigned decimal - 4 bytes

-

-

-

-

UINT32

R/-

-

-

Modbus 7184

IDN P-0-3028.0.8

_SPDSercos3Status

SPD Sercos status (CAP1 and CAP2).

Bit 0 = 0: No position captured via input CAP1

Bit 0 = 1: Position captured via input CAP1

Bit 1 = 0: No position captured via input CAP2

Bit 1 = 1: Position captured via input CAP2

Bit 2 = 0: Positive limit switch not active

Bit 2 = 1: Positive limit switch active

Bit 3 = 0: Negative limit switch not active

Bit 3 = 1: Negative limit switch active

Bit 4 = 0: Quick Stop: Standstill not yet reached

Bit 4 = 1: Quick Stop: Standstill reached

Type: Unsigned decimal - 2 bytes

Modified settings become effective immediately.

-

-

-

-

UINT16

R/-

-

-

Modbus 6562

IDN P-0-3025.0.81

_SuppDriveModes

Supported operating modes as per DSP402.

Bit 5: Homing

Bit 7: Cyclic Synchronous Position

Bit 8: Cyclic Synchronous Velocity

Bit 9: Cyclic Synchronous Torque

Bit 16: Jog

Bit 21: Manual Tuning

Type: Unsigned decimal - 4 bytes

-

-

-

-

UINT32

R/-

-

-

Modbus 6952

IDN P-0-3027.0.20

_tq_act

Actual torque.

Positive value: Actual torque in positive direction of movement

Negative value: Actual torque in negative direction of movement

100.0 % correspond to the continuous stall torque _M_M_0.

Type: Signed decimal - 2 bytes

In increments of 0.1 %.

%

-

-

-

INT16

R/-

-

-

Modbus 7752

IDN P-0-3030.0.36

_Ud_ref

Reference motor voltage d component.

Type: Signed decimal - 2 bytes

In increments of 0.1 V.

V

-

-

-

INT16

R/-

-

-

Modbus 7690

IDN P-0-3030.0.5

_UDC_act

(Mon)

(udcA)

Voltage at DC bus.

Type: Unsigned decimal - 2 bytes

In increments of 0.1 V.

V

-

-

-

UINT16

R/-

-

-

Modbus 7198

IDN P-0-3028.0.15

_Udq_ref

Total motor voltage (vector sum d components and q components).

Square root of ( _Uq_ref² + _Ud_ref²)

Type: Signed decimal - 2 bytes

In increments of 0.1 V.

V

-

-

-

INT16

R/-

-

-

Modbus 7692

IDN P-0-3030.0.6

_Uq_ref

Reference motor voltage q component.

Type: Signed decimal - 2 bytes

In increments of 0.1 V.

V

-

-

-

INT16

R/-

-

-

Modbus 7688

IDN P-0-3030.0.4

_v_act

(Mon)

(VAct)

Actual velocity.

Type: Signed decimal - 4 bytes

usr_v

-

-

-

INT32

R/-

-

-

Modbus 7744

IDN P-0-3030.0.32

_v_act_ENC1

Actual velocity of encoder 1.

Type: Signed decimal - 4 bytes

usr_v

-

-

-

INT32

R/-

-

-

Modbus 7762

IDN P-0-3030.0.41

_v_act_ENC2

Actual velocity of encoder 2 (module).

Type: Signed decimal - 4 bytes

usr_v

-

-

-

INT32

R/-

-

-

Modbus 7750

IDN P-0-3030.0.35

_v_dif_usr

Load-dependent velocity deviation.

The load-dependent velocity deviation is the difference between reference velocity and actual velocity.

Type: Signed decimal - 4 bytes

Available with firmware version ≥V01.06.

usr_v

-2147483648

-

2147483647

INT32

R/-

-

-

Modbus 7768

IDN P-0-3030.0.44

_v_PTI_act

Actual velocity at PTI interface.

Determined pulse frequency at position interface PTI.

Type: Signed decimal - 4 bytes

Inc/s

-2147483648

-

2147483647

INT32

R/-

-

-

Modbus 2060

IDN P-0-3008.0.6

_v_ref

(Mon)

(VrEF)

Reference velocity.

Type: Signed decimal - 4 bytes

usr_v

-

-

-

INT32

R/-

-

-

Modbus 7742

IDN P-0-3030.0.31

_Vmax_act

Currently effective velocity limitation.

Value of the currently effective velocity limitation. This is one of the following values (whichever is lowest):

- CTRL_v_max

- M_n_max (only if motor is connected)

- Velocity limitation via digital input

Type: Unsigned decimal - 4 bytes

usr_v

-

-

-

UINT32

R/-

-

-

Modbus 7250

IDN P-0-3028.0.41

_VoltUtil

(Mon)

(udcr)

Degree of utilization of DC bus voltage.

With a value of 100%, the drive operates at the voltage limit.

Type: Signed decimal - 2 bytes

%

-

-

-

INT16

R/-

-

-

Modbus 7718

IDN P-0-3030.0.19

_WarnActive

Active errors of error class 0, bit-coded.

See parameter _WarnLatched for more details on the bits.

Type: Unsigned decimal - 4 bytes

-

-

-

-

UINT32

R/-

-

-

Modbus 7190

IDN P-0-3028.0.11

_WarnLatched

(Mon)

(WrnS)

Saved errors of error class 0, bit-coded.

The bits are set to 0 in the case of a Fault Reset.

Bits 10 and 13 are set to 0 automatically.

Signal state:

0: Not activated

1: Activated

Bit assignments:

Bit 0: General

Bit 1: Reserved

Bit 2: Out of range (software limit switches, tuning)

Bit 3: Reserved

Bit 4: Active operating mode

Bit 5: Commissioning interface (RS485)

Bit 6: Integrated fieldbus

Bit 7: Reserved

Bit 8: Following error

Bit 9: Reserved

Bit 10: Inputs STO_A and/or STO_B

Bits 11 ... 12: Reserved

Bit 13: Low voltage DC bus or mains phase missing

Bits 14 ... 15: Reserved

Bit 16: Integrated encoder interface

Bit 17: Temperature of motor high

Bit 18: Temperature of power stage high

Bit 19: Reserved

Bit 20: Memory card

Bit 21: Fieldbus module

Bit 22: Encoder module

Bit 23: Safety module eSM

Bits 24 … 27: Reserved

Bit 28: Transistor for braking resistor overload (I²t)

Bit 29: Braking resistor overload (I²t)

Bit 30: Power stage overload (I²t)

Bit 31: Motor overload (I²t)

Monitoring functions are product-dependent.

Type: Unsigned decimal - 4 bytes

-

-

-

-

UINT32

R/-

-

-

Modbus 7192

IDN P-0-3028.0.12

AbsHomeRequest

Absolute positioning only after homing.

0 / No: No

1 / Yes: Yes

This parameter has no function if the parameter 'PP_ModeRangeLim' is set to '1' which allows overtraveling of the movement range (ref_ok is set to 0 when the range is overtraveled).

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

-

0

1

1

UINT16

R/W

per.

-

Modbus 1580

IDN P-0-3006.0.22

AccessLock

Locking other access channels.

Value 0: Allow control via other access channels

Value 1: Lock control via other access channels

Example:

The access channel is used by the fieldbus.

In this case, control via the commissioning software, for example, is not possible.

The access channel can only be locked after the currently active operating mode has terminated.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

-

0

0

1

UINT16

R/W

-

-

Modbus 284

IDN P-0-3001.0.14

AT_dir

(oP) → (tun-)

(StiM)

Direction of movement for Autotuning.

1 / Positive Negative Home / (Pnh): Positive direction first, then negative direction with return to initial position

2 / Negative Positive Home / (nPh): Negative direction first, then positive direction with return to initial position

3 / Positive Home / (P-h): Positive direction only with return to initial position

4 / Positive / (P--): Positive direction only without return to initial position

5 / Negative Home / (n-h): Negative direction only with return to initial position

6 / Negative / (n--): Negative direction only without return to initial position

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective the next time the motor moves.

-

1

1

6

UINT16

R/W

-

-

Modbus 12040

IDN P-0-3047.0.4

AT_dis

Movement range for Autotuning.

Movement range within which the control parameters are automatically optimized. The movement range is entered with reference to the actual position.

In the case of "Movement in one direction only" (Parameter AT_dir), the specified movement range is used for each optimization step. The movement typically corresponds to 20 times the value, but it is not limited.

The parameter AT_dis_usr allows you to enter the value in user-defined units.

Type: Unsigned decimal - 4 bytes

Write access via Sercos: CP2, CP3, CP4

In increments of 0.1 revolution.

Modified settings become effective the next time the motor moves.

revolution

1.0

2.0

999.9

UINT32

R/W

-

-

Modbus 12038

IDN P-0-3047.0.3

AT_dis_usr

Movement range for Autotuning.

Movement range within which the control parameters are automatically optimized. The movement range is entered with reference to the actual position.

In the case of "Movement in one direction only" (Parameter AT_dir), the specified range is used for each optimization step. The movement typically corresponds to 20 times the value, but it is not limited.

The minimum value, the factory setting and the maximum value depend on the scaling factor.

Type: Signed decimal - 4 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective the next time the motor moves.

usr_p

1

262144

2147483647

INT32

R/W

-

-

Modbus 12068

IDN P-0-3047.0.18

AT_mechanical

Type of coupling of the system.

1 / Direct Coupling: Direct coupling

2 / Belt Axis: Belt axis

3 / Spindle Axis: Spindle axis

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective the next time the motor moves.

-

1

2

3

UINT16

R/W

-

-

Modbus 12060

IDN P-0-3047.0.14

AT_n_ref

Velocity jump for Autotuning.

The parameter AT_v_ref allows you to enter the value in user-defined units.

Type: Unsigned decimal - 4 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective the next time the motor moves.

RPM

10

100

1000

UINT32

R/W

-

-

Modbus 12044

IDN P-0-3047.0.6

AT_start

Autotuning start.

Value 0: Terminate

Value 1: Activate EasyTuning

Value 2: Activate ComfortTuning

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

-

0

-

2

UINT16

R/W

-

-

Modbus 12034

IDN P-0-3047.0.1

AT_v_ref

Velocity jump for Autotuning.

The minimum value, the factory setting and the maximum value depend on the scaling factor.

Type: Signed decimal - 4 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective the next time the motor moves.

usr_v

1

100

2147483647

INT32

R/W

-

-

Modbus 12070

IDN P-0-3047.0.19

AT_wait

Waiting time between Autotuning steps.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective the next time the motor moves.

ms

300

500

10000

UINT16

R/W

-

-

Modbus 12050

IDN P-0-3047.0.9

BLSH_Mode

Processing mode of backlash compensation.

0 / Off: Backlash compensation is off

1 / OnAfterPositiveMovement: Backlash compensation is on, last movement was in positive direction

2 / OnAfterNegativeMovement: Backlash compensation is on, last movement was in negative direction

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

-

0

0

2

UINT16

R/W

per.

-

Modbus 1666

IDN P-0-3006.0.65

BLSH_Position

Position value for backlash compensation.

Type: Signed decimal - 4 bytes

Write access via Sercos: CP2, CP3, CP4

Setting can only be modified if power stage is disabled.

Modified settings become effective the next time the power stage is enabled.

usr_p

0

0

2147483647

INT32

R/W

per.

-

Modbus 1668

IDN P-0-3006.0.66

BLSH_Time

Processing time for backlash compensation.

Value 0: Immediate backlash compensation

Value >0: Processing time for backlash compensation

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Setting can only be modified if power stage is disabled.

Modified settings become effective the next time the power stage is enabled.

ms

0

0

16383

UINT16

R/W

per.

-

Modbus 1672

IDN P-0-3006.0.68

BRK_AddT_apply

Additional time delay for applying the holding brake.

The overall time delay for applying the holding brake is the time delay from the electronic nameplate of the motor and the additional time delay in this parameter.

Type: Signed decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Setting can only be modified if power stage is disabled.

Modified settings become effective the next time the power stage is enabled.

ms

0

0

1000

INT16

R/W

per.

-

Modbus 1296

IDN P-0-3005.0.8

BRK_AddT_release

Additional time delay for releasing the holding brake.

The overall time delay for releasing the holding brake is the time delay from the electronic nameplate of the motor and the additional time delay in this parameter.

Type: Signed decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Setting can only be modified if power stage is disabled.

Modified settings become effective the next time the power stage is enabled.

ms

0

0

400

INT16

R/W

per.

-

Modbus 1294

IDN P-0-3005.0.7

BRK_release

Manual operation of the holding brake.

0 / Automatic: Automatic processing

1 / Manual Release: Manual release of holding brake

2 / Manual Application: Manual applying of holding brake

You can apply or release the holding brake manually.

The holding brake can only be manually released in the operating states 'Switch On Disabled', 'Ready To Switch On' or 'Fault'.

If you have applied the holding brake manually and then want to release it manually, you must first set this parameter to Automatic and then to Manual Release.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

-

0

0

2

UINT16

R/W

-

-

Modbus 2068

IDN P-0-3008.0.10

Cap1Activate

Capture input 1 start/stop.

0 / Capture Stop: Cancel capture function

1 / Capture Once: Start one-time capture

2 / Capture Continuous: Start continuous capture

3 / Reserved: Reserved

4 / Reserved: Reserved

In the case of one-time capture, the function is terminated when the first value is captured.

In the case of continuous capture, the function continues to run.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

-

0

-

4

UINT16

R/W

-

-

Modbus 2568

IDN P-0-3010.0.4

Cap1Config

Capture input 1 configuration.

0 / Falling Edge: Position capture at falling edge

1 / Rising Edge: Position capture at rising edge

2 / Both Edges: Position capture at both edges

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

-

0

0

2

UINT16

R/W

-

-

Modbus 2564

IDN P-0-3010.0.2

Cap1Source

Capture input 1 encoder source.

0 / Pact Encoder 1: Source for capture input 1 is Pact of encoder 1

1 / Pact Encoder 2: Source for capture input 1 is Pact of encoder 2 (module)

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

-

0

0

1

UINT16

R/W

-

-

Modbus 2580

IDN P-0-3010.0.10

Cap2Activate

Capture input 2 start/stop.

0 / Capture Stop: Cancel capture function

1 / Capture Once: Start one-time capture

2 / Capture Continuous: Start continuous capture

3 / Reserved: Reserved

4 / Reserved: Reserved

In the case of one-time capture, the function is terminated when the first value is captured.

In the case of continuous capture, the function continues to run.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

-

0

-

4

UINT16

R/W

-

-

Modbus 2570

IDN P-0-3010.0.5

Cap2Config

Capture input 2 configuration.

0 / Falling Edge: Position capture at falling edge

1 / Rising Edge: Position capture at rising edge

2 / Both Edges: Position capture at both edges

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

-

0

0

2

UINT16

R/W

-

-

Modbus 2566

IDN P-0-3010.0.3

Cap2Source

Capture input 2 encoder source.

0 / Pact Encoder 1: Source for capture input 2 is Pact of encoder 1

1 / Pact Encoder 2: Source for capture input 2 is Pact of encoder 2 (module)

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

-

0

0

1

UINT16

R/W

-

-

Modbus 2582

IDN P-0-3010.0.11

Cap3Activate

Capture input 3 start/stop.

0 / Capture Stop: Cancel capture function

1 / Capture Once: Start one-time capture

2 / Capture Continuous: Start continuous capture

In the case of one-time capture, the function is terminated when the first value is captured.

In the case of continuous capture, the function continues to run.

Available with hardware version ≥RS03.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

-

0

-

2

UINT16

R/W

-

-

Modbus 2596

IDN P-0-3010.0.18

Cap3Config

Capture input 3 configuration.

0 / Falling Edge: Position capture at falling edge

1 / Rising Edge: Position capture at rising edge

Available with hardware version ≥RS03.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

-

0

0

1

UINT16

R/W

-

-

Modbus 2594

IDN P-0-3010.0.17

Cap3Source

Capture input 3 encoder source.

0 / Pact Encoder 1: Source for capture input 3 is Pact of encoder 1

1 / Pact Encoder 2: Source for capture input 3 is Pact of encoder 2 (module)

Available with hardware version ≥RS03.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

-

0

0

1

UINT16

R/W

-

-

Modbus 2602

IDN P-0-3010.0.21

CLSET_p_DiffWin

Position deviation for control loop parameter set switching.

If the position deviation of the position controller is less than the value of this parameter, control loop parameter set 2 is used. Otherwise, control loop parameter set 1 is used.

The parameter CLSET_p_DiffWin_usr allows you to enter the value in user-defined units.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

In increments of 0.0001 revolution.

Modified settings become effective immediately.

revolution

0.0000

0.0100

2.0000

UINT16

R/W

per.

-

Modbus 4408

IDN P-0-3017.0.28

CLSET_p_DiffWin_usr

Position deviation for control loop parameter set switching.

If the position deviation of the position controller is less than the value of this parameter, control loop parameter set 2 is used. Otherwise, control loop parameter set 1 is used.

The minimum value, the factory setting and the maximum value depend on the scaling factor.

Type: Signed decimal - 4 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

usr_p

0

1311

2147483647

INT32

R/W

per.

-

Modbus 4426

IDN P-0-3017.0.37

CLSET_ParSwiCond

Condition for parameter set switching.

0 / None Or Digital Input: None or digital input function selected

1 / Inside Position Deviation: Inside position deviation (value definition in parameter CLSET_p_DiffWin)

2 / Below Reference Velocity: Below reference velocity (value definition in parameter CLSET_v_Threshol)

3 / Below Actual Velocity: Below actual velocity (value definition in parameter CLSET_v_Threshol)

4 / Reserved: Reserved

In the case of parameter set switching, the values of the following parameters are changed gradually:

- CTRL_KPn

- CTRL_TNn

- CTRL_KPp

- CTRL_TAUnref

- CTRL_TAUiref

- CTRL_KFPp

The following parameters are changed immediately after the time for parameter set switching (CTRL_ParChgTime):

- CTRL_Nf1damp

- CTRL_Nf1freq

- CTRL_Nf1bandw

- CTRL_Nf2damp

- CTRL_Nf2freq

- CTRL_Nf2bandw

- CTRL_Osupdamp

- CTRL_Osupdelay

- CTRL_Kfric

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

-

0

0

4

UINT16

R/W

per.

-

Modbus 4404

IDN P-0-3017.0.26

CLSET_v_Threshol

Velocity threshold for control loop parameter set switching.

If the reference velocity or the actual velocity are less than the value of this parameter, control loop parameter set 2 is used. Otherwise, control loop parameter set 1 is used.

Type: Unsigned decimal - 4 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

usr_v

0

50

2147483647

UINT32

R/W

per.

-

Modbus 4410

IDN P-0-3017.0.29

CLSET_winTime

Time window for parameter set switching.

Value 0: Window monitoring deactivated.

Value >0: Window time for the parameters CLSET_v_Threshol and CLSET_p_DiffWin.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

ms

0

0

1000

UINT16

R/W

per.

-

Modbus 4406

IDN P-0-3017.0.27

CommutCntCred

Value for increased threshold for commutation monitoring.

This parameter contains the value which is added to the threshold value for commutation monitoring.

Type: Signed decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Setting can only be modified if power stage is disabled.

Modified settings become effective immediately.

Available with firmware version ≥V01.06.

-

0

0

1000

INT16

R/W

per.

expert

Modbus 1404

IDN P-0-3005.0.62

CommutCntMax

Maximum value the commutation monitoring counter has reached.

This parameter contains the maximum value the commutation monitoring counter has reached since power on or reset. The maximum value can be reset by writing the value 0.

Type: Signed decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Available with firmware version ≥V01.06.

-

-

-

-

INT16

R/W

-

expert

Modbus 16326

IDN P-0-3063.0.99